DOCSLIB.ORG

Design, Modeling and Control of Magnetorheological Fluid-Based Force Feedback Dampers for Telerobotic Systems

Total Page：16

File Type：pdf, Size：1020Kb

Download full-text PDF Read full-text
Design, Modeling and Control of Magnetorheological Fluid-Based Force Feedback Dampers for Telerobotic Systems DESIGN, MODELING AND CONTROL OF MAGNETORHEOLOGICAL FLUID-BASED FORCE FEEDBACK DAMPERS FOR TELEROBOTIC SYSTEMS DISSERTATION Presented in Partial Fulfillment of the Requirements for the Degree Doctor of Philosophy in the Graduate School of The Ohio State University By Farzad Ahmadkhanlou, M.S. * * * * * The Ohio State University 2008 Dissertation Committee: Professor Gregory N. Washington, Adviser Approved by Professor Stephen Bechtel Professor Vadim Utkin ______________________________ Professor Giorgio Rizzoni Adviser Mechanical Engineering Graduate Program ABSTRACT The overall goal of the research done in this dissertation is to develop next generation force feedback systems by combining novel Magnetorheological (MR) fluid based electromechanical systems with microstructural analysis and advanced control system design. Four MR fluid based systems are designed, prototyped and tested with medical applications: A two degree of freedom (2-DOF) force feedback joystick and a 5-DOF force feedback manipulator for telerobotic surgery application, a passive and a semi- active orthopedic knee brace for rehabilitation application. Furthermore, a force feedback steering wheel is modified using MR damper with application to steer-by-wire automobiles. The test results show the appropriate performance of MR fluid based systems used in haptic and force feedback applications. ii Dedicated to my dear parents and my beloved wife, Bahareh iii ACKNOWLEDGMENTS I would like to thank the Almighty God for his blessings and all the things He has given me. Everything I have is due to His compassion, mercy and beneficence. I would like to extend my sincere appreciation to my adviser, Professor Gregory Washington, for his intellectual support, technical guidance and encouragement throughout the course of this research. As a result of his excellent ability in teaching, I became so interested in control and smart materials that I changed my major and transferred to Mechanical Engineering. I am so glad I worked under his supervision and I am 100% sure I made the right decision. This research and dissertation could not have been completed without his continuous support and encouragement. I would also like to thank my co-advisor, Professor Stephen Bechtel, for all of his support and technical guidance. I never forget the weekly group meetings I had with Professor Washington and Professor Bechtel. The meetings were not only informative but also full of fun! I would like to thank Professor Vadim Utkin and Professor Giorgio Rizzoni for being on my doctoral committee and giving invaluable inputs on my dissertation. It is my great honor to have them on my doctoral committee member. I am thankful to the National Science Foundation for supporting this research. iv I would like to thank my colleagues at the Intelligent Structures and Systems Laboratory (ISSL) for their help. Special thanks to Leon Headings for his help, time, and support. I would also like to thank Dr. Vijay Neelakantan, Dr. LeAnn Faidley, Dr. Hwan- Sik Yoon, Anthony Roy, Matt Detrick, Yingru Wang, Monon Mahboob, Mohsen Kolivand, Mohammad Shakiba, Amitesh Punhani, Byeongil Kim, Prashanth Ramesh, and Jamaal Zite. I thank Professor Menq and his student Yanan in the Mechanical Engineering Department for the Scanning Electron Microscope (SEM) images, Professor Kurt Koelling and his student Christopher Kagarisein in the Chemical Engineering Department for the rheological tests, and Professor Fengyuan Yang and his student Adam Hauser in the Physics Department for the magnetization tests on MR fluid samples. I would like to thank the Mechanical Engineering Department staff specially Mr. Joe West (electronics shop), Mr. Gary Gardner (machine shop), and Mr. Jerry Kingzett for their help. And finally, I wish to thank my mother and my late father for all of their support during my undergraduate and graduate studies. I would like to thank my wife, Bahareh, for her continuous support throughout my graduate studies. And I would like to thank my brother, Dr. Fariborz Ahmadkhanlou for all of his support. v VITA September 14, 1973………………………Born - Tehran, Iran 1996………………………………………B.S., Civil Engineering University of Tehran, Tehran, Iran 1994 - 1999……………………………….Engineer and Software Analyst/Programmer Rah-Shahr International Engineering Group Tehran, Iran 1999………………………………………M.S., Civil/Structural Engineering University of Tehran, Tehran, Iran 1998 - 2001……………………………….Software Analyst/Programmer Rayan-Sazeh Company, Tehran, Iran 1996 - 2000……………………………….Teaching Assistant and Instructor Department of Civil Engineering University of Tehran, Tehran, Iran 2001 - 2002……………………………….Graduate Research Associate Department of Civil Engineering The Ohio State University 2003 - 2008……………………………….Graduate Research Associate Department of Mechanical Engineering The Ohio State University 2005 ………………………………………M.S., Mechanical Engineering The Ohio State University March 2008 - Present……………………..Scientist/System Engineer US Hybrid, CA vi PUBLICATIONS Refereed Journal 1. Christopher Kagarise, Monon Mahboob, Farzad Ahmadkhanlou, Stephen Bechtel, Gregory N. Washington, and Kurt W. Koelling “The Measurement and Modeling of the Viscoelastic Response of Magnetorheological Fluids to Steady and Dynamic Shear”, to be submitted, 2008 2. Farzad Ahmadkhanlou, Gregory N. Washington, and Stephen Bechtel “Modeling and Control of Single and Two Degree of Freedom Magnetorheological Fluid-Based Haptic Systems for Telerobotic Surgery”, Journal of Intelligent Material Systems and Structures, November 2007 (Accepted) 3. Farzad Ahmadkhanlou, Monon Mahboob, Stephen Bechtel, and Gregory Washington, "Experiments and Models of the Magneto Rheological Behavior of High Weight Percent Suspensions of Carbonyl Iron Particles in Silicone Oil", Journal of Fluids Engineering, September 2007 (in Review) 4. Farzad Ahmadkhanlou, Yingru Wang, Stephen Bechtel, Gregory Washington, "An improved model for magnetorheological fluid-based actuators and sensors", International Journal of Engineering Science, December 2006 (in Review) Refereed Conference 1. Christopher Kagarise, Farzad Ahmadkhanlou, Monon Mahboob, Stephen Bechtel, and Gregory N. Washington “Experiments and Models of the Magneto Rheological Behavior of High Weight Percent Suspensions of Carbonyl Iron Particles in Silicone Oil”, ASME International Mechanical Engineering Congress and Exposition, 11-15 November 2007 Seattle, Washington (presentation only) 2. Farzad Ahmadkhanlou, Gregory Washington, and Stephen Bechtel, "Analysis and Development of Magnetorheological Fluid Based Transparent Haptic Systems", Proceedings of the 10th Electrorheological Fluids and Magnetorheological Suspensions Conference, Lake Tahoe, June 2006 3. Stephen Bechtel, Gregory Washington, Farzad Ahmadkhanlou, and Yingru Wang, "Microstructural Analysis and Control of Magneto- Rheological Fluid", Proceedings of ASME International Mechanical Engineering Congress, November 15-17, 2004, Anaheim, CA. vii Non-Refereed Conference 1. Farzad Ahmadkhanlou, Gregory Washington, and Stephen Bechtel, "The Development of a Five DOF Magnetorheological Fluid-Based Telerobotic Haptic System", 15th SPIE International Symposium, 9-13 March 2008, San Diego, CA 2. Farzad Ahmadkhanlou, Gregory Washington, and Stephen Bechtel, "Design, Modeling, and Control of Magnetorheological Fluid-Based Force Feedback Systems", NSF Civil, Mechanical, and Manufacturing Innovations, 7-10 January 2008, Knoxville, TN 3. Farzad Ahmadkhanlou, Jamaal L. Zite, and Gregory N. Washington, “A Magnetorheological Fluid Based Controllable Active Knee Brace”, 14th SPIE International Symposium, 18-22-March 2007, San Diego, CA 4. Farzad Ahmadkhanlou, Gregory Washington, Yingru Wang, Stephen Bechtel, "Magnetorheological Fluid Based Automotive Steer-By-Wire Systems", 13th SPIE International Symposium, Feb 22-March 3 2006, San Diego, CA 5. Jamaal L. Zite, Farzad Ahmadkhanlou, Vijay A. Neelakantan, and Gregory N. Washington, “A Magnetorheological Fluid Based Orthopaedic Active Knee Brace”, 13th SPIE International Symposium, Feb 22-March 3 2006, San Diego, CA 6. Farzad Ahmadkhanlou, Gregory Washington, Yingru Wang, Stephen Bechtel, "The Development of Variably Compliant Haptic Systems using Magnetorheological Fluids", 12th SPIE International Symposium, March 6- 10 2005, San Diego, CA Posters 1. Farzad Ahmadkhanlou, Gregory Washington, and Stephen Bechtel, "Design, Modeling, and Control of Magnetorheological Fluid-Based Force Feedback Systems", NSF Civil, Mechanical, and Manufacturing Innovations, 7-10 January 2008, Knoxville, TN 2. Jamaal L. Zite, Farzad Ahmadkhanlou, Vijay A. Neelakantan, and Gregory N. Washington, “A Magnetorheological Fluid Based Active Knee Brace”, Denman Undergraduate Research Forum, The Ohio State University, May 17, 2006, Columbus, OH 3. Jamaal L. Zite, Farzad Ahmadkhanlou, Vijay A. Neelakantan, and Gregory N. Washington, “A Magnetorheological Fluid Based Knee Brace”, OSEA Forum, The Ohio State University, August 18, 2006, Columbus, OH 4. Tamika Rentas, Farzad Ahmadkhanlou, and Gregory N. Washington, “A Door Locking Mechanism Using A Magnetorheological Fluid Based Hinge”, OSEA Forum, The Ohio State University, August 18, 2006, Columbus, OH viii FIELDS OF STUDY Major Field: Mechanical Engineering Major Areas of Specialization: Dynamics Systems, Smart Materials, Vibration and Control, Characterization & Modeling, Robotics, Mechatronics. Minor Fields: Civil/Structural Engineering, Computer Science Minor Areas of Specialization: Structural Analysis/Design, Software Analysis/Development.
Load more

Recommended publications
  • 14Th U.S. National Congress on Computational Mechanics
    14th U.S. National Congress on Computational Mechanics Montréal • July 17-20, 2017 Congress Program at a Glance Sunday, July 16 Monday, July 17 Tuesday, July 18 Wednesday, July 19 Thursday, July 20 Registration Registration Registration Registration Short Course 7:30 am - 5:30 pm 7:30 am - 5:30 pm 7:30 am - 5:30 pm 7:30 am - 11:30 am Registration 8:00 am - 9:30 am 8:30 am - 9:00 am OPENING PL: Tarek Zohdi PL: Andrew Stuart PL: Mark Ainsworth PL: Anthony Patera 9:00 am - 9.45 am Chair: J.T. Oden Chair: T. Hughes Chair: L. Demkowicz Chair: M. Paraschivoiu Short Courses 9:45 am - 10:15 am Coffee Break Coffee Break Coffee Break Coffee Break 9:00 am - 12:00 pm 10:15 am - 11:55 am Technical Session TS1 Technical Session TS4 Technical Session TS7 Technical Session TS10 Lunch Break 11:55 am - 1:30 pm Lunch Break Lunch Break Lunch Break CLOSING aSPL: Raúl Tempone aSPL: Ron Miller aSPL: Eldad Haber 1:30 pm - 2:15 pm bSPL: Marino Arroyo bSPL: Beth Wingate bSPL: Margot Gerritsen Short Courses 2:15 pm - 2:30 pm Break-out Break-out Break-out 1:00 pm - 4:00 pm 2:30 pm - 4:10 pm Technical Session TS2 Technical Session TS5 Technical Session TS8 4:10 pm - 4:40 pm Coffee Break Coffee Break Coffee Break Congress Registration 2:00 pm - 8:00 pm 4:40 pm - 6:20 pm Technical Session TS3 Poster Session TS6 Technical Session TS9 Reception Opening in 517BC Cocktail Coffee Breaks in 517A 7th floor Terrace Plenary Lectures (PL) in 517BC 7:00 pm - 7:30 pm Cocktail and Banquet 6:00 pm - 8:00 pm Semi-Plenary Lectures (SPL): Banquet in 517BC aSPL in 517D 7:30 pm - 9:30 pm Viewing of Fireworks bSPL in 516BC Fireworks and Closing Reception Poster Session in 517A 10:00 pm - 10:30 pm on 7th floor Terrace On behalf of Polytechnique Montréal, it is my pleasure to welcome, to Montreal, the 14th U.S.
    [Show full text]
  • Magnetorheological Fluid and Its Applications
    International Journal of Current Engineering and Technology E-ISSN 2277 – 4106, P-ISSN 2347 – 5161 ©2017 INPRESSCO®, All Rights Reserved Available at http://inpressco.com/category/ijcet Research Article Magnetorheological Fluid and its Applications Pranav Gadekar*, V.S.Kanthale and N.D.Khaire Mechanical Department, MITCOE, Pune University, Pune, Maharashtra, India Accepted 12 March 2017, Available online 16 March 2017, Special Issue-7 (March 2017) Abstract A Magneto rheological Fluid (MRF) is a Smart fluid whose viscosity can be varied by application of magnetic field. The MR Fluid has vast applications in various engineering as well as day to day life. There is huge potential that this revolutionary material will provide many leading edge applications. The fluid has applications in various fields such as automotive industry, household applications, prosthetics, civil engineering, hydraulics, brakes and clutches, etc. Also there is a possible application of the fluid in reducing the effect of Gun Recoil. This paper will describe these applications and working of proposed application. Keywords: MR Fluid, Viscosity, Dampers, Prosthetics, Gun Recoil. 1. Introduction To take full advantage of MRF technologythe base fluid must have a low viscosity and it should be constant 1 Rheos is a Greek word to Flow. Rheology is the science with temperature. This is required for variation due to if material flow under external load conditions. The applied magnetic field to be more effective than natural word Magnetorheological Fluid means fluid whose viscosity. The presences of suspended particles make apparent viscosity increases, with application of base fluid thicker. Commonly used base fluids are MAGNETIC field. Also known as MR fluids, these fluids mineral oils, hydrocarbon oils, and Silicon oils.
    [Show full text]
  • Development of an Energy-Harvesting Magnetorheological Fluid Damper
    University of Wollongong Research Online University of Wollongong Thesis Collection 1954-2016 University of Wollongong Thesis Collections 2016 Development of an energy-harvesting magnetorheological fluid damper Yun Lu University of Wollongong Follow this and additional works at: https://ro.uow.edu.au/theses University of Wollongong Copyright Warning You may print or download ONE copy of this document for the purpose of your own research or study. The University does not authorise you to copy, communicate or otherwise make available electronically to any other person any copyright material contained on this site. You are reminded of the following: This work is copyright. Apart from any use permitted under the Copyright Act 1968, no part of this work may be reproduced by any process, nor may any other exclusive right be exercised, without the permission of the author. Copyright owners are entitled to take legal action against persons who infringe their copyright. A reproduction of material that is protected by copyright may be a copyright infringement. A court may impose penalties and award damages in relation to offences and infringements relating to copyright material. Higher penalties may apply, and higher damages may be awarded, for offences and infringements involving the conversion of material into digital or electronic form. Unless otherwise indicated, the views expressed in this thesis are those of the author and do not necessarily represent the views of the University of Wollongong. Recommended Citation Lu, Yun, Development of an energy-harvesting magnetorheological fluid damper, Master of Philosophy thesis, School of Mechanical, Materials and Mechatronic Engineering, University of Wollongong, 2016.
    [Show full text]
  • Magnetic Fluid Rheology and Flows
    Current Opinion in Colloid & Interface Science 10 (2005) 141 – 157 www.elsevier.com/locate/cocis Magnetic fluid rheology and flows Carlos Rinaldi a,1, Arlex Chaves a,1, Shihab Elborai b,2, Xiaowei (Tony) He b,2, Markus Zahn b,* a University of Puerto Rico, Department of Chemical Engineering, P.O. Box 9046, Mayaguez, PR 00681-9046, Puerto Rico b Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science and Laboratory for Electromagnetic and Electronic Systems, Cambridge, MA 02139, United States Available online 12 October 2005 Abstract Major recent advances: Magnetic fluid rheology and flow advances in the past year include: (1) generalization of the magnetization relaxation equation by Shliomis and Felderhof and generalization of the governing ferrohydrodynamic equations by Rosensweig and Felderhof; (2) advances in such biomedical applications as drug delivery, hyperthermia, and magnetic resonance imaging; (3) use of the antisymmetric part of the viscous stress tensor due to spin velocity to lower the effective magnetoviscosity to zero and negative values; (4) and ultrasound velocity profile measurements of spin-up flow showing counter-rotating surface and co-rotating volume flows in a uniform rotating magnetic field. Recent advances in magnetic fluid rheology and flows are reviewed including extensions of the governing magnetization relaxation and ferrohydrodynamic equations with a viscous stress tensor that has an antisymmetric part due to spin velocity; derivation of the magnetic susceptibility
    [Show full text]
  • A Study of Active Engine Mounts
    A Study of Active Engine Mounts Examensarbete utfört i Reglerteknik vid Tekniska Högskolan i Linköping av Fredrik Jansson & Oskar Johansson Reg nr: LiTH-ISY-EX-3453-2003 Linköping 2003 F. JANSSON O. JOHANSSON A Study of Active Engine Mounts Examensarbete utfört i Reglerteknik vid Linköpings tekniska högskola av Fredrik Jansson och Oskar Johansson Reg nr: LiTH-ISY-EX-3453-2003 Supervisor: Andreas Eidehall Linköpings Universitet Claes Olsson Volvo Car Corporation Examiner: Professor Fredrik Gustafsson Linköpings Universitet Linköping 17th December 2003 F. JANSSON O. JOHANSSON A STUDY OF ACTIVE ENGINE MOUNTS Avdelning, Institution Datum Division, Department Date 2003-12-17 Institutionen för systemteknik 581 83 LINKÖPING Språk Rapporttyp ISBN Language Report category Svenska/Swedish Licentiatavhandling X Engelska/English X Examensarbete ISRN LITH-ISY-EX-3453-2003 C-uppsats D-uppsats Serietitel och serienummer ISSN Title of series, numbering Övrig rapport ____ URL för elektronisk version http://www.ep.liu.se/exjobb/isy/2003/3453/ Titel Studie av aktiva motorkuddar Title A Study of Active Engine Mounts Författare Fredrik Jansson and Oskar Johansson Author Sammanfattning Abstract Achieving better NVH (noise, vibration, and harshness) comfort necessitates the use of active technologies when product targets are beyond the scope of traditional passive insulators, absorbers, and dampers. Therefore, a lot of effort is now being put in order to develop various active solutions for vibration control, where the development of actuators is one part. Active hydraulic engine mounts have shown to be a promising actuator for vibration isolation with the benefits of the commonly used passive hydraulic engine mounts in addition to the active ones.
    [Show full text]
  • On the Rheology of Shear-Thickening and Magnetorheological Fluids Under Strong Confinement
    On the rheology of shear-thickening and magnetorheological fluids under strong confinement TESIS DOCTORAL Programa de Doctorado en Física y Ciencias del Espacio Elisa María Ortigosa Moya Directores Juan de Vicente Álvarez-Manzaneda Roque Isidro Hidalgo Álvarez Grupo de Física de Fluidos y Biocoloides Departamento de Física Aplicada 2020 Editor: Universidad de Granada. Tesis Doctorales Autor: Elisa María Ortigosa Moya ISBN: 978-84-1306-706-3 URI: http://hdl.handle.net/10481/65310 A mis padres y mi hermana. A los hijos de la tierra y los peces de ciudad. Agradecimientos Llega el momento de dedicar unas líneas de agradecimiento sincero a todos aquellos que de una u otra manera han estado a mi lado en días de sol, nubes y lluvia, ofreciéndome su ayuda, apoyo y tiempo para llevar a buen término esta tesis. En primer lugar quiero comenzar por dar las gracias a mis directores de tesis. A Juan, por ofrecerme la posibilidad de trabajar junto a él, un excepcio- nal investigador con capacidad para guiar el trabajo de cada vez más gente y hacerlo bien, además. Y a Roque, un insaciable aprendiz que contagia su ilu- sión por la ciencia. Gracias por lo aprendido y por vuestra confianza, consejos y paciencia durante estos años. Gracias también a los miembros del Departamento de Física Aplicada, en especial al Grupo de Física de Fluidos y Biocoloides, por dejarme aprender de vosotros en cada seminario y ayudarme en lo que he necesitado: Ana Belén, Julia, Alberto, Arturo, Teresa, Wagner, Curro y Miguel Ángel. A María, por su disposición y su sonrisa imborrable; a Pepe, compañero en el sótano con quien habría disfrutado en clase como alumna; a Delfi por sus firmas y cariño; a Miguel Cabrerizo, por acercar la ciencia a la gente; y especialmente a María José, Fernando y Stefania, por su constante ayuda en las prácticas de Biofísica cada curso.
    [Show full text]
  • Development of a Novel Variable Stiffness and Damping Magnetorheological Fluid Ad Mper Shuaishuai Sun University of Wollongong, [email protected]
    University of Wollongong Research Online Faculty of Engineering and Information Sciences - Faculty of Engineering and Information Sciences Papers: Part A 2015 Development of a novel variable stiffness and damping magnetorheological fluid ad mper Shuaishuai Sun University of Wollongong, [email protected] Jian Yang University of Wollongong, [email protected] Weihua Li University of Wollongong, [email protected] Huaxia Deng Hefei University of Technology Haiping Du University of Wollongong, [email protected] See next page for additional authors Publication Details Sun, S., Yang, J., Li, W., Deng, H., Du, H. & Alici, G. (2015). Development of a novel variable stiffness and damping magnetorheological fluid ad mper. Smart Materials and Structures, 24 (8), 085021-1-085021-10. Research Online is the open access institutional repository for the University of Wollongong. For further information contact the UOW Library: [email protected] Development of a novel variable stiffness and damping magnetorheological fluid ad mper Abstract This paper reports a novel magnetorheological fluid MR( F)-based damper, which synergizes the attributes of variable stiffness and damping through the compact assembly of two MRF damping units and a spring. The magnetic field densities of the two damping units were analyzed. After the prototype of the new MRF damper, a hydraulically actuated MTS machine was used to test the damper's performance, including stiffness variability and damping variability, amplitudedependent responses and frequency-dependent responses. A new mathematical model was developed to describe the variable stiffness and damping MRF damper. The successful development, experimental testing and modeling of this innovative variable stiffness and damping MRF damper make the true design and implementation of the concept of variable stiffness and damping feasible.
    [Show full text]
  • Adaptive Energy-Absorbing Materials Using Field-Responsive Fluid
    INSTITUTE OF PHYSICS PUBLISHING SMART MATERIALS AND STRUCTURES Smart Mater. Struct. 16 (2007) 106–113 doi:10.1088/0964-1726/16/1/013 Adaptive energy-absorbing materials using field-responsive fluid-impregnated cellular solids Suraj S Deshmukh and Gareth H McKinley Hatsopoulos Microfluids Laboratory, Department of Mechanical Engineering and Institute of Soldier Nanotechnologies (ISN), Massachusetts Institute of Technology, Cambridge, MA 02139, USA E-mail: [email protected] Received 21 April 2005, in final form 26 September 2006 Published 6 December 2006 Online at stacks.iop.org/SMS/16/106 Abstract Adaptive materials with rapidly controllable and switchable energy-absorption and stiffness properties have a number of potential applications. We have developed, characterized and modeled a class of adaptive energy-absorbing systems consisting of nonlinear poroelastic composites wherein a field-responsive fluid, such as a magnetorheological fluid or a shear-thickening fluid, has been used to modulate the mechanical properties of a cellular solid. The mechanical properties and energy-absorbing capabilities of the composite are studied for variations in design parameters including imposed field strength, volume fraction of the field-responsive fluid within the composite and impact strain rates. The total energy absorbed by these materials can be modulated by a factor of 1- to 50-fold for small volume fractions of the fluid (∼15%) using moderate magnetic fields varying from 0 to 0.2 T. A scaling model is also proposed for the fluid–solid composite mechanical behavior that collapses experimental data onto a single master curve. The model allows optimization of the composite properties in tune with the application requirements.
    [Show full text]
  • Phd THESIS Experimental Characterization, Modeling and Simulation of Magneto-Rheological Elastomers Tobias Pössinger
    PhD THESIS Experimental Characterization, Modeling and Simulation of Magneto-Rheological Elastomers Tobias Pössinger To cite this version: Tobias Pössinger. PhD THESIS Experimental Characterization, Modeling and Simulation of Magneto- Rheological Elastomers. Engineering Sciences [physics]. Ecole Polytechnique, 2015. English. tel- 01228853 HAL Id: tel-01228853 https://pastel.archives-ouvertes.fr/tel-01228853 Submitted on 13 Nov 2015 HAL is a multi-disciplinary open access L’archive ouverte pluridisciplinaire HAL, est archive for the deposit and dissemination of sci- destinée au dépôt et à la diffusion de documents entific research documents, whether they are pub- scientifiques de niveau recherche, publiés ou non, lished or not. The documents may come from émanant des établissements d’enseignement et de teaching and research institutions in France or recherche français ou étrangers, des laboratoires abroad, or from public or private research centers. publics ou privés. PhD THESIS OF ECOLE POLYTECHNIQUE Submitted by: Tobias PöSSINGER in Partial Fulfillment of the Requirements for the Degree of DOCTOR OF PHILOSOPHY SPECIALTY: Mechanics Experimental Characterization, Modeling and Simulation of Magneto-Rheological Elastomers Prepared at the Sensorial and Ambient Interfaces Laboratory, CEA LIST, and at the Solid Mechanics Laboratory, LMS Defended on the 22th of June 2015 Before the Committee: Mr. Krishnaswamy Professor University of Texas at Rapporteur RAVI-CHANDAR Austin Mr. Jean-Claude Research LMA, Marseille Rapporteur MICHEL Director Mr. Habibou Professor ENSTA Paristech, Head of the MAITOURNAM Palaiseau Commitee Mr. Pedro Professor University of Examiner PONTE CASTAñEDA Pennsylvania Mr. Olivier Professor LMT, Cachan Examiner HUBERT Ms. Laurence Assistant Ecole Polytechnique, Examiner BODELOT Professor Palaiseau Mr. Nicolas Research LMS, Palaiseau Advisor TRIANTAFYLLIDIS Director Mr.
    [Show full text]
  • Semi-Active Vibration Control Using Smart Fluid
    RESEARCH TOWARDS THE DESIGN OF A NOVEL SMART FLUID DAMPER USING A MCKIBBEN ACTUATOR by Haithem Ismail Elderrat Submitted for the degree of Master of Philosophy June 2013 Department of Mechanical Engineering Supervisors Dr Neil Sims and Dr Jem Rongong i SUMMARY Vibration reducing performance of many mechanical systems, decreasing the quality of manufactured products, producing noise, generating fatigue in mechanical components, and producing an uncomfortable environment for human bodies. Vibration control is categorized as: active, passive, or semi-active, based on the power consumption of the control system and feedback or feed forward based on whether sensing is used to control vibration. Semi-active vibration control is the most attractive method; one method of semi-active vibration control could be designed by using smart fluid. Smart fluids are able to modify their effective viscosity in response to an external stimulus such as a magnetic field. This unique characteristic can be utilised to build semi-active dampers for a wide variety of vibration control systems. Previous work has studied the application of smart fluids in semi-active dampers, where the kinetic energy of a vibrating structure can be dissipated in a controllable fashion. A McKibben actuator is a device that consists of a rubber tube surrounded by braided fibre material. It has different advantages over a piston/cylinder actuator such as: a high power to weight ratio, low weight and less cost. Recently McKibben actuator has appeared in some semi-active vibration control devise. This report investigates the possibility of designing a Magnetorheological MR damper that seeks to reduce the friction in the device by integrating it with a McKibben actuator.
    [Show full text]
  • Università Degli Studi Di Napoli “Federico II” Facoltà Di Ingegneria
    Università degli Studi di Napoli “Federico II” Facoltà di Ingegneria Dipartimento di Ingegneria dei Materiali e della Produzione Research Doctoral Thesis in Ingegneria Chimica, dei Materiali e della Produzione XVIII Cycle (2002-2005) MAGNETO-ELASTIC CHARACTERIZATION AND THERMAL STABILITY OF THE COMPOSITE MATERIALS MADE OF MAGNETIC AND NON-MAGNETIC CONSTITUENTS Coordinator: Prof. Nino Grizzuti Supervisor: Prof. Paolo Netti Student: Cornelia Lorelai Hison Advisor: Prof. Luciano Lanotte 1 ACKNOWLEDGEMENTS Without the support of the following people, the work presented in this dissertation would not have been possible. Most importantly, I would like to express my sincere gratitude to my advisor, Luciano Lanotte, outstanding educator, for his encouragement and care at all levels, and for his expert guidance and mentorship in my professional development. He had a decisive influence over my life and my future, giving me the opportunity to work in his research group. Thank you, Professor Lanotte! I would like to thank Prof. Paolo Netti, who accepted to be my supervisor. A special thank to my colleagues Giovanni Ausanio and Vincenzo Iannotti for their substantial help and pertinent observations and discussions throughout the experimental work and data analysis. I am also grateful to Cesare Luponio for his generous assistance during the experiments and for the useful discussions on polymers. Thanks are extended also to Antonio Maggio and Stefano Marrazzo for technical assistance. I would like to express my special thanks and gratitude to my parents in low, Desdemona and Giacomo Germano for their love, spiritual and material support, and for the wonderful moments we spent together in the last four years since I am here, providing me a warm and familiar environment.
    [Show full text]
  • [Thesis Title Goes Here]
    ABRASIVE ASSISTED BRUSH DEBURRING OF MICROMILLED FEATURES WITH APPLICATION TO A NOVEL SURGICAL DEVICE A Dissertation Presented to The Academic Faculty by George K. Mathai In Partial Fulfillment of the Requirements for the Degree PhD in the George W. Woodruff School of Mechanical Engineering Georgia Institute of Technology May 2013 ABRASIVE ASSISTED BRUSH DEBURRING OF MICROMILLED FEATURES WITH APPLICATION TO A NOVEL SURGICAL DEVICE Approved by: Prof. Shreyes Melkote, Co-Advisor Prof. Steven Danyluk George W. Woodruff School of George W. Woodruff School of Mechanical Engineering Mechanical Engineering Georgia Institute of Technology Georgia Institute of Technology Prof. David Rosen, Co-Advisor Prof. Ken Gall George W. Woodruff School of School of Material Science and Mechanical Engineering Engineering Georgia Institute of Technology Georgia Institute of Technology Dr. Timothy Olsen, MD Department of Ophthalmology Emory University Date Approved: December 05, 2012 ACKNOWLEDGEMENTS I would like to thank the following people for making this thesis possible: Jesus Christ: My hope, reason for living and inspiration. My family: Dad, Mom, Mathew, Vinaya and their families. Your support, encouragement and prayers are invaluable. My Advisors: Prof. Melkote and Prof. Rosen. Your guidance and inspiration has been critical to the contents of this study as well as my formation as a doctoral student. My committee members: Prof. Danyluk, Prof. Gall and Dr. Olsen, for your erudite comments that have gone a long way in improving the quality of this study. Special thanks to Dr. Olsen for way more than just monetary support for this project. Funding Agencies: Dobbs Foundation, EmtechBio, Georgia Research Alliance, Research to Prevent Blindness.
    [Show full text]