Line drawing of anomaly discovered in redesigned shuttle motor nozzle

NASA Technical Reports Server (NTRS)

1987-01-01

Line drawing titled 'DM-9 Case-to-Nozzle Joint' shows anomaly discovered in redesigned shuttle motor nozzle. The second full-duration test firing of NASA's redesigned Space Shuttle solid rocket motor (SRM), designated DM-9, was conducted 12-23-87 at Morton Thiokol's Wasatch facility in Utah. A post-test examination of the motor has revealed an anomaly in one nozzle component. Material was discovered missing from the nozzle outer boot ring, a large carbon phenolic composite ring used to anchor one end of the flexible boot that allows the nozzle to move and 'steer' the vehicle. About one-third of the missing 160 degrees of missing ring material was found adjacent to the forward nozzle section inside the motor. This diagram shows the location of the nozzle joint on an assembled SRM, and points out the shaded location of the outer boot ring that circles the motor within the nozzle joint.

Flight motor set 360L002 (STS-27R). Volume 5: Nozzle component

NASA Technical Reports Server (NTRS)

Meyer, S. A.

1990-01-01

A review of the performance and post-flight condition of the STS-27 Redesigned Solid Rocket Motor (RSRM) nozzles is presented. Thermal/Structural instrumentation data is reviewed, and applicable Discrepancy Reports (DRs) and Process Departures (PDs) are presented. The Nozzle Component Program Team (NCPT) performance evaluation and the Redesign Program Review Board (RPRB) assessment is included. The STS-27 nozzle assemblies were flown on the RSRM Second Flight (Space Shuttle Atlantis) on 2 December 1988. The nozzles were a partially submerged convergent and/or divergent movable design with an aft pivot point flexible bearing. The nozzle assemblies incorporated the following features: RSRM forward exit cone with snubber assembly, RSRM fixed housing, Structural backup Outer Boot Ring (OBR), RSRM cowl ring, RSRM nose inlet assembly, RSRM throat assembly, RSRM aft exit cone assembly with Linear-Shaped Charge (LSC), RTV backfill in Joints 1, 3, and 4, Use of EA913 NA adhesive in place of EA913 adhesive, Redesigned nozzle plug, and Carbon Cloth Phenolic (CCP) with 750 ppm sodium content. The CCP material usage for the STS-27 forward nozzle and aft exit cone assemblies is shown.

Autonomous assembly with collision avoidance of a fleet of flexible spacecraft based on disturbance observer

NASA Astrophysics Data System (ADS)

Chen, Ti; Wen, Hao

2018-06-01

This paper presents a distributed control law with disturbance observer for the autonomous assembly of a fleet of flexible spacecraft to construct a large flexible space structure. The fleet of flexible spacecraft is driven to the pre-assembly configuration firstly, and then to the desired assembly configuration. A distributed assembly control law with disturbance observer is proposed by treating the flexible dynamics as disturbances acting on the rigid motion of the flexible spacecraft. Theoretical analysis shows that the control law can actuate the fleet to the desired configuration. Moreover, the collision avoidance between the members is also considered in the process from initial configuration to pre-assembly configuration. Finally, a numerical example is presented to verify the feasibility of proposed mission planning and the effectiveness of control law.

Modular magazine for suitable handling of microparts in industry

NASA Astrophysics Data System (ADS)

Grimme, Ralf; Schmutz, Wolfgang; Schlenker, Dirk; Schuenemann, Matthias; Stock, Achim; Schaefer, Wolfgang

1998-01-01

Microassembly and microadjustment techniques are key technologies in the industrial production of hybrid microelectromechanical systems. One focal point in current microproduction research and engineering is the design and development of high-precision microassembly and microadjustment equipment capable of operating within the framework of flexible automated industrial production. As well as these developments, suitable microassembly tools for industrial use also need to be equipped with interfaces for the supply and delivery of microcomponents. The microassembly process necessitates the supply of microparts in a geometrically defined manner. In order to reduce processing steps and production costs, there is a demand for magazines capable of providing free accessibility to the fixed microcomponents. Commonly used at present are feeding techniques, which originate from the field of semiconductor production. However none of these techniques fully meets the requirements of industrial microassembly technology. A novel modular magazine set, developed and tested in a joint project, is presented here. The magazines are able to hold microcomponents during cleaning, inspection and assembly without nay additional handling steps. The modularity of their design allows for maximum technical flexibility. The modular magazine fits into currently practiced SEMI standards. The design and concept of the magazine enables industrial manufacturers to promote a cost-efficient and flexible precision assembly of microelectromechanical systems.

Research to Assembly Scheme for Satellite Deck Based on Robot Flexibility Control Principle

NASA Astrophysics Data System (ADS)

Guo, Tao; Hu, Ruiqin; Xiao, Zhengyi; Zhao, Jingjing; Fang, Zhikai

2018-03-01

Deck assembly is critical quality control point in final satellite assembly process, and cable extrusion and structure collision problems in assembly process will affect development quality and progress of satellite directly. Aimed at problems existing in deck assembly process, assembly project scheme for satellite deck based on robot flexibility control principle is proposed in this paper. Scheme is introduced firstly; secondly, key technologies on end force perception and flexible docking control in the scheme are studied; then, implementation process of assembly scheme for satellite deck is described in detail; finally, actual application case of assembly scheme is given. Result shows that compared with traditional assembly scheme, assembly scheme for satellite deck based on robot flexibility control principle has obvious advantages in work efficiency, reliability and universality aspects etc.

A Soft Parallel Kinematic Mechanism.

PubMed

White, Edward L; Case, Jennifer C; Kramer-Bottiglio, Rebecca

2018-02-01

In this article, we describe a novel holonomic soft robotic structure based on a parallel kinematic mechanism. The design is based on the Stewart platform, which uses six sensors and actuators to achieve full six-degree-of-freedom motion. Our design is much less complex than a traditional platform, since it replaces the 12 spherical and universal joints found in a traditional Stewart platform with a single highly deformable elastomer body and flexible actuators. This reduces the total number of parts in the system and simplifies the assembly process. Actuation is achieved through coiled-shape memory alloy actuators. State observation and feedback is accomplished through the use of capacitive elastomer strain gauges. The main structural element is an elastomer joint that provides antagonistic force. We report the response of the actuators and sensors individually, then report the response of the complete assembly. We show that the completed robotic system is able to achieve full position control, and we discuss the limitations associated with using responsive material actuators. We believe that control demonstrated on a single body in this work could be extended to chains of such bodies to create complex soft robots.

Does practicing a wide range of joint angle configurations lead to higher flexibility in a manual obstacle-avoidance target-pointing task?

PubMed Central

Bootsma, Reinoud J.; Schoemaker, Marina M.; Otten, Egbert; Mouton, Leonora J.; Bongers, Raoul M.

2017-01-01

Flexibility in motor actions can be defined as variability in the use of degrees of freedom (e.g., joint angles in the arm) over repetitions while keeping performance (e.g., fingertip position) stabilized. We examined whether flexibility can be increased through enlarging the joint angle range during practice in a manual obstacle-avoidance target-pointing task. To establish differences in flexibility we partitioned the variability in joint angles over repetitions in variability within (GEV) and variability outside the solution space (NGEV). More GEV than NGEV reflects flexibility; when the ratio of the GEV and NGEV is higher, flexibility is higher. The pretest and posttest consisted of 30 repetitions of manual pointing to a target while moving over a 10 cm high obstacle. To enlarge the joint angle range during practice participants performed 600 target-pointing movements while moving over obstacles of different heights (5–9 cm, 11–15 cm). The results indicated that practicing movements over obstacles of different heights led participants to use enlarged range of joint angles compared to the range of joint angles used in movements over the 10 cm obstacle in the pretest. However, for each individual obstacle neither joint angle variance nor flexibility were higher during practice. We also did not find more flexibility after practice. In the posttest, joint angle variance was in fact smaller than before practice, primarily in GEV. The potential influences of learning effects and the task used that could underlie the results obtained are discussed. We conclude that with this specific type of practice in this specific task, enlarging the range of joint angles does not lead to more flexibility. PMID:28700695

Finite element model updating of riveted joints of simplified model aircraft structure

NASA Astrophysics Data System (ADS)

Yunus, M. A.; Rani, M. N. Abdul; Sani, M. S. M.; Shah, M. A. S. Aziz

2018-04-01

Thin metal sheets are widely used to fabricate a various type of aerospace structures because of its flexibility and easily to form into any type shapes of structure. The riveted joint has turn out to be one of the popular joint types in jointing the aerospace structures because they can be easily be disassembled, maintained and inspected. In this paper, thin metal sheet components are assembled together via riveted joints to form a simplified model of aerospace structure. However, to model the jointed structure that are attached together via the mechanical joints such as riveted joint are very difficult due to local effects. Understandably that the dynamic characteristic of the joined structure can be significantly affected by these joints due to local effects at the mating areas of the riveted joints such as surface contact, clamping force and slips. A few types of element connectors that available in MSC NATRAN/PATRAN have investigated in order to presented as the rivet joints. Thus, the results obtained in term of natural frequencies and mode shapes are then contrasted with experimental counterpart in order to investigate the acceptance level of accuracy between element connectors that are used in modelling the rivet joints of the riveted joints structure. The reconciliation method via finiteelement model updating is used to minimise the discrepancy of the initial finite element model of the riveted joined structure as close as experimental data and their results are discussed.

Protein Flexibility Facilitates Quaternary Structure Assembly and Evolution

PubMed Central

Marsh, Joseph A.; Teichmann, Sarah A.

2014-01-01

The intrinsic flexibility of proteins allows them to undergo large conformational fluctuations in solution or upon interaction with other molecules. Proteins also commonly assemble into complexes with diverse quaternary structure arrangements. Here we investigate how the flexibility of individual protein chains influences the assembly and evolution of protein complexes. We find that flexibility appears to be particularly conducive to the formation of heterologous (i.e., asymmetric) intersubunit interfaces. This leads to a strong association between subunit flexibility and homomeric complexes with cyclic and asymmetric quaternary structure topologies. Similarly, we also observe that the more nonhomologous subunits that assemble together within a complex, the more flexible those subunits tend to be. Importantly, these findings suggest that subunit flexibility should be closely related to the evolutionary history of a complex. We confirm this by showing that evolutionarily more recent subunits are generally more flexible than evolutionarily older subunits. Finally, we investigate the very different explorations of quaternary structure space that have occurred in different evolutionary lineages. In particular, the increased flexibility of eukaryotic proteins appears to enable the assembly of heteromeric complexes with more unique components. PMID:24866000

Real-time control for manufacturing space shuttle main engines: Work in progress

NASA Technical Reports Server (NTRS)

Ruokangas, Corinne C.

1988-01-01

During the manufacture of space-based assemblies such as Space Shuttle Main Engines, flexibility is required due to the high-cost and low-volume nature of the end products. Various systems have been developed pursuing the goal of adaptive, flexible manufacturing for several space applications, including an Advanced Robotic Welding System for the manufacture of complex components of the Space Shuttle Main Engines. The Advanced Robotic Welding System (AROWS) is an on-going joint effort, funded by NASA, between NASA/Marshall Space Flight Center, and two divisions of Rockwell International: Rocketdyne and the Science Center. AROWS includes two levels of flexible control of both motion and process parameters: Off-line programming using both geometric and weld-process data bases, and real-time control incorporating multiple sensors during weld execution. Both control systems were implemented using conventional hardware and software architectures. The feasibility of enhancing the real-time control system using the problem-solving architecture of Schemer is investigated and described.

Structure of a headful DNA-packaging bacterial virus at 2.9 Å resolution by electron cryo-microscopy

PubMed Central

Zhao, Haiyan; Li, Kunpeng; Lynn, Anna Y.; Aron, Keith E.; Yu, Guimei; Jiang, Wen; Tang, Liang

2017-01-01

The enormous prevalence of tailed DNA bacteriophages on this planet is enabled by highly efficient self-assembly of hundreds of protein subunits into highly stable capsids. These capsids can stand with an internal pressure as high as ∼50 atmospheres as a result of the phage DNA-packaging process. Here we report the complete atomic model of the headful DNA-packaging bacteriophage Sf6 at 2.9 Å resolution determined by electron cryo-microscopy. The structure reveals the DNA-inflated, tensed state of a robust protein shell assembled via noncovalent interactions. Remarkable global conformational polymorphism of capsid proteins, a network formed by extended N arms, mortise-and-tenon–like intercapsomer joints, and abundant β-sheet–like mainchain:mainchain intermolecular interactions, confers significant strength yet also flexibility required for capsid assembly and DNA packaging. Differential formations of the hexon and penton are mediated by a drastic α–helix-to-β–strand structural transition. The assembly scheme revealed here may be common among tailed DNA phages and herpesviruses. PMID:28320961

Influence of Joint Flexibility on Vibration Analysis of Free-Free Beams

NASA Astrophysics Data System (ADS)

Gunda, Jagadish Babu; Krishna, Y.

2014-12-01

In present work, joint flexibility (or looseness) of the free-free beam is investigated by using a two noded beam finite element formulation with transverse displacement and joint rotations as the degrees of freedom per node at joint location. Flexibility of the joint is primarily represented by means of a rotational spring analogy, where the stiffness of the rotational spring characterizes the looseness of the flexible joint for an applied bending moment. Influence of joint location as well as joint stiffness on modal behavior of first five modes of slender, uniform free-free beams are discussed for various values of non-dimensional rotational spring stiffness parameter. Numerical accuracy of the results obtained from the present finite element formulation are validated by using the commercially available finite element software which shows the confidence gained on the numerical results discussed in the present study.

Flexible organic TFT bio-signal amplifier using reliable chip component assembly process with conductive adhesive.

PubMed

Yoshimoto, Shusuke; Uemura, Takafumi; Akiyama, Mihoko; Ihara, Yoshihiro; Otake, Satoshi; Fujii, Tomoharu; Araki, Teppei; Sekitani, Tsuyoshi

2017-07-01

This paper presents a flexible organic thin-film transistor (OTFT) amplifier for bio-signal monitoring and presents the chip component assembly process. Using a conductive adhesive and a chip mounter, the chip components are mounted on a flexible film substrate, which has OTFT circuits. This study first investigates the assembly technique reliability for chip components on the flexible substrate. This study also specifically examines heart pulse wave monitoring conducted using the proposed flexible amplifier circuit and a flexible piezoelectric film. We connected the amplifier to a bluetooth device for a wearable device demonstration.

Pv-Thermal Solar Power Assembly

DOEpatents

Ansley, Jeffrey H.; Botkin, Jonathan D.; Dinwoodie, Thomas L.

2001-10-02

A flexible solar power assembly includes a flexible photovoltaic device attached to a flexible thermal solar collector. The solar power assembly can be rolled up for transport and then unrolled for installation on a surface, such as the roof or side wall of a building or other structure, by use of adhesive and/or other types of fasteners.

Development of a procedure for forming assisted thermal joining of tubes

NASA Astrophysics Data System (ADS)

Chen, Hui; Löbbe, Christian; Staupendahl, Daniel; Tekkaya, A. Erman

2018-05-01

With the demand of lightweight design in the automotive industry, not only the wall-thicknesses of tubular components of the chassis or spaceframe are continuously decreased. Also the thicknesses of exhaust system parts are reduced to save material and mass. However, thinner tubular parts bring about additional challenges in joining. Welding or brazing methods, which are utilized in joining tubes with specific requirements concerning leak tightness, are sensitive to the gap between the joining partners. Furthermore, a large joining area is required to ensure the durability of the joint. The introduction of a forming step in the assembled state prior to thermal joining can define and control the gap for subsequent brazing or welding. The mechanical pre-joint resulting from the previously described calibration step also results in easier handling of the tubes prior to thermal joining. In the presented investigation, a spinning process is utilized to produce force-fit joints of varying lengths and diameter reduction and form-fit joints with varying geometrical attributes. The spinning process facilitates a high formability and geometrical flexibility, while at the achievable precision is high and the process forces are low. The strength of the joints is used to evaluate the joint quality. Finally, a comparison between joints produced by forming with subsequent brazing and original tube is conducted, which presents the high performance of the developed procedure for forming assisted thermal joining.

PV/thermal solar power assembly

DOEpatents

Ansley, Jeffrey H.; Botkin, Jonathan D.; Dinwoodie, Thomas L.

2004-01-13

A flexible solar power assembly (2) includes a flexible photovoltaic device (16) attached to a flexible thermal solar collector (4). The solar power assembly can be rolled up for transport and then unrolled for installation on a surface, such as the roof (20, 25) or side wall of a building or other structure, by use of adhesive and/or other types of fasteners (23).

[Self-assembly tissue engineering fibrocartilage model of goat temporomandibular joint disc].

PubMed

Kang, Hong; Li, Zhen-Qiang; Bi, Yan-Da

2011-06-01

To construct self-assembly fibrocartilage model of goat temporomandibular joint disc and observe the biological characteristics of the self-assembled fibrocartilage constructs, further to provide a basis for tissue engineering of the temporomandibular joint disc and other fibrocartilage. Cells from temporomandibular joint discs of goats were harvested and cultured. 5.5 x 10(6) cells were seeded in each agarose well with diameter 5 mm x depth 10 mm, daily replace of medium, cultured for 2 weeks. One day after seeding, goat temporomandibular joint disc cells in agarose wells were gathered and began to self-assemble into a disc-shaped base, then gradually turned into a round shape. When cultured for 2 weeks, hematoxylin-eosin staining was conducted and observed that cells were round and wrapped around by the matrix. Positive Safranin-O/fast green staining for glycosaminoglycans was observed throughout the entire constructs, and picro-sirius red staining was examined and distribution of numerous type I collagen was found. Immunohistochemistry staining demonstrated brown yellow particles in cytoplasm and around extracellular matrix, which showed self-assembly construct can produce type I collagen as native temporomandibular joint disc tissue. Production of extracellular matrix in self-assembly construct as native temporomandibular joint disc tissue indicates that the use of agarose wells to construct engineered temporomandibular joint disc will be possible and practicable.

Flexibility in the mouse middle ear: A finite element study of the frequency response

NASA Astrophysics Data System (ADS)

Gottlieb, Peter; Puria, Sunil

2018-05-01

The mammalian middle ear is comprised of three distinct ossicles, connected by joints, and suspended in an air-filled cavity. In most mammals, the ossicular joints are mobile synovial joints, which introduce flexibility into the ossicular chain. In some smaller rodents, however, these joints are less mobile, and in the mouse in particular, the malleus is additionally characterized by a large, thin plate known as the transversal lamina, which connects the manubrium to the incus-malleus joint (IMJ). We hypothesize that this feature acts as a functional joint, maintaining the benefits of a flexible ossicular chain despite a less-mobile IMJ, and tested this hypothesis with a finite element model of the mouse middle ear. The results showed that while fusing the ossicular joints had a negligible effect on sound transmission, stiffening the ossicular bone significantly reduced sound transmission, implying that bone flexibility plays a critical role in the normal function of the mouse middle ear.

Solution-processed soldering of carbon nanotubes for flexible electronics.

PubMed

Rao, K D M; Radha, B; Smith, K C; Fisher, T S; Kulkarni, G U

2013-02-22

We report a simple lithography-free, solution-based method of soldering of carbon nanotubes with Ohmic contacts, by taking specific examples of multi-walled carbon nanotubes (MWNTs). This is achieved by self-assembling a monolayer of soldering precursor, Pd(2+) anchored to 1,10 decanedithiol, onto which MWNTs could be aligned across the gap electrodes via solvent evaporation. The nanosoldering was realized by thermal/electrical activation or by both in sequence. Electrical activation and the following step of washing ensure selective retention of MWNTs spanning across the gap electrodes. The soldered joints were robust enough to sustain strain caused during the bending of flexible substrates as well as during ultrasonication. The estimated temperature generated at the MWNT-Au interface using an electro-thermal model is ∼150 °C, suggesting Joule heating as the primary mechanism of electrical activation. Further, the specific contact resistance is estimated from the transmission line model.

Fabrication and Assembly of High-Precision Hinge and Latch Joints for Deployable Optical Instruments

NASA Technical Reports Server (NTRS)

Phelps, James E.

1999-01-01

Descriptions are presented of high-precision hinge and latch joints that have been co-developed, for application to deployable optical instruments, by NASA Langley Research Center and Nyma/ADF. Page-sized versions of engineering drawings are included in two appendices to describe all mechanical components of both joints. Procedures for assembling the mechanical components of both joints are also presented. The information herein is intended to facilitate the fabrication and assembly of the high-precision hinge and latch joints, and enable the incorporation of these joints into the design of deployable optical instrument systems.

Shaft flexibility effects on the forced response of a bladed-disk assembly

NASA Technical Reports Server (NTRS)

Khader, N.; Loewy, R. G.

1990-01-01

A model analysis approach is used to study the forced response of an actual flexible bladed-disk-shaft system. Both in-plane and out-of-plane flexible deformations of the bladed-disk assembly are considered, in addition to its rigid-body translations and rotations, resulting from the bending of the supporting flexible shaft in two orthogonal planes. The effects of Coriolis forces and structural coupling between flexible and rigid disk motions on the system's response are investigated. Aerodynamic loads acting on the rotating and vibrating bladed-disk assembly are accounted for through a simple quasi-steady representation, to evaluate their influence, combined with shaft flexibility and Coriolis effects.

Manufacturing and assembly of IWS support rib and lower bracket for ITER vacuum vessel

NASA Astrophysics Data System (ADS)

Laad, R.; Sarvaiya, Y.; Pathak, H. A.; Raval, J. R.; Choi, C. H.

2017-04-01

ITER Vacuum Vessel (VV) is made of double walls connected by ribs structure and flexible housings. Space between these walls is filled up with In Wall Shielding (IWS) blocks to (1) shield neutrons streaming out of plasma and (2) reduce toroidal magnetic field ripple. These blocks will be connected to the VV through a supporting structure of Support Rib (SR) and Lower Bracket (LB) assembly. SR and LB are two independent components manufactured from SS 316L(N)-IG, Total 1584 support ribs and 3168 lower bracket of different sizes and shapes will be manufactured for the IWS. Two lower brackets will be welded with one support rib to make an assembly. The welding between SR and LB is a full penetration welding. Total 1584 assemblies of different sizes and shapes will be manufactured. Sufficient experience gained from manufacturing and testing of mock ups, final manufacturing of IWS support rib and lower bracket has been started at the site of IWS manufacturer M/s. Avasarala Technologies Limited (ATL). This paper will describe, optimization of water jet cutting speed on IWS material, selection criteria for K type weld joint, unique features of fixture of assembly, manufacturing of Mock ups, and welding processes with NDTs.

Modular Nuclease-Responsive DNA Three-Way Junction-Based Dynamic Assembly of a DNA Device and Its Sensing Application.

PubMed

Zhu, Jing; Wang, Lei; Xu, Xiaowen; Wei, Haiping; Jiang, Wei

2016-04-05

Here, we explored a modular strategy for rational design of nuclease-responsive three-way junctions (TWJs) and fabricated a dynamic DNA device in a "plug-and-play" fashion. First, inactivated TWJs were designed, which contained three functional domains: the inaccessible toehold and branch migration domains, the specific sites of nucleases, and the auxiliary complementary sequence. The actions of different nucleases on their specific sites in TWJs caused the close proximity of the same toehold and branch migration domains, resulting in the activation of the TWJs and the formation of a universal trigger for the subsequent dynamic assembly. Second, two hairpins (H1 and H2) were introduced, which could coexist in a metastable state, initially to act as the components for the dynamic assembly. Once the trigger initiated the opening of H1 via TWJs-driven strand displacement, the cascade hybridization of hairpins immediately switched on, resulting in the formation of the concatemers of H1/H2 complex appending numerous integrated G-quadruplexes, which were used to obtain label-free signal readout. The inherent modularity of this design allowed us to fabricate a flexible DNA dynamic device and detect multiple nucleases through altering the recognition pattern slightly. Taking uracil-DNA glycosylase and CpG methyltransferase M.SssI as models, we successfully realized the butt joint between the uracil-DNA glycosylase and M.SssI recognition events and the dynamic assembly process. Furthermore, we achieved ultrasensitive assay of nuclease activity and the inhibitor screening. The DNA device proposed here will offer an adaptive and flexible tool for clinical diagnosis and anticancer drug discovery.

Grinding assembly, grinding apparatus, weld joint defect repair system, and methods

DOEpatents

Larsen, Eric D.; Watkins, Arthur D.; Bitsoi, Rodney J.; Pace, David P.

2005-09-27

A grinding assembly for grinding a weld joint of a workpiece includes a grinder apparatus, a grinder apparatus includes a grinding wheel configured to grind the weld joint, a member configured to receive the grinding wheel, the member being configured to be removably attached to the grinder apparatus, and a sensor assembly configured to detect a contact between the grinding wheel and the workpiece. The grinding assembly also includes a processing circuitry in communication with the grinder apparatus and configured to control operations of the grinder apparatus, the processing circuitry configured to receive weld defect information of the weld joint from an inspection assembly to create a contour grinding profile to grind the weld joint in a predetermined shape based on the received weld defect information, and a manipulator having an end configured to carry the grinder apparatus, the manipulator further configured to operate in multiple dimensions.

Joint nonlinearity effects in the design of a flexible truss structure control system

NASA Technical Reports Server (NTRS)

Mercadal, Mathieu

1986-01-01

Nonlinear effects are introduced in the dynamics of large space truss structures by the connecting joints which are designed with rather important tolerances to facilitate the assembly of the structures in space. The purpose was to develop means to investigate the nonlinear dynamics of the structures, particularly the limit cycles that might occur when active control is applied to the structures. An analytical method was sought and derived to predict the occurrence of limit cycles and to determine their stability. This method is mainly based on the quasi-linearization of every joint using describing functions. This approach was proven successful when simple dynamical systems were tested. Its applicability to larger systems depends on the amount of computations it requires, and estimates of the computational task tend to indicate that the number of individual sources of nonlinearity should be limited. Alternate analytical approaches, which do not account for every single nonlinearity, or the simulation of a simplified model of the dynamical system should, therefore, be investigated to determine a more effective way to predict limit cycles in large dynamical systems with an important number of distributed nonlinearities.

The Meeting of the Americas

NASA Astrophysics Data System (ADS)

Bates, John; Fucugauchi, Jaime Urrutia

2008-05-01

The AGU Joint Assembly, previously known as the Spring Meeting, has formally adopted the designation ``The Meeting of the Americas.'' This designation reflects the objective of the Joint Assembly to promote cooperative efforts among Earth and science societies in the Americas. To achieve this objective, future Joint Assembly locations will rotate among different cities in the United States, Canada, and Latin America; the Program Committee includes representatives from throughout the Americas; and the meetings will be convened jointly with scientific societies throughout the Americas.

Rotational joint assembly for the prosthetic leg

NASA Technical Reports Server (NTRS)

Owens, L. J.; Jones, W. C. (Inventor)

1977-01-01

A rotational joint assembly for a prosthetic leg has been devised, which enables an artificial foot to rotate slightly when a person is walking, running or turning. The prosthetic leg includes upper and lower tubular members with the rotational joint assembly interposed between them. The assembly includes a restrainer mechanism which consists of a pivotably mounted paddle element. This device applies limiting force to control the rotation of the foot and also restores torque to return the foot back to its initial position.

Improved Assembly for Gas Shielding During Welding or Brazing

NASA Technical Reports Server (NTRS)

Gradl, Paul; Baker, Kevin; Weeks, Jack

2009-01-01

An improved assembly for inert-gas shielding of a metallic joint is designed to be useable during any of a variety of both laser-based and traditional welding and brazing processes. The basic purpose of this assembly or of a typical prior related assembly is to channel the flow of a chemically inert gas to a joint to prevent environmental contamination of the joint during the welding or brazing process and, if required, to accelerate cooling upon completion of the process.

Active Joint Mechanism Driven by Multiple Actuators Made of Flexible Bags: A Proposal of Dual Structural Actuator

PubMed Central

Inou, Norio

2013-01-01

An actuator is required to change its speed and force depending on the situation. Using multiple actuators for one driving axis is one of the possible solutions; however, there is an associated problem of output power matching. This study proposes a new active joint mechanism using multiple actuators. Because the actuator is made of a flexible bag, it does not interfere with other actuators when it is depressurized. The proposed joint achieved coordinated motion of multiple actuators. This report also discusses a new actuator which has dual cylindrical structure. The cylinders are composed of flexible bags with different diameters. The joint torque is estimated based on the following factors: empirical formula for the flexible actuator torque, geometric relationship between the joint and the actuator, and the principle of virtual work. The prototype joint mechanism achieves coordinated motion of multiple actuators for one axis. With this motion, small inner actuator contributes high speed motion, whereas large outer actuator generates high torque. The performance of the prototype joint is examined by speed and torque measurements. The joint showed about 30% efficiency at 2.0 Nm load torque under 0.15 MPa air input. PMID:24385868

Active joint mechanism driven by multiple actuators made of flexible bags: a proposal of dual structural actuator.

PubMed

Kimura, Hitoshi; Matsuzaki, Takuya; Kataoka, Mokutaro; Inou, Norio

2013-01-01

An actuator is required to change its speed and force depending on the situation. Using multiple actuators for one driving axis is one of the possible solutions; however, there is an associated problem of output power matching. This study proposes a new active joint mechanism using multiple actuators. Because the actuator is made of a flexible bag, it does not interfere with other actuators when it is depressurized. The proposed joint achieved coordinated motion of multiple actuators. This report also discusses a new actuator which has dual cylindrical structure. The cylinders are composed of flexible bags with different diameters. The joint torque is estimated based on the following factors: empirical formula for the flexible actuator torque, geometric relationship between the joint and the actuator, and the principle of virtual work. The prototype joint mechanism achieves coordinated motion of multiple actuators for one axis. With this motion, small inner actuator contributes high speed motion, whereas large outer actuator generates high torque. The performance of the prototype joint is examined by speed and torque measurements. The joint showed about 30% efficiency at 2.0 Nm load torque under 0.15 MPa air input.

A passivity based control methodology for flexible joint robots with application to a simplified shuttle RMS arm

NASA Technical Reports Server (NTRS)

Sicard, Pierre; Wen, John T.

1991-01-01

The main goal is to develop a general theory for the control of flexible robots, including flexible joint robots, flexible link robots, rigid bodies with flexible appendages, etc. As part of the validation, the theory is applied to the control law development for a test example which consists of a three-link arm modeled after the shoulder yaw joint of the space shuttle remote manipulator system (RMS). The performance of the closed loop control system is then compared with the performance of the existing RMS controller to demonstrate the effectiveness of the proposed approach. The theoretical foundation of this new approach to the control of flexible robots is presented and its efficacy is demonstrated through simulation results on the three-link test arm.

An analytical investigation of a conceptual design for the station transverse boom rotary joint structure

NASA Technical Reports Server (NTRS)

Lake, M. S.; Bush, H. G.

1986-01-01

A study was conducted to define an annular ring, discrete roller assembly concept for the space station transverse boom rotary joint. The concept was analyzed using closed-form and finite element techniques, to size structural members for a range of joint diameters and to determine necessary equivalent stiffnesses for the roller assemblies. Also, a mass study of the system was conducted to determine its practicality, and maximum loads in the joint were identified. To obtain the optimum balance between high stiffness and low structural mass in the design of the rotary joint, it is necessary to maximize the diameter of the annular ring within operational constraints (i.e., shuttle cargo bay size). Further, a rotary joint designed with the largest possible ring diameter will result in minimum operational loads in both the roller assemblies and the transition truss members while also allowing minimum design stiffnesses for the roller assemblies.

Development of assembly and joint concepts for erectable space structures

NASA Technical Reports Server (NTRS)

Jacquemin, G. G.; Bluck, R. M.; Grotbeck, G. H.; Johnson, R. R.

1980-01-01

The technology associated with the on-orbit assembly of tetrahedral truss platforms erected of graphite epoxy tapered columns is examined. Associated with the assembly process is the design and fabrication of nine member node joints. Two such joints demonstrating somewhat different technology were designed and fabricated. Two methods of automatic assembly using the node designs were investigated, and the time of assembly of tetrahedral truss structures up to 1 square km in size was estimated. The effect of column and node joint packaging on the Space Shuttle cargo bay is examined. A brief discussion is included of operating cost considerations and the selection of energy sources. Consideration was given to the design assembly machines from 5 m to 20 m. The smaller machines, mounted on the Space Shuttle, are deployable and restowable. They provide a means of demonstrating the capabilities of the concept and of erecting small specialized platforms on relatively short notice.

Joint with application in electrochemical devices

DOEpatents

Weil, K Scott [Richland, WA; Hardy, John S [Richland, WA

2010-09-14

A joint for use in electrochemical devices, such as solid oxide fuel cells (SOFCs), oxygen separators, and hydrogen separators, that will maintain a hermetic seal at operating temperatures of greater than 600.degree. C., despite repeated thermal cycling excess of 600.degree. C. in a hostile operating environment where one side of the joint is continuously exposed to an oxidizing atmosphere and the other side is continuously exposed to a wet reducing gas. The joint is formed of a metal part, a ceramic part, and a flexible gasket. The flexible gasket is metal, but is thinner and more flexible than the metal part. As the joint is heated and cooled, the flexible gasket is configured to flex in response to changes in the relative size of the metal part and the ceramic part brought about by differences in the coefficient of thermal expansion of the metal part and the ceramic part, such that substantially all of the tension created by the differences in the expansion and contraction of the ceramic and metal parts is absorbed and dissipated by flexing the flexible gasket.

The influence of simulated transversus abdominis muscle force on sacroiliac joint flexibility during asymmetric moment application to the pelvis.

PubMed

Gnat, Rafael; Spoor, Kees; Pool-Goudzwaard, Annelies

2015-10-01

The role of so-called local muscle system in motor control of the lower back and pelvis is a subject of ongoing debate. Prevailing beliefs in stabilizing function of this system were recently challenged. This study investigated the impact of in vitro simulated force of transversely oriented fibres of the transversus abdominis muscle (a part of the local system) on flexibility of the sacroiliac joint during asymmetric moment application to the pelvis. In 8 embalmed specimens an incremental moment was applied in the sagittal plane to one innominate with respect to the fixed contralateral innominate. Ranges of motion of the sacroiliac joint were recorded using the Vicon Motion Capture System. Load-deformation curves were plotted and flexibility of the sacroiliac joint was calculated separately for anterior and posterior rotations of the innominate, with and without simulated muscle force. Flexibility of the sacroiliac joint was significantly bigger during anterior rotation of the innominate, as compared to posterior rotation (Anova P<0.05). After application of simulated force of transversus abdominis, flexibility of the joint did not change both during anterior and posterior rotations of the innominate. A lack of a stiffening effect of simulated transversus abdominis force on the sacroiliac joint was demonstrated. Earlier hypotheses suggesting a stiffening influence of this muscle on the pelvis cannot be confirmed. Consistent with previous findings smaller flexibility of the joint recorded during posterior rotation of the innominate may be of clinical importance for physio- and manual therapists. However, major limitations of the study should be acknowledged: in vitro conditions and simulation of only solitary muscle force. Copyright © 2015 Elsevier Ltd. All rights reserved.

Internally supported flexible duct joint. [device for conducting fluids in high pressure systems

NASA Technical Reports Server (NTRS)

Kuhn, R. F., Jr. (Inventor)

1975-01-01

An internally supported, flexible duct joint for use in conducting fluids under relatively high pressures in systems where relatively large deflection angles must be accommodated is presented. The joint includes a flexible tubular bellows and an elongated base disposed within the bellows. The base is connected through radiating struts to the bellows near mid-portion and to each of the opposite end portions of the bellows through a pivotal connecting body. A motion-controlling linkage is provided for linking the connecting bodies, whereby angular displacement of the joint is controlled and uniformity in the instantaneous bend radius of the duct is achieved as deflection is imposed.

Development of Stable, Low Resistance Solder Joints for a Space-Flight HTS Lead Assemblies

NASA Technical Reports Server (NTRS)

Canavan, Edgar R.; Chiao, Meng; Panashchenko, Lyudmyla; Sampson, Michael

2017-01-01

The solder joints in spaceflight high temperature superconductor (HTS) lead assemblies for certain astrophysics missions have strict constraints on size and power dissipation. In addition, the joints must tolerate years of storage at room temperature, many thermal cycles, and several vibration tests between their manufacture and their final operation on orbit. As reported previously, solder joints between REBCO coated conductors and normal metal traces for the Astro-H mission showed low temperature joint resistance that grew approximately as log time over the course of months. Although the assemblies worked without issue in orbit, for the upcoming X-ray Astrophysics Recovery Mission we are attempting to improve our solder process to give lower, more stable, and more consistent joint resistance. We produce numerous sample joints and measure time- and thermal cycle-dependent resistance, and characterize the joints using x-ray and other analysis tools. For a subset of the joints, we use SEMEDS to try to understand the physical and chemical processes that effect joint behavior.

Wrist joint assembly

NASA Technical Reports Server (NTRS)

Kersten, L.; Johnson, J. D. (Inventor)

1978-01-01

A wrist joint assembly is provided for use with a mechanical manipulator arm for finely positioning an end-effector carried by the wrist joint on the terminal end of the manipulator arm. The wrist joint assembly is pivotable about a first axis to produce a yaw motion, a second axis is to produce a pitch motion, and a third axis to produce a roll motion. The wrist joint assembly includes a disk segment affixed to the terminal end of the manipulator arm and a first housing member, a second housing member, and a third housing member. The third housing member and the mechanical end-effector are moved in the yaw, pitch, and roll motion. Drive means are provided for rotating each of the housings about their respective axis which includes a cluster of miniature motors having spur gears carried on the output drive shaft which mesh with a center drive gear affixed on the housing to be rotated.

Shaft flexibility effects on aeroelastic stability of a rotating bladed disk

NASA Technical Reports Server (NTRS)

Khader, Naim; Loewy, Robert

1989-01-01

A comprehensive study of Coriolis forces and shaft flexibility effects on the structural dynamics and aeroelastic stability of a rotating bladed-disk assembly attached to a cantilever, massless, flexible shaft is presented. Analyses were performed for an actual bladed-disk assembly, used as the first stage in the fan of the 'E3' engine. In the structural model, both in-plane and out-of-plane elastic deformation of the bladed-disk assembly were considered relative to their hub, in addition to rigid disk translations and rotations introduced by shaft flexibility. Besides structural coupling between blades (through the flexible disk), additional coupling is introduced through quasisteady aerodynamic loads. Rotational effects are accounted for throughout the work, and some mode shapes for the whole structure are presented at a selected rpm.

Attaching solar collectors to a structural framework utilizing a flexible clip

DOE Office of Scientific and Technical Information (OSTI.GOV)

Kruse, John S

Methods and apparatuses described herein provide for the attachment of solar collectors to a structural framework in a solar array assembly. A flexible clip is attached to either end of each solar collector and utilized to attach the solar collector to the structural framework. The solar collectors are positioned to allow a member of the framework to engage a pair of flexible clips attached to adjacent solar collectors during assembly of the solar array. Each flexible clip may have multiple frame-engaging portions, each with a flange on one end to cause the flexible clip to deflect inward when engaged bymore » the framework member during assembly and to guide each of the frame-engaging portions into contact with a surface of the framework member for attachment.« less

Allostery through protein-induced DNA bubbles

DOE PAGES

Traverso, Joseph J.; Manoranjan, Valipuram S.; Bishop, A. R.; ...

2015-03-12

Allostery through DNA is increasingly recognized as an important modulator of DNA functions. Here, we show that the coalescence of protein-induced DNA bubbles can mediate allosteric interactions that drive protein aggregation. We propose that such allostery may regulate DNA's flexibility and the assembly of the transcription machinery. Mitochondrial transcription factor A (TFAM), a dual-function protein involved in mitochondrial DNA (mtDNA) packaging and transcription initiation, is an ideal candidate to test such a hypothesis owing to its ability to locally unwind the double helix. Numerical simulations demonstrate that the coalescence of TFAM-induced bubbles can explain experimentally observed TFAM oligomerization. The resultingmore » melted DNA segment, approximately 10 base pairs long, around the joints of the oligomers act as flexible hinges, which explains the efficiency of TFAM in compacting DNA. Since mitochondrial polymerase (mitoRNAP) is involved in melting the transcription bubble, TFAM may use the same allosteric interaction to both recruit mitoRNAP and initiate transcription.« less

aTRAM 2.0: An Improved, Flexible Locus Assembler for NGS Data

PubMed Central

Allen, Julie M; LaFrance, Raphael; Folk, Ryan A; Johnson, Kevin P; Guralnick, Robert P

2018-01-01

Massive strides have been made in technologies for collecting genome-scale data. However, tools for efficiently and flexibly assembling raw outputs into downstream analytical workflows are still nascent. aTRAM 1.0 was designed to assemble any locus from genome sequencing data but was neither optimized for efficiency nor able to serve as a single toolkit for all assembly needs. We have completely re-implemented aTRAM and redesigned its structure for faster read retrieval while adding a number of key features to improve flexibility and functionality. The software can now (1) assemble single- or paired-end data, (2) utilize both read directions in the database, (3) use an additional de novo assembly module, and (4) leverage new built-in pipelines to automate common workflows in phylogenomics. Owing to reimplementation of databasing strategies, we demonstrate that aTRAM 2.0 is much faster across all applications compared to the previous version. PMID:29881251

Differential pressure pin discharge apparatus

DOEpatents

Oakley, David J.

1987-02-03

Disclosed is a discharge assembly for allowing elongate pins to be discharged from an area of relatively low pressure to an area of relatively greater pressure. The discharge assembly includes a duck valve having a lip piece made of flexible material. The flexible lip piece responds to a fluctuating pressure created downstream by an aspirator. The aspirator reduces the downstream pressure sensed by the duck valve when the discharge assembly is in the open position. This allows elongate pins to be moved through the duck valve with no backflow because the aspirator pressure is less than the pressure in the low pressure area from which the pins originate. Closure of the assembly causes the aspirator static pressure to force the flexible duck valve lip piece into a tightly sealed position also preventing backflow. The discharge assembly can be easily controlled using a single control valve which blocks the flow of aspirator gas and closes the pin passageway extending through the assembly.

Differential pressure pin discharge apparatus

DOEpatents

Oakley, D.J.

1984-05-30

Disclosed is a discharge assembly for allowing elongate pins to be discharged from an area of relatively low pressure to an area of relatively greater pressure. The discharge assembly includes a duck valve having a lip piece made of flexible material. The flexible lip piece responds to a fluctuating pressure created downstream by an aspirator. The aspirator reduces the downstream pressure sensed by the duck valve when the discharge assembly is in the open position. This allows elongate pins to be moved through the duck valve with no backflow because the aspirator pressure is less than the pressure in the low pressure area from which the pins originate. Closure of the assembly causes the aspirator static pressure to force the flexible duck valve lip piece into a tightly sealed position also preventing backflow. The discharge assembly can be easily controlled using a single control valve which blocks the flow of aspirator gas and closes the pins passageway extending through the assembly.

Differential pressure pin discharge apparatus

DOEpatents

Oakley, David J.

1987-01-01

Disclosed is a discharge assembly for allowing elongate pins to be discharged from an area of relatively low pressure to an area of relatively greater pressure. The discharge assembly includes a duck valve having a lip piece made of flexible material. The flexible lip piece responds to a fluctuating pressure created downstream by an aspirator. The aspirator reduces the downstream pressure sensed by the duck valve when the discharge assembly is in the open position. This allows elongate pins to be moved through the duck valve with no backflow because the aspirator pressure is less than the pressure in the low pressure area from which the pins originate. Closure of the assembly causes the aspirator static pressure to force the flexible duck valve lip piece into a tightly sealed position also preventing backflow. The discharge assembly can be easily controlled using a single control valve which blocks the flow of aspirator gas and closes the pin passageway extending through the assembly.

Application of the Modular Automated Reconfigurable Assembly System (MARAS) concept to adaptable vision gauging and parts feeding

NASA Technical Reports Server (NTRS)

By, Andre Bernard; Caron, Ken; Rothenberg, Michael; Sales, Vic

1994-01-01

This paper presents the first phase results of a collaborative effort between university researchers and a flexible assembly systems integrator to implement a comprehensive modular approach to flexible assembly automation. This approach, named MARAS (Modular Automated Reconfigurable Assembly System), has been structured to support multiple levels of modularity in terms of both physical components and system control functions. The initial focus of the MARAS development has been on parts gauging and feeding operations for cylinder lock assembly. This phase is nearing completion and has resulted in the development of a highly configurable system for vision gauging functions on a wide range of small components (2 mm to 100 mm in size). The reconfigurable concepts implemented in this adaptive Vision Gauging Module (VGM) are now being extended to applicable aspects of the singulating, selecting, and orienting functions required for the flexible feeding of similar mechanical components and assemblies.

Rotational joint assembly and method for constructing the same

NASA Technical Reports Server (NTRS)

Bandera, Pablo (Inventor); Buchele, Paul (Inventor)

2012-01-01

A rotational joint assembly and a method for constructing a rotational joint assembly are provided. The rotational joint assembly includes a first rotational component, a second rotational component coupled to the first rotational component such that the second rotational component is rotatable relative to the first rotational component in first and second rotational directions about an axis, and a flexure member, being deflectable in first and second deflection directions, coupled to at least one of the first and second rotational components such that when the second rotational component is rotated relative to the first rotational component in each of the first and second rotational directions about the axis, the flexure member is deflected in the first deflection direction and exerts a force on the second rotational component opposing the rotation.

Preliminary clinical report of flexible videoarthroscopy in diagnostic knee and hip arthroscopy.

PubMed

Bouaicha, Samy; Dora, Claudio; Puskas, Gabor J; Koch, Peter P; Wirth, Stephan H; Meyer, Dominik C

2012-01-01

Compared to rigid arthroscopic optics, a flexible camera system offers theoretically significant advantages: It has the potential to adapt to the naturally curved surface of joints, to move within the joint without stress to the cartilage or capsule and thereby to reduce the number of portals needed. Former studies evaluated flexible fiberoptic systems which were insufficient regarding image resolution. This is the first report on a new flexible videoendoscope with the so called "chip-on-the-tip" technology used in human joints. With a plasma sterilized 3.9 diameter flexible video endoscopy system (Visera ENF V, OLYMPUS) commonly used in diagnostic rhino-laryngoscopy, we performed preliminary testing in cadaveric knee joints. After successful feasibility testing we utilized the tool in two qualitative diagnostic knee and five hip arthroscopies in combination with conventional rigid 30° and 70° arthroscopes (STORZ). Qualitative evaluation showed superior visualisation of the posterior aspects of the knee joint as insertion of the posterior medial and lateral meniscal horn, tibial insertion of the posterior cruciate ligament and the posterolateral capsulo-ligamentous corner with acceptable image resolution and clarity compared to the rigid arthroscope. In the hip, it was possible to pass around the femoral neck, avoiding additional portals. There seemed to be virtually no risk for cartilage damage at all. Difficulties of the system were scope handling, navigation and orientation within the joint as well as potential damage to the tool itself. This is to our knowledge the first report on flexible videoarthroscopy. Some of the expectations were met, such as to reach virtually every corner the joint with minimal risk for the cartilage or other joint structures and with acceptable image quality. However, there are many significant disadvantages which question the routine use of such a videoendoscopic system with its present technical features. © 2012 – IOS Press and the authors. All rights reserved

Method of forming a ceramic to ceramic joint

DOEpatents

Cutler, Raymond Ashton; Hutchings, Kent Neal; Kleinlein, Brian Paul; Carolan, Michael Francis

2010-04-13

A method of joining at least two sintered bodies to form a composite structure, includes: providing a joint material between joining surfaces of first and second sintered bodies; applying pressure from 1 kP to less than 5 MPa to provide an assembly; heating the assembly to a conforming temperature sufficient to allow the joint material to conform to the joining surfaces; and further heating the assembly to a joining temperature below a minimum sintering temperature of the first and second sintered bodies. The joint material includes organic component(s) and ceramic particles. The ceramic particles constitute 40-75 vol. % of the joint material, and include at least one element of the first and/or second sintered bodies. Composite structures produced by the method are also disclosed.

Deployable radiator with flexible line loop

NASA Technical Reports Server (NTRS)

Keeler, Bryan V. (Inventor); Lehtinen, Arthur Mathias (Inventor); McGee, Billy W. (Inventor)

2003-01-01

Radiator assembly (10) for use on a spacecraft (12) is provided including at least one radiator panel assembly (26) repeatably movable between a panel stowed position (28) and a panel deployed position (36), at least two flexible lines (40) in fluid communication with the at least one radiator panel assembly (26) and repeatably movable between a stowage loop (42) and a flattened deployed loop (44).

Heavily loaded joints for assembling aerobrake support trusses

NASA Technical Reports Server (NTRS)

Bandel, Hannskarl; Olsson, Nils; Levintov, Boris

1990-01-01

The major emphasis was to develop erectable joints for large aerobrake support trusses. The truss joints must be able to withstand the large forces experienced by the truss during the aero-pass, as well as be easily assembled and disassembled on orbit by astronauts or robots. Other important design considerations include; strength, stiffness, and allowable error in strut length. Six mechanical joint designs, as well as a seventh joint design, where a high strength epoxy is injected to make the connection rigid, are presented.

Rapid Slewing of Flexible Space Structures

DTIC Science & Technology

2015-09-01

axis gimbal with elastic joints. The performance of the system can be enhanced by designing antenna maneuvers in which the flexible effects are...the effects of the nonlinearities so the vibrational motion can be constrained for a time-optimal slew. It is shown that by constructing an...joints. The performance of the system can be enhanced by designing antenna maneuvers in which the flexible effects are properly constrained, thus

Dexterous Humanoid Robotic Wrist

NASA Technical Reports Server (NTRS)

Ihrke, Chris A. (Inventor); Bridgwater, Lyndon (Inventor); Reich, David M. (Inventor); Wampler, II, Charles W. (Inventor); Askew, Scott R. (Inventor); Diftler, Myron A. (Inventor); Nguyen, Vienny (Inventor)

2013-01-01

A humanoid robot includes a torso, a pair of arms, a neck, a head, a wrist joint assembly, and a control system. The arms and the neck movably extend from the torso. Each of the arms includes a lower arm and a hand that is rotatable relative to the lower arm. The wrist joint assembly is operatively defined between the lower arm and the hand. The wrist joint assembly includes a yaw axis and a pitch axis. The pitch axis is disposed in a spaced relationship to the yaw axis such that the axes are generally perpendicular. The pitch axis extends between the yaw axis and the lower arm. The hand is rotatable relative to the lower arm about each of the yaw axis and the pitch axis. The control system is configured for determining a yaw angle and a pitch angle of the wrist joint assembly.

An active locking mechanism for assembling 3D micro structures

NASA Astrophysics Data System (ADS)

Zhang, Ping; Mayyas, Mohammad; Lee, Woo Ho; Popa, Dan; Shiakolas, Panos; Stephanou, Harry; Chiao, J. C.

2007-01-01

Microassembly is an enabling technology to build 3D microsystems consisting of microparts made of different materials and processes. Multiple microparts can be connected together to construct complicated in-plane and out-of-plane microsystems by using compliant mechanical structures such as micro hinges and snap fasteners. This paper presents design, fabrication, and assembly of an active locking mechanism that provides mechanical and electrical interconnections between mating microparts. The active locking mechanism is composed of thermally actuated Chevron beams and sockets. Assembly by means of an active locking mechanism offers more flexibility in designing microgrippers as it reduces or minimizes mating force, which is one of the main reasons causing fractures in a microgripper during microassembly operation. Microgrippers, microparts, and active locking mechanisms were fabricated on a silicon substrate using the deep reactive ion etching (DRIE) processes with 100-um thick silicon on insulator (SOI) wafers. A precision robotic assembly platform with a dual microscope vision system was used to automate the manipulation and assembly processes of microparts. The assembly sequence includes (1) tether breaking and picking up of a micropart by using an electrothermally actuated microgripper, (2) opening of a socket area for zero-force insertion, (3) a series of translation and rotation of a mating micropart to align it onto the socket, (4) insertion of a micropart into the socket, and (5) deactivation and releasing of locking fingers. As a result, the micropart was held vertically to the substrate and locked by the compliance of Chevron beams. Microparts were successfully assembled using the active locking mechanism and the measured normal angle was 89.2°. This active locking mechanism provides mechanical and electrical interconnections, and it can potentially be used to implement a reconfigurable microrobot that requires complex assembly of multiple links and joints.

Performance of a rigid and a flexible adhesive in lumber joints subjected to moisture content changes

Treesearch

G. P. Krueger; R. F. Blomquist

1964-01-01

Experimental work was undertaken to investigate the extent and magnitude of deterioration that can occur in typical plywood-to-lumber glue joints subjected to stresses resulting from changes in the moisture content of the wood, and to compare the performance of a somewhat flexible or deformable adhesive to that of a rigid adhesive in these joints. Results showed that...

Design of a welded joint for robotic, on-orbit assembly of space trusses

NASA Astrophysics Data System (ADS)

Rule, W. K.; Thomas, F. P.

1992-10-01

A preliminary design for a weldable truss joint for on-orbit assembly of large space structures is described. The joint was designed for ease of assembly, for structural efficiency, and to allow passage of fluid (for active cooling or other purposes) along the member through the joint. The truss members were assumed to consist of graphite/epoxy tubes to which were bonded 2219-T87 aluminum alloy end fittings for welding on-orbit to truss nodes of the same alloy. A modified form of gas tungsten arc welding was assumed to be the welding process. The joint was designed to withstand the thermal and structural loading associated with a 120-ft diameter tetrahedral truss intended as an aerobrake for a mission to Mars.

Design of a welded joint for robotic, on-orbit assembly of space trusses

NASA Technical Reports Server (NTRS)

Rule, W. K.; Thomas, F. P.

1992-01-01

A preliminary design for a weldable truss joint for on-orbit assembly of large space structures is described. The joint was designed for ease of assembly, for structural efficiency, and to allow passage of fluid (for active cooling or other purposes) along the member through the joint. The truss members were assumed to consist of graphite/epoxy tubes to which were bonded 2219-T87 aluminum alloy end fittings for welding on-orbit to truss nodes of the same alloy. A modified form of gas tungsten arc welding was assumed to be the welding process. The joint was designed to withstand the thermal and structural loading associated with a 120-ft diameter tetrahedral truss intended as an aerobrake for a mission to Mars.

Design of Revolute Joints for In-Mold Assembly Using Insert Molding.

PubMed

Ananthanarayanan, Arvind; Ehrlich, Leicester; Desai, Jaydev P; Gupta, Satyandra K

2011-12-01

Creating highly articulated miniature structures requires assembling a large number of small parts. This is a very challenging task and increases cost of mechanical assemblies. Insert molding presents the possibility of creating a highly articulated structure in a single molding step. This can be accomplished by placing multiple metallic bearings in the mold and injecting plastic on top of them. In theory, this idea can generate a multi degree of freedom structures in just one processing step without requiring any post molding assembly operations. However, the polymer material has a tendency to shrink on top of the metal bearings and hence jam the joints. Hence, until now insert molding has not been used to create articulated structures. This paper presents a theoretical model for estimating the extent of joint jamming that occurs due to the shrinkage of the polymer on top of the metal bearings. The level of joint jamming is seen as the effective torque needed to overcome the friction in the revolute joints formed by insert molding. We then use this model to select the optimum design parameters which can be used to fabricate functional, highly articulating assemblies while meeting manufacturing constraints. Our analysis shows that the strength of weld-lines formed during the in-mold assembly process play a significant role in determining the minimum joint dimensions necessary for fabricating functional revolute joints. We have used the models and methods described in this paper to successfully fabricate the structure for a minimally invasive medical robot prototype with potential applications in neurosurgery. To the best of our knowledge, this is the first demonstration of building an articulated structure with multiple degrees of freedom using insert molding.

Subtle balance of tropoelastin molecular shape and flexibility regulates dynamics and hierarchical assembly.

PubMed

Yeo, Giselle C; Tarakanova, Anna; Baldock, Clair; Wise, Steven G; Buehler, Markus J; Weiss, Anthony S

2016-02-01

The assembly of the tropoelastin monomer into elastin is vital for conferring elasticity on blood vessels, skin, and lungs. Tropoelastin has dual needs for flexibility and structure in self-assembly. We explore the structure-dynamics-function interplay, consider the duality of molecular order and disorder, and identify equally significant functional contributions by local and global structures. To study these organizational stratifications, we perturb a key hinge region by expressing an exon that is universally spliced out in human tropoelastins. We find a herniated nanostructure with a displaced C terminus and explain by molecular modeling that flexible helices are replaced with substantial β sheets. We see atypical higher-order cross-linking and inefficient assembly into discontinuous, thick elastic fibers. We explain this dysfunction by correlating local and global structural effects with changes in the molecule's assembly dynamics. This work has general implications for our understanding of elastomeric proteins, which balance disordered regions with defined structural modules at multiple scales for functional assembly.

Differential pressure pin discharge apparatus

DOE Office of Scientific and Technical Information (OSTI.GOV)

Oakley, D.J.

Disclosed is a discharge assembly for allowing elongate pins to be discharged from an area of relatively low pressure to an area of relatively greater pressure. The discharge assembly includes a duck valve having a lip piece made of flexible material. The flexible lip piece responds to a fluctuating pressure created downstream by an aspirator. The aspirator reduces the downstream pressure sensed by the duck valve when the discharge assembly is in the open position. This allows elongate pins to be moved through the duck valve with no backflow because the aspirator pressure is less than the pressure in themore » low pressure area from which the pins originate. Closure of the assembly causes the aspirator static pressure to force the flexible duck valve lip piece into a tightly sealed position also preventing backflow. The discharge assembly can be easily controlled using a single control valve which blocks the flow of aspirator gas and closes the pins passageway extending through the assembly.« less

Tuning carbon nanotube assembly for flexible, strong and conductive films.

PubMed

Wang, Yanjie; Li, Min; Gu, Yizhuo; Zhang, Xiaohua; Wang, Shaokai; Li, Qingwen; Zhang, Zuoguang

2015-02-21

Carbon nanotubes are ideal scaffolds for designing and architecting flexible graphite films with tunable mechanical, electrical and thermal properties. Herein, we demonstrate that the assembly of aligned carbon nanotubes with different aggregation density and morphology leads to different mechanical properties and anisotropic electrical conduction along the films. Using drying evaporation under tension treatment, the carbon nanotubes can be assembled into strong films with tensile strength and Young's modulus as high as 3.2 GPa and 124 GPa, respectively, leading to a remarkable toughness of 54.38 J g(-1), greatly outperforming conventional graphite films, spider webs and even Kevlar fiber films. Different types of solvents may result in the assembly of CNTs with different aggregation morphology and therefore different modulus. In addition, we reveal that the high density assembly of aligned CNTs correlates with better electric conduction along the axial direction, enabling these flexible graphite films to be both strong and conductive.

Flexibility.

ERIC Educational Resources Information Center

Humphrey, L. Dennis

1981-01-01

Flexibility is an important aspect of all sports and recreational activities. Flexibility can be developed and maintained by stretching exercises. Exercises designed to develop flexibility in ankle joints, knees, hips, and the lower back are presented. (JN)

Remote manipulator system flexibility analysis program: Mission planning, mission analysis, and software formulation

NASA Technical Reports Server (NTRS)

Kumar, L.

1978-01-01

A computer program is described for calculating the flexibility coefficients as arm design changes are made for the remote manipulator system. The coefficients obtained are required as input for a second program which reduces the number of payload deployment and retrieval system simulation runs required to simulate the various remote manipulator system maneuvers. The second program calculates end effector flexibility and joint flexibility terms for the torque model of each joint for any arbitrary configurations. The listing of both programs is included in the appendix.

Core disruptive accident margin seal

DOEpatents

Garin, John

1978-01-01

An apparatus for sealing the annulus defined between a substantially cylindrical rotatable first riser assembly and plug combination disposed in a substantially cylindrical second riser assembly and plug combination of a nuclear reactor system. The apparatus comprises a flexible metal member having a first side attached to one of the riser components and a second side extending toward the other riser component and an actuating mechanism attached to the flexible metal member while extending to an accessible location. When the actuating mechanism is not activated, the flexible metal member does not contact the other riser component thus allowing the free rotation of the riser assembly and plug combination. When desired, the actuating mechanism causes the second side of the flexible metal member to contact the other riser component thereby sealing the annulus between the components.

Photovoltaic sheathing element with a flexible connector assembly

DOE Office of Scientific and Technical Information (OSTI.GOV)

Langmaid, Joseph A; Keenihan, James R; Mills, Michael E

2016-07-12

The present invention is premised upon an assembly including at least a photovoltaic sheathing element capable of being affixed on a building structure, the sheathing element including at least: a photovoltaic cell assembly, a body portion attached to one or more portions of the photovoltaic cell assembly; at least a first and a second connector assembly disposed on opposing sides of the sheathing element and capable of directly or indirectly electrically connecting the photovoltaic cell assembly to at least two adjoining devices that are affixed to the building structure and wherein at least one of the connector assemblies includes amore » flexible portion; one or more connector pockets disposed in the body portion the pockets capable of receiving at least a portion of the connector assembly.« less

Analytical Approach to Large Deformation Problems of Frame Structures

NASA Astrophysics Data System (ADS)

Ohtsuki, Atsumi; Ellyin, Fernand

In elements used as flexible linking devices and structures, the main characteristic is a fairly large deformation without exceeding the elastic limit of the material. This property is of both analytical and technological interests. Previous studies of large deformation have been generally concerned with a single member (e.g. a cantilever beam, a simply supported beam, etc.). However, there are very few large deformation studies of assembled members such as frames. This paper deals with a square frame with rigid joints, loaded diagonally in either tension or compression by a pair of opposite forces. Analytical solutions for large deformation are obtained in terms of elliptic integrals, and are compared with the experimental data. The agreement is found to be fairly close.

Ultrahigh-performance transparent conductive films of carbon-welded isolated single-wall carbon nanotubes

PubMed Central

Chen, Mao-Lin; Wang, Bing-Wei; Tang, Dai-Ming; Jin, Qun; Guo, Qing-Xun; Zhang, Ding-Dong; Du, Jin-Hong; Tai, Kai-Ping; Tan, Jun; Kauppinen, Esko I.

2018-01-01

Single-wall carbon nanotubes (SWCNTs) are ideal for fabricating transparent conductive films because of their small diameter, good optical and electrical properties, and excellent flexibility. However, a high intertube Schottky junction resistance, together with the existence of aggregated bundles of SWCNTs, leads to a degraded optoelectronic performance of the films. We report a network of isolated SWCNTs prepared by an injection floating catalyst chemical vapor deposition method, in which crossed SWCNTs are welded together by graphitic carbon. Pristine SWCNT films show a record low sheet resistance of 41 ohm □−1 at 90% transmittance for 550-nm light. After HNO3 treatment, the sheet resistance further decreases to 25 ohm □−1. Organic light-emitting diodes using this SWCNT film as anodes demonstrate a low turn-on voltage of 2.5 V, a high current efficiency of 75 cd A−1, and excellent flexibility. Investigation of isolated SWCNT-based field-effect transistors shows that the carbon-welded joints convert the Schottky contacts between metallic and semiconducting SWCNTs into near-ohmic ones, which significantly improves the conductivity of the transparent SWCNT network. Our work provides a new avenue of assembling individual SWCNTs into macroscopic thin films, which demonstrate great potential for use as transparent electrodes in various flexible electronics. PMID:29736413

Assembly Test Article (ATA)

NASA Technical Reports Server (NTRS)

Ricks, Glen A.

1988-01-01

The assembly test article (ATA) consisted of two live loaded redesigned solid rocket motor (RSRM) segments which were assembled and disassembled to simulate the actual flight segment stacking process. The test assembly joint was flight RSRM design, which included the J-joint insulation design and metal capture feature. The ATA test was performed mid-November through 24 December 1987, at Kennedy Space Center (KSC), Florida. The purpose of the test was: certification that vertical RSRM segment mating and separation could be accomplished without any damage; verification and modification of the procedures in the segment stacking/destacking documents; and certification of various GSE to be used for flight assembly and inspection. The RSRM vertical segment assembly/disassembly is possible without any damage to the insulation, metal parts, or seals. The insulation J-joint contact area was very close to the predicted values. Numerous deviations and changes to the planning documents were made to ensure the flight segments are effectively and correctly stacked. Various GSE were also certified for use on flight segments, and are discussed in detail.

Dependence of Halo Bias and Kinematics on Assembly Variables

NASA Astrophysics Data System (ADS)

Xu, Xiaoju; Zheng, Zheng

2018-06-01

Using dark matter haloes identified in a large N-body simulation, we study halo assembly bias, with halo formation time, peak maximum circular velocity, concentration, and spin as the assembly variables. Instead of grouping haloes at fixed mass into different percentiles of each assembly variable, we present the joint dependence of halo bias on the values of halo mass and each assembly variable. In the plane of halo mass and one assembly variable, the joint dependence can be largely described as halo bias increasing outward from a global minimum. We find it unlikely to have a combination of halo variables to absorb all assembly bias effects. We then present the joint dependence of halo bias on two assembly variables at fixed halo mass. The gradient of halo bias does not necessarily follow the correlation direction of the two assembly variables and it varies with halo mass. Therefore in general for two correlated assembly variables one cannot be used as a proxy for the other in predicting halo assembly bias trend. Finally, halo assembly is found to affect the kinematics of haloes. Low-mass haloes formed earlier can have much higher pairwise velocity dispersion than those of massive haloes. In general, halo assembly leads to a correlation between halo bias and halo pairwise velocity distribution, with more strongly clustered haloes having higher pairwise velocity and velocity dispersion. However, the correlation is not tight, and the kinematics of haloes at fixed halo bias still depends on halo mass and assembly variables.

Thermal Barriers Developed for Solid Rocket Motor Nozzle Joints

NASA Technical Reports Server (NTRS)

Steinetz, Bruce M.; Dunlap, Patrick H., Jr.

2000-01-01

Space shuttle solid rocket motor case assembly joints are sealed with conventional O-ring seals that are shielded from 5500 F combustion gases by thick layers of insulation and by special joint-fill compounds that fill assembly splitlines in the insulation. On a number of occasions, NASA has observed hot gas penetration through defects in the joint-fill compound of several of the rocket nozzle assembly joints. In the current nozzle-to-case joint, NASA has observed penetration of hot combustion gases through the joint-fill compound to the inboard wiper O-ring in one out of seven motors. Although this condition does not threaten motor safety, evidence of hot gas penetration to the wiper O-ring results in extensive reviews before resuming flight. The solid rocket motor manufacturer (Thiokol) approached the NASA Glenn Research Center at Lewis Field about the possibility of applying Glenn's braided fiber preform seal as a thermal barrier to protect the O-ring seals. Glenn and Thiokol are working to improve the nozzle-to-case joint design by implementing a more reliable J-leg design and by using a braided carbon fiber thermal barrier that would resist any hot gases that the J-leg does not block.

Antenna Pointing Mechanisms for Solar Orbiter High and Medium Gain Antennas

NASA Astrophysics Data System (ADS)

Vazquez, Jorge; Pinto, Inaki; Gabiola, Iker; Ibargoyen, I.; Martin, Fernando

2015-09-01

The ESA Solar Orbiter is an interdisciplinary mission to the Sun. It consists of a single spacecraft which will orbit the Sun in a moderately elliptical orbit, using a suite of advanced Remote-Sensing and In-Situ instruments to perform a detailed observation of the Sun and surrounding space. Sener is contractor for the delivery of the Antennas subsystems.The pointing mechanism from HGAMA is a dual-axes gimbal providing azimuth and elevation steering capability. The azimuth axis is driven by the GHM geared to a rotating bracket which supports the elevation actuator and is linked to the HGAMA boom. Both are based on stepper motors with planetary reducers geared to the corresponding output brackets. An integrated X- band dual axes Rotary Joint Assembly (HGA-RJA) routes the RF energy through the APM in both TX and RX directions. The MGAMA APM is a single-axis gimbal providing elevation steering capability, with one built-in actuator and has been design to share many of the components with the elevation axis from HGAMA APM, including a single axis Rotary Joint Assembly (MGA-RJA).Based on BEPI-Colombo heritage, some aspects of the design have been developed specifically for the SolO mission and are presented in this paper.- High temperature ranges in the APM.- Dedicated output shaft support with dedicated flexible coupling.- High accuracy required, with a potentiometer as coarse sensor and inductosyn for fine positioning.- Elevation twist capsule concept based on spiral configuration.- High solar radiation and contamination requirements.

Lightweight IMM PV Flexible Blanket Assembly

NASA Technical Reports Server (NTRS)

Spence, Brian

2015-01-01

Deployable Space Systems (DSS) has developed an inverted metamorphic multijunction (IMM) photovoltaic (PV) integrated modular blanket assembly (IMBA) that can be rolled or z-folded. This IMM PV IMBA technology enables a revolutionary flexible PV blanket assembly that provides high specific power, exceptional stowed packaging efficiency, and high-voltage operation capability. DSS's technology also accommodates standard third-generation triple junction (ZTJ) PV device technologies to provide significantly improved performance over the current state of the art. This SBIR project demonstrated prototype, flight-like IMM PV IMBA panel assemblies specifically developed, designed, and optimized for NASA's high-voltage solar array missions.

Experimental Studies of Joint Flexibility for PUMA 560 Robot.

DTIC Science & Technology

1987-03-01

the robot and plant equipment be set up prior to the programming. With the advent of higher level programming languages such as VAL II and the ...SCHOOL I Monterey, California THESIS EC" ft EXPERIMENTAL STUDIES OF JOINT FLEXIBILITY FOR PUNA 560 ROBOT by Dennis K. Gonyier March 1987 Thesis Advisor ...9ABSTRACT (ContInUe on revene ff neccual) and odent’ f by block num~ber) This paper investigates flexibility of the PUMA 560 industrial robot arm. The

Definition of large components assembled on-orbit and robot compatible mechanical joints

NASA Technical Reports Server (NTRS)

Williamsen, J.; Thomas, F.; Finckenor, J.; Spiegel, B.

1990-01-01

One of four major areas of project Pathfinder is in-space assembly and construction. The task of in-space assembly and construction is to develop the requirements and the technology needed to build elements in space. A 120-ft diameter tetrahedral aerobrake truss is identified as the focus element. A heavily loaded mechanical joint is designed to robotically assemble the defined aerobrake element. Also, typical large components such as habitation modules, storage tanks, etc., are defined, and attachment concepts of these components to the tetrahedral truss are developed.

Intelligent Control of Flexible-Joint Robotic Manipulators

NASA Technical Reports Server (NTRS)

Colbaugh, R.; Gallegos, G.

1997-01-01

This paper considers the trajectory tracking problem for uncertain rigid-link. flexible.joint manipulators, and presents a new intelligent controller as a solution to this problem. The proposed control strategy is simple and computationally efficient, requires little information concerning either the manipulator or actuator/transmission models and ensures uniform boundedness of all signals and arbitrarily accurate task-space trajectory tracking.

Optical connections on flexible substrates

NASA Astrophysics Data System (ADS)

Bosman, Erwin; Geerinck, Peter; Christiaens, Wim; Van Steenberge, Geert; Vanfleteren, Jan; Van Daele, Peter

2006-04-01

Optical interconnections integrated on a flexible substrate combine the advantages of optical data transmissions (high bandwidth, no electromagnetic disturbance and low power consumption) and those of flexible substrates (compact, ease of assembly...). Especially the flexible character of the substrates can significantly lower the assembly cost and leads to more compact modules. Especially in automotive-, avionic-, biomedical and sensing applications there is a great potential for these flexible optical interconnections because of the increasing data-rates, increasing use of optical sensors and requirement for smaller size and weight. The research concentrates on the integration of commercially available polymer optical layers (Truemode Backplane TM Polymer, Ormocer®) on a flexible Polyimide film, the fabrication of waveguides and out-of plane deflecting 45° mirrors, the characterization of the optical losses due to the bending of the substrate, and the fabrication of a proof-of-principal demonstrator. The resulting optical structures should be compatible with the standard fabrication of flexible printed circuit boards.

High-Rate Assembly of Nanomaterials on Insulating Surfaces Using Electro-Fluidic Directed Assembly.

PubMed

Yilmaz, Cihan; Sirman, Asli; Halder, Aditi; Busnaina, Ahmed

2017-08-22

Conductive or semiconducting nanomaterials-based applications such as electronics and sensors often require direct placement of such nanomaterials on insulating surfaces. Most fluidic-based directed assembly techniques on insulating surfaces utilize capillary force and evaporation but are diffusion limited and slow. Electrophoretic-based assembly, on the other hand, is fast but can only be utilized for assembly on a conductive surface. Here, we present a directed assembly technique that enables rapid assembly of nanomaterials on insulating surfaces. The approach leverages and combines fluidic and electrophoretic assembly by applying the electric field through an insulating surface via a conductive film underneath. The approach (called electro-fluidic) yields an assembly process that is 2 orders of magnitude faster compared to fluidic assembly. By understanding the forces on the assembly process, we have demonstrated the controlled assembly of various types of nanomaterials that are conducting, semiconducting, and insulating including nanoparticles and single-walled carbon nanotubes on insulating rigid and flexible substrates. The presented approach shows great promise for making practical devices in miniaturized sensors and flexible electronics.

Solid state engine using nitinol memory alloy

DOEpatents

Golestaneh, Ahmad A.

1981-01-01

A device for converting heat energy to mechanical energy includes a reservoir of a hot fluid and a rotor assembly mounted thereabove so a portion of it dips into the hot fluid. The rotor assembly may include a shaft having four spokes extending radially outwardly therefrom at right angles to each other, a floating ring and four flexible elements composed of a thermal memory material having a critical temperature between the temperature of the hot fluid and that of the ambient atmosphere extending between the ends of the spokes and the floating ring. Preferably, the flexible elements are attached to the floating ring through curved leaf springs. Energetic shape recovery of the flexible elements in the hot fluid causes the rotor assembly to rotate.

Solid state engine using nitinol memory alloy

DOEpatents

Golestaneh, A.A.

1980-01-21

A device for converting heat energy to mechanical energy includes a reservoir of a hot fluid and a rotor assembly mounted thereabove so a portion of it dips into the hot fluid. The rotor assembly may include a shaft having four spokes extending radially outwardly therefrom at right angles to each other, a floating ring and four flexible elements composed of a thermal memory material having a critical temperature between the temperature of the hot fluid and that of the ambient atmosphere extending between the ends of the spokes and the floating ring. Preferably, the flexible elements are attached to the floating ring through curved leaf springs. Energetic shape recovery of the flexible elements in the hot fluid causes the rotor assembly to rotate.

Modular, security enclosure and method of assembly

DOEpatents

Linker, Kevin L.; Moyer, John W.

1995-01-01

A transportable, reusable rapidly assembled and disassembled, resizable modular, security enclosure utilizes a stepped panel construction. Each panel has an inner portion and an outer portion which form joints. A plurality of channels can be affixed to selected joints of the panels. Panels can be affixed to a base member and then affixed to one another by the use of elongated pins extending through the channel joints. Alternatively, the base member can be omitted and the panels themselves can be used as the floor of the enclosure. The pins will extend generally parallel to the joint in which they are located. These elongated pins are readily inserted into and removable from the channels in a predetermined sequence to allow assembly and disassembly of the enclosure. A door constructed from panels is used to close the opening to the enclosure.

Laminated magnet field coil sheath

DOEpatents

Skaritka, John R.

1987-12-01

a method for manufacturing a magnet cable trim coil in a sheath assembly for use in a cryogenic particle accelerator. A precisely positioned pattern of trim coil turns is bonded to a flexible substrate sheath that is capable of withstanding cryogenic operating conditions. In the method of the invention the flexible sheath, with the trim coil pattern precisely positioned thereon, is accurately positioned at a precise location relative to a bore tube assembly of an accelerator and is then bonded to the bore tube with a tape suitable for cryogenic application. The resultant assembly can be readily handled and installed within an iron magnet yoke assembly of a suitable cryogenic particle accelerator.

Laminated magnet field coil sheath

DOEpatents

Skaritka, J.R.

1987-05-15

A method for manufacturing a magnetic cable trim coil in a sheath assembly for use in a cryogenic particle accelerator. A precisely positioned pattern of trim coil turns is bonded to a flexible substrate sheath that is capable of withstanding cryogenic operating conditions. In the method of the invention the flexible substrate sheath, with the trim coil pattern precisely location relative to a bore tube assembly of an accelerator and is then bonded to the bore tube with a tape suitable for cryogenic application. The resultant assembly can be readily handled and installed within an iron magnet yoke assembly of a suitable cryogenic particle accelerator. 1 fig.

Damped flexible seal

DOEpatents

DuBois, Neil J.; Amaral, Antonio M.

1992-10-27

A damped flexible seal assembly for a torpedo isolates the tailcone thereof rom vibrational energy present in the drive shaft assembly. A pair of outside flanges, each of which include an inwardly facing groove and an O-ring constrained therein, provide a watertight seal against the outer non-rotating surface of the drive shaft assembly. An inside flange includes an outwardly-facing groove and an O-ring constrained therein, and provides a watertight seal against the inner surface of the tail cone. Two cast-in-place elastomeric seals provide a watertight seal between the flanges and further provide a damping barrier between the outside flanges and the inside flanges for damping vibrational energy present in the drive shaft assembly before the energy can reach the tailcone through the seal assembly.

Bladed disk assemblies; Proceedings of the Eleventh Biennial Conference on Mechanical Vibration and Noise, Boston, MA, Sept. 27-30, 1987

NASA Technical Reports Server (NTRS)

Kielb, R. (Editor); Crawley, E. (Editor); Simonis, J. C. (Editor)

1987-01-01

The present conference on bladed disk assemblies discusses aerodynamic indicial reponse and stability derivatives for a rotor annulus, an analysis of aerodynamically forced turbomachine vibration, the effect of downwash on the nonsteady forces in a turbomachine stage, the vibration of turbomachine blades with root flexibility effects, mistuned bladed disk assembly vibrations, and the model-generation and modal analysis of flexible bladed disk assemblies. Also discussed are the vibration characteristics of a mistuned bladed disk, free and forced vibrations associated with localization phenomena in mistuned assemblies with cyclic symmetry, steam turbine cyclic symmetry through constraint equations, and the interpretation of experimental and theoretical results predicting vibrating turbocharger blade mode shapes.

Grasp Assist Device with Shared Tendon Actuator Assembly

NASA Technical Reports Server (NTRS)

Ihrke, Chris A. (Inventor); Bergelin, Bryan J. (Inventor); Bridgwater, Lyndon (Inventor)

2015-01-01

A grasp assist device includes a glove with first and second tendon-driven fingers, a tendon, and a sleeve with a shared tendon actuator assembly. Tendon ends are connected to the respective first and second fingers. The actuator assembly includes a drive assembly having a drive axis and a tendon hook. The tendon hook, which defines an arcuate surface slot, is linearly translatable along the drive axis via the drive assembly, e.g., a servo motor thereof. The flexible tendon is routed through the surface slot such that the surface slot divides the flexible tendon into two portions each terminating in a respective one of the first and second ends. The drive assembly may include a ball screw and nut. An end cap of the actuator assembly may define two channels through which the respective tendon portions pass. The servo motor may be positioned off-axis with respect to the drive axis.

Bioinspired Graphene-Based Nanocomposites and Their Application in Flexible Energy Devices.

PubMed

Wan, Sijie; Peng, Jingsong; Jiang, Lei; Cheng, Qunfeng

2016-09-01

Graphene is the strongest and stiffest material ever identified and the best electrical conductor known to date, making it an ideal candidate for constructing nanocomposites used in flexible energy devices. However, it remains a great challenge to assemble graphene nanosheets into macro-sized high-performance nanocomposites in practical applications of flexible energy devices using traditional approaches. Nacre, the gold standard for biomimicry, provides an excellent example and guideline for assembling two-dimensional nanosheets into high-performance nanocomposites. This review summarizes recent research on the bioinspired graphene-based nanocomposites (BGBNs), and discusses different bioinspired assembly strategies for constructing integrated high-strength and -toughness graphene-based nanocomposites through various synergistic effects. Fundamental properties of graphene-based nanocomposites, such as strength, toughness, and electrical conductivities, are highlighted. Applications of the BGBNs in flexible energy devices, as well as potential challenges, are addressed. Inspired from the past work done by the community a roadmap for the future of the BGBNs in flexible energy device applications is depicted. © 2016 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Advanced Duct Sealing Testing

DOE Office of Scientific and Technical Information (OSTI.GOV)

Sherman, Max H.; Walker, Iain S.

Duct leakage has been identified as a major source of energy loss in residential buildings. Most duct leakage occurs at the connections to registers, plenums or branches in the duct system. At each of these connections a method of sealing the duct system is required. Typical sealing methods include tapes or mastics applied around the joints in the system. Field examinations of duct systems have typically shown that these seals tend to fail over extended periods of time. The Lawrence Berkeley National Laboratory has been testing sealant durability for several years. Typical duct tape (i.e. fabric backed tapes with naturalmore » rubber adhesives) was found to fail more rapidly than all other duct sealants. This report summarizes the results of duct sealant durability testing of five UL 181B-FX listed duct tapes (three cloth tapes, a foil tape and an Oriented Polypropylene (OPP) tape). One of the cloth tapes was specifically developed in collaboration with a tape manufacturer to perform better in our durability testing. The first test involved the aging of common ''core-to-collar joints'' of flexible duct to sheet metal collars, and sheet metal ''collar-to-plenum joints'' pressurized with 200 F (93 C) air. The second test consisted of baking duct tape specimens in a constant 212 F (100 C) oven following the UL 181B-FX ''Temperature Test'' requirements. Additional tests were also performed on only two tapes using sheet metal collar-to-plenum joints. Since an unsealed flexible duct joint can have a variable leakage depending on the positioning of the flexible duct core, the durability of the flexible duct joints could not be based on the 10% of unsealed leakage criteria. Nevertheless, the leakage of the sealed specimens prior to testing could be considered as a basis for a failure criteria. Visual inspection was also documented throughout the tests. The flexible duct core-to-collar joints were inspected monthly, while the sheet metal collar-to-plenum joints were inspected weekly. The baking test specimens were visually inspected weekly, and the durability was judged by the observed deterioration in terms of brittleness, cracking, flaking and blistering (the terminology used in the UL 181B-FX test procedure).« less

Walk and roll robot

NASA Technical Reports Server (NTRS)

Wilson, Andrew (Inventor); Punnoose, Andrew (Inventor); Strausser, Katherine (Inventor); Parikh, Neil (Inventor)

2011-01-01

A mobile robotic unit features a main body, a plurality of legs for supporting the main body on and moving the main body in forward and reverse directions about a base surface, and a drive assembly. According to an exemplary embodiment each leg includes a respective pivotal hip joint, a pivotal knee joint, and a wheeled foot adapted to roll along the base surface. Also according to an exemplary embodiments the drive assembly includes a motor operatively associated with the hip and knee joints and the wheeled foot for independently driving pivotal movement of the hip joint and the knee joint and rolling motion of the wheeled foot. The hip joint may include a ball-and-socket-type joint interconnecting top portion of the leg to the main body, such that the hip joint is adapted to pivot said leg in a direction transverse to a forward-and-reverse direction.

Effect of hamstring flexibility on hip and lumbar spine joint excursions during forward-reaching tasks in participants with and without low back pain.

PubMed

Johnson, Erica N; Thomas, James S

2010-07-01

To examine the correlation between hamstring flexibility and hip and lumbar spine joint excursions during standardized reaching and forward-bending tasks. Retrospective analysis of data obtained during 2 previous prospective studies that examined kinematics and kinetics during forward-reaching tasks in participants with and without low back pain (LBP). The 2 previous studies were conducted in the Motor Control Lab at Ohio University and the Orthopaedic Ergonomics Laboratory at The Ohio State University. Data from a total of 122 subjects from 2 previous studies: study 1: 86 subjects recovered from an episode of acute LBP (recovered) and study 2 (A.I. McCallum, unpublished data): 18 chronic LBP subjects and 18 healthy-matched controls (healthy). Not applicable. Correlation values between hamstring flexibility as measured by straight leg raise (SLR) and amount of hip and lumbar spine joint excursions used during standardized reaching and forward-bending tasks. No significant correlation was found between hamstring flexibility and hip and lumbar joint excursions during forward-bending tasks in the LBP or recovered groups. The SLR had a significant negative correlation with lumbar spine excursions during reaching tasks to a low target in the healthy group (right SLR: P=.011, left SLR: P=.004). Hamstring flexibility is not strongly related to the amount of lumbar flexion used to perform forward-reaching tasks in participants who have chronic LBP or who have recovered from LBP. More research needs to be conducted to examine the influence of hamstring flexibility on observed movement patterns to further evaluate the efficacy of flexibility training in the rehabilitation of patients with LBP. Copyright 2010 American Congress of Rehabilitation Medicine. Published by Elsevier Inc. All rights reserved.

Current Issues in Flexibility Fitness.

ERIC Educational Resources Information Center

Knudson, Duane V.; Magnusson, Peter; McHugh, Malachy

2000-01-01

Physical activity is extremely important in maintaining good health. Activity is not possible without a certain amount of flexibility. This report discusses issues related to flexibility fitness. Flexibility is a property of the musculoskeletal system that determines the range of motion achievable without injury to the joints. Static flexibility…

Joint Discussion 14 Modeling dense stellar systems

NASA Astrophysics Data System (ADS)

Sills, Alison I.; Subr, Ladislav; Portegies Zwart, Simon F.

2007-08-01

Joint Discussion 14 was held at the General Assembly of the International Astronomical Union from August 17 until 23 in the beautiful Bohemian capital, Prague. The blueprints for this meeting were laid out during the MODEST-5 workshop, held in the Canadian city of Hamilton, Ontario in August 2004. We were sitting in a nice cafe with local brew and food, discussing the future of the MODEST community when we posed the idea for this Joint Discussion at the General Assembly. The meeting was then coined MODEST-7.

High-power fused assemblies enabled by advances in fiber-processing technologies

NASA Astrophysics Data System (ADS)

Wiley, Robert; Clark, Brett

2011-02-01

The power handling capabilities of fiber lasers are limited by the technologies available to fabricate and assemble the key optical system components. Previous tools for the assembly, tapering, and fusion of fiber laser elements have had drawbacks with regard to temperature range, alignment capability, assembly flexibility and surface contamination. To provide expanded capabilities for fiber laser assembly, a wide-area electrical plasma heat source was used in conjunction with an optimized image analysis method and a flexible alignment system, integrated according to mechatronic principles. High-resolution imaging and vision-based measurement provided feedback to adjust assembly, fusion, and tapering process parameters. The system was used to perform assembly steps including dissimilar-fiber splicing, tapering, bundling, capillary bundling, and fusion of fibers to bulk optic devices up to several mm in diameter. A wide range of fiber types and diameters were tested, including extremely large diameters and photonic crystal fibers. The assemblies were evaluated for conformation to optical and mechanical design criteria, such as taper geometry and splice loss. The completed assemblies met the performance targets and exhibited reduced surface contamination compared to assemblies prepared on previously existing equipment. The imaging system and image analysis algorithms provided in situ fiber geometry measurement data that agreed well with external measurement. The ability to adjust operating parameters dynamically based on imaging was shown to provide substantial performance benefits, particularly in the tapering of fibers and bundles. The integrated design approach was shown to provide sufficient flexibility to perform all required operations with a minimum of reconfiguration.

Waterproof stretchable optoelectronics

DOE Office of Scientific and Technical Information (OSTI.GOV)

Rogers, John A.; Kim, Rak-Hwan; Kim, Dae-Hyeong

Described herein are flexible and stretchable LED arrays and methods utilizing flexible and stretchable LED arrays. Assembly of flexible LED arrays alongside flexible plasmonic crystals is useful for construction of fluid monitors, permitting sensitive detection of fluid refractive index and composition. Co-integration of flexible LED arrays with flexible photodetector arrays is useful for construction of flexible proximity sensors. Application of stretchable LED arrays onto flexible threads as light emitting sutures provides novel means for performing radiation therapy on wounds.

Design and Implementation of a Quadruped Bionic Robot Based on Virtual Prototype Technology

NASA Astrophysics Data System (ADS)

Wang, Li

2017-10-01

Design out a quadruped bionic robot with nine degrees of freedom. Conduct virtual assembly and trotting gait simulation on the robot by using NX software. Present the angular velocity and angular displacement curves of the diagonal two legs’ hip joints and knee joints, thus to instruct the practical assemble and control of the robot. The fact that the movement effect of the physical model is consistent with the simulation verifies the validity and practicability of virtual assembly and motion simulation. both.

Effect of Link Flexibility on tip position of a single link robotic arm

NASA Astrophysics Data System (ADS)

Madhusudan Raju, E.; Siva Rama Krishna, L.; Mouli, Y. Sharath Chandra; Nageswara Rao, V.

2015-12-01

The flexible robots are widely used in space applications due to their quick response, lower energy consumption, lower overall mass and operation at high speed compared to conventional industrial rigid link robots. These robots are inherently flexible, so that the kinematics of flexible robots can't be solved with rigid body assumptions. The flexibility in links and joints affects end-point positioning accuracy of the robot. It is important to model the link kinematics with precision which in turn simplifies modelling of dynamics of flexible robots. The main objective of this paper is to evaluate the effect of link flexibility on a tip position of a single link robotic arm for a given motion. The joint is assumed to be rigid and only link flexibility is considered. The kinematics of flexible link problem is evaluated by Assumed Modes Method (AMM) using MAT LAB Programming. To evaluate the effect of link flexibility (with and without payload) of robotic arm, the normalized tip deviation is found for flexible link with respect to a rigid link. Finally, the limiting inertia for payload mass is found if the allowable tip deviation is 5%.

Performance limitations of joint variable-feedback controllers due to manipulator structural flexibility

NASA Technical Reports Server (NTRS)

Cetinkunt, Sabri; Book, Wayne J.

1990-01-01

The performance limitations of manipulators under joint variable-feedback control are studied as a function of the mechanical flexibility inherent in the manipulator structure. A finite-dimensional time-domain dynamic model of a two-link two-joint planar manipulator is used in the study. Emphasis is placed on determining the limitations of control algorithms that use only joint variable-feedback information in calculations of control decisions, since most motion control systems in practice are of this kind. Both fine and gross motion cases are studied. Results for fine motion agree well with previously reported results in the literature and are also helpful in explaining the performance limitations in fast gross motions.

Cellulose nanofibers/reduced graphene oxide flexible transparent conductive paper.

PubMed

Gao, Kezheng; Shao, Ziqiang; Wu, Xue; Wang, Xi; Li, Jia; Zhang, Yunhua; Wang, Wenjun; Wang, Feijun

2013-08-14

The cellulose nanofibers (CNFs) paper exhibit high visible light transmittance, high mechanical strength, and excellent flexibility. Therefore, CNFs paper may be an excellent substrate material for flexible transparent electronic devices. In this paper, we endeavor to prepare CNFs-based flexible transparent conductive paper by layer-by-layer (LbL) assembly using divalent copper ions (Cu(2+)) as the crosslinking agent. The thickness of the reduced graphene oxide (RGO) active layer in the CNFs paper can be controlled by the cycle times of the LbL assembly. CNFs/[RGO]20 paper has the sheet resistances of ∼2.5 kΩ/□, and the transmittance of about 76% at a wavelength of 550 nm. Furthermore, CNFs/[RGO]20 paper inherits the excellent mechanical properties of CNFs paper, and the ultimate strength is about 136 MPa. CNFs-based flexible transparent conductive paper also exhibits excellent electrical stability and flexibility. Copyright © 2013. Published by Elsevier Ltd.

High voltage feedthrough bushing

DOEpatents

Brucker, John P.

1993-01-01

A feedthrough bushing for a high voltage diode provides for using compression sealing for all sealing surfaces. A diode assembly includes a central conductor extending through the bushing and a grading ring assembly circumferentially surrounding and coaxial with the central conductor. A flexible conductive plate extends between and compressively seals against the central conductor and the grading ring assembly, wherein the flexibility of the plate allows inner and outer portions of the plate to axially translate for compression sealing against the central conductor and the grading ring assembly, respectively. The inner portion of the plate is bolted to the central conductor for affecting sealing. A compression beam is also bolted to the central conductor and engages the outer portion of the plate to urge the outer portion toward the grading ring assembly to obtain compression sealing therebetween.

Tuning carbon nanotube assembly for flexible, strong and conductive films

NASA Astrophysics Data System (ADS)

Wang, Yanjie; Li, Min; Gu, Yizhuo; Zhang, Xiaohua; Wang, Shaokai; Li, Qingwen; Zhang, Zuoguang

2015-02-01

Carbon nanotubes are ideal scaffolds for designing and architecting flexible graphite films with tunable mechanical, electrical and thermal properties. Herein, we demonstrate that the assembly of aligned carbon nanotubes with different aggregation density and morphology leads to different mechanical properties and anisotropic electrical conduction along the films. Using drying evaporation under tension treatment, the carbon nanotubes can be assembled into strong films with tensile strength and Young's modulus as high as 3.2 GPa and 124 GPa, respectively, leading to a remarkable toughness of 54.38 J g-1, greatly outperforming conventional graphite films, spider webs and even Kevlar fiber films. Different types of solvents may result in the assembly of CNTs with different aggregation morphology and therefore different modulus. In addition, we reveal that the high density assembly of aligned CNTs correlates with better electric conduction along the axial direction, enabling these flexible graphite films to be both strong and conductive.Carbon nanotubes are ideal scaffolds for designing and architecting flexible graphite films with tunable mechanical, electrical and thermal properties. Herein, we demonstrate that the assembly of aligned carbon nanotubes with different aggregation density and morphology leads to different mechanical properties and anisotropic electrical conduction along the films. Using drying evaporation under tension treatment, the carbon nanotubes can be assembled into strong films with tensile strength and Young's modulus as high as 3.2 GPa and 124 GPa, respectively, leading to a remarkable toughness of 54.38 J g-1, greatly outperforming conventional graphite films, spider webs and even Kevlar fiber films. Different types of solvents may result in the assembly of CNTs with different aggregation morphology and therefore different modulus. In addition, we reveal that the high density assembly of aligned CNTs correlates with better electric conduction along the axial direction, enabling these flexible graphite films to be both strong and conductive. Electronic supplementary information (ESI) available: The TEM image of array CNTs. The surface height curves of x-z cross-section of the films. A comparison of the mechanical properties of the pure CNT films described in this work with other CNT films/fibers spun from CNT array reported in the literature. The measured evaporation rates of ethanol and acetone. See DOI: 10.1039/c4nr06401a

30 CFR 7.302 - Definitions.

Code of Federal Regulations, 2010 CFR

2010-07-01

... conduit box when specified. A motor assembly is comprised of one or more explosion-proof enclosures. Plane joint. A joint comprised of two adjoining surfaces in parallel planes. Step (rabbet) joint. A joint.... A step joint may be composed of a cylindrical portion and a plane portion or of two or more plane...

The pedestrian in the transportation system : legislation for improved traffic safety : a report to the governor and General Assembly of Virginia in response to House Joint Resolution no. 419.

DOT National Transportation Integrated Search

1990-01-01

During its 1989 session, the Virginia General Assembly passed House Joint Resolution No. 419. The Resolution requested that Virginia's pedestrian safety laws be studied and that recommendations for revisions of those laws be made to improve pedestria...

A structurally adaptive space crane concept for assembling space systems on orbit

NASA Technical Reports Server (NTRS)

Dorsey, John T.; Sutter, Thomas R.; Wu, K. C.

1992-01-01

A space crane concept is presented which is based on erectable truss hardware to achieve high stiffness and low mass booms and articulating-truss joints which can be assembled on orbit. The hardware is characterized by linear load-deflection response and is structurally predictable. The crane can be reconfigured into different geometries to meet future assembly requirements. Articulating-truss joint concepts with significantly different geometries are analyzed and found to have similar static and dynamic performance, which indicates that criteria other than structural and kinematic performance can be used to select a joint. Passive damping and an open-loop preshaped command input technique greatly enhance the structural damping in the space crane and may preclude the need for an active vibrations suppression system.

Stimuli-Responsive Intelligent Nanomaterials Self-Assembled from Rigid Flexible Molecules

DTIC Science & Technology

2010-11-19

engineering, and controlled drug delivery . The hydrogels are formed through physical cross-links in a random way of flexible nanofibers . Here we...other to form hydrogels that have a variety of applications including tissue engineering, and controlled drug delivery . The hydrogels are formed through...opportunities in many biological applications including tissue regeneration and drug delivery vehicles. Molecular self-assembly into one-dimensional

Low-voltage self-assembled monolayer field-effect transistors on flexible substrates.

PubMed

Schmaltz, Thomas; Amin, Atefeh Y; Khassanov, Artoem; Meyer-Friedrichsen, Timo; Steinrück, Hans-Georg; Magerl, Andreas; Segura, Juan José; Voitchovsky, Kislon; Stellacci, Francesco; Halik, Marcus

2013-08-27

Self-assembled monolayer field-effect transistors (SAMFETs) of BTBT functionalized phosphonic acids are fabricated. The molecular design enables device operation with charge carrier mobilities up to 10(-2) cm(2) V(-1) s(-1) and for the first time SAMFETs which operate on rough, flexible PEN substrates even under mechanical substrate bending. Copyright © 2013 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Effect of Spring-in Deviation on Fatigue Life of Composite Elevator Assembly

NASA Astrophysics Data System (ADS)

Wang, Hua

2017-12-01

The spring-in deviation results in the extra stresses around the joints of the composite C-beam and metallic parts when they are assembled together. These extra stresses affect the composite elevator's fatigue life, which should be explored with the fatigue experimentation. The paper presents the experimental investigation on the effect of spring-in deviation on the fatigue life of the composite elevator assembly. The investigation seeks to build the relationship between the spring-in and the fatigue life in order to determine the spring-in threshold during the course of assembling. The phenomenological model of the composite C-beam is constructed to predict the stresses around the joints. Based on the predicted spring-in induced stresses around the joints, pre-stresses are precisely added to the fatigue specimen when conducting the fatigue experiment. At last, the relationship curve of the spring-in on the composite C-beam's fatigue life is obtained from the experimental data. Giving the fatigue life accepting limits, the maximum accepting spring-in deviation during the course of assembling could be obtained from the relationship curve. The reported work will enhance the understanding of assembling the composites with spring-in deviation in the civil aircraft industry.

24 CFR 3280.605 - Joints and connections.

Code of Federal Regulations, 2010 CFR

2010-04-01

... watertight for the pressures required under testing procedures. (1) Assembling of pipe. All joints and... or welding sockets of each fitting. Pipe threads and slip joints shall not be wrapped with string...

A novel large thrust-weight ratio V-shaped linear ultrasonic motor with a flexible joint.

PubMed

Li, Xiaoniu; Yao, Zhiyuan; Yang, Mojian

2017-06-01

A novel large thrust-weight ratio V-shaped linear ultrasonic motor with a flexible joint is proposed in this paper. The motor is comprised of a V-shaped transducer, a slider, a clamp, and a base. The V-shaped transducer consists of two piezoelectric beams connected through a flexible joint to form an appropriate coupling angle. The V-shaped motor is operated in the coupled longitudinal-bending mode. Longitudinal and bending movements are transferred by the flexible joint between the two beams. Compared with the coupled longitudinal-bending mode of the single piezoelectric beam or the symmetrical and asymmetrical modes of the previous V-shaped transducer, the coupled longitudinal-bending mode of the V-shaped transducer with a flexible joint provides higher vibration efficiency and more convenient mode conformance adjustment. A finite element model of the V-shaped transducer is created to numerically study the influence of geometrical parameters and to determine the final geometrical parameters. In this paper, three prototypes were then fabricated and experimentally investigated. The modal test results match well with the finite element analysis. The motor mechanical output characteristics of three different coupling angles θ indicate that V-90 (θ = 90°) is the optimal angle. The mechanical output experiments conducted using the V-90 prototype (Size: 59.4 mm × 30.7 mm × 4 mm) demonstrate that the maximum unloaded speed is 1.2 m/s under a voltage of 350 Vpp, and the maximum output force is 15 N under a voltage of 300 Vpp. The proposed novel V-shaped linear ultrasonic motor has a compact size and a simple structure with a large thrust-weight ratio (0.75 N/g) and high speed.

Flexible robot control: Modeling and experiments

NASA Technical Reports Server (NTRS)

Oppenheim, Irving J.; Shimoyama, Isao

1989-01-01

Described here is a model and its use in experimental studies of flexible manipulators. The analytical model uses the equivalent of Rayleigh's method to approximate the displaced shape of a flexible link as the static elastic displacement which would occur under end rotations as applied at the joints. The generalized coordinates are thereby expressly compatible with joint motions and rotations in serial link manipulators, because the amplitude variables are simply the end rotations between the flexible link and the chord connecting the end points. The equations for the system dynamics are quite simple and can readily be formulated for the multi-link, three-dimensional case. When the flexible links possess mass and (polar moment of) inertia which are small compared to the concentrated mass and inertia at the joints, the analytical model is exact and displays the additional advantage of reduction in system dimension for the governing equations. Four series of pilot tests have been completed. Studies on a planar single-link system were conducted at Carnegie-Mellon University, and tests conducted at Toshiba Corporation on a planar two-link system were then incorporated into the study. A single link system under three-dimensional motion, displaying biaxial flexure, was then tested at Carnegie-Mellon.

Infrapatellar fat pad-derived stem cells maintain their chondrogenic capacity in disease and can be used to engineer cartilaginous grafts of clinically relevant dimensions.

PubMed

Liu, Yurong; Buckley, Conor Timothy; Almeida, Henrique V; Mulhall, Kevin J; Kelly, Daniel John

2014-11-01

A therapy for regenerating large cartilaginous lesions within the articular surface of osteoarthritic joints remains elusive. While tissue engineering strategies such as matrix-assisted autologous chondrocyte implantation can be used in the repair of focal cartilage defects, extending such approaches to the treatment of osteoarthritis will require a number of scientific and technical challenges to be overcome. These include the identification of an abundant source of chondroprogenitor cells that maintain their chondrogenic capacity in disease, as well as the development of novel approaches to engineer scalable cartilaginous grafts that could be used to resurface large areas of damaged joints. In this study, it is first demonstrated that infrapatellar fat pad-derived stem cells (FPSCs) isolated from osteoarthritic (OA) donors possess a comparable chondrogenic capacity to FPSCs isolated from patients undergoing ligament reconstruction. In a further validation of their functionality, we also demonstrate that FPSCs from OA donors respond to the application of physiological levels of cyclic hydrostatic pressure by increasing aggrecan gene expression and the production of sulfated glycosaminoglycans. We next explored whether cartilaginous grafts could be engineered with diseased human FPSCs using a self-assembly or scaffold-free approach. After examining a range of culture conditions, it was found that continuous supplementation with both transforming growth factor-β3 (TGF-β3) and bone morphogenic protein-6 (BMP-6) promoted the development of tissues rich in proteoglycans and type II collagen. The final phase of the study sought to scale-up this approach to engineer cartilaginous grafts of clinically relevant dimensions (≥2 cm in diameter) by assembling FPSCs onto electrospun PLLA fiber membranes. Over 6 weeks in culture, it was possible to generate robust, flexible cartilage-like grafts of scale, opening up the possibility that tissues engineered using FPSCs derived from OA patients could potentially be used to resurface large areas of joint surfaces damaged by trauma or disease.

Infrapatellar Fat Pad-Derived Stem Cells Maintain Their Chondrogenic Capacity in Disease and Can be Used to Engineer Cartilaginous Grafts of Clinically Relevant Dimensions

PubMed Central

Liu, Yurong; Buckley, Conor Timothy; Almeida, Henrique V.; Mulhall, Kevin J.

2014-01-01

A therapy for regenerating large cartilaginous lesions within the articular surface of osteoarthritic joints remains elusive. While tissue engineering strategies such as matrix-assisted autologous chondrocyte implantation can be used in the repair of focal cartilage defects, extending such approaches to the treatment of osteoarthritis will require a number of scientific and technical challenges to be overcome. These include the identification of an abundant source of chondroprogenitor cells that maintain their chondrogenic capacity in disease, as well as the development of novel approaches to engineer scalable cartilaginous grafts that could be used to resurface large areas of damaged joints. In this study, it is first demonstrated that infrapatellar fat pad-derived stem cells (FPSCs) isolated from osteoarthritic (OA) donors possess a comparable chondrogenic capacity to FPSCs isolated from patients undergoing ligament reconstruction. In a further validation of their functionality, we also demonstrate that FPSCs from OA donors respond to the application of physiological levels of cyclic hydrostatic pressure by increasing aggrecan gene expression and the production of sulfated glycosaminoglycans. We next explored whether cartilaginous grafts could be engineered with diseased human FPSCs using a self-assembly or scaffold-free approach. After examining a range of culture conditions, it was found that continuous supplementation with both transforming growth factor-β3 (TGF-β3) and bone morphogenic protein-6 (BMP-6) promoted the development of tissues rich in proteoglycans and type II collagen. The final phase of the study sought to scale-up this approach to engineer cartilaginous grafts of clinically relevant dimensions (≥2 cm in diameter) by assembling FPSCs onto electrospun PLLA fiber membranes. Over 6 weeks in culture, it was possible to generate robust, flexible cartilage-like grafts of scale, opening up the possibility that tissues engineered using FPSCs derived from OA patients could potentially be used to resurface large areas of joint surfaces damaged by trauma or disease. PMID:24785365

Robustness analysis of non-ordinary Petri nets for flexible assembly/disassembly processes based on structural decomposition

NASA Astrophysics Data System (ADS)

Hsieh, Fu-Shiung

2011-03-01

Design of robust supervisory controllers for manufacturing systems with unreliable resources has received significant attention recently. Robustness analysis provides an alternative way to analyse a perturbed system to quickly respond to resource failures. Although we have analysed the robustness properties of several subclasses of ordinary Petri nets (PNs), analysis for non-ordinary PNs has not been done. Non-ordinary PNs have weighted arcs and have the advantage to compactly model operations requiring multiple parts or resources. In this article, we consider a class of flexible assembly/disassembly manufacturing systems and propose a non-ordinary flexible assembly/disassembly Petri net (NFADPN) model for this class of systems. As the class of flexible assembly/disassembly manufacturing systems can be regarded as the integration and interactions of a set of assembly/disassembly subprocesses, a bottom-up approach is adopted in this article to construct the NFADPN models. Due to the routing flexibility in NFADPN, there may exist different ways to accomplish the tasks. To characterise different ways to accomplish the tasks, we propose the concept of completely connected subprocesses. As long as there exists a set of completely connected subprocesses for certain type of products, the production of that type of products can still be maintained without requiring the whole NFADPN to be live. To take advantage of the alternative routes without enforcing liveness for the whole system, we generalise the concept of persistent production proposed to NFADPN. We propose a condition for persistent production based on the concept of completely connected subprocesses. We extend robustness analysis to NFADPN by exploiting its structure. We identify several patterns of resource failures and characterise the conditions to maintain operation in the presence of resource failures.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Abushakra, Bass

The aging tests conducted so far showed that duct tape tends to degrade in its performance as the joint it is applied to requires a geometrical description of a higher number of space dimensions (1-D, 2-D, 3-D). One-dimensional joints are the easiest to seal with duct tape, and thus the least to experience failure. Two-dimensional joints, such as the flexible duct core-to-collar joints tested in this study, are less likely to fail than three-dimensional collar-to-plenum joints, as the shrinkage could have a positive effect in tightening the joint. Three-dimensional joints are the toughest to seal and the most likely tomore » experience failure. The 2-D flexible duct core-to-collar joints passed the six-month period of the aging test in terms of leakage, but with the exception of the foil-butyl tape, showed degradation in terms hardening, brittleness, partial peeling, shrinkage, wrinkling, delamination of the tape layers, flaking, cracking, bubbling, oozing and discoloration. The baking test results showed that the failure in the duct tape joints could be attributed to the type of combination of the duct tape and the material it is applied to, as the duct tape behaves differently with different substrates. Overall, the foil-butyl tape (Tape 4) had the best results, while the film tape (Tape 3) showed the most deterioration. The conventional duct tapes tested (Tape 1 and Tape 2) were between these two extremes, with Tape 2 performing better than Tape 1. Lastly, we found that plastic straps became discolored and brittle during the tests, and a couple of straps broke completely. Therefore, we recommend that clamping the duct-taped flexible core-to-collar joints should be done with metallic adjustable straps.« less

Effect of oligonucleic acid (ONA) backbone features on assembly of ONA-star polymer conjugates: a coarse-grained molecular simulation study.

PubMed

Condon, Joshua E; Jayaraman, Arthi

2017-10-04

Understanding the impact of incorporating new physical and chemical features in oligomeric DNA mimics, termed generally as "oligonucleic acids" (ONAs), on their structure and thermodynamics will be beneficial in designing novel materials for a variety of applications. In this work, we conduct coarse-grained molecular simulations of ONA-star polymer conjugates with varying ONA backbone flexibility, ONA backbone charge, and number of arms in the star polymer at a constant ONA strand volume fraction to elucidate the effect of these design parameters on the thermodynamics and assembly of multi-arm ONA-star polymer conjugates. We quantify the thermo-reversible behavior of the ONA-star polymer conjugates by quantifying the hybridization of the ONA strands in the system as a function of temperature (i.e. melting curve). Additionally, we characterize the assembly of the ONA-star polymer conjugates by tracking cluster formation and percolation as a function of temperature, as well as cluster size distribution at temperatures near the assembly transition region. The key results are as follows. The melting temperature (T m ) of the ONA strands decreases upon going from a neutral to a charged ONA backbone and upon increasing flexibility of the ONA backbone. Similar behavior is seen for the assembly transition temperature (T a ) with varying ONA backbone charge and flexibility. While the number of arms in the ONA-star polymer conjugate has a negligible effect on the ONA T m in these systems, as the number of ONA-star polymer arms increase, the assembly temperature T a increases and local ordering in the assembled state improves. By understanding how factors like ONA backbone charge, backbone flexibility, and ONA-star polymer conjugate architecture impact the behavior of ONA-star polymer conjugate systems, we can better inform how the selection of ONA chemistry will influence resulting ONA-star polymer assembly.

Mathematical Model and Calibration Experiment of a Large Measurement Range Flexible Joints 6-UPUR Six-Axis Force Sensor

PubMed Central

Zhao, Yanzhi; Zhang, Caifeng; Zhang, Dan; Shi, Zhongpan; Zhao, Tieshi

2016-01-01

Nowadays improving the accuracy and enlarging the measuring range of six-axis force sensors for wider applications in aircraft landing, rocket thrust, and spacecraft docking testing experiments has become an urgent objective. However, it is still difficult to achieve high accuracy and large measuring range with traditional parallel six-axis force sensors due to the influence of the gap and friction of the joints. Therefore, to overcome the mentioned limitations, this paper proposed a 6-Universal-Prismatic-Universal-Revolute (UPUR) joints parallel mechanism with flexible joints to develop a large measurement range six-axis force sensor. The structural characteristics of the sensor are analyzed in comparison with traditional parallel sensor based on the Stewart platform. The force transfer relation of the sensor is deduced, and the force Jacobian matrix is obtained using screw theory in two cases of the ideal state and the state of flexibility of each flexible joint is considered. The prototype and loading calibration system are designed and developed. The K value method and least squares method are used to process experimental data, and in errors of kind Ι and kind II linearity are obtained. The experimental results show that the calibration error of the K value method is more than 13.4%, and the calibration error of the least squares method is 2.67%. The experimental results prove the feasibility of the sensor and the correctness of the theoretical analysis which are expected to be adopted in practical applications. PMID:27529244

Flexible Connectors between Capsomer Subunits that Regulate Capsid Assembly.

PubMed

Hasek, Mary L; Maurer, Joshua B; Hendrix, Roger W; Duda, Robert L

2017-08-04

Viruses build icosahedral capsids of specific size and shape by regulating the spatial arrangement of the hexameric and pentameric protein capsomers in the growing shell during assembly. In the T=7 capsids of Escherichia coli bacteriophage HK97 and other phages, 60 capsomers are hexons, while the rest are pentons that are correctly positioned during assembly. Assembly of the HK97 capsid to the correct size and shape has been shown to depend on specific ionic contacts between capsomers. We now describe additional ionic interactions within capsomers that also regulate assembly. Each is between the long hairpin, the "E-loop," that extends from one subunit to the adjacent subunit within the same capsomer. Glutamate E153 on the E-loop and arginine R210 on the adjacent subunit's backbone alpha-helix form salt bridges in hexamers and pentamers. Mutations that disrupt these salt bridges were lethal for virus production, because the mutant proteins assembled into tubes or sheets instead of capsids. X-ray structures show that the E153-R210 links are flexible and maintained during maturation despite radical changes in capsomer shape. The E153-R210 links appear to form early in assembly to enable capsomers to make programmed changes in their shape during assembly. The links also prevent flattening of capsomers and premature maturation. Mutant phenotypes and modeling support an assembly model in which flexible E153-R210 links mediate capsomer shape changes that control where pentons are placed to create normal-sized capsids. The E-loop may be conserved in other systems in order to play similar roles in regulating assembly. Copyright © 2017 Elsevier Ltd. All rights reserved.

Vector-algebra approach to extract Denavit-Hartenberg parameters of assembled robot arms

NASA Technical Reports Server (NTRS)

Barker, L. K.

1983-01-01

The Denavit-Hartenberg parameters characterize the joint axis systems in a robot arm and, naturally, appear in the transformation matrices from one joint axis system to another. These parameters are needed in the control of robot arms and in the passage of sensor information along the arm. This paper presents a vector algebra method to determine these parameters for any assembled robot arm. The idea is to measure the location of the robot hand (or extension) for different joint angles and then use these measurements to calculate the parameters.

Experimental Investigation on High-Cycle Fatigue of Inconel 625 Superalloy Brazed Joints

NASA Astrophysics Data System (ADS)

Chen, Jianqiang; Demers, Vincent; Turner, Daniel P.; Bocher, Philippe

2018-04-01

The high-cycle fatigue performance and crack growth pattern of transient liquid phase-brazed joints in a nickel-based superalloy Inconel 625 were studied. Assemblies with different geometries and types of overlaps were vacuum-brazed using the brazing paste Palnicro-36M in conditions such as to generate eutectic-free joints. This optimal microstructure provides the brazed assemblies with static mechanical strength corresponding to that of the base metal. However, eutectic micro-constituents were observed in the fillet region of the brazed assembly due to an incomplete isothermal solidification within this large volume of filler metal. The fatigue performance increased significantly with the overlap distance for single-lap joints, and the best performance was found for double-lap joints. It was demonstrated that these apparent changes in fatigue properties according to the specimen geometry can be rationalized when looking at the fatigue data as a function of the local stress state at the fillet radii. Fatigue cracks were nucleated from brittle eutectic phases located at the surface of the fillet region. Their propagation occurred through the bimodal microstructure of fillet and the diffusion region to reach the base metal. High levels of crack path tortuosity were observed, suggesting that the ductile phases found in the microstructure may act as a potential crack stopper. The fillet region must be considered as the critical region of a brazed assembly for fatigue applications.

Modeling, design, and control of flexible manipulator arms: Status and trends

NASA Technical Reports Server (NTRS)

Book, Wayne J.

1989-01-01

The desire for higher performance manipulators has lead to dynamic behavior in which the flexibility is an essential aspect. The mathematical representations commonly used in modeling flexible arms and arms with flexible drives are examined first. Then design considerations directly arising from the flexible nature of the arm are discussed. Finally, controls of joints for general and tip motion are discussed.

Directed-Assembly of Carbon Nanotubes on Soft Substrates for Flexible Biosensor Array

NASA Astrophysics Data System (ADS)

Lee, Hyoung Woo; Koh, Juntae; Lee, Byung Yang; Kim, Tae Hyun; Lee, Joohyung; Hong, Seunghun; Yi, Mihye; Jhon, Young Min

2009-03-01

We developed a method to selectively assemble and align carbon nanotubes (CNTs) on soft substrates for flexible biosensors. In this strategy, thin oxide layer was deposited on soft substrates via low temperature plasma enhanced chemical vapor deposition, and linker-free assembly process was applied onto the oxide surface where the assembly of carbon nanotubes was guided by methyl-terminated molecular patterns on the oxide surface. The electrical characterization of the fabricated CNT devices exhibited typical p-type gating effect and 1/f noise behavior. The bare oxide regions near CNTs were functionalized with glutamate oxidase to fabricate selective biosensors to detect two forms of glutamate substances existing in different situations: L-glutamic acid, a neuro-transmitting material, and monosodium glutamate, a food additive.

Self mobile space manipulator project

NASA Technical Reports Server (NTRS)

Brown, H. Ben; Friedman, Mark; Xu, Yangsheng; Kanade, Takeo

1992-01-01

A relatively simple, modular, low mass, low cost robot is being developed for space EVA that is large enough to be independently mobile on a space station or platform exterior, yet versatile enough to accomplish many vital tasks. The robot comprises two long flexible links connected by a rotary joint, with 2-DOF 'wrist' joints and grippers at each end. It walks by gripping pre-positioned attachment points, such as trusswork nodes, and alternately shifting its base of support from one foot (gripper) to the other. The robot can perform useful tasks such as visual inspection, material transport, and light assembly by manipulating objects with one gripper, while stabilizing itself with the other. At SOAR '90, we reported development of 1/3 scale robot hardware, modular trusswork to serve as a locomotion substrate, and a gravity compensation system to allow laboratory tests of locomotion strategies on the horizontal face of the trusswork. In this paper, we report on project progress including the development of: (1) adaptive control for automatic adjustment to loads; (2) enhanced manipulation capabilities; (3) machine vision, including the use of neural nets, to guide autonomous locomotion; (4) locomotion between orthogonal trusswork faces; and (5) improved facilities for gravity compensation and telerobotic control.

A Hexapod Robot to Demonstrate Mesh Walking in a Microgravity Environment

NASA Technical Reports Server (NTRS)

Foor, David C.

2005-01-01

The JPL Micro-Robot Explorer (MRE) Spiderbot is a robot that takes advantage of its small size to perform precision tasks suitable for space applications. The Spiderbot is a legged robot that can traverse harsh terrain otherwise inaccessible to wheeled robots. A team of Spiderbots can network and can exhibit collaborative efforts to SUCCeSSfUlly complete a set of tasks. The Spiderbot is designed and developed to demonstrate hexapods that can walk on flat surfaces, crawl on meshes, and assemble simple structures. The robot has six legs consisting of two spring-compliant joints and a gripping actuator. A hard-coded set of gaits allows the robot to move smoothly in a zero-gravity environment along the mesh. The primary objective of this project is to create a Spiderbot that traverses a flexible, deployable mesh, for use in space repair. Verification of this task will take place aboard a zero-gravity test flight. The secondary objective of this project is to adapt feedback from the joints to allow the robot to test each arm for a successful grip of the mesh. The end result of this research lends itself to a fault-tolerant robot suitable for a wide variety of space applications.

Dynamic analysis of Space Shuttle/RMS configuration using continuum approach

NASA Technical Reports Server (NTRS)

Ramakrishnan, Jayant; Taylor, Lawrence W., Jr.

1994-01-01

The initial assembly of Space Station Freedom involves the Space Shuttle, its Remote Manipulation System (RMS) and the evolving Space Station Freedom. The dynamics of this coupled system involves both the structural and the control system dynamics of each of these components. The modeling and analysis of such an assembly is made even more formidable by kinematic and joint nonlinearities. The current practice of modeling such flexible structures is to use finite element modeling in which the mass and interior dynamics is ignored between thousands of nodes, for each major component. The model characteristics of only tens of modes are kept out of thousands which are calculated. The components are then connected by approximating the boundary conditions and inserting the control system dynamics. In this paper continuum models are used instead of finite element models because of the improved accuracy, reduced number of model parameters, the avoidance of model order reduction, and the ability to represent the structural and control system dynamics in the same system of equations. Dynamic analysis of linear versions of the model is performed and compared with finite element model results. Additionally, the transfer matrix to continuum modeling is presented.

Micro-assembly of three-dimensional rotary MEMS mirrors

NASA Astrophysics Data System (ADS)

Wang, Lidai; Mills, James K.; Cleghorn, William L.

2009-02-01

We present a novel approach to construct three-dimensional rotary micro-mirrors, which are fundamental components to build 1×N or N×M optical switching systems. A rotary micro-mirror consists of two microparts: a rotary micro-motor and a micro-mirror. Both of the two microparts are fabricated with PolyMUMPs, a surface micromachining process. A sequential robotic microassembly process is developed to join the two microparts together to construct a threedimensional device. In order to achieve high positioning accuracy and a strong mechanical connection, the micro-mirror is joined to the micro-motor using an adhesive mechanical fastener. The mechanical fastener has self-alignment ability and provides a temporary joint between the two microparts. The adhesive bonding can create a strong permanent connection, which does not require extra supporting plates for the micro-mirror. A hybrid manipulation strategy, which includes pick-and-place and pushing-based manipulations, is utilized to manipulation the micro-mirror. The pick-andplace manipulation has the ability to globally position the micro-mirror in six degrees of freedom. The pushing-based manipulation can achieve high positioning accuracy. This microassembly approach has great flexibility and high accuracy; furthermore, it does not require extra supporting plates, which greatly simplifies the assembly process.

Small Dog-Like Quadruped Robot Powered With McKibben Air Muscles

NASA Technical Reports Server (NTRS)

Lacy, John M.

2005-01-01

Planetary surface robotic exploration is typically done by wheeled robots, which are limited to traveling on relatively flat terrain. The goal of this project was to design a bio-inspired robot to mimic the movements and agility of animals to navigate in various types of natural terrain, such as found on Mars. My objective for the summer was to design and construct a quadruped robot with a locomotion gait similar to a small dog. The design includes four legs and an actuated flexible spine for added mobility and performance; each leg has three joints - hip, knee, and ankle. I created 3D CAD models and machined the pieces for the assemblies of each part. One of the key areas of concern is weight vs. power issues for the driving force of locomotion. To maximize the power-to-weight ratio, I used McKibben air muscles to drive the motion of the quadruped. The prototype went through several iterations to analyze performance, with adjustments made to each assembly. We expect the final working prototype will be capable of standing unassisted and pronking into the air without active control. It will serve as a research platform for future bio-inspired control algorithms.

Interconnect assembly for an electronic assembly and assembly method therefor

DOEpatents

Gerbsch, Erich William

2003-06-10

An interconnect assembly and method for a semiconductor device, in which the interconnect assembly can be used in lieu of wirebond connections to form an electronic assembly. The interconnect assembly includes first and second interconnect members. The first interconnect member has a first surface with a first contact and a second surface with a second contact electrically connected to the first contact, while the second interconnect member has a flexible finger contacting the second contact of the first interconnect member. The first interconnect member is adapted to be aligned and registered with a semiconductor device having a contact on a first surface thereof, so that the first contact of the first interconnect member electrically contacts the contact of the semiconductor device. Consequently, the assembly method does not require any wirebonds, but instead merely entails aligning and registering the first interconnect member with the semiconductor device so that the contacts of the first interconnect member and the semiconductor device make electrically contact, and then contacting the second contact of the first interconnect member with the flexible finger of the second interconnect member.

THE KINEMATICS OF PRIMATE MIDFOOT FLEXIBILITY

PubMed Central

Greiner, Thomas M.; Ball, Kevin A.

2015-01-01

This study describes a unique assessment of primate intrinsic foot joint kinematics based upon bone pin rigid cluster tracking. It challenges the assumption that human evolution resulted in a reduction of midfoot flexibility, which has been identified in other primates as the “midtarsal break.” Rigid cluster pins were inserted into the foot bones of human, chimpanzee, baboon and macaque cadavers. The positions of these bone pins were monitored during a plantarflexion-dorsiflexion movement cycle. Analysis resolved flexion-extension movement patterns and the associated orientation of rotational axes for the talonavicular, calcaneocuboid and lateral cubometatarsal joints. Results show that midfoot flexibility occurs primarily at the talonavicular and cubometatarsal joints. The rotational magnitudes are roughly similar between humans and chimps. There is also a similarity among evaluated primates in the observed rotations of the lateral cubometatarsal joint, but there was much greater rotation observed for the talonavicular joint, which may serve to differentiate monkeys from the hominines. It appears that the capability for a midtarsal break is present within the human foot. A consideration of the joint axes shows that the medial and lateral joints have opposing orientations, which has been associated with a rigid locking mechanism in the human foot. However, the potential for this same mechanism also appears in the chimpanzee foot. These findings demonstrate a functional similarity within the midfoot of the hominines. Therefore, the kinematic capabilities and restrictions for the skeletal linkages of the human foot may not be as unique as has been previously suggested. PMID:25234343

Structure Assembly by a Heterogeneous Team of Robots Using State Estimation, Generalized Joints, and Mobile Parallel Manipulators

NASA Technical Reports Server (NTRS)

Komendera, Erik E.; Adhikari, Shaurav; Glassner, Samantha; Kishen, Ashwin; Quartaro, Amy

2017-01-01

Autonomous robotic assembly by mobile field robots has seen significant advances in recent decades, yet practicality remains elusive. Identified challenges include better use of state estimation to and reasoning with uncertainty, spreading out tasks to specialized robots, and implementing representative joining methods. This paper proposes replacing 1) self-correcting mechanical linkages with generalized joints for improved applicability, 2) assembly serial manipulators with parallel manipulators for higher precision and stability, and 3) all-in-one robots with a heterogeneous team of specialized robots for agent simplicity. This paper then describes a general assembly algorithm utilizing state estimation. Finally, these concepts are tested in the context of solar array assembly, requiring a team of robots to assemble, bond, and deploy a set of solar panel mockups to a backbone truss to an accuracy not built into the parts. This paper presents the results of these tests.

A robust control scheme for flexible arms with friction in the joints

NASA Technical Reports Server (NTRS)

Rattan, Kuldip S.; Feliu, Vicente; Brown, H. Benjamin, Jr.

1988-01-01

A general control scheme to control flexible arms with friction in the joints is proposed in this paper. This scheme presents the advantage of being robust in the sense that it minimizes the effects of the Coulomb friction existing in the motor and the effects of changes in the dynamic friction coefficient. A justification of the robustness properties of the scheme is given in terms of the sensitivity analysis.

Transparent and flexible electrodes and supercapacitors using polyaniline/single-walled carbon nanotube composite thin films

NASA Astrophysics Data System (ADS)

Ge, Jun; Cheng, Guanghui; Chen, Liwei

2011-08-01

Large-scale transparent and flexible electronic devices have been pursued for potential applications such as those in touch sensors and display technologies. These applications require that the power source of these devices must also comply with transparent and flexible features. Here we present transparent and flexible supercapacitors assembled from polyaniline (PANI)/single-walled carbon nanotube (SWNT) composite thin film electrodes. The ultrathin, optically homogeneous and transparent, electrically conducting films of the PANI/SWNT composite show a large specific capacitance due to combined double-layer capacitance and pseudo-capacitance mechanisms. A supercapacitor assembled using electrodes with a SWNT density of 10.0 µg cm-2 and 59 wt% PANI gives a specific capacitance of 55.0 F g-1 at a current density of 2.6 A g-1, showing its possibility for transparent and flexible energy storage.

Transparent and flexible electrodes and supercapacitors using polyaniline/single-walled carbon nanotube composite thin films.

PubMed

Ge, Jun; Cheng, Guanghui; Chen, Liwei

2011-08-01

Large-scale transparent and flexible electronic devices have been pursued for potential applications such as those in touch sensors and display technologies. These applications require that the power source of these devices must also comply with transparent and flexible features. Here we present transparent and flexible supercapacitors assembled from polyaniline (PANI)/single-walled carbon nanotube (SWNT) composite thin film electrodes. The ultrathin, optically homogeneous and transparent, electrically conducting films of the PANI/SWNT composite show a large specific capacitance due to combined double-layer capacitance and pseudo-capacitance mechanisms. A supercapacitor assembled using electrodes with a SWNT density of 10.0 µg cm(-2) and 59 wt% PANI gives a specific capacitance of 55.0 F g(-1) at a current density of 2.6 A g(-1), showing its possibility for transparent and flexible energy storage. This journal is © The Royal Society of Chemistry 2011

A vision-based end-point control for a two-link flexible manipulator. M.S. Thesis

NASA Technical Reports Server (NTRS)

Obergfell, Klaus

1991-01-01

The measurement and control of the end-effector position of a large two-link flexible manipulator are investigated. The system implementation is described and an initial algorithm for static end-point positioning is discussed. Most existing robots are controlled through independent joint controllers, while the end-effector position is estimated from the joint positions using a kinematic relation. End-point position feedback can be used to compensate for uncertainty and structural deflections. Such feedback is especially important for flexible robots. Computer vision is utilized to obtain end-point position measurements. A look-and-move control structure alleviates the disadvantages of the slow and variable computer vision sampling frequency. This control structure consists of an inner joint-based loop and an outer vision-based loop. A static positioning algorithm was implemented and experimentally verified. This algorithm utilizes the manipulator Jacobian to transform a tip position error to a joint error. The joint error is then used to give a new reference input to the joint controller. The convergence of the algorithm is demonstrated experimentally under payload variation. A Landmark Tracking System (Dickerson, et al 1990) is used for vision-based end-point measurements. This system was modified and tested. A real-time control system was implemented on a PC and interfaced with the vision system and the robot.

Active Vibration Control of a Large Flexible Manipulator by Inertial Force and Joint Torque. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Lee, Soo Han

1988-01-01

The efficiency and positional accuracy of a lightweight flexible manipulator are limited by its flexural vibrations, which last after a gross motion is completed. The vibration delays subsequent operations. In the proposed work, the vibration is suppressed by inertial force of a small arm in addition to the joint actuators and passive damping treatment. The proposed approach is: (1) Dynamic modeling of a combined system, a large flexible manipulator and a small arm, (2) Determination of optimal sensor location and controller algorithm, and (3) Verification of the fitness of model and the performance of controller.

Decentralized control of large flexible structures by joint decoupling

NASA Technical Reports Server (NTRS)

Su, Tzu-Jeng; Juang, Jer-Nan

1994-01-01

This paper presents a novel method to design decentralized controllers for large complex flexible structures by using the idea of joint decoupling. Decoupling of joint degrees of freedom from the interior degrees of freedom is achieved by setting the joint actuator commands to cancel the internal forces exerting on the joint degrees of freedom. By doing so, the interactions between substructures are eliminated. The global structure control design problem is then decomposed into several substructure control design problems. Control commands for interior actuators are set to be localized state feedback using decentralized observers for state estimation. The proposed decentralized controllers can operate successfully at the individual substructure level as well as at the global structure level. Not only control design but also control implementation is decentralized. A two-component mass-spring-damper system is used as an example to demonstrate the proposed method.

BioMot exoskeleton - Towards a smart wearable robot for symbiotic human-robot interaction.

PubMed

Bacek, Tomislav; Moltedo, Marta; Langlois, Kevin; Prieto, Guillermo Asin; Sanchez-Villamanan, Maria Carmen; Gonzalez-Vargas, Jose; Vanderborght, Bram; Lefeber, Dirk; Moreno, Juan C

2017-07-01

This paper presents design of a novel modular lower-limb gait exoskeleton built within the FP7 BioMot project. Exoskeleton employs a variable stiffness actuator in all 6 joints, a directional-flexibility structure and a novel physical humanrobot interfacing, which allows it to deliver the required output while minimally constraining user's gait by providing passive degrees of freedom. Due to modularity, the exoskeleton can be used as a full lower-limb orthosis, a single-joint orthosis in any of the three joints, and a two-joint orthosis in a combination of any of the two joints. By employing a simple torque control strategy, the exoskeleton can be used to deliver user-specific assistance, both in gait rehabilitation and in assisting people suffering musculoskeletal impairments. The result of the presented BioMot efforts is a low-footprint exoskeleton with powerful compliant actuators, simple, yet effective torque controller and easily adjustable flexible structure.

Metal-ceramic joint assembly

DOEpatents

Li, Jian

2002-01-01

A metal-ceramic joint assembly in which a brazing alloy is situated between metallic and ceramic members. The metallic member is either an aluminum-containing stainless steel, a high chromium-content ferritic stainless steel or an iron nickel alloy with a corrosion protection coating. The brazing alloy, in turn, is either an Au-based or Ni-based alloy with a brazing temperature in the range of 9500 to 1200.degree. C.

A flexible Au-Ir cell with quick assembly for hydrothermal experiments

USGS Publications Warehouse

Rosenbauer, R.J.; Bischoff, J.L.; Potter, J.M.

1993-01-01

The paper describes a new flexible reaction cell for high-temperature and high-pressure experiments in hydrothermal apparatus. The interior of the cell is all Au, except for two inert Ir gaskets. The design features an all Au cap that can be easily and rapidly assembled and disassembled. The capacity of the cell is approximately 240 mL, with a height of 20 cm and an o.d. of 6 cm. -Authors

Self-assembled Ag nanoparticle network passivated by a nano-sized ZnO layer for transparent and flexible film heaters

DOE Office of Scientific and Technical Information (OSTI.GOV)

Seo, Ki-Won; Kim, Han-Ki, E-mail: imdlhkkim@khu.ac.kr; Kim, Min-Yi

2015-12-15

We investigated a self-assembled Ag nanoparticle network electrode passivated by a nano-sized ZnO layer for use in high-performance transparent and flexible film heaters (TFFHs). The low temperature atomic layer deposition of a nano-sized ZnO layer effectively filled the uncovered area of Ag network and improved the current spreading in the self-assembled Ag network without a change in the sheet resistance and optical transmittance as well as mechanical flexibility. The time-temperature profiles and heat distribution analysis demonstrate that the performance of the TFTH with the ZnO/Ag network is superior to that of a TFFH with Ag nanowire electrodes. In addition, themore » TFTHs with ZnO/Ag network exhibited better stability than the TFFH with a bare Ag network due to the effective current spreading through the nano-sized ZnO layer.« less

Bio-inspired flexible joints with passive feathering for robotic fish pectoral fins.

PubMed

Behbahani, Sanaz Bazaz; Tan, Xiaobo

2016-05-04

In this paper a novel flexible joint is proposed for robotic fish pectoral fins, which enables a swimming behavior emulating the fin motions of many aquatic animals. In particular, the pectoral fin operates primarily in the rowing mode, while undergoing passive feathering during the recovery stroke to reduce hydrodynamic drag on the fin. The latter enables effective locomotion even with symmetric base actuation during power and recovery strokes. A dynamic model is developed to facilitate the understanding and design of the joint, where blade element theory is used to calculate the hydrodynamic forces on the pectoral fins, and the joint is modeled as a paired torsion spring and damper. Experimental results on a robotic fish prototype are presented to illustrate the effectiveness of the joint mechanism, validate the proposed model, and indicate the utility of the proposed model for the optimal design of joint depth and stiffness in achieving the trade-off between swimming speed and mechanical efficiency.

Molecular Motions in Functional Self-Assembled Nanostructures

PubMed Central

Dhotel, Alexandre; Chen, Ziguang; Delbreilh, Laurent; Youssef, Boulos; Saiter, Jean-Marc; Tan, Li

2013-01-01

The construction of “smart” materials able to perform specific functions at the molecular scale through the application of various stimuli is highly attractive but still challenging. The most recent applications indicate that the outstanding flexibility of self-assembled architectures can be employed as a powerful tool for the development of innovative molecular devices, functional surfaces and smart nanomaterials. Structural flexibility of these materials is known to be conferred by weak intermolecular forces involved in self-assembly strategies. However, some fundamental mechanisms responsible for conformational lability remain unexplored. Furthermore, the role played by stronger bonds, such as coordination, ionic and covalent bonding, is sometimes neglected while they can be employed readily to produce mechanically robust but also chemically reversible structures. In this review, recent applications of structural flexibility and molecular motions in self-assembled nanostructures are discussed. Special focus is given to advanced materials exhibiting significant performance changes after an external stimulus is applied, such as light exposure, pH variation, heat treatment or electromagnetic field. The crucial role played by strong intra- and weak intermolecular interactions on structural lability and responsiveness is highlighted. PMID:23348927

Deposition SnO(2)/nitrogen-doped graphene nanocomposites on the separator: a new type of flexible electrode for energy storage devices.

PubMed

Liang, Junfei; Cai, Zhi; Tian, Yu; Li, Lidong; Geng, Jianxin; Guo, Lin

2013-11-27

It is currently very urgent to develop flexible energy storage devices because of the growing academic interest in and strong technical demand of flexible electronics. Exploration of high-performance electrode materials and a corresponding assembly method for fabrication of flexible energy storage devices plays a critical role in fulfilling this demand. Here, we have developed a facile, economic, and green hydrothermal process to synthesize ultrasmall SnO2 nanocrystallites/nitrogen-doped graphene nanocomposites (USNGs) as a high-performance electrode material for Li-ion batteries (LIBs). Furthermore, using the glass microfiber filters (GMFs) as supporting substrate, the novel flexible USNG-GMF bilayered films have been prepared by depositing the as-prepared USNG on GMF through a simple vacuum filtration. Significantly, for the first time, the flexible USNG-GMF bilayered films have directly been used for assembling LIBs, where the GMF further functions as a separator. The obtained highly robust, binder-free, conducting agent-free, and current collector-free new type of flexible electrodes show excellent LIB performance.

Root Cause Investigation of Lead-Free Solder Joint Interfacial Failures After Multiple Reflows

NASA Astrophysics Data System (ADS)

Li, Yan; Hatch, Olen; Liu, Pilin; Goyal, Deepak

2017-03-01

Solder joint interconnects in three-dimensional (3D) packages with package stacking configurations typically must undergo multiple reflow cycles during the assembly process. In this work, interfacial open joint failures between the bulk solder and the intermetallic compound (IMC) layer were found in Sn-Ag-Cu (SAC) solder joints connecting a small package to a large package after multiple reflow reliability tests. Systematic progressive 3D x-ray computed tomography experiments were performed on both incoming and assembled parts to reveal the initiation and evolution of the open failures in the same solder joints before and after the reliability tests. Characterization studies, including focused ion beam cross-sections, scanning electron microscopy, and energy-dispersive x-ray spectroscopy, were conducted to determine the correlation between IMC phase transformation and failure initiation in the solder joints. A comprehensive failure mechanism, along with solution paths for the solder joint interfacial failures after multiple reflow cycles, is discussed in detail.

Spacesuit mobility joints

NASA Technical Reports Server (NTRS)

Vykukal, H. C. (Inventor)

1978-01-01

Joints for use in interconnecting adjacent segments of an hermetically sealed spacesuit which have low torques, low leakage and a high degree of reliability are described. Each of the joints is a special purpose joint characterized by substantially constant volume and low torque characteristics. Linkages which restrain the joint from longitudinal distension and a flexible, substantially impermeable diaphragm of tubular configuration spanning the distance between pivotally supported annuli are featured. The diaphragms of selected joints include rolling convolutions for balancing the joints, while various joints include wedge-shaped sections which enhance the range of motion for the joints.

An expert system executive for automated assembly of large space truss structures

NASA Technical Reports Server (NTRS)

Allen, Cheryl L.

1993-01-01

Langley Research Center developed a unique test bed for investigating the practical problems associated with the assembly of large space truss structures using robotic manipulators. The test bed is the result of an interdisciplinary effort that encompasses the full spectrum of assembly problems - from the design of mechanisms to the development of software. The automated structures assembly test bed and its operation are described, the expert system executive and its development are detailed, and the planned system evolution is discussed. Emphasis is on the expert system implementation of the program executive. The executive program must direct and reliably perform complex assembly tasks with the flexibility to recover from realistic system errors. The employment of an expert system permits information that pertains to the operation of the system to be encapsulated concisely within a knowledge base. This consolidation substantially reduced code, increased flexibility, eased software upgrades, and realized a savings in software maintenance costs.

Assembly Modulated by Particle Position and Shape: A New Concept in Self-Assembly.

PubMed

Tavacoli, Joe W; Heuvingh, Julien; Du Roure, Olivia

2017-11-10

In this communication we outline how the bespoke arrangements and design of micron-sized superparamagnetic shapes provide levers to modulate their assembly under homogeneous magnetic fields. We label this new approach, 'assembly modulated by particle position and shape' (APPS). Specifically, using rectangular lattices of superparamagnetic micron-sized cuboids, we construct distinct microstructures by adjusting lattice pitch and angle of array with respect to a magnetic field. Broadly, we find two modes of assembly: (1) immediate 2D jamming of the cuboids as they rotate to align with the applied field (rotation-induced jamming) and (2) aggregation via translation after their full alignment (dipole-dipole assembly). The boundary between these two assembly pathways is independent on field strength being solely a function of the cuboid's dimensions, lattice pitch, and array angle with respect to field-a relationship which we capture, along with other features of the assembly process, in a 'phase diagram'. In doing so, we set out initial design rules to build custom made assemblies. Moreover, these assemblies can be made flexible thanks to the hinged contacts of their particle building blocks. This flexibility, combined with the superparamagnetic nature of the architectures, renders our assembly method particularly appropriate for the construction of complex actuators at a scale hitherto not possible.

Application of a passivity based control methodology for flexible joint robots to a simplified Space Shuttle RMS

NASA Technical Reports Server (NTRS)

Sicard, Pierre; Wen, John T.

1992-01-01

A passivity approach for the control design of flexible joint robots is applied to the rate control of a three-link arm modeled after the shoulder yaw joint of the Space Shuttle Remote Manipulator System (RMS). The system model includes friction and elastic joint couplings modeled as nonlinear springs. The basic structure of the proposed controller is the sum of a model-based feedforward and a model-independent feedback. A regulator approach with link state feedback is employed to define the desired motor state. Passivity theory is used to design a motor state-based controller to stabilize the error system formed by the feedforward. Simulation results show that greatly improved performance was obtained by using the proposed controller over the existing RMS controller.

Flexible, Symmetry-Directed Approach To Assembling Protein Cages (Publisher’s Version Open Access)

DTIC Science & Technology

2016-08-01

widespread in nature and confers new biological properties. Engineered protein assemblies have potential applica- tions in nanotechnology and medicine...and nanotechnology in designing novel self-assembling proteins and adapting natural protein assem- blies for a range of applications broadly

The Association of Flexibility, Balance, and Lumbar Strength with Balance Ability: Risk of Falls in Older Adults

PubMed Central

Emilio, Emilio J. Martínez-López; Hita-Contreras, Fidel; Jiménez-Lara, Pilar M.; Latorre-Román, Pedro; Martínez-Amat, Antonio

2014-01-01

The purpose of the present study was to determine the effects of a proprioceptive training program on older adults, as well as to analyze the association between flexibility, balance and lumbar strength (physical fitness test) with balance ability and fall risk (functional balance tests). This study was a controlled, longitudinal trial with a 12-week follow-up period. Subjects from a population of older adults were allocated to the intervention group (n = 28) or to the usual care (control) group (n = 26). Subjects performed proprioceptive training twice weekly (6 specific exercises with Swiss ball and BOSU). Each session included 50 minutes (10 minutes of warm-up with slow walk, 10 minutes of mobility and stretching exercises, 30 minutes of proprioceptive exercises). The outcome variables were physical fitness (lower-body flexibility, hip-joint mobility, dynamic balance, static balance, and lumbar strength) and functional balance (Berg scale and Tinetti test). The experimental group obtained significantly higher values than the control group in lower-body flexibility, dynamic balance, and lumbar strength (p = 0.019, p < 0.001, and p = 0.034 respectively). Hip-joint mobility, dynamic balance, and lumbar strength were positively associated with balance ability (p < 0.001, p < 0.001, and p = 0.014, respectively) and the prevention of falls (p = 0.001, p < 0.001, and p = 0.017 respectively). These findings suggest that a 12-week proprioception program intervention (twice a week) significantly improves flexibility, balance, and lumbar strength in older adults. Hip-joint mobility, dynamic balance and lumbar strength are positively associated to balance ability and the risk of falls in older adults. This proprioceptive training does not show a significant improvement in hip-joint mobility or static balance. Key points A 12-week proprioceptive intervention program (two times per week) significantly improves flexibility, balance, and lumbar strength in older adults. The risk of falls and balance ability are significantly improved after a training program with Bosu and Swiss ball in older adults. An improvement in joint mobility, dynamic balance and lumbar strength is positively associated with balance ability and improved fall risk in older adults. A 12-week proprioceptive intervention program (two times per week) does not show a significant improvement in hip-joint mobility and static balance. PMID:24790489

Low-Friction, High-Stiffness Joint for Uniaxial Load Cell

NASA Technical Reports Server (NTRS)

Lewis, James L.; Le, Thang; Carroll, Monty B.

2007-01-01

A universal-joint assembly has been devised for transferring axial tension or compression to a load cell. To maximize measurement accuracy, the assembly is required to minimize any moments and non-axial forces on the load cell and to exhibit little or no hysteresis. The requirement to minimize hysteresis translates to a requirement to maximize axial stiffness (including minimizing backlash) and a simultaneous requirement to minimize friction. In practice, these are competing requirements, encountered repeatedly in efforts to design universal joints. Often, universal-joint designs represent compromises between these requirements. The improved universal-joint assembly contains two universal joints, each containing two adjustable pairs of angular-contact ball bearings. One might be tempted to ask why one could not use simple ball-and-socket joints rather than something as complex as universal joints containing adjustable pairs of angularcontact ball bearings. The answer is that ball-and-socket joints do not offer sufficient latitude to trade stiffness versus friction: the inevitable result of an attempt to make such a trade in a ball-and-socket joint is either too much backlash or too much friction. The universal joints are located at opposite ends of an axial subassembly that contains the load cell. The axial subassembly includes an axial shaft, an axial housing, and a fifth adjustable pair of angular-contact ball bearings that allows rotation of the axial housing relative to the shaft. The preload on each pair of angular-contact ball bearings can be adjusted to obtain the required stiffness with minimal friction, tailored for a specific application. The universal joint at each end affords two degrees of freedom, allowing only axial force to reach the load cell regardless of application of moments and non-axial forces. The rotational joint on the axial subassembly affords a fifth degree of freedom, preventing application of a torsion load to the load cell.

Directed assembly of carbon nanotubes on soft substrates for use as a flexible biosensor array.

PubMed

Koh, Juntae; Yi, Mihye; Yang Lee, Byung; Kim, Tae Hyun; Lee, Joohyung; Jhon, Young Min; Hong, Seunghun

2008-12-17

We have developed a method to selectively assemble and align carbon nanotubes (CNTs) on soft substrates for use as flexible biosensors. In this strategy, a thin oxide layer was deposited on soft substrates via low temperature plasma enhanced chemical vapor deposition, and a linker-free assembly process was applied on the oxide surface where the assembly of carbon nanotubes was guided by methyl-terminated molecular patterns on the oxide surface. The electrical characterization of the fabricated CNT devices exhibited a typical p-type gating effect and 1/f noise behavior. The bare oxide regions near CNTs were functionalized with glutamate oxidase to fabricate selective biosensors to detect two forms of glutamate substances existing in different situations: L-glutamic acid, a neurotransmitting material, and monosodium glutamate, a food additive.

Manipulation strategies for massive space payloads

NASA Technical Reports Server (NTRS)

Book, Wayne J.

1991-01-01

Motion planning and control for the joints of flexible manipulators are discussed. Specific topics covered include control of a flexible braced manipulator, control of a small working robot on a large flexible manipulator to suppress vibrations, control strategies for ensuring cooperation among disparate manipulators, and motion planning for robots in free-fall.

Characterizing Flexible and Instrinsically Unstructured Biological Macromolecules by SAS using the Porod-Debye Law

PubMed Central

Rambo, Robert P.; Tainer, John A.

2011-01-01

Unstructured proteins, RNA or DNA components provide functionally important flexibility that is key to many macromolecular assemblies throughout cell biology. As objective, quantitative experimental measures of flexibility and disorder in solution are limited, small angle scattering (SAS), and in particular small angle X-ray scattering (SAXS), provides a critical technology to assess macromolecular flexibility as well as shape and assembly. Here, we consider the Porod-Debye law as a powerful tool for detecting biopolymer flexibility in SAS experiments. We show that the Porod-Debye region fundamentally describes the nature of the scattering intensity decay, which captures information needed for distinguishing between folded and flexible particles. Particularly for comparative SAS experiments, application of the law, as described here, can distinguish between discrete conformational changes and localized flexibility relevant to molecular recognition and interaction networks. This approach aids insightful analyses of fully and partly flexible macromolecules that is more robust and conclusive than traditional Kratky analyses. Furthermore, we demonstrate for prototypic SAXS data that the ability to calculate particle density by the Porod-Debye criteria, as shown here, provides an objective quality assurance parameter that may prove of general use for SAXS modeling and validation. PMID:21509745

A mobile work station concept for mechanically aided astronaut assembly of large space trusses

NASA Technical Reports Server (NTRS)

Heard, W. L., Jr.; Bush, H. G.; Wallson, R. E.; Jensen, J. K.

1983-01-01

This report presents results of a series of truss assembly tests conducted to evaluate a mobile work station concept intended to mechanically assist astronaut manual assembly of erectable space trusses. The tests involved assembly of a tetrahedral truss beam by a pair of test subjects with and without pressure (space) suits, both in Earth gravity and in simulated zero gravity (neutral buoyancy in water). The beam was assembled from 38 identical graphite-epoxy nestable struts, 5.4 m in length with aluminum quick-attachment structural joints. Struts and joints were designed to closely simulate flight hardware. The assembled beam was approximately 16.5 m long and 4.5 m on each of the four sides of its diamond-shaped cross section. The results show that average in-space assembly rates of approximately 38 seconds per strut can be expected for struts of comparable size. This result is virtually independent of the overall size of the structure being assembled. The mobile work station concept would improve astronaut efficiency for on-orbit manual assembly of truss structures, and also this assembly-line method is highly competitive with other construction methods being considered for large space structures.

On-orbit assembly of a team of flexible spacecraft using potential field based method

NASA Astrophysics Data System (ADS)

Chen, Ti; Wen, Hao; Hu, Haiyan; Jin, Dongping

2017-04-01

In this paper, a novel control strategy is developed based on artificial potential field for the on-orbit autonomous assembly of four flexible spacecraft without inter-member collision. Each flexible spacecraft is simplified as a hub-beam model with truncated beam modes in the floating frame of reference and the communication graph among the four spacecraft is assumed to be a ring topology. The four spacecraft are driven to a pre-assembly configuration first and then to the assembly configuration. In order to design the artificial potential field for the first step, each spacecraft is outlined by an ellipse and a virtual leader of circle is introduced. The potential field mainly depends on the attitude error between the flexible spacecraft and its neighbor, the radial Euclidian distance between the ellipse and the circle and the classical Euclidian distance between the centers of the ellipse and the circle. It can be demonstrated that there are no local minima for the potential function and the global minimum is zero. If the function is equal to zero, the solution is not a certain state, but a set. All the states in the set are corresponding to the desired configurations. The Lyapunov analysis guarantees that the four spacecraft asymptotically converge to the target configuration. Moreover, the other potential field is also included to avoid the inter-member collision. In the control design of the second step, only small modification is made for the controller in the first step. Finally, the successful application of the proposed control law to the assembly mission is verified by two case studies.

Normative reference values for strength and flexibility of 1,000 children and adults.

PubMed

McKay, Marnee J; Baldwin, Jennifer N; Ferreira, Paulo; Simic, Milena; Vanicek, Natalie; Burns, Joshua

2017-01-03

To establish reference values for isometric strength of 12 muscle groups and flexibility of 13 joint movements in 1,000 children and adults and investigate the influence of demographic and anthropometric factors. A standardized reliable protocol of hand-held and fixed dynamometry for isometric strength of ankle, knee, hip, elbow, and shoulder musculature as well as goniometry for flexibility of the ankle, knee, hip, elbow, shoulder, and cervical spine was performed in an observational study investigating 1,000 healthy male and female participants aged 3-101 years. Correlation and multiple regression analyses were performed to identify factors independently associated with strength and flexibility of children, adolescents, adults, and older adults. Normative reference values of 25 strength and flexibility measures were generated. Strong linear correlations between age and strength were identified in the first 2 decades of life. Muscle strength significantly decreased with age in older adults. Regression modeling identified increasing height as the most significant predictor of strength in children, higher body mass in adolescents, and male sex in adults and older adults. Joint flexibility gradually decreased with age, with little sex difference. Waist circumference was a significant predictor of variability in joint flexibility in adolescents, adults, and older adults. Reference values and associated age- and sex-stratified z scores generated from this study can be used to determine the presence and extent of impairments associated with neuromuscular and other neurologic disorders, monitor disease progression over time in natural history studies, and evaluate the effect of new treatments in clinical trials. © 2016 American Academy of Neurology.

Automation or De-automation

NASA Astrophysics Data System (ADS)

Gorlach, Igor; Wessel, Oliver

2008-09-01

In the global automotive industry, for decades, vehicle manufacturers have continually increased the level of automation of production systems in order to be competitive. However, there is a new trend to decrease the level of automation, especially in final car assembly, for reasons of economy and flexibility. In this research, the final car assembly lines at three production sites of Volkswagen are analysed in order to determine the best level of automation for each, in terms of manufacturing costs, productivity, quality and flexibility. The case study is based on the methodology proposed by the Fraunhofer Institute. The results of the analysis indicate that fully automated assembly systems are not necessarily the best option in terms of cost, productivity and quality combined, which is attributed to high complexity of final car assembly systems; some de-automation is therefore recommended. On the other hand, the analysis shows that low automation can result in poor product quality due to reasons related to plant location, such as inadequate workers' skills, motivation, etc. Hence, the automation strategy should be formulated on the basis of analysis of all relevant aspects of the manufacturing process, such as costs, quality, productivity and flexibility in relation to the local context. A more balanced combination of automated and manual assembly operations provides better utilisation of equipment, reduces production costs and improves throughput.

Three-Year-Olds’ Understanding of the Consequences of Joint Commitments

PubMed Central

Gräfenhain, Maria; Carpenter, Malinda; Tomasello, Michael

2013-01-01

Here we investigate the extent of children’s understanding of the joint commitments inherent in joint activities. Three-year-old children either made a joint commitment to assemble a puzzle with a puppet partner, or else the child and puppet each assembled their own puzzle. Afterwards, children who had made the joint commitment were more likely to stop and wait for their partner on their way to fetch something, more likely to spontaneously help their partner when needed, and more likely to take over their partner’s role when necessary. There was no clear difference in children’s tendency to tattle on their partner’s cheating behavior or their tendency to distribute rewards equally at the end. It thus appears that by 3 years of age making a joint commitment to act together with others is beginning to engender in children a “we”-intentionality which holds across at least most of the process of the joint activity until the shared goal is achieved, and which withstands at least some of the perturbations to the joint activity children experience. PMID:24023805

A new design concept for wrist arthroplasty.

PubMed

Shepherd, D E T; Johnstone, A

2005-01-01

The wrist joint is frequently affected by arthritis, which leads to pain, loss of function and ultimately deformity. Various designs of wrist arthroplasty have been introduced to attempt to relieve pain and provide a functional range of motion. The first generation of wrist implant was a one-piece silicone elastomer. Later generations have designs that have two parts that articulate against each other. However, wrist implants have not achieved the same clinical success to date, compared with hip and knee implants, and there is a high revision rate associated with them. This paper describes a new design concept for wrist arthroplasty, based around the idea of combining the principles of an articulating implant with that of a flexible elastomer implant. The design consists of assembling a radial, carpal/metacarpal, plate and flexible parts together. The radial and carpal/metacarpal parts are to be made from ultra high molecular weight polyethylene. The bearing surfaces of the radial and carpal/metacarpal parts articulate against the flat surfaces of the plate, made from cobalt chrome molybdenum alloy. The radius on the bearing surface of the radial part enables flexion/extension, while the radius on the carpal/metacarpal surface enables radial/ulnar deviation. The articulation of the carpal/metacarpal part against the plate also allows for rotation as well as flexion/extension. The flexible part, made from Elast-Eon, which is a silicone polyurethane elastomer, is inserted through the hole of the plate and into the holes of the radial and carpal/metacarpal parts.

Self-Alining, Latching Joint For Folding Structural Elements

NASA Technical Reports Server (NTRS)

Bush, H. G.; Wallsom, R. E.

1982-01-01

Structural column elements assembled quickly and easily with aid of new center joint. Joint alines column elements automatically and fastens them together securely. Tapered half columns are stacked like paper cups, unfolded, and connected to other similar elements to form truss structures.

Shading aboveground L-joint and lap-joint tests : comparison of white pine and sugar maple test assemblies

Treesearch

Carol A. Clausen; Daniel L. Lindner

2011-01-01

Five-year performance ratings are presented for two types of untreated, uncoated wood joints (L and lap) in aboveground tests under shaded conditions. The effect of shading on moisture entrapment in pine and maple L and lap joints was evaluated in a moderate decay zone (Madison, Wisconsin). Variations were observed between wood species, visual ratings, joint type,...

Design of a welded joint for robotic, on-orbit assembly of space trusses

NASA Astrophysics Data System (ADS)

Rule, William K.

1992-12-01

In the future, some spacecraft will be so large that they must be assembled on-orbit. These spacecraft will be used for such tasks as manned missions to Mars or used as orbiting platforms for monitoring the Earth or observing the universe. Some large spacecraft will probably consist of planar truss structures to which will be attached special purpose, self-contained modules. The modules will most likely be taken to orbit fully outfitted and ready for use in heavy-lift launch vehicles. The truss members will also similarly be taken to orbit, but most unassembled. The truss structures will need to be assembled robotically because of the high costs and risks of extra-vehicular activities. Some missions will involve very large loads. To date, very few structures of any kind have been constructed in space. Two relatively simple trusses were assembled in the Space Shuttle bay in late 1985. Here the development of a design of a welded joint for on-orbit, robotic truss assembly is described. Mechanical joints for this application have been considered previously. Welded joints have the advantage of allowing the truss members to carry fluids for active cooling or other purposes. In addition, welded joints can be made more efficient structurally than mechanical joints. Also, welded joints require little maintenance (will not shake loose), and have no slop which would cause the structure to shudder under load reversal. The disadvantages of welded joints are that a more sophisticated assembly robot is required, weld flaws may be difficult to detect on-orbit, the welding process is hazardous, and welding introduces contamination to the environment. In addition, welded joints provide less structural damping than do mechanical joints. Welding on-orbit was first investigated aboard a Soyuz-6 mission in 1969 and then during a Skylab electron beam welding experiment in 1973. A hand held electron beam welding apparatus is currently being prepared for use on the MIR space station.

Spacesuit mobility knee joints

NASA Technical Reports Server (NTRS)

Vykukal, H. C. (Inventor)

1979-01-01

Pressure suit mobility joints are for use in interconnecting adjacent segments of an hermetically sealed spacesuit in which low torques, low leakage and a high degree of reliability are required. Each of the joints is a special purpose joint characterized by substantially constant volume and low torque characteristics and includes linkages which restrain the joint from longitudinal distension and includes a flexible, substantially impermeable diaphragm of tubular configuration spanning the distance between pivotally supported annuli. The diaphragms of selected joints include rolling convolutions for balancing the joints, while various joints include wedge-shaped sections which enhance the range of motion for the joints.

Kinematics and control of redundant robotic arm based on dielectric elastomer actuators

NASA Astrophysics Data System (ADS)

Branz, Francesco; Antonello, Andrea; Carron, Andrea; Carli, Ruggero; Francesconi, Alessandro

2015-04-01

Soft robotics is a promising field and its application to space mechanisms could represent a breakthrough in space technologies by enabling new operative scenarios (e.g. soft manipulators, capture systems). Dielectric Elastomers Actuators have been under deep study for a number of years and have shown several advantages that could be of key importance for space applications. Among such advantages the most notable are high conversion efficiency, distributed actuation, self-sensing capability, multi-degree-of-freedom design, light weight and low cost. The big potentialities of double cone actuators have been proven in terms of good performances (i.e. stroke and force/torque), ease of manufacturing and durability. In this work the kinematic, dynamic and control design of a two-joint redundant robotic arm is presented. Two double cone actuators are assembled in series to form a two-link design. Each joint has two degrees of freedom (one rotational and one translational) for a total of four. The arm is designed to move in a 2-D environment (i.e. the horizontal plane) with 4 DoF, consequently having two degrees of redundancy. The redundancy is exploited in order to minimize the joint loads. The kinematic design with redundant Jacobian inversion is presented. The selected control algorithm is described along with the results of a number of dynamic simulations that have been executed for performance verification. Finally, an experimental setup is presented based on a flexible structure that counteracts gravity during testing in order to better emulate future zero-gravity applications.

Interplay of intermolecular interactions and flexibility to mediate glass forming ability and fragility: A study of chemical analogs

NASA Astrophysics Data System (ADS)

Saini, Manoj K.; Jin, Xiao; Wu, Tao; Liu, Yingdan; Wang, Li-Min

2018-03-01

We have investigated the enthalpic and dielectric relaxations of four groups of quinoline analogs having similar structural properties (i.e., rigidity, stiffness, and bulkiness) but a different steric character and the nature of intermolecular interactions and flexibility. The dielectric fragility index (md) and the enthalpic one (mH), determined by the Tool-Narayanaswamy-Moynihan-Hodge formalism, are comparable. Generally, for the four sets of molecules of similar structures, both the interactions and flexibility are found to be critical in making the large span of fragility (i.e., from 59 to 131) and glass forming ability. By contrast, individual impacts of the interaction and flexibility can only explain fragility partly among each group of isomers. We found that the molecules with high fragility are of relatively low liquid density, reflecting the joint impact of the interactions and flexibility. An interesting result is observed among the isomers that the molecules which are fragile have enhanced glass forming ability. The results are unveiling the joint impacts of molecular structure (flexibility) and intermolecular interaction on the molecular dynamics.

Technical Evaluation Motor no. 5 (TEM-5)

NASA Technical Reports Server (NTRS)

Cook, M.

1990-01-01

Technical Evaluation Motor No. 5 (TEM-5) was static test fired at the Thiokol Corporation Static Test Bay T-97. TEM-5 was a full scale, full duration static test fire of a high performance motor (HPM) configuration solid rocket motor (SRM). The primary purpose of TEM static tests is to recover SRM case and nozzle hardware for use in the redesigned solid rocket motor (RSRM) flight program. Inspection and instrumentation data indicate that the TEM-5 static test firing was successful. The ambient temperature during the test was 41 F and the propellant mean bulk temperature (PMBT) was 72 F. Ballistics performance values were within the specified requirements. The overall performance of the TEM-5 components and test equipment was nominal. Dissembly inspection revealed that joint putty was in contact with the inner groove of the inner primary seal of the ignitor adapter-to-forward dome (inner) joint gasket; this condition had not occurred on any previous static test motor or flight RSRM. While no qualification issues were addressed on TEM-5, two significant component changes were evaluated. Those changes were a new vented assembly process for the case-to-nozzle joint and the installation of two redesigned field joint protection systems. Performance of the vented case-to-nozzle joint assembly was successful, and the assembly/performance differences between the two field joint protection system (FJPS) configurations were compared.

Structural attachments for large space structures

NASA Technical Reports Server (NTRS)

Pruett, E. C.; Loughead, T. E.; Robertson, K. B., III

1980-01-01

The feasibility of fabricating beams in space and using them as components of a large, crew assembled structure, was investigated. Two projects were undertaken: (1) design and development of a ground version of an automated beam builder capable of producing triangular cross section aluminum beams; and (2) design and fabrication of lap joints to connect the beams orthogonally and centroidal end caps to connect beams end to end at any desired angle. The first project produced a beam building machine which fabricates aluminum beams suitable for neutral buoyancy evaluation. The second project produced concepts for the lap joint and end cap. However, neither of these joint concepts was suitable for use by a pressure suited crew member in a zero gravity environment. It is concluded that before the beams can be evaluated the joint designs need to be completed and sufficient joints produced to allow assembly of a complex structure.

NASA-DoD Lower Process Temperature Lead-Free Solder Project Overview

NASA Technical Reports Server (NTRS)

Kessel, Kurt R.

2014-01-01

This project is a follow-on effort to the Joint Council on Aging AircraftJoint Group on Pollution Prevention (JCAAJG-PP) Pb-free Solder Project and NASA-DoD Lead-Free Electronics Project which were the first projects to test the reliability of Pb-free solder joints against the requirements of the aerospace and military community. This effort would continue to build on the results from the JCAAJG-PP Lead-Free Solder Project and NASA-DoD Lead-Free Electronics Project while focusing on a particular failure mechanism currently plaguing Pb-free assemblies, pad cratering.The NASA-DoD Lead-Free Electronics Project confirmed that pad cratering is one of the dominant failure modes that occur in various board level reliability tests, especially under dynamic loading. Pad Cratering is a latent defect that may occur during assembly, rework, and post assembly handling and testing.

Dissimilar material joining using laser (aluminum to steel using zinc-based filler wire)

NASA Astrophysics Data System (ADS)

Mathieu, Alexandre; Shabadi, Rajashekar; Deschamps, Alexis; Suery, Michel; Matteï, Simone; Grevey, Dominique; Cicala, Eugen

2007-04-01

Joining steel with aluminum involving the fusion of one or both materials is possible by laser beam welding technique. This paper describes a method, called laser braze welding, which is a suitable process to realize this structure. The main problem with thermal joining of steel/aluminum assembly with processes such as TIG or MIG is the formation of fragile intermetallic phases, which are detrimental to the mechanical performances of such joints. Braze welding permits a localized fusion of the materials resulting in a limitation on the growth of fragile phases. This article presents the results of a statistical approach for an overlap assembly configuration using a filler wire composed of 85% Zn and 15% Al. Tensile tests carried on these assemblies demonstrate a good performance of the joints. The fracture mechanisms of the joints are analyzed by a detailed characterization of the seams.

Self-Alining Quick-Connect Joint

NASA Technical Reports Server (NTRS)

Lucy, M. H.

1983-01-01

Quick connect tapered joint used with minimum manipulation and force. Split ring retainer holds locking ring in place. Minimal force required to position male in female joint, at which time split-ring retainers are triggered to release split locking rings. Originally developed to assemble large space structures, joint is simple, compact, strong, lightweight, self alining, and has no loose parts.

Compliant heterogeneous assemblies of micro-VCSELs as a new materials platform for integrated optoelectronics

NASA Astrophysics Data System (ADS)

Kang, Dongseok; Lee, Sung-Min; Kwong, Anthony; Yoon, Jongseung

2015-03-01

Despite many unique advantages, vertical cavity surface emitting lasers (VCSELs) have been available mostly on rigid, planar wafers over restricted areas, thereby limiting their usage for applications that can benefit from large-scale, programmable assemblies, hybrid integration with dissimilar materials and devices, or mechanically flexible constructions. Here, materials design and fabrication strategies that address these limitations of conventional VCSELs are presented. Specialized design of epitaxial materials and etching processes, together with printing-based deterministic assemblies and substrate thermal engineering, enabled defect-free release of microscale VCSELs and their device- and circuit-level implementation on non-native, flexible substrates with performance comparable to devices on the growth substrate.

Tube support grid and spacer therefor

DOEpatents

Ringsmuth, Richard J.; Kaufman, Jay S.

1986-01-01

A tube support grid and spacers therefor provide radially inward preloading of heat exchange tubes to minimize stress upon base welds due to differential thermal expansion. The grid comprises a concentric series of rings and spacers with opposing concave sides for conforming to the tubes and V-shaped ends to provide resilient flexibility. The flexibility aids in assembly and in transmitting seismic vibrations from the tubes to a shroud. The tube support grid may be assembled in place to achieve the desired inwardly radial preloading of the heat exchange tubes. Tab and slot assembly further minimizes stresses in the system. The radii of the grid rings may be preselected to effect the desired radially inward preloading.

A modular assembling platform for manufacturing of microsystems by optical tweezers

NASA Astrophysics Data System (ADS)

Ksouri, Sarah Isabelle; Aumann, Andreas; Ghadiri, Reza; Prüfer, Michael; Baer, Sebastian; Ostendorf, Andreas

2013-09-01

Due to the increased complexity in terms of materials and geometries for microsystems new assembling techniques are required. Assembling techniques from the semiconductor industry are often very specific and cannot fulfill all specifications in more complex microsystems. Therefore, holographic optical tweezers are applied to manipulate structures in micrometer range with highest flexibility and precision. As is well known non-spherical assemblies can be trapped and controlled by laser light and assembled with an additional light modulator application, where the incident laser beam is rearranged into flexible light patterns in order to generate multiple spots. The complementary building blocks are generated by a two-photon-polymerization process. The possibilities of manufacturing arbitrary microstructures and the potential of optical tweezers lead to the idea of combining manufacturing techniques with manipulation processes to "microrobotic" processes. This work presents the manipulation of generated complex microstructures with optical tools as well as a storage solution for 2PP assemblies. A sample holder has been developed for the manual feeding of 2PP building blocks. Furthermore, a modular assembling platform has been constructed for an `all-in-one' 2PP manufacturing process as a dedicated storage system. The long-term objective is the automation process of feeding and storage of several different 2PP micro-assemblies to realize an automated assembly process.

Direct writing of half-meter long CNT based fiber for flexible electronics.

PubMed

Huang, Sihan; Zhao, Chunsong; Pan, Wei; Cui, Yi; Wu, Hui

2015-03-11

Rapid construction of flexible circuits has attracted increasing attention according to its important applications in future smart electronic devices. Herein, we introduce a convenient and efficient "writing" approach to fabricate and assemble ultralong functional fibers as fundamental building blocks for flexible electronic devices. We demonstrated that, by a simple hand-writing process, carbon nanotubes (CNTs) can be aligned inside a continuous and uniform polymer fiber with length of more than 50 cm and diameters ranging from 300 nm to several micrometers. The as-prepared continuous fibers exhibit high electrical conductivity as well as superior mechanical flexibility (no obvious conductance increase after 1000 bending cycles to 4 mm diameter). Such functional fibers can be easily configured into designed patterns with high precision according to the easy "writing" process. The easy construction and assembly of functional fiber shown here holds potential for convenient and scalable fabrication of flexible circuits in future smart devices like wearable electronics and three-dimensional (3D) electronic devices.

Passivity/Lyapunov based controller design for trajectory tracking of flexible joint manipulators

NASA Technical Reports Server (NTRS)

Sicard, Pierre; Wen, John T.; Lanari, Leonardo

1992-01-01

A passivity and Lyapunov based approach for the control design for the trajectory tracking problem of flexible joint robots is presented. The basic structure of the proposed controller is the sum of a model-based feedforward and a model-independent feedback. Feedforward selection and solution is analyzed for a general model for flexible joints, and for more specific and practical model structures. Passivity theory is used to design a motor state-based controller in order to input-output stabilize the error system formed by the feedforward. Observability conditions for asymptotic stability are stated and verified. In order to accommodate for modeling uncertainties and to allow for the implementation of a simplified feedforward compensation, the stability of the system is analyzed in presence of approximations in the feedforward by using a Lyapunov based robustness analysis. It is shown that under certain conditions, e.g., the desired trajectory is varying slowly enough, stability is maintained for various approximations of a canonical feedforward.

Deployable centralizers

DOE Office of Scientific and Technical Information (OSTI.GOV)

Grubelich, Mark C.; Su, Jiann-Cherng; Knudsen, Steven D.

2017-02-28

A centralizer assembly is disclosed that allows for the assembly to be deployed in-situ. The centralizer assembly includes flexible members that can be extended into the well bore in situ by the initiation of a gas generating device. The centralizer assembly can support a large load carrying capability compared to a traditional bow spring with little or no installation drag. Additionally, larger displacements can be produced to centralize an extremely deviated casing.

Tendon length and joint flexibility are related to running economy.

PubMed

Hunter, Gary R; Katsoulis, Konstantina; McCarthy, John P; Ogard, William K; Bamman, Marcas M; Wood, David S; Den Hollander, Jan A; Blaudeau, Tamilane E; Newcomer, Bradley R

2011-08-01

The purpose of study was to determine whether quadriceps/patella and Achilles tendon length and flexibility of the knee extensors and plantar flexors are related to walking and running economy. Twenty-one male distance runners were subjects. Quadriceps/patella and Achilles tendon length were measured by magnetic resonance imaging; body composition was measured DXA; oxygen uptake at rest while seated, walking (3 mph), and running (6 and 7 mph) were measured by indirect calorimetry; knee and ankle joint flexibility were measured by goniometry; and leg lengths were measured by anthropometry while seated. Correlations were used to identify relationships between variables of interest. Net VO2 (exercise VO2 - rest VO2) for walking (NVOWK) and running at 6 and 7 mph (NVO6 and NVO7, respectively) was significantly related to Achilles tendon length (r varying from -0.40 to -0.51, P all < 0.04). Achilles tendon cross section was not related to walking or running economy. Quadriceps/patella tendon length was significantly related to NVO7 (r = -0.43, P = 0.03) and approached significance for NVO6 (r = -0.36, P = 0.06). Flexibility of the plantar flexors was related to NVO7 (+0.38, P = 0.05). Multiple regression showed that Achilles tendon length was independently related to NVO6 and NVO7 (partial r varying from -0.53 to -0.64, all P < 0.02) independent of lower leg length, upper leg length, quadriceps/patella tendon length, knee extension flexibility, or plantarflexion flexibility. These data support the premise that longer lower limb tendons (especially Achilles tendon) and less flexible lower limb joints are associated with improved running economy.

Substrateless Welding of Self-Assembled Silver Nanowires at Air/Water Interface.

PubMed

Hu, Hang; Wang, Zhongyong; Ye, Qinxian; He, Jiaqing; Nie, Xiao; He, Gufeng; Song, Chengyi; Shang, Wen; Wu, Jianbo; Tao, Peng; Deng, Tao

2016-08-10

Integrating connected silver nanowire networks with flexible polymers has appeared as a popular way to prepare flexible electronics. To reduce the contact resistance and enhance the connectivity between silver nanowires, various welding techniques have been developed. Herein, rather than welding on solid supporting substrates, which often requires complicated transferring operations and also may pose damage to heat-sensitive substrates, we report an alternative approach to prepare easily transferrable conductive networks through welding of self-assembled silver nanowires at the air/water interface using plasmonic heating. The intriguing welding behavior of partially aligned silver nanowires was analyzed with combined experimental observation and theoretical modeling. The underlying water not only physically supports the assembled silver nanowires but also buffers potential overheating during the welding process, thereby enabling effective welding within a broad range of illumination power density and illumination duration. The welded networks could be directly integrated with PDMS substrates to prepare high-performance stable flexible heaters that are stretchable, bendable, and can be easily patterned to explore selective heating applications.

The coupling effects of kinematics and flexibility on the Lagrangian dynamic formulation of open chain deformable links

NASA Technical Reports Server (NTRS)

Changizi, Koorosh

1989-01-01

A nonlinear Lagrangian formulation for the spatial kinematic and dynamic analysis of open chain deformable links consisting of cylindrical joints that connect pairs of flexible links is developed. The special cases of revolute or prismatic joint can also be obtained from the kinematic equations. The kinematic equations are described using a 4x4 matrix method. The configuration of each deformable link in the open loop kinematic chain is identified using a coupled set of relative joint variables, constant geometric parameters, and elastic coordinates. The elastic coordinates define the link deformation with respect to a selected joint coordinate system that is consistent with the kinematic constraints on the boundary of the deformable link. These coordinates can be introduced using approximation techniques such as Rayleigh-Ritz method, finite element technique or any other desired approach. The large relative motion between two neighboring links are defined by a set of joint coordinates which describes the large relative translational and rotational motion between two neighboring joint coordinate systems. The origin of these coordinate systems are rigidly attached to the neighboring links at the joint definition points along the axis of motion.

Adjustable bias column end joint assembly

NASA Technical Reports Server (NTRS)

Wallsom, Richard E. (Inventor); Bush, Harold G. (Inventor)

1994-01-01

An adjustable mechanical end joint system for connecting structural column elements and eliminating the possibility of free movement between joint halves during loading or vibration has a node joint body having a cylindrical engaging end and a column end body having a cylindrical engaging end. The column end joint body has a compressible preload mechanism and plunger means housed therein. The compressible preload mechanism may be adjusted from the exterior of the column end joint body through a port.

46 CFR 38.15-5 - Cargo hose-TB/ALL.

Code of Federal Regulations, 2012 CFR

2012-10-01

... the cargo are carried on board the vessel, they shall be of flexible metal and fabricated of seamless steel pipe and flexible joints of steel or bronze, or of other suitable material resistant to the action...

46 CFR 38.15-5 - Cargo hose-TB/ALL.

Code of Federal Regulations, 2011 CFR

2011-10-01

... the cargo are carried on board the vessel, they shall be of flexible metal and fabricated of seamless steel pipe and flexible joints of steel or bronze, or of other suitable material resistant to the action...

46 CFR 38.15-5 - Cargo hose-TB/ALL.

Code of Federal Regulations, 2014 CFR

2014-10-01

... the cargo are carried on board the vessel, they shall be of flexible metal and fabricated of seamless steel pipe and flexible joints of steel or bronze, or of other suitable material resistant to the action...

46 CFR 38.15-5 - Cargo hose-TB/ALL.

Code of Federal Regulations, 2010 CFR

2010-10-01

... the cargo are carried on board the vessel, they shall be of flexible metal and fabricated of seamless steel pipe and flexible joints of steel or bronze, or of other suitable material resistant to the action...

46 CFR 38.15-5 - Cargo hose-TB/ALL.

Code of Federal Regulations, 2013 CFR

2013-10-01

... the cargo are carried on board the vessel, they shall be of flexible metal and fabricated of seamless steel pipe and flexible joints of steel or bronze, or of other suitable material resistant to the action...

Study of design and control of remote manipulators. Part 2: Vibration considerations in manipulator design

NASA Technical Reports Server (NTRS)

Book, W. J.

1973-01-01

An investigation is reported involving a mathematical procedure using 4 x 4 transformation matrices for analyzing the vibrations of flexible manipulators. Previous studies with the procedure are summarized and the method is extended to include flexible joints as well as links, and to account for the effects of various power transmission schemes. A systematic study of the allocation of structural material and the placement of components such as motors and gearboxes was undertaken using the analytical tools developed. As one step in this direction the variables which relate the vibration parameters of the arm to the task and environment of the arm were isolated and nondimensionalized. The 4 x 4 transformation matrices were also used to develop analytical expressions for the terms of the complete 6 x 6 compliance matrix for the case of two flexible links joined by a rotating joint, flexible about its axis of rotation.

Two criteria for the selection of assembly plans - Maximizing the flexibility of sequencing the assembly tasks and minimizing the assembly time through parallel execution of assembly tasks

NASA Technical Reports Server (NTRS)

Homem De Mello, Luiz S.; Sanderson, Arthur C.

1991-01-01

The authors introduce two criteria for the evaluation and selection of assembly plans. The first criterion is to maximize the number of different sequences in which the assembly tasks can be executed. The second criterion is to minimize the total assembly time through simultaneous execution of assembly tasks. An algorithm that performs a heuristic search for the best assembly plan over the AND/OR graph representation of assembly plans is discussed. Admissible heuristics for each of the two criteria introduced are presented. Some implementation issues that affect the computational efficiency are addressed.

Development of a machine vision system for automated structural assembly

NASA Technical Reports Server (NTRS)

Sydow, P. Daniel; Cooper, Eric G.

1992-01-01

Research is being conducted at the LaRC to develop a telerobotic assembly system designed to construct large space truss structures. This research program was initiated within the past several years, and a ground-based test-bed was developed to evaluate and expand the state of the art. Test-bed operations currently use predetermined ('taught') points for truss structural assembly. Total dependence on the use of taught points for joint receptacle capture and strut installation is neither robust nor reliable enough for space operations. Therefore, a machine vision sensor guidance system is being developed to locate and guide the robot to a passive target mounted on the truss joint receptacle. The vision system hardware includes a miniature video camera, passive targets mounted on the joint receptacles, target illumination hardware, and an image processing system. Discrimination of the target from background clutter is accomplished through standard digital processing techniques. Once the target is identified, a pose estimation algorithm is invoked to determine the location, in three-dimensional space, of the target relative to the robots end-effector. Preliminary test results of the vision system in the Automated Structural Assembly Laboratory with a range of lighting and background conditions indicate that it is fully capable of successfully identifying joint receptacle targets throughout the required operational range. Controlled optical bench test results indicate that the system can also provide the pose estimation accuracy to define the target position.

Methods for fabrication of flexible hybrid electronics

NASA Astrophysics Data System (ADS)

Street, Robert A.; Mei, Ping; Krusor, Brent; Ready, Steve E.; Zhang, Yong; Schwartz, David E.; Pierre, Adrien; Doris, Sean E.; Russo, Beverly; Kor, Siv; Veres, Janos

2017-08-01

Printed and flexible hybrid electronics is an emerging technology with potential applications in smart labels, wearable electronics, soft robotics, and prosthetics. Printed solution-based materials are compatible with plastic film substrates that are flexible, soft, and stretchable, thus enabling conformal integration with non-planar objects. In addition, manufacturing by printing is scalable to large areas and is amenable to low-cost sheet-fed and roll-to-roll processes. FHE includes display and sensory components to interface with users and environments. On the system level, devices also require electronic circuits for power, memory, signal conditioning, and communications. Those electronic components can be integrated onto a flexible substrate by either assembly or printing. PARC has developed systems and processes for realizing both approaches. This talk presents fabrication methods with an emphasis on techniques recently developed for the assembly of off-the-shelf chips. A few examples of systems fabricated with this approach are also described.

Pipe crawler with stabilizing midsection

DOEpatents

Zollinger, W.T.; Treanor, R.C.

1994-12-27

A pipe crawler is described having a midsection that provides the stability and flexibility to allow the pipe crawler to negotiate curved and uneven segments of piping while traveling through piping systems. The pipe crawler comprises a front leg assembly, a rear leg assembly, a midsection with a gimbal at each end for connecting the midsection to the front and rear leg assemblies in a flexible manner, and an air cylinder for changing the distance between the front and rear leg assemblies. The pipe crawler moves in ''inch worm'' fashion with the front and rear leg assemblies alternating between an extended and a retracted position as the air cylinder moves the retracted leg assembly forward. The midsection has a plurality of legs extending radially for holding the midsection within a maximum displacement from the piping axis so that the gimbals are not pivoted to extreme angles where they might lock up or seize. When the midsection is displaced sufficiently, its legs with wheels on each end engage the interior surface of the piping and prevent further displacement. Using two gimbals divides the angle between the planes defined by the front and rear leg assemblies which also helps to prevent excessive gimbal pivoting. 5 figures.

A highly flexible platform for nanowire sensor assembly using a combination of optically induced and conventional dielectrophoresis.

PubMed

Lin, Yen-Heng; Ho, Kai-Siang; Yang, Chin-Tien; Wang, Jung-Hao; Lai, Chao-Sung

2014-06-02

The number and position of assembled nanowires cannot be controlled using most nanowire sensor assembling methods. In this paper, we demonstrate a high-yield, highly flexible platform for nanowire sensor assembly using a combination of optically induced dielectrophoresis (ODEP) and conventional dielectrophoresis (DEP). With the ODEP platform, optical images can be used as virtual electrodes to locally turn on a non-contact DEP force and manipulate a micron- or nano-scale substance suspended in fluid. Nanowires were first moved next to the previously deposited metal electrodes using optical images and, then, were attracted to and arranged in the gap between two electrodes through DEP forces generated by switching on alternating current signals to the metal electrodes. A single nanowire can be assembled within 24 seconds using this approach. In addition, the number of nanowires in a single nanowire sensor can be controlled, and the assembly of a single nanowire on each of the adjacent electrodes can also be achieved. The electrical properties of the assembled nanowires were characterized by IV curve measurement. Additionally, the contact resistance between the nanowires and electrodes and the stickiness between the nanowires and substrates were further investigated in this study.

Pipe crawler with stabilizing midsection

DOE Office of Scientific and Technical Information (OSTI.GOV)

Zollinger, W.T.; Treanor, R.C.

1994-12-27

A pipe crawler is described having a midsection that provides the stability and flexibility to allow the pipe crawler to negotiate curved and uneven segments of piping while traveling through piping systems. The pipe crawler comprises a front leg assembly, a rear leg assembly, a midsection with a gimbal at each end for connecting the midsection to the front and rear leg assemblies in a flexible manner, and an air cylinder for changing the distance between the front and rear leg assemblies. The pipe crawler moves in ''inch worm'' fashion with the front and rear leg assemblies alternating between anmore » extended and a retracted position as the air cylinder moves the retracted leg assembly forward. The midsection has a plurality of legs extending radially for holding the midsection within a maximum displacement from the piping axis so that the gimbals are not pivoted to extreme angles where they might lock up or seize. When the midsection is displaced sufficiently, its legs with wheels on each end engage the interior surface of the piping and prevent further displacement. Using two gimbals divides the angle between the planes defined by the front and rear leg assemblies which also helps to prevent excessive gimbal pivoting. 5 figures.« less

Structural performance of light-frame roof assemblies. I, Truss assemblies designed for high variability and wood failure

Treesearch

R.W. Wolfe; Monica McCarthy

1989-01-01

The first report of a three-part series that covers results of a full-scale roof assemblies research program. The focus of this report is the structural performance of truss assemblies comprising trusses with abnormally high stiffness variability and critical joint strength. Results discussed include properties of truss members and connections. individual truss...

How Many Peripheral Solder Joints in a Surface Mounted Design Experience Inelastic Strains?

NASA Astrophysics Data System (ADS)

Suhir, E.; Yi, S.; Ghaffarian, R.

2017-03-01

It has been established that it is the peripheral solder joints that are the most vulnerable in the ball-grid-array (BGA) and column-grid-array (CGA) designs and most often fail. As far as the long-term reliability of a soldered microelectronics assembly as a whole is concerned, it makes a difference, if just one or more peripheral joints experience inelastic strains. It is clear that the low cycle fatigue lifetime of the solder system is inversely proportional to the number of joints that simultaneously experience inelastic strains. A simple and physically meaningful analytical expression (formula) is obtained for the prediction, at the design stage, of the number of such joints, if any, for the given effective thermal expansion (contraction) mismatch of the package and PCB; materials and geometrical characteristics of the package/PCB assembly; package size; and, of course, the level of the yield stress in the solder material. The suggested formula can be used to determine if the inelastic strains in the solder material could be avoided by the proper selection of the above characteristics and, if not, how many peripheral joints are expected to simultaneously experience inelastic strains. The general concept is illustrated by a numerical example carried out for a typical BGA package. The suggested analytical model (formula) is applicable to any soldered microelectronics assembly. The roles of other important factors, such as, e.g., solder material anisotropy, grain size, and their random orientation within a joint, are viewed in this analysis as less important factors than the level of the interfacial stress. The roles of these factors will be accounted for in future work and considered, in addition to the location of the joint, in a more complicated, more sophisticated, and more comprehensive reliability/fatigue model.

Experimental validation of flexible robot arm modeling and control

NASA Technical Reports Server (NTRS)

Ulsoy, A. Galip

1989-01-01

Flexibility is important for high speed, high precision operation of lightweight manipulators. Accurate dynamic modeling of flexible robot arms is needed. Previous work has mostly been based on linear elasticity with prescribed rigid body motions (i.e., no effect of flexible motion on rigid body motion). Little or no experimental validation of dynamic models for flexible arms is available. Experimental results are also limited for flexible arm control. Researchers include the effects of prismatic as well as revolute joints. They investigate the effect of full coupling between the rigid and flexible motions, and of axial shortening, and consider the control of flexible arms using only additional sensors.

Determination of the criterion-related validity of hip joint angle test for estimating hamstring flexibility using a contemporary statistical approach.

PubMed

Sainz de Baranda, Pilar; Rodríguez-Iniesta, María; Ayala, Francisco; Santonja, Fernando; Cejudo, Antonio

2014-07-01

To examine the criterion-related validity of the horizontal hip joint angle (H-HJA) test and vertical hip joint angle (V-HJA) test for estimating hamstring flexibility measured through the passive straight-leg raise (PSLR) test using contemporary statistical measures. Validity study. Controlled laboratory environment. One hundred thirty-eight professional trampoline gymnasts (61 women and 77 men). Hamstring flexibility. Each participant performed 2 trials of H-HJA, V-HJA, and PSLR tests in a randomized order. The criterion-related validity of H-HJA and V-HJA tests was measured through the estimation equation, typical error of the estimate (TEEST), validity correlation (β), and their respective confidence limits. The findings from this study suggest that although H-HJA and V-HJA tests showed moderate to high validity scores for estimating hamstring flexibility (standardized TEEST = 0.63; β = 0.80), the TEEST statistic reported for both tests was not narrow enough for clinical purposes (H-HJA = 10.3 degrees; V-HJA = 9.5 degrees). Subsequently, the predicted likely thresholds for the true values that were generated were too wide (H-HJA = predicted value ± 13.2 degrees; V-HJA = predicted value ± 12.2 degrees). The results suggest that although the HJA test showed moderate to high validity scores for estimating hamstring flexibility, the prediction intervals between the HJA and PSLR tests are not strong enough to suggest that clinicians and sport medicine practitioners should use the HJA and PSLR tests interchangeably as gold standard measurement tools to evaluate and detect short hamstring muscle flexibility.

Formation of Nanoparticle Stripe Patterns via Flexible-Blade Flow Coating

NASA Astrophysics Data System (ADS)

Lee, Dong Yun; Kim, Hyun Suk; Parkos, Cassandra; Lee, Cheol Hee; Emrick, Todd; Crosby, Alfred

2011-03-01

We present the controlled formation of nanostripe patterns of nanoparticles on underlying substrates by flexible-blade flow coating. This technique exploits the combination of convective flow of confined nanoparticle solutions and programmed translation of a substrate to fabricate nanoparticle-polymer line assemblies with width below 300 nm, thickness of a single nanoparticle, and lengths exceeding 10 cm. We demonstrate how the incorporation of a flexible blade into this technique allows capillary forces to self-regulate the uniformity of convective flow processes across large lateral lengths. Furthermore, we exploit solvent mixture dynamics to enhance intra-assembly particle packing and dimensional range. This facile technique opens up a new paradigm for integration of nanoscale patterns over large areas for various applications.

Scalable fabrication of nanostructured devices on flexible substrates using additive driven self-assembly and nanoimprint lithography

NASA Astrophysics Data System (ADS)

Watkins, James

2013-03-01

Roll-to-roll (R2R) technologies provide routes for continuous production of flexible, nanostructured materials and devices with high throughput and low cost. We employ additive-driven self-assembly to produce well-ordered polymer/nanoparticle hybrid materials that can serve as active device layers, we use highly filled nanoparticle/polymer hybrids for applications that require tailored dielectric constant or refractive index, and we employ R2R nanoimprint lithography for device scale patterning. Specific examples include the fabrication of flexible floating gate memory and large area films for optical/EM management. Our newly constructed R2R processing facility includes a custom designed, precision R2R UV-assisted nanoimprint lithography (NIL) system and hybrid nanostructured materials coaters.

Deployment/retraction ground testing of a large flexible solar array

NASA Technical Reports Server (NTRS)

Chung, D. T.

1982-01-01

The simulated zero-gravity ground testing of the flexible fold-up solar array consisting of eighty-four full-size panels (.368 m x .4 m each) is addressed. Automatic, hands-off extension, retraction, and lockup operations are included. Three methods of ground testing were investigated: (1) vertical testing; (2) horizontal testing, using an overhead water trough to support the panels; and (3) horizontal testing, using an overhead track in conjunction with a counterweight system to support the panels. Method 3 was selected as baseline. The wing/assembly vertical support structure, the five-tier overhead track, and the mast-element support track comprise the test structure. The flexible solar array wing assembly was successfully extended and retracted numerous times under simulated zero-gravity conditions.

Core disruptive accident margin seal

DOEpatents

Garin, John; Belsick, James C.

1978-01-01

An apparatus for sealing the annulus defined between a substantially cylindrical rotatable first riser assembly and plug combination disposed in a substantially cylindrical second riser assembly and plug combination of a nuclear reactor system. The apparatus comprises a flexible member disposed between the first and second riser components and attached to a metal member which is attached to an actuating mechanism. When the actuating mechanism is not actuated, the flexible member does not contact the riser components thus allowing the free rotation of the riser components. When desired, the actuating mechanism causes the flexible member to contact the first and second riser components in a manner to block the annulus defined between the riser components, thereby sealing the annulus between the riser components.

8. VIEW OF ROOM 101 (ASSEMBLY ROOM) FROM NORTHEAST CORNER ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

8. VIEW OF ROOM 101 (ASSEMBLY ROOM) FROM NORTHEAST CORNER SHOWING FLEXIBLE AIR-CONDITIONING DUCT - Vandenberg Air Force Base, Space Launch Complex 3, Vehicle Support Building, Napa & Alden Roads, Lompoc, Santa Barbara County, CA

Reflective crack mitigation guide for flexible pavements.

DOT National Transportation Integrated Search

2015-09-01

Reflective cracks form in pavements when hot-mix asphalt (HMA) overlays are placed over jointed and/or severely cracked rigid : and flexible pavements. In the first part of the research, survival analysis was conducted to identify the most appropriat...

Robot Arm with Tendon Connector Plate and Linear Actuator

NASA Technical Reports Server (NTRS)

Bridgwater, Lyndon (Inventor); Millerman, Alexander (Inventor); Ihrke, Chris A. (Inventor); Diftler, Myron A. (Inventor); Nguyen, Vienny (Inventor)

2014-01-01

A robotic system includes a tendon-driven end effector, a linear actuator, a flexible tendon, and a plate assembly. The linear actuator assembly has a servo motor and a drive mechanism, the latter of which translates linearly with respect to a drive axis of the servo motor in response to output torque from the servo motor. The tendon connects to the end effector and drive mechanism. The plate assembly is disposed between the linear actuator assembly and the tendon-driven end effector and includes first and second plates. The first plate has a first side that defines a boss with a center opening. The second plate defines an accurate through-slot having tendon guide channels. The first plate defines a through passage for the tendon between the center opening and a second side of the first plate. A looped end of the flexible tendon is received within the tendon guide channels.

Shimmed electron beam welding process

DOEpatents

Feng, Ganjiang; Nowak, Daniel Anthony; Murphy, John Thomas

2002-01-01

A modified electron beam welding process effects welding of joints between superalloy materials by inserting a weldable shim in the joint and heating the superalloy materials with an electron beam. The process insures a full penetration of joints with a consistent percentage of filler material and thereby improves fatigue life of the joint by three to four times as compared with the prior art. The process also allows variable shim thickness and joint fit-up gaps to provide increased flexibility for manufacturing when joining complex airfoil structures and the like.

Neurobiology: motor control of flexible octopus arms.

PubMed

Sumbre, Germán; Fiorito, Graziano; Flash, Tamar; Hochner, Binyamin

2005-02-10

Animals with rigid skeletons can rely on several mechanisms to simplify motor control--for example, they have skeletal joints that reduce the number of variables and degrees of freedom that need to be controlled. Here we show that when the octopus uses one of its long and highly flexible arms to transfer an object from one place to another, it employs a vertebrate-like strategy, temporarily reconfiguring its arm into a stiffened, articulated, quasi-jointed structure. This indicates that an articulated limb may provide an optimal solution for achieving precise, point-to-point movements.

Treating the Proximal Interphalangeal Joint in Swan Neck and Boutonniere Deformities.

PubMed

Fox, Paige M; Chang, James

2018-05-01

Swan neck and boutonniere deformities of the proximal interphalangeal (PIP) joint are challenging to treat. In a swan neck deformity, the PIP joint is hyperextended with flexion at the distal interphalangeal (DIP) joint. In a boutonniere deformity, there is flexion the PIP joint with hyperextension of the DIP joint. When the deformities are flexible, treatment begins with splinting. However, when the deformity is fixed, serial casting or surgery is often necessary to restore joint motion before surgical correction. Many surgical techniques have been described to treat both conditions. Unfortunately, incomplete correction and deformity recurrence are common. Published by Elsevier Inc.

Designing, Fabrication and Controlling Of Multipurpose3-DOF Robotic Arm

NASA Astrophysics Data System (ADS)

Nabeel, Hafiz Muhammad; Azher, Anum; Usman Ali, Syed M.; Wahab Mughal, Abdul

2013-12-01

In the present work, we have successfully designed and developed a 3-DOF articulated Robotic Arm capable of performing typical industrial tasks such as painting or spraying, assembling and handling automobiles parts and etc., in resemblance to a human arm. The mechanical assembly is designed on SOLIDWORKS and aluminum grade 6061 -T6 is used for its fabrication in order to reduce the structure weight. We have applied inverse kinematics to determine the joint angles, equations are fed into an efficient microcontroller ATMEGA16 which performs all the calculations to determine the joint angles on the basis of given coordinates to actuate the joints through motorized control. Good accuracy was obtained with quadrature optical encoders installed in each joint to achieve the desired position and a LabVIEW based GUI is designed to provide human machine interface.

Apparatus for obstacle traversion

DOEpatents

Borenstein, Johann

2004-08-10

An apparatus for traversing obstacles having an elongated, round, flexible body that includes a plurality of drive track assemblies. The plurality of drive track assemblies cooperate to provide forward propulsion wherever a propulsion member is in contact with any feature of the environment, regardless of how many or which ones of the plurality of drive track assemblies make contact with such environmental feature.

Flexible fuel cell gas manifold system

DOEpatents

Cramer, Michael; Shah, Jagdish; Hayes, Richard P.; Kelley, Dana A.

2005-05-03

A fuel cell stack manifold system in which a flexible manifold body includes a pan having a central area, sidewall extending outward from the periphery of the central area, and at least one compound fold comprising a central area fold connecting adjacent portions of the central area and extending between opposite sides of the central area, and a sidewall fold connecting adjacent portions of the sidewall. The manifold system further includes a rail assembly for attachment to the manifold body and adapted to receive pins by which dielectric insulators are joined to the manifold assembly.

BATMAV - A Bio-Inspired Micro-Aerial Vehicle for Flapping Flight

NASA Astrophysics Data System (ADS)

Bunget, Gheorghe

The main objective of the BATMAV project is the development of a biologically-inspired Micro Aerial Vehicle (MAV) with flexible and foldable wings for flapping flight. While flapping flight in MAV has been previously studied and a number of models were realized they usually had unfoldable wings actuated with DC motors and mechanical transmission to achieve flapping motion. This approach limits the system to a rather small number of degrees of freedom with little flexibility and introduces an additional disadvantage of a heavy flight platform. The BATMAV project aims at the development of a flight platform that features bat-inspired wings with smart materials-based flexible joints and artificial muscles, which has the potential to closely mimic the kinematics of the real mammalian flyer. The bat-like flight platform was selected after an extensive analysis of morphological and aerodynamic flight parameters of small birds, bats and large insects characterized by a superior maneuverability and wind gust rejection. Morphological and aerodynamic parameters were collected from existing literature and compared concluding that bat wing present a suitable platform that can be actuated efficiently using artificial muscles. Due to their wing camber variation, the bat species can operate effectively at a large range of speeds and exhibit a remarkably maneuverable and agile flight. Although numerous studies were recently investigated the flapping flight, flexible and foldable wings that reproduce the natural intricate and efficient flapping motion were not designed yet. A comprehensive analysis of flight styles in bats based on the data collected by Norberg (Norberg, 1976) and the engineering theory of robotic manipulators resulted in a 2 and 3-DOF models which managed to mimic the wingbeat cycle of the natural flyer. The flexible joints of the 2 and 2-DOF models were replicated using smart materials like superelastic Shape Memory Alloys (SMA). The results of these kinematic models can be used to optimize the lengths and the attachment locations of the actuator muscle-wires such that enough lift, thrust and wing stroke are obtained. Bat skeleton measurements were taken from real bats and modeled in SolidWorks to accurately reproduce bones and body via rapid prototyping methods. Much attention was paid specifically to achieving the comparable strength, elasticity, and range of motion of a naturally occurring bat. The wing joints of the BATMAV platform were fabricated using superelastic Shape Memory Alloys (SMA), a key technology for the development of an engineering skeleton structure. This has enabled a simple and straightforward connection between different bones while at the same time has preserved the full range of functionality of the natural role model. Therefore, several desktop models were designed, fabricated and assembled in order to study various materials used in design phase. As a whole, the BATMAV project consists of four major stages of development: the current phase -- design and fabrication of the skeletal structure of the flight platform, selection and testing different materials for the design of a compliant bat-like membrane, analysis of the kinematics and kinetics of bat flight in order to design a biomechanical muscle system for actuation, and design of the electrical control architecture to coordinate the platform flight.

On the Generality of the "Sit and Reach" Test: An Analysis of Flexibility Data for an Aging Population.

ERIC Educational Resources Information Center

Shephard, Roy J.; And Others

1990-01-01

This study examined head rotation, shoulder extension and rotation, ankle plantar and dorsiflexion, hip flexion, and sit and reach (SR) in 80 adults, aged 45-75, to identify flexibility factors. No single measurement indicates loss of flexibility at all joints, but SR tests are found to be more reliable than others. (SM)

Structural Dynamics and Control Interaction of Flexible Structures

NASA Technical Reports Server (NTRS)

Ryan, Robert S. (Editor); Scofield, Harold N. (Editor)

1987-01-01

A workshop on structural dynamics and control interaction of flexible structures was held to promote technical exchange between the structural dynamics and control disciplines, foster joint technology, and provide a forum for discussing and focusing critical issues in the separate and combined areas. Issues and areas of emphasis were identified in structure-control interaction for the next generation of flexible systems.

Planar rigid-flexible coupling spacecraft modeling and control considering solar array deployment and joint clearance

NASA Astrophysics Data System (ADS)

Li, Yuanyuan; Wang, Zilu; Wang, Cong; Huang, Wenhu

2018-01-01

Based on Nodal Coordinate Formulation (NCF) and Absolute Nodal Coordinate Formulation (ANCF), this paper establishes rigid-flexible coupling dynamic model of the spacecraft with large deployable solar arrays and multiple clearance joints to analyze and control the satellite attitude under deployment disturbance. Considering torque spring, close cable loop (CCL) configuration and latch mechanisms, a typical spacecraft composed of a rigid main-body described by NCF and two flexible panels described by ANCF is used as a demonstration case. Nonlinear contact force model and modified Coulomb friction model are selected to establish normal contact force and tangential friction model, respectively. Generalized elastic force are derived and all generalized forces are defined in the NCF-ANCF frame. The Newmark-β method is used to solve system equations of motion. The availability and superiority of the proposed model is verified through comparing with numerical co-simulations of Patran and ADAMS software. The numerical results reveal the effects of panel flexibility, joint clearance and their coupling on satellite attitude. The effects of clearance number, clearance size and clearance stiffness on satellite attitude are investigated. Furthermore, a proportional-differential (PD) attitude controller of spacecraft is designed to discuss the effect of attitude control on the dynamic responses of the whole system.

75 FR 26794 - New United Motor Manufacturing, Inc., Formerly a Joint Venture of General Motors Corporation and...

Federal Register 2010, 2011, 2012, 2013, 2014

2010-05-12

... Manufacturing, Inc., Formerly a Joint Venture of General Motors Corporation and Toyota Motor Corporation... United Motor Manufacturing, Inc., formerly a joint venture of General Motors Corporation and Toyota Motor... reviewed the certification for workers of the subject firm. The workers assemble the Toyota Corolla and the...

Wing flexibility improves bumblebee flight stability.

PubMed

Mistick, Emily A; Mountcastle, Andrew M; Combes, Stacey A

2016-11-01

Insect wings do not contain intrinsic musculature to change shape, but rather bend and twist passively during flight. Some insect wings feature flexible joints along their veins that contain patches of resilin, a rubber-like protein. Bumblebee wings exhibit a central resilin joint (1m-cu) that has previously been shown to improve vertical force production during hovering flight. In this study, we artificially stiffened bumblebee (Bombus impatiens) wings in vivo by applying a micro-splint to the 1m-cu joint, and measured the consequences for body stability during forward flight in both laminar and turbulent airflow. In laminar flow, bees with stiffened wings exhibited significantly higher mean rotation rates and standard deviation of orientation about the roll axis. Decreasing the wing's flexibility significantly increased its projected surface area relative to the oncoming airflow, likely increasing the drag force it experienced during particular phases of the wing stroke. We hypothesize that higher drag forces on stiffened wings decrease body stability when the left and right wings encounter different flow conditions. Wing splinting also led to a small increase in body rotation rates in turbulent airflow, but this change was not statistically significant, possibly because bees with stiffened wings changed their flight behavior in turbulent flow. Overall, we found that wing flexibility improves flight stability in bumblebees, adding to the growing appreciation that wing flexibility is not merely an inevitable liability in flapping flight, but can enhance flight performance. © 2016. Published by The Company of Biologists Ltd.

Bilateral and Unilateral Asymmetries of Isokinetic Strength and Flexibility in Male Young Professional Soccer Players

PubMed Central

Daneshjoo, Abdolhamid; Rahnama, Nader; Mokhtar, Abdul Halim; Yusof, Ashril

2013-01-01

This study investigated bilateral and unilateral asymmetries of strength and flexibility in male young professional soccer players. Thirty-six soccer players (age: 18.9 ± 1.4 years) participated in this study. A Biodex Isokinetic Dynamometer was used to assess the hamstring and quadriceps strength at selected speeds of 60°/s, 180°/s and 300°/s. Hip joint flexibility was measured using a goniometer. No difference was observed in conventional strength ratio, dynamic control ratio and fast/slow speed ratio between the dominant and non-dominant legs (p>0.05). All but one of the players (97.2%) had musculoskeletal abnormality (bilateral imbalance > 10%) in one or more specific muscle groups. The dominant leg had greater hip joint flexibility compared with the non-dominant leg (108.8 ± 10.7° versus 104.6 ± 9.8°, respectively). The findings support the hypothesis that physical performance and movement pattern experienced during soccer playing may negatively change the balance of strength in both legs (bilateral strength balance), but not on the same leg of the young male professional soccer players. The results can be helpful for trainers and coaches to decide whether the players need to improve their balance and strength which in turn may prevent injury. It is suggested that in professional soccer training, quadriceps and hamstrings muscle strength, as well as hip joint flexibility should not be overlooked. PMID:23717354

Critical bending moment of four implant-abutment interface designs.

PubMed

Lee, Frank K; Tan, Keson B; Nicholls, Jack I

2010-01-01

Critical bending moment (CBM), defined as the bending moment at which the external nonaxial load applied overcomes screw joint preload and causes loss of contact between the mating surfaces of the implant screw joint components, was measured for four different implants and their single-tooth replacement abutments. CBM at the implant-abutment screw joint for four implant-abutment test groups was measured in vitro at 80%, 100%, and 120% of the manufacturers' recommended torque levels. Regular-platform implants with their corresponding single-tooth abutments were used. Microstrain was measured while known loads were applied to the abutment at known distances from the implant-abutment interface. Strain instrumentation was used to record the strain data dynamically to determine the point of gap opening. All torque applications and strain measurements were repeated five times for the five samples in each group. For the Branemark/CeraOne assemblies, the mean CBMs were 72.14 Ncm, 102.21 Ncm, and 119.13 Ncm, respectively, at 80%, 100%, and 120% of the manufacturer's recommended torque. For the Replace/Easy assemblies, mean CBMs were 86.20 Ncm, 109.92 Ncm, and 120.93 Ncm; for the Biomet 3i/STA assemblies, they were 67.97 Ncm, 83.14 Ncm, and 91.81 Ncm; and for the Lifecore/COC assemblies, they were 58.32 Ncm, 76.79 Ncm, and 78.93 Ncm. Two-way analysis of variance revealed significant effects for the test groups and torque levels. Subsequent tests confirmed that significant differences existed between test groups and torque levels. The results appear to confirm the primary role of the compressive preload imparted by the abutment screw in maintaining screw joint integrity. CBM was found to differ among implant systems and torque levels. Torque levels recommended by the manufacturer should be followed to ensure screw joint integrity.

Structurally adaptive space crane concept for assembling space systems on orbit

NASA Technical Reports Server (NTRS)

Dorsey, John T.; Sutter, Thomas R.; Wu, K. Chauncey

1992-01-01

Many future human space exploration missions will probably require large vehicles that must be assembled on orbit. Thus, a device that can move, position, and assemble large and massive spacecraft components on orbit becomes essential for these missions. A concept is described for such a device: a space crane concept that uses erectable truss hardware to achieve high-stiffness and low-mass booms and uses articulating truss joints that can be assembled on orbit. The hardware has been tested and shown to have linear load-deflection response and to be structurally predictable. The hardware also permits the crane to be reconfigured into different geometries to satisfy future assembly requirements. A number of articulating and rotary joint concepts have been sized and analyzed, and the results are discussed. Two strategies were proposed to suppress motion-induced vibration: placing viscous dampers in selected truss struts and preshaping motion commands. Preliminary analyses indicate that these techniques have the potential to greatly enhance structural damping.

Constitutive Models for the Force-Extension Behavior of Biological Filaments

NASA Astrophysics Data System (ADS)

Palmer, J. S.; Castro, C. E.; Arslan, M.; Boyce, M. C.

Biopolymer filaments form the molecular backbone of biological structures throughout the body. The biomechanical response of single filaments yields insight into their individual behavior at the molecular level as well as their concerted networked behavior at the cellular and tissue scales. This paper focuses on modeling approaches for axial force vs. extension behavior of single biopolymer filaments within three stiffness regimes: flexible, semiflexible, and stiff. The end-to-end force-extension behaviors of flexible and semiflexible filaments arise as a result of a reduction in configurational space as the filament is straightened and are captured with entropic models including the freely jointed chain model and the worm-like chain model. As the filament is straightened and the end-to-end distance approaches the filament contour length, the contour length is directly axially extended and an internal energy contribution governs the force-extension behavior in this limiting extension regime. On the other hand, for stiff filaments in originally crimped or kinked configurations, the end-to-end force vs. extension behavior results from the unbending (straightening) of the crimped configuration as governed by an internal energy based elastica approximation which is also complemented by an axial stretching contribution once the end-to-end distance approaches the contour length of the filament. Simplified, analytical force-extension relationships are developed for the worm-like chain model for semiflexible filaments, and for the Euler elastica model for stiffer, wavy fibers. For the case of flexible molecules containing modular folded domains, the influence of force-induced unfolding on the force-extension behavior of single molecules and assemblies of multiple molecules is also presented.

Mechanical testing and development of the helical field coil joint for the Advanced Toroidal Facility

DOE Office of Scientific and Technical Information (OSTI.GOV)

Nelson, B.E.; Bryan, W.E.; Goranson, P.L.

1985-01-01

The helical field (HF) coil set for the Advanced Toroidal Facility (ATF) is an M = 12, l = 2, constant-ratio torsatron winding consisting of 2 coils, each with 14 turns of heavy copper conductor. The coils are divided into 24 identical segments to facilitate fabrication and minimize the assembly schedule. The segments are connected across through-bolted lap joints that must carry up to 124,000 A per turn for 5 s or 62,500 A steady-state. In addition, the joints must carry the high magnetic and thermal loads induced in the conductor and still fit within the basic 140- by 30-mmmore » copper envelope. Extensive testing and development were undertaken to verify and refine the basic joint design. Tests included assembly force and clamping force for various types of misalignment; joint resistance as a function of clamping force; clamp bolt relaxation due to thermal cycling; fatigue testing of full-size, multiturn joint prototypes; and low-cycle fatigue and tensile tests of annealed CDA102 copper. The required performance parameters and actual test results, as well as the final joint configuration, are presented. 2 refs., 9 figs., 4 tabs.« less

Self-assembly of microscopic chiplets at a liquid–liquid–solid interface forming a flexible segmented monocrystalline solar cell

PubMed Central

Knuesel, Robert J.; Jacobs, Heiko O.

2010-01-01

This paper introduces a method for self-assembling and electrically connecting small (20–60 micrometer) semiconductor chiplets at predetermined locations on flexible substrates with high speed (62500 chips/45 s), accuracy (0.9 micrometer, 0.14°), and yield (> 98%). The process takes place at the triple interface between silicone oil, water, and a penetrating solder-patterned substrate. The assembly is driven by a stepwise reduction of interfacial free energy where chips are first collected and preoriented at an oil-water interface before they assemble on a solder-patterned substrate that is pulled through the interface. Patterned transfer occurs in a progressing linear front as the liquid layers recede. The process eliminates the dependency on gravity and sedimentation of prior methods, thereby extending the minimal chip size to the sub-100 micrometer scale. It provides a new route for the field of printable electronics to enable the integration of microscopic high performance inorganic semiconductors on foreign substrates with the freedom to choose target location, pitch, and integration density. As an example we demonstrate a fault-tolerant segmented flexible monocrystalline silicon solar cell, reducing the amount of Si that is used when compared to conventional rigid cells. PMID:20080682

Semi-flexible gas-insulated transmission line using protection tube in conductor plug-in joint

DOEpatents

Kommineni, P.R.

1983-01-25

A gas-insulated transmission line includes an outer sheath, an inner conductor, an insulating gas electrically insulating the inner conductor from the outer sheath, and insulating supports insulatably supporting the inner conductor within the outer sheath. The inner conductor is provided with flexibility by main conductor sections which are joined together through a conductor hub section and flexible flexing elements. Stress shields are provided to control the electric field at the locations of the conductor hub sections where the insulating supports are contacting the inner conductor. A plug and socket arrangement is utilized for joining adjacent sections of the inner conductor, and a protection tube is utilized inside the hollow plug to maintain proper alignment of the joint when the transmission line is bent. 3 figs.

Semi-flexible gas-insulated transmission line using protection tube in conductor plug-in joint

DOEpatents

Kommineni, Prasad R.

1983-01-25

A gas-insulated transmission line includes an outer sheath, an inner conductor, an insulating gas electrically insulating the inner conductor from the outer sheath, and insulating supports insulatably supporting the inner conductor within the outer sheath. The inner conductor is provided with flexibility by main conductor sections which are joined together through a conductor hub section and flexible flexing elements. Stress shields are provided to control the electric field at the locations of the conductor hub sections where the insulating supports are contacting the inner conductor. A plug and socket arrangement is utilized for joining adjacent sections of the inner conductor, and a protection tube is utilized inside the hollow plug to maintain proper alignment of the joint when the transmission line is bent.

How does symmetry impact the flexibility of proteins?

PubMed

Schulze, Bernd; Sljoka, Adnan; Whiteley, Walter

2014-02-13

It is well known that (i) the flexibility and rigidity of proteins are central to their function, (ii) a number of oligomers with several copies of individual protein chains assemble with symmetry in the native state and (iii) added symmetry sometimes leads to added flexibility in structures. We observe that the most common symmetry classes of protein oligomers are also the symmetry classes that lead to increased flexibility in certain three-dimensional structures-and investigate the possible significance of this coincidence. This builds on the well-developed theory of generic rigidity of body-bar frameworks, which permits an analysis of the rigidity and flexibility of molecular structures such as proteins via fast combinatorial algorithms. In particular, we outline some very simple counting rules and possible algorithmic extensions that allow us to predict continuous symmetry-preserving motions in body-bar frameworks that possess non-trivial point-group symmetry. For simplicity, we focus on dimers, which typically assemble with twofold rotational axes, and often have allosteric function that requires motions to link distant sites on the two protein chains.

How does symmetry impact the flexibility of proteins?

PubMed Central

Schulze, Bernd; Sljoka, Adnan; Whiteley, Walter

2014-01-01

It is well known that (i) the flexibility and rigidity of proteins are central to their function, (ii) a number of oligomers with several copies of individual protein chains assemble with symmetry in the native state and (iii) added symmetry sometimes leads to added flexibility in structures. We observe that the most common symmetry classes of protein oligomers are also the symmetry classes that lead to increased flexibility in certain three-dimensional structures—and investigate the possible significance of this coincidence. This builds on the well-developed theory of generic rigidity of body–bar frameworks, which permits an analysis of the rigidity and flexibility of molecular structures such as proteins via fast combinatorial algorithms. In particular, we outline some very simple counting rules and possible algorithmic extensions that allow us to predict continuous symmetry-preserving motions in body–bar frameworks that possess non-trivial point-group symmetry. For simplicity, we focus on dimers, which typically assemble with twofold rotational axes, and often have allosteric function that requires motions to link distant sites on the two protein chains. PMID:24379431

An All-Freeze-Casting Strategy to Design Typographical Supercapacitors with Integrated Architectures.

PubMed

Wang, Qingrong; Wang, Xinyu; Wan, Fang; Chen, Kena; Niu, Zhiqiang; Chen, Jun

2018-06-01

The emergence of flexible and wearable electronics has raised the demand for flexible supercapacitors with accurate sizes and aesthetic shapes. Here, a strategy is developed to prepare flexible all-in-one integrated supercapacitors by combining all-freeze-casting with typography technique. The continuous seamless connection of all-in-one supercapacitor devices enhances the load and/or electron transfer capacity and avoids displacing and detaching between their neighboring components at bending status. Therefore, such a unique structure of all-in-one integrated devices is beneficial for retaining stable electrochemical performance at different bending levels. More importantly, the sizes and aesthetic shapes of integrated supercapacitors could be controlled by the designed molds, like type matrices of typography. The molds could be assembled together and typeset randomly, achieving the controllable construction and series and/or parallel connection of several supercapacitor devices. The preparation of flexible integrated supercapacitors will pave the way for assembling programmable all-in-one energy storage devices into highly flexible electronics. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

46 CFR 52.01-3 - Definitions of terms used in this part.

Code of Federal Regulations, 2012 CFR

2012-10-01

...) Flexible staybolt. A flexible staybolt is a bar made with ball-and-socket joint on one end, the cup of the socket being screwed into the outside sheet and covered with a removable cap, the plain end of the...

46 CFR 52.01-3 - Definitions of terms used in this part.

Code of Federal Regulations, 2013 CFR

2013-10-01

...) Flexible staybolt. A flexible staybolt is a bar made with ball-and-socket joint on one end, the cup of the socket being screwed into the outside sheet and covered with a removable cap, the plain end of the...

46 CFR 52.01-3 - Definitions of terms used in this part.

Code of Federal Regulations, 2014 CFR

2014-10-01

...) Flexible staybolt. A flexible staybolt is a bar made with ball-and-socket joint on one end, the cup of the socket being screwed into the outside sheet and covered with a removable cap, the plain end of the...

26 CFR 1.701-2 - Anti-abuse rule.

Code of Federal Regulations, 2010 CFR

2010-04-01

... through a flexible economic arrangement without incurring an entity-level tax. Implicit in the intent of... partner and the partnership must accurately reflect the partners' economic agreement and clearly reflect... permit taxpayers to conduct joint business activity through a flexible economic arrangement without...

Assembling solar-cell arrays

NASA Technical Reports Server (NTRS)

Bloch, J. T.; Hanger, R. T.; Nichols, F. W.

1979-01-01

Modified 70 mm movie film editor automatically attaches solar cells to flexible film substrate. Machine can rapidly and inexpensively assemble cells for solar panels at rate of 250 cells per minute. Further development is expected to boost production rate to 1000 cells per minute.

Mapping Flexibility and the Assembly Switch of Cell Division Protein FtsZ by Computational and Mutational Approaches*♦

PubMed Central

Martín-Galiano, Antonio J.; Buey, Rubén M.; Cabezas, Marta; Andreu, José M.

2010-01-01

The molecular switch for nucleotide-regulated assembly and disassembly of the main prokaryotic cell division protein FtsZ is unknown despite the numerous crystal structures that are available. We have characterized the functional motions in FtsZ with a computational consensus of essential dynamics, structural comparisons, sequence conservation, and networks of co-evolving residues. Employing this information, we have constructed 17 mutants, which alter the FtsZ functional cycle at different stages, to modify FtsZ flexibility. The mutant phenotypes ranged from benign to total inactivation and included increased GTPase, reduced assembly, and stabilized assembly. Six mutations clustering at the long cleft between the C-terminal β-sheet and core helix H7 deviated FtsZ assembly into curved filaments with inhibited GTPase, which still polymerize cooperatively. These mutations may perturb the predicted closure of the C-terminal domain onto H7 required for switching between curved and straight association modes and for GTPase activation. By mapping the FtsZ assembly switch, this work also gives insight into FtsZ druggability because the curved mutations delineate the putative binding site of the promising antibacterial FtsZ inhibitor PC190723. PMID:20472561

Pipe crawler with stabilizing midsection

DOE Office of Scientific and Technical Information (OSTI.GOV)

Zollinger, W.T.; Treanor, R.C.

1993-09-20

This invention is comprised of a pipe crawler having a midsection that provides the stability and flexibility to allow the pipe crawler to negotiate curved and uneven segments of piping while traveling through piping systems. The pipe crawler comprises a front leg assembly, a rear leg assembly, a midsection with a gimbal at each end for connecting the midsection to the front and rear leg assemblies in a flexible manner, and an air cylinder for changing the distance between the front and rear leg assemblies. The pipe crawler moves in ``inch worm`` fashion with the front and rear leg assembliesmore » alternating between an extended and a retracted position as the air cylinder moves the retracted leg assembly forward. The midsection has a plurality of legs extending radially for holding the midsection within a maximum displacement from the piping axis so that the gimbals are not pivoted to extreme angles where they might lock up or seize. When the midsection is displaced sufficiently, its legs with wheels on each end engage the interior surface of the piping and prevent further displacement. Using two gimbals divides the angle between the planes defined by the front and rear leg assemblies which also helps to prevent excessive gimbal pivoting.« less

Mapping flexibility and the assembly switch of cell division protein FtsZ by computational and mutational approaches.

PubMed

Martín-Galiano, Antonio J; Buey, Rubén M; Cabezas, Marta; Andreu, José M

2010-07-16

The molecular switch for nucleotide-regulated assembly and disassembly of the main prokaryotic cell division protein FtsZ is unknown despite the numerous crystal structures that are available. We have characterized the functional motions in FtsZ with a computational consensus of essential dynamics, structural comparisons, sequence conservation, and networks of co-evolving residues. Employing this information, we have constructed 17 mutants, which alter the FtsZ functional cycle at different stages, to modify FtsZ flexibility. The mutant phenotypes ranged from benign to total inactivation and included increased GTPase, reduced assembly, and stabilized assembly. Six mutations clustering at the long cleft between the C-terminal beta-sheet and core helix H7 deviated FtsZ assembly into curved filaments with inhibited GTPase, which still polymerize cooperatively. These mutations may perturb the predicted closure of the C-terminal domain onto H7 required for switching between curved and straight association modes and for GTPase activation. By mapping the FtsZ assembly switch, this work also gives insight into FtsZ druggability because the curved mutations delineate the putative binding site of the promising antibacterial FtsZ inhibitor PC190723.

Response phase mapping of nonlinear joint dynamics using continuous scanning LDV measurement method

NASA Astrophysics Data System (ADS)

Di Maio, D.; Bozzo, A.; Peyret, Nicolas

2016-06-01

This study aims to present a novel work aimed at locating discrete nonlinearities in mechanical assemblies. The long term objective is to develop a new metric for detecting and locating nonlinearities using Scanning LDV systems (SLDV). This new metric will help to improve the modal updating, or validation, of mechanical assemblies presenting discrete and sparse nonlinearities. It is well established that SLDV systems can scan vibrating structures with high density of measurement points and produc e highly defined Operational Deflection Shapes (ODSs). This paper will present some insights on how to use response phase mapping for locating nonlinearities of a bolted flange. This type of structure presents two types of nonlinearities, which are geometr ical and frictional joints. The interest is focussed on the frictional joints and, therefore, the ability to locate which joint s are responsible for nonlinearity is seen highly valuable for the model validation activities.

Identification of causes and solution strategies for deck cracking in jointless bridges : research report.

DOT National Transportation Integrated Search

2012-07-01

Bridges have traditionally relied on a system of expansion joints and flexible bearings to accommodate movements due to temperature, creep, and shrinkage loading. Joints and elements in their vicinity experience a high amount of degradation; thus mod...

Self-assembly micro optical filter

NASA Astrophysics Data System (ADS)

Zhang, Ping (Cerina); Le, Kevin; Malalur-Nagaraja-Rao, Smitha; Hsu, Lun-Chen; Chiao, J.-C.

2006-01-01

Optical communication and sensor industry face critical challenges in manufacturing for system integration. Due to the assembly complexity and integration platform variety, micro optical components require costly alignment and assembly procedures, in which many required manual efforts. Consequently, self-assembly device architectures have become a great interest and could provide major advantages over the conventional optical devices. In this paper, we discussed a self-assembly integration platform for micro optical components. To demonstrate the adaptability and flexibility of the proposed optical device architectures, we chose a commercially available MEMS fabrication foundry service - MUMPs (Multi-User MEMS Process). In this work, polysilicon layers of MUMPS are used as the 3-D structural material for construction of micro component framework and actuators. However, because the polysilicon has high absorption in the visible and near infrared wavelength ranges, it is not suitable for optical interaction. To demonstrate the required optical performance, hybrid integration of materials was proposed and implemented. Organic compound materials were applied on the silicon-based framework to form the required optical interfaces. Organic compounds provide good optical transparency, flexibility to form filters or lens and inexpensive manufacturing procedures. In this paper, we have demonstrated a micro optical filter integrated with self-assembly structures. We will discuss the self-assembly mechanism, optical filter designs, fabrication issues and results.

Enhanced tamper indicator

DOEpatents

Garcia, Anthony R.; Johnston, Roger G.

2003-07-08

The present invention provides an apparatus and method whereby the reliability and tamper-resistance of tamper indicators can be improved. A flexible connector may be routed through a latch for an enclosure such as a door or container, and the free ends of the flexible connector may be passed through a first locking member and firmly attached to an insert through the use of one or more attachment members such as set screws. A second locking member may then be assembled in interlocking relation with the first locking member to form an interlocked assembly around the insert. The insert may have one or more sharp projections extending toward the first or second locking member so that any compressive force applied in an attempt to disassemble the interlocked assembly results in permanent, visible damage to the first or second locking member.

Flexible Learning: Proceedings of the National Academy for Integration of Research, Teaching and Learning Annual Conference (4th, Dublin, Ireland, October 6-7, 2010)

ERIC Educational Resources Information Center

National Academy for Integration of Research, Teaching and Learning (NJ1), 2011

2011-01-01

This volume presents 64 abstracts of keynote and parallel paper presentations of the Irish National Academy for Integration of Research, Teaching and Learning's (NAIRTL) conference on the theme of flexible learning. The Flexible Learning conference was a joint initiative by NAIRTL and the Learning Innovation Network. The keynote presentations can…

Robotic Finger Assembly

NASA Technical Reports Server (NTRS)

Ihrke, Chris A. (Inventor); Diftler, Myron A. (Inventor); Askew, Scott R. (Inventor); Linn, Douglas Martin (Inventor); Platt, Robert J., Jr. (Inventor); Bridgwater, Lyndon (Inventor); Hargrave, Brian (Inventor); Valvo, Michael C. (Inventor)

2014-01-01

A robotic hand includes a finger with first, second, and third phalanges. A first joint rotatably connects the first phalange to a base structure. A second joint rotatably connects the first phalange to the second phalange. A third joint rotatably connects the third phalange to the second phalange. The second joint and the third joint are kinematically linked such that the position of the third phalange with respect to the second phalange is determined by the position of the second phalange with respect to the first phalange.

Robotic Finger Assembly

NASA Technical Reports Server (NTRS)

Ihrke, Chris A. (Inventor); Bridgwater, Lyndon (Inventor); Diftler, Myron A. (Inventor); Linn, Douglas M. (Inventor); Platt, Robert (Inventor); Hargrave, Brian (Inventor); Askew, Scott R. (Inventor); Valvo, Michael C. (Inventor)

2013-01-01

A robotic hand includes a finger with first, second, and third phalanges. A first joint rotatably connects the first phalange to a base structure. A second joint rotatably connects the first phalange to the second phalange. A third joint rotatably connects the third phalange to the second phalange. The second joint and the third joint are kinematically linked such that the position of the third phalange with respect to the second phalange is determined by the position of the second phalange with respect to the first phalange.

The extraordinary joint material of an articulated coralline alga. II. Modeling the structural basis of its mechanical properties.

PubMed

Denny, Mark W; King, Felicia A

2016-06-15

By incorporating joints into their otherwise rigid fronds, erect coralline algae have evolved to be as flexible as other seaweeds, which allows them to thrive - and even dominate space - on wave-washed shores around the globe. However, to provide the required flexibility, the joint tissue of Calliarthron cheilosporioides, a representative articulated coralline alga, relies on an extraordinary tissue that is stronger, more extensible and more fatigue resistant than that of other algae. Here, we used the results from recent experiments to parameterize a conceptual model that links the microscale architecture of cell walls to the adaptive mechanical properties of joint tissue. Our analysis suggests that the theory of discontinuous fiber-wound composite materials (with cellulose fibrils as the fibers and galactan gel as the matrix) can explain key aspects of the material's mechanics. In particular, its adaptive viscoelastic behavior can be characterized by two, widely separated time constants. We speculate that the short time constant (∼14 s) results from the viscous response of the matrix to the change in cell-wall shape as a joint is stretched, a response that allows the material both to remain flexible and to dissipate energy as a frond is lashed by waves. We propose that the long time constant (∼35 h), is governed by the shearing of the matrix between cellulose fibrils. The resulting high apparent viscosity ensures that joints avoid accumulating lethal deformation in the course of a frond's lifetime. Our synthesis of experimental measurements allows us to draw a chain of mechanistic inference from molecules to cell walls to fronds and community ecology. © 2016. Published by The Company of Biologists Ltd.

Improved Force-And-Torque Sensor Assembly

NASA Technical Reports Server (NTRS)

Bamford, Robert M.

1991-01-01

Improved sensor assembly measures forces and torques of interaction between supporting and supported object. Measures all three components of force and all three components of torque. Force measurements uncoupled from torque measurements. Price for improved measurement capability, complexity and flexibility, excessive in some applications.

Age and health jointly moderate the influence of flexible work arrangements on work engagement: Evidence from two empirical studies.

PubMed

Rudolph, Cort W; Baltes, Boris B

2017-01-01

Research and theory support the notion that flexible work arrangements (i.e., job resources in the form of formal policies that allow employees the latitude to manage when, where, and how they work) can have a positive influence on various outcomes that are valued both by organizations and their constituents. In the present study, we integrate propositions from various theoretical perspectives to investigate how flexible work arrangements influence work engagement. Then, in 2 studies we test this association and model the influence of different conceptualizations of health and age as joint moderators of this relationship. Study 1 focuses on functional health and chronological age in an age-diverse sample, whereas study 2 focuses on health symptom severity and subjective age in a sample of older workers. In both studies, we demonstrate that the influence of flexible work arrangements on work engagement is contingent upon age and health. (PsycINFO Database Record (c) 2016 APA, all rights reserved).

A Modelling Method of Bolt Joints Based on Basic Characteristic Parameters of Joint Surfaces

NASA Astrophysics Data System (ADS)

Yuansheng, Li; Guangpeng, Zhang; Zhen, Zhang; Ping, Wang

2018-02-01

Bolt joints are common in machine tools and have a direct impact on the overall performance of the tools. Therefore, the understanding of bolt joint characteristics is essential for improving machine design and assembly. Firstly, According to the experimental data obtained from the experiment, the stiffness curve formula was fitted. Secondly, a finite element model of unit bolt joints such as bolt flange joints, bolt head joints, and thread joints was constructed, and lastly the stiffness parameters of joint surfaces were implemented in the model by the secondary development of ABAQUS. The finite element model of the bolt joint established by this method can simulate the contact state very well.

Exact and explicit optimal solutions for trajectory planning and control of single-link flexible-joint manipulators

NASA Technical Reports Server (NTRS)

Chen, Guanrong

1991-01-01

An optimal trajectory planning problem for a single-link, flexible joint manipulator is studied. A global feedback-linearization is first applied to formulate the nonlinear inequality-constrained optimization problem in a suitable way. Then, an exact and explicit structural formula for the optimal solution of the problem is derived and the solution is shown to be unique. It turns out that the optimal trajectory planning and control can be done off-line, so that the proposed method is applicable to both theoretical analysis and real time tele-robotics control engineering.

An assembler for the MOS Technology 6502 microprocessor as implemented in jolt (TM) and KIM-1 (TM)

NASA Technical Reports Server (NTRS)

Lilley, R. W.

1976-01-01

Design of low-cost, microcomputer-based navigation receivers, and the assembler are described. The development of computer software for microprocessors is materially aided by the assembler program using mnemonic variable names. The flexibility of the environment provided by the IBM's Virtual Machine Facility and the Conversational Monitor System, make possible the convenient assembler access. The implementation of the assembler for the microprocessor chip serves a part of the present need and forms a model for support of other microprocessors.

Minifactory: a precision assembly system adaptable to the product life cycle

NASA Astrophysics Data System (ADS)

Muir, Patrick F.; Rizzi, Alfred A.; Gowdy, Jay W.

1997-12-01

Automated product assembly systems are traditionally designed with the intent that they will be operated with few significant changes for as long as the product is being manufactured. This approach to factory design and programming has may undesirable qualities which have motivated the development of more 'flexible' systems. In an effort to improve agility, different types of flexibility have been integrated into factory designs. Specifically, automated assembly systems have been endowed with the ability to assemble differing products by means of computer-controlled robots, and to accommodate variations in parts locations and dimensions by means of sensing. The product life cycle (PLC) is a standard four-stage model of the performance of a product from the time that it is first introduced in the marketplace until the time that it is discontinued. Manufacturers can improve their return on investment by adapting the production process to the PLC. We are developing two concepts to enable manufacturers to more readily achieve this goal: the agile assembly architecture (AAA), an abstract framework for distributed modular automation; and minifactory, our physical instantation of this architecture for the assembly of precision electro-mechanical devices. By examining the requirements which each PLC stage places upon the production system, we identify characteristics of factory design and programming which are appropriate for that stage. As the product transitions from one stage to the next, the factory design and programing should also transition from one embodiment to the next in order to achieve the best return on investment. Modularity of the factory components, highly flexible product transport mechanisms, and a high level of distributed intelligence are key characteristics of minifactory that enable this adaptation.

High-Performance Biomass-Based Flexible Solid-State Supercapacitor Constructed of Pressure-Sensitive Lignin-Based and Cellulose Hydrogels.

PubMed

Peng, Zhiyuan; Zou, Yubo; Xu, Shiqi; Zhong, Wenbin; Yang, Wantai

2018-06-19

Employing renewable, earth-abundant, environmentally friendly, low-cost natural materials to design flexible supercapacitors (FSCs) as energy storage devices in wearable/portable electronics represents the global perspective to build sustainable and green society. Chemically stable and flexible cellulose and electroactive lignin have been employed to construct a biomass-based FSC for the first time. The FSC was assembled using lignosulfonate/single-walled carbon nanotube HNO 3 (Lig/SWCNT HNO 3 ) pressure-sensitive hydrogels as electrodes and cellulose hydrogels as an electrolyte separator. The assembled biomass-based FSC shows high specific capacitance (292 F g -1 at a current density of 0.5 A g -1 ), excellent rate capability, and an outstanding energy density of 17.1 W h kg -1 at a power density of 324 W kg -1 . Remarkably, the FSC presents outstanding electrochemical stability even suffering 1000 bending cycles. Such excellent flexibility, stability, and electrochemical performance enable the designed biomass-based FSCs as prominent candidates in applications of wearable electronic devices.

Behavior of an epoxy-polysulfide adhesive in wood joints exposed to moisture content changes

Treesearch

Gordon P. Krueger

1965-01-01

The mechanical behavior of a flexible epoxy-resin adhesive system was observed in joints of plywood to lumber. The joints were subjected to internal swelling stresses caused by an increase in moisture content. Previous experimental work at the U.S. Forest Products Laboratory has shown that this adhesive system acts as a strain-absorbing cushion and thus has a...

Identification of Causes and Solution Strategies for Deck Cracking in Jointless Bridges : Technical Report Documentation Page

DOT National Transportation Integrated Search

2012-07-30

Bridges have traditionally relied on a system of expansion joints and flexible bearings to accommodate movements due to temperature, creep, and shrinkage loading. Joints and elements in their vicinity experience a high amount of degradation; thus mod...

Surgical robot for single-incision laparoscopic surgery.

PubMed

Choi, Hyundo; Kwak, Ho-Seong; Lim, Yo-An; Kim, Hyung-Joo

2014-09-01

This paper introduces a novel surgical robot for single-incision laparoscopic surgeries. The robot system includes the cone-type remote center-of-motion (RCM) mechanism and two articulated instruments having a flexible linkage-driven elbow. The RCM mechanism, which has two revolute joints and one prismatic joint, is designed to maintain a stationary point at the apex of the cone shape. By placing the stationary point on the incision area, the mechanism allows a surgical instrument to explore the abdominal area through a small incision point. The instruments have six articulated joints, including an elbow pitch joint, which make the triangulation position for the surgery possible inside of the abdominal area. The presented elbow pitch structure is similar to the slider-crank mechanism but the connecting rod is composed of a flexible leaf spring for high payload and small looseness error. We verified the payload of the robot is more than 10 N and described preliminary experiments on peg transfer and suture motion by using the proposed surgical robot.

Mechanical flexible joint design document

NASA Technical Reports Server (NTRS)

Daily, Vic

1993-01-01

The purpose of this report is to document the status of the Mechanical Flexible Joint (MFJ) Design Subtask with the intent of halting work on the design. Recommendations for future work is included in the case that the task is to be resumed. The MFJ is designed to eliminate two failure points from the current flex joint configuration, the inner 'tripod configuration' and the outer containment jacket. The MFJ will also be designed to flex 13.5 degrees and have three degrees of freedom. By having three degrees of freedom, the MFJ will allow the Low Pressure Fuel Duct to twist and remove the necessity to angulate the full 11 degrees currently required. The current flex joints are very labor intensive and very costly and a simple alternative is being sought. The MFJ is designed with a greater angular displacement, with three degrees of freedom, to reside in the same overall envelope, to meet weight constraints of the current bellows, to be compatible with cryogenic fuel and oxidizers, and also to be man-rated.

Ultrasonic scanning system for in-place inspection of brazed-tube joints

NASA Technical Reports Server (NTRS)

Haralson, H. S.; Haynes, J. L.; Wages, C. G.

1971-01-01

System detects defects of .051 cm in diameter and larger. System incorporates scanning head assembly including boot enclosed transducer, slip ring assembly, drive mechanism, and servotransmitter. Ultrasonic flaw detector, prototype recorder, and special recorder complete system.

Electron beam weld development on a Filter Pack Assembly

NASA Astrophysics Data System (ADS)

Dereskiewicz, J. P.

1994-06-01

A continuous electron beam welding procedure was developed to replace the manual gas tungsten arc welding procedure on the Filter Pack Assembly. A statistical study was used to evaluate the feasibility of electron beam welding 6061-T6 aluminum covers to A356 cast weldments throughout the joint tolerance range specified on product drawings. Peak temperature exposures were not high enough to degrade the heat sensitive electrical components inside the cast weldment. Actual weldments with alodine coating on the weld joint area were successfully cleaned using a nonmetallic fiberglass brush cleaning method.

Autonomous Assembly of Modular Structures in Space and on Extraterrestrial Locations

NASA Technical Reports Server (NTRS)

Alhorn, Dean C.

2005-01-01

The fulfillment of the new US. National Vision for Space Exploration requires many new enabling technologies to accomplish the goal of utilizing space for commercial activities and for returning humans to the moon and extraterrestrial environments. Traditionally, flight structures are manufactured as complete systems and require humans to complete the integration and assembly in orbit. These structures are bulky and require the use of heavy launch vehicles to send the units to the desired location, e.g. International Space Station (ISS). This method requires a high degree of safety, numerous space walks and significant cost for the humans to perform the assembly in orbit. For example, for assembly and maintenance of the ISS, 52 Extravehicular Activities (EVA's) have been performed so far with a total EVA time of approximately 322 hours. Sixteen (16) shuttle flights haw been to the ISS to perform these activities with an approximate cost of $450M per mission. For future space missions, costs have to be reduced to reasonably achieve the exploration goals. One concept that has been proposed is the autonomous assembly of space structures. This concept is an affordable, reliable solution to in-space and extraterrestrial assembly operations. Assembly is autonomously performed when two components containing onboard electronics join after recognizing that the joint is appropriate and in the precise position and orientation required for assembly. The mechanism only activates when the specifications are correct and m a nominal range. After assembly, local sensors and electronics monitor the integrity of the joint for feedback to a master controller. To achieve this concept will require a shift in the methods for designing space structures. In addition, innovative techniques will be required to perform the assembly autonomously. Monitoring of the assembled joint will be necessary for safety and structural integrity. If a very large structure is to be assembled in orbit, then the number of integrity sensors will be significant. Thus simple, low cost sensors are integral to the success of this concept. This paper will address these issues and will propose a novel concept for assembling space structures autonomously. The paper will present Several autonomous assembly methods. Core technologies required to achieve in space assembly will be discussed and novel techniques for communicating, sensing, docking and assembly will be detailed. These core technologies are critical to the goal of utilizing space in a cost efficient and safe manner. Finally, these technologies can also be applied to other systems both on earth and extraterrestrial environments.

Beyond the Assembly Line.

ERIC Educational Resources Information Center

Weitz, Rebecca; Guild, Todd

1985-01-01

Describes how Hughes Aircraft trainers followed four steps in meeting the challenges of a flexible manufacturing environment: needs assessment, design strategy, pilot evaluation, and follow-through. Within this environment, 50 self-paced training products were developed for one of the company's wire and back plane harness assembly departments. (CT)

Architecture of the pontin/reptin complex, essential in the assembly of several macromolecular complexes

PubMed Central

Torreira, Eva; Jha, Sudhakar; López-Blanco, José R.; Arias-Palomo, Ernesto; Chacón, Pablo; Cañas, Cristina; Ayora, Sylvia; Dutta, Anindya; Llorca, Oscar

2008-01-01

Summary Pontin and reptin belong to the AAA+ family and they are essential for the structural integrity and catalytic activity of several chromatin remodeling complexes. They are also indispensable for the assembly of several ribonucleoprotein complexes, including telomerase. Here, we propose a structural model of the yeast pontin/reptin complex based on a cryo-electron microscopy reconstruction at 13 Å. Pontin/reptin hetero-dodecamers were purified from in vivo assembled complexes forming a double ring. Two rings interact through flexible domains projecting from each hexamer, constituting an atypical asymmetric form of oligomerization. These flexible domains and the AAA+ cores reveal significant conformational changes when compared to the crystal structure of human pontin that generate enlarged channels. This structure of endogenously assembled pontin/reptin complexes is different to previously described structures, suggesting that pontin and reptin could acquire distinct structural states to regulate their broad functions as molecular motors and scaffolds for nucleic acids and proteins. PMID:18940606

Members of the STS-100 crew look over hardware in SSPF during CEIT

NASA Technical Reports Server (NTRS)

2000-01-01

STS-100 Commander Kent Rominger and Mission Specialist Umberto Guidoni (right), with the European Space Agency, pose for a photo during Crew Equipment Interface Test activities in the Space Station Processing Facility. Behind them is the Space Station Remote Manipulator System (SSRMS), also known as the Canadian arm, which is part of the payload on their mission. The SSRMS is the primary means of transferring payloads between the orbiter payload bay and the International Space Station for assembly. The 56-foot-long robotic arm includes two 12-foot booms joined by a hinge. Seven joints on the arm allow highly flexible and precise movement. The payload also includes the Multi-Purpose Logistics Module (MPLM) Raffaello. MPLMs are pressurized modules that will serve as the International Space Station's '''moving vans,''' carrying laboratory racks filled with equipment, experiments and supplies to and from the station aboard the Space Shuttle. Mission STS-100 is scheduled to launch April 19, 2001.

Evaluation of the effect of elastic joints on the auto-oscillation of spacecraft with gas-reactive direction systems

NASA Technical Reports Server (NTRS)

Sasin, G. G.

1979-01-01

A mathematical model was obtained, on the basis of the method of mixed coordinates, of a generalized flexible spacecraft at one end of which was appended the directive action of a system of gas reactive nozzles. Various structural forms were obtained functionally describing flexible spacecraft, as systems consisting of a solid central body with flexible structural elements joined to it.

46 CFR 28.880 - Hydraulic equipment.

Code of Federal Regulations, 2010 CFR

2010-10-01

... hydraulic equipment and the adjacent work area. Protection shall be afforded to the operator of hydraulic... personnel. (h) Nonmetallic flexible hose assemblies must only be used between two points of relative motion... (method). (j) Nonmetallic flexible hose shall be marked with the manufacturer's name or trademark, type or...

A Flexible Stretchable Hydrogel Electrolyte for Healable All-in-One Configured Supercapacitors.

PubMed

Guo, Ying; Zheng, Kaiqiang; Wan, Pengbo

2018-04-01

The development of integrated high-performance supercapacitors with all-in-one configuration, excellent flexibility and autonomously intrinsic self-healability, and without the extra healable film layers, is still tremendously challenging. Compared to the sandwich-like laminated structures of supercapacitors with augmented interfacial contact resistance, the flexible healable integrated supercapacitor with all-in-one structure could theoretically improve their interfacial contact resistance and energy densities, simplify the tedious device assembly process, prolong the lifetime, and avoid the displacement and delamination of multilayered configurations under deformations. Herein, a flexible healable all-in-one configured supercapacitor with excellent flexibility and reliable self-healing ability by avoiding the extra healable film substrates and the postassembled sandwich-like laminated structures is developed. The healable all-in-one configured supercapacitor is prepared from in situ polymerization and deposition of nanocomposites electrode materials onto the two-sided faces of the self-healing hydrogel electrolyte separator. The self-healing hydrogel film is obtained from the physically crosslinked hydrogel with enormous hydrogen bonds, which can endow the healable capability through dynamic hydrogen bonding. The assembled all-in-one configured supercapacitor exhibits enhanced capacitive performance, good cycling stability, reliable self-healing capability, and excellent flexibility. It holds broad prospects for obtaining various flexible healable all-in-one configured supercapacitors for working as portable energy storage devices in wearable electronics. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Vocal learning beyond imitation: mechanisms of adaptive vocal development in songbirds and human infants

PubMed Central

Tchernichovski, Ofer; Marcus, Gary

2014-01-01

Studies of vocal learning in songbirds typically focus on the acquisition of sensory templates for song imitation and on the consequent process of matching song production to templates. However, functional vocal development also requires the capacity to adaptively diverge from sensory templates, and to flexibly assemble vocal units. Examples of adaptive divergence include the corrective imitation of abnormal songs, and the decreased tendency to copy overabundant syllables. Such frequency-dependent effects might mirror tradeoffs between the assimilation of group identity (culture) while establishing individual and flexibly expressive songs. Intriguingly, although the requirements for vocal plasticity vary across songbirds, and more so between birdsong and language, the capacity to flexibly assemble vocal sounds develops in a similar, stepwise manner across species. Therefore, universal features of vocal learning go well beyond the capacity to imitate. PMID:25005823

Investigation Leads to Improved Understanding of Space Shuttle RSRM Internal Insulation Joints

NASA Technical Reports Server (NTRS)

McWhorter, Bruce B.; Bolton, Doug E.; Hicken, Steve V.; Allred, Larry D.; Cook, Dave J.

2003-01-01

The Space Shuttle Reusable Solid Rocket Motor (RSRM) uses an internal insulation J-joint design for the mated insulation interface between two assembled RSRM segments. In this assembled (mated) segment configuration, this J-joint design serves as a thermal barrier to prevent hot gases from affecting the case field joint metal surfaces and O-rings. A pressure sensitive adhesive (PSA) provides some adhesion between the two mated insulation surfaces. In 1995, after extensive testing, a new ODC-free PSA (free of ozone depleting chemicals) was selected for flight on RSRM-55 (STS-78). Post-flight inspection revealed that the J-joint, equipped with the new ODC-free PSA, did not perform well. Hot gas seeped inside the J-joint interface. Although not a flight safety threat, the J-joint hot gas intrusion on RSRM-55 was a mystery to the investigators since the PSA had previously worked well on a full-scale static test. A team was assembled to study the J-joint and PSA further. All J-joint design parameters, measured data, and historical performance data were re-reviewed and evaluated by subscale testing and analysis. Although both the ODC-free and old PSA were weakened by humidity, the ODC-free PSA strength was lower to start with. Another RSRM full-scale static test was conducted in 1998 and intentionally duplicated the gas intrusion. This test, along with many concurring tests, showed that if a J-joint was 1) mated with the new ODC-free PSA, 2) exposed to a history of high humidity (Kennedy Space Center levels), and 3) also a joint which experienced significant but normal joint motion (J-joint deformation resulting from motor pressurization dynamics) then that J-joint would open (allow gas intrusion) during motor operation. When all of the data from the analyses, subscale tests, and full-scale tests were considered together, a theory emerged. Most of the joint motion on the RSRM occurs early in motor operation at which point the J-joints are pulled into tension. If the new PSA has been weakened due to humidity, then the J-joint will partially pull apart (inboard side), and the J-joint surfaces will be charred by exposure to hot gases. After early operation, a J-joint that has been pulled apart will come back together as the J-joint deformation decreases. This J-joint heating event is relatively short and occurs only during the first part of motor operation. Internal instrumentation was developed for another full-scale static test in February 2000. The static test instrumentation did indeed prove this theory to be correct. Post-test inspection revealed very similar charring characteristics as observed on RSRM-55. This experience of the development of a new PSA, its testing, the RSRM-55 flight, followed by the J-joint investigation led to good 'lessons learned' and to an additional fundamental understanding of the RSRM J-joint function.

Robustness analysis of non-ordinary Petri nets for flexible assembly systems

NASA Astrophysics Data System (ADS)

Hsieh, Fu-Shiung

2010-05-01

Non-ordinary controlled Petri nets (NCPNs) have the advantages to model flexible assembly systems in which multiple identical resources may be required to perform an operation. However, existing studies on NCPNs are still limited. For example, the robustness properties of NCPNs have not been studied. This motivates us to develop an analysis method for NCPNs. Robustness analysis concerns the ability for a system to maintain operation in the presence of uncertainties. It provides an alternative way to analyse a perturbed system without reanalysis. In our previous research, we have analysed the robustness properties of several subclasses of ordinary controlled Petri nets. To study the robustness properties of NCPNs, we augment NCPNs with an uncertainty model, which specifies an upper bound on the uncertainties for each reachable marking. The resulting PN models are called non-ordinary controlled Petri nets with uncertainties (NCPNU). Based on NCPNU, the problem is to characterise the maximal tolerable uncertainties for each reachable marking. The computational complexities to characterise maximal tolerable uncertainties for each reachable marking grow exponentially with the size of the nets. Instead of considering general NCPNU, we limit our scope to a subclass of PN models called non-ordinary controlled flexible assembly Petri net with uncertainties (NCFAPNU) for assembly systems and study its robustness. We will extend the robustness analysis to NCFAPNU. We identify two types of uncertainties under which the liveness of NCFAPNU can be maintained.

Development of Displacement Gages Exposed to Solid Rocket Motor Internal Environments

NASA Technical Reports Server (NTRS)

Bolton, D. E.; Cook, D. J.

2003-01-01

The Space Shuttle Reusable Solid Rocket Motor (RSRM) has three non-vented segment-to-segment case field joints. These joints use an interference fit J-joint that is bonded at assembly with a Pressure Sensitive Adhesive (PSA) inboard of redundant O-ring seals. Full-scale motor and sub-scale test article experience has shown that the ability to preclude gas leakage past the J-joint is a function of PSA type, joint moisture from pre-assembly humidity exposure, and the magnitude of joint displacement during motor operation. To more accurately determine the axial displacements at the J-joints, two thermally durable displacement gages (one mechanical and one electrical) were designed and developed. The mechanical displacement gage concept was generated first as a non-electrical, self-contained gage to capture the maximum magnitude of the J-joint motion. When it became feasible, the electrical displacement gage concept was generated second as a real-time linear displacement gage. Both of these gages were refined in development testing that included hot internal solid rocket motor environments and simulated vibration environments. As a result of this gage development effort, joint motions have been measured in static fired RSRM J-joints where intentional venting was produced (Flight Support Motor #8, FSM-8) and nominal non-vented behavior occurred (FSM-9 and FSM-10). This data gives new insight into the nominal characteristics of the three case J-joint positions (forward, center and aft) and characteristics of some case J-joints that became vented during motor operation. The data supports previous structural model predictions. These gages will also be useful in evaluating J-joint motion differences in a five-segment Space Shuttle solid rocket motor.

Common Bolted Joint Analysis Tool

NASA Technical Reports Server (NTRS)

Imtiaz, Kauser

2011-01-01

Common Bolted Joint Analysis Tool (comBAT) is an Excel/VB-based bolted joint analysis/optimization program that lays out a systematic foundation for an inexperienced or seasoned analyst to determine fastener size, material, and assembly torque for a given design. Analysts are able to perform numerous what-if scenarios within minutes to arrive at an optimal solution. The program evaluates input design parameters, performs joint assembly checks, and steps through numerous calculations to arrive at several key margins of safety for each member in a joint. It also checks for joint gapping, provides fatigue calculations, and generates joint diagrams for a visual reference. Optimum fastener size and material, as well as correct torque, can then be provided. Analysis methodology, equations, and guidelines are provided throughout the solution sequence so that this program does not become a "black box:" for the analyst. There are built-in databases that reduce the legwork required by the analyst. Each step is clearly identified and results are provided in number format, as well as color-coded spelled-out words to draw user attention. The three key features of the software are robust technical content, innovative and user friendly I/O, and a large database. The program addresses every aspect of bolted joint analysis and proves to be an instructional tool at the same time. It saves analysis time, has intelligent messaging features, and catches operator errors in real time.

Packaging of ferroelectric liquid crystal-on-silicon spatial light modulators

NASA Astrophysics Data System (ADS)

Lin, W.; Morozova, Nina D.; Ju, TehHua; Zhang, Weidong; Lee, Yung-Cheng; McKnight, Douglas J.; Johnson, Kristina M.

1996-11-01

A self-pulling soldering technology has been demonstrated for assembling liquid crystal on silicon (LCOS) spatial light modulators (SLMs). One of the major challenges in manufacturing the LCOS modules is to reproducibly control the thickness of the gap between the very large scale integrated circuit (VLSI) chip and the cover glass. The liquid crystal material is sandwiched between the VLSI chop and the cover glass which is coated with a transparent conductor. Solder joints with different profiles and sizes have been designed to provide surface tension forces to control the gap accommodating the ferroelectric liquid crystal layer in the range of a micron level with sub- micron uniformity. The optimum solder joint design is defined as a joint that results in the maximum pulling force. This technology provides an automatic, batch assembly process for a LCOS SLM through one reflow process. Fluxless soldering technology is used to assemble the module. This approach avoids residues from chemical of flux and oxides, and eliminates potential contamination to the device. Two different LCOS SLM designs and the process optimization are described.

DETAIL VIEW ON THE MAIN ASSEMBLY LEVEL OF ELEVATOR SHOWING ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

DETAIL VIEW ON THE MAIN ASSEMBLY LEVEL OF ELEVATOR SHOWING THE DOUBLED COLUMN FOR THE BUILDING EXPANSION JOINT AT COLUMN LINE AA-18. - Offutt Air Force Base, Glenn L. Martin-Nebraska Bomber Plant, Building D, Peacekeeper Drive, Bellevue, Sarpy County, NE

Perovskite nanocrystals: across-dimensional attachment, film-scale assembly on a flexible substrate and their fluorescence properties

NASA Astrophysics Data System (ADS)

Huang, Wenyi; Liu, Jiajia; Bai, Bing; Huang, Liu; Xu, Meng; Liu, Jia; Rong, Hongpan; Zhang, Jiatao

2018-03-01

Perovskite nanocrystals (NCs), which are a good fluorescence candidate with excellent photoelectric properties, have opened new avenues in the fabrication of highly efficient solar cells, light-emitting diodes (LEDs), and other optoelectronic devices. Further advances will rely on the multitude of compositional, structural variants that enable the formation of lower-dimensionality layered and three-dimensional (3D) perovskites with architectural innovations. In this work, the perovskite film was fabricated on a flexible substrate using simple dip-coating technology and 3D assemblies of perovskite NCs were obtained through an attachment process. Original perovskite NCs had a rectangular or square morphology with high particle uniformity and the narrow and symmetric fluorescence emission peak was adjustable at 515-527 nm. The controllable self-assembly of the micron size cuboid-like 3D assembly had an apparent enhancement on peak (111) in the x-ray diffraction (XRD) pattern. Surface ligands not only play a role in the attachment process but also keep the independence of each NC in 3D assemblies. Such assembly of the perovskite film maintained the original perovskite NCs fluorescence emission peak and narrow full width at the half-maximum (FWHM), which is of great importance for the investigation of future devices.

Functionalization of quantum rods with oligonucleotides for programmable assembly with DNA origami

NASA Astrophysics Data System (ADS)

Doane, Tennyson L.; Alam, Rabeka; Maye, Mathew M.

2015-02-01

The DNA-mediated self-assembly of CdSe/CdS quantum rods (QRs) onto DNA origami is described. Two QR types with unique optical emission and high polarization were synthesized, and then functionalized with oligonucleotides (ssDNA) using a novel protection-deprotection approach, which harnessed ssDNA's tailorable rigidity and denaturation temperature to increase DNA coverage by reducing non-specific coordination and wrapping. The QR assembly was programmable, and occurred at two different assembly zones that had capture strands in parallel alignment. QRs with different optical properties were assembled, opening up future studies on orientation dependent QR FRET. The QR-origami conjugates could be purified via gel electrophoresis and sucrose gradient ultracentrifugation. Assembly yields, QR stoichiometry and orientation, as well as energy transfer implications were studied in light of QR distances, origami flexibility, and conditions.The DNA-mediated self-assembly of CdSe/CdS quantum rods (QRs) onto DNA origami is described. Two QR types with unique optical emission and high polarization were synthesized, and then functionalized with oligonucleotides (ssDNA) using a novel protection-deprotection approach, which harnessed ssDNA's tailorable rigidity and denaturation temperature to increase DNA coverage by reducing non-specific coordination and wrapping. The QR assembly was programmable, and occurred at two different assembly zones that had capture strands in parallel alignment. QRs with different optical properties were assembled, opening up future studies on orientation dependent QR FRET. The QR-origami conjugates could be purified via gel electrophoresis and sucrose gradient ultracentrifugation. Assembly yields, QR stoichiometry and orientation, as well as energy transfer implications were studied in light of QR distances, origami flexibility, and conditions. Electronic supplementary information (ESI) available: Experimental conditions, DNA origami blueprint and sequences, FRET calculations. Additional Fig. S1-S13. See DOI: 10.1039/c4nr07662a

A decoupled recursive approach for constrained flexible multibody system dynamics

NASA Technical Reports Server (NTRS)

Lai, Hao-Jan; Kim, Sung-Soo; Haug, Edward J.; Bae, Dae-Sung

1989-01-01

A variational-vector calculus approach is employed to derive a recursive formulation for dynamic analysis of flexible multibody systems. Kinematic relationships for adjacent flexible bodies are derived in a companion paper, using a state vector notation that represents translational and rotational components simultaneously. Cartesian generalized coordinates are assigned for all body and joint reference frames, to explicitly formulate deformation kinematics under small deformation kinematics and an efficient flexible dynamics recursive algorithm is developed. Dynamic analysis of a closed loop robot is performed to illustrate efficiency of the algorithm.

Assembly planning based on subassembly extraction

NASA Technical Reports Server (NTRS)

Lee, Sukhan; Shin, Yeong Gil

1990-01-01

A method is presented for the automatic determination of assembly partial orders from a liaison graph representation of an assembly through the extraction of preferred subassemblies. In particular, the authors show how to select a set of tentative subassemblies by decomposing a liaison graph into a set of subgraphs based on feasibility and difficulty of disassembly, how to evaluate each of the tentative subassemblies in terms of assembly cost using the subassembly selection indices, and how to construct a hierarchical partial order graph (HPOG) as an assembly plan. The method provides an approach to assembly planning by identifying spatial parallelism in assembly as a means of constructing temporal relationships among assembly operations and solves the problem of finding a cost-effective assembly plan in a flexible environment. A case study of the assembly planning of a mechanical assembly is presented.

Flexible Work Group Methods in Apparel Manufacturing

DTIC Science & Technology

1993-04-01

machine can take several. A real life example would be a machine that assembles skateboards . The input parts (wheels, trucks, deck) are different. At the...end of the operation, one kind of item comes out, an assembled skateboard . class source This is a derivative of sequentialmachine that has no input

Reduced graphene oxide nanoshells for flexible and stretchable conductors

NASA Astrophysics Data System (ADS)

Jiang, Wen-Shuai; Liu, Zhi-Bo; Xin, Wei; Chen, Xu-Dong; Tian, Jian-Guo

2016-03-01

Graphene has been extensively investigated for its use in flexible electronics, especially graphene synthesized by chemical vapor deposition (CVD). To enhance the flexibility of CVD graphene, wrinkles are often introduced. However, reports on the flexibility of reduced graphene oxide (RGO) films are few, because of their weak conductivity and, in particular, poor flexibility. To improve the flexibility of RGO, reduced graphene oxide nanoshells are fabricated, which combine self-assembled polystyrene nanosphere arrays and high-temperature thermal annealing processes. The resulting RGO films with nanoshells present a better resistance stabilization after stretching and bending the devices than RGO without nanoshells. The sustainability and performance advances demonstrated here are promising for the adoption of flexible electronics in a wide variety of future applications.

Pedemis: a portable electromagnetic induction sensor with integrated positioning

NASA Astrophysics Data System (ADS)

Barrowes, Benjamin E.; Shubitidze, Fridon; Grzegorczyk, Tomasz M.; Fernández, Pablo; O'Neill, Kevin

2012-06-01

Pedemis (PortablE Decoupled Electromagnetic Induction Sensor) is a time-domain handheld electromagnetic induction (EMI) instrument with the intended purpose of improving the detection and classification of UneXploded Ordnance (UXO). Pedemis sports nine coplanar transmitters (the Tx assembly) and nine triaxial receivers held in a fixed geometry with respect to each other (the Rx assembly) but with that Rx assembly physically decoupled from the Tx assembly allowing flexible data acquisition modes and deployment options. The data acquisition (DAQ) electronics consists of the National Instruments (NI) cRIO platform which is much lighter and more energy efficient that prior DAQ platforms. Pedemis has successfully acquired initial data, and inversion of the data acquired during these initial tests has yielded satisfactory polarizabilities of a spherical target. In addition, precise positioning of the Rx assembly has been achieved via position inversion algorithms based solely on the data acquired from the receivers during the "on-time" of the primary field. Pedemis has been designed to be a flexible yet user friendly EMI instrument that can survey, detect and classify targets in a one pass solution. In this paper, the Pedemis instrument is introduced along with its operation protocols, initial data results, and current status.

Flexible Piezoresistive Sensors Embedded in 3D Printed Tires

PubMed Central

Emon, Md Omar Faruk; Choi, Jae-Won

2017-01-01

In this article, we report the development of a flexible, 3D printable piezoresistive pressure sensor capable of measuring force and detecting the location of the force. The multilayer sensor comprises of an ionic liquid-based piezoresistive intermediate layer in between carbon nanotube (CNT)-based stretchable electrodes. A sensor containing an array of different sensing units was embedded on the inner liner surface of a 3D printed tire to provide with force information at different points of contact between the tire and road. Four scaled tires, as well as wheels, were 3D printed using a flexible and a rigid material, respectively, which were later assembled with a 3D-printed chassis. Only one tire was equipped with a sensor and the chassis was driven through a motorized linear stage at different speeds and load conditions to evaluate the sensor performance. The sensor was fabricated via molding and screen printing processes using a commercially available 3D-printable photopolymer as 3D printing is our target manufacturing technique to fabricate the entire tire assembly with the sensor. Results show that the proposed sensors, inserted in the 3D printed tire assembly, could detect forces, as well as their locations, properly. PMID:28327533

Flexible Piezoresistive Sensors Embedded in 3D Printed Tires.

PubMed

Emon, Md Omar Faruk; Choi, Jae-Won

2017-03-22

In this article, we report the development of a flexible, 3D printable piezoresistive pressure sensor capable of measuring force and detecting the location of the force. The multilayer sensor comprises of an ionic liquid-based piezoresistive intermediate layer in between carbon nanotube (CNT)-based stretchable electrodes. A sensor containing an array of different sensing units was embedded on the inner liner surface of a 3D printed tire to provide with force information at different points of contact between the tire and road. Four scaled tires, as well as wheels, were 3D printed using a flexible and a rigid material, respectively, which were later assembled with a 3D-printed chassis. Only one tire was equipped with a sensor and the chassis was driven through a motorized linear stage at different speeds and load conditions to evaluate the sensor performance. The sensor was fabricated via molding and screen printing processes using a commercially available 3D-printable photopolymer as 3D printing is our target manufacturing technique to fabricate the entire tire assembly with the sensor. Results show that the proposed sensors, inserted in the 3D printed tire assembly, could detect forces, as well as their locations, properly.

Scope of Work for Joint W28/AGM-28A Missile Firing Program

DOE Office of Scientific and Technical Information (OSTI.GOV)

Bice, R.A.

1964-12-04

List of principles & responsibilities of this Sandia/AEC & Air Force joint program for verifying the functionability of the W28/AGM-28A/B-52 weapon system under actual routine handling, assembling, and firing during a stockpile-to-target sequence.

Scope of Work for the Joint W53/Titan II Missile Firing Program

DOE Office of Scientific and Technical Information (OSTI.GOV)

Not Available

1964-10-28

List of principles & responsibilities of this Sandia/AEC & Air Force joint program for verifying the functionability of the W28/AGM-28A/B-52 weapon system under actual routine handling, assembling, and firing during a stockpile-to-target sequence.

Joint Force Quarterly. Issue 48, 1st Quarter 2008

DTIC Science & Technology

2008-01-01

Closure and joint basing initiatives. n Engage in the development of a broad- based, flexible, effective , and affordable joint military health care system...in a London hospital in November 2006 due to ingested alpha particles from Polonium 210 . Just the trace trail of Polonium 210 across the city and...can we adequately defend the Nation. Therefore, we will: n Determine the true health of our ground forces in terms of people, training, equipment

DOE Office of Scientific and Technical Information (OSTI.GOV)

Rejent, J.A.; Vianco, P.T.; Woodrum, R.A.

Aging analyses were performed on solder joints from two radar units: (1) a laboratory, N57 tube-type radar unit and (2) a field-returned, B61-0, tube-type radar unit. The cumulative temperature environments experienced by the units during aging were calculated from the intermetallic compound layer thickness and the mean Pb-rich phase particle size metrics for solder joints in the units, assuming an aging time of 35 years for both radars. Baseline aging metrics were obtained from a laboratory test vehicle assembled at AS/FM and T; the aging kinetics of both metrics were calculated from isothermal aging experiments. The N57 radar unit interconnectmore » board solder joints exhibited very little aging. The eyelet solder joints did show cracking that most likely occurred at the time of assembly. The eyelet, SA1126 connector solder joints, showed some delamination between the Cu pad and underlying laminate. The B61 field-returned radar solder joints showed a nominal degree of aging. Cracking of the eyelet solder joints was observed. The Pb-rich phase particle measurements indicated additional aging of the interconnects as a result of residual stresses. Cracking of the terminal pole connector, pin-to-pin solder joint was observed; but it was not believed to jeopardize the electrical functionality of the interconnect. Extending the stockpile lifetime of the B61 tube-type radar by an additional 20 years would not be impacted by the reliability of the solder joints with respect to further growth of the intermetallic compound layer. Additional coarsening of the Pb-rich phase will increase the joints' sensitivity to thermomechanical fatigue.« less

Junior Purple Log-Warriors: Joint Entry-Level Training for Logistics Personnel

DTIC Science & Technology

2016-02-01

technical training. This option would have the lowest net cost and would be the most effective in joint integration and development of an... premium on the need for all levels of joint logisticians that are able to respond quickly, flexibly, and jointly to the unexpected. The (United States...Army Logistics Management College, is for active or reserve O-3 to O-5s, W-3 to W-5s, E-8 to E-9s, and GS-12 to GS/GM-14s. A similar course of the

FLEXIBLE GEIGER COUNTER

DOEpatents

Richter, H.G.; Gillespie, A.S. Jr.

1963-11-12

A flexible Geiger counter constructed from materials composed of vinyl chloride polymerized with plasticizers or co-polymers is presented. The counter can be made either by attaching short segments of corrugated plastic sleeving together, or by starting with a length of vacuum cleaner hose composed of the above materials. The anode is maintained substantially axial Within the sleeving or hose during tube flexing by means of polystyrene spacer disks or an easily assembled polyethylene flexible cage assembly. The cathode is a wire spiraled on the outside of the counter. The sleeving or hose is fitted with glass end-pieces or any other good insulator to maintain the anode wire taut and to admit a counting gas mixture into the counter. Having the cathode wire on the outside of the counter substantially eliminates the objectional sheath effect of prior counters and permits counting rates up to 300,000 counts per minute. (AEC)

Slew maneuvers of Spacecraft Control Laboratory Experiment (SCOLE)

NASA Technical Reports Server (NTRS)

Kakad, Yogendra P.

1992-01-01

This is the final report on the dynamics and control of slew maneuvers of the Spacecraft Control Laboratory Experiment (SCOLE) test facility. The report documents the basic dynamical equation derivations for an arbitrary large angle slew maneuver as well as the basic decentralized slew maneuver control algorithm. The set of dynamical equations incorporate rigid body slew maneuver and three dimensional vibrations of the complete assembly comprising the rigid shuttle, the flexible beam, and the reflector with an offset mass. The analysis also includes kinematic nonlinearities of the entire assembly during the maneuver and the dynamics of the interactions between the rigid shuttle and the flexible appendage. The equations are simplified and evaluated numerically to include the first ten flexible modes to yield a model for designing control systems to perform slew maneuvers. The control problem incorporates the nonlinear dynamical equations and is expressed in terms of a two point boundary value problem.

Horizontal wells in the Java Sea

DOE Office of Scientific and Technical Information (OSTI.GOV)

Barrett, S.L.; Lyon, R.

1988-05-01

The utilization of the Navigation Drilling System in recent drilling activity has established that: Continuous build rates as high as 6.75 degrees/100 ft are achievable (with a .74 degree DTU), making possible the tapping of near platform reserves. The system provides the flexibility necessary to drill a continuous curve or an irregular path without bottomhole assembly changes. The system provides the flexibility for sidetracks to the ''low side'' of the well bore without coming out of the hole for bottomhole assembly changes or a cement plug. Geological objectives can be reached with a high degree of accuracy. The system greatlymore » reduces the costly learning curve associated with rotary bottomhole assemblies and substantially increases the confidence of the operator. Significant drilling cost reductions resulted from the use of the system. The cost per foot was further reduced as additional familiarity with the equipment was gained.« less

Self-Assembled Nanorod Structures on Nanofibers for Textile Electrochemical Capacitor Electrodes with Intrinsic Tactile Sensing Capabilities.

PubMed

Shi, HaoTian H; Khalili, Nazanin; Morrison, Taylor; Naguib, Hani E

2018-05-21

A novel polyaniline nanorod (PAniNR) three-dimensional structure was successfully grown on flexible polyacrylonitrile (PAN) nanofiber substrate as the electrode material for electrochemical capacitors (ECs), constructed via self-stabilized dispersion polymerization process. The electrode offered desired mechanical properties such as flexibility and bendability, whereas it maintained optimal electrochemical characteristics. The electrode and the assembled EC cell also achieved intrinsic piezoresistive sensing properties, leading to real-time monitoring of excess mechanical pressure and bending during cell operations. The PAniNR@PAN electrodes show an average diameter of 173.6 nm, with the PAniNR growth of 50.7 nm in length. Compared to the electrodes made from pristine PAni, the gravimetric capacitance increased by 39.8% to 629.6 F/g with aqueous acidic electrolyte. The electrode and the assembled EC cell with gel electrolyte were responsive to tensile, compressive, and bending stresses with a sensitivity of 0.95 MPa -1 .

Locomotion of Amorphous Surface Robots

NASA Technical Reports Server (NTRS)

Bradley, Arthur T. (Inventor)

2018-01-01

An amorphous robot includes a compartmented bladder containing fluid, a valve assembly, and an outer layer encapsulating the bladder and valve assembly. The valve assembly draws fluid from a compartment(s) and discharges the drawn fluid into a designated compartment to displace the designated compartment with respect to the surface. Another embodiment includes elements each having a variable property, an outer layer that encapsulates the elements, and a control unit. The control unit energizes a designated element to change its variable property, thereby moving the designated element. The elements may be electromagnetic spheres with a variable polarity or shape memory polymers with changing shape and/or size. Yet another embodiment includes an elongated flexible tube filled with ferrofluid, a moveable electromagnet, an actuator, and a control unit. The control unit energizes the electromagnet and moves the electromagnet via the actuator to magnetize the ferrofluid and lengthen the flexible tube.

Locomotion of Amorphous Surface Robots

NASA Technical Reports Server (NTRS)

Bradley, Arthur T. (Inventor)

2016-01-01

An amorphous robot includes a compartmented bladder containing fluid, a valve assembly, and an outer layer encapsulating the bladder and valve assembly. The valve assembly draws fluid from a compartment(s) and discharges the drawn fluid into a designated compartment to displace the designated compartment with respect to the surface. Another embodiment includes elements each having a variable property, an outer layer that encapsulates the elements, and a control unit. The control unit energizes a designated element to change its variable property, thereby moving the designated element. The elements may be electromagnetic spheres with a variable polarity or shape memory polymers with changing shape and/or size. Yet another embodiment includes an elongated flexible tube filled with ferrofluid, a moveable electromagnet, an actuator, and a control unit. The control unit energizes the electromagnet and moves the electromagnet via the actuator to magnetize the ferrofluid and lengthen the flexible tube.

Locomotion of Amorphous Surface Robots

NASA Technical Reports Server (NTRS)

Bradley, Arthur T. (Inventor)

2014-01-01

An amorphous robot includes a compartmented bladder containing fluid, a valve assembly, and an outer layer encapsulating the bladder and valve assembly. The valve assembly draws fluid from a compartment(s) and discharges the drawn fluid into a designated compartment to displace the designated compartment with respect to the surface. Another embodiment includes elements each having a variable property, an outer layer that encapsulates the elements, and a control unit. The control unit energizes a designated element to change its variable property, thereby moving the designated element. The elements may be electromagnetic spheres with a variable polarity or shape memory polymers with changing shape and/or size. Yet another embodiment includes an elongated flexible tube filled with ferrofluid, a moveable electromagnet, an actuator, and a control unit. The control unit energizes the electromagnet and moves the electromagnet via the actuator to magnetize the ferrofluid and lengthen the flexible tube.

Direct Electron Transfer of Enzymes in a Biologically Assembled Conductive Nanomesh Enzyme Platform.

PubMed

Lee, Seung-Woo; Lee, Ki-Young; Song, Yong-Won; Choi, Won Kook; Chang, Joonyeon; Yi, Hyunjung

2016-02-24

Nondestructive assembly of a nanostructured enzyme platform is developed in combination of the specific biomolecular attraction and electrostatic coupling for highly efficient direct electron transfer (DET) of enzymes with unprecedented applicability and versatility. The biologically assembled conductive nanomesh enzyme platform enables DET-based flexible integrated biosensors and DET of eight different enzyme with various catalytic activities. © 2015 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Bimodal self-assembly of an amphiphilic gelator into a hydrogel-nanocatalyst and an organogel with different morphologies and photophysical properties.

PubMed

Sutar, Papri; Maji, Tapas Kumar

2016-11-18

We design a flexible, amphiphilic LMWG consisting of donor and acceptor π-chromophores which self-assembles into a hydrogel and an organogel with different nano-morphologies. Different mechanisms of self-assembly evolve charge transfer (CT) emission in the hydrogel and LMWG-based emission in the organogel. Moreover, the hydrogel-nanostructure with surface exposed amide groups is explored for catalyzing Knoevenagel condensation reaction.

Services for All: Are Outcome-Based Education and Flexible School Structures the Answer?

ERIC Educational Resources Information Center

Smith, Sarah J.

1995-01-01

This paper discusses the recent controversy over outcome-based education (OBE), arguing that while OBE may be correct in establishing high standards for student learning, its implementation has tended to establish rigid "assembly line" approaches to teaching. A call is made for more flexible and individualized systems that respond to…

2D Metal-Organic Frameworks Derived Nanocarbon Arrays for Substrate Enhancement in Flexible Supercapacitors.

PubMed

Liu, Ximeng; Guan, Cao; Hu, Yating; Zhang, Lei; Elshahawy, Abdelnaby M; Wang, John

2017-10-27

Direct assembling of active materials on carbon cloth (CC) is a promising way to achieve flexible electrodes for energy storage. However, the overall surface area and electrical conductivity of such electrodes are usually limited. Herein, 2D metal-organic framework derived nanocarbon nanowall (MOFC) arrays are successfully developed on carbon cloth by a facile solution + carbonization process. Upon growth of the MOFC arrays, the sites for growth of the active materials are greatly increased, and the equivalent series resistance is decreased, which contribute to the enhancement of the bare CC substrate. After decorating ultrathin flakes of MnO 2 and Bi 2 O 3 on the flexible CC/MOFC substrate, the hierarchical electrode materials show an abrupt improvement of areal capacitances by around 50% and 100%, respectively, compared to those of the active materials on pristine carbon cloth. A flexible supercapacitor can be further assembled using two hierarchical electrodes, which demonstrates an energy density of 124.8 µWh cm -2 at the power density of 2.55 mW cm -2 . © 2017 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Layer-by-layer assembly of MXene and carbon nanotubes on electrospun polymer films for flexible energy storage.

PubMed

Zhou, Zehang; Panatdasirisuk, Weerapha; Mathis, Tyler S; Anasori, Babak; Lu, Canhui; Zhang, Xinxing; Liao, Zhiwei; Gogotsi, Yury; Yang, Shu

2018-03-29

Free-standing, highly flexible and foldable supercapacitor electrodes were fabricated through the spray-coating assisted layer-by-layer assembly of Ti3C2Tx (MXene) nanoflakes together with multi-walled carbon nanotubes (MWCNTs) on electrospun polycaprolactone (PCL) fiber networks. The open structure of the PCL network and the use of MWCNTs as spacers not only limit the restacking of Ti3C2Tx flakes but also increase the accessible surface of the active materials, facilitating fast diffusion of electrolyte ions within the electrode. Composite electrodes have areal capacitance (30-50 mF cm-2) comparable to other templated electrodes reported in the literature, but showed significantly improved rate performance (14-16% capacitance retention at a scan rate of 100 V s-1). Furthermore, the composite electrodes are flexible and foldable, demonstrating good tolerance against repeated mechanical deformation, including twisting and folding. Therefore, these tens of micron thick fiber electrodes will be attractive for applications in energy storage, electroanalytical chemistry, brain electrodes, electrocatalysis and other fields, where flexible freestanding electrodes with an open and accessible surface are highly desired.

A family of asymptotically stable control laws for flexible robots based on a passivity approach

NASA Technical Reports Server (NTRS)

Lanari, Leonardo; Wen, John T.

1991-01-01

A general family of asymptotically stabilizing control laws is introduced for a class of nonlinear Hamiltonian systems. The inherent passivity property of this class of systems and the Passivity Theorem are used to show the closed-loop input/output stability which is then related to the internal state space stability through the stabilizability and detectability condition. Applications of these results include fully actuated robots, flexible joint robots, and robots with link flexibility.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Groenendaal, J.C. Jr.; Anemone, J.J.

This patent describes low pressure steam turbine apparatus having inner and outer cylinders, the outer cylinder having a support shelf, and inner cylinder support means for providing flexible support of the inner cylinder on the outer cylinder. It comprises: a horizontal joint flange and at least one support foot integrally connected thereto which projects substantially radially outward form the horizontal joint flange.

Scope of Work for the Joint Mk 38 Warhead/Atlas F Missile Firing Program

DOE Office of Scientific and Technical Information (OSTI.GOV)

Not Available

1964-11-16

List of principles & responsibilities of this Sandia/AEC & Air Force joint program for verifying the functionability of the W28/AGM-28A/B-52 weapon system under actual routine handling, assembling, and firing during a stockpile-to-target sequence.

Scope of Work for Joint W28/AGM-28A Missile Firing Program (Phase 1)

DOE Office of Scientific and Technical Information (OSTI.GOV)

Draper, E.H.

1965-04-16

List of principles & responsibilities of this Sandia/AEC & Air Force joint program for verifying the functionability of the W28/AGM-28A/B-52 weapon system under actual routine handling, assembling, and firing during a stockpile-to-target sequence.

Plating To Reinforce Welded Joints

NASA Technical Reports Server (NTRS)

Otousa, J. E.

1982-01-01

Electrodeposition used to strengthen welded joints gouged, nicked, or suffered other mechanical damage. Plating cell, typically of acrylic plastic such as poly (Methylmetacrylate), is assembled around part to be plated. Areas not to be plated are masked with plater's tape. Weld area is plated in standard nickel-plating process.

Weighted augmented Jacobian matrix with a variable coefficient method for kinematics mapping of space teleoperation based on human-robot motion similarity

NASA Astrophysics Data System (ADS)

Shi, Zhong; Huang, Xuexiang; Hu, Tianjian; Tan, Qian; Hou, Yuzhuo

2016-10-01

Space teleoperation is an important space technology, and human-robot motion similarity can improve the flexibility and intuition of space teleoperation. This paper aims to obtain an appropriate kinematics mapping method of coupled Cartesian-joint space for space teleoperation. First, the coupled Cartesian-joint similarity principles concerning kinematics differences are defined. Then, a novel weighted augmented Jacobian matrix with a variable coefficient (WAJM-VC) method for kinematics mapping is proposed. The Jacobian matrix is augmented to achieve a global similarity of human-robot motion. A clamping weighted least norm scheme is introduced to achieve local optimizations, and the operating ratio coefficient is variable to pursue similarity in the elbow joint. Similarity in Cartesian space and the property of joint constraint satisfaction is analysed to determine the damping factor and clamping velocity. Finally, a teleoperation system based on human motion capture is established, and the experimental results indicate that the proposed WAJM-VC method can improve the flexibility and intuition of space teleoperation to complete complex space tasks.

Decentralized control of large flexible structures by joint decoupling

NASA Technical Reports Server (NTRS)

Su, Tzu-Jeng; Juang, Jer-Nan

1992-01-01

A decentralized control design method is presented for large complex flexible structures by using the idea of joint decoupling. The derivation is based on a coupled substructure state-space model, which is obtained from enforcing conditions of interface compatibility and equilibrium to the substructure state-space models. It is shown that by restricting the control law to be localized state feedback and by setting the joint actuator input commands to decouple joint 'degrees of freedom' (dof) from interior dof, the global structure control design problem can be decomposed into several substructure control design problems. The substructure control gains and substructure observers are designed based on modified substructure state-space models. The controllers produced by the proposed method can operate successfully at the individual substructure level as well as at the global structure level. Therefore, not only control design but also control implementation is decentralized. Stability and performance requirement of the closed-loop system can be achieved by using any existing state feedback control design method. A two-component mass-spring damper system and a three-truss structure are used as examples to demonstrate the proposed method.

Agents, assemblers, and ANTS: scheduling assembly with market and biological software mechanisms

NASA Astrophysics Data System (ADS)

Toth-Fejel, Tihamer T.

2000-06-01

Nanoscale assemblers will need robust, scalable, flexible, and well-understood mechanisms such as software agents to control them. This paper discusses assemblers and agents, and proposes a taxonomy of their possible interaction. Molecular assembly is seen as a special case of general assembly, subject to many of the same issues, such as the advantages of convergent assembly, and the problem of scheduling. This paper discusses the contract net architecture of ANTS, an agent-based scheduling application under development. It also describes an algorithm for least commitment scheduling, which uses probabilistic committed capacity profiles of resources over time, along with realistic costs, to provide an abstract search space over which the agents can wander to quickly find optimal solutions.

An intermittent control model of flexible human gait using a stable manifold of saddle-type unstable limit cycle dynamics

PubMed Central

Fu, Chunjiang; Suzuki, Yasuyuki; Kiyono, Ken; Morasso, Pietro; Nomura, Taishin

2014-01-01

Stability of human gait is the ability to maintain upright posture during walking against external perturbations. It is a complex process determined by a number of cross-related factors, including gait trajectory, joint impedance and neural control strategies. Here, we consider a control strategy that can achieve stable steady-state periodic gait while maintaining joint flexibility with the lowest possible joint impedance. To this end, we carried out a simulation study of a heel-toe footed biped model with hip, knee and ankle joints and a heavy head-arms-trunk element, working in the sagittal plane. For simplicity, the model assumes a periodic desired joint angle trajectory and joint torques generated by a set of feed-forward and proportional-derivative feedback controllers, whereby the joint impedance is parametrized by the feedback gains. We could show that a desired steady-state gait accompanied by the desired joint angle trajectory can be established as a stable limit cycle (LC) for the feedback controller with an appropriate set of large feedback gains. Moreover, as the feedback gains are decreased for lowering the joint stiffness, stability of the LC is lost only in a few dimensions, while leaving the remaining large number of dimensions quite stable: this means that the LC becomes saddle-type, with a low-dimensional unstable manifold and a high-dimensional stable manifold. Remarkably, the unstable manifold remains of low dimensionality even when the feedback gains are decreased far below the instability point. We then developed an intermittent neural feedback controller that is activated only for short periods of time at an optimal phase of each gait stride. We characterized the robustness of this design by showing that it can better stabilize the unstable LC with small feedback gains, leading to a flexible gait, and in particular we demonstrated that such an intermittent controller performs better if it drives the state point to the stable manifold, rather than directly to the LC. The proposed intermittent control strategy might have a high affinity for the inverted pendulum analogy of biped gait, providing a dynamic view of how the step-to-step transition from one pendular stance to the next can be achieved stably in a robust manner by a well-timed neural intervention that exploits the stable modes embedded in the unstable dynamics. PMID:25339687

An intermittent control model of flexible human gait using a stable manifold of saddle-type unstable limit cycle dynamics.

PubMed

Fu, Chunjiang; Suzuki, Yasuyuki; Kiyono, Ken; Morasso, Pietro; Nomura, Taishin

2014-12-06

Stability of human gait is the ability to maintain upright posture during walking against external perturbations. It is a complex process determined by a number of cross-related factors, including gait trajectory, joint impedance and neural control strategies. Here, we consider a control strategy that can achieve stable steady-state periodic gait while maintaining joint flexibility with the lowest possible joint impedance. To this end, we carried out a simulation study of a heel-toe footed biped model with hip, knee and ankle joints and a heavy head-arms-trunk element, working in the sagittal plane. For simplicity, the model assumes a periodic desired joint angle trajectory and joint torques generated by a set of feed-forward and proportional-derivative feedback controllers, whereby the joint impedance is parametrized by the feedback gains. We could show that a desired steady-state gait accompanied by the desired joint angle trajectory can be established as a stable limit cycle (LC) for the feedback controller with an appropriate set of large feedback gains. Moreover, as the feedback gains are decreased for lowering the joint stiffness, stability of the LC is lost only in a few dimensions, while leaving the remaining large number of dimensions quite stable: this means that the LC becomes saddle-type, with a low-dimensional unstable manifold and a high-dimensional stable manifold. Remarkably, the unstable manifold remains of low dimensionality even when the feedback gains are decreased far below the instability point. We then developed an intermittent neural feedback controller that is activated only for short periods of time at an optimal phase of each gait stride. We characterized the robustness of this design by showing that it can better stabilize the unstable LC with small feedback gains, leading to a flexible gait, and in particular we demonstrated that such an intermittent controller performs better if it drives the state point to the stable manifold, rather than directly to the LC. The proposed intermittent control strategy might have a high affinity for the inverted pendulum analogy of biped gait, providing a dynamic view of how the step-to-step transition from one pendular stance to the next can be achieved stably in a robust manner by a well-timed neural intervention that exploits the stable modes embedded in the unstable dynamics.

Ability of finger-jointed lumber to maintain load at elevated temperatures

Treesearch

Douglas R. Rammer; Samuel L. Zelinka; Laura E Hasburgh; Steven T. Craft

2018-01-01

This article presents a test method that was developed to screen adhesive formulations for finger-jointed lumber. The goal was to develop a small-scale test that could be used to predict whether an adhesive would pass a full-scale ASTM E119 wall assembly test. The method involved loading a 38-mm square finger-jointed sample in a four-point bending test inside of an...

A three-dimensional reticulate CNT-aerogel for a high mechanical flexibility fiber supercapacitor.

PubMed

Li, Yong; Kang, Zhuo; Yan, Xiaoqin; Cao, Shiyao; Li, Minghua; Guo, Yan; Huan, Yahuan; Wen, Xiaosong; Zhang, Yue

2018-05-17

In recent years, the rapid development of portable and wearable electronic products has promoted the prosperity of fiber supercapacitors (FSCs), which serve as flexible and lightweight energy supply devices. However, research on FSCs is still in its infancy and the energy density of FSCs is far below the level of lithium-ion batteries. Here, we report a facile method to prepare a novel fibrous CNT-aerogel by electrochemical activation and freeze-drying. The fibrous CNT-aerogel electrode possesses a large specific surface area, high mechanical strength, excellent electrical conductivity, as well as a high specific capacitance of 160.8 F g-1 at 0.5 mA and long cycling stability. Then we assembled a non-faradaic FSC based on a fibrous CNT-aerogel as the electrode and a P(VDF-HFP)/EMIMBF4 ionogel as the electrolyte. The introduction of the ionogel electrolyte increases the operating voltage of the FSC to 3 V, and makes the device combine the intrinsic high power density (27.3 kW kg-1) of non-faradaic SCs with an ultrahigh energy density of 29.6 W h kg-1. More importantly, the assembled FSCs show excellent flexibility and bending-stability, and can still operate normally within a wide working temperature window (0-80 °C). The outstanding electrochemical performance and the mechanical/thermal stability indicate that the assembled FSC device is a promising power source for flexible electronics.

Selected Lessons Learned through the ISS Design, Development, Assembly, and Operations: Applicability to International Cooperation for Standardization

NASA Technical Reports Server (NTRS)

Hirsch, David B.

2009-01-01

This slide presentation reviews selected lessons that were learned during the design, development, assembly and operation of the International Space Station. The critical importance of standards and common interfaces is emphasized to create a common operation environment that can lead to flexibility and adaptability.

An Integer Programming-Based Generalized Vehicle Routing Approach for Printed Circuit Board Assembly Optimization

ERIC Educational Resources Information Center

Seth, Anupam

2009-01-01

Production planning and scheduling for printed circuit, board assembly has so far defied standard operations research approaches due to the size and complexity of the underlying problems, resulting in unexploited automation flexibility. In this thesis, the increasingly popular collect-and-place machine configuration is studied and the assembly…

77 FR 72200 - Airworthiness Directives; The Boeing Company Airplanes

Federal Register 2010, 2011, 2012, 2013, 2014

2012-12-05

... correctly on the engine fuel feed manifold couplings. This AD also requires inspecting the assembly of the engine fuel feed manifold rigid and full flexible couplings. This AD was prompted by reports of fuel leaks due to improperly assembled engine fuel feed manifold couplings. We are issuing this AD to detect...

Adjustable mounting device for high-volume production of beam-shaping systems for high-power diode lasers

NASA Astrophysics Data System (ADS)

Haag, Sebastian; Bernhardt, Henning; Rübenach, Olaf; Haverkamp, Tobias; Müller, Tobias; Zontar, Daniel; Brecher, Christian

2015-02-01

In many applications for high-power diode lasers, the production of beam-shaping and homogenizing optical systems experience rising volumes and dynamical market demands. The automation of assembly processes on flexible and reconfigurable machines can contribute to a more responsive and scalable production. The paper presents a flexible mounting device designed for the challenging assembly of side-tab based optical systems. It provides design elements for precisely referencing and fixating two optical elements in a well-defined geometric relation. Side tabs are presented to the machine allowing the application of glue and a rotating mechanism allows the attachment to the optical elements. The device can be adjusted to fit different form factors and it can be used in high-volume assembly machines. The paper shows the utilization of the device for a collimation module consisting of a fast-axis and a slow-axis collimation lens. Results regarding the repeatability and process capability of bonding side tab assemblies as well as estimates from 3D simulation for overall performance indicators achieved such as cycle time and throughput will be discussed.

Assembly considerations for large reflectors

NASA Technical Reports Server (NTRS)

Bush, H.

1988-01-01

The technologies developed at LaRC in the area of erectable instructures are discussed. The information is of direct value to the Large Deployable Reflector (LDR) because an option for the LDR backup structure is to assemble it in space. The efforts in this area, which include development of joints, underwater assembly simulation tests, flight assembly/disassembly tests, and fabrication of 5-meter trusses, led to the use of the LaRC concept as the baseline configuration for the Space Station Structure. The Space Station joint is linear in the load and displacement range of interest to Space Station; the ability to manually assemble and disassemble a 45-foot truss structure was demonstrated by astronauts in space as part of the ACCESS Shuttle Flight Experiment. The structure was built in 26 minutes 46 seconds, and involved a total of 500 manipulations of untethered hardware. Also, the correlation of the space experience with the neutral buoyancy simulation was very good. Sections of the proposed 5-meter bay Space Station truss have been built on the ground. Activities at LaRC have included the development of mobile remote manipulator systems (which can traverse the Space Station 5-meter structure), preliminary LDR sun shield concepts, LDR construction scenarios, and activities in robotic assembly of truss-type structures.

Whole-body patterns of the range of joint motion in young adults: masculine type and feminine type.

PubMed

Moromizato, Keiichi; Kimura, Ryosuke; Fukase, Hitoshi; Yamaguchi, Kyoko; Ishida, Hajime

2016-10-01

Understanding the whole-body patterns of joint flexibility and their related biological and physical factors contributes not only to clinical assessments but also to the fields of human factors and ergonomics. In this study, ranges of motion (ROMs) at limb and trunk joints of young adults were analysed to understand covariation patterns of different joint motions and to identify factors associated with the variation in ROM. Seventy-eight healthy volunteers (42 males and 36 females) living on Okinawa Island, Japan, were recruited. Passive ROM was measured at multiple joints through the whole body (31 measurements) including the left and right side limbs and trunk. Comparisons between males and females, dominant and non-dominant sides, and antagonistic motions indicated that body structures influence ROMs. In principal component analysis (PCA) on the ROM data, the first principal component (PC1) represented the sex difference and a similar covariation pattern appeared in the analysis within each sex. Multiple regression analysis showed that this component was associated with sex, age, body fat %, iliospinale height, and leg extension strength. The present study identified that there is a spectrum of "masculine" and "feminine" types in the whole-body patterns of joint flexibility. This study also suggested that body proportion and composition, muscle mass and strength, and possibly skeletal structures partly explain such patterns. These results would be important to understand individual variation in susceptibility to joint injuries and diseases and in one's suitable and effective postures and motions.

Lanthanide-based coordination polymers assembled by a flexible multidentate linker: design, structure, photophysical properties, and dynamic solid-state behavior.

PubMed

Marchal, Claire; Filinchuk, Yaroslav; Chen, Xiao-Yan; Imbert, Daniel; Mazzanti, Marinella

2009-01-01

Four picolinate building blocks were implemented into the multidentate linker N,N',N'-tetrakis[(6-carboxypyridin-2-yl)methyl]butylenediamine (H(4)tpabn) with a linear flexible spacer to promote the assembly of lanthanide-based 1D coordination polymers. The role of the linker in directing the geometry of the final assembly is evidenced by the different results obtained in the presence of Htpabn(3-) and tpabn(4-) ions. The tpabn(4-) ion leads to the desired 1D polymer {[Nd(tpabn)]H(3)O x 6 H(2)O}(infinity) (12). The Htpabn(3-) ion leads to the assembly of Tb(III) and Er(III) ions into 1D zigzag chains of the general formula {[M(Htpabn)] x xH(2)O}(infinity) (M = Tb, x = 14 (1); M = Tb, x = 8 (11); M = Er, x = 14 (2); M = Er, x = 5.5 (4)), a 2D network is formed by the Eu(III) ion (i.e., {[Eu(Htpabn)] x 10 H(2)O}(infinity) (7)), and both supramolecular isomers (1D and 2D) are obtained by the Tb(III) ion. The high flexibility of the polymeric chains results in a dynamic behavior with a solvent-induced reversible structural transition. The Tb(III)- and Eu(III)-containing polymers display high-luminescence quantum yields (38 and 18%, respectively). A sizeable near-IR luminescence emission is observed for the Er(III)- and Nd(III)-containing polymers when lattice water molecules are removed.

30 CFR 20.9 - Class 2 lamps.

Code of Federal Regulations, 2012 CFR

2012-07-01

... of extra-heavy glass to withstand pick blows, and be adequately protected by shrouds or by an... permit assembly, the flanges comprising the joints between parts shall have surfaces with metal-to-metal contact, except enclosures requiring glass, in which case glass-to-metal joints are permitted. Gaskets, if...

Low-energy gamma ray inspection of brazed aluminum joints

NASA Technical Reports Server (NTRS)

Brown, J. A.

1967-01-01

Americium 241 serves as a suitable radioisotope /gamma ray source/ and exposure probe for radiographic inspection of brazed aluminum joints in areas of limited accessibility. The powdered isotope is contained in a sealed capsule mounted at the end of a spring-loaded pushrod in the probe assembly.

Comparison of Extensive Thermal Cycling Effects on Microstructure Development in Micro-alloyed Sn-Ag-Cu Solder Joints

DOE Office of Scientific and Technical Information (OSTI.GOV)

Anderson, Iver E.; Boesenberg, Adam; Harringa, Joel

2011-09-28

Pb-free solder alloys based on the Sn-Ag-Cu (SAC) ternary eutectic have promise for widespread adoption across assembly conditions and operating environments, but enhanced microstructural control is needed. Micro-alloying with elements such as Zn was demonstrated for promoting a preferred solidification path and joint microstructure earlier in simple (Cu/Cu) solder joints studies for different cooling rates. This beneficial behavior now has been verified in reworked ball grid array (BGA) joints, using dissimilar SAC305 (Sn-3.0Ag-0.5Cu, wt.%) solder paste. After industrial assembly, BGA components joined with Sn-3.5Ag-0.74Cu-0.21Zn solder were tested in thermal cycling (-55 C/+125 C) along with baseline SAC305 BGA joints beyondmore » 3000 cycles with continuous failure monitoring. Weibull analysis of the results demonstrated that BGA components joined with SAC + Zn/SAC305 have less joint integrity than SAC305 joints, but their lifetime is sufficient for severe applications in consumer, defense, and avionics electronic product field environments. Failure analysis of the BGA joints revealed that cracking did not deviate from the typical top area (BGA component side) of each joint, in spite of different Ag3Sn blade content. Thus, SAC + Zn solder has not shown any advantage over SAC305 solder in these thermal cycling trials, but other characteristics of SAC + Zn solder may make it more attractive for use across the full range of harsh conditions of avionics or defense applications.« less

Artificial dexterous hand

NASA Technical Reports Server (NTRS)

Lee, Sukhan (Inventor)

1990-01-01

An artificial dexterous hand is provided for conformally engaging and manipulating objects. The hand includes an articulated digit which is connected to an engagement sub-assembly and has a first shape adaption mechanism associated with it. The digit has a digit base and first and second phalanges. The digit base is operatively interconnected to the first phalange by a base joint having a base pulley. The phalanges are operatively interconnected by a separate first phalange joint having a first phalange pulley. The engagement sub-assembly includes a tendon, which is received by the base pulley and by the first phalange pulley, and an actuation device for selectively tensioning the tendon. The first shape adaption mechanism is responsive to and receives the tendon. It is also situated between the base joint and the first phalange joint and is connected to the first phalange. Upon actuation by the actuation device, the phalanges are caused to pivot relative to the base joint and the second phalange is caused to pivot relative to the first phalange. At the same time, the first shape adaption mechanism controls the sequence of the aforementioned pivoting of the phalanges through application of braking force to the tendon.

Experimental determination of frequency response function estimates for flexible joint industrial manipulators with serial kinematics

NASA Astrophysics Data System (ADS)

Saupe, Florian; Knoblach, Andreas

2015-02-01

Two different approaches for the determination of frequency response functions (FRFs) are used for the non-parametric closed loop identification of a flexible joint industrial manipulator with serial kinematics. The two applied experiment designs are based on low power multisine and high power chirp excitations. The main challenge is to eliminate disturbances of the FRF estimates caused by the numerous nonlinearities of the robot. For the experiment design based on chirp excitations, a simple iterative procedure is proposed which allows exploiting the good crest factor of chirp signals in a closed loop setup. An interesting synergy of the two approaches, beyond validation purposes, is pointed out.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Michael Viola, J. Edwards, T. Brown, L. Dudek, R. Ellis, P. Heitzenroeder, R. Strykowsky and Michael Cole

The National Compact Stellarator Experiment (NCSX) was a collaborative effort between ORNL and PPPL. PPPL provided the assembly techniques with guidance from ORNL to meet design criteria. The individual vacuum vessel segments, modular coils, trim coils, and toroidal field coils components were delivered to the Field Period Assembly (FPA) crew who then would complete the component assemblies and then assemble the final three field period assemblies, each consisting of two sets of three modular coils assembled over a 120o vacuum vessel segment with the trim coils and toroidal field coils providing the outer layer. The requirements for positioning the modularmore » coils were found to be most demanding. The assembly tolerances required for accurate positioning of the field coil windings in order to generate sufficiently accurate magnetic fields strained state of the art techniques in metrology and alignment and required constant monitoring of assembly steps with laser trackers, measurement arms, and photogrammetry. The FPA activities were being performed concurrently while engineering challenges were being resolved. For example, it was determined that high friction electrically isolated shims were needed between the modular coil interface joints and low distortion welding was required in the nose region of those joints. This took months of analysis and development yet the assembly was not significantly impacted because other assembly tasks could be performed in parallel with ongoing assembly tasks as well as tasks such as advance tooling setup preparation for the eventual welding tasks. The crew technicians developed unique, accurate time saving techniques and tooling which provided significant cost and schedule savings. Project management displayed extraordinary foresight and every opportunity to gain advanced knowledge and develop techniques was taken advantage of. Despite many risk concerns, the cost and schedule performance index was maintained nearly 1.0 during the assembly phase until project cancellation. In this paper, the assembly logic, the engineering challenges, solutions to those challenges and some of the unique and clever assembly techniques, will be presented.« less

Rolling-cuff flexible bellows

DOEpatents

Lambert, D.R.

1982-09-27

A flexible connector apparatus used to join two stiff non-deformable members, such as piping, is described. The apparatus is provided with one or more flexible sections or assemblies each utilizing a bellows of a rolling cuff type connected between two ridge members, with the bellows being supported by a back-up ring, such that only the curved end sections of the bellows are unsupported. Thus, the bellows can be considered as being of a tube-shaped configuration and thus have high pressure resistance. The components of the flexible apparatus are sealed or welded one to another such that it is fluid tight.

Flexible nanomembrane photonic-crystal cavities for tensilely strained-germanium light emission

DOE Office of Scientific and Technical Information (OSTI.GOV)

Yin, Jian; Wang, Xiaowei; Paiella, Roberto

2016-06-13

Flexible photonic-crystal cavities in the form of Si-column arrays embedded in polymeric films are developed on Ge nanomembranes using direct membrane assembly. The resulting devices can sustain large biaxial tensile strain under mechanical stress, as a way to enhance the Ge radiative efficiency. Pronounced emission peaks associated with photonic-crystal cavity resonances are observed in photoluminescence measurements. These results show that ultrathin nanomembrane active layers can be effectively coupled to an optical cavity, while still preserving their mechanical flexibility. Thus, they are promising for the development of strain-enabled Ge lasers, and more generally uniquely flexible optoelectronic devices.

Modular robotic assembly of small devices.

PubMed

Frauenfelder, M

2000-01-01

The use of robots for the automatic assembly of devices of up to 100 x 100 x 100 mm is relatively uncommon today. Insufficient return on investment and the long lead times that are required have been limiting factors. Innovations in vision technology have led to the development of robotic assembly systems that employ flexible part-feeding. The benefits of these systems are described, which suggest that better ratios of price to productivity and deployment times are now achievable.

Preoccupied with the Self: Towards Self-Responsible, Enterprising, Flexible and Self-Centred Subjectivity in Education

ERIC Educational Resources Information Center

Brunila, Kristiina; Siivonen, Päivi

2016-01-01

In the neoliberal order, the ideal self is self-responsible, enterprising, flexible and self-centred. Regarding this ideal we argue that the rise of therapisation in society, and in education, particularly, links both the therapeutic and enterprising discourses. The article examines how these discourses jointly produce and legitimate the ideal,…

Anode-cathode power distribution systems and methods of using the same for electrochemical reduction

DOEpatents

Koehl, Eugene R; Barnes, Laurel A; Wiedmeyer, Stanley G; Williamson, Mark A; Willit, James L

2014-01-28

Power distribution systems are useable in electrolytic reduction systems and include several cathode and anode assembly electrical contacts that permit flexible modular assembly numbers and placement in standardized connection configurations. Electrical contacts may be arranged at any position where assembly contact is desired. Electrical power may be provided via power cables attached to seating assemblies of the electrical contacts. Cathode and anode assembly electrical contacts may provide electrical power at any desired levels. Pairs of anode and cathode assembly electrical contacts may provide equal and opposite electrical power; different cathode assembly electrical contacts may provide different levels of electrical power to a same or different modular cathode assembly. Electrical systems may be used with an electrolyte container into which the modular cathode and anode assemblies extend and are supported above, with the modular cathode and anode assemblies mechanically and electrically connecting to the respective contacts in power distribution systems.

The FEI-TPS on the Upper Surface of the X-38

NASA Astrophysics Data System (ADS)

Antonenko, Johann; Kowal, John

2002-01-01

The X-38 is being developed by NASA-JSC as a technology demonstrator of a future Crew Rescue Vehicle. The size of the vehicle is limited to fit into the cargo bay of the shuttle. Due to its small size and shuttle-like trajectory all surfaces will receive comparably high heat rates leading to high surface temperatures. Temperatures on the nose are calculated to reach 1750°C, which is significantly higher than on the shuttle. Due to the lifting body shape, large areas of the central fuselage will be exposed to flow of hot gases around the vehicle. Here temperatures of the upper surface are calculated to reach up to 1000°C and the application of a high temperature blanket thermal protection system (TPS) becomes mandatory. Consecutively, the temperature level of the upper surface and the base area will be significantly high. Unlike on the shuttle, where large areas of the surface are covered by flexible reusable surface insulation (FRSI), locations with temperatures below 400°C will be scarce on the X-38. During development of the European shuttle HERMES the Flexible External Insulation (FEI) was developed for the upper surface TPS. This development was continued by ESA and DLR funded programs and currently a product family is available for temperatures ranging from 450°C to 1100°C for re-usable application. For a single re- entry under ultimate conditions temperatures may reach up to 1400°C. Under funding of DLR and ESA, the FEI assembly is one of the European contributions to the X-38. Three subassemblies have been chosen: the FEI-450, FEI-650 and FEI- 1000, capable of limit temperatures of 450°C, 650°C and 1000°C, respectively. The FEI-650 and FEI-1000 were already developed in the HERMES program. The FEI- 450 was developed in the German TETRA program. The qualification for X-38 application was performed for temperatures up to 510°C for the FEI-450 and up to 1130°C for the FEI-1000. Acoustic noise loads of up to 160dB have been endured, far beyond what X-38 will ever experience. The paper presents the design of the flexible blanket TPS in a joint effort by NASA-JSC and Astrium. The design process at NASA had to consider aerothermal loads and constraints of the structure and parachute subsystems. It provided the configuration of the FEI assembly and the requirements design of the FEI blankets. Astrium first designed the concept and lay-out of the FEI-assembly. Proceeding from NASA furnished model files, the design to manufacturing of the FEI-blankets was established. In addition, Astrium qualified the FEI for X-38 application. The FEI design is constrained by the aeroshell concept that distinguishes acreage panels, carrier panels and close-out areas, with dedicated blankets for each. Close out areas cover the locations of the parafoil system and create an uneven surface requiring vaulted blankets. The total of these requirements leads to an assembly of a large number of blankets, several of which have a complex shape.

An innovative platform for quick and flexible joining of assorted DNA fragments

DOE PAGES

De Paoli, Henrique Cestari; Tuskan, Gerald A.; Yang, Xiaohan

2016-01-13

Successful synthetic biology efforts rely on conceptual and experimental designs in combination with testing of multi-gene constructs. Despite recent progresses, several limitations still hinder the ability to flexibly assemble and collectively share different types of DNA segments. We describe an advanced system for joining DNA fragments from a universal library that automatically maintains open reading frames (ORFs) and does not require linkers, adaptors, sequence homology, amplification or mutation (domestication) of fragments in order to work properly. Moreover, we find that this system, which is enhanced by a unique buffer formulation, provides unforeseen capabilities for testing, and sharing, complex multi-gene circuitrymore » assembled from different DNA fragments.« less

All-in-one assembly based on 3D-intertangled and cross-jointed architectures of Si/Cu 1D-nanowires for lithium ion batteries

PubMed Central

Hwang, Chihyun; Kim, Tae-Hee; Cho, Yoon-Gyo; Kim, Jieun; Song, Hyun-Kon

2015-01-01

All-in-one assemblies of separator, electrode and current collector (SECA) for lithium ion batteries are presented by using 1D nanowires of Si and Cu (nwSi and nwCu). Even without binders, integrity of SECA is secured via structural joints based on ductility of Cu as well as entanglement of nwSi and nwCu. By controlling the ratio of the nanowires, the number of contact points and voids accommodating volume expansion of Si active material are tunable. Zero volume expansion and high energy density are simultaneously achievable by the architecture. PMID:25720334

A compact roller-gear pitch-yaw joint module: Design and control issues

NASA Technical Reports Server (NTRS)

Dohring, Mark E.; Anderson, William J.; Newman, Wyatt S.; Rohn, Douglas A.

1993-01-01

Robotic systems have been proposed as a means of accomplishing assembly and maintenance tasks in space. The desirable characteristics of these systems include compact size, low mass, high load capacity, and programmable compliance to improve assembly performance. In addition, the mechanical system must transmit power in such a way as to allow high performance control of the system. Efficiency, linearity, low backlash, low torque ripple, and low friction are all desirable characteristics. This work presents a pitch-yaw joint module designed and built to address these issues. Its effectiveness as a two degree-of-freedom manipulator using natural admittance control, a method of force control, is demonstrated.

The Analysis of Electrical Energy Consumption of the Impact Screwdriver During Assembly of Fixed Threaded Joints

NASA Astrophysics Data System (ADS)

Grinevich, I.; Nikishin, Vl.; Mozga, N.; Laitans, M.

2017-06-01

The paper deals with the possibilities of reducing the consumption of electrical energy of the impact screwdriver during the assembly of fixed threaded joints. The recommendations related to a decrease in electrical energy consumption would allow reducing product costs but so far there have been no such recommendations from the producers of the tool as to the effective operating regimes of the impact screwdrivers in relation to electrical energy consumption and necessary tightening moment of the nut. The aim of the study is to find out the economical operating mode of the electrical impact screwdriver when assembling fixed threaded joints. By varying the set speed of the rotor head and working time of the impact mechanism, there is an opportunity to determine electrical energy consumption of the tool for the given tightening moment. The results of the experiment show that at the same tightening moment obtained the electrical energy consumption of the impact screwdriver is less at a higher starting set speed of the rotor head but shorter operating time of the impact mechanism than at a lower speed of the rotor head and longer operating time of the impact mechanism.

Flexible Electronics-Based Transformers for Extreme Environments

NASA Technical Reports Server (NTRS)

Quadrelli, Marco B.; Stoica, Adrian; Ingham, Michel; Thakur, Anubhav

2015-01-01

This paper provides a survey of the use of modular multifunctional systems, called Flexible Transformers, to facilitate the exploration of extreme and previously inaccessible environments. A novel dynamics and control model of a modular algorithm for assembly, folding, and unfolding of these innovative structural systems is also described, together with the control model and the simulation results.

RosettaRemodel: A Generalized Framework for Flexible Backbone Protein Design

PubMed Central

Huang, Po-Ssu; Ban, Yih-En Andrew; Richter, Florian; Andre, Ingemar; Vernon, Robert; Schief, William R.; Baker, David

2011-01-01

We describe RosettaRemodel, a generalized framework for flexible protein design that provides a versatile and convenient interface to the Rosetta modeling suite. RosettaRemodel employs a unified interface, called a blueprint, which allows detailed control over many aspects of flexible backbone protein design calculations. RosettaRemodel allows the construction and elaboration of customized protocols for a wide range of design problems ranging from loop insertion and deletion, disulfide engineering, domain assembly, loop remodeling, motif grafting, symmetrical units, to de novo structure modeling. PMID:21909381

Reusable Solid Rocket Motor Nozzle Joint 5 Redesign

NASA Technical Reports Server (NTRS)

Lui, R. C.; Stratton, T. C.; LaMont, D. T.

2003-01-01

Torque tension testing of a newly designed Reusable Solid Rocket Motor nozzle bolted assembly was successfully completed. Test results showed that the 3-sigma preload variation was as expected at the required input torque level and the preload relaxation were within the engineering limits. A shim installation technique was demonstrated as a simple process to fill a shear lip gap between nozzle housings in the joint region. A new automated torque system was successfully demonstrated in this test. This torque control tool was found to be very precise and accurate. The bolted assembly performance was further evaluated using the Nozzle Structural Test Bed. Both current socket head cap screw and proposed multiphase alloy bolt configurations were tested. Results indicated that joint skip and bolt bending were significantly reduced with the new multiphase alloy bolt design. This paper summarizes all the test results completed to date.

Multi-objective optimization on laser solder jet bonding process in head gimbal assembly using the response surface methodology

NASA Astrophysics Data System (ADS)

Deeying, J.; Asawarungsaengkul, K.; Chutima, P.

2018-01-01

This paper aims to investigate the effect of laser solder jet bonding parameters to the solder joints in Head Gimbal Assembly. Laser solder jet bonding utilizes the fiber laser to melt solder ball in capillary. The molten solder is transferred to two bonding pads by nitrogen gas. The response surface methodology have been used to investigate the effects of laser energy, wait time, nitrogen gas pressure, and focal position on the shear strength of solder joints and the change of pitch static attitude (PSA). The response surface methodology is employed to establish the reliable mathematical relationships between the laser soldering parameters and desired responses. Then, multi-objective optimization is conducted to determine the optimal process parameters that can enhance the joint shear strength and minimize the change of PSA. The validation test confirms that the predicted value has good agreement with the actual value.

Self-Assembly of Optical Molecules with Supramolecular Concepts

PubMed Central

Okamoto, Ken; Chithra, Parayalil; Richards, Gary J.; Hill, Jonathan P.; Ariga, Katsuhiko

2009-01-01

Fabrication of nano-sized objects is one of the most important issues in nanoscience and nanotechnology. Soft nanomaterials with flexible properties have been given much attention and can be obtained through bottom-up processing from functional molecules, where self-assembly based on supramolecular chemistry and designed assembly have become crucial processes and techniques. Among the various functional molecules, dyes have become important materials in certain areas of nanotechnology and their self-assembling behaviors have been actively researched. In this short review, we briefly introduce recent progress in self-assembly of optical molecules and dyes, based mainly on supramolecular concepts. The introduced examples are classified into four categories: self-assembly of (i) low-molecular-weight dyes and (ii) polymeric dyes and dye self-assembly (iii) in nanoscale architectures and (iv) at surfaces. PMID:19564931

External airlock assembly/Mir docking system being loaded

NASA Image and Video Library

1994-11-15

S95-00057 (15 Nov 1994) --- In Rockwell's Building 290 at Downey, California, the external airlock assembly/Mir docking system is rotated into position for crating up for shipment to the Kennedy Space Center (KSC) in Florida. Jointly developed by Rockwell and RSC Energia, the external airlock assembly and Mir docking system will be mounted in the cargo bay of the Space Shuttle Atlantis to enable the shuttle to link up to Russia's Mir space station. The docking system contains hooks and latches compatible with the system currently housed on the Mir's Krystall module, to which Atlantis will attach for the first time next spring. STS-71 will carry two Russian cosmonauts, who will replace a three-man crew aboard Mir including Norman E. Thagard, a NASA astronaut. The combined 10-person crew will conduct almost five days of joint life sciences investigations both aboard Mir and in the Space Shuttle Atlantis's Spacelab module.

Research on the Optimization Method of Arm Movement in the Assembly Workshop Based on Ergonomics

NASA Astrophysics Data System (ADS)

Hu, X. M.; Qu, H. W.; Xu, H. J.; Yang, L.; Yu, C. C.

2017-12-01

In order to improve the work efficiency and comfortability, Ergonomics is used to research the work of the operator in the assembly workshop. An optimization algorithm of arm movement in the assembly workshop is proposed. In the algorithm, a mathematical model of arm movement is established based on multi rigid body movement model and D-H method. The solution of inverse kinematics equation on arm movement is solved through kinematics theory. The evaluation functions of each joint movement and the whole arm movement are given based on the comfortability of human body joint. The solution method of the optimal arm movement posture based on the evaluation functions is described. The software CATIA is used to verify that the optimal arm movement posture is valid in an example and the experimental result show the effectiveness of the algorithm.

Diffusion welding of Cassegrainian concentrator cell stack assemblies. M.S. Thesis Final Report, Jun. 1983 - Sep. 1985

NASA Technical Reports Server (NTRS)

Gangl, K. J.

1985-01-01

Development of a procedure to join the components of the Cassegrainian concentrator photovoltaic cell stack assembly was studied. Diffusion welding was selected as the most promising process, and was concentrated on exclusively. All faying surfaces were coated with silver to promote welding. The first phase of the study consisted of developing the relationship between process parameters and joint strength using silver plated steel samples and an isostatic pressure system. In the second phase, mockups of the cell stack assembly were welded in a hot isostatic press. Excellent joint strength was achieved with parameters of 350 C and 10 ksi, but the delicate GaAs component could not survive the welding cycle without cracking. The tendency towards cracking was found to be affected by both temperature and pressure. Further work will be required in the future to solve this problem.

Automated Test Assembly for Cognitive Diagnosis Models Using a Genetic Algorithm

ERIC Educational Resources Information Center

Finkelman, Matthew; Kim, Wonsuk; Roussos, Louis A.

2009-01-01

Much recent psychometric literature has focused on cognitive diagnosis models (CDMs), a promising class of instruments used to measure the strengths and weaknesses of examinees. This article introduces a genetic algorithm to perform automated test assembly alongside CDMs. The algorithm is flexible in that it can be applied whether the goal is to…

An ATP-dependent ligase with substrate flexibility involved in assembly of the peptidyl nucleoside antibiotic polyoxin

USDA-ARS?s Scientific Manuscript database

Polyoxin (POL) is an unusual nucleoside antibiotic, in which peptidyl moiety and nucleoside skeleton are linked by an amide bond. However, their biosynthesis remains poorly understood. Here, we report the deciphering of PolG as an ATP-dependent ligase responsible for the assembly of POL. A polG muta...

Inspiration from nature: dynamic modelling of the musculoskeletal structure of the seahorse tail.

PubMed

Praet, Tomas; Adriaens, Dominique; Van Cauter, Sofie; Masschaele, Bert; De Beule, Matthieu; Verhegghe, Benedict

2012-10-01

Technological advances are often inspired by nature, considering that engineering is frequently faced by the same challenges as organisms in nature. One such interesting challenge is creating a structure that is at the same time stiff in a certain direction, yet flexible in another. The seahorse tail combines both radial stiffness and bending flexibility in a particularly elegant way: even though the tail is covered in a protective armour, it still shows sufficient flexibility to fully function as a prehensile organ. We therefore study the complex mechanics and dynamics of the musculoskeletal system of the seahorse tail from an engineering point of view. The seahorse tail derives its combination of flexibility and resilience from a chain of articulating skeletal segments. A versatile dynamic model of those segments was constructed, on the basis of automatic recognition of joint positions and muscle attachments. Both muscle structures that are thought to be responsible for ventral and ventral-lateral tail bending, namely the median ventral muscles and the hypaxial myomere muscles, were included in the model. Simulations on the model consist mainly of dynamic multi-body simulations. The results show that the sequential structure of uniformly shaped bony segments can remain flexible because of gliding joints that connect the corners of the segments. Radial stiffness on the other hand is obtained through the support that the central vertebra provides to the tail plating. Such insights could help in designing biomedical instruments that specifically require both high bending flexibility and radial stiffness (e.g. flexible stents and steerable catheters). Copyright © 2012 John Wiley & Sons, Ltd.

Swing-arm beam erector (SABER) concept for single astronaut assembly of space structure

NASA Technical Reports Server (NTRS)

Watson, J. J.; Heard, W. L., Jr.; Jensen, J. K.

1985-01-01

Results are presented of tests conducted to evaluate a mobile work station/assembly fixture concept that would mechanically assist an astronaut in the on-orbit manual assembly of erectable truss-beams. The concept eliminates astronaut manual translation by use of a motorized work platform with foot restraints. The tests involved assembly of a tetrahedral truss-beam by a test subject in simulated zero gravity (neutral bouyancy in water). A three-bay truss-beam was assembled from 30 aluminum struts with quick-attachment structural joints. The results show that average on-orbit assembly rates of 2.1 struts per minute can be expected for struts of the size employed in these tests.

Design and fabrication of a foldable 3D silicon based package for solid state lighting applications

NASA Astrophysics Data System (ADS)

Sokolovskij, R.; Liu, P.; van Zeijl, H. W.; Mimoun, B.; Zhang, G. Q.

2015-05-01

Miniaturization of solid state lighting (SSL) luminaires as well as reduction of packaging and assembly costs are of prime interest for the SSL lighting industry. A novel silicon based LED package for lighting applications is presented in this paper. The proposed design consists of 5 rigid Si tiles connected by flexible polyimide hinges with embedded interconnects (ICs). Electrical, optical and thermal characteristics were taken into consideration during design. The fabrication process involved polyimide (PI) application and patterning, aluminium interconnect integration in the flexible hinge, LED reflector cavity formation and metalization followed by through wafer DRIE etching for chip formation and release. A method to connect chip front to backside without TSVs was also integrated into the process. Post-fabrication wafer level assembly included LED mounting and wirebond, phosphor-based colour conversion and silicone encapsulation. The package formation was finalized by vacuum assisted wrapping around an assembly structure to form a 3D geometry, which is beneficial for omnidirectional lighting. Bending tests were performed on the flexible ICs and optical performance at different temperatures was evaluated. It is suggested that 3D packages can be expanded to platforms for miniaturized luminaire applications by combining monolithic silicon integration and system-in-package (SiP) technologies.

Flexible supercapacitor electrodes based on real metal-like cellulose papers.

PubMed

Ko, Yongmin; Kwon, Minseong; Bae, Wan Ki; Lee, Byeongyong; Lee, Seung Woo; Cho, Jinhan

2017-09-14

The effective implantation of conductive and charge storage materials into flexible frames has been strongly demanded for the development of flexible supercapacitors. Here, we introduce metallic cellulose paper-based supercapacitor electrodes with excellent energy storage performance by minimizing the contact resistance between neighboring metal and/or metal oxide nanoparticles using an assembly approach, called ligand-mediated layer-by-layer assembly. This approach can convert the insulating paper to the highly porous metallic paper with large surface areas that can function as current collectors and nanoparticle reservoirs for supercapacitor electrodes. Moreover, we demonstrate that the alternating structure design of the metal and pseudocapacitive nanoparticles on the metallic papers can remarkably increase the areal capacitance and rate capability with a notable decrease in the internal resistance. The maximum power and energy density of the metallic paper-based supercapacitors are estimated to be 15.1 mW cm -2 and 267.3 μWh cm -2 , respectively, substantially outperforming the performance of conventional paper or textile-type supercapacitors.With ligand-mediated layer-by-layer assembly between metal nanoparticles and small organic molecules, the authors prepare metallic paper electrodes for supercapacitors with high power and energy densities. This approach could be extended to various electrodes for portable/wearable electronics.

Kinetics of DNA Tile Dimerization

PubMed Central

2015-01-01

Investigating how individual molecular components interact with one another within DNA nanoarchitectures, both in terms of their spatial and temporal interactions, is fundamentally important for a better understanding of their physical behaviors. This will provide researchers with valuable insight for designing more complex higher-order structures that can be assembled more efficiently. In this report, we examined several spatial factors that affect the kinetics of bivalent, double-helical (DH) tile dimerization, including the orientation and number of sticky ends (SEs), the flexibility of the double helical domains, and the size of the tiles. The rate constants we obtained confirm our hypothesis that increased nucleation opportunities and well-aligned SEs accelerate tile–tile dimerization. Increased flexibility in the tiles causes slower dimerization rates, an effect that can be reversed by introducing restrictions to the tile flexibility. The higher dimerization rates of more rigid tiles results from the opposing effects of higher activation energies and higher pre-exponential factors from the Arrhenius equation, where the pre-exponential factor dominates. We believe that the results presented here will assist in improved implementation of DNA tile based algorithmic self-assembly, DNA based molecular robotics, and other specific nucleic acid systems, and will provide guidance to design and assembly processes to improve overall yield and efficiency. PMID:24794259

Kinetics of DNA tile dimerization.

PubMed

Jiang, Shuoxing; Yan, Hao; Liu, Yan

2014-06-24

Investigating how individual molecular components interact with one another within DNA nanoarchitectures, both in terms of their spatial and temporal interactions, is fundamentally important for a better understanding of their physical behaviors. This will provide researchers with valuable insight for designing more complex higher-order structures that can be assembled more efficiently. In this report, we examined several spatial factors that affect the kinetics of bivalent, double-helical (DH) tile dimerization, including the orientation and number of sticky ends (SEs), the flexibility of the double helical domains, and the size of the tiles. The rate constants we obtained confirm our hypothesis that increased nucleation opportunities and well-aligned SEs accelerate tile-tile dimerization. Increased flexibility in the tiles causes slower dimerization rates, an effect that can be reversed by introducing restrictions to the tile flexibility. The higher dimerization rates of more rigid tiles results from the opposing effects of higher activation energies and higher pre-exponential factors from the Arrhenius equation, where the pre-exponential factor dominates. We believe that the results presented here will assist in improved implementation of DNA tile based algorithmic self-assembly, DNA based molecular robotics, and other specific nucleic acid systems, and will provide guidance to design and assembly processes to improve overall yield and efficiency.

Particle Line Assembly/Patterning by Microfluidic AC Electroosmosis

NASA Astrophysics Data System (ADS)

Lian, Meng; Islam, Nazmul; Wu, Jie

2006-04-01

Recently AC electroosmosis has attracted research interests worldwide. This paper is the first to investigate particle line assembly/patterning by AC electroosmosis. Since AC electroosmotic force has no dependence on particle sizes, this technique is particularly useful for manipulating nanoscale substance, and hopefully constructs functional nanoscale devices. Two types of ACEO devices, in the configurations of planar interdigitated electrodes and parallel plate electrodes, and a biased ACEO technique are studied, which provides added flexibility in particle manipulation and line assembly. The paper also investigates the effects of electrical field distributions on generating microflows for particle assembly. The results are corroborated experimentally.

Cooling assembly for fuel cells

DOEpatents

Kaufman, Arthur; Werth, John

1990-01-01

A cooling assembly for fuel cells having a simplified construction whereby coolant is efficiently circulated through a conduit arranged in serpentine fashion in a channel within a member of such assembly. The channel is adapted to cradle a flexible, chemically inert, conformable conduit capable of manipulation into a variety of cooling patterns without crimping or otherwise restricting of coolant flow. The conduit, when assembled with the member, conforms into intimate contact with the member for good thermal conductivity. The conduit is non-corrodible and can be constructed as a single, manifold-free, continuous coolant passage means having only one inlet and one outlet.

An assembly process model based on object-oriented hierarchical time Petri Nets

NASA Astrophysics Data System (ADS)

Wang, Jiapeng; Liu, Shaoli; Liu, Jianhua; Du, Zenghui

2017-04-01

In order to improve the versatility, accuracy and integrity of the assembly process model of complex products, an assembly process model based on object-oriented hierarchical time Petri Nets is presented. A complete assembly process information model including assembly resources, assembly inspection, time, structure and flexible parts is established, and this model describes the static and dynamic data involved in the assembly process. Through the analysis of three-dimensional assembly process information, the assembly information is hierarchically divided from the whole, the local to the details and the subnet model of different levels of object-oriented Petri Nets is established. The communication problem between Petri subnets is solved by using message database, and it reduces the complexity of system modeling effectively. Finally, the modeling process is presented, and a five layer Petri Nets model is established based on the hoisting process of the engine compartment of a wheeled armored vehicle.

Self-locking mechanical center joint

NASA Technical Reports Server (NTRS)

Bush, H. G.; Wallsom, R. E. (Inventor)

1985-01-01

A device for connecting, rotating and locking together a pair of structural half columns is described. The device is composed of an identical pair of cylindrical hub assemblies connected at their inner faces by a spring loaded hinge; each hub assembly having a structural half column attached to its outer end. Each hub assembly has a spring loading locking ring member movably attached adjacent to its inner face and includes a latch member for holding the locking ring in a rotated position subject to the force of its spring. Each hub assembly also has a hammer member for releasing the latch on the opposing hub assembly when the hub assemblies are rotated together. The spring loaded hinge connecting the hub assemblies rotates the hub assemblies and attached structural half columns together bringing the inner faces of the opposing hub assemblies into contact with one another.

Double window viewing chamber assembly

NASA Technical Reports Server (NTRS)

Keller, V. W. (Inventor); Owen, R. B. (Inventor); Elkins, B. R. (Inventor); White, W. T. (Inventor)

1986-01-01

A viewing chamber which permits observation of a sample retained therein includes a pair of double window assemblies mounted in opposed openings in the walls thereof so that a light beam can directly enter and exit from the chamber. A flexible mounting arrangement for the outer windows of the window assemblies enables the windows to be brought into proper alignment. An electrical heating arrangement prevents fogging of the outer windows whereas desiccated air in the volume between the outer and inner windows prevents fogging of the latter.

30 CFR 18.31 - Enclosures-joints and fastenings.

Code of Federal Regulations, 2011 CFR

2011-07-01

... square inch (gage). Castings shall be free from blowholes. (2) Welded joints forming an enclosure shall... portion are acceptable in lieu of a head or shoulder, but cotter pins and similar devices shall not be... attaching hose conduit, unless energy carried by the cable is intrinsically safe. (c) No assembly will be...

30 CFR 18.31 - Enclosures-joints and fastenings.

Code of Federal Regulations, 2012 CFR

2012-07-01

... square inch (gage). Castings shall be free from blowholes. (2) Welded joints forming an enclosure shall... portion are acceptable in lieu of a head or shoulder, but cotter pins and similar devices shall not be... attaching hose conduit, unless energy carried by the cable is intrinsically safe. (c) No assembly will be...

30 CFR 18.31 - Enclosures-joints and fastenings.

Code of Federal Regulations, 2013 CFR

2013-07-01

... square inch (gage). Castings shall be free from blowholes. (2) Welded joints forming an enclosure shall... portion are acceptable in lieu of a head or shoulder, but cotter pins and similar devices shall not be... attaching hose conduit, unless energy carried by the cable is intrinsically safe. (c) No assembly will be...

24 CFR 3280.605 - Joints and connections.

Code of Federal Regulations, 2014 CFR

2014-04-01

... assembled for tightness. Pipe threads shall be fully engaged with the threads of the fitting. Plastic pipe... standard. Pipe ends shall be reamed out to size of bore. All burrs, chips, cutting oil and foreign matter..., made with solder having not more than 0.2 percent lead. (4) Plastic pipe, fittings and joints. Plastic...

Deceleration lights on trucks : a report to the governor and General Assembly of Virginia in response to Senate Joint Resolution no. 247, 1993 legislative session.

DOT National Transportation Integrated Search

1994-01-01

Senate Joint Resolution No. 247, 1993 Session, requested that the Virginia Department of Motor Vehicles, the Center for Innovative Technology, the Motor Carrier Division of the State Corporation Commission, and the Department of State Police conduct ...

Hand-handle interface force and torque measurement system for pneumatic assembly tool operations: suggested enhancement to ISO 6544.

PubMed

Lin, Jia-Hua; McGorry, Raymond W; Chang, Chien-Chi

2007-05-01

A hand-handle interface force and torque measurement system is introduced to fill the void acknowledged in the international standard ISO 6544, which governs pneumatic, assembly tool reaction torque and force measurement. This system consists of an instrumented handle with a sensor capable of measuring grip force and reaction hand moment when threaded, fastener-driving tools are used by operators. The handle is rigidly affixed to the tool in parallel to the original tool handle allowing normal fastener-driving operations with minimal interference. Demonstration of this proposed system was made with tools of three different shapes: pistol grip, right angle, and in-line. During tool torque buildup, the proposed system measured operators exerting greater grip force on the soft joint than on the hard joint. The system also demonstrated that the soft joint demanded greater hand moment impulse than the hard joint. The results demonstrate that the measurement system can provide supplemental data useful in exposure assessment with power hand tools as proposed in ISO 6544.

A fast platform for simulating semi-flexible fiber suspensions applied to cell mechanics

DOE Office of Scientific and Technical Information (OSTI.GOV)

Nazockdast, Ehssan, E-mail: ehssan@cims.nyu.edu; Center for Computational Biology, Simons Foundation, New York, NY 10010; Rahimian, Abtin, E-mail: arahimian@acm.org

We present a novel platform for the large-scale simulation of three-dimensional fibrous structures immersed in a Stokesian fluid and evolving under confinement or in free-space in three dimensions. One of the main motivations for this work is to study the dynamics of fiber assemblies within biological cells. For this, we also incorporate the key biophysical elements that determine the dynamics of these assemblies, which include the polymerization and depolymerization kinetics of fibers, their interactions with molecular motors and other objects, their flexibility, and hydrodynamic coupling. This work, to our knowledge, is the first technique to include many-body hydrodynamic interactions (HIs),more » and the resulting fluid flows, in cellular assemblies of flexible fibers. We use non-local slender body theory to compute the fluid–structure interactions of the fibers and a second-kind boundary integral formulation for other rigid bodies and the confining boundary. A kernel-independent implementation of the fast multipole method is utilized for efficient evaluation of HIs. The deformation of the fibers is described by nonlinear Euler–Bernoulli beam theory and their polymerization is modeled by the reparametrization of the dynamic equations in the appropriate non-Lagrangian frame. We use a pseudo-spectral representation of fiber positions and implicit time-stepping to resolve large fiber deformations, and to allow time-steps not excessively constrained by temporal stiffness or fiber–fiber interactions. The entire computational scheme is parallelized, which enables simulating assemblies of thousands of fibers. We use our method to investigate two important questions in the mechanics of cell division: (i) the effect of confinement on the hydrodynamic mobility of microtubule asters; and (ii) the dynamics of the positioning of mitotic spindle in complex cell geometries. Finally to demonstrate the general applicability of the method, we simulate the sedimentation of a cloud of semi-flexible fibers.« less

A fast platform for simulating semi-flexible fiber suspensions applied to cell mechanics

NASA Astrophysics Data System (ADS)

Nazockdast, Ehssan; Rahimian, Abtin; Zorin, Denis; Shelley, Michael

2017-01-01

We present a novel platform for the large-scale simulation of three-dimensional fibrous structures immersed in a Stokesian fluid and evolving under confinement or in free-space in three dimensions. One of the main motivations for this work is to study the dynamics of fiber assemblies within biological cells. For this, we also incorporate the key biophysical elements that determine the dynamics of these assemblies, which include the polymerization and depolymerization kinetics of fibers, their interactions with molecular motors and other objects, their flexibility, and hydrodynamic coupling. This work, to our knowledge, is the first technique to include many-body hydrodynamic interactions (HIs), and the resulting fluid flows, in cellular assemblies of flexible fibers. We use non-local slender body theory to compute the fluid-structure interactions of the fibers and a second-kind boundary integral formulation for other rigid bodies and the confining boundary. A kernel-independent implementation of the fast multipole method is utilized for efficient evaluation of HIs. The deformation of the fibers is described by nonlinear Euler-Bernoulli beam theory and their polymerization is modeled by the reparametrization of the dynamic equations in the appropriate non-Lagrangian frame. We use a pseudo-spectral representation of fiber positions and implicit time-stepping to resolve large fiber deformations, and to allow time-steps not excessively constrained by temporal stiffness or fiber-fiber interactions. The entire computational scheme is parallelized, which enables simulating assemblies of thousands of fibers. We use our method to investigate two important questions in the mechanics of cell division: (i) the effect of confinement on the hydrodynamic mobility of microtubule asters; and (ii) the dynamics of the positioning of mitotic spindle in complex cell geometries. Finally to demonstrate the general applicability of the method, we simulate the sedimentation of a cloud of semi-flexible fibers.

Walking boot assembly

NASA Technical Reports Server (NTRS)

Vykukal, H. C.; Chambers, A. B.; Stjohn, R. H. (Inventor)

1977-01-01

A walking boot assembly particularly suited for use with a positively pressurized spacesuit is presented. A bootie adapted to be secured to the foot of a wearer, an hermetically sealed boot for receiving the bootie having a walking sole, an inner sole, and an upper portion adapted to be attached to an ankle joint of a spacesuit, are also described.

The feasibility and effectiveness of provisional and graduated licensing strategies as alternatives to full licensing for young drivers in Virginia.

DOT National Transportation Integrated Search

1995-01-01

In its 1995 session, the Virginia General Assembly passed House Bill 2320, which lowered the age at which persons could obtain a learner's permit from 15 years 8 months to 15 years. In the same session, the General Assembly passed House Joint Resolut...

Does excessive flatfoot deformity affect function? A comparison between symptomatic and asymptomatic flatfeet using the Oxford Foot Model.

PubMed

Hösl, Matthias; Böhm, Harald; Multerer, Christel; Döderlein, Leonhard

2014-01-01

Treatment of asymptomatic flexible flatfeet is a subject of great controversy. The purpose of this study was to examine foot function during walking in symptomatic (SFF) and asymptomatic (ASFF) flexible flatfeet. Thirty-five paediatric and juvenile patients with idiopathic flexible flatfeet were recruited from an orthopaedic outpatient department (14 SFF and 21 ASFF). Eleven age-matched participants with typically developing feet served as controls (TDF). To study foot function, 3D multi-segment foot kinematics and ankle joint kinetics were captured during barefoot gait analysis. Overall, alterations in foot kinematics in flatfeet were pronounced but differences between SFF and ASFF were not observed. Largest discriminatory effects between flatfeet and TDF were noticed in reduced hindfoot dorsiflexion as well as in increased forefoot supination and abduction. Upon clinical examination, restrictions in passive dorsiflexion in ASFF and SFF were significant. During gait, the hindfoot in flatfeet (both ASFF and SFF) was more everted, but less flexible. In sagittal plane, limited hindfoot dorsiflexion of ASFF and SFF was compensated for by increased forefoot mobility and a hypermobile hallux. Concerning ankle kinetics, SFF lacked positive joint energy for propulsion while ASFF needed to absorb more negative ankle joint energy during loading response. This may risk fatigue and overuse syndrome of anterior shank muscles in ASFF. Hence, despite a lack of symptoms flatfoot deformity in ASFF affected function. Yet, contrary to what was expected, SFF did not show greater deviations in 3D foot kinematics than ASFF. Symptoms may rather depend on tissue wear and subjective pain thresholds. Copyright © 2013. Published by Elsevier B.V.

A comparison of embalming fluids for use in surgical workshops.

PubMed

Jaung, Rebekah; Cook, Peter; Blyth, Phil

2011-03-01

There is a growing need to learn surgical skills without risk to patients. One of the major determining factors on the suitability of specimens for surgical workshops is the fluid used for embalming. This study sought to compare three different arterial embalming preparations to a single fresh cadaver. Eleven cadavers embalmed using Graz (single cadaver), Dodge (four cadavers) and Genelyn (five cadavers) preparations were compared using four criteria; joint flexibility measured with a goniometer, tissue pliability rated on standardized videos of instrument handling, tissue color analyzed on standardized photographs and resistance to fungal growth identified by inoculation and observation of tissue blocks. The cadaver embalmed according to the Graz method had joint flexibility comparable to fresh tissue while the Dodge and Genelyn cadavers were less flexible. Tissue pliability was significantly affected by the Dodge and Genelyn methods while the Graz method tissue remained most like fresh tissue. The Graz method cadaver had color that was most akin to fresh tissue and the Dodge method cadavers were relatively more like fresh than the Genelyn. The Dodge and Genelyn method had quite similar fungicidal properties (3/11 Dodge and 2/9 Genelyn embalmed cadavers susceptible) while the Graz method cadaver did not grow mould. Variation exists between cadavers; however, the Graz method produced a cadaver with more flexible joints, better tissue quality and muscle color closest to the fresh specimen. The Dodge and Genelyn methods are similar with the exception of tissue color where the Dodge method was more similar to fresh tissue. Copyright © 2011 Wiley-Liss, Inc.

Integrated High-Speed Torque Control System for a Robotic Joint

NASA Technical Reports Server (NTRS)

Davis, Donald R. (Inventor); Radford, Nicolaus A. (Inventor); Permenter, Frank Noble (Inventor); Valvo, Michael C. (Inventor); Askew, R. Scott (Inventor)

2013-01-01

A control system for achieving high-speed torque for a joint of a robot includes a printed circuit board assembly (PCBA) having a collocated joint processor and high-speed communication bus. The PCBA may also include a power inverter module (PIM) and local sensor conditioning electronics (SCE) for processing sensor data from one or more motor position sensors. Torque control of a motor of the joint is provided via the PCBA as a high-speed torque loop. Each joint processor may be embedded within or collocated with the robotic joint being controlled. Collocation of the joint processor, PIM, and high-speed bus may increase noise immunity of the control system, and the localized processing of sensor data from the joint motor at the joint level may minimize bus cabling to and from each control node. The joint processor may include a field programmable gate array (FPGA).

Rotary Series Elastic Actuator

NASA Technical Reports Server (NTRS)

Ihrke, Chris A. (Inventor); Mehling, Joshua S. (Inventor); Parsons, Adam H. (Inventor); Griffith, Bryan Kristian (Inventor); Radford, Nicolaus A. (Inventor); Permenter, Frank Noble (Inventor); Davis, Donald R. (Inventor); Ambrose, Robert O. (Inventor); Junkin, Lucien Q. (Inventor)

2013-01-01

A rotary actuator assembly is provided for actuation of an upper arm assembly for a dexterous humanoid robot. The upper arm assembly for the humanoid robot includes a plurality of arm support frames each defining an axis. A plurality of rotary actuator assemblies are each mounted to one of the plurality of arm support frames about the respective axes. Each rotary actuator assembly includes a motor mounted about the respective axis, a gear drive rotatably connected to the motor, and a torsion spring. The torsion spring has a spring input that is rotatably connected to an output of the gear drive and a spring output that is connected to an output for the joint.

Rotary series elastic actuator

NASA Technical Reports Server (NTRS)

Ihrke, Chris A. (Inventor); Mehling, Joshua S. (Inventor); Parsons, Adam H. (Inventor); Griffith, Bryan Kristian (Inventor); Radford, Nicolaus A. (Inventor); Permenter, Frank Noble (Inventor); Davis, Donald R. (Inventor); Ambrose, Robert O. (Inventor); Junkin, Lucien Q. (Inventor)

2012-01-01

A rotary actuator assembly is provided for actuation of an upper arm assembly for a dexterous humanoid robot. The upper arm assembly for the humanoid robot includes a plurality of arm support frames each defining an axis. A plurality of rotary actuator assemblies are each mounted to one of the plurality of arm support frames about the respective axes. Each rotary actuator assembly includes a motor mounted about the respective axis, a gear drive rotatably connected to the motor, and a torsion spring. The torsion spring has a spring input that is rotatably connected to an output of the gear drive and a spring output that is connected to an output for the joint.

Flexible, planar-integrated, all-solid-state fiber supercapacitors with an enhanced distributed-capacitance effect.

PubMed

Liu, Bin; Tan, Dongsheng; Wang, Xianfu; Chen, Di; Shen, Guozhen

2013-06-10

Flexible and highly efficient energy storage units act as one of the key components in portable electronics. In this work, by planar-integrated assembly of hierarchical ZnCo₂O₄ nanowire arrays/carbon fibers electrodes, a new class of flexible all-solid-state planar-integrated fiber supercapacitors are designed and produced via a low-cost and facile method. The as-fabricated flexible devices exhibit high-efficiency, enhanced capacity, long cycle life, and excellent electrical stability. An enhanced distributed-capacitance effect is experimentally observed for the device. This strategy enables highly flexible new structured supercapacitors with maximum functionality and minimized size, thus making it possible to be readily applied in flexible/portable photoelectronic devices. Copyright © 2013 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

The Use of Flexible, Interactive, Situation-Focused Software for the E-Learning of Mathematics.

ERIC Educational Resources Information Center

Farnsworth, Ralph Edward

This paper discusses the classroom, home, and distance use of new, flexible, interactive, application-oriented software known as Active Learning Suite. The actual use of the software, not just a controlled experiment, is reported on. Designed for the e-learning of university mathematics, the program was developed by a joint U.S.-Russia team and…

Specific arrangement of alpha-helical coiled coils in the core domain of the bacterial flagellar hook for the universal joint function.

PubMed

Fujii, Takashi; Kato, Takayuki; Namba, Keiichi

2009-11-11

The bacterial flagellar hook is a short, highly curved tubular structure connecting the rotary motor to the filament acting as a helical propeller. The bending flexibility of the hook allows it to work as a universal joint. A partial atomic model of the hook revealed a sliding intersubunit domain interaction along the protofilament to produce bending flexibility. However, it remained unclear how the tightly packed inner core domains can still permit axial extension and compression. We report advances in cryoEM image analysis for high-resolution, high-throughput structural analysis and a density map of the hook that reveals most of the secondary structures, including the terminal alpha helices forming a coiled coil. The orientations and axial packing interactions of these two alpha helices are distinctly different from those of the filament, allowing them to have a room for axial compression and extension for bending flexibility without impairing the mechanical stability of the hook.

The effect of inertial coupling in the dynamics and control of flexible robotic manipulators

NASA Technical Reports Server (NTRS)

Tesar, Delbert; Curran, Carol Cockrell; Graves, Philip Lee

1988-01-01

A general model of the dynamics of flexible robotic manipulators is presented, including the gross motion of the links, the vibrations of the links and joints, and the dynamic coupling between the gross motions and vibrations. The vibrations in the links may be modeled using lumped parameters, truncated modal summation, a component mode synthesis method, or a mixture of these methods. The local link inertia matrix is derived to obtain the coupling terms between the gross motion of the link and the vibrations of the link. Coupling between the motions of the links results from the kinematic model, which utilizes the method of kinematic influence. The model is used to simulate the dynamics of a flexible space-based robotic manipulator which is attached to a spacecraft, and is free to move with respect to the inertial reference frame. This model may be used to study the dynamic response of the manipulator to the motions of its joints, or to externally applied disturbances.

Programmable motion of DNA origami mechanisms.

PubMed

Marras, Alexander E; Zhou, Lifeng; Su, Hai-Jun; Castro, Carlos E

2015-01-20

DNA origami enables the precise fabrication of nanoscale geometries. We demonstrate an approach to engineer complex and reversible motion of nanoscale DNA origami machine elements. We first design, fabricate, and characterize the mechanical behavior of flexible DNA origami rotational and linear joints that integrate stiff double-stranded DNA components and flexible single-stranded DNA components to constrain motion along a single degree of freedom and demonstrate the ability to tune the flexibility and range of motion. Multiple joints with simple 1D motion were then integrated into higher order mechanisms. One mechanism is a crank-slider that couples rotational and linear motion, and the other is a Bennett linkage that moves between a compacted bundle and an expanded frame configuration with a constrained 3D motion path. Finally, we demonstrate distributed actuation of the linkage using DNA input strands to achieve reversible conformational changes of the entire structure on ∼ minute timescales. Our results demonstrate programmable motion of 2D and 3D DNA origami mechanisms constructed following a macroscopic machine design approach.

Programmable motion of DNA origami mechanisms

PubMed Central

Marras, Alexander E.; Zhou, Lifeng; Su, Hai-Jun; Castro, Carlos E.

2015-01-01

DNA origami enables the precise fabrication of nanoscale geometries. We demonstrate an approach to engineer complex and reversible motion of nanoscale DNA origami machine elements. We first design, fabricate, and characterize the mechanical behavior of flexible DNA origami rotational and linear joints that integrate stiff double-stranded DNA components and flexible single-stranded DNA components to constrain motion along a single degree of freedom and demonstrate the ability to tune the flexibility and range of motion. Multiple joints with simple 1D motion were then integrated into higher order mechanisms. One mechanism is a crank–slider that couples rotational and linear motion, and the other is a Bennett linkage that moves between a compacted bundle and an expanded frame configuration with a constrained 3D motion path. Finally, we demonstrate distributed actuation of the linkage using DNA input strands to achieve reversible conformational changes of the entire structure on ∼minute timescales. Our results demonstrate programmable motion of 2D and 3D DNA origami mechanisms constructed following a macroscopic machine design approach. PMID:25561550

Flexible Multiferroic Bulk Heterojunction with Giant Magnetoelectric Coupling via van der Waals Epitaxy

DOE PAGES

Amrillah, Tahta; Bitla, Yugandhar; Shin, Kwangwoo; ...

2017-05-22

Magnetoelectric nanocomposites have been a topic of intense research due to their profound potential in the applications of electronic devices based on spintronic technology. Nevertheless, in spite of significant progress made in the growth of high-quality nanocomposite thin films, the substrate clamping effect still remains a major hurdle in realizing the ultimate magnetoelectric coupling. To overcome this obstacle, an alternative strategy of fabricating a self-assembled ferroelectric–ferrimagnetic bulk heterojunction on a flexible muscovite via van der Waals epitaxy is adopted. In this paper, we investigated the magnetoelectric coupling in a self-assembled BiFeO 3 (BFO)–CoFe 2O 4 (CFO) bulk heterojunction epitaxially grownmore » on a flexible muscovite substrate. The obtained heterojunction is composed of vertically aligned multiferroic BFO nanopillars embedded in a ferrimagnetic CFO matrix. Moreover, due to the weak interaction between the flexible substrate and bulk heterojunction, the interface is incoherent and, hence, the substrate clamping effect is greatly reduced. The phase-field simulation model also complements our results. The magnetic and electrical characterizations highlight the improvement in magnetoelectric coupling of the BFO–CFO bulk heterojunction. A magnetoelectric coupling coefficient of 74 mV/cm·Oe of this bulk heterojunction is larger than the magnetoelectric coefficient reported earlier on flexible substrates. Finally and therefore, this study delivers a viable route of fabricating a remarkable magnetoelectric heterojunction and yet flexible electronic devices that are robust against extreme conditions with optimized performance.« less

Flexible Multiferroic Bulk Heterojunction with Giant Magnetoelectric Coupling via van der Waals Epitaxy

DOE Office of Scientific and Technical Information (OSTI.GOV)

Amrillah, Tahta; Bitla, Yugandhar; Shin, Kwangwoo

Magnetoelectric nanocomposites have been a topic of intense research due to their profound potential in the applications of electronic devices based on spintronic technology. Nevertheless, in spite of significant progress made in the growth of high-quality nanocomposite thin films, the substrate clamping effect still remains a major hurdle in realizing the ultimate magnetoelectric coupling. To overcome this obstacle, an alternative strategy of fabricating a self-assembled ferroelectric–ferrimagnetic bulk heterojunction on a flexible muscovite via van der Waals epitaxy is adopted. In this paper, we investigated the magnetoelectric coupling in a self-assembled BiFeO 3 (BFO)–CoFe 2O 4 (CFO) bulk heterojunction epitaxially grownmore » on a flexible muscovite substrate. The obtained heterojunction is composed of vertically aligned multiferroic BFO nanopillars embedded in a ferrimagnetic CFO matrix. Moreover, due to the weak interaction between the flexible substrate and bulk heterojunction, the interface is incoherent and, hence, the substrate clamping effect is greatly reduced. The phase-field simulation model also complements our results. The magnetic and electrical characterizations highlight the improvement in magnetoelectric coupling of the BFO–CFO bulk heterojunction. A magnetoelectric coupling coefficient of 74 mV/cm·Oe of this bulk heterojunction is larger than the magnetoelectric coefficient reported earlier on flexible substrates. Finally and therefore, this study delivers a viable route of fabricating a remarkable magnetoelectric heterojunction and yet flexible electronic devices that are robust against extreme conditions with optimized performance.« less

How joint characteristics between a piezoelectric beam and the main structure affect the performance of an energy harvester

NASA Astrophysics Data System (ADS)

Jahani, K.; Rafiei, M. M.; Aghazadeh, P.

2017-09-01

In this paper, the influence of the joint region between a piezoelectric energy harvesting beam and the vibratory main structure is studied. The investigations are conducted in two separate sections, namely numerical and experimental studies. In numerical studies, the effects of nonlinear parameters on generated power are investigated while the joint characteristics the between vibrating base and a piezoelectric energy harvester are taken into consideration. A unimorph beam with a tip mass and a nonlinear piezoelectric layer that undergoes a large-amplitude deflection is considered as an energy harvester. By applying the Euler-Lagrange equation and Gauss’s law the mechanical and electrical equations of motion are obtained, respectively. The excitation frequency is assumed to be close to the first natural frequency. Thus, a unimodal response is considered to be like that of a system with a single degree of freedom (SDOF). The joint between the vibrating main structure and the cantilevered beam is then added to the SDOF model. The joint characteristics are simulated with a light mass, mj , linear spring stiffness, kj , and equivalent viscous damper, cj . In two scenarios, i.e. with a rigid joint and with a flexible one, a numerical approach is followed to investigate the effects of each nonlinear parameter of the harvester (stiffness, damping and piezoelectric coefficient) on the harvested power. In experimental studies, the influence of a bolted joining technique and a flexible adhesive bonding method on the harvested power is investigated. The results achieved experimentally confirm those obtained numerically, i.e. a stiffer joint leads to a greater power produced by the harvester. In other words, neglecting the joint characteristics will cause the performance (maximum output power and the range of excitation frequency) of the harvester to be overestimated in numerical simulations.

Investigation of squeeze-film dampers

NASA Technical Reports Server (NTRS)

Holmes, R.; Dogan, M.

1982-01-01

Squeeze film dampers are a means of curing instabilities in rotating shaft assemblies. Their efficiency depends very much on the condition of the oil, which in turn depends on inlet and outlet arrangements, on damper geometry and on the flexibility of the rotor and surrounding structure. Rig investigations in which structural flexibility is included experimentally are discussed. Comparisons are made between measured and predicted results.

Nanostructured graphene composite papers for highly flexible and foldable supercapacitors.

PubMed

Liu, Lili; Niu, Zhiqiang; Zhang, Li; Zhou, Weiya; Chen, Xiaodong; Xie, Sishen

2014-07-23

Reduced graphene oxide (rGO) and polyaniline (PANI) assemble onto the surface of cellulose fibers (CFs) and into the pores of CF paper, to form a hierarchical nanostructured PANI-rGO/CF composite paper. Based on these composite papers, flexible and foldable all-solid-state supercapacitors are achieved. © 2014 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Multichannel Interdiffusion Driven FASnI3 Film Formation Using Aqueous Hybrid Salt/Polymer Solutions toward Flexible Lead-Free Perovskite Solar Cells.

PubMed

Xi, Jun; Wu, Zhaoxin; Jiao, Bo; Dong, Hua; Ran, Chenxin; Piao, Chengcheng; Lei, Ting; Song, Tze-Bin; Ke, Weijun; Yokoyama, Takamichi; Hou, Xun; Kanatzidis, Mercouri G

2017-06-01

Tin (Sn)-based perovskites are increasingly attractive because they offer lead-free alternatives in perovskite solar cells. However, depositing high-quality Sn-based perovskite films is still a challenge, particularly for low-temperature planar heterojunction (PHJ) devices. Here, a "multichannel interdiffusion" protocol is demonstrated by annealing stacked layers of aqueous solution deposited formamidinium iodide (FAI)/polymer layer followed with an evaporated SnI 2 layer to create uniform FASnI 3 films. In this protocol, tiny FAI crystals, significantly inhibited by the introduced polymer, can offer multiple interdiffusion pathways for complete reaction with SnI 2 . What is more, water, rather than traditional aprotic organic solvents, is used to dissolve the precursors. The best-performing FASnI 3 PHJ solar cell assembled by this protocol exhibits a power conversion efficiency (PCE) of 3.98%. In addition, a flexible FASnI 3 -based flexible solar cell assembled on a polyethylene naphthalate-indium tin oxide flexible substrate with a PCE of 3.12% is demonstrated. This novel interdiffusion process can help to further boost the performance of lead-free Sn-based perovskites. © 2017 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

A cortically-inspired model for inverse kinematics computation of a humanoid finger with mechanically coupled joints.

PubMed

Gentili, Rodolphe J; Oh, Hyuk; Kregling, Alissa V; Reggia, James A

2016-05-19

The human hand's versatility allows for robust and flexible grasping. To obtain such efficiency, many robotic hands include human biomechanical features such as fingers having their two last joints mechanically coupled. Although such coupling enables human-like grasping, controlling the inverse kinematics of such mechanical systems is challenging. Here we propose a cortical model for fine motor control of a humanoid finger, having its two last joints coupled, that learns the inverse kinematics of the effector. This neural model functionally mimics the population vector coding as well as sensorimotor prediction processes of the brain's motor/premotor and parietal regions, respectively. After learning, this neural architecture could both overtly (actual execution) and covertly (mental execution or motor imagery) perform accurate, robust and flexible finger movements while reproducing the main human finger kinematic states. This work contributes to developing neuro-mimetic controllers for dexterous humanoid robotic/prosthetic upper-extremities, and has the potential to promote human-robot interactions.

Using speech for mode selection in control of multifunctional myoelectric prostheses.

PubMed

Fang, Peng; Wei, Zheng; Geng, Yanjuan; Yao, Fuan; Li, Guanglin

2013-01-01

Electromyogram (EMG) recorded from residual muscles of limbs is considered as suitable control information for motorized prostheses. However, in case of high-level amputations, the residual muscles are usually limited, which may not provide enough EMG for flexible control of myoelectric prostheses with multiple degrees of freedom of movements. Here, we proposed a control strategy, where the speech signals were used as additional information and combined with the EMG signals to realize more flexible control of multifunctional prostheses. By replacing the traditional "sequential mode-switching (joint-switching)", the speech signals were used to select a mode (joint) of the prosthetic arm, and then the EMG signals were applied to determine a motion class involved in the selected joint and to execute the motion. Preliminary results from three able-bodied subjects and one transhumeral amputee demonstrated the proposed strategy could achieve a high mode-selection rate and enhance the operation efficiency, suggesting the strategy may improve the control performance of commercial myoelectric prostheses.

Microtubule assembly governed by tubulin allosteric gain in flexibility and lattice induced fit

PubMed Central

2018-01-01

Microtubules (MTs) are key components of the cytoskeleton and play a central role in cell division and development. MT assembly is known to be associated with a structural change in αβ-tubulin dimers from kinked to straight conformations. How GTP binding renders individual dimers polymerization-competent, however, is still unclear. Here, we have characterized the conformational dynamics and energetics of unassembled tubulin using atomistic molecular dynamics and free energy calculations. Contrary to existing allosteric and lattice models, we find that GTP-tubulin favors a broad range of almost isoenergetic curvatures, whereas GDP-tubulin has a much lower bending flexibility. Moreover, irrespective of the bound nucleotide and curvature, two conformational states exist differing in location of the anchor point connecting the monomers that affects tubulin bending, with one state being strongly favored in solution. Our findings suggest a new combined model in which MTs incorporate and stabilize flexible GTP-dimers with a specific anchor point state. PMID:29652248

Modeling and controller design of a 6-DOF precision positioning system

NASA Astrophysics Data System (ADS)

Cai, Kunhai; Tian, Yanling; Liu, Xianping; Fatikow, Sergej; Wang, Fujun; Cui, Liangyu; Zhang, Dawei; Shirinzadeh, Bijan

2018-05-01

A key hurdle to meet the needs of micro/nano manipulation in some complex cases is the inadequate workspace and flexibility of the operation ends. This paper presents a 6-degree of freedom (DOF) serial-parallel precision positioning system, which consists of two compact type 3-DOF parallel mechanisms. Each parallel mechanism is driven by three piezoelectric actuators (PEAs), guided by three symmetric T-shape hinges and three elliptical flexible hinges, respectively. It can extend workspace and improve flexibility of the operation ends. The proposed system can be assembled easily, which will greatly reduce the assembly errors and improve the positioning accuracy. In addition, the kinematic and dynamic model of the 6-DOF system are established, respectively. Furthermore, in order to reduce the tracking error and improve the positioning accuracy, the Discrete-time Model Predictive Controller (DMPC) is applied as an effective control method. Meanwhile, the effectiveness of the DMCP control method is verified. Finally, the tracking experiment is performed to verify the tracking performances of the 6-DOF stage.

Field tests of acoustic telemetry for a portable coastal observatory

USGS Publications Warehouse

Martini, M.; Butman, B.; Ware, J.; Frye, D.

2006-01-01

Long-term field tests of a low-cost acoustic telemetry system were carried out at two sites in Massachusetts Bay. At each site, an acoustic Doppler current profiler mounted on a bottom tripod was fitted with an acoustic modem to transmit data to a surface buoy; electronics mounted on the buoy relayed these data to shore via radio modem. The mooring at one site (24 m water depth) was custom-designed for the telemetry application, with a custom designed small buoy, a flexible electro-mechanical buoy to mooring joint using a molded chain connection to the buoy, quick-release electro-mechanical couplings, and dual hydrophones suspended 7 m above the bottom. The surface buoy at the second site (33 m water depth) was a U.S. Coast Guard (USCG) channel buoy fitted with telemetry electronics and clamps to hold the hydrophones. The telemetry was tested in several configurations for a period of about four years. The custom-designed buoy and mooring provided nearly error-free data transmission through the acoustic link under a variety of oceanographic conditions for 261 days at the 24 m site. The electro mechanical joint, cables and couplings required minimal servicing and were very reliable, lasting 862 days deployed before needing repairs. The acoustic communication results from the USCG buoy were poor, apparently due to the hard cobble bottom, noise from the all-steel buoy, and failure of the hydrophone assembly. Access to the USCG buoy at sea required ideal weather. ??2006 IEEE.

BATMAV: a 2-DOF bio-inspired flapping flight platform

NASA Astrophysics Data System (ADS)

Bunget, Gheorghe; Seelecke, Stefan

2010-04-01

Due to the availability of small sensors, Micro-Aerial Vehicles (MAVs) can be used for detection missions of biological, chemical and nuclear agents. Traditionally these devices used fixed or rotary wings, actuated with electric DC motortransmission, a system which brings the disadvantage of a heavier platform. The overall objective of the BATMAV project is to develop a biologically inspired bat-like MAV with flexible and foldable wings for flapping flight. This paper presents a flight platform that features bat-inspired wings which are able to actively fold their elbow joints. A previous analysis of the flight physics for small birds, bats and large insects, revealed that the mammalian flight anatomy represents a suitable flight platform that can be actuated efficiently using Shape Memory Alloy (SMA) artificial-muscles. A previous study of the flight styles in bats based on the data collected by Norberg [1] helped to identify the required joint angles as relevant degrees of freedom for wing actuation. Using the engineering theory of robotic manipulators, engineering kinematic models of wings with 2 and 3-DOFs were designed to mimic the wing trajectories of the natural flier Plecotus auritus. Solid models of the bat-like skeleton were designed based on the linear and angular dimensions resulted from the kinematic models. This structure of the flight platform was fabricated using rapid prototyping technologies and assembled to form a desktop prototype with 2-DOFs wings. Preliminary flapping test showed suitable trajectories for wrist and wingtip that mimic the flapping cycle of the natural flyer.

Flagellar Hook Flexibility Is Essential for Bundle Formation in Swimming Escherichia coli Cells

PubMed Central

Brown, Mostyn T.; Steel, Bradley C.; Silvestrin, Claudio; Wilkinson, David A.; Delalez, Nicolas J.; Lumb, Craig N.; Obara, Boguslaw; Berry, Richard M.

2012-01-01

Swimming Escherichia coli cells are propelled by the rotary motion of their flagellar filaments. In the normal swimming pattern, filaments positioned randomly over the cell form a bundle at the posterior pole. It has long been assumed that the hook functions as a universal joint, transmitting rotation on the motor axis through up to ∼90° to the filament in the bundle. Structural models of the hook have revealed how its flexibility is expected to arise from dynamic changes in the distance between monomers in the helical lattice. In particular, each of the 11 protofilaments that comprise the hook is predicted to cycle between short and long forms, corresponding to the inside and outside of the curved hook, once each revolution of the motor when the hook is acting as a universal joint. To test this, we genetically modified the hook so that it could be stiffened by binding streptavidin to biotinylated monomers, impeding their motion relative to each other. We found that impeding the action of the universal joint resulted in atypical swimming behavior as a consequence of disrupted bundle formation, in agreement with the universal joint model. PMID:22522898

Immunoactive two-dimensional self-assembly of monoclonal antibodies in aqueous solution revealed by atomic force microscopy

NASA Astrophysics Data System (ADS)

Ido, Shinichiro; Kimiya, Hirokazu; Kobayashi, Kei; Kominami, Hiroaki; Matsushige, Kazumi; Yamada, Hirofumi

2014-03-01

The conformational flexibility of antibodies in solution directly affects their immune function. Namely, the flexible hinge regions of immunoglobulin G (IgG) antibodies are essential in epitope-specific antigen recognition and biological effector function. The antibody structure, which is strongly related to its functions, has been partially revealed by electron microscopy and X-ray crystallography, but only under non-physiological conditions. Here we observed monoclonal IgG antibodies in aqueous solution by high-resolution frequency modulation atomic force microscopy (FM-AFM). We found that monoclonal antibodies self-assemble into hexamers, which form two-dimensional crystals in aqueous solution. Furthermore, by directly observing antibody-antigen interactions using FM-AFM, we revealed that IgG molecules in the crystal retain immunoactivity. As the self-assembled monolayer crystal of antibodies retains immunoactivity at a neutral pH and is functionally stable at a wide range of pH and temperature, the antibody crystal is applicable to new biotechnological platforms for biosensors or bioassays.

The selective autophagy receptor p62 forms a flexible filamentous helical scaffold.

PubMed

Ciuffa, Rodolfo; Lamark, Trond; Tarafder, Abul K; Guesdon, Audrey; Rybina, Sofia; Hagen, Wim J H; Johansen, Terje; Sachse, Carsten

2015-05-05

The scaffold protein p62/SQSTM1 is involved in protein turnover and signaling and is commonly found in dense protein bodies in eukaryotic cells. In autophagy, p62 acts as a selective autophagy receptor that recognizes and shuttles ubiquitinated proteins to the autophagosome for degradation. The structural organization of p62 in cellular bodies and the interplay of these assemblies with ubiquitin and the autophagic marker LC3 remain to be elucidated. Here, we present a cryo-EM structural analysis of p62. Together with structures of assemblies from the PB1 domain, we show that p62 is organized in flexible polymers with the PB1 domain constituting a helical scaffold. Filamentous p62 is capable of binding LC3 and addition of long ubiquitin chains induces disassembly and shortening of filaments. These studies explain how p62 assemblies provide a large molecular scaffold for the nascent autophagosome and reveal how they can bind ubiquitinated cargo. Copyright © 2015 The Authors. Published by Elsevier Inc. All rights reserved.

Spacer effect on nanostructures and self-assembly in organogels via some bolaform cholesteryl imide derivatives with different spacers

PubMed Central

2013-01-01

In this paper, new bolaform cholesteryl imide derivatives with different spacers were designed and synthesized. Their gelation behaviors in 23 solvents were investigated, and some of them were found to be low molecular mass organic gelators. The experimental results indicated that these as-formed organogels can be regulated by changing the flexible/rigid segments in spacers and organic solvents. Suitable combination of flexible/rigid segments in molecular spacers in the present cholesteryl gelators is favorable for the gelation of organic solvents. Scanning electron microscopy and atomic force microscopy observations revealed that the gelator molecules self-assemble into different aggregates, from wrinkle and belt to fiber with the change of spacers and solvents. Spectral studies indicated that there existed different H-bond formations between imide groups and assembly modes, depending on the substituent spacers in molecular skeletons. The present work may give some insight into the design and character of new organogelators and soft materials with special molecular structures. PMID:24083361

Spacer effect on nanostructures and self-assembly in organogels via some bolaform cholesteryl imide derivatives with different spacers

NASA Astrophysics Data System (ADS)

Jiao, Tifeng; Gao, Fengqing; Zhang, Qingrui; Zhou, Jingxin; Gao, Faming

2013-10-01

In this paper, new bolaform cholesteryl imide derivatives with different spacers were designed and synthesized. Their gelation behaviors in 23 solvents were investigated, and some of them were found to be low molecular mass organic gelators. The experimental results indicated that these as-formed organogels can be regulated by changing the flexible/rigid segments in spacers and organic solvents. Suitable combination of flexible/rigid segments in molecular spacers in the present cholesteryl gelators is favorable for the gelation of organic solvents. Scanning electron microscopy and atomic force microscopy observations revealed that the gelator molecules self-assemble into different aggregates, from wrinkle and belt to fiber with the change of spacers and solvents. Spectral studies indicated that there existed different H-bond formations between imide groups and assembly modes, depending on the substituent spacers in molecular skeletons. The present work may give some insight into the design and character of new organogelators and soft materials with special molecular structures.

Converging flow joint insert system at an intersection between adjacent transitions extending between a combustor and a turbine assembly in a gas turbine engine

DOE Office of Scientific and Technical Information (OSTI.GOV)

Wiebe, David J.; Carlson, Andrew; Stoker, Kyle C.

A transition duct system for routing a gas flow in a combustion turbine engine is provided. The transition duct system includes one or more converging flow joint inserts forming a trailing edge at an intersection between adjacent transition ducts. The converging flow joint insert may be contained within a converging flow joint insert receiver and may be disconnected from the transition duct bodies by which the converging flow joint insert is positioned. Being disconnected eliminates stress formation within the converging flow joint insert, thereby enhancing the life of the insert. The converging flow joint insert may be removable such thatmore » the insert can be replaced once worn beyond design limits.« less

The development of consistency and flexibility in manual pointing during middle childhood.

PubMed

Golenia, Laura; Schoemaker, Marina M; Otten, Egbert; Tuitert, Inge; Bongers, Raoul M

2018-05-21

Goal-directed actions become truly functional and skilled when they are consistent yet flexible. In manual pointing, end-effector consistency is characterized by the end position of the index fingertip, whereas flexibility in movement execution is captured by the use of abundant arm-joint configurations not affecting the index finger end position. Because adults have been shown to exploit their system's flexibility in challenging conditions, we wondered whether during middle childhood children are already able to exploit motor flexibility when demanded by the situation. We had children aged 5-10 years and adults perform pointing movements in a nonchallenging and challenging condition. Results showed that end-effector errors and flexibility in movement execution decreased with age. Importantly, only the 9-10-year-olds and adults showed increased flexibility in the challenging condition. Thus, while consistency increases and flexibility decreases during mid-childhood development, from the age of nine children appear able to employ more flexibility with increasing task demands. © 2018 Wiley Periodicals, Inc.

Flexible Silk-Inorganic Nanocomposites: From Transparent to Highly Reflective

DTIC Science & Technology

2010-02-16

assembly. The organized assembly of the silk fibroin with clay ( montmorillonite ) nanosheets results in highly transparent nanoscale films with...mechanical and optical properties of the nanocomposites. For that purpose we utilized individually dispersed, aluminosilicate layers of montmorillonite (MMT...to the thickness of an individual aluminosilicate layer of montmorillonite ,[43] and indicates that monolayer formation occurs upon adsorption (Fig. 2a

Implementation of a robotic flexible assembly system

NASA Technical Reports Server (NTRS)

Benton, Ronald C.

1987-01-01

As part of the Intelligent Task Automation program, a team developed enabling technologies for programmable, sensory controlled manipulation in unstructured environments. These technologies include 2-D/3-D vision sensing and understanding, force sensing and high speed force control, 2.5-D vision alignment and control, and multiple processor architectures. The subsequent design of a flexible, programmable, sensor controlled robotic assembly system for small electromechanical devices is described using these technologies and ongoing implementation and integration efforts. Using vision, the system picks parts dumped randomly in a tray. Using vision and force control, it performs high speed part mating, in-process monitoring/verification of expected results and autonomous recovery from some errors. It is programmed off line with semiautomatic action planning.

Spiral vane bioreactor

NASA Technical Reports Server (NTRS)

Morrison, Dennis R. (Inventor)

1991-01-01

A spiral vane bioreactor of a perfusion type is described in which a vertical chamber, intended for use in a microgravity condition, has a central rotating filter assembly and has flexible membranes disposed to rotate annularly about the filter assembly. The flexible members have end portions disposed angularly with respect to one another. A fluid replenishment medium is input from a closed loop liquid system to a completely liquid filled chamber containing microcarrier beads, cells and a fluid medium. Output of spent medium is to the closed loop. In the closed loop, the output and input parameters are sensed by sensors. A manifold permits recharging of the nutrients and pH adjustment. Oxygen is supplied and carbon dioxide and bubbles are removed and the system is monitored and controlled by a microprocessor.

Preparation and Characterization of Monomodal Grapevine Virus A Capsid Protein.

PubMed

Santana, Vinícius S; Mariutti, Ricardo B; Eberle, Raphael J; Ullah, Anwar; Caruso, Icaro P; Arni, Raghuvir K

2015-01-01

Grapevine virus A (GVA), a flexible filament of approximately 800 nm in length is composed of capsid subunits that spontaneously assembles around a positive sense genomic RNA. In addition to encapsidation, plant viruses capsid proteins (CPs) participate in other processes throughout infection and GVA CP is involved in cell-to-cell translocation of the virus. A protocol was developed to obtain low-molecular weight GVA-CP that is not prone to aggregation and spontaneous assembly and this was characterized by circular dichroism and dynamic light scattering. These results indicate the suitably of GVA-CP for X-ray crystallographic and NMR studies that should lead to the elucidation of the first three-dimensional structure of a flexible filamentous virus from the Betaflexiviridae family.

Gas-Phase Functionalization of Macroscopic Carbon Nanotube Fiber Assemblies: Reaction Control, Electrochemical Properties, and Use for Flexible Supercapacitors.

PubMed

Iglesias, Daniel; Senokos, Evgeny; Alemán, Belén; Cabana, Laura; Navío, Cristina; Marcilla, Rebeca; Prato, Maurizio; Vilatela, Juan J; Marchesan, Silvia

2018-02-14

The assembly of aligned carbon nanotubes (CNTs) into fibers (CNTFs) is a convenient approach to exploit and apply the unique physico-chemical properties of CNTs in many fields. CNT functionalization has been extensively used for its implementation into composites and devices. However, CNTF functionalization is still in its infancy because of the challenges associated with preservation of CNTF morphology. Here, we report a thorough study of the gas-phase functionalization of CNTF assemblies using ozone which was generated in situ from a UV source. In contrast with liquid-based oxidation methods, this gas-phase approach preserves CNTF morphology, while notably increasing its hydrophilicity. The functionalized material is thoroughly characterized by Raman spectroscopy, X-ray photoelectron spectroscopy, transmission electron microscopy, and scanning electron microscopy. Its newly acquired hydrophilicity enables CNTF electrochemical characterization in aqueous media, which was not possible for the pristine material. Through comparison of electrochemical measurements in aqueous electrolytes and ionic liquids, we decouple the effects of functionalization on pseudocapacitive reactions and quantum capacitance. The functionalized CNTF assembly is successfully used as an active material and a current collector in all-solid supercapacitor flexible devices with an ionic liquid-based polymer electrolyte.

Self-assembly programming of DNA polyominoes.

PubMed

Ong, Hui San; Syafiq-Rahim, Mohd; Kasim, Noor Hayaty Abu; Firdaus-Raih, Mohd; Ramlan, Effirul Ikhwan

2016-10-20

Fabrication of functional DNA nanostructures operating at a cellular level has been accomplished through molecular programming techniques such as DNA origami and single-stranded tiles (SST). During implementation, restrictive and constraint dependent designs are enforced to ensure conformity is attainable. We propose a concept of DNA polyominoes that promotes flexibility in molecular programming. The fabrication of complex structures is achieved through self-assembly of distinct heterogeneous shapes (i.e., self-organised optimisation among competing DNA basic shapes) with total flexibility during the design and assembly phases. In this study, the plausibility of the approach is validated using the formation of multiple 3×4 DNA network fabricated from five basic DNA shapes with distinct configurations (monomino, tromino and tetrominoes). Computational tools to aid the design of compatible DNA shapes and the structure assembly assessment are presented. The formations of the desired structures were validated using Atomic Force Microscopy (AFM) imagery. Five 3×4 DNA networks were successfully constructed using combinatorics of these five distinct DNA heterogeneous shapes. Our findings revealed that the construction of DNA supra-structures could be achieved using a more natural-like orchestration as compared to the rigid and restrictive conventional approaches adopted previously. Copyright © 2016 Elsevier B.V. All rights reserved.

Competing pathways determine fibril morphology in the self-assembly of beta2-microglobulin into amyloid.

PubMed

Gosal, Walraj S; Morten, Isobel J; Hewitt, Eric W; Smith, D Alastair; Thomson, Neil H; Radford, Sheena E

2005-08-26

Despite its importance in biological phenomena, a comprehensive understanding of the mechanism of amyloid formation remains elusive. Here, we use atomic force microscopy to map the formation of beta2-microglobulin amyloid fibrils with distinct morphologies and persistence lengths, when protein concentration, pH and ionic strength are varied. Using the resulting state-diagrams, we demonstrate the existence of two distinct competitive pathways of assembly, which define an energy landscape that rationalises the sensitivity of fibril morphology on the solution conditions. Importantly, we show that semi-flexible (worm-like) fibrils, which form rapidly during assembly, are kinetically trapped species, formed via a non-nucleated pathway that is explicitly distinct from that leading to the formation of the relatively rigid long-straight fibrils classically associated with amyloid. These semi-flexible fibrils also share an antibody epitope common to other protein oligomers that are known to be toxic species linked to human disease. The results demonstrate the heterogeneity of amyloid assembly, and have important implications for our understanding of the importance of oligomeric states in amyloid disease, the origins of prion strains, and the development of therapeutic strategies.

Self-assembled single-crystal silicon circuits on plastic

PubMed Central

Stauth, Sean A.; Parviz, Babak A.

2006-01-01

We demonstrate the use of self-assembly for the integration of freestanding micrometer-scale components, including single-crystal, silicon field-effect transistors (FETs) and diffusion resistors, onto flexible plastic substrates. Preferential self-assembly of multiple microcomponent types onto a common platform is achieved through complementary shape recognition and aided by capillary, fluidic, and gravitational forces. We outline a microfabrication process that yields single-crystal, silicon FETs in a freestanding, powder-like collection for use with self-assembly. Demonstrations of self-assembled FETs on plastic include logic inverters and measured electron mobility of 592 cm2/V-s. Finally, we extend the self-assembly process to substrates each containing 10,000 binding sites and realize 97% self-assembly yield within 25 min for 100-μm-sized elements. High-yield self-assembly of micrometer-scale functional devices as outlined here provides a powerful approach for production of macroelectronic systems. PMID:16968780

Molecular Precision at Micrometer Length Scales: Hierarchical Assembly of DNA-Protein Nanostructures.

PubMed

Schiffels, Daniel; Szalai, Veronika A; Liddle, J Alexander

2017-07-25

Robust self-assembly across length scales is a ubiquitous feature of biological systems but remains challenging for synthetic structures. Taking a cue from biology-where disparate molecules work together to produce large, functional assemblies-we demonstrate how to engineer microscale structures with nanoscale features: Our self-assembly approach begins by using DNA polymerase to controllably create double-stranded DNA (dsDNA) sections on a single-stranded template. The single-stranded DNA (ssDNA) sections are then folded into a mechanically flexible skeleton by the origami method. This process simultaneously shapes the structure at the nanoscale and directs the large-scale geometry. The DNA skeleton guides the assembly of RecA protein filaments, which provides rigidity at the micrometer scale. We use our modular design strategy to assemble tetrahedral, rectangular, and linear shapes of defined dimensions. This method enables the robust construction of complex assemblies, greatly extending the range of DNA-based self-assembly methods.

Composite drill pipe

DOEpatents

Leslie, James C [Fountain Valley, CA; Leslie, II, James C.; Heard, James [Huntington Beach, CA; Truong, Liem , Josephson; Marvin, Neubert [Huntington Beach, CA; Hans, [Anaheim, CA

2008-12-02

A composite pipe segment is formed to include tapered in wall thickness ends that are each defined by opposed frustoconical surfaces conformed for self centering receipt and intimate bonding contact within an annular space between corresponding surfaces of a coaxially nested set of metal end pieces. The distal peripheries of the nested end pieces are then welded to each other and the sandwiched and bonded portions are radially pinned. The composite segment may include imbedded conductive leads and the axial end portions of the end pieces are shaped to form a threaded joint with the next pipe assembly that includes a contact ring in one pipe assembly pierced by a pointed contact in the other to connect the corresponding leads across the joint.

Transformable and Reconfigurable Entry, Descent and Landing Systems and Methods

NASA Technical Reports Server (NTRS)

Fernandez, Ian M. (Inventor); Venkatapathy, Ethiraj (Inventor); Hamm, Kenneth R. (Inventor)

2014-01-01

A deployable aerodynamic decelerator structure includes a ring member disposed along a central axis of the aerodynamic decelerator, a plurality of jointed rib members extending radially from the ring member and a flexible layer attached to the plurality of rib members. A deployment device is operable to reconfigure the flexible layer from a stowed configuration to a deployed configuration by movement of the rib members and a control device is operable to redirect a lift vector of the decelerator structure by changing an orientation of the flexible layer.

Plant X-tender: An extension of the AssemblX system for the assembly and expression of multigene constructs in plants.

PubMed

Lukan, Tjaša; Machens, Fabian; Coll, Anna; Baebler, Špela; Messerschmidt, Katrin; Gruden, Kristina

2018-01-01

Cloning multiple DNA fragments for delivery of several genes of interest into the plant genome is one of the main technological challenges in plant synthetic biology. Despite several modular assembly methods developed in recent years, the plant biotechnology community has not widely adopted them yet, probably due to the lack of appropriate vectors and software tools. Here we present Plant X-tender, an extension of the highly efficient, scar-free and sequence-independent multigene assembly strategy AssemblX, based on overlap-depended cloning methods and rare-cutting restriction enzymes. Plant X-tender consists of a set of plant expression vectors and the protocols for most efficient cloning into the novel vector set needed for plant expression and thus introduces advantages of AssemblX into plant synthetic biology. The novel vector set covers different backbones and selection markers to allow full design flexibility. We have included ccdB counterselection, thereby allowing the transfer of multigene constructs into the novel vector set in a straightforward and highly efficient way. Vectors are available as empty backbones and are fully flexible regarding the orientation of expression cassettes and addition of linkers between them, if required. We optimised the assembly and subcloning protocol by testing different scar-less assembly approaches: the noncommercial SLiCE and TAR methods and the commercial Gibson assembly and NEBuilder HiFi DNA assembly kits. Plant X-tender was applicable even in combination with low efficient homemade chemically competent or electrocompetent Escherichia coli. We have further validated the developed procedure for plant protein expression by cloning two cassettes into the newly developed vectors and subsequently transferred them to Nicotiana benthamiana in a transient expression setup. Thereby we show that multigene constructs can be delivered into plant cells in a streamlined and highly efficient way. Our results will support faster introduction of synthetic biology into plant science.

Plant X-tender: An extension of the AssemblX system for the assembly and expression of multigene constructs in plants

PubMed Central

Machens, Fabian; Coll, Anna; Baebler, Špela; Messerschmidt, Katrin; Gruden, Kristina

2018-01-01

Cloning multiple DNA fragments for delivery of several genes of interest into the plant genome is one of the main technological challenges in plant synthetic biology. Despite several modular assembly methods developed in recent years, the plant biotechnology community has not widely adopted them yet, probably due to the lack of appropriate vectors and software tools. Here we present Plant X-tender, an extension of the highly efficient, scar-free and sequence-independent multigene assembly strategy AssemblX, based on overlap-depended cloning methods and rare-cutting restriction enzymes. Plant X-tender consists of a set of plant expression vectors and the protocols for most efficient cloning into the novel vector set needed for plant expression and thus introduces advantages of AssemblX into plant synthetic biology. The novel vector set covers different backbones and selection markers to allow full design flexibility. We have included ccdB counterselection, thereby allowing the transfer of multigene constructs into the novel vector set in a straightforward and highly efficient way. Vectors are available as empty backbones and are fully flexible regarding the orientation of expression cassettes and addition of linkers between them, if required. We optimised the assembly and subcloning protocol by testing different scar-less assembly approaches: the noncommercial SLiCE and TAR methods and the commercial Gibson assembly and NEBuilder HiFi DNA assembly kits. Plant X-tender was applicable even in combination with low efficient homemade chemically competent or electrocompetent Escherichia coli. We have further validated the developed procedure for plant protein expression by cloning two cassettes into the newly developed vectors and subsequently transferred them to Nicotiana benthamiana in a transient expression setup. Thereby we show that multigene constructs can be delivered into plant cells in a streamlined and highly efficient way. Our results will support faster introduction of synthetic biology into plant science. PMID:29300787

Annual Joint Report on Pre-Kindergarten through Higher Education in Tennessee, 2014

ERIC Educational Resources Information Center

Tennessee Higher Education Commission, 2014

2014-01-01

The "Annual Joint Report on Pre-Kindergarten through Higher Education in Tennessee" complies with the requirements established in T.C.A. Section 49-1-302(a)(10). The act directs the State Board of Education and the Tennessee Higher Education Commission to provide a report to the Governor and General Assembly, all public schools, and…

Analysis and Design of a Double-Divert Spiral Groove Seal

NASA Technical Reports Server (NTRS)

Zheng, Xiaoqing; Berard, Gerald

2007-01-01

This viewgraph presentation describes the design and analysis of a double spiral groove seal. The contents include: 1) Double Spiral Design Features; 2) Double Spiral Operational Features; 3) Mating Ring/Rotor Assembly; 4) Seal Ring Assembly; 5) Insert Segment Joints; 6) Rotor Assembly Completed Prototype Parts; 7) Seal Assembly Completed Prototype Parts; 8) Finite Element Analysis; 9) Computational Fluid Dynamics (CFD) Analysis; 10) Restrictive Orifice Design; 11) Orifice CFD Model; 12) Orifice Results; 13) Restrictive Orifice; 14) Seal Face Coning; 15) Permanent Magnet Analysis; 16) Magnetic Repulsive Force; 17) Magnetic Repulsive Test Results; 18) Spin Testing; and 19) Testing and Validation.

Development of a Nano-Satellite Micro-Coupling Mechanism with Characterization of a Shape Memory Alloy Interference Joint

DTIC Science & Technology

2010-12-01

satellite incorporation are explored by assembly and experimentation. Research on pseudoelastic material properties , analytical predictions, and...are explored by assembly and experimentation. Research on pseudoelastic material properties , analytical predictions, and tests of coupling strengths...20  Table 2.  Material Properties Used in Micro-Coupling Predicted Strength Calculations

Transparent, flexible supercapacitors from nano-engineered carbon films.

PubMed

Jung, Hyun Young; Karimi, Majid B; Hahm, Myung Gwan; Ajayan, Pulickel M; Jung, Yung Joon

2012-01-01

Here we construct mechanically flexible and optically transparent thin film solid state supercapacitors by assembling nano-engineered carbon electrodes, prepared in porous templates, with morphology of interconnected arrays of complex shapes and porosity. The highly textured graphitic films act as electrode and current collector and integrated with solid polymer electrolyte, function as thin film supercapacitors. The nanostructured electrode morphology and the conformal electrolyte packaging provide enough energy and power density for the devices in addition to excellent mechanical flexibility and optical transparency, making it a unique design in various power delivery applications.

Transparent, flexible supercapacitors from nano-engineered carbon films

PubMed Central

Jung, Hyun Young; Karimi, Majid B.; Hahm, Myung Gwan; Ajayan, Pulickel M.; Jung, Yung Joon

2012-01-01

Here we construct mechanically flexible and optically transparent thin film solid state supercapacitors by assembling nano-engineered carbon electrodes, prepared in porous templates, with morphology of interconnected arrays of complex shapes and porosity. The highly textured graphitic films act as electrode and current collector and integrated with solid polymer electrolyte, function as thin film supercapacitors. The nanostructured electrode morphology and the conformal electrolyte packaging provide enough energy and power density for the devices in addition to excellent mechanical flexibility and optical transparency, making it a unique design in various power delivery applications. PMID:23105970

Transparent, flexible supercapacitors from nano-engineered carbon films

NASA Astrophysics Data System (ADS)

Jung, Hyun Young; Karimi, Majid B.; Hahm, Myung Gwan; Ajayan, Pulickel M.; Jung, Yung Joon

2012-10-01

Here we construct mechanically flexible and optically transparent thin film solid state supercapacitors by assembling nano-engineered carbon electrodes, prepared in porous templates, with morphology of interconnected arrays of complex shapes and porosity. The highly textured graphitic films act as electrode and current collector and integrated with solid polymer electrolyte, function as thin film supercapacitors. The nanostructured electrode morphology and the conformal electrolyte packaging provide enough energy and power density for the devices in addition to excellent mechanical flexibility and optical transparency, making it a unique design in various power delivery applications.

Modeling associations between latent event processes governing time series of pulsing hormones.

PubMed

Liu, Huayu; Carlson, Nichole E; Grunwald, Gary K; Polotsky, Alex J

2017-10-31

This work is motivated by a desire to quantify relationships between two time series of pulsing hormone concentrations. The locations of pulses are not directly observed and may be considered latent event processes. The latent event processes of pulsing hormones are often associated. It is this joint relationship we model. Current approaches to jointly modeling pulsing hormone data generally assume that a pulse in one hormone is coupled with a pulse in another hormone (one-to-one association). However, pulse coupling is often imperfect. Existing joint models are not flexible enough for imperfect systems. In this article, we develop a more flexible class of pulse association models that incorporate parameters quantifying imperfect pulse associations. We propose a novel use of the Cox process model as a model of how pulse events co-occur in time. We embed the Cox process model into a hormone concentration model. Hormone concentration is the observed data. Spatial birth and death Markov chain Monte Carlo is used for estimation. Simulations show the joint model works well for quantifying both perfect and imperfect associations and offers estimation improvements over single hormone analyses. We apply this model to luteinizing hormone (LH) and follicle stimulating hormone (FSH), two reproductive hormones. Use of our joint model results in an ability to investigate novel hypotheses regarding associations between LH and FSH secretion in obese and non-obese women. © 2017, The International Biometric Society.

Parallel In Vivo DNA Assembly by Recombination: Experimental Demonstration and Theoretical Approaches

PubMed Central

Shi, Zhenyu; Wedd, Anthony G.; Gras, Sally L.

2013-01-01

The development of synthetic biology requires rapid batch construction of large gene networks from combinations of smaller units. Despite the availability of computational predictions for well-characterized enzymes, the optimization of most synthetic biology projects requires combinational constructions and tests. A new building-brick-style parallel DNA assembly framework for simple and flexible batch construction is presented here. It is based on robust recombination steps and allows a variety of DNA assembly techniques to be organized for complex constructions (with or without scars). The assembly of five DNA fragments into a host genome was performed as an experimental demonstration. PMID:23468883

Self-assembly of self-limiting monodisperse supraparticles from polydisperse nanoparticles

NASA Astrophysics Data System (ADS)

Xia, Yunsheng; Nguyen, Trung Dac; Yang, Ming; Lee, Byeongdu; Santos, Aaron; Podsiadlo, Paul; Tang, Zhiyong; Glotzer, Sharon C.; Kotov, Nicholas A.

2011-09-01

Nanoparticles are known to self-assemble into larger structures through growth processes that typically occur continuously and depend on the uniformity of the individual nanoparticles. Here, we show that inorganic nanoparticles with non-uniform size distributions can spontaneously assemble into uniformly sized supraparticles with core-shell morphologies. This self-limiting growth process is governed by a balance between electrostatic repulsion and van der Waals attraction, which is aided by the broad polydispersity of the nanoparticles. The generic nature of the interactions creates flexibility in the composition, size and shape of the constituent nanoparticles, and leads to a large family of self-assembled structures, including hierarchically organized colloidal crystals.

An ultrasensitive and low-cost graphene sensor based on layer-by-layer nano self-assembly

NASA Astrophysics Data System (ADS)

Zhang, Bo; Cui, Tianhong

2011-02-01

The flexible cancer sensor based on layer-by-layer self-assembled graphene reported in this letter demonstrates features including ultrahigh sensitivity and low cost due to graphene material properties in nature, self-assembly technique, and polyethylene terephthalate substrate. According to the conductance change of self-assembled graphene, the label free and labeled graphene sensors are capable of detecting very low concentrations of prostate specific antigen down to 4 fg/ml (0.11 fM) and 0.4 pg/ml (11 fM), respectively, which are three orders of magnitude lower than carbon nanotube sensors under the same conditions of design, manufacture, and measurement.

Low resistance splices for HTS devices and applications

DOE Office of Scientific and Technical Information (OSTI.GOV)

Lalitha, S. L.

This paper discusses the preparation methodology and performance evaluation of low resistance splices made of the second generation (2G) high-temperature superconductor (HTS). These splices are required in a broad spectrum of HTS devices including a large aperture, high-field solenoid built in the laboratory to demonstrate a superconducting magnetic energy storage (SMES) device. Several pancake coils are assembled in the form of a nested solenoid, and each coil requires a hundred meters or more of 2G (RE)BCO tape. However, commercial availability of this superconductor with a very uniform physical properties is currently limited to shorter piece lengths. This necessitates us havingmore » splices to inter-connect the tape pieces within a pancake coil, between adjacent pancake coils, and to attach HTS current leads to the magnet assembly. As a part of the optimization and qualification of splicing process, a systematic study was undertaken to analyze the electrical performance of splices in two different configurations suitable for this magnet assembly: lap joint and spiral joint. The electrical performance is quantified in terms of the resistance of splices estimated from the current-voltage characteristics. Finally, It has been demonstrated that a careful application of this splicing technique can generate lap joints with resistance less than 1 nΩ at 77 K.« less

Low resistance splices for HTS devices and applications

DOE PAGES

Lalitha, S. L.

2017-06-30

This paper discusses the preparation methodology and performance evaluation of low resistance splices made of the second generation (2G) high-temperature superconductor (HTS). These splices are required in a broad spectrum of HTS devices including a large aperture, high-field solenoid built in the laboratory to demonstrate a superconducting magnetic energy storage (SMES) device. Several pancake coils are assembled in the form of a nested solenoid, and each coil requires a hundred meters or more of 2G (RE)BCO tape. However, commercial availability of this superconductor with a very uniform physical properties is currently limited to shorter piece lengths. This necessitates us havingmore » splices to inter-connect the tape pieces within a pancake coil, between adjacent pancake coils, and to attach HTS current leads to the magnet assembly. As a part of the optimization and qualification of splicing process, a systematic study was undertaken to analyze the electrical performance of splices in two different configurations suitable for this magnet assembly: lap joint and spiral joint. The electrical performance is quantified in terms of the resistance of splices estimated from the current-voltage characteristics. Finally, It has been demonstrated that a careful application of this splicing technique can generate lap joints with resistance less than 1 nΩ at 77 K.« less

Low resistance splices for HTS devices and applications

NASA Astrophysics Data System (ADS)

Lalitha, S. L.

2017-09-01

This paper discusses the preparation methodology and performance evaluation of low resistance splices made of the second generation (2G) high-temperature superconductor (HTS). These splices are required in a broad spectrum of HTS devices including a large aperture, high-field solenoid built in the laboratory to demonstrate a superconducting magnetic energy storage (SMES) device. Several pancake coils are assembled in the form of a nested solenoid, and each coil requires a hundred meters or more of 2G (RE)BCO tape. However, commercial availability of this superconductor with a very uniform physical properties is currently limited to shorter piece lengths. This necessitates us having splices to inter-connect the tape pieces within a pancake coil, between adjacent pancake coils, and to attach HTS current leads to the magnet assembly. As a part of the optimization and qualification of splicing process, a systematic study was undertaken to analyze the electrical performance of splices in two different configurations suitable for this magnet assembly: lap joint and spiral joint. The electrical performance is quantified in terms of the resistance of splices estimated from the current-voltage characteristics. It has been demonstrated that a careful application of this splicing technique can generate lap joints with resistance less than 1 nΩ at 77 K.

APPLICATION OF ELECTROLESS-NICKEL BRAZING TO TUBULAR FUEL ELEMENTS FOR THE N.S. SAVANNAH. Status Report

DOE Office of Scientific and Technical Information (OSTI.GOV)

Lamartine, J T; Thurber, W C

1959-06-01

The feasibility of using electroless nickel, a chemical deposit containing about 10 wt.% phosphorous in nickel, as the brazing alloy for assembling tubular stainless steel fuel elements of the type specified in Core I of the N. S. Savannah was investigated. This material was selected primarily because of the ease of braze-metal preplacement by chemical deposition of the alloy on type 304 stainiess steel ferrule spacers, prior to fuelbundle assembly. Brazed joints produced by this method were generally characterized by a relatively ductile solid-solution region at the thinnest portions of the fillet. This ductile zone should minimize the possibility ofmore » complete propagation of hairline cracks, which form in the brittle, eutectic regions of fillet. The microstructural appearance of the electroless-nickel joints was not appreciably affected by variations in the brazing temperature from 1750 to 1900 deg F or the brazing time from 15 to 60 min. Several plating solutions were evaluated and all were found to be capable of producing deposits suitable for brazing applications. Corrosion tests conducted in static 525 deg F water indicated that no significant attack of joints brazed with electroless nickel had occurred after 300-hr exposure. A small fuel bundle was successfully assembled by brazing with electroless nickel. (auth)« less

A Comprehensive Surface Mount Technology Solution for Integrated Circuits onto Flexible Screen Printed Electrical Interconnects

DTIC Science & Technology

2014-05-19

their acceptable thermal stability, Polyimides have established as a conventional substrate material for flexible interconnects, which can be...of the silver flake ink for the screen-printed interconnects, the assembled unit fulfills biocompatibility requirements in a limited manner ([29...30]). Even though biocompatibility of substrate [31] is fulfilled, toxicity of the insulating mask [32] and encapsulation need to be considered

Highly crystalline covalent organic frameworks from flexible building blocks.

PubMed

Xu, Liqian; Ding, San-Yuan; Liu, Junmin; Sun, Junliang; Wang, Wei; Zheng, Qi-Yu

2016-03-28

Two novel 2D covalent organic frameworks (TPT-COF-1 and TPT-COF-2) were synthesized from the flexible 2,4,6-triaryloxy-1,3,5-triazine building blocks on a gram scale, which show high crystallinity and large surface area. The controllable formation of highly ordered frameworks is mainly attributed to the self-assembly Piedfort unit of 2,4,6-triaryloxy-1,3,5-triazine.

Planning and conducting medical support to joint operations.

PubMed

Hughes, A S

2000-01-01

Operations are core business for all of us and the PJHQ medical cell is at the heart of this process. With the likelihood of a continuing UK presence in the Balkans for some time to come, the challenge of meeting this and any other new operational commitments will continue to demand a flexible and innovative approach from all concerned. These challenges together with the Joint and multinational aspects of the job make the PJHQ medical cell a demanding but rewarding place to work and provide a valuable Joint staff training opportunity for the RNMS.

Artistic view of VAB

NASA Technical Reports Server (NTRS)

2000-01-01

A bundle of flexible pipes arcing toward the Vehicle Assembly Building (left) and Operations Support Building (right) presents an artistic design to travelers on nearby Kennedy Parkway and Saturn Causeway.

Large-Scale Automated Production of Highly Ordered Ultralong Hydroxyapatite Nanowires and Construction of Various Fire-Resistant Flexible Ordered Architectures.

PubMed

Chen, Feng; Zhu, Ying-Jie

2016-12-27

Practical applications of nanostructured materials have been largely limited by the difficulties in controllable and scaled-up synthesis, large-sized highly ordered self-assembly, and macroscopic processing of nanostructures. Hydroxyapatite (HAP), the major inorganic component of human bone and tooth, is an important biomaterial with high biocompatibility, bioactivity, and high thermal stability. Large-sized highly ordered HAP nanostructures are of great significance for applications in various fields and for understanding the formation mechanisms of bone and tooth. However, the synthesis of large-sized highly ordered HAP nanostructures remains a great challenge, especially for the preparation of large-sized highly ordered ultralong HAP nanowires because ultralong HAP nanowires are easily tangled and aggregated. Herein, we report our three main research findings: (1) the large-scale synthesis of highly flexible ultralong HAP nanowires with lengths up to >100 μm and aspect ratios up to >10000; (2) the demonstration of a strategy for the rapid automated production of highly flexible, fire-resistant, large-sized, self-assembled highly ordered ultralong HAP nanowires (SHOUHNs) at room temperature; and (3) the successful construction of various flexible fire-resistant HAP ordered architectures using the SHOUHNs, such as high-strength highly flexible nanostructured ropes (nanoropes), highly flexible textiles, and 3-D printed well-defined highly ordered patterns. The SHOUHNs are successively formed from the nanoscale to the microscale then to the macroscale, and the ordering direction of the ordered HAP structure is controllable. These ordered HAP architectures made from the SHOUHNs, such as highly flexible textiles, may be engineered into advanced functional products for applications in various fields, for example, fireproof clothing.

Task planning and control synthesis for robotic manipulation in space applications

NASA Technical Reports Server (NTRS)

Sanderson, A. C.; Peshkin, M. A.; Homem-De-mello, L. S.

1987-01-01

Space-based robotic systems for diagnosis, repair and assembly of systems will require new techniques of planning and manipulation to accomplish these complex tasks. Results of work in assembly task representation, discrete task planning, and control synthesis which provide a design environment for flexible assembly systems in manufacturing applications, and which extend to planning of manipulatiuon operations in unstructured environments are summarized. Assembly planning is carried out using the AND/OR graph representation which encompasses all possible partial orders of operations and may be used to plan assembly sequences. Discrete task planning uses the configuration map which facilitates search over a space of discrete operations parameters in sequential operations in order to achieve required goals in the space of bounded configuration sets.

Self-assembled three-dimensional chiral colloidal architecture

NASA Astrophysics Data System (ADS)

Ben Zion, Matan Yah; He, Xiaojin; Maass, Corinna C.; Sha, Ruojie; Seeman, Nadrian C.; Chaikin, Paul M.

2017-11-01

Although stereochemistry has been a central focus of the molecular sciences since Pasteur, its province has previously been restricted to the nanometric scale. We have programmed the self-assembly of micron-sized colloidal clusters with structural information stemming from a nanometric arrangement. This was done by combining DNA nanotechnology with colloidal science. Using the functional flexibility of DNA origami in conjunction with the structural rigidity of colloidal particles, we demonstrate the parallel self-assembly of three-dimensional microconstructs, evincing highly specific geometry that includes control over position, dihedral angles, and cluster chirality.

Can extra-articular strains be used to measure facet contact forces in the lumbar spine? An in-vitro biomechanical study.

PubMed

Zhu, Q A; Park, Y B; Sjovold, S G; Niosi, C A; Wilson, D C; Cripton, P A; Oxland, T R

2008-02-01

Experimental measurement of the load-bearing patterns of the facet joints in the lumbar spine remains a challenge, thereby limiting the assessment of facet joint function under various surgical conditions and the validation of computational models. The extra-articular strain (EAS) technique, a non-invasive measurement of the contact load, has been used for unilateral facet joints but does not incorporate strain coupling, i.e. ipsilateral EASs due to forces on the contralateral facet joint. The objectives of the present study were to establish a bilateral model for facet contact force measurement using the EAS technique and to determine its effectiveness in measuring these facet joint contact forces during three-dimensional flexibility tests in the lumbar spine. Specific goals were to assess the accuracy and repeatability of the technique and to assess the effect of soft-tissue artefacts. In the accuracy and repeatability tests, ten uniaxial strain gauges were bonded to the external surface of the inferior facets of L3 of ten fresh lumbar spine specimens. Two pressure-sensitive sensors (Tekscan) were inserted into the joints after the capsules were cut. Facet contact forces were measured with the EAS and Tekscan techniques for each specimen in flexion, extension, axial rotation, and lateral bending under a +/- 7.5 N m pure moment. Four of the ten specimens were tested five times in axial rotation and extension for repeatability. These same specimens were disarticulated and known forces were applied across the facet joint using a manual probe (direct accuracy) and a materials-testing system (disarticulated accuracy). In soft-tissue artefact tests, a separate set of six lumbar spine specimens was used to document the virtual facet joint contact forces during a flexibility test following removal of the superior facet processes. Linear strain coupling was observed in all specimens. The average peak facet joint contact forces during flexibility testing was greatest in axial rotation (71 +/- 25 N), followed by extension (27 +/- 35 N) and lateral bending (25 +/- 28 N), and they were most repeatable in axial rotation (coefficient of variation, 5 per cent). The EAS accuracy was about 20 per cent in the direct accuracy assessment and about 30 per cent in the disarticulated accuracy test. The latter was very similar to the Tekscan accuracy in the same test. Virtual facet loads (r.m.s.) were small in axial rotation (12 N) and lateral bending (20 N), but relatively large in flexion (34 N) and extension (35 N). The results suggested that the bilateral EAS model could be used to determine the facet joint contact forces in axial rotation but may result in considerable error in flexion, extension, and lateral bending.

Characterizing DNA Star-Tile-Based Nanostructures Using a Coarse-Grained Model.

PubMed

Schreck, John S; Romano, Flavio; Zimmer, Matthew H; Louis, Ard A; Doye, Jonathan P K

2016-04-26

We use oxDNA, a coarse-grained model of DNA at the nucleotide level, to simulate large nanoprisms that are composed of multi-arm star tiles, in which the size of bulge loops that have been incorporated into the tile design is used to control the flexibility of the tiles. The oxDNA model predicts equilibrium structures for several different nanoprism designs that are in excellent agreement with the experimental structures as measured by cryoTEM. In particular we reproduce the chiral twisting of the top and bottom faces of the nanoprisms, as the bulge sizes in these structures are varied due to the greater flexibility of larger bulges. We are also able to follow how the properties of the star tiles evolve as the prisms are assembled. Individual star tiles are very flexible, but their structures become increasingly well-defined and rigid as they are incorporated into larger assemblies. oxDNA also finds that the experimentally observed prisms are more stable than their inverted counterparts, but interestingly this preference for the arms of the tiles to bend in a given direction only emerges after they are part of larger assemblies. These results show the potential for oxDNA to provide detailed structural insight as well as to predict the properties of DNA nanostructures and hence to aid rational design in DNA nanotechnology.

Face seal assembly for rotating drum

DOEpatents

Morgan, J. Giles; Rennich, Mark J.; Whatley, Marvin E.

1982-01-01

A seal assembly comprises a tube rotatable about its longitudinal axis and having two longitudinally spaced flanges projecting radially outwardly from the outer surface thereof. Slidably positioned against one of the flanges is a seal ring, and disposed between this seal ring and the other flange are two rings that are forced apart by springs, one of the latter rings being attached to a flexible wall.

Mechanics of Suture Joints

NASA Astrophysics Data System (ADS)

Li, Yaning; Song, Juha; Ortiz, Christine; Boyce, Mary; Ortiz Group/DMSE/MIT Team; Boyce Group/ME/MIT Team

2011-03-01

Biological sutures are joints which connect two stiff skeletal or skeletal-like components. These joints possess a wavy geometry with a thin organic layer providing adhesion. Examples of biological sutures include mammalian skulls, the pelvic assembly of the armored fish Gasterosteus aculeatus (the three-spined stickleback), and the suture joints in the shell of the red-eared slider turtle. Biological sutures allow for movement and compliance, control stress concentrations, transmit loads, reduce fatigue stress and absorb energy. In this investigation, the mechanics of the role of suture geometry in providing a naturally optimized joint is explored. In particular, analytical and numerical micromechanical models of the suture joint are constructed. The anisotropic mechanical stiffness and strength are studied as a function of suture wavelength, amplitude and the material properties of the skeletal and organic components, revealing key insights into the optimized nature of these ubiquitous natural joints.

Large-Area Cross-Aligned Silver Nanowire Electrodes for Flexible, Transparent, and Force-Sensitive Mechanochromic Touch Screens.

PubMed

Cho, Seungse; Kang, Saewon; Pandya, Ashish; Shanker, Ravi; Khan, Ziyauddin; Lee, Youngsu; Park, Jonghwa; Craig, Stephen L; Ko, Hyunhyub

2017-04-25

Silver nanowire (AgNW) networks are considered to be promising structures for use as flexible transparent electrodes for various optoelectronic devices. One important application of AgNW transparent electrodes is the flexible touch screens. However, the performances of flexible touch screens are still limited by the large surface roughness and low electrical to optical conductivity ratio of random network AgNW electrodes. In addition, although the perception of writing force on the touch screen enables a variety of different functions, the current technology still relies on the complicated capacitive force touch sensors. This paper demonstrates a simple and high-throughput bar-coating assembly technique for the fabrication of large-area (>20 × 20 cm 2 ), highly cross-aligned AgNW networks for transparent electrodes with the sheet resistance of 21.0 Ω sq -1 at 95.0% of optical transmittance, which compares favorably with that of random AgNW networks (sheet resistance of 21.0 Ω sq -1 at 90.4% of optical transmittance). As a proof of concept demonstration, we fabricate flexible, transparent, and force-sensitive touch screens using cross-aligned AgNW electrodes integrated with mechanochromic spiropyran-polydimethylsiloxane composite film. Our force-sensitive touch screens enable the precise monitoring of dynamic writings, tracing and drawing of underneath pictures, and perception of handwriting patterns with locally different writing forces. The suggested technique provides a robust and powerful platform for the controllable assembly of nanowires beyond the scale of conventional fabrication techniques, which can find diverse applications in multifunctional flexible electronic and optoelectronic devices.

A three-dimensional flexible microprobe array for neural recording assembled through electrostatic actuation.

PubMed

Chen, Chang-Hsiao; Chuang, Shih-Chang; Su, Huan-Chieh; Hsu, Wei-Lun; Yew, Tri-Rung; Chang, Yen-Chung; Yeh, Shih-Rung; Yao, Da-Jeng

2011-05-07

We designed, fabricated and tested a novel three-dimensional flexible microprobe to record neural signals of a lateral giant nerve fiber of the escape circuit of an American crayfish. An electrostatic actuation folded planar probes into three-dimensional neural probes with arbitrary orientations for neuroscientific applications. A batch assembly based on electrostatic forces simplified the fabrication and was non-toxic. A novel fabrication for these three-dimensional flexible probes used SU-8 and Parylene technology. The mechanical strength of the neural probe was great enough to penetrate into a bio-gel. A flexible probe both decreased the micromotion and alleviated tissue encapsulation of the implant caused by chronic inflammation of tissue when an animal breathes or moves. The cortex consisted of six horizontal layers, and the neurons of the cortex were arranged in vertical structures; the three-dimensional microelectrode arrays were suitable to investigate the cooperative activity for neurons in horizontal separate layers and in vertical cortical columns. With this flexible probe we recorded neural signals of a lateral giant cell from an American crayfish. The response amplitude of action potentials was about 343 µV during 1 ms period; the average recorded data had a ratio of signal to noise as great as 30.22 ± 3.58 dB. The improved performance of this electrode made feasible the separation of neural signals according to their distinct shapes. The cytotoxicity indicated a satisfactory biocompatibility and non-toxicity of the flexible device fabricated in this work. © The Royal Society of Chemistry 2011

Pressure-actuated joint system

NASA Technical Reports Server (NTRS)

McGuire, John R. (Inventor)

2004-01-01

A pressure vessel is provided that includes first and second case segments mated with one another. First and second annular rubber layers are disposed inboard of the first and second case segments, respectively. The second annular rubber layer has a slot extending from the radial inner surface across a portion of its thickness to define a main body portion and a flexible portion. The flexible portion has an interfacing surface portion abutting against an interfacing surface portion of the first annular rubber layer to follow movement of the first annular rubber layer during operation of the pressure vessel. The slot receives pressurized gas and establishes a pressure-actuated joint between the interfacing surface portions. At least one of the interfacing surface portions has a plurality of enclosed and sealed recesses formed therein.

All-solid-state flexible supercapacitors based on highly dispersed polypyrrole nanowire and reduced graphene oxide composites.

PubMed

Yu, Chenfei; Ma, Peipei; Zhou, Xi; Wang, Anqi; Qian, Tao; Wu, Shishan; Chen, Qiang

2014-10-22

Highly dispersed polypyrrole nanowires are decorated on reduced graphene oxide sheets using a facile in situ synthesis route. The prepared composites exhibit high dispersibility, large effective surface area, and high electric conductivity. All-solid-state flexible supercapacitors are assembled based on the prepared composites, which show excellent electrochemical performances with a specific capacitance of 434.7 F g(-1) at a current density of 1 A g(-1). The as-fabricated supercapacitor also exhibits excellent cycling stability (88.1% capacitance retention after 5000 cycles) and exceptional mechanical flexibility. In addition, outstanding power and energy densities were obtained, demonstrating the significant potential of prepared material for flexible and portable energy storage devices.

Integrated fast assembly of free-standing lithium titanate/carbon nanotube/cellulose nanofiber hybrid network film as flexible paper-electrode for lithium-ion batteries.

PubMed

Cao, Shaomei; Feng, Xin; Song, Yuanyuan; Xue, Xin; Liu, Hongjiang; Miao, Miao; Fang, Jianhui; Shi, Liyi

2015-05-27

A free-standing lithium titanate (Li4Ti5O12)/carbon nanotube/cellulose nanofiber hybrid network film is successfully assembled by using a pressure-controlled aqueous extrusion process, which is highly efficient and easily to scale up from the perspective of disposable and recyclable device production. This hybrid network film used as a lithium-ion battery (LIB) electrode has a dual-layer structure consisting of Li4Ti5O12/carbon nanotube/cellulose nanofiber composites (hereinafter referred to as LTO/CNT/CNF), and carbon nanotube/cellulose nanofiber composites (hereinafter referred to as CNT/CNF). In the heterogeneous fibrous network of the hybrid film, CNF serves simultaneously as building skeleton and a biosourced binder, which substitutes traditional toxic solvents and synthetic polymer binders. Of importance here is that the CNT/CNF layer is used as a lightweight current collector to replace traditional heavy metal foils, which therefore reduces the total mass of the electrode while keeping the same areal loading of active materials. The free-standing network film with high flexibility is easy to handle, and has extremely good conductivity, up to 15.0 S cm(-1). The flexible paper-electrode for LIBs shows very good high rate cycling performance, and the specific charge/discharge capacity values are up to 142 mAh g(-1) even at a current rate of 10 C. On the basis of the mild condition and fast assembly process, a CNF template fulfills multiple functions in the fabrication of paper-electrode for LIBs, which would offer an ever increasing potential for high energy density, low cost, and environmentally friendly flexible electronics.

Joint Congressional Hearing on the Changing Information Needs of Rural America: The Role of Libraries and Information Technology.

ERIC Educational Resources Information Center

National Commission on Libraries and Information Science, Washington, DC.

Topics of importance to rural America in three general areas--rural community and individual information needs, available answers to these needs, and policies and strategies to meet these needs--were addressed in a joint congressional hearing held at the Fourth General Assembly of the World Future Society in July 1982. This transcript presents…

Astronaut Sherwood Spring on RMS checks joints on the ACCESS device

NASA Image and Video Library

1985-11-27

Astronaut Sherwood C. Spring, anchored to the foot restraint on the remote manipulator system (RMS) arm, checks joints on the tower-like Assembly Concept for Construction of Erectable Space Structures (ACCESS) device extending from the payload bay as the Atlantis flies over white clouds and blue ocean waters. The Gulf of Mexico waters form the backdrop for the scene.

Impact of Nonlinearity of The Contact Layer Between Elements Joined in a Multi-Bolted System on Its Preload

NASA Astrophysics Data System (ADS)

Grzejda, R.

2017-12-01

The paper deals with modelling and calculations of asymmetrical multi-bolted joints at the assembly stage. The physical model of the joint is based on a system composed of four subsystems, which are: a couple of joined elements, a contact layer between the elements, and a set of bolts. The contact layer is assumed as the Winkler model, which can be treated as a nonlinear or linear model. In contrast, the set of bolts are modelled using simplified beam models, known as spider bolt models. The theorem according to which nonlinearity of the contact layer has a negligible impact on the final preload of the joint in the case of its sequential tightening has been verified. Results of sample calculations for the selected multi-bolted system, in the form of diagrams of preloads in the bolts as well as normal contact pressure between the joined elements during the assembly process and at its end, are presented.

Design and research on the two-joint mating system of underwater vehicle

NASA Astrophysics Data System (ADS)

Zhang, Zhong-lin; Wang, Li-quan

2013-03-01

In the 21st century, people have come to the era of ocean science and ocean economy. With the development of ocean science and technology and the thorough research on the ocean, underwater mating technique has been widely used in such fields as sunk ship salvage, deep ocean workstation, submarine lifesaving aid and military affairs. In this paper, researches are made home and abroad on mating technology. Two-joint mating system of underwater vehicle is designed including plane system, three-dimensional assembly system and control system in order to increase the capacity of adapting platform obliquity and adopting rotational skirt scheme. It is clear that the system fits the working space of underwater vehicle passageway and there is no interference phenomenon in assembly design. The finite element model of the system shell and the pressurization of the joint are established. The results of the finite element computing and the pressing test are accordant, and thus it can testify that the shell material meet the need of intension and joint pressurization is reliable. Modeling of the control system is accomplished, and simulation and analysis are made, which can provide directions for the controller design of mating system of underwater vehicles.

Numerical design and test on an assembled structure of a bolted joint with viscoelastic damping

NASA Astrophysics Data System (ADS)

Hammami, Chaima; Balmes, Etienne; Guskov, Mikhail

2016-03-01

Mechanical assemblies are subjected to many dynamic loads and modifications are often needed to achieve acceptable vibration levels. While modifications on mass and stiffness are well mastered, damping modifications are still considered difficult to design. The paper presents a case study on the design of a bolted connection containing a viscoelastic damping layer. The notion of junction coupling level is introduced to ensure that sufficient energy is present in the joints to allow damping. Static performance is then addressed and it is shown that localization of metallic contact can be used to meet objectives, while allowing the presence of viscoelastic materials. Numerical prediction of damping then illustrates difficulties in optimizing for robustness. Modal test results of three configurations of an assembled structure, inspired by aeronautic fuselages, are then compared to analyze the performance of the design. While validity of the approach is confirmed, the effect of geometric imperfections is shown and stresses the need for robust design.

The effects of motor vehicle window tinting on traffic safety and enforcement : final report : a report to the Governor and General Assembly in response to Senate Joint Resolution 293, 1993 Session.

DOT National Transportation Integrated Search

1994-01-01

The 1993 Session of the Virginia General Assembly lessened restrictions relating to the application of aftermarket tinted window films to motor vehicle glass. Effective July 1, 1993, vehicles are allowed to have window tinting treatments that do not ...

The Feasibility of Publicly Funded Residential Education in Pennsylvania. Staff Analysis Pursuant to House Resolution 43 of 1995.

ERIC Educational Resources Information Center

Pennsylvania Joint State Government Commission, Harrisburg.

Pennsylvania's House Resolution 43 of 1995 directs the Joint State Government Commission to report to the General Assembly on the feasibility of creating a voluntary residential school program for disadvantaged children. The Commission assembled a Working Group to consider this issue, and the group focused on poor children living in high crime…

Whisker Formation on SAC305 Soldered Assemblies

NASA Astrophysics Data System (ADS)

Meschter, S.; Snugovsky, P.; Bagheri, Z.; Kosiba, E.; Romansky, M.; Kennedy, J.; Snugovsky, L.; Perovic, D.

2014-11-01

This article describes the results of a whisker formation study on SAC305 assemblies, evaluating the effects of lead-frame materials and cleanliness in different environments: low-stress simulated power cycling (50-85°C thermal cycling), thermal shock (-55°C to 85°C), and high temperature/high humidity (85°C/85% RH). Cleaned and contaminated small outline transistors, large leaded quad flat packs (QFP), plastic leaded chip carrier packages, and solder balls with and without rare earth elements (REE) were soldered to custom designed test boards with Sn3Ag0.5Cu (SAC305) solder. After assembly, all the boards were cleaned, and half of them were recontaminated (1.56 µg/cm2 Cl-). Whisker length, diameter, and density were measured. Detailed metallurgical analysis on components before assembly and on solder joints before and after testing was performed. It was found that whiskers grow from solder joint fillets, where the thickness is less than 25 µm, unless REE was present. The influence of lead-frame and solder ball material, microstructure, cleanliness, and environment on whisker characteristics is discussed. This article provides detailed metallurgical observations and select whisker length data obtained during this multiyear testing program.

Transparent nanocellulosic multilayer thin films on polylactic acid with tunable gas barrier properties.

PubMed

Aulin, Christian; Karabulut, Erdem; Tran, Amy; Wågberg, Lars; Lindström, Tom

2013-08-14

The layer-by-layer (LbL) deposition method was used for the build-up of alternating layers of nanofibrillated cellulose (NFC) or carboxymethyl cellulose (CMC) with a branched, cationic polyelectrolyte, polyethyleneimine (PEI) on flexible poly (lactic acid) (PLA) substrates. With this procedure, optically transparent nanocellulosic films with tunable gas barrier properties were formed. 50 layer pairs of PEI/NFC and PEI/CMC deposited on PLA have oxygen permeabilities of 0.34 and 0.71 cm(3)·μm/m(2)·day·kPa at 23 °C and 50% relative humidity, respectively, which is in the same range as polyvinyl alcohol and ethylene vinyl alcohol. The oxygen permeability of these multilayer nanocomposites outperforms those of pure NFC films prepared by solvent-casting. The nanocellulosic LbL assemblies on PLA substrates was in detailed characterized using a quartz crystal microbalance with dissipation (QCM-D). Atomic force microscopy (AFM) reveals large structural differences between the PEI/NFC and the PEI/CMC assemblies, with the PEI/NFC assembly showing a highly entangled network of nanofibrils, whereas the PEI/CMC surfaces lacked structural features. Scanning electron microscopy images showed a nearly perfect uniformity of the nanocellulosic coatings on PLA, and light transmittance results revealed remarkable transparency of the LbL-coated PLA films. The present work demonstrates the first ever LbL films based on high aspect ratio, water-dispersible nanofibrillated cellulose, and water-soluble carboxymethyl cellulose polymers that can be used as multifunctional films and coatings with tailorable properties, such as gas barriers and transparency. Owing to its flexibility, transparency and high-performance gas barrier properties, these thin film assemblies are promising candidates for several large-scale applications, including flexible electronics and renewable packaging.

Extensively Reversible Thermal Transformations of a Bistable, Fluorescence-Switchable Molecular Solid: Entry into Functional Molecular Phase-Change Materials.

PubMed

Srujana, P; Radhakrishnan, T P

2015-06-15

Functional phase-change materials (PCMs) are conspicuously absent among molecular materials in which the various attributes of inorganic solids have been realized. While organic PCMs are primarily limited to thermal storage systems, the amorphous-crystalline transformation of materials like Ge-Sb-Te find use in advanced applications such as information storage. Reversible amorphous-crystalline transformations in molecular solids require a subtle balance between robust supramolecular assembly and flexible structural elements. We report novel diaminodicyanoquinodimethanes that achieve this transformation by interlinked helical assemblies coupled with conformationally flexible alkoxyalkyl chains. They exhibit highly reversible thermal transformations between bistable (crystalline/amorphous) forms, along with a prominent switching of the fluorescence emission energy and intensity. © 2015 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

A general-purpose approach to computer-aided dynamic analysis of a flexible helicopter

NASA Technical Reports Server (NTRS)

Agrawal, Om P.

1988-01-01

A general purpose mathematical formulation is described for dynamic analysis of a helicopter consisting of flexible and/or rigid bodies that undergo large translations and rotations. Rigid body and elastic sets of generalized coordinates are used. The rigid body coordinates define the location and the orientation of a body coordinate frame (global frame) with respect to an inertial frame. The elastic coordinates are introduced using a finite element approach in order to model flexible components. The compatibility conditions between two adjacent elements in a flexible body are imposed using a Boolean matrix, whereas the compatibility conditions between two adjacent bodies are imposed using the Lagrange multiplier approach. Since the form of the constraint equations depends upon the type of kinematic joint and involves only the generalized coordinates of the two participating elements, then a library of constraint elements can be developed to impose the kinematic constraint in an automated fashion. For the body constraints, the Lagrange multipliers yield the reaction forces and torques of the bodies at the joints. The virtual work approach is used to derive the equations of motion, which are a system of differential and algebraic equations that are highly nonlinear. The formulation presented is general and is compared with hard-wired formulations commonly used in helicopter analysis.

Use of motor abundance in old adults in the regulation of a narrow-based stance.

PubMed

Hsu, Wei-Li; Lin, Kwan-Hwa; Yang, Rong-Sen; Cheng, Chih-Hsiu

2014-02-01

The ability to maintain stable balance while standing decreases with age. The body must coordinate multiple joints using "freeze" or "free" strategy, or a combination of both to ensure balance stability. The purpose of this study was to examine age-related changes in the use of motor abundance during upright stance on a narrow base without visual input. Uncontrolled manifold (UCM) analysis was used to decompose the movement variability of joints into goal-equivalent variability (GEV) and non-goal-equivalent variability (NGEV). The ratio between GEV and NGEV (UCM(ratio)) quantifies the joint coordination related to postural stability, and a high UCM(ratio) value indicates flexible control of joints. To perform balance tests, participants in this study (healthy young and old adults, 20 each) were asked to stand on a flat platform and on narrow wooden blocks with their eyes open and then eyes closed. In upright balance tests, both old and young adults maintained postural stability. GEV was greater than NGEV across all participants and conditions. However, GEV was higher in the young adults than in the old adults, whereas NGEV was higher in the old adults than in the young adults. Therefore, the old adults exhibited a lower UCM(ratio) than the young adults. The old adults were unable to exploit motor abundance and used a less flexible multi-joint coordination pattern to achieve stable balance. The UCM(ratio) value reflects the quality of postural control and can be used for assessing joint coordination in balance disorders.

Manufacture, assembly, and delivery of beryllium test panels

NASA Technical Reports Server (NTRS)

1972-01-01

Details of the fabrication and assembly of two 99 cm by 99 cm (39 in. by 39 in.) beryllium heat shield test panels are presented. Each panel consists of two hat-stiffened, formed skins which overlap a transverse slip joint at the center of the panel; clips join the two skins at the slip joint, and continuous standoffs are provided at the ends of the panel. The hat-stiffeners are joined to the skin by furnace-brazing, using the braze alloy BAg 18. The parts are generally 0.051 cm (0.020 in.) thick. Tools used to form the detail parts are shown, together with the results of preliminary forming and brazing trials to verify processing techniques. Problems encountered in the manufacture of the panels are discussed.

Cooperative synchronized assemblies enhance orientation discrimination.

PubMed

Samonds, Jason M; Allison, John D; Brown, Heather A; Bonds, A B

2004-04-27

There is no clear link between the broad tuning of single neurons and the fine behavioral capabilities of orientation discrimination. We recorded from populations of cells in the cat visual cortex (area 17) to examine whether the joint activity of cells can support finer discrimination than found in individual responses. Analysis of joint firing yields a substantial advantage (i.e., cooperation) in fine-angle discrimination. This cooperation increases to more considerable levels as the population of an assembly is increased. The cooperation in a population of six cells provides encoding of orientation with an information advantage that is at least 2-fold in terms of requiring either fewer cells or less time than independent coding. This cooperation suggests that correlated or synchronized activity can increase information.

49 CFR 192.159 - Flexibility.

Code of Federal Regulations, 2011 CFR

2011-10-01

... causing excessive stresses in the pipe or components, excessive bending or unusual loads at joints, or undesirable forces or moments at points of connection to equipment, or at anchorage or guide points. ...

49 CFR 192.159 - Flexibility.

Code of Federal Regulations, 2013 CFR

2013-10-01

... causing excessive stresses in the pipe or components, excessive bending or unusual loads at joints, or undesirable forces or moments at points of connection to equipment, or at anchorage or guide points. ...

49 CFR 192.159 - Flexibility.

Code of Federal Regulations, 2012 CFR

2012-10-01

... causing excessive stresses in the pipe or components, excessive bending or unusual loads at joints, or undesirable forces or moments at points of connection to equipment, or at anchorage or guide points. ...

49 CFR 192.159 - Flexibility.

Code of Federal Regulations, 2014 CFR

2014-10-01

... causing excessive stresses in the pipe or components, excessive bending or unusual loads at joints, or undesirable forces or moments at points of connection to equipment, or at anchorage or guide points. ...

49 CFR 192.159 - Flexibility.

Code of Federal Regulations, 2010 CFR

2010-10-01

... causing excessive stresses in the pipe or components, excessive bending or unusual loads at joints, or undesirable forces or moments at points of connection to equipment, or at anchorage or guide points. ...

Control of a flexible bracing manipulator: Integration of current research work to realize the bracing manipulator

NASA Technical Reports Server (NTRS)

Kwon, Dong-Soo

1991-01-01

All research results about flexible manipulator control were integrated to show a control scenario of a bracing manipulator. First, dynamic analysis of a flexible manipulator was done for modeling. Second, from the dynamic model, the inverse dynamic equation was derived, and the time domain inverse dynamic method was proposed for the calculation of the feedforward torque and the desired flexible coordinate trajectories. Third, a tracking controller was designed by combining the inverse dynamic feedforward control with the joint feedback control. The control scheme was applied to the tip position control of a single link flexible manipulator for zero and non-zero initial condition cases. Finally, the contact control scheme was added to the position tracking control. A control scenario of a bracing manipulator is provided and evaluated through simulation and experiment on a single link flexible manipulator.

Study on the Flexibility in Cross-Border Water Resources Cooperation Governance

NASA Astrophysics Data System (ADS)

Liu, Zongrui; Wang, Teng; Zhou, Li

2018-02-01

Flexible strategy is very important to cross-border cooperation in international rivers water resources, which may be employed to reconcile contradictions and ease conflicts. Flexible characters of cross-border cooperation in international rivers water resources could be analyzed and revealed, using flexible strategic management framework, by taking international cooperation protocols related to water from Transboundary Freshwater Disputes Database (TFDD) as samples from the number of cooperation issues, the amount of management layers and regulator agencies in cooperation organization and the categories of income (cost) distribution (allocation) mode. The research demonstrates that there are some flexible features of cross-border cooperation in international rivers water resources: Riparian countries would select relative diversification strategies related to water, tend to construct a flexible cooperation organization featured with moderate hierarchies from vertical perspective and simplified administrations from horizontal perspective, and adopt selective inducement modes to respect ‘joint and several liability’.

Flexible fixation of syndesmotic diastasis using the assembled bolt-tightrope system

PubMed Central

2013-01-01

Background Syndesmotic diastasis is a common injury. Syndesmotic bolt and tightrope are two of the commonly used methods for the fixation of syndesmotic diastasis. Syndesmotic bolt can be used to reduce and maintain the syndesmosis. However, it cannot permit the normal range of motion of distal tibiofibular joint, especially the rotation of the fibula. Tightrope technique can be used to provide flexible fixation of the syndesmosis. However, it lacks the ability of reducing the syndesmotic diastasis. To combine the advantages of both syndemostic bolt and tightrope techniques and simultaneously avoid the potential disadvantages of both techniques, we designed the assembled bolt-tightrope system (ABTS). The purpose of this study was to evaluate the primary effectiveness of ABTS in treating syndesmotic diastasis. Methods From October 2010 to June 2011, patients with syndesmotic diastasis met the inclusion criteria were enrolled into this study and treated with ABTS. Patients were followed up at 2, 6 weeks and 6, 12 months after operation. The functional outcomes were assessed according to the American Orthopedic Foot and Ankle Society (AOFAS) scores at 12 months follow-up. Patients’ satisfaction was evaluated based upon short form-12 (SF-12) health survey questionnaire. The anteroposterior radiographs of the injured ankles were taken, and the medial clear space (MCS), tibiofibular overlap (TFOL), and tibiofibular clear space (TFCS) were measured. All hardwares were routinely removed at 12-month postoperatively. Follow-ups continued. The functional and radiographic assessments were done again at the latest follow-up. Results Twelve patients were enrolled into this study, including 8 males and 4 females with a mean age of 39.5 years (range, 26 to 56 years). All patients also sustained ankle fractures. At 12 months follow-up, the mean AOFAS score was 95.4 (range, 85 to 100), and all patients were satisfied with the functional recoveries. The radiographic MCS, TFOL, and TFCS were within the normal range in all patients. After hardware removal, follow-up continued. At the latest follow-up (28 months on average, (range, 25 to 33 months) from internal fixation), the mean AOFAS score was 96.3 (range, 85 to 100), without significant difference with those assessed at 12 months after fixation operations. No syndesmotic diastasis reoccurred based upon the latest radiographic assessment. Conclusions ABTS can be used to reduce the syndesmotic diastasis and provide flexible fixation in a minimally invasive fashion. It seems to be an effective alternative technique to treat syndesmotic diastasis. PMID:24053432

Passive vibration isolation of reaction wheel disturbances using a low frequency flexible space platform

NASA Astrophysics Data System (ADS)

Kamesh, D.; Pandiyan, R.; Ghosal, Ashitava

2012-03-01

Reaction wheel assemblies (RWAs) are momentum exchange devices used in fine pointing control of spacecrafts. Even though the spinning rotor of the reaction wheel is precisely balanced to minimize emitted vibration due to static and dynamic imbalances, precision instrument payloads placed in the neighborhood can always be severely impacted by residual vibration forces emitted by reaction wheel assemblies. The reduction of the vibration level at sensitive payloads can be achieved by placing the RWA on appropriate mountings. A low frequency flexible space platform consisting of folded continuous beams has been designed to serve as a mount for isolating a disturbance source in precision payloads equipped spacecrafts. Analytical and experimental investigations have been carried out to test the usefulness of the low frequency flexible platform as a vibration isolator for RWAs. Measurements and tests have been conducted at varying wheel speeds, to quantify and characterize the amount of isolation obtained from the reaction wheel generated vibration. These tests are further extended to other variants of similar design in order to bring out the best isolation for given disturbance loads. Both time and frequency domain analysis of test data show that the flexible beam platform as a mount for reaction wheels is quite effective and can be used in spacecrafts for passive vibration control.

Nonlinear adaptive control of an elastic robotic arm

NASA Technical Reports Server (NTRS)

Singh, S. N.

1986-01-01

An approach to control of a class of nonlinear flexible robotic systems is presented. For simplicity, a robot arm (PUMA-type) with three rotational joints is considered. The third link is assumed to be elastic. An adaptive torquer control law is derived for controlling the joint angles. This controller includes a dynamic system in the feedback path, requires only joint angle and rate for feedback, and asymptotically decomposes the elastic dynamics into two subsystems representing the transverse vibrations of the elastic link in two orthogonal planes. To damp out the elastic vibration, a force control law using modal feedback is synthesized. The combination of the torque and force control laws accomplishes joint angle control and elastic mode stabilization.

Optimum design of Geodesic dome’s jointing system

NASA Astrophysics Data System (ADS)

Tran, Huy. T.

2018-04-01

This study attempts to create a new design for joint connector of Geodesic dome. A new type of joint connector design is proposed for flexible rotating connection; comparing it to another, this design is cheaper and workable. After calculating the bearing capacity of the sample according to EC3 and Vietnam standard TCVN 5575-2012, FEM model of the design sample is carried out in many specific situation to consider the stress distribution, the deformation, the local destruction… in the connector. The analytical results and the FE data are consistent. The FE analysis also points out the behavior of some details that simple calculation cannot show. Hence, we can choose the optimum design of joint connector.

Joint Task Force on Undergraduate Physics Programs

NASA Astrophysics Data System (ADS)

This session will focus on the guidelines and recommendations being developed by the APS/AAPT Joint Task Force on Undergraduate Physics Programs. J-TUPP is studying how undergraduate physics programs might better prepare physics majors for diverse careers. The guidelines and recommendations will focus on curricular content, flexible tracks, pedagogical methods, research experiences and internships, the development of professional skills, and enhanced advising and mentoring for all physics majors.

A Bayesian joint probability modeling approach for seasonal forecasting of streamflows at multiple sites

NASA Astrophysics Data System (ADS)

Wang, Q. J.; Robertson, D. E.; Chiew, F. H. S.

2009-05-01

Seasonal forecasting of streamflows can be highly valuable for water resources management. In this paper, a Bayesian joint probability (BJP) modeling approach for seasonal forecasting of streamflows at multiple sites is presented. A Box-Cox transformed multivariate normal distribution is proposed to model the joint distribution of future streamflows and their predictors such as antecedent streamflows and El Niño-Southern Oscillation indices and other climate indicators. Bayesian inference of model parameters and uncertainties is implemented using Markov chain Monte Carlo sampling, leading to joint probabilistic forecasts of streamflows at multiple sites. The model provides a parametric structure for quantifying relationships between variables, including intersite correlations. The Box-Cox transformed multivariate normal distribution has considerable flexibility for modeling a wide range of predictors and predictands. The Bayesian inference formulated allows the use of data that contain nonconcurrent and missing records. The model flexibility and data-handling ability means that the BJP modeling approach is potentially of wide practical application. The paper also presents a number of statistical measures and graphical methods for verification of probabilistic forecasts of continuous variables. Results for streamflows at three river gauges in the Murrumbidgee River catchment in southeast Australia show that the BJP modeling approach has good forecast quality and that the fitted model is consistent with observed data.

The European Union Joint Procurement Agreement for cross-border health threats: what is the potential for this new mechanism of health system collaboration?

PubMed

Azzopardi-Muscat, Natasha; Schroder-Bäck, Peter; Brand, Helmut

2017-01-01

The Joint Procurement Agreement (JPA) is an innovative instrument for multi-country procurement of medical countermeasures against cross-border health threats. This paper aims to assess its potential performance. A literature review was conducted to identify key features of successful joint procurement programmes. Documentary analysis and a key informants' interview were carried out to analyse the European Union (EU) JPA. Ownership, equity, transparency, stable central financing, standardisation, flexibility and gradual development were identified as important prerequisites for successful establishment of multi-country joint procurement programmes in the literature while security of supply, favourable prices, reduction of operational costs and administrative burden and creation of professional expert networks were identified as desirable outcomes. The EU JPA appears to fulfil the criteria of ownership, transparency, equity, flexibility and gradual development. Standardisation is only partly fulfilled and central EU level financing is not provided. Security of supply is an important outcome for all EU Member States (MS). Price savings, reduction in administrative burden and creation of professional networks may be particularly attractive for the smaller MS. The JPA has the potential to increase health system collaboration and efficiency at EU level provided that the incentives for sustained commitment of larger MS are sufficiently attractive.

Real-time dynamics and control strategies for space operations of flexible structures

NASA Technical Reports Server (NTRS)

Park, K. C.; Alvin, K. F.; Alexander, S.

1993-01-01

This project (NAG9-574) was meant to be a three-year research project. However, due to NASA's reorganizations during 1992, the project was funded only for one year. Accordingly, every effort was made to make the present final report as if the project was meant to be for one-year duration. Originally, during the first year we were planning to accomplish the following: we were to start with a three dimensional flexible manipulator beam with articulated joints and with a linear control-based controller applied at the joints; using this simple example, we were to design the software systems requirements for real-time processing, introduce the streamlining of various computational algorithms, perform the necessary reorganization of the partitioned simulation procedures, and assess the potential speed-up realization of the solution process by parallel computations. The three reports included as part of the final report address: the streamlining of various computational algorithms; the necessary reorganization of the partitioned simulation procedures, in particular the observer models; and an initial attempt of reconfiguring the flexible space structures.

Space Shuttle Main Engine Joint Data List Applying Today's Desktop Technologies to Facilitate Engine Processing

NASA Technical Reports Server (NTRS)

Jacobs, Kenneth; Drobnick, John; Krell, Don; Neuhart, Terry; McCool, A. (Technical Monitor)

2001-01-01

Boeing-Rocketdyne's Space Shuttle Main Engine (SSME) is the world's first large reusable liquid rocket engine. The space shuttle propulsion system has three SSMEs, each weighing 7,400 lbs and providing 470,000 lbs of thrust at 100% rated power level. To ensure required safety and reliability levels are achieved with the reusable engines, each SSME is partially disassembled, inspected, reassembled, and retested at Kennedy Space Center between each flight. Maintenance processing must be performed very carefully to replace any suspect components, maintain proper engine configuration, and avoid introduction of contaminants that could affect performance and safety. The long service life, and number, complexity, and pedigree of SSME components makes logistics functions extremely critical. One SSME logistics challenge is documenting the assembly and disassembly of the complex joint configurations. This data (joint nomenclature, seal and fastener identification and orientation, assembly sequence, fastener torques, etc.) must be available to technicians and engineers during processing. Various assembly drawings and procedures contain this information, but in this format the required (practical) joint data can be hard to find, due to the continued use of archaic engineering drawings and microfilm for field site use. Additionally, the release system must traverse 2,500 miles between design center and field site, across three time zones, which adds communication challenges and time lags for critical engine configuration data. To aid in information accessibility, a Joint Data List (JDL) was developed that allows efficient access to practical joint data. The published JDL has been a very useful logistics product, providing illustrations and information on the latest SSME configuration. The JDL identifies over 3,350 unique parts across seven fluid systems, over 300 joints, times two distinct engine configurations. The JDL system was recently converted to a web-based, navigable electronic manual that contains all the required data and illustrations in expanded view format using standard PC products (Word, Excel, PDF, Photoshop). The logistics of accurately releasing this information to field personnel was greatly enhanced via the utilization of common office products to produce a more user-friendly format than was originally developed under contract to NASA. This was done without reinventing the system, which would be cost prohibitive on a program of this maturity. The brunt of the joint part tracking is done within the logistics organization and disseminated to all field sites, without duplicating effort at each site. The JDL is easily accessible across the country via the NASA intranet directly at the SSME workstand. The advent of this logistics data product has greatly enhanced the reliability of tracking dynamic changes to the SSME and greatly reduces engineering change turnaround time and potential for errors. Since the inception of the JDL system in 1997, no discrepant parts have propagated to engine assembly operations. This presentation focuses on the challenges overcome and the techniques used to apply today's desktop technologies to an existing logistics data source.

An evaluation of the spring finger solder joints on SA1358-10 and SA2052-4 connector assemblies (MC3617,W87).

DOE Office of Scientific and Technical Information (OSTI.GOV)

Kilgo, Alice C.; Vianco, Paul Thomas; Hlava, Paul Frank

2006-08-01

The SA1358-10 and SA2052-4 circular JT Type plug connectors are used on a number of nuclear weapons and Joint Test Assembly (JTA) systems. Prototype units were evaluated for the following specific defects associated with the 95Sn-5Sb (Sn-Sb, wt.%) solder joint used to attach the beryllium-copper (BeCu) spring fingers to the aluminum (Al) connector shell: (1) extended cracking within the fillet; (2) remelting of the solder joint during the follow-on, soldering step that attached the EMR adapter ring to the connector shell (and/or soldering the EMR shell to the adapter ring) that used the lower melting temperature 63Sn-37Pb (Sn-Pb) alloy; andmore » (3) spalling of the Cd (Cr) layer overplating layer from the fillet surface. Several pedigrees of connectors were evaluated, which represented older fielded units as well as those assemblies that were recently constructed at Kansas City Plant. The solder joints were evaluated that were in place on connectors made with the current soldering process as well as an alternative induction soldering process for attaching the EMR adapter ring to the shell. Very similar observations were made, which crossed the different pedigrees of parts and processes. The extent of cracking in the top side fillets varied between the different connector samples and likely the EMR adapter ring to the shell. Very similar observations were made, which crossed the different pedigrees of parts and processes. The extent of cracking in the top side fillets varied between the different connector samples and likely reflected the different extents to which the connector was mated to its counterpart assembly. In all cases, the spring finger solder joints on the SA1358-10 connectors were remelted as a result of the subsequent EMR adapter ring attachment process. Spalling of the Cd (Cr) overplating layer was also observed for these connectors, which was a consequence of the remelting activity. On the other hand, the SA2052-4 connector did not exhibit evidence of remelting of the spring finger solder joint. The Cd (Cr) layer did not show signs of spalling. These results suggested that, due to the size of the SA1358-10 connector, any of the former or current soldering processes used to attach the EMR adapter ring and/or EMR shell to the connector shell, requires a level of heat energy that will always result in the remelting of the spring finger solder joint attached with either the Sn-Ag or the Sn-Sb alloy. Lastly, it was construed that the induction soldering process, which is used to attach the EMR adapter ring onto the shell, was more likely to have caused the remelting event rather than the more localized heat source of the hand soldering iron used to attach the EMR shell to the adapter ring.« less

Genetics Home Reference: fibrochondrogenesis

MedlinePlus

... provide instructions for making components of type XI collagen, which is a complex molecule that gives structure ... the body's joints and organs. Specifically, type XI collagen is found in cartilage, a tough but flexible ...

Improvement and evaluation of thermal, electrical, sealing and mechanical contacts, and their interface materials

NASA Astrophysics Data System (ADS)

Luo, Xiangcheng

Material contacts, including thermal, electrical, seating (fluid sealing and electromagnetic sealing) and mechanical (pressure) contacts, together with their interface materials, were, evaluated, and in some cases, improved beyond the state of the art. The evaluation involved the use of thermal, electrical and mechanical methods. For thermal contacts, this work evaluated and improved the heat transfer efficiency between two contacting components by developing various thermal interface pastes. Sodium silicate based thermal pastes (with boron nitride particles as the thermally conductive filler) as well as polyethylene glycol (PEG) based thermal pastes were developed and evaluated. The optimum volume fractions of BN in sodium silicate based pastes and PEG based pastes were 16% and 18% respectively. The contribution of Li+ ions to the thermal contact conductance in the PEG-based paste was confirmed. For electrical contacts, the relationship between the mechanical reliability and electrical reliability of solder/copper and silver-epoxy/copper joints was addressed. Mechanical pull-out testing was conducted on solder/copper and silver-epoxy/copper joints, while the contact electrical resistivity was measured. Cleansing of the copper surface was more effective for the reliability of silver-epoxy/copper joint than that of solder/copper joint. For sealing contacts, this work evaluated flexible graphite as an electromagnetic shielding gasket material. Flexible graphite was found to be at least comparable to conductive filled silicone (the state of the art) in terms of the shielding effectiveness. The conformability of flexible graphite with its mating metal surface under repeated compression was characterized by monitoring the contact electrical resistance, as the conformability is important to both electromagnetic scaling and fluid waling using flexible graphite. For mechanical contacts, this work focused on the correlation of the interface structure (such as elastic/plastic deformation, oxidation, strain hardening, passive layer damage, fracture, etc.) with the electrical contact resistance, which was measured in real time for contacts under dynamic compression, thus allowing both reversible and irreversible changes to be observed. The materials studied included metals (carbon steel, stainless steel, aluminum and copper), carbon fiber reinforced polymer-matrix composite (nylon-6), ceramic (mortar) and graphite, due to their relevance to fastening, concrete structures, electric brushes and electrical pressure contacts.

Ultrathin cerium orthovanadate nanobelts for high-performance flexible all-solid-state asymmetric supercapacitors.

PubMed

He, Junzhi; Zhao, Junhong; Run, Zhen; Sun, Mengjun; Pang, Huan

2015-02-01

Ultrathin CeVO4 nanobelts were successfully synthesized by a hydrothermal method. The thickness of a single nanobelt is about 2.4 nm, which can effectively shorten the ion diffusion and fasten the charge pathway. More importantly, ultrathin CeVO4 nanobelts and graphene are easily assembled as a flexible all-solid-state asymmetric device, which shows a highly flexible property and achieves a maximum energy density of 0.78 mW h cm(-3) and a high life cycle of >6000 cycles. © 2015 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

High-performance, mechanically flexible, and vertically integrated 3D carbon nanotube and InGaZnO complementary circuits with a temperature sensor.

PubMed

Honda, Wataru; Harada, Shingo; Ishida, Shohei; Arie, Takayuki; Akita, Seiji; Takei, Kuniharu

2015-08-26

A vertically integrated inorganic-based flexible complementary metal-oxide-semiconductor (CMOS) inverter with a temperature sensor with a high inverter gain of ≈50 and a low power consumption of <7 nW mm(-1) is demonstrated using a layer-by-layer assembly process. In addition, the negligible influence of the mechanical flexibility on the performance of the CMOS inverter and the temperature dependence of the CMOS inverter characteristics are discussed. © 2015 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Industrial-scale spray layer-by-layer assembly for production of biomimetic photonic systems.

PubMed

Krogman, K C; Cohen, R E; Hammond, P T; Rubner, M F; Wang, B N

2013-12-01

Layer-by-layer assembly is a powerful and flexible thin film process that has successfully reproduced biomimetic photonic systems such as structural colour. While most of the seminal work has been carried out using slow and ultimately unscalable immersion assembly, recent developments using spray layer-by-layer assembly provide a platform for addressing challenges to scale-up and manufacturability. A series of manufacturing systems has been developed to increase production throughput by orders of magnitude, making commercialized structural colour possible. Inspired by biomimetic photonic structures we developed and demonstrated a heat management system that relies on constructive reflection of near infrared radiation to bring about dramatic reductions in heat content.

Development of Bonded Joint Technology for a Rigidizable-Inflatable Deployable Truss

NASA Technical Reports Server (NTRS)

Smeltzer, Stanley S., III

2006-01-01

Microwave and Synthetic Aperture Radar antenna systems have been developed as instrument systems using truss structures as their primary support and deployment mechanism for over a decade. NASA Langley Research Center has been investigating fabrication, modular assembly, and deployment methods of lightweight rigidizable/inflatable linear truss structures during that time for large spacecraft systems. The primary goal of the research at Langley Research Center is to advance these existing state-of-the-art joining and deployment concepts to achieve prototype system performance in a relevant space environment. During 2005, the development, fabrication, and testing of a 6.7 meter multi-bay, deployable linear truss was conducted at Langley Research Center to demonstrate functional and precision metrics of a rigidizable/inflatable truss structure. The present paper is intended to summarize aspects of bonded joint technology developed for the 6.7 meter deployable linear truss structure while providing a brief overview of the entire truss fabrication, assembly, and deployment methodology. A description of the basic joint design, surface preparation investigations, and experimental joint testing of component joint test articles will be described. Specifically, the performance of two room temperature adhesives were investigated to obtain qualitative data related to tube folding testing and quantitative data related to tensile shear strength testing. It was determined from the testing that a polyurethane-based adhesive best met the rigidizable/inflatable truss project requirements.

Failure Mechanisms of Thermomechanically Loaded SnAgCu/Plastic Core Solder Ball Composite Joints in Low-Temperature Co-Fired Ceramic/Printed Wiring Board Assemblies

NASA Astrophysics Data System (ADS)

Nousiainen, O.; Putaala, J.; Kangasvieri, T.; Rautioaho, R.; Vähäkangas, J.

2007-03-01

The thermal fatigue endurance of completely lead-free 95.5Sn4Ag0.7Cu/plastic core solder ball (PCSB) composite joint structures in low-temperature Co-fired ceramic/printed wiring board (LTCC/PWB) assemblies was investigated using thermal cycling tests over the temperature ranges of -40°C 125°C and 0°C 100°C. Two separate creep/fatigue failures initiated and propagated in the joints during the tests: (1) a crack along the intermetallic compound (IMC)/solder interface on the LTCC side of the joint, which formed at the high-temperature extremes; and (2) a crack in the solder near the LTCC solder land, which formed at the low-temperature extremes. Moreover, localized recrystallization was detected at the outer edge of the joints that were tested in the harsh (-40°C 125°C) test conditions. The failure mechanism was creep/fatigue-induced mixed intergranular and transgranular cracking in the recrystallized zone, but it was dominated by transgranular thermal fatigue failure beyond the recrystallized zone. The change in the failure mechanism increased the rate of crack growth. When the lower temperature extreme was raised from -40°C to 0°C, no recrystallized zone was detected and the failure was due to intergranular cracks.

Minimum accommodation for aerobrake assembly. Phase 2: Structural concepts for a lunar transfer vehicle aerobrake which can be assembled on orbit

NASA Technical Reports Server (NTRS)

Dorsey, John T.; Watson, Judith J.; Tutterow, Robin D.

1993-01-01

A multidisciplinary conceptual study was conducted to define a reusable lunar transfer vehicle (LTV) aerobrake which could be launched on a Space Shuttle of Titan 4 and assembled on orbit at Space Station Freedom. A major objective was to design an aerobrake, with integrated structure and thermal protection systems, which has a mass less than 20 percent (9040 lb) of the LTV lunar return mass. The aerobrake segmentation concepts, the structural concepts, a joint concept for assembly, and a structural design with analysis of the aerobrake are described. Results show that a 50-foot diameter LTV aerobrake can be designed for on-orbit assembly which will achieve the 20 percent mass budget.

Methods and devices for fabricating and assembling printable semiconductor elements

DOE Office of Scientific and Technical Information (OSTI.GOV)

Nuzzo, Ralph G.; Rogers, John A.; Menard, Etienne

The invention provides methods and devices for fabricating printable semiconductor elements and assembling printable semiconductor elements onto substrate surfaces. Methods, devices and device components of the present invention are capable of generating a wide range of flexible electronic and optoelectronic devices and arrays of devices on substrates comprising polymeric materials. The present invention also provides stretchable semiconductor structures and stretchable electronic devices capable of good performance in stretched configurations.

Methods and devices for fabricating and assembling printable semiconductor elements

DOEpatents

Nuzzo, Ralph G; Rogers, John A; Menard, Etienne; Lee, Keon Jae; Khang, Dahl-Young; Sun, Yugang; Meitl, Matthew; Zhu, Zhengtao

2014-03-04

The invention provides methods and devices for fabricating printable semiconductor elements and assembling printable semiconductor elements onto substrate surfaces. Methods, devices and device components of the present invention are capable of generating a wide range of flexible electronic and optoelectronic devices and arrays of devices on substrates comprising polymeric materials. The present invention also provides stretchable semiconductor structures and stretchable electronic devices capable of good performance in stretched configurations.

Flexible supercapacitors with high areal capacitance based on hierarchical carbon tubular nanostructures

NASA Astrophysics Data System (ADS)

Zhang, Haitao; Su, Hai; Zhang, Lei; Zhang, Binbin; Chun, Fengjun; Chu, Xiang; He, Weidong; Yang, Weiqing

2016-11-01

Hierarchical structure design can greatly enhance the unique properties of primary material(s) but suffers from complicated preparation process and difficult self-assembly of materials with different dimensionalities. Here we report on the growth of single carbon tubular nanostructures with hierarchical structure (hCTNs) through a simple method based on direct conversion of carbon dioxide. Resorting to in-situ transformation and self-assembly of carbon micro/nano-structures, the obtained hCTNs are blood-like multichannel hierarchy composed of one large channel across the hCTNs and plenty of small branches connected to each other. Due to the unique pore structure and high surface area, these hCTN-based flexible supercapacitors possess the highest areal capacitance of ∼320 mF cm-2, as well as good rate-capability and excellent cycling stability (95% retention after 2500 cycles). It was established that this method can control the morphology, size, and density of hCTNs and effectively construct hCTNs well anchored to the various substrates. Our work unambiguously demonstrated the potential of hCTNs for large flexible supercapacitors and integrated energy management electronics.

Framework for teleoperated microassembly systems

NASA Astrophysics Data System (ADS)

Reinhart, Gunther; Anton, Oliver; Ehrenstrasser, Michael; Patron, Christian; Petzold, Bernd

2002-02-01

Manual assembly of minute parts is currently done using simple devices such as tweezers or magnifying glasses. The operator therefore requires a great deal of concentration for successful assembly. Teleoperated micro-assembly systems are a promising method for overcoming the scaling barrier. However, most of today's telepresence systems are based on proprietary and one-of-a-kind solutions. Frameworks which supply the basic functions of a telepresence system, e.g. to establish flexible communication links that depend on bandwidth requirements or to synchronize distributed components, are not currently available. Large amounts of time and money have to be invested in order to create task-specific teleoperated micro-assembly systems from scratch. For this reason, an object-oriented framework for telepresence systems that is based on CORBA as a common middleware was developed at the Institute for Machine Tools and Industrial Management (iwb). The framework is based on a distributed architectural concept and is realized in C++. External hardware components such as haptic, video or sensor devices are coupled to the system by means of defined software interfaces. In this case, the special requirements of teleoperation systems have to be considered, e.g. dynamic parameter settings for sensors during operation. Consequently, an architectural concept based on logical sensors has been developed to achieve maximum flexibility and to enable a task-oriented integration of hardware components.

Brazed Joints Design and Allowables: Discuss Margins of Safety in Critical Brazed Structures

NASA Technical Reports Server (NTRS)

FLom, Yury

2009-01-01

This slide presentation tutorial discusses margins of safety in critical brazed structures. It reviews: (1) the present situation (2) definition of strength (3) margins of safety (4) design allowables (5) mechanical testing (6) failure criteria (7) design flowchart (8) braze gap (9) residual stresses and (10) delayed failures. This presentation addresses the strength of the brazed joints, the methods of mechanical testing, and our ability to evaluate the margins of safety of the brazed joints as it applies to the design of critical and expensive brazed assemblies.

RF window assembly comprising a ceramic disk disposed within a cylindrical waveguide which is connected to rectangular waveguides through elliptical joints

DOEpatents

Tantawi, Sami G.; Dolgashev, Valery A.; Yeremian, Anahid D.

2016-03-15

A high-power microwave RF window is provided that includes a cylindrical waveguide, where the cylindrical waveguide includes a ceramic disk concentrically housed in a central region of the cylindrical waveguide, a first rectangular waveguide, where the first rectangular waveguide is connected by a first elliptical joint to a proximal end of the cylindrical waveguide, and a second rectangular waveguide, where the second rectangular waveguide is connected by a second elliptical joint to a distal end of the cylindrical waveguide.

Evolving Systems: Adaptive Key Component Control and Inheritance of Passivity and Dissipativity

NASA Technical Reports Server (NTRS)

Frost, S. A.; Balas, M. J.

2010-01-01

We propose a new framework called Evolving Systems to describe the self-assembly, or autonomous assembly, of actively controlled dynamical subsystems into an Evolved System with a higher purpose. Autonomous assembly of large, complex flexible structures in space is a target application for Evolving Systems. A critical requirement for autonomous assembling structures is that they remain stable during and after assembly. The fundamental topic of inheritance of stability, dissipativity, and passivity in Evolving Systems is the primary focus of this research. In this paper, we develop an adaptive key component controller to restore stability in Nonlinear Evolving Systems that would otherwise fail to inherit the stability traits of their components. We provide sufficient conditions for the use of this novel control method and demonstrate its use on an illustrative example.

A Modular Approach To Developing A Large Deployable Reflector

NASA Astrophysics Data System (ADS)

Pittman, R.; Leidich, C.; Mascy, F.; Swenson, B.

1984-01-01

NASA is currently studying the feasibility of developing a Large Deployable Reflector (LDR) astronomical facility to perform astrophysical studies of the infrared and submillimeter portion of the spectrum in the mid 1990's. The LDR concept was recommended by the Astronomy Survey Committee of the National Academy of Sciences as one of two space based projects to be started this decade. The current baseline calls for a 20 m (65.6 ft) aperture telescope diffraction limited at 30 μm and automatically deployed from a single Shuttle launch. The volume, performance, and single launch constraints place great demands on the technology and place LDR beyond the state-of-the-art in certain areas such as lightweight reflector segments. The advent of the Shuttle is opening up many new options and capabilities for producing large space systems. Until now, LDR has always been conceived as an integrated system, deployed autonomously in a single launch. This paper will look at a combination of automatic deployment and on-orbit assembly that may reduce the technological complexity and cost of the LDR system. Many technological tools are now in use or under study that will greatly enhance our capabilities to do assembly in space. Two Shuttle volume budget scenarios will be examined to assess the potential of these tools to reduce the LDR system complexity. Further study will be required to reach the full optimal combination of deployment and assembly, since in most cases the capabilities of these new tools have not been demonstrated. In order to take maximum advantage of these concepts, the design of LDR must be flexible and allow one subsystem to be modified without adversely affecting the entire system. One method of achieving this flexibility is to use a modular design approach in which the major subsystems are physically separated during launch and assembled on orbit. A modular design approach facilitates this flexibility but requires that the subsystems be interfaced in a simple, straightforward, and controlled manner. NASA is currently defining a technology development plan for LDR which will identify the technology advances that are required. The modular approach offers the flexibility to easily incorporate these new advances into the design.

Genetics Home Reference: otospondylomegaepiphyseal dysplasia

MedlinePlus

... instructions for making one component of type XI collagen, which is a complex molecule that gives structure ... support the body's joints and organs. Type XI collagen is found in cartilage, a tough but flexible ...