In Sweden, prefabrication in the construction industry is a very common system. In prefabricated structures, there are various kinds of connections and generally many hinged connections. Therefore, it is of high interest to study the behavior of the prefabricated buildings in relation to the connections. Two main theories that can be used to evaluate our structures are the non-linear finite element analysis (NLFEA) and the second order effects. These two theories help to study the real behavior of the structures. Software that can apply these two theories is the ATENA-GiD. Therefore, it was very interesting to explore this software and find out how it can be used for prefabricated buildings. For this reason, a simplified ten-storey building was studied which had been also used in Lindwall’s and Wester’s (2016) master thesis. Various cases were chosen for this building. The building was studied either with monolithic walls or with vertical slip connection between the prefabricated walls. Also, the hollow core (HC) slabs were modelled in two ways and the supports of the columns were modelled in three ways. Even when each slab was modelled with two materials (solid concrete for the upper and lower layer with smeared reinforcement for the lower layer and modified concrete in order to compensate for the voids), the increase in the time for analysis was not important. Also, the cracking was not extensive thanks to the relatively low wind load. The slip joint between the walls didn’t lead to the different displacement between the walls. It was found that the hinged support in the columns was modelled by using the upwind line of the base. In non-linear analysis cases, the model of the structure gave 20% larger displacements than in linear analysis cases which means that the cracking had an important influence on the second order effects despite that the cracking was not extensive. The reduction of the stiffness of the walls to 40% accounting for cracked sections in additional linear analyses to according to the Eurocode 2 was a conservative choice for this building. The most remarkable result was that when the supports of the columns were modelled with hinges there was smaller displacement than when the supports were fixed. The reason for this was the negative displacements due to the buckling of the columns of the first storey. Moreover, for the linear cases, there was a much smaller displacement (5mm) than Lindwall and Wester (2016) (17mm) and this was possibly due to the way that the hinges were modelled in my building. It is interesting to investigate other ways to model the hinges in ATENA-GiD as well as other ways to model the connections between the HC slabs and the perimetric beams. Also, the effect of creep through the modulus of elasticity could be analyzed. Finally, it would be interesting to include foundations in the model to study the possible need for anchorages.

<p>This thesis focuses on the tectonomorphologic evolution of the Central Andean Puna Plateau and its eastern foreland. The collective findings of fault-slip and tectonomorphic analyes help in understanding the mechanical behavior of non-collisional orogens at convergent plate boundaries and result in an improved Neogene tectonic record of the Central Andes.</p> <p>Fault-slip analysis indicates Neogene WNW-ESE horizontal shortening of the thickened crust of the Puna Plateau and Eastern Cordillera and simultaneous lateral gravitational spreading. The less thickened of Pampean Ranges continue to undergo horizontal shortening only. The importance of N-S extension in the kinematics of elevated parts of the Central Andes is underscored by the strike-slip components on prominent dip-slip faults. Strain axis configurations in the southern Central Andes are generally controlled by (1) overall WNW-ESE horizontal shortening imposed by plate convergence and (2) differences in crustal thickness, i.e., gravitational potential energy. Therefore, a geodynamic interpretations in which still increasing elevation and crustal thickness significantly influence upper-crustal kinematics of the southern Central Andes is suggested.</p> <p>To allow regional-scale tectonomorphic studies, including Valley-Width-to-Valley-Height (Vf) ratio and the Transverse-Topographic-Symmetry (T-) factor, an Esri ArcGIS compatible software tool was developed. This Geographical Information System (GIS)-based tool, was coded in Python to enable conversion to other ArcGIS versions. This herein presented first version of the tool is fully functioning and drastically reduces the otherwise long processing times.</p> <p>A qualitative main basin symmetry description, Mountain-Front-Sinuosity (Smf) indices, and Vf-ratios of second-order drainage basins, indicate ubiquitous Quaternary deformation on reverse and thrust faults in the southern Central Andes. The recorded Quaternary deformation strongly influences Quaternary landform development, as shown by main drainage basin asymmetries and second-order drainage basins shapes. However, non-systematic T-factor distribution for second-order basins indicates that basin asymmetry is subject to litholigcal variations.</p> / Doctor of Philosophy (PhD)

Polymer electrolyte membrane (PEM) fuel cell (FC) stacks require elastomeric gaskets for each cell to keep the reactant gases within their respective regions[1]. If any gasket degrades or fails, the reactant gases can leak or mix with each other directly during operation or standby, affecting the overall operation and performance of the FC. The elastomeric gaskets used as FC seals are exposed to a range of environmental conditions, and concurrently, subjected to mechanical compression between the bipolar plates forming the cell. The combination of mechanical stress and environmental exposure may result in degradation of the seal material[2] over a period of time. In order to address the durability and make reliability predictions, the long-term stability of the gaskets in FC assemblies is critical. The aim of this study is to investigate the performance of elastomeric seals in a simulated FC environment in the presence of mechanical stresses. The overall scope of the study includes mechanical and viscoelastic properties characterization, and lifetime durability predictions based on an accelerated characterization approach. With the help of finite element analysis software, ABAQUS, a fixture was designed to perform strain-based accelerated characterization of seal material in air, deionized (DI) water, 50v/50v ethylene glycol/water solution, and 0.1M sulfuric acid solution. Dogbone samples were strained to different levels in the custom fixture and submerged in liquid solutions at 90°C and in air at 90°C and 120°C. It was observed that mechanical properties such as tensile strength, strain to break, 100% modulus, crosslink density, and tensile set degrade due to aging and the extent of change (increase or decrease) depends significantly on the strain level on the specimen. Trouser tear tests were conducted on reinforced specimens in air and deionized water (DI) to evaluate the tear resistance of an elastomeric seal material intended for proton exchange membrane fuel cells. Plots relating the crack growth rate with tearing energy were obtained at various temperatures and provided significant insight into the rate and temperature dependence of the tearing strength of the seal material. Stick-slip crack propagation was observed at all temperatures and loading rates, although the behavior was suppressed significantly at low loading rates and high temperatures. Crack growth rate versus tearing energy data at different temperatures was shifted to construct a master curve and an estimate on the threshold value of tear energy was obtained which may be helpful in designing components where material tear is of concern. Strain energy release rate (SERR) value, calculated using the J-integral approach for a pre-existing crack in ABAQUS, was used to estimate the crack growth rate in a given seal cross-section to predict lifetime. In order to assess the viscoelastic behavior and to investigate the long term stress relaxation behavior of the seal material, compression stress relaxation (CSR) tests were performed on molded seals, called as SMORS, over a range of environmental conditions using a custom-designed fixture. The effect of temperature and environment was evident on material property changes and presented in terms of momentary properties and stress relaxation behavior. Various mechanisms involved in material degradation, chain scission and crosslinking, were suggested and insights were gained into how cure state and level of antidegradants in a material dictate the material behavior during the first phase of environmental exposure leading to change in material properties. Ring samples made of silicone were also tested using the fixture to obtain insight additional into material degradation due to aging. Results presented from testing on SMORS showed a lot more variation in data as compared to neat silicone rings due to the complexity involved in making SMORS. For understanding the deformation behavior of an elastomeric seal and its sealing performance, finite element characterization of seal cross-section was carried out on O-ring and SMORS cross-section. The effect of a seal's layout on distribution and magnitude of contact stresses and contact width was investigated for the O-ring and the information obtained thereby helped to analyze a complex assembly such as SMORS, where several interfaces and boundary conditions are involved. Stress/strain profiles were generated to visualize their concentration and distribution in the seal cross-section. Frictionless and rough interfacial conditions between seal material and platens were assumed and it was found that its effect on contact width and peak contact pressure was insignificant. Results obtained from FEA on SMORS were validated through comparison with contact mechanics approach and experimental data and it was found that Lindley's equation correlates well with experimental data whereas ABAQUS overestimates the load values at a given compression. Lindley's approach may be used to develop contact pressure profiles that may help estimate peak contact pressure at a given time so leaking can be avoided. / Ph. D.

No / In composite beam design, headed stud shear connectors are commonly used to transfer longitudinal shear forces across the steel¿concrete interface. Present knowledge of the load¿slip behavior and the shear capacity of the shear stud in composite beam are limited to data obtained from the experimental push-off tests. For this purpose, an effective numerical model using the finite element method to simulate the push-off test was proposed. The model has been validated against test results and compared with data given in the current Code of Practices, i.e., BS5950, EC4, and AISC. Parametric studies using this model were preformed to investigate variations in concrete strength and shear stud diameter. The finite element model provided a better understanding to the different modes of failure observed during experimental testing and hence shear capacity of headed shear studs in solid concrete slabs

Mechanical vibrations are inevitable in drilling operations. Torsional stick-slip vibrations are vibrations that occur in drilling columns, which are produced by periodic variations of torque and characterized by large fluctuations in the speed of the drill bit. These vibrations are dangerous, primarily by the cyclical characteristic of the phenomenon that by the amplitude of the same, which can cause fatigue of the pipe, failures in the components of the drill string, deformations in the walls of the well, excessive wear of the drill, low rate of penetration, and collapse of the drilling process. The frequency of these unwanted oscillations can be reduced by the application of automatic control techniques. The objective of this study is to evaluate through numerical simulations, the application of conventional control techniques, such as proportional-integral control (PI), and nonlinear, as the sliding mode control (SMC) and the input-output linearization control (IOLC), to eliminate the presence of stick-slip oscillation in drilling columns. The controllers are designed primarily to maintain a constant speed of rotation system, by manipulating engine torque, thereby inferentially control the speed of the drill, thus providing optimum operation conditions, beyond preserving system stability. Results of simulations using drill string torsional models of two degrees of freedom (2-DOF) and four degrees of freedom (4-DOF) show the performance of the proposed control systems, which are analyzed and qualitatively compared. / Vibrações mecânicas são inevitáveis nas operações de perfuração. Vibrações torcionais stick-slip são vibrações que ocorrem em colunas de perfuração, as quais são produzidas pelas variações periódicas de torque e caracterizadas por grandes oscilações da velocidade da broca. Estas vibrações são prejudiciais, mais pela característica cíclica do fenômeno que pela amplitude da mesma, podendo originar fadiga da tubulação, falhas nos componentes da coluna de perfuração, deformações nas paredes do poço, desgaste excessivo da broca, baixa taxa de penetração e, inclusive, colapso do processo de perfuração. A frequência destas oscilações indesejadas pode ser reduzida pela aplicação de técnicas de controle automático. O objetivo deste trabalho é avaliar, mediante simulações numéricas, a aplicação de técnicas de controle convencional, como o controle proporcional-integral (PI), e não linear, como o controle por modos deslizantes (SMC) e o controle por linearização entrada-saída (IOLC) para eliminar a presença de oscilações stick-slip em colunas de perfuração. Os controladores são desenvolvidos principalmente para manter constante a velocidade do sistema de rotação, mediante a manipulação do torque do motor, para assim controlar inferencialmente a velocidade da broca, fornecendo desta maneira condições ótimas de operação, além de preservar a estabilidade do sistema. Resultados das simulações, usando modelos torcionais de uma coluna de perfuração de dois graus de liberdade (2-DOF) e de quatro graus de liberdade (4-DOF), mostram o desempenho dos sistemas de controle propostos, os quais são analisados e comparados qualitativamente.

Low cycle fatigue is an important valving parameter of materiale which are exposed random alternate strain during their operation. The alternate strain in that material is caused by temperature fluctuations during operation and outages such as aircraft engines. Tests of low cycle fatigue were performed on samples of superalloy Inconel 738LC at stable room temperature at 23°C. The actual experiment took place at certain intervals, consisting of cycling itself, and observing changes in surface relief by light and electron microscopy. There was observed significant surface relief at an early stage of low cycle fatigue. We compared results of measurement with other different observation methods.

[pt] Um dos objetivos desta tese é analisar o custo computacional do método de Monte Carlo aplicado a um problema modelo de dinâmica, considerando incertezas na força de atrito. O sistema mecânico a ser estudado é composto por um oscilador de um grau de liberdade que se desloca sobre uma esteira em movimento. Considera-se a existência de atrito seco entre a massa do oscilador e a esteira. Devido a uma descontinuidade na força de atrito, a dinâmica resultante pode ser dividida em duas fases que se alternam, chamadas de stick e slip. Neste estudo, um parâmetro da força de atrito dinâmica é modelado como uma variável aleatória. A propagação de incerteza é estudada por meio da aplicação do método de Monte Carlo, considerando três abordagens diferentes para calcular aproximações da resposta dos problemas de valor inicial que modelam a dinâmica do problema: NV) aproximações numéricas calculadas usando método de Runge-Kutta de quarta e quinta ordens com passo de integração variável; NF) aproximações numéricas calculadas usando método de Runge-Kutta de quarta ordem com passo de integração fixo; AN) aproximação analítica obtida com o método de múltiplas escalas. Nas abordagens NV e NF, para cada valor de parâmetro, uma aproximação numérica foi calculada. Já para a AN, apenas uma aproximação analítica foi calculada e avaliada para os diferentes valores usados. Entre as variáveis aleatórias de interesse associadas ao custo computacional do método de Monte Carlo, encontram-se o tempo de execução e o espaço em disco consumido. Devido à propagação de incertezas, a resposta do sistema é um processo estocástico com uma sequência aleatória de fases de stick e slip. Essa sequência pode ser caracterizada pelas seguintes variáveis aleatórias: instantes de transição entre as fases de stick e slip, suas durações e o número de fases. Para estudar as variáveis associadas ao custo computacional e ao processo estocástico foram construídos modelos estatísticos, histogramas normalizados e gráficos de dispersão. O objetivo é estudar a dependência entre as variáveis do processo estocástico e o custo computacional. Porém, a construção destas análises não é simples devido à dimensão do problema e à impossibilidade de visualização das distribuições conjuntas de vetores aleatórios de três ou mais dimensões. / [en] One of the objectives of this thesis is to analyze the computational cost of the Monte Carlo method applied to a toy problem concerning the dynamics of a mechanical system with uncertainties in the friction force. The system is composed by an oscillator placed over a moving belt. The existence of dry friction between the two elements in contact is considered. Due to a discontinuity in the frictional force, the resulting dynamics can be divided into two alternating phases, called stick and slip. In this study, a parameter of the dynamic friction force is modeled as a random variable. Uncertainty propagation is analyzed by applying the Monte Carlo method, considering three different strategies to compute approximations to the initial value problems that model the system s dynamics: NV) numerical approximations computed with the Runge-Kutta method of 4th and 5th orders, with variable integration time-step; NF) numerical approximations computed with the Runge-Kutta method of 4th order, with a fixed integration time-step; AN) analytical approximation obtained with the multiple scale method. In the NV and NF strategies, for each parameter value, a numerical approximation was calculated, whereas for the AN strategy, only one analytical approximation was calculated and evaluated for the different values of parameters considered. The run-time and the storage are among the random variables of interest associated with the computational cost of the Monte Carlo method. Due to uncertainty propagation, the system response is a stochastic process given by a random sequence of stick and slip phases. This sequence can be characterized by the following random variables: the transition instants between the stick and slip phases, their durations and the number of phases. To study the random processes and the variables related to the computational costs, statistical models, normalized histograms and scatterplots were built. Afterwards, a joint analysis was performed to study the dependece between the variables of the random process and the computational cost. However, the construction of these analyses is not a simple task due to the impossibility of viewing the distributionto of joint distributions of random vectors of three or more.

Vehicle Dynamics Control (VDC) systems (also known as Active Chassis systems) are mechatronic systems developed for improving vehicle comfort, handling and/or stability. Traditionally, most of these systems have been individually developed and manufactured by various suppliers and utilised by automotive manufacturers. These decentralised control systems usually improve one aspect of vehicle performance and in some cases even worsen some other features of the vehicle. Although the benefit of the stand-alone VDC systems has been proven, however, by increasing the number of the active systems in vehicles, the importance of controlling them in a coordinated and integrated manner to reduce the system complexity, eliminate the possible conflicts as well as expand the system operational envelope, has become predominant. The subject of Integrated Vehicle Dynamics Control (IVDC) for improving the overall vehicle performance in the existence of several VDC active systems has recently become the topic of many research and development activities in both academia and industries Several approaches have been proposed for integration of vehicle control systems, which range from the simple and obvious solution of networking the sensors, actuators and processors signals through different protocols like CAN or FlexRay, to some sort of complicated multi-layered, multi-variable control architectures. In fact, development of an integrated control system is a challenging multidisciplinary task and should be able to reduce the complexity, increase the flexibility and improve the overall performance of the vehicle. The aim of this thesis is to develop a low-cost control scheme for integration of Electric Power-Assisted Steering (EPAS) system with Enhanced Stability Program (ESP) system to improve driver comfort as well as vehicle safety. In this dissertation, a systematic approach toward a modular, flexible and reconfigurable control architecture for integrated vehicle dynamics control systems is proposed which can be implemented in real time environment with low computational cost. The proposed control architecture, so named “Integrated Vehicle Control System (IVCS)”, is customised for integration of EPAS and ESP control systems. IVCS architecture consists of three cascade control loops, including high-level vehicle control, low-level (steering torque and brake slip) control and smart actuator (EPAS and EHB) control systems. The controllers are designed based on Youla parameterisation (closed-loop shaping) method. A fast, adaptive and reconfigurable control allocation scheme is proposed to coordinate the control of EPAS and ESP systems. An integrated ESP & ESP HiL/RCP system including the real EPAS and Electro Hydraulic Brake (EHB) smart actuators integrated with a virtual vehicle model (using CarMaker/HiL®) with driver in the loop capability is designed and utilised as a rapid control development platform to verify and validate the developed control systems in real time environment. Integrated Vehicle Dynamic Control is one of the most promising and challenging research and development topics. A general architecture and control logic of the IVDC system based on a modular and reconfigurable control allocation scheme for redundant systems is presented in this research. The proposed fault tolerant configuration is applicable for not only integrated control of EPAS and ESP system but also for integration of other types of the vehicle active systems which could be the subject of future works.

Riedel shear zones are geometric fault patterns commonly associated with strike-slip fault systems. The progressive evolution of natural Riedel shear zones within the Navajo Sandstone of southern Utah is interpreted from the spatial evolution of small-scale, incipient Proto-Riedel Zones (PRZs) to better-developed Riedel shear zones using field mapping and three-dimensional digital modeling. PRZs nucleate as a tabular zone of localized shearing marked by en èchelon deformation bands, each of which is no more than a few mm wide and tens of cm long, and oriented at 55° - 85° to the trend of the zone. With increasing strain, deformation bands and sedimentary markers are sheared ductily through granular flow and assume a sigmoidal form. The temporal and spatial evolution of bands comprising a Riedel shear zone suggests that PRZs nucleate as transitional-compactional deformation bands under localized, supra-lithostatic fluid pressure. Subsequent bands develop under modified regional stresses as conjugate shear fractures within the strain- hardened axis of the PRZ. These antithetic driven systems are not compatible with traditional synthetic driven models of Riedel shear zones. Unlike most synthetic driven examples, these antithetic driven systems are not controlled by preexisting "basement" structures, thus their geometries reflect a primary propagation or secondary passive deformation mechanism.

Robotics has been the subject of academic study from as early as 1948. For much of this time, study has focused on very specific applications in very well controlled environments. For example, the first commercial robots (1961) were introduced in order to improve the efficiency of production lines. The tasks undertaken by these robots were simple, and all that was required of a control algorithm was speed, repetitiveness and reliability in these environments. Now however, robots are being used to move around autonomously in increasingly unpredictable environments, and the need for robotic control algorithms that can successfully react to such conditions is ever increasing. In addition to this there is an ever-increasing array of robots available, the control algorithms for which are often incompatible. This can result in extensive redesign and large sections of code being re-written for use on different architectures. The thesis presented here is that a new generic approach can be created that provides robust high quality smooth paths and time-optimal path tracking to substantially increase applicability and efficiency of autonomous motion plans. The control system developed to support this thesis is capable of producing high quality smooth paths, and following these paths to a high level of accuracy in a robust and near time-optimal manner. The system can control a variety of robots in environments that contain 2D obstacles of various shapes and sizes. The system is also resilient to sensor error, spatial drift, and wheel-slip. In achieving the above, this system provides previously unavailable functionality by generically creating and tracking high quality paths so that only minor and clear adjustments are required between different robots and also be being capable of operating in environments that contain high levels of perturbation. The system is comprised of five separate novel component algorithms in order to cater for five different motion challenges facing modern robots. Each algorithm provides guaranteed functionality that has previously been unavailable in respect to its challenges. The challenges are: high quality smooth movement to reach n-dimensional goals in regions without obstacles, the navigation of 2D obstacles with guaranteed completeness, high quality smooth movement for ground robots carrying out 2D obstacle navigation, near time-optimal path tracking, and finally, effective wheel-slip detection and compensation. In meeting these challenges the algorithms have tackled adherence to non-holonomic constraints, applicability to a wide range of robots and tasks, fast real-time creation of paths and controls, sensor error compensation, and compensation for perturbation. This thesis presents each of the above algorithms individually. It is shown that existing methods are unable to produce the results provided by this thesis, before detailing the operation of each algorithm. The methodology employed is varied in accordance with each of the five core challenges. However, a common element of methodology throughout the thesis is that of gradient descent within a new type of potential field, which is dynamic and capable of the simultaneous creation of high-quality paths and the controls required to execute them. By relating global to local considerations through subgoals, this methodology (combined with other elements) is shown to be fully capable of achieving the aims of the thesis. It is concluded that the produced system represents a novel and significant contribution as there is no other system (to the author’s knowledge) that provides all of the functionality given. For each component algorithm there are many control systems that provide one or more of its features, but none that are capable of all of the features. Applications for this work are wide ranging as it is comprised of five component algorithms each applicable in their own right. For example, high quality smooth paths may be created and followed in any dimensionality of space if time optimality and obstacle avoidance are not required. Broadly speaking, and in summary, applications are to ground-based robotics in the areas of smooth path planning, time optimal travel, and compensation for unpredictable perturbation.