884 research outputs found

    Characterisation and State Estimation of Magnetic Soft Continuum Robots

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    Minimally invasive surgery has become more popular as it leads to less bleeding, scarring, pain, and shorter recovery time. However, this has come with counter-intuitive devices and steep surgeon learning curves. Magnetically actuated Soft Continuum Robots (SCR) have the potential to replace these devices, providing high dexterity together with the ability to conform to complex environments and safe human interactions without the cognitive burden for the clinician. Despite considerable progress in the past decade in their development, several challenges still plague SCR hindering their full realisation. This thesis aims at improving magnetically actuated SCR by addressing some of these challenges, such as material characterisation and modelling, and sensing feedback and localisation. Material characterisation for SCR is essential for understanding their behaviour and designing effective modelling and simulation strategies. In this work, the material properties of commonly employed materials in magnetically actuated SCR, such as elastic modulus, hyper-elastic model parameters, and magnetic moment were determined. Additionally, the effect these parameters have on modelling and simulating these devices was investigated. Due to the nature of magnetic actuation, localisation is of utmost importance to ensure accurate control and delivery of functionality. As such, two localisation strategies for magnetically actuated SCR were developed, one capable of estimating the full 6 degrees of freedom (DOFs) pose without any prior pose information, and another capable of accurately tracking the full 6-DOFs in real-time with positional errors lower than 4~mm. These will contribute to the development of autonomous navigation and closed-loop control of magnetically actuated SCR

    Evacuação de Edifícios – Caso de estudo de um edifício escolar

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    O objetivo deste trabalho é o levantamento dos aspetos que influenciam o tempo de evacuação num edifício escolar, desde o comportamento humano às caraterísticas físicas do edifício e às metodologias possíveis de adotar para a gestão da emergência, com vista a calcular o tempo necessário e disponível para a evacuação do referido edifício. A evacuação de edifícios em situação de incêndio tem como propósito a proteção da vida humana que é inseparável das condições de emergência as quais são afetadas por fatores de difícil determinação e que necessitam de ser definidos para estimar o tempo e as condições de evacuação.info:eu-repo/semantics/publishedVersio

    Mathematical modelling and numerical simulation of physical cloud processes in a wide range of spatiotemporal scales

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    The mathematical modelling and numerical simulation of clouds and climate include numerous phenomena that are tough nuts to crack as they cover a wide range of spatiotemporal scales. In many ways, time is a vital factor, for instance, predicting the significance of a millisecond phenomenon for the future century is a major undertaking. Additionally, the computational time required by numerical models is a challenge. Luckily, we have a fine set of tools in our mathematical backpack. Here, we explore how a detailed cloud model can be improved to simulate the interactions with ice crystals. A new ice microphysics module is validated against a set of similar cloud models. Further on, the cloud model is shown to be an improvement over the previous generation of cloud models as it incorporates detailed aerosol-cloud interactions, which in our study is shown to impact cloud lifetime through ice nuclei recycling and marine ice nuclei import via updrafts. Additionally, the cloud model, which has a fine resolution in the order of meters, is harnessed to develop three different emulators to represent selected cloud processes in an improved detailed way. Emulators can be called also parametrisation or a machine learning model. Further on, created parameterisations are implemented within a global climate model, which has a much coarser resolution in the order of 10–100 kilometres. The implementation enables more precise climate simulations by having a more detailed subgrid scale description of cloud processes. As an adventurous side quest, we elaborate on how the proof-of-concept emulator could be embellished by showing an optimised way of creating the design of the simulation experiment in our applied case and we compare our results with the proof-of-concept method used in the study where the emulators were created

    Advanced Materials and Technologies in Nanogenerators

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    This reprint discusses the various applications, new materials, and evolution in the field of nanogenerators. This lays the foundation for the popularization of their broad applications in energy science, environmental protection, wearable electronics, self-powered sensors, medical science, robotics, and artificial intelligence

    Engineering for a changing world: 60th Ilmenau Scientific Colloquium, Technische Universität Ilmenau, September 04-08, 2023 : programme

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    In 2023, the Ilmenau Scientific Colloquium is once more organised by the Department of Mechanical Engineering. The title of this year’s conference “Engineering for a Changing World” refers to limited natural resources of our planet, to massive changes in cooperation between continents, countries, institutions and people – enabled by the increased implementation of information technology as the probably most dominant driver in many fields. The Colloquium, supplemented by workshops, is characterised but not limited to the following topics: – Precision engineering and measurement technology Nanofabrication – Industry 4.0 and digitalisation in mechanical engineering – Mechatronics, biomechatronics and mechanism technology – Systems engineering – Productive teaming - Human-machine collaboration in the production environment The topics are oriented on key strategic aspects of research and teaching in Mechanical Engineering at our university

    Development of a chipless RFID based aerospace structural health monitoring sensor system

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    Chipless Radio Frequency Identification (RFID) is modern wireless technology that has been earmarked as being suitable for low-cost item tagging/tracking. These devices do not require integrated circuitry or a battery and thus, are not only are cheap, but also easy to manufacture and potentially very robust. A great deal of attention is also being put on the possibility of giving these tags the ability to sense various environmental stimuli such as temperature and humidity. This work focusses on the potential use of chipless RFID as a sensor technology for aerospace Structural Health Monitoring. The project is focussed on the sensing of mechanical strain and temperature, with an emphasis placed on fabrication simplicity, so that the final sensor designs could be potentially fabricated in-situ using existing printing technologies. Within this project, a variety of novel chipless RFID strain and temperature sensors have been designed, fabricated and tested. A thorough discussion is also presented on the topic of strain sensor cross sensitivity, which places emphasis on issues like, transverse strain, dielectric constant variations and thermal swelling. Additionally, an exploration into other key technological challenges was also performed, with a focus on challenges such as: accurate and reliable stimulus detection, sensor polarization and multi-sensor support. Several key areas of future research have also been identified and outlined, with aims related to: Enhancing strain sensor fabrication simplicity, enhancing temperature sensor sensitivity and simplicity and developing a fully functional interrogation system

    Coupled point neutron kinetics and thermal-hydraulics models of transient nuclear criticality excursions in wetted fissile uranium dioxide (UO2) powders

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    This thesis describes a phenomenologically based mathematical and computational methodology for the simulation of a postulated transient nuclear criticality excursion initiated by the incursion of water, from a fire-sprinkler system, into a bed of dry UO2 powder. These potentially hazardous multi-phase dispersed particulate systems may form as a result of a fire or explosion in a nuclear fuel fabrication facility. The models proposed in this thesis aim to support nuclear criticality safety analysis and assessment. In addition, the development of these models aims to support emergency planning and preparedness. The point neutron kinetics equations are coupled to phenomenological models of water infiltration, sedimentation, fluidisation, nuclear thermal hydraulics, radiolysis and boiling, through the use of multivariate reactivity feedback components. The spatial and temporal solution of this set of equations enables the modelling of postulated transient nuclear criticality excursions in highly dispersed three-phase particulate systems of UO2 powder. The results indicate that there is the potential for large positive reactivities to be added to a UO2 powder system as pores become filled with water. Generally, thermal expansion and Doppler broadening are insufficient to control the transient, leading to significant radiolysis and boiling on the surface of the UO2 powder particles. Radiolytic gas and steam bubble induced fluidisation and sedimentation significantly alters the characteristics of a transient nuclear criticality excursion and should be carefully considered. Research has also been undertaken examining transient nuclear criticality excursions in weak intrinsic neutron source UO2 powder systems by solving the forward probability balance equation and using a Gamma probability distribution function to estimate mean wait-time probability distributions. Significant variations in the potential initial peak power are predicted for highly enriched, wetted, UO2 powders as a function of the stochastic behaviour associated with criticality excursions in low neutron population systems.Open Acces
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