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The thesis provides the required knowledge base for establishing Laser Induced Stress Wave Thermometry (LISWT) as a viable alternative to current infrared technologies for temperature measurement up to 1000°C with ±1°C resolution. The need for a non-contact, high resolution thermal measurement methodology applicable to Rapid Thermal Processing (RTP) motivated the work. A stress wave propagation model was developed and a complex, temperature-dependent elasto-viscoplastic constitutive law was identified. A stagger-grid finite difference scheme was followed to approximate the solution field subject to temperature and plate thickness variations. Extensive numerical experiments were conducted to identify the proper time and spatial steps. A Gabor wavelet transform scheme was also employed for the extraction of wafer thermal and geometric information from exploring wave attenuation and dispersion. Researched results concluded that wave group velocity is a nonlinear function of temperature. Nonlinearity became more prominent at high temperatures and low frequencies. As such, for LISWT to achieve better thermal resolution at high temperatures, low frequency components of the induced stress wave should be exploited. The results also showed that the influence of temperature on attenuation is relatively small. It is not recommended to use attenuation for resolving temperature variation as small as several degrees Celsius. In addition to temperature, geometry also was found to have an impact on wave dispersion and attenuation. The results showed that the influence of thickness on wave velocity is significant, thus suggesting that for LISWT to achieve high temperature resolution, wafer thickness must be accurately calibrated in order to eliminate all possible errors introduced by thickness variation. The study established the basic framework for LISWT to be applicable to silicon wafer RTP at elevated temperatures. The model and methods developed for the course of the research can be easily adapted to account for other nondestructive evaluation applications involving the use of surface, plate or bulk waves for material characterization and thermal profiling.

The thesis provides the required knowledge base for establishing Laser Induced Stress Wave Thermometry (LISWT) as a viable alternative to current infrared technologies for temperature measurement up to 1000°C with ±1°C resolution. The need for a non-contact, high resolution thermal measurement methodology applicable to Rapid Thermal Processing (RTP) motivated the work. A stress wave propagation model was developed and a complex, temperature-dependent elasto-viscoplastic constitutive law was identified. A stagger-grid finite difference scheme was followed to approximate the solution field subject to temperature and plate thickness variations. Extensive numerical experiments were conducted to identify the proper time and spatial steps. A Gabor wavelet transform scheme was also employed for the extraction of wafer thermal and geometric information from exploring wave attenuation and dispersion. Researched results concluded that wave group velocity is a nonlinear function of temperature. Nonlinearity became more prominent at high temperatures and low frequencies. As such, for LISWT to achieve better thermal resolution at high temperatures, low frequency components of the induced stress wave should be exploited. The results also showed that the influence of temperature on attenuation is relatively small. It is not recommended to use attenuation for resolving temperature variation as small as several degrees Celsius. In addition to temperature, geometry also was found to have an impact on wave dispersion and attenuation. The results showed that the influence of thickness on wave velocity is significant, thus suggesting that for LISWT to achieve high temperature resolution, wafer thickness must be accurately calibrated in order to eliminate all possible errors introduced by thickness variation. The study established the basic framework for LISWT to be applicable to silicon wafer RTP at elevated temperatures. The model and methods developed for the course of the research can be easily adapted to account for other nondestructive evaluation applications involving the use of surface, plate or bulk waves for material characterization and thermal profiling.

Le parachèvement de pièces aéronautiques en aluminium représente une part importante du coût des pièces produites. L’objectif de ces travaux est d’opérer un transfert d’opérations, des opérateurs et machines vers les cellules robotisées, économiquement plus intéressantes. Cette thèse vise à améliorer l’identification d’un modèle elasto-statique des robots industriels et à fournir une méthode de correction hors ligne des trajectoires dans une logique de moyenne série. Le premier chapitre présente un état de l’Art du parachèvement et des procédés que nous avons pris en considération. Il évoque les robots industriels, leur architecture, leur modélisation géométrique et elasto-statique. Il s’intéresse à leurs défauts de suivi de trajectoire et les causes associées. Dans le second chapitre, nous étudions les méthodes d’identification du modèle elasto-statique existantes. Nous critiquons leur mise en oeuvre actuelle et proposons une amélioration des protocoles d’identification. Nous étudions l’influence de la méthodologie de reconstruction géométrique par une étude de la sensibilité des raideurs apparentes. Nous proposons une nouvelle méthode de découplage de l’identification pour apporter plus de robustesse dans la détermination des raideurs articulaires. L’apport de cette méthode se justifie par son application sur un robot à double encodage KUKA KR 300 SE. Le dernier chapitre propose une correction miroir améliorée. Celle-ci intègre la problématique de la dynamique de la commande générée par la méthode miroir. Elle est appliquée sur des trajectoires circulaires, mesurée avec un outil ballbar. / The finishing of aluminium aeronautical parts is a great share of the overall production cost. The aim of this work is to facilitate operation transfert from manual operations and machines operations to robotic cells that are economically more interesting. This thesis seeks to improve the identification of a kinetostatic model for industrial robots and provide an offline correction method for mid-size part production volume. The first chapter is a state of the art in finishing operations and the involved processes, mainly machining, grinding and sanding that we considered in this study. It presents robots architecture and models (kineto-static and geometric). We show example of path tracking errors and the associated causes according to the literature. In the next chapter, we study the existing kineto-static identifications methods. We review the actual implementation of the methods and offer improvements. We study the influence of the geometrical reconstruction methodology applied in those identification methods by a sensibility analysis on the stiffness parameters. We propose a new identification method based on decoupling equations. This method brings more reliable results and robustness in the value of the stiffness parameters. The contribution of this method is justified by its application on a double encoder robot (KUKA KR 300 SE). The last chapter is a proposal for an improvement in the mirror correction method for trajectory correction. This new proposal takes into account the dynamics of the command created by the mirror method. It is applied on circular trajectories and measured thanks to a Ballbar tool.

There has been great interest in recent times in the use of elastography for the characterization of human tissue. Digital Image Elasto-Tomography is a novel breast cancer pre-screening technique under development at the University of Canterbury, which aims to identify and locate stiff areas within the breast that require further investigation using images of the surface motion alone. A calibrated array of five digital cameras is used to capture surface motion of the breast under harmonic actuation. The forward problem, that is the resulting motion for a given mechanical property distribution, is calculated using the Finite Element Method. The inverse problem is to find the mechanical properties which reproduce the measured surface motion through numerical simulation. A reconstruction algorithm is developed using a shape based description to reduce the number of parameters in the inverse problem. A parallel Genetic Algorithm is developed for parameter optimization. A geometric method termed Fitness Function Analysis is shown to improve the inclusion location optimization problem. The ensemble of solutions generated using the Genetic Algorithm is used to produce an optimal and a credible region for inclusion location. Successful single frequency phantom reconstructions are presented. An effective way of combining information from multi-frequency phantom data by examining the characteristics of the measured surface motion using data quality metrics is developed and used to produce improved reconstructions. Results from numerical simulation datasets and a two inclusion phantom used to test the optimization of multiple and ellipsoidal inclusions indicate that although two inclusions can be successfully reconstructed, the single inclusions assumption may suffice even in irregular, heterogeneous cases. This assumption was used to successfully locate the stiffest inclusion in a phantom containing multiple inclusions of differing stiffness based on three multi-frequency datasets. The methods developed in phantoms are applied to three in vivo cases for both single and multi-frequency data with limited success. This thesis builds on previous work undertaken at the University of Canterbury. The original contributions in this work are as follows. A new reconstruction algorithm combining a genetic algorithm with fitness function analysis is developed. The most realistic tissue mimicking phantoms to date are used. An ellipsoidal shape-based description is presented, and applied to the first multi-inclusion reconstructions in DIET. This work presents the first reconstruction using meshes created directly from data using a meshing algorithm developed by Jonas Biehler. A multi-frequency cost function is developed to produce the first multi-frequency and in vivo reconstructions using DIET data.

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The deformation behavior of unsaturated soil has been the subject of numerous experimental and theoretical investigations. However, this phenomenon is not fully understood. Problems, such as the adoption of the proper stress variables, reduction of suction inducing collapse, suction effect on soil stiffness, rate dependency and air trapped within the soil under rainfall infiltration still need additional studies. In the present studies, an elasto-viscoplastic model for unsaturated soil is used based on two stress variables: 1) the skeleton stress is adopted as the stress variable; 2) suction is incorporated into the constitutive model to describe the collapse behavior. In addition, to investigate the multiphase behavior of unsaturated soil, a three-phase coupled model has been proposed based on the Theory of Porous Media (TPM) and finite deformation theory. Van Genuchten type of equation is employed as a constitutive equation between the saturation and the suction. Three-dimensional multiphase simulations are carried out to reproduce the behavior of unsaturated soil during monotonic loading triaxial tests under drained and undrained conditions for water and air. Compared with experimental results and the simulated results, it is seen that the proposed formulation is very suitable to describe the mechanical behaviors of unsaturated soil. Cyclic behavior of unsaturated soil has attracted much attention during the past few years. An elasto-viscoplastic cyclic model for saturated soil is extended for modeling of unsaturated soil. Based on finite deformation theory, three-dimensional multiphase analyses for unsaturated soil under cyclic loading are presented. The simulations are verified with cyclic triaxial tests on unsaturated silty clay under undrained for water and air conditions. It shows that the proposed multiphase formulation can be used to simulate the behaviors of unsaturated soil under cyclic loading. The high expansiveness of bentonite is another significant problem in unsaturated soil mechanics. In this research, an elasto-viscoplastic model for unsaturated expansive soil has been developed. An evolutional equation is adopted for describing the absorption of water into interlayer of clay platelets. In addition, the internal compaction effect caused by swelling of clay unit is expressed with the expansion of overconsolidation boundary surface and static yield surface. Based on the model, one-dimensional finite element analysis is conducted to study the development of swelling pressure. Compared with experimental results and simulated results, it is found that the proposed model can reproduce the effects of dry density and initial water content on swelling behavior. Using the proposed swelling model, two-dimensional swelling behaviors of the waste barrier are simulated. / Kyoto University (京都大学) / 0048 / 新制・課程博士 / 博士(工学) / 甲第13775号 / 工博第2879号 / 新制||工||1425(附属図書館) / 25991 / UT51-2008-C691 / 京都大学大学院工学研究科社会基盤工学専攻 / (主査)教授 岡 二三生, 教授 松岡 俊文, 准教授 木元 小百合 / 学位規則第4条第1項該当