This thesis focuses on the use of smart materials in microrobotic applications. The development of materials with the capabilities to mechanically respond to electrical stimuli or, at the same time, to electrically respond to mechanical stimuli, has entailed the microrobotics rapid evolution. Along this thesis the use of three smart materials families in the filed of microrobotics is studied. The materials used are the piezoelectric ceramics, the piezoelectric polymers and the ionic polymers metal composites IPMC. The similitude in the way they respond to external stimuli has motivated this study. The three materials respond with an induced mechanical strain under the application of an electric field and respond with an induced electrical charge variation when a mechanical pressure is applied. Although these materials respond similarly, their application in microrobotic systems entails different problems. In this thesis their use in different applications is studied and the problems enclosed with their use are treated. First of all in this thesis the use of piezoelectric polymers and ionic polymers as materials for motion control of microrobots is studied. Their flexibility opens the door to new applications for microrobot systems as is the case of biomimetics. The first application regards the use of piezoelectric polymers in insect-like mm3 microrobot. The microrobot is composed with three legs and one antenna or tool for object collision based on piezoelectric polymers. The object collision tool is used as a sensor for motion control to avoid collisions with other objects. The work presented consists on the development of theoretical models to predict the motion of he leg and the tool of the microrobot. The second application regards the development of a control system for controlling the motion of an ionic polymer IPMC underwater. It is difficult to obtain physical models that describe the motion of these materials, thus it is important to design control strategy to work with IPMCs. Furthermore in this thesis, the problem of manufacturing electrodes for IPMC is also treated.In the second part of the thesis the use of piezoelectric ceramics to harvest power from mechanical vibrations is studied. Piezoelectric ceramics have higher energy densities compared with other methods for power harvesting from vibrations. In comparison with the piezoelectric polymers, the piezoelectric ceramics produce voltages and current levels more acceptable. From the study performed in this thesis the conditions for a maximum power generation are obtained and an optimum electronic circuit for energy storage and management is designed. At the end of the thesis the capabilities to harvest power using ionic polymers are studied.KEY WORDS: Smart Materials, Microrobotic, Harvesting, Motion Control, Fonic Polimer, FPMC Piezoelectric, Modelling / Aquesta tesis es centra en l'ús de materials "smart" o intel·ligents en aplicacions de microrobòtica. Al llarg de la tesi treballem amb tres famílies de materials "smart" diferents: les ceràmiques piezoelèctriques, els polímers piezoelèctrics i els polímers iònics coneguts com Ionic Polymer Metal Composites (IPMC). Aquests materials tenen en comú que al aplica'ls-hi un camp elèctric pateixen una deformació mecànica mentre que si els sotmetem a una deformació mecànica, aquests materials pateixen una variació en la seva càrrega elèctrica interna. Degut a aquestes propietats aquests materials poden ser utilitzats com a sensors o com a actuadors. A la primera part de la tesi estudiem l'ús dels polímers piezoelèctrics i dels polímers iònics per al control del moviment dels microrobots. La primera aplicació que es presenta tracta d'un microrobot de dimensions mm3 que utilitza els polímers piezoelèctrics com a potes i com a sensors de col·lisió. Tot seguit presentem una aplicació a on els IPMCs són utilitzats com a microposicionadors treballant sota de l'aigua. A la segona part de la tesis estudiem la viabilitat d'utilitzar les ceràmiques piezoelèctriques i els polímers iònics per a generar energia a partir de vibracions mecàniques residuals ambientals. L'estudi presentat determina els nivells de potència generats i les condicions òptimes per a la generació de la màxima potencia.

This thesis is intended to help eliminate misconceptions and missing information over the realm of smart materials, by offering a newly structured &lsquo / Information Hierarchy for Smart Materials Communication for Industrial / Product Design&rsquo / . Industrial and product designers are invited to use the findings of the thesis to assist in developing a common smart materials language and culture, enriched by details, technicalities, opportunities, and creative and innovative material attributes. The study commences with the creation of a concise and compact reservoir of technical knowledge on smart materials and critically contrasts two established systems of classification for smart materials. Then, the subject of materials information appropriate to industrial design is discussed, highlighting channels through which smart materials information may be communicated at an optimum level so as to be amenable to exploitation by industrial designers. A sectoral analysis of smart materials use follows, including the presentation of factors that may hinder their more extensive exploitation in major industrial sectors. v The thesis concludes that smart materials have potential to initiate a breakthrough in the materials universe, and that industrial designers have a role in promoting smart materials knowledge, the capabilities of smart materials, and their innovation possibilities. It is recomended that since smart materials are a new generation of materials quite different from the conventional, they be promoted carefully through the proposed Information Hierarchy.

In this research, two phases of work were conducted. First, an investigation into the durability concerns for precast prestressed concrete piles exposed to marine environments was conducted. The investigation characterized the durability concerns of chemical, biological, and physical deterioration mechanisms. The results of this study were used to develop potential high performance marine concretes (HPMC) that would be capable of 100+ year service lives in marine environments. Extensive durability testing and service life modeling of the HPMC was performed. Chloride ingress resistance was investigated using accelerated and long-term test procedures and the results used to perform service life modeling to predict the time before corrosion initiation. Sulfate resistance characterization was performed using multiple techniques to characterize the physical and chemical behavior of binder compositions containing binary or ternary mixes containing cement and supplementary cementitious materials (SCM's) subjected to a sulfate-laden environment. Accelerated carbonation testing and material characterization led to the finding of relationships in the chemical composition of mix designs and the observed durability and the results used to perform corrosion initiation service life modeling. An investigation into the influence of self-healing of cracked concrete led to fundamental findings on the behavior of chloride ingress for cracked concrete structures in marine environments. The results of this research led to the development of concrete mix designs capable of providing service lives over 100 years in Georgia's marine environments, as well as the advancement of the current state of knowledge on the durability characteristics of ternary mix designs.

Shape memory alloys (SMAs) are widely used in a broad variety of applications in multiscale devices ranging from nano-actuators used in nano-electrical-mechanical systems (NEMS) to large energy absorbing elements in civil engineering applications. This research introduces a multiscale analysis for SMAs, particularly Nickel-Titanium alloys (NiTi). SMAs are studied in a variety of length scales ranging from macroscale to nanoscale. In macroscale, a phenomenological constitutive framework is adopted and developed by adding the effect of phase transformation latent heat. Analytical closed-form solutions are obtained for modeling the coupled thermomechanical behavior of various large polycrystalline SMA devices subjected to different loadings, including uniaxial loads, torsion, and bending. Thermomechanical responses of several SMA devices are analyzed using the introduced solutions and the results are validated by performing various experiments on some large SMA elements. In order to study some important properties of polycrystalline SMAs that the macroscopic phenomenological frameworks cannot capture, including the texture and intergranular effects in polycrystalline SMAs, a micromechanical framework with a realistic modeling of the grains based on Voronoi tessellations is used. The local form of the first law of thermodynamics is used and the energy balance relations for the polycrystalline SMAs are obtained. Generalized coupled thermomechanical governing equations considering the phase transformation latent heat are derived for polycrystalline SMAs. A three-dimensional finite element framework is used and different polycrystalline samples are modeled. By considering appropriate distributions of crystallographic orientations in the grains obtained from experimental texture measurements of NiTi samples the effects of texture and the tension-compression asymmetry on the thermomechanical response of polycrystalline SMAs are studied. The interaction between the stress state (tensile or compressive), number of grains, and the texture on the thermomechanical response of polycrystalline SMAs is also studied. For studying some aspects of the thermomechanical properties of SMAs that cannot be studied neither by the phenomenological constitutive models nor by the micromechanical models, molecular dynamics simulations are used to explore the martensitic phase transformation in NiTi alloys at the atomistic level. The martensite reorientation, austenite to martensite phase transformation, and twinning mechanisms in NiTi nanostructures are analyzed and the effect of various parameters including the temperature and size on the phase transformation at the atomistic level is studied. Results of this research provide insight into studying pseudoelasticity and shape memory response of NiTi alloys at different length scales and are useful for better understanding the solid-to-solid phase transformation at the atomistic level, and the effects of this transformation on the microstructure of polycrystal SMAs and the macroscopic response of these alloys.

A new philosophy in structural health monitoring was explored, with the view to the creation of a smart mining bolt: one which would bear the normal load of any bolt used in South African gold mining tunnels, but at the same time be capable of monitoring its own level of damage. To this end, a survey of various smart materials currently used in structural health monitoring applications, was conducted, and a group known as strain memory alloys isolated as holding the most promise in this regard. Strain memory alloys give an indication of peak strain based on an irreversible transformation from paramagnetic austenite to ferromagnetic martensite, which occurs in direct proportion to the amount of strain experienced by the material. A measurement of magnetic permeability can therefore be correlated to peak strain. An extensive study of the alloying chemistry, material processing and transformation characteristics was therefore carried out, including an analytical model for the quantification of the energy associated with martensitic nucleation, at a dislocation-disclination level. The conditions within typical South African gold mining tunnels were evaluated, and a smart mining bolt design produced, based on the loading and environmental conditions present. Several material formulations were then proposed, melted, tested and evaluated against the relevant strength, corrosion and transformation criteria. A suitable material was selected and further tested. A working prototype bolt has been produced, and in situ tests of complete bolts, are scheduled to take place shortly. / Thesis (Ph.D.)-University of Natal, Durban, 2003.

The work contained herein is in pursuance of the Development of the SMART aircraft bolt. Failure of the bolt in the aircraft wing is taken for granted in the project, and the consequent repairs are presently very costly. The SMART material investigated in this work is the TRIP steel, and any reference to SMART material, in this work, shall at all time mean TRIP steel. Investigation of the stresses pertaining to bolts in general is carried out, based on the bolt theories and using the finite element analysis. An optimal bolt based on impact resistance only has also been suggested. Metallurgical behaviour of materials similar to TRIP materials is also investigated, including a section dedicated only to TRIP steels. Therefore, the work contained herein acts as a good base for further research. / Thesis (M.Sc.Eng.)-University of Natal, Durban, 2002.

abstract: “Smart” materials are used for a broad range of application including electronics, bio-medical devices, and smart clothing. This work focuses on development of smart self-sealing and breathable protective gear for soldiers against Chemical Weapon Agents (CWA). Specifically, the response of chemo-mechanical swelling polymer modified meshes to contact with stimuli droplets was studied. Theoretical discussion of the mechanism of smart materials is followed by development and experimental analysis of different modified mesh designs. A multi-physics model is proposed based on experimental data and the prototype of the fabric is tested in aerosol impingement conditions to confirm the barrier formed by rapid-self-sealing feature of the design. / Dissertation/Thesis / Masters Thesis Mechanical Engineering 2016

Made available in DSpace on 2014-06-11T19:27:14Z (GMT). No. of bitstreams: 0 Previous issue date: 2009-11-24Bitstream added on 2014-06-13T18:55:43Z : No. of bitstreams: 1 franco_vr_me_ilha.pdf: 5148348 bytes, checksum: 722b347f89e5e9a0aa5c379afe0dadba (MD5) / Financiadora de Estudos e Projetos (FINEP) / Este trabalho apresenta o estudo e desenvolvimento de uma técnica de monitoramento da integridade estrutural, para identificação e caracterização de falhas estruturais através da metodologia das ondas de Lamb utilizando materiais piezelétricos como sensores e atuadores. Ondas de Lamb são uma forma de perturbação elástica que se propaga guiada entre duas superfícies paralelas livres. Ondas de Lamb são formadas quando o atuador excita a superfície da estrutura com um pulso depois de receber um sinal. Quando uma onda propaga na superfície de uma placa, ela chega em um PZT sensor por diferentes caminhos. Um caminho é quando a onda atinge o sensor diretamente, ou seja, sem obstáculos no caminho em que ela se propaga. Outro caminho possível é quando a onda chega ao sensor após se propagar sobre descontinuidades existentes na superfície da estrutura. Com as várias características dos sinais recebidos, e com o uso de certas técnicas de processamento de sinais, essas falhas podem ser identificadas, realizando-se a ação correta tentando evitar a total falha da estrutura. Nesse contexto, diferentes testes experimentais foram realizados em diferentes tipos de estruturas. Redes de sensores e atuadores piezelétricos foram acopladas na superfície dessas estruturas, a fim de se fazer a configuração das ondas de Lamb. Os PZTs atuadores excitaram a estrutura em altas faixas de frequência. Diferentes tipos de falhas estruturais foram simuladas, através do aumento de massa, alteração de rigidez e através de cortes na borda das estruturas. Quatro índices de falha foram utilizados para detectar a presença da falha na estrutura, são eles: Root- Means-Square Deviation (RMSD), Índice de Falha Métrica (IFM), Norma H2 e Correlation Coefficient Deviation Mean (CCDM). Estes índices foram computados através dos sinais de entrada e de saída no domínio da frequência... / This work presents the study and development of a Structural Health Monitoring technique for identification and characterization of structural damages based on Lamb waves methodology using piezoelectric materials as actuators and sensors. Lamb waves are a form of elastic perturbation that remains guided between two parallel free surfaces. Lamb waves are formed when the actuator excites the structure’s surface with a pulse after receiving a signal. When the wave propagates on the structure, it comes in a PZT sensor from different paths. One path is when the wave reaches the sensor directly, i.e. without obstacles in the path in which it propagated. Another possible path is when the wave reaches the sensor after spreads on discontinuities in the structure’s surface. Damages can be detected and located through several features of the received signals and with the use of certain techniques of signal processing. In this context, several experimental tests were performed on different kinds of structures. Piezoelectric actuators and sensors networks were attached on the surface of these structures in order to make the Lamb waves configuration. The PZTs actuators excited the structure in high frequency ranges. Different kinds of structural damages were simulated by increasing mass, reduction of stiffness and cuts through the edge of the structures. Four damage-sensitive indexes were used to detect the presence of the damage in the structure: Root-Means-Square Deviation (RMSD), Metric Damage Index (MDI), H2 Norm and Correlation Coefficient Deviation (CCDM). These indices were computed in the frequency domain. The results showed the viability of the Lamb waves methodology for Structural Health Monitoring system using smart materials as actuators and sensors

Resumo: Este trabalho apresenta o estudo e desenvolvimento de uma técnica de monitoramento da integridade estrutural, para identificação e caracterização de falhas estruturais através da metodologia das ondas de Lamb utilizando materiais piezelétricos como sensores e atuadores. Ondas de Lamb são uma forma de perturbação elástica que se propaga guiada entre duas superfícies paralelas livres. Ondas de Lamb são formadas quando o atuador excita a superfície da estrutura com um pulso depois de receber um sinal. Quando uma onda propaga na superfície de uma placa, ela chega em um PZT sensor por diferentes caminhos. Um caminho é quando a onda atinge o sensor diretamente, ou seja, sem obstáculos no caminho em que ela se propaga. Outro caminho possível é quando a onda chega ao sensor após se propagar sobre descontinuidades existentes na superfície da estrutura. Com as várias características dos sinais recebidos, e com o uso de certas técnicas de processamento de sinais, essas falhas podem ser identificadas, realizando-se a ação correta tentando evitar a total falha da estrutura. Nesse contexto, diferentes testes experimentais foram realizados em diferentes tipos de estruturas. Redes de sensores e atuadores piezelétricos foram acopladas na superfície dessas estruturas, a fim de se fazer a configuração das ondas de Lamb. Os PZTs atuadores excitaram a estrutura em altas faixas de frequência. Diferentes tipos de falhas estruturais foram simuladas, através do aumento de massa, alteração de rigidez e através de cortes na borda das estruturas. Quatro índices de falha foram utilizados para detectar a presença da falha na estrutura, são eles: Root- Means-Square Deviation (RMSD), Índice de Falha Métrica (IFM), Norma H2 e Correlation Coefficient Deviation Mean (CCDM). Estes índices foram computados através dos sinais de entrada e de saída no domínio da frequência... (Resumo completo, clicar acesso eletrônico abaixo) / Abstract: This work presents the study and development of a Structural Health Monitoring technique for identification and characterization of structural damages based on Lamb waves methodology using piezoelectric materials as actuators and sensors. Lamb waves are a form of elastic perturbation that remains guided between two parallel free surfaces. Lamb waves are formed when the actuator excites the structure's surface with a pulse after receiving a signal. When the wave propagates on the structure, it comes in a PZT sensor from different paths. One path is when the wave reaches the sensor directly, i.e. without obstacles in the path in which it propagated. Another possible path is when the wave reaches the sensor after spreads on discontinuities in the structure's surface. Damages can be detected and located through several features of the received signals and with the use of certain techniques of signal processing. In this context, several experimental tests were performed on different kinds of structures. Piezoelectric actuators and sensors networks were attached on the surface of these structures in order to make the Lamb waves configuration. The PZTs actuators excited the structure in high frequency ranges. Different kinds of structural damages were simulated by increasing mass, reduction of stiffness and cuts through the edge of the structures. Four damage-sensitive indexes were used to detect the presence of the damage in the structure: Root-Means-Square Deviation (RMSD), Metric Damage Index (MDI), H2 Norm and Correlation Coefficient Deviation (CCDM). These indices were computed in the frequency domain. The results showed the viability of the Lamb waves methodology for Structural Health Monitoring system using smart materials as actuators and sensors / Orientador: Vicente Lopes Junior / Coorientador: Michael J. Brennan / Banca: Gilberto Pechoto de Melo / Banca: José Roberto de França Arruda / Mestre

Resumo: O presente trabalho tem como objetivo a aplicação da tecnologia de controle semi-ativo em suspensões veiculares, empregando amortecedores magnetoreológicos e controladores nebulosos. O princípio de funcionamento dos amortecedores magnetoreológicos é evidenciado a partir de um procedimento de identificação numérica onde os resultados obtidos pela técnica de modelagem apresentada são confrontados com dados experimentais coletados. O grande avanço experimentado pelos controladores nebulosos nos últimos anos tem aberto novas possibilidades de aplicação prática de tais controladores. O comportamento não linear dos amortecedores magnetoreológicos associado às variações paramétricas e não- linearidades presentes em modelos de suspensões veiculares são características que corroboram para o uso dos controladores nebulosos. A formulação básica para a análise e projeto destes controladores é discutida e analisada através de um conjunto de simulações numéricas efetuado para a avaliação da robustez, estabilidade e desempenho dos mesmos. A bancada experimental, constituída de um sistema de dois graus de liberdade contendo um amortecedor magnetoreológico, é apresentada e tem seus parâmetros principais identificados. Tal bancada é usada para comparar os resultados numéricos simulados com aqueles obtidos experimentalmente. O trabalho termina comentando as potencialidades da metodologia apresentada, discutindo as facilidades e dificuldades encontradas na sua implementação e aponta propostas para a sua continuidade / Abstract: This work focus on the investigation of semi-active vibration control technology in vehicle suspensions by using magneto-rheological dampers and fuzzy controllers. The operation principle of magneto-rheological dampers is verified by a numerical identification procedure and the results obtained by the presented modeling techniques are compared with the experimental collected data. The great progress tried by the fuzzy controllers in the last years has been opening new possibilities of practical application for these controllers. The non- linear behavior of the magnetorheological dampers associated to the parametric variations and non-linearities on vehicle suspension models corroborate to the use of the fuzzy controllers. The fundamental formulation of this controller is discussed and its robustness, stability and performance are shown through numeric simulations. An experimental apparatus representing a two degree-of-freedom system containing a magnetorheological damper is used to identify the main parameters and to compare the previous simulation results. This work is concluded presenting the potentialities of the design methodology proposed and future developments to be implemented / Orientador: Vicente Lopes Junior / Coorientador: Gustavo Luiz Chagas Manhães de Abreu / Banca: João Antonio Pereira / Banca: Bento Rodrigues de Pontes Júnior / Mestre