The focus of this dissertation is to improve autonomous navigation in unstructured terrain conditions, with specific application to unmanned casualty extraction in disaster scenarios. Robotic systems are being widely employed for search and rescue applications, especially in disaster scenarios. But a majority of these are focused solely on the search aspect of the problem. This dissertation proposes a conceptual design of a Semi-Autonomous Victim Extraction Robot (SAVER) capable of safe and effective unmanned casualty extraction, thereby reducing the risk to the lives of first responders. In addition, the proposed design addresses the limitations of existing state-of-the-art rescue robots specifically in the aspect of head and neck stabilization as well as fast and safe evacuation. One of the primary capabilities needed for effective casualty extraction is reliable navigation in unstructured terrain conditions. Autonomous navigation in unstructured terrain, particularly for systems with tracked locomotion mode involves unique challenges in path planning and trajectory tracking. The dynamics of robot-terrain interaction, along with additional factors such as slip experienced by the vehicle, slope of the terrain, and actuator limitations of the robotic system, need to be taken into consideration. To realize these capabilities, this dissertation proposes a hybrid navigation architecture that employs a physics engine to perform fast and accurate state expansion inside a graph-based planner. Tracked skid-steer systems experience significant slip, especially while turning. This greatly affects the trajectory tracking accuracy of the robot. In order to enable efficient trajectory tracking in varying terrain conditions, this dissertation proposes the use of an active disturbance rejection controller. The proposed controller is capable of estimating and counter acting the effects of slip in real-time to improve trajectory tracking. As an extension of the above application, this dissertation also proposes the use of support vector machine architecture to perform terrain identification, solely based on the estimated slip parameters. Combining all of the above techniques, an overall architecture is proposed to assist and inform tele-operation of tracked robotic systems in unstructured terrain conditions. All of the above proposed techniques have been validated through simulations and experiments in indoor and simple outdoor terrain conditions. / Doctor of Philosophy / This dissertation explores ways to improve autonomous navigation in unstructured terrain conditions, with specific applications to unmanned casualty extraction in disaster scenarios. Search and rescue applications often put the lives of first responders at risk. Using robotic systems for human rescue in disaster scenarios can keep first responders out of danger. To enable safe robotic casualty extraction, this dissertation proposes a novel rescue robot design concept named SAVER. The proposed design concept consists of several subsystems including a declining stretcher bed, head and neck support system, and robotic arms that conceptually enable safe casualty manipulation and extraction based on high-level commands issued by a remote operator. In order to enable autonomous navigation of the proposed conceptual system in challenging outdoor terrain conditions, this dissertation proposes improvements in planning, trajectory tracking control and terrain estimation. The proposed techniques are able to take into account the dynamic effects of robot-terrain interaction including slip experienced by the vehicle, slope of the terrain and actuator limitations. The proposed techniques have been validated through simulations and experiments in indoor and simple outdoor terrain conditions. The applicability of the above techniques in improving tele-operation of rescue robotic systems in unstructured terrain is also discussed at the end of this dissertation.

Microfluidics has been the focal point of research in various disciplines due to its advantages of portability and cost effectiveness, and the ability to perform complex tasks with precision. In the past two decades microfluidic technology has been used to cool integrated circuits, for exoplanetary chemical analysis, for mimicking cellular environments, and in the design of specialized organ-on-a-chip devices. While there have been considerable advances in the complexity and miniaturization of microfluidic devices, particularly with the advent of microfluidic large-scale integration (mLSI) and microfluidic very-large-scale-integration (mVLSI), in which there are hundreds of thousands of flow channels per square centimeter on a microfluidic chip, there remains an actuation overhead problem: these small, complex microfluidic devices are tethered to extensive off-chip actuation machinery that limit their portability and efficiency. Insects, in contrast, actively and efficiently handle their respiratory air flows in complex networks consisting of thousands of microscale tracheal pathways. This work analytically and experimentally investigates the viability of incorporating some of the essential kinematics and actuation strategies of insect respiratory systems in microfluidic devices. Mathematical models of simplified individual tracheal pathways were derived and analyzed, and insect-mimetic PDMS-based valveless microfluidic devices were fabricated and tested. It was found that not only are these devices are capable of pumping fluids very efficiently using insect-mimetic actuation techniques, but also that the fluid flow direction and magnitude could be controlled via the actuation frequency alone, a feature never before realized in microfluidic devices. These results suggest that insect-mimicry may be a promising direction for designing more efficient microfluidic devices. / Ph. D. / Microfluidics or the study of fluids at the microscale has gained a lot of interest in the recent past due to its various applications starting from electronic chip cooling to biomedical diagnostic devices and exoplanetary chemical analysis. Though there has been a lot of advancements in the functionality and portability of microfluidic devices, little has been achieved in the improvement of the peripheral machinery needed to operate these devices. On the other hand insects can expertly manipulate fluids, in their body, at the microscale with the help of their efficient respiratory capabilities. In the present study we mimic some essential features of the insect respiratory system by incorporating them in microfluidic devices. The feasibility of practical application of these techniques have been tested, at first, analytically by mathematically modeling the fluid flow in insect respiratory tract mimetic microchannels and tubes and then by fabricating, testing and analyzing the functionality of microfluidic devices. The mathematical models, using slip boundary conditions, showed that the volumetric fluid flow through a trachea mimetic tube decreased with the increase in the amount of slip. Apart from that it also revealed a fundamental difference between shear and pressure driven flow at the microscale. The microfluidic devices exhibited some unique characteristic features never seen before in valveless microfluidic devices and have the potential in reducing the actuation overhead. These devices can be used to simplify the operating procedure and subsequently decrease the production cost of microfluidic devices for various applications.

An innovative approach to possible construction or rehabilitation of bridge decks can be found in a bridge construction system called the Sandwich Plate System (SPS). The technology developed and patented by Intelligent Engineering Canada Limited in conjunction with an industry partner, Elastogran GmbH, a member of BASF, may be an effective alternative to traditional bridge rehabilitation techniques. Although the system's behavior has been studied the connection of the SPS deck to the supporting girders has not been investigated. Two types of connection are presented in this research. The use of a bent plate welded to the SPS deck and subsequently bolted to the supporting girder utilizing slip-critical connections has been utilized in the construction of a SPS bridge. A proposed SPS bridge system utilizes the top flange of the supporting girder welded directly to the SPS deck as the deck-to-girder connection. The fatigue performance of a deck-to-girder connection utilizing a bent plate welded to the deck and bolted to the supporting girder using slip-critical connections was tested in the Virginia Tech Materials and Structures Laboratory. The testing concluded that the fatigue performance of the welded and bolted bent plate connection was limited by the weld details and no slip occurred in the slip-critical connections. Finite element modeling of the two types of deck-to-girder connections was also used to determine influence of the connections on the local and global behavior of a SPS bridge system. A comparison of the different connection details showed that the connection utilizing the flange welded directly to the SPS deck significantly reduces the stresses at location of the welds in the connections, but the connection type has a limited influence on the global behavior of a SPS bridge. / Master of Science

The failure of oil well drillstrings due to torsional and longitudinal stresses caused by stick-slip phenomena during the drilling operation causes great expense to industry. Due to the complicated and harsh drilling environment, modelling of the drillstring becomes an essential requirement in studies. Currently, this is achieved by modelling the drillstring as a torsional lumped model (which ignores the length of the drillstring) for real-time measurement and control. In this thesis, a distributed-lumped model including the effects of drillstring length was developed to represent the drillstring, and was used to simulate stick-slip vibration. The model was developed with increasing levels of detail and the resultant models were validated against typical measured signals from the published literature. The stick-slip model describes the friction model that exists between the cutting tool and the rock. Based on theoretical analysis and mathematical formulation an efficient and adaptable model was created which was then used in the application of a method of species conserving genetic algorithm (SCGA) to optimise the drilling parameters. In conclusion, it was shown that the distributed-lumped model showed improved detail in predicting the transient response and demonstrated the importance of including the drillstring length. Predicting the response of different parameters along the drillstring is now possible and this showed the significant effect of modelling the drillcollar. The model was shown to better represent real system and was therefore far more suited to use with real time measurements. / Iraqi Government, Ministry of Higher Education and Scientific Research.

京都大学 / 新制・課程博士 / 博士(理学) / 甲第25122号 / 理博第5029号 / 京都大学大学院理学研究科地球惑星科学専攻 / (主査)教授 西村 卓也, 教授 宮﨑 真一, 教授 大見 士朗 / 学位規則第4条第1項該当 / Doctor of Science / Kyoto University / DGAM

Pour fabriquer des produits de petites tailles, appelés micro-produits, l'utilisation de systèmes de production de dimensions habituelles conduit à des problèmes difficile à surmonter : coûts d'investissement et de fonctionnement des outils de production et problèmes techniques à cause des éffets d'echelle. Il en résulte une situation non concurrentielle même pour des systèmes automatisés.<br />La solution d'avenir consiste à disposer de systèmes de production dont les dimensions et les coûts sont en rapport avec les produits concernés : c'est le concept de micro-usine (microfactory).<br />L'objectif de cette thèse porte sur la conception et la commande d'une station de micromanipulation dédiée à une micro-usine. Afin d'assurer une flexibilité maximale à la micro-usine, nous proposons d'aborder la problématique de sa conception en développant à son maximum le concept de modularité. Il semble être une clé pour intégrer les spécificités d'un microsystème de production. Cette modularité doit se trouver au niveau de la commande, autant pour les tâches à réaliser que pour le pilotage de la station de micromanipulation.

Ce travail de thèse a pour objectif de simuler numériquement des écoulements de gaz dans des matrices poreuses dont les pores sont de taille micrométrique. On étudie l'influence des phénomènes de glissement hydrodynamique qui apparaissent lorsque la dimension caractéristique de micro- conduites est caractérisée par des nombres de Knudsen compris entre Kn = 0,01 et Kn = 0,1.Le mémoire de thèse est composé de cinq chapitres suivis d'une conclusion dans laquelle nous présentons quelques perspectives pour une suite de ce travail. Le chapitre I constitue le travail préliminaire de thèse qui s'est ensuite orienté vers des approches complémentaires. Le principe des méthodes d'homogénéisation périodique est d'abord exposé. Suit une présentation de deux méthodes de résolution dans l'espace de Fourier : l'approche en déformation et l'approche en contrainte. L'extension de ces méthodes à la résolution d'écoulements régis par l'équation de Stokes est ensuite décrite. Des applications aux cas d'écoulements à travers des réseaux de cylindres, avec condition d'adhérence ou avec condition de glissement, sont ensuite discutées. Deux techniques de modélisation des phénomènes de transport dans des milieux poreux saturés par un fluide monoconstituant sont présentées dans le second chapitre. La première est basée sur la méthode des développements asymptotiques, appelée aussi méthode d'homogénéisation. On explique que le processus consiste en trois étapes : description locale, localisation et description macroscopique. La seconde technique s'appuie sur la méthode de calcul de moyennes à l'échelle d'un VER. Le point de départ de cette méthode est basé sur des théorèmes donnant les expressions des moyennes de tous les opérateurs intervenant dans une équation de transport. Après une brève présentation du logiciel commercialisé que nous avons utilisé, nous exposons les études de convergence spatiale que nous avons effectuées et nous comparons nos solutions avec des résultats de la littérature dans le chapitre III. Diverses géométries sont considérées (allant de géométries planes à des empilements 3D de cubes ou de sphères).L'effet du glissement sur la perméabilité de milieux microporeux est abordé dans le chapitre IV. Le formalisme résultant de l'homogénéisation de structures périodiques est utilisé pour simuler numériquement des écoulements isothermes de gaz dans divers empilements de complexités croissantes. Les perméabilités sont déterminées en calculant les moyennes spatiales des champs de vitesses, solutions des équations de Stokes. Les valeurs obtenues en imposant des conditions d'adhérence sont comparées à celles obtenues avec des conditions de glissement du premier ordre. Dans le chapitre V, nous présentons des solutions pour des écoulements anisothermes et étudions l'effet du glissement sur la conductivité effective de milieux microporeux 2D et 3D. Dans ce chapitre, nous résolvons les équations de Navier-Stokes et de l'énergie en imposant des conditions de symétries dans une ou deux directions. A partir des solutions locales, sont calculées les moyennes intrinsèques des champs de vitesse et de température. Nous considérons des cas pour lesquels la condition d'équilibre thermique local peut être considérée comme satisfaite et d'autres correspondant à un non-équilibre thermique (NTLE). On détermine les conductivités de dispersion en fonction du nombre du Péclet et on montre l'influence du glissement sur les composantes longitudinales et transverses pour différentes porosités et longueur de glissement. Dans les cas NLTE, le coefficient macroscopique de transfert fluide-solide est aussi calculé / This thesis aims at numerically simulating gas flows in porous matrices with micro-sized pores. We study the influence of hydrodynamic slip phenomena that appear when the characteristic dimension of micro pores is characterized by Knudsen numbers between Kn = 0.01 and Kn = 0.1.The thesis consists of five chapters followed by a conclusion in which we present some perspectives for further studies. Chapter I is the preliminary work of thesis that turned into complementary approaches. The principle of periodic homogenization methods is first exposed. We present then two methods in the Fourier space: the stress approach and the strain approach. The extension of these methods for solving flows governed by the Stokes equation is described in what follows. Applications to flows through networks of cylinders, subjected to no slip or slip condition, are then discussed. Two techniques for modeling transport phenomena in porous media saturated by a mono-component fluid are presented in the second chapter. The first is based on the method of asymptotic expansions, also known as homogenization method, based on the concept of separation of scales. It is explained that the process consists of three steps: local description, localization and macroscopic description. The second technique is based on the method of averaging at the level of a representative elementary volume (REV). The starting point of this method is based on the equations of Continuum Mechanics and theorems giving the averaged expressions of all operators involved in a transport equation. We show that it extends easily to gas flows in micro porous media. After a short presentation of the commercial software used, we present the spatial convergence studies carried out and we compare our solutions with the results of the literature in Chapter III. Various geometries are considered (plane to 3D geometries made of cubes or spheres), but these comparisons are limited to isothermal flows. The effect of slip on the permeability in micro porous media is discussed in Chapter IV. The resulting formalism of the periodic homogenization structures is used for numerical simulation of isothermal gas in various geometries of increasing complexity. The permeabilities are determined by calculating the spatial averages of velocity fields, solutions of the Stokes equations. The values obtained by imposing no slip conditions are compared with first order slip conditions. We discuss the relative increase in permeability due to slip according to the geometry of the pores. In Chapter V, we present the solutions for anisothermal flows and we study the effect of slip on the effective conductivity in 2D and 3D microporous media. In this chapter, we solve the Navier-Stokes and energy equations by imposing symmetry conditions in one or two directions. The intrinsic mean velocity and temperature fields are calculated from these local solutions. We consider cases where the local thermal equilibrium condition can be considered as satisfied and other corresponding to a non-local thermal equilibrium (NLTE). We determine the dispersion conductivity based on the Péclet number and show the influence of velocity slip on longitudinal and transverse components for various porosities and slip lengths. In NLTE cases, the macroscopic fluid-to-solid heat transfer coefficient is also calculated

O fenômeno de stick-slip, no processo de perfuração de poços de petróleo, é propiciado pela interação entre broca e formação rochosa e pode dar origem a grandes oscilações na velocidade angular podendo provocar danos irreparáveis ao processo. Neste trabalho, analisa-se o desempenho de leis de controle aplicadas à mesa rotativa (responsável por movimentar a coluna de perfuração), visando à redução de stick-slip e de oscilações da velocidade angular da broca. As leis de controle implementadas são do tipo PI (Proporcional-Integral), com parcelas de torque aplicado à mesa rotativa, proporcional e integral à velocidade da mesa, podendo ser com peso na broca constante ou variável. Para a coluna de perfuração, foi proposto um modelo em elementos finitos com função de forma linear. O torque na broca foi modelado segundo atrito de Coulomb pela forma não regularizada, curva esta ajustada pelos dados empíricos conforme propostas da literatura. Diversos critérios de desempenho foram analisados e foi observado que a minimização do desvio médio da velocidade angular em relação à referência propicia melhores condições de operação. Análises paramétricas dos ganhos de controle proporcional e integral foram realizadas, dando origem a curvas de nível para o desvio médio de velocidade angular na broca. A partir destas curvas, foram definidas regiões de estabilidade nas quais o desvio é aceitável. Estas regiões foram observadas serem maiores para menores pesos na broca e maiores velocidades angulares de referência e vice-versa. A adição do controle do peso na broca permitiu uma redução global dos níveis de desvio médio de velocidade angular, dando origem a um aumento das regiões de estabilidade do processo de perfuração. / The stick-slip phenomenon, in the process of drilling oil wells, due to the interaction between drill and rock formation can lead to large fluctuations in drill-bit angular velocity and, thus, cause irreparable damage to the process. In this work, the performance of control laws applied to the rotary table (responsible for moving the drill string) is analyzed, in order to reduce stick-slip and drill-bit angular velocity oscillations. The control laws implemented are based on a PI (Proportional-Integral) controller, for which the torque applied to the rotating table has components proportional and integral to table angular velocity with constant or variable WOB (Weight On Bit). For the drillstring, a finite element model with a linear interpolation was proposed. The torque on the drill-bit was modeled by a non-regularized Coulomb friction model, with parameters that were adjusted using empirical data proposed in literature. Several performance criteria were analyzed and it was observed that the minimization of the mean deviation of the drill-bit angular velocity relative to the target one would provide the best operating condition. Parametric analyses of proportional and integral control gains were performed, yielding level curves for the mean deviation of drill-bit angular velocity. From these curves, stability regions were defined in which the deviation is acceptable. These regions were observed to be wider for smaller values of WOB and higher values of target angular velocity and vice-versa. The inclusion of a controlled dynamic WOB reduced the levels of mean deviation of angular velocity, leading to improved stability regions for the drilling process.

This thesis deals with the design of an anti-skid brake controller for a generic fighter aircraft. Antiskid brake controllers prevent wheel locking and maximize the coefficient of friction between the tyre and the ground, resulting in lower stopping distance and time. The frictional force is maximized by regulating the slip. A model for the landing gear is first developed, which consists of the translational and rotational motions of the wheel, the equation for the slip and the elastic landing gear strut dynamics. The elastic behaviour of the landing gear is characterized through its modal frequencies, obtained from a Finite element analysis. As the governing equations are nonlinear, with linear elastic deformations of the strut, feedback linearization is used to design the anti-skid controller. The brake controller is found to work well. Its stability is verified through numerical simulations. Both the plant parameters and the sensor measurements are perturbed up to 10% from their nominal values. It is seen that the feedback linearization tolerates these variations quite well. The system is exceptionally tolerant to sensor noises. The torsional stiffness of the strut is found to be more critical than the longitudinal stiffness. Limits on the torsional stiffness that can be tolerated by the controller are found. This determines the limits on the stiffness of the landing gear beyond which gear walk may appear. The thesis concludes with suggestions for future work in this exciting field.

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