Classical mechanochemical kinetics do not explain the persistent and history-dependent fluorescence patterns observed in spiropyran (SP) to merocyanine (MC) transitions within elastomers. This thesis addresses this gap by developing a dual-imaging methodology that integrates Digital Image Correlation (DIC) with fluorescence imaging to establish a reproducible correlation between local strain fields and mechanophore activation. The approach employs synchronized acquisition under alternating green and near-infrared illumination, enabling co-registered speckle and fluorescence images at identical mechanical states. A custom-built hardware and software was implemented, combining automated stage control, LED modulation, and image capture within a unified interface. This framework ensures temporal and spatial alignment, while allowing full-field strain analysis and fluorescence quantification across identical deformation steps. The developed methodology demonstrates that fluorescence activation systematically coincides with regions of strain localization. While low-strain sensitivity is constrained by illumination artifacts, the integrated imaging provides robust quantitative correlations at higher strains. Beyond the immediate results, the framework establishes a transferable platform for testing mechanophores as molecular stress sensors, with applications in diagnostics, materials design, and the broader study of mechanochemistry in soft matter.

Due to the increasing demand for energy and the growing desire to reduce the dependence on fossil fuels in response to climate change, there is significant demand for rooftop solar panel installations. Unfortunately, a large part of roofs currently cannot support solar panels due to structural limitations. These roofs are typically designed to withstand only the weight of their own construction, for example isolation material, and the roof covering, and the snow loads imposed by the NEN-standards, and not the heavy weight of conventional solar panel systems or other installations. Rable has developed a construction solution specifically designed for roofs that would otherwise be too weak for solar panel installations.
The Rable system is a rigid structure composed of centers and sides that together form trusses in two directions. As a truss system, it is significantly stiffer than a standard solar panel structure. This increased stiffness allows the installation to transfer a portion of its weight to the purlins, which, in most cases, can handle more load than just snow. In addition, the Rable system is lighter than standard solar panel constructions.
To determine the actual deflection of the Rable system and understand how much it relies on the roof structure, the centers and sides were first analyzed separately under the load of the Rable system. The resulting deflections were then combined to calculate the deflections for various setups. Once the deflection of the Rable construction without a supporting roof was determined, additional calculations were performed for different configurations to evaluate how much the combined roof and the Rable construction would deflect, how much weight would be transferred to the purlins, and how much insulation would compress at the contact points.
To ensure that the construction is strong enough to support itself, the stiffness added by the Rable system to the roof was analyzed. In all but one setup, the construction added sufficient stiffness to support the additional weight. This means that the Rable system can be installed on most roofs.
To verify the deflection calculations, a 3D model was developed and the deflections were analyzed using the Finite Element Method (FEM). Although the FEM results aligned with the calculations in many cases, discrepancies were observed for some setups. These discrepancies were attributed to the fact that the FEM model was not extensive enough to include elements outside the observed section, which are necessary to counterbalance the system. This resulted in the Rable systems deflecting more in the FEM model for certain setups. However, for other setups, the FEM results matched the calculated values from the study.

In conclusion, the Rable system offers a viable solution for installing solar panels on structurally limited roofs. Its lightweight and stiff design, combined with its ability to transfer a significant portion of the load to the purlins, makes it suitable for many applications, provided that the specific roof conditions and materials are thoroughly analyzed and that an good solutions or alternative has been found for the current cable.

Composite materials can be used to fabricate flexible marine propellers, which can improve efficiency and reduce underwater radiated noise. Since the hydrodynamic performance of flexible propellers is determined by their deformation under fluid loading, similarity laws for flexible propeller scaling should account for the deformation in model experiments. This study introduces a non-dimensional parameter to characterise the deformation of flexible propellers and evaluates it through time-domain fluid–structure interaction simulations. A coupled solver combines unsteady Reynolds-Averaged Navier–Stokes equations with a finite-element structural solver. The study focuses on the Wageningen C4-40 propeller geometry under uniform inflow and is limited to isotropic materials.

A set of non-dimensional relations is derived through dimensional analysis, with a form of the Cauchy number expressing deformation amplitude. Validation using a Reynolds–Cauchy similarity approach on two geometrically similar propellers of different diameters confirms consistent deformation and less than 5\% difference in thrust and torque coefficients between model and full-scale propeller. The disparities in performance results are attributed to numerical artefacts in the fluid solver, as the results indicate that the $k-\omega$ SST turbulence model is sensitive to near-wall resolution.

Achieving full-scale Reynolds numbers in propeller test facilities is not feasible, yet simulations demonstrate that flexible propellers are sensitive to viscous forces. The study observes disparities in deformation extent across Reynolds numbers. The deformation of flexible propellers improves flow attachment over the blades. The overall Reynolds-number trends remain similar to the rigid results: thrust coefficients increase and torque coefficients decrease as Reynolds numbers increase. The open-water efficiency depends on both coefficients, and larger Reynolds numbers result in higher efficiencies.

The Froude–Cauchy scaling approach proves suitable for model experiments; however, material availability limits practical implementation. This study indicates that the steady-state deformation is primarily governed by stiffness, with negligible impact from the structural-to-fluid density ratio. In contrast, in unsteady conditions, the structural-to-fluid density ratio affects the modal frequencies, which describe the dynamic behaviour of propeller blades. Particularly, propellers with high skew, rake, or with anisotropic material properties are affected by structural-to-fluid density. Furthermore, this analysis observes that the first blade mode of a zero-skew angle propeller is pure bending, and a 30\% variation in structural density does not alter the natural frequency of this blade. However, coupled bend-twist modes are sensitive to the structural density, which therefore affects blade deformation in unsteady conditions.

In conclusion, the extent of propeller deformation can be controlled by a non-dimensional parameter expressing the ratio of elastic to hydrodynamic forces. For steady open-water conditions, deformation is additionally a function of Reynolds number. In unsteady conditions, the structural-to-fluid density ratio becomes relevant, as it alters coupled bend-twist modal frequencies. Thus, the deformation extent in this regime is, in addition to the Reynolds number, a function of fluid damping and the ratio of natural frequency to revolution rate. This study offers a basis for accurate scaling of flexible propellers in both experimental and computational studies.

This thesis presents an evaluation of pile run mitigation systems for decreasing the shockload in an offshore crane. Monopiles for windturbines at sea are installed with offshore cranes on jack-up or floating vessels. During driving of the monopile with an impact hammer, the pile can lose its support due to a sudden reduction in soil resistance. This causes falling of the pile which is called pile run. As the hammer has slack rope when it is supported by the pile, it will fall along with the pile until it is suddenly suspended in the crane rigging, which causes a shockload on the crane and in the crane wire. Different pile run and shockload mitigation solutions were collected, after which a shockload model was created with Matlab and Simulink. This model gives insight into the influence of the most important components of the hammer-crane-vessel system on the shockload and calculates the total shockload in sling, MH tackle and crane wire with or without a mitigation solution. It was found that the shock load model should include a hammer, sling, MH tackle, boom, boomhoist and reeving for accurate calculation of the shockload and for evaluation of the mitigation solutions. The vessel roll motion only has a small influence on the shockload and was neglected for the final shockload model. Most of the mitigation solutions were evaluated with the shockload model, except for the solutions that avoid hammer suspension in the crane. The other mitigation solutions were analysed and evaluated for the Bokalift 2 crane, all with the same conditions of 1m slack rope, free fall and a hammer mass of 1400t. As this is a quite conservative calculation, a plot with all the allowable combinations of slack rope length and average hammer acceleration was presented as the main conclusion of this work. With this, the soil resistance can also be taken into account to make the analysis and evaluation more realistic. The shock load absorber under the hook is suitable for reducing the shockload under the allowable load, whereas the shock load absorber in the crane reeving is not as it is too slow. The flexible sling is only a suitable mitigation solution when there is still sufficient soil resistance during the pile run. For free fall and 1m slack rope, it would not be sufficient as common sling materials have a too low strength/Emodulus ratio. Controlling the slack rope length or limiting pile speed is a suitable mitigation solution if the correct combination of slack rope length and average hammer acceleration (from slack to taut rope) can be guaranteed.

As offshore wind turbines grow beyond 15 MW, the logistical and mechanical challenges of installing large-diameter pin piles have intensified. Conventional upending methods, such as crawler crane-based operations, face increasing limitations in deck space efficiency, motion sensitivity, and operational persistency, thereby constraining the scalability of current offshore foundation installation practices. This study presents an integrated framework to identify and evaluate next-generation logistical concepts for pin pile handling. Through a structured morphological approach, over 120 storage, transport, and upending configurations were generated and screened through a Multi-Criteria Analysis (MCA). The top-performing concepts were further analyzed using Multi Operation Persistency (MOP) simulations to quantify weather downtime and operational duration. Cost modeling revealed that concepts combining in-grillage storage with tail-end rotation mechanisms significantly reduce project duration and total project costs compared to the baseline. Following from this, two refined mechanical solutions, Deck Rotation and Dutch Bike Rack, were developed, optimized for lifting height, and validated for structural and dynamic feasibility. Both mechanisms enable safe, reversible upending within compact vessel layouts. The results demonstrate that logistical integration and mechanical innovation can unlock new efficiencies in offshore wind foundation installation, offering scalable and cost-effective solutions for future energy infrastructure.

The installation of large diameter monopiles for offshore wind turbines presents new challenges as turbine sizes and water depths increase. Traditional deck-based upending methods are constrained by vessel capacity and workability. Seaway7’s Monopile Upending Smart Tool (MUST) enables suspended upending using crane based rigging and grommet connections, offering a more flexible alternative. While time-domain simulations have been recommended in prior studies, a fully coupled, continuous implementation has not yet been applied to this operation.

This thesis investigates how hydrodynamic effects influence the upending phase of a monopile suspended from a crane vessel. The increasing added mass due to larger submergence of the monopile generally increases the natural period of the pendulum oscillation. Partial submergence of the monopile causes intermittent slack in the upending lines, resulting in snap loads that are considered unacceptable for safe operation. For head seas conditions, the 60 degree upending angle was identified as the critical upending angle and governing configuration for the operation, due to the likelihood of snap loads in the upending line. However, the results also show that proposed mitigation measures, including damping strategies and monopile design, can significantly improve operability at this upending angle and thereby improve the overall feasibility of the operation.

A coupled time domain model was developed in OrcaFlex, including the vessel, crane, rigging, and a 125 m monopile. Hydrodynamic forces, including wave excitation, added mass, and damping, were applied based on site-specific sea states from a U.S. offshore wind location.

A central contribution is the development of a continuous upending simulation, capturing the full 0° through 90° upending motion in one simulation. This allows for dynamic updating of hydrodynamic properties and monopile orientation throughout the operation. Compared to quasi static analysis, the continuous approach avoids oscillation build up and tends to produce less conservative operability estimates.

The developed model offers a practical foundation for design optimisation and for assessing whether a continuous or quasi static simulation is more appropriate for a given analysis.

This Master's thesis explores the modelling of dynamic power cables (DPCs) used in floating offshore wind turbines (FOWTs), focusing on how lower- and higher-order models capture the cables' dynamic behaviour.

The study is motivated by the increasing use of floating offshore wind systems in deeper waters, where dynamic cables are required to transmit the power. To manage tension and reduce fatigue failure, a lazy wave configuration (LWC) is commonly employed as configuration for a dynamic power cable.

Two modelling techniques are compared: a custom-developed linear finite element model based on the Modal Superposition Method (MSM) and a more computationally intensive, non-linear model using OrcaFlex. The MSM approach is based on the linearisation of the system’s dynamic behaviour using mode shapes, which significantly reduces computational cost compared to high-fidelity methods like OrcaFlex. In fact, the MSM model runs over twelve times faster than OrcaFlex, making it particularly suitable for early-stage analysis. Results from both models are analysed in the time domain, with focus on displacements, bending moments and axial tension to identify fatigue-prone areas.

The findings show that the lower-order MSM model, while limited by linear assumptions, accurately captures displacement in tension-dominated regions and effectively identifies fatigue-prone locations. Compared to the OrcaFlex model, MSM computes conservative fatigue life estimates, as demonstrated through simulations across multiple surge spectra, imposed at the top-end. In contrast, the higher-order OrcaFlex model, which accounts for geometric non-linearities, offers more accurate predictions under larger wave loads and is better suited for detailed fatigue analysis of selected sea states.

To address the maritime industry’s need for reduced fuel consumption and greenhouse gas emissions, this study explores the integration of wind-assisted ship propulsion (WASP) into existing deck equipment. Specifically, it investigates the feasibility and performance of incorporating a Flettner rotor into a crane structure on a general cargo vessel. A concept development phase identified the rotor-integrated design as the most promising option, followed by a performance evaluation phase using four case studies. These cases examined the effects of rotor sizing, rotor positioning, wake interference from cargo, and the aerodynamic impact of the crane boom. Results show that while integrated rotors face performance constraints compared to standalone systems, mainly due to size limitations, their elevated mounting position can offer advantages. The study concludes that integrating a Flettner rotor into a crane is viable, offering space-saving benefits, though further research is needed to refine aerodynamic modeling and validate the mechanical design.

Locomotion over granular terrain poses significant challenges for autonomous robotic systems, particularly in coastal regions characterized by loose, shifting sands. These sandy surfaces exhibit unpredictable behaviour, alternating between solid-like and fluid-like states, making movement across them particularly difficult. Ensuring reliable mobility on such terrains is essential for tasks like environmental monitoring, infrastructure inspection, and search-and-rescue missions. This thesis presents a simulation-aided design approach to develop a soft, shape-adapting, wheeled locomotion system optimized for sandy terrains. A co-simulation framework combining the discrete element method (DEM) and multibody dynamics (MBD) is employed to simulate the locomotion of a wheeled robot on varying sandy soils, covering both dry and wet sandy soil conditions. DEM models individual sand particles and their contact interactions, while MBD captures the robot’s motion and mechanical behaviour. Using this approach, a shape-adapting wheel was designed with inflatable soft elements placed between rigid lugs. The inflation state changes the wheel geometry, allowing it to adapt to different terrain conditions. The wheel can transform between a lugged configuration for increased traction and a circular configurations for smoother travel. The robot prototype, built around this wheel concept, was evaluated in simulations on various sandy soils, including dry, wet, and very wet sand. Additionally, the prototype was evaluated in simulations on different terrain configurations, such as slopes and obstacles. Simulation results demonstrate improved performance of the shape-adapting wheels across a variety of sandy terrains, including slopes and obstacles. Integrating softness into the wheel improves obstacle climbing performance, while a lugged wheel configuration performs particularly well on loose, dry sandy slopes. Overall, the DEMMBD co-simulation framework offers a powerful tool for evaluating and optimizing robotic locomotion strategies in granular environments. It enables rapid iteration of design configurations without the need for extensive physical prototyping, reducing development time and cost.

The increasing global container trade has intensified demands on container handling technology. Automation has addressed many challenges, but limitations persist, particularly in spreader design. These attachments, equipped with rotating twist locks, rely on remote-controlled actuators and sensors. However, current designs exhibit frequent maintenance, multiple failure points, and limited sensing capabilities. Additionally, dependence on external power restricts mobility, limiting their use in smaller terminals and remote operations. This research employs an iterative design approach to develop a novel spreader that reduces maintenance frequency by 75 percent, minimizes failure points by 50 percent, and integrates an advanced control algorithm with built-in error detection. This reduces reliance on remote operators, enhancing safety by mitigating operator fatigue-induced errors. An internal power source enables 20 hours of continuous operation, while the independent control system reduces downtime by 1 hour, minimizing delays from operator breaks.

This research investigates the design and development of shape-morphing structures using smart materials, including hydrogels, Shape Memory Polymers (SMPs), and Shape Memory Alloys (SMAs), with applications in soft robotics. By leveraging the unique properties of these materials, the study aims to develop adaptive and responsive structures capable of controlled deformation, providing solutions for robotics, biomedical devices, and adaptive engineering systems. The main research question guiding this study is: ”How can smart materials be used to develop a shape-morphing structure applied to soft actuators?” To address this research question, a theoretical foundation was laid, and modelling techniques for shape-morphing structures using smart materials specifically hydrogels, SMPs, and SMAs were explored. These materials enable controlled and reversible deformations in response to external stimuli, making them ideal for applications in soft robotics, aerospace, and biomedical engineering. The role of morphology in shaping deformation behaviour was examined, highlighting how geometric configurations influence structural adaptability. Finite Element Analysis (FEA) was introduced as the primary tool for modelling and predicting material behaviour, facilitating the optimisation of shape-morphing actuators. The research further investigates how smart materials can be structured, actuated, and combined to achieve efficient morphing while ensuring stability, functionality, and durability. Special emphasis is placed on bending deformation as a key performance indicator (KPI) for evaluating actuator efficiency. Hydrogels were extensively examined for their stimuli-responsive properties, particularly their ability to swell and deform in response to external factors such as temperature changes. Various hydrogelbased structures were modelled, including ball-to-ball setups, flexible fingers, can structures, and surface grids. The results highlighted the critical role of geometric arrangements in determining deformation characteristics—symmetrical designs facilitated smooth and predictable morphing, whereas denser frameworks provided controlled folding and structural integrity. Material orientation significantly influenced deformation directionality, while overall structure length impacted computational complexity without drastically affecting morphing efficiency. A maximum expansion factor of 1.37 in diameter and 2.59 in volume at 275 K was observed, demonstrating the potential for substantial volumetric change in shape-morphing applications. For SMPs and SMAs, structural configurations were explored to enhance shape-morphing efficiency. A key development was the integration of the intelligent building block into a cylindrical geometry, designed for precise and controlled deformation. Material properties were analysed to identify factors influencing mechanical response, and constitutive equations were implemented in Abaqus to simulate thermo-mechanical behaviour under various loading and thermal conditions. Geometric parameters, including block width (Bw), block height (Bh), segment ratio (Rs), and cylinder thickness (Ct), were systematically optimised, revealing key interactions that affect morphing performance. Taller and wider blocks increased bending, while higher segment ratios and thicker cylinders exhibited reduced deformation. A Design of Experiments (DoE) methodology confirmed that geometric tuning enhances shape-morphing effectiveness. This design also showed that the maximum bending angle achievable was 60.0 degrees. Additional studies on cylinder orientations relative to the actuation direction demonstrated that minor misalignments had minimal impact on bending performance. Various geometric alternatives, including square, circular, elliptical, and hexagonal shapes, were evaluated, though the intelligent building block remained the most effective for precise, scalable deformation. Multi-cylinder configurations demonstrated multi-directional morphing, expanding the versatility of these materials for dynamic applications. The integration of SMPs, SMAs, and hydrogels into a unified shape-morphing framework underscores the potential of smart materials for advanced robotic and engineering applications. This study not only provides a strong theoretical foundation for the controlled actuation of these materials but also presents practical design principles for their implementation in soft robotic actuators, bio-inspired devices, and adaptable structures. By bridging theoretical principles with experimental validation, this research lays the groundwork for future advancements in smart material-based technologies. Future studies should focus on further optimising material properties, exploring hybrid actuation mechanisms, and incorporating torsional deformation to expand the capabilities of shape-morphing structures. Additionally, integrating these systems with external control feedback and real-world testing will be crucial for transitioning smart material actuators from simulation to real-world applications, particularly in soft robotics and adaptive mechanical systems.

The Paris Agreement of 2015 has increased the demand for renewable energy sources. The Dutch government plans to exploit the North Sea as its green power plant by implementing 3 GW of offshore solar (OS) energy in existing wind parks. The complementary nature of wind and solar results in more clean energy at a constant power rate. By pooling the power infrastructure of the offshore wind farms (OWF), only a short power export cable (PEC) from the OS system to an OWF transformer is needed to plug in the OS system.

This study aimed to address a research gap in operational conditions for OS systems by exploring how to perform a PEC pull-in on an OS farm. Power cable pull-in operations are normally performed on monopiles of OWTs and, more recently, on floating OWT foundations. However, pull-in operations at sea-surface level, directly at the ocean surface, are not common, especially on systems that act like enormous blankets on the ocean surface. The Oceans of Energy OS farm was used as a case study, representing a novel floating system that behaves like a large blanket and moves directly with the waves at sea-surface level.

The need for an integrated pull-in equipment design was addressed by applying a double diamond design cycle. According to the design methodology, the research first focused on mapping the limits of the OS system. Firstly, a large-scale OS system description was given to understand the relevant aspects of the OS system. This resulted in the hang-off floater location, at which the PEC is pulled in and terminated. Secondly, the hang-off floater was described from a more local perspective to define the requirements.

The requirements were found by analysing and calculating the OS system boundaries and by consulting experts in marine operations. Calculations were done to determine the submerge limits of the hang-off floater, resulting in a limiting external force. The analysis identified the critical steps in the pull-in procedure, which were applied to a force analysis on the relevant PEC segment. This force analysis led to the limiting forces needed for the design of equipment. Together with the advice from experts, this effort resulted in a statement of requirements.

By applying the second part of the design methodology, the design of the equipment resulted in an A-frame. It proved to be a feasible design, as it is commonly used in offshore marine operations. By performing internal force calculations, multiple design choices were addressed and validated. The design proved to be ideal for integration with the OS system; therefore, future iterations towards a final design were provided.

The integration of the A-frame proved to be feasible based on the force analysis. To find out whether the operational challenges of the OS system could be tackled, the offshore operations were considered. By design, the A-frame consists of multiple 20kg pieces, which can be carried to the hang-off floater from a boat landing. In order to verify the design, the equipment installation and the PEC pull-in procedure were described.

In conclusion, this research addressed the unique challenges of power export cable (PEC) pull-in operations at sea-surface-level offshore solar (OS) systems. Unlike fixed or stable floating offshore wind turbines (FOWTs), OS systems require lightweight, modular equipment for safe deployment and retrieval in dynamic conditions. The study demonstrated that A-frames, widely used in offshore operations, can also be adapted for PEC pull-ins on large-scale OS systems in shallow waters. Clear design boundaries and requirements were established to guide future equipment development. The applied design methodology clarified operational limits and provided a starting point for refining pull-in equipment for OS systems.

For future work, it was advised to address the detailed design of the equipment integration to the floater. Also, the material choice was addressed to create weight savings for a more efficient operation. Further recommendations suggest inputs for a model that links parameters to requirements, to address future projects in environments other than the North Sea.

With the growing popularity of virtual and augmented reality, there is an increasing demand for haptic devices that can replicate naturally occurring tactile sensations. Specifically, multimodal devices capable of delivering multiple types of haptic feedback simultaneously are crucial for enhancing realism and immersion. In this paper, we introduce a novel, entirely soft, multimodal haptic ring designed to provide vibratory, pressure, and thermal stimuli. Our ring, targeted for texture rendering applications, integrates pneumatic and hydraulic circuits to accurately simulate the roughness, temperature, and compliance cues experienced when freely exploring surfaces with the fingertip. We validated the performance of our system through a psychophysical experiment, which demonstrated that participants could match virtual textures displayed by the ring with real textures with up to 90 % accuracy for several surfaces. Participant’s adjectives ratings indicated that the ring can provide distinctly different stimuli in all of the rendered perceptual dimensions, closely matching those of real textures. This study shows that by relocating tactile feedback from the fingertip, our ring offers maximum wearability, enabling free exploration of surrounding environments and full range of motion, highlighting its potential in mixed reality applications.

Smart materials, particularly thermoresponsive hydrogels, have gained significant attention in fields like soft robotics due to their ability to respond to external stimuli such as temperature. This study focuses on the synthesis and characterization of Poly(N-isopropylacrylamide) (PNIPAM) hydrogels, exploring how varying concentrations of monomers and crosslinkers influence their mechanical properties, swelling behaviour, and fatigue resistance. Using a combination of experimental methods, including rheometry, indentation tests, swelling-deswelling analyses, and cyclic loading-unloading (fatigue) tests, alongside Finite Element Method (FEM) simulations, this research examines the relationships between these concentrations and hydrogel properties. Results indicate that the mechanical stiffness, swelling ratios, and fatigue resistance can be modulated by adjusting the concentrations of monomer and crosslinker, making PNIPAM hydrogels a promising material for applications requiring tuneable mechanical properties and durability. This study contributes to the advancement of soft robotics by providing insights into the material properties and behaviours needed for practical applications and by suggesting avenues for future research in hydrogel-based actuation systems.

The analysis presented in this work confirms that optimizing the diameter ratio and wrap angle is crucial for tailoring the auxetic properties of HAYs. A higher diameter ratio enhances the auxetic effect, making the material more responsive to axial strain with sustained lateral expansion. Conversely, a lower wrap angle improves the initial auxetic response but limits the range of strain over which this response is maintained. These insights are critical for designing materials with desired mechanical properties, particularly in applications requiring specific auxetic behavior within a defined range of strain.

Model 3, introduced in this work, generally provides a reasonable approximation of the contact pressure behavior as a function of axial strain, especially at low strains. However, as strain increases, the limitations of Model 3 become apparent due to its simplified assumptions. The discrepancies observed between the theoretical models and simulation results suggest that further refinement or calibration might be needed to improve their accuracy, particularly in predicting the exact magnitude of contact pressure under different loading conditions.

Overall, this work contributes valuable insights into the design of auxetic materials, offering guidelines for optimizing HAYs' performance while minimizing adverse effects like engulfment. Future work should include experimental validation to fully bridge the gap between theory, simulation, and real-world application, ensuring that the theoretical advancements can be reliably applied in practice.

Enceladus, a moon of Saturn, is a prime candidate for extraterrestrial life due to its subsurface ocean and organic-rich water plumes, discovered by the Cassini mission. Exploring this potential involves significant challenges due to the harsh and dynamic environment of Enceladus. The moon’s cryogenic temperatures, tectonic activity and uncertain surface textures necessitate robust and reliable means of surface sample acquisition. This thesis introduces an ice sampling system designed for future lander missions to this moon, integrating digital holographic microscopy, microfluidics, and boundary layer pumping to meet these challenges.
The proposed system is controlled by a single rotary actuator, minimizing mechanical complexity and enhancing reliability for deep space operations. It samples, liquefies, and prepares ice for microscopic examination to detect potential microorganisms. The sample is acquired via a conical boundary layer pump and delivered into a microfluidic disk for analysis. The integrated system operates as a single static unit with closed-loop control, enabling precise management of fluid dynamics, and thereby the sample.
The integrated digital holographic microscope provides non-invasive, three-dimensional imaging capa- bilities without mechanical focusing, making it suitable for the extreme conditions on Enceladus. The proof-of-concept prototype demonstrates the system’s feasibility and effectiveness through experimental validation of all subsystems. Additionally, open-source software was developed for processing hologram images, including particle counting and blob analysis.
Future work will focus on adapting this technology for broader terrestrial scientific applications and achiev- ing the necessary technology readiness level for space missions. The system’s robust architecture pro- vides a versatile platform that facilitates the integration of not only microscopy but also a diverse array of other life detection instruments. Consequently, this sampling apparatus represents a viable and innovative solution for the detection of life on Enceladus and other icy worlds.

Frugal innovation, an innovation philosophy encapsulating a significant reduction of costs and focus on core functionality of products is used by companies across the globe to reach expanded markets. Nevertheless, manufacturing processes seem to have largely been excluded from frugal innovation applications. Reconfigurable manufacturing systems offer large opportunities for increasing both the efficiency and flexibility of production systems yet have not considered manufacturing sustainability or resource-constraints. The combination of frugal and reconfigurable manufacturing into frugal, reconfigurable manufacturing systems (F-RMSs) therefore inherently offers opportunities to make frugal manufacturing viable and RMSs less wasteful. F-RMSs are explored in this paper. The opportunities inherent in their combination are explored, the exact meaning of F-RMSs delineated and criteria for its success defined. A list of core characteristics and enablers is also defined to further distinguish the F-RMS as a manufacturing system. As such the F-RMS is fully conceptualized. Subsequently, a design framework for F-RMSs is defined based on this definition and criteria. In this way F-RMS design is facilitated and its eventual implementation enabled. The framework is focused on a requirements gathering and basic design step, where advanced design and implementation guidelines are defined on a case-by-case basis. The thesis is finalized with a set of case studies where the framework is carried out at different companies to (re)design an F-RMS. The functioning of the F-RMS is thereby validated, with the opportunities inherent in their combination recognized in the practical designs created.

At a dry bulk terminal, coal and iron ore are transported in the open air by conveyor belts and handled by large (mainly automated) equipment. The dry bulk material is rough and the equipment is installed in the harsh environment of the harbour. With vessels continuously being unloaded by quay cranes and outgoing vessels and trains being loaded, the conveyor belts make lots of operational hours. With more than 27 kilometers of conveyor belts running at 4.5 m/s it is important these systems are maintained well.

To reduce downtime and maintenance cost, a new maintenance strategy will be created. Therefore, different maintenance strategies and methodologies will be explained and the current situation will be investigated. A new maintenance strategy will be created by using the FMECA method (Failure Modes, Effects and Criticality Analysis), where malfunctions of the conveyor belt systems will be prioritized according to their criticality. Malfunctions happening during the period of this thesis will be investigated and used as an example to proof the new maintenance strategy works. This strategy is applicable to other equipment and other terminals as well. In the end some future remarks will be discussed to further improve the new maintenance strategy.

The exponential growth in maritime trade during the 21st century has posed notable challenges for container terminals, resulting in congestion and operational inefficiencies. This study delves into the efficacy of Amphibious Automated Guided Vehicles (AGVs) as an innovative remedy to tackle these issues and facilitate the shift towards autonomous operations at container terminals. Motivated by the need to optimize spatial utilization and reduce reliance on conventional material handling equipment in port areas, this study employs an agent-based modeling approach. Subse- quently, the formulated model is applied in a case study focusing on major Ports of the World. This study undertakes a critical examination of the potential of Amphibious AGVs in alleviating congestion and operational challenges faced by container terminals in the context of an increasingly interconnected global trade setting. By conducting a thorough examination of existing literature and creating a generalised simulation model, this study aims to offer valuable insights that can influence the evolution of container terminal operations.

Cyanobacteria are photosynthetic microorganisms found in a variety of environments, including marine water bodies. Some species are able to perform biomineralization, producing minerals such as calcium carbonate (CaCO3) that may act as biocement. The biomineralization capability of cyanobacteria has already been explored in the development of Living Building Materials (LBMs), composed of an inert scaffold of sand and hydrogel, that contributes to CO2 capture.

The offshore industry is a significant user of concrete, contributing to 11% of the global CO2 emissions. Therefore, the application of cyanobacteria biomineralized materials is envisioned as a way to reduce CO2 emissions in this sector.

The cyanobacteria biomineralized material has been studied in the fields of construction and is applied in 3D printing, but its potential for offshore applications still needs to be explored.

This study aims to explores the proprieties of cyanobacteria biomineralized materials to catter some requirements of offshore applications, thereby contributing to a more sustainable practice. This was done by first recreating the material from other studies, assessing its mechanical proprieties and testing it in underwater conditions. This was followed by a tinkering process where material qualities (e.g., cyanobacteria optical density (OD), biomineralization/curing time, type of hydrogel, aditional coating) were adjusted to fullfill its purposes.

The impact of these changes were measured through submerging the material in seawater and assessing its mechanical proprieties.

The use of cyanobacteria at an OD of 2.4, resulted in the strongest material. Using agar as an hydrogel binder, countered the dissolvability of the material with a gelatine binder. On the other hand mechanical tests showed that the agar bonded material was significantly weaker than the gelatine bonded material. Adding a silicone rubber coating to the gelatine bonded material did not make the material resistant to seawater. A prolonged biomineralization time improved the strength of the material significantly but more exploration is required to determine if the biomineralization time is the result of this strength or the adjusted sand/medium ratio.

Overall, this study demonstrated that cyanobacteria biomineralized materials can be applied in offshore applications since the right cyanobacteria OD, binder, coating and biomineralization time are employed.