Simulation of a Magneto-Rheological Fluid Based, Jamming, Soft Gripper Using the Soft Sphere DEM in LIGGGHTS

NASA Astrophysics Data System (ADS)

Leps, Thomas; Hartzell, Christine; Wereley, Norman; Choi, Young

2017-11-01

Jamming soft grippers are excellent universal grippers due to their low dependence on the shape of objects to be grabbed, and low stiffness, mitigating the need for object shape data and expensive force control of a stiff system. These grippers now rely on jamming transitions of dry grains under atmospheric pressure to hold objects. In order to expand their use to space environments, a gripper using magnetic actuation of a magneto-rheological fluid (MR Gripper) is being developed. The MR fluid is a suspension of μm scale iron grains in a silicone oil. When un-magnetized the fluid behaves as a dense suspension with low Bagnold number. When magnetized, it behaves like a jammed granular material, with magnetic forces between the grains dominating. We are simulating the gripper using LIGGGHTS, an open-source soft sphere DEM code. We have modeled both the deformable gripper membrane and the MR fluid itself using the LIGGGHTS framework. To our knowledge, this is the first time that the induced magnetic dipoles required to accurately simulate the jamming behavior of MR fluids have been modeled in LIGGGHTS. This simulation allows the rapid optimization of the hardware and magnetic field geometries, as well as the fluid behavior, without time consuming, and costly prototype revisions.

Design of an auto change mechanism and intelligent gripper for the space station

NASA Technical Reports Server (NTRS)

Dehoff, Paul H.; Naik, Dipak P.

1989-01-01

Robot gripping of objects in space is inherently demanding and dangerous and nowhere is this more clearly reflected than in the design of the robot gripper. An object which escapes the gripper in a micro g environment is launched not dropped. To prevent this, the gripper must have sensors and signal processing to determine that the object is properly grasped, e.g., grip points and gripping forces and, if not, to provide information to the robot to enable closed loop corrections to be made. The sensors and sensor strategies employed in the NASA/GSFC Split-Rail Parallel Gripper are described. Objectives and requirements are given followed by the design of the sensor suite, sensor fusion techniques and supporting algorithms.

Rock Gripper for Sampling, Mobility, Anchoring, and Manipulation

NASA Technical Reports Server (NTRS)

Parness, Aaron

2013-01-01

A new gripper mechanism can be used as an end effector for a long arm that reaches out from a nearby spacecraft for a touch-and-go type of mission. The gripper would stabilize the arm and allow samples to be collected and in situ science to be done from a fixed platform. In the long term, this style of gripper could even be used as handholds for astronauts trying to move about on/near small asteroids. The prototype developed has demonstrated a 120 N gripping force, and improvements continue to be made.

Stronger at Depth: Jamming Grippers as Deep Sea Sampling Tools.

PubMed

Licht, Stephen; Collins, Everett; Mendes, Manuel Lopes; Baxter, Christopher

2017-12-01

In this work we experimentally demonstrate (a) that the holding strength of universal jamming grippers increases as a function of the jamming pressure to greater than three atmospheres, and (b) that jamming grippers can be operated in the deep sea in ambient pressures exceeding one hundred atmospheres, where such high jamming pressures can be readily achieved. Laboratory experiments in a pressurized, water-filled test cell are used to measure the holding force of a "universal" style jamming gripper as a function of the pressure difference between internal membrane pressure and ambient pressure. Experiments at sea are used to demonstrate that jamming grippers can be installed on, and operated from, remotely operated vehicles at depths in excess of 1200 m. In both experiments, the jamming gripper consists of a latex balloon filled with a mixture of fresh water and ∼200 μm glass beads, which are cheaply available in large quantities as sand blasting media. The use of a liquid, rather than a gas, as the fluid media allows operation of the gripper with a closed-loop fluid system; jamming pressure is controlled with an electrically driven water hydraulic cylinder in the laboratory and with an oil hydraulic-driven large-bore water hydraulic cylinder at sea.

Online Condition Monitoring of Gripper Cylinder in TBM Based on EMD Method

NASA Astrophysics Data System (ADS)

Li, Lin; Tao, Jian-Feng; Yu, Hai-Dong; Huang, Yi-Xiang; Liu, Cheng-Liang

2017-11-01

The gripper cylinder that provides braced force for Tunnel Boring Machine (TBM) might fail due to severe vibration when the TBM excavates in the tunnel. Early fault diagnosis of the gripper cylinder is important for the safety and efficiency of the whole tunneling project. In this paper, an online condition monitoring system based on the Empirical Mode Decomposition (EMD) method is established for fault diagnosis of the gripper cylinder while TBM is working. Firstly, the lumped mass parameter model of the gripper cylinder is established considering the influence of the variable stiffness at the rock interface, the equivalent stiffness of the oil, the seals, and the copper guide sleeve. The dynamic performance of the gripper cylinder is investigated to provide basis for its health condition evaluation. Then, the EMD method is applied to identify the characteristic frequencies of the gripper cylinder for fault diagnosis and a field test is used to verify the accuracy of the EMD method for detection of the characteristic frequencies. Furthermore, the contact stiffness at the interface between the barrel and the rod is calculated with Hertz theory and the relationship between the natural frequency and the stiffness varying with the health condition of the cylinder is simulated based on the dynamic model. The simulation shows that the characteristic frequencies decrease with the increasing clearance between the barrel and the rod, thus the defects could be indicated by monitoring the natural frequency. Finally, a health condition management system of the gripper cylinder based on the vibration signal and the EMD method is established, which could ensure the safety of TBM.

Microscopic pick-and-place teleoperation

NASA Astrophysics Data System (ADS)

Bhatti, Pamela; Hannaford, Blake; Marbot, Pierre-Henry

1993-03-01

A three degree-of-freedom direct drive mini robot has been developed for biomedical applications. The design approach of the mini robot relies heavily upon electromechanical components from the Winchester disk drive industry. In the current design, the first joint is driven by actuators from a 5.25' drive, and the following joints are driven by actuators typical of 3.5' drives. The system has 5 - 10 micrometers of position repeatability and resolution in all three axes. A mini gripper attachment has been fabricated for the robot to explore manipulation of objects ranging from 50 micrometers to 500 micrometers . Mounted on the robot, the gripper has successfully performed pick and place operations under teleoperated control. The mini robot serves to precisely position the gripper, and a needle-like finger of the gripper deflects so the fingers can grip a target object. The gripper finger capable of motion is fabricated with a piezoelectric bimorph crystal which deflects with an applied DC voltage. The experimental results are promising, and the mini gripper may be modified for future biomedical and micro assembly applications.

Kriging modeling and SPSA adjusting PID with KPWF compensator control of IPMC gripper for mm-sized objects

NASA Astrophysics Data System (ADS)

Chen, Yang; Hao, Lina; Yang, Hui; Gao, Jinhai

2017-12-01

Ionic polymer metal composite (IPMC) as a new smart material has been widely concerned in the micromanipulation field. In this paper, a novel two-finger gripper which contains an IPMC actuator and an ultrasensitive force sensor is proposed and fabricated. The IPMC as one finger of the gripper for mm-sized objects can achieve gripping and releasing motion, and the other finger works not only as a support finger but also as a force sensor. Because of the feedback signal of the force sensor, this integrated actuating and sensing gripper can complete gripping miniature objects in millimeter scale. The Kriging model is used to describe nonlinear characteristics of the IPMC for the first time, and then the control scheme called simultaneous perturbation stochastic approximation adjusting a proportion integration differentiation parameter controller with a Kriging predictor wavelet filter compensator is applied to track the gripping force of the gripper. The high precision force tracking in the foam ball manipulation process is obtained on a semi-physical experimental platform, which demonstrates that this gripper for mm-sized objects can work well in manipulation applications.

Design of a Variable Stiffness Soft Dexterous Gripper

PubMed Central

Nefti-Meziani, Samia; Davis, Steve

2017-01-01

Abstract This article presents the design of a variable stiffness, soft, three-fingered dexterous gripper. The gripper uses two designs of McKibben muscles. Extensor muscles that increase in length when pressurized are used to form the fingers of the gripper. Contractor muscles that decrease in length when pressurized are then used to apply forces to the fingers through tendons, which cause flexion and extension of the fingers. The two types of muscles are arranged to act antagonistically and this means that by raising the pressure in all of the pneumatic muscles, the stiffness of the system can be increased without a resulting change in finger position. The article presents the design of the gripper, some basic kinematics to describe its function, and then experimental results demonstrating the ability to adjust the bending stiffness of the gripper's fingers. It has been demonstrated that the fingers' bending stiffness can be increased by more than 150%. The article concludes by demonstrating that the fingers can be closed loop position controlled and are able to track step and sinusoidal inputs. PMID:29062630

Apparatus for remotely handling components

DOEpatents

Szkrybalo, Gregory A.; Griffin, Donald L.

1994-01-01

The inventive apparatus for remotely handling bar-like components which define a longitudinal direction includes a gripper mechanism for gripping the component including first and second gripper members longitudinally fixedly spaced from each other and oriented parallel to each other in planes transverse to the longitudinal direction. Each gripper member includes a jaw having at least one V-groove with opposing surfaces intersecting at a base and extending radially relative to the longitudinal direction for receiving the component in an open end between the opposing surfaces. The V-grooves on the jaw plate of the first and second gripper members are aligned in the longitudinal direction to support the component in the first and second gripper members. A jaw is rotatably mounted on and a part of each of the first and second gripper members for selectively assuming a retracted mode in which the open end of the V-groove is unobstructed and active mode in which the jaw spans the open end of the V-groove in the first and second gripper members. The jaw has a locking surface for contacting the component in the active mode to secure the component between the locking surface of the jaw and the opposing surfaces of the V-groove. The locking surface has a plurality of stepped portions, each defining a progressively decreasing radial distance between the base of the V-groove and the stepped portion opposing the base to accommodate varying sizes of components.

Innovative Electrostatic Adhesion Technologies

NASA Technical Reports Server (NTRS)

Bryan, Tom; Macleod, Todd; Gagliano, Larry; Williams, Scott; McCoy, Brian

2015-01-01

Developing specialized Electro-Static grippers (commercially used in Semiconductor Manufacturing and in package handling) will allow gentle and secure Capture, Soft Docking, and Handling of a wide variety of materials and shapes (such as upper-stages, satellites, arrays, and possibly asteroids) without requiring physical features or cavities for a pincher or probe or using harpoons or nets. Combined with new rigid boom mechanisms or small agile chaser vehicles, flexible, high speed Electro-Static Grippers can enable compliant capture of spinning objects starting from a safe stand-off distance. Electroadhesion (EA) can enable lightweight, ultra-low-power, compliant attachment in space by using an electrostatic force to adhere similar and dissimilar surfaces. A typical EA enabled device is composed of compliant space-rated materials, such as copper-clad polyimide encapsulated by polymers. Attachment is induced by strong electrostatic forces between any substrate material, such as an exterior satellite panel and a compliant EA gripper pad surface. When alternate positive and negative charges are induced in adjacent planar electrodes in an EA surface, the electric fields set up opposite charges on the substrate and cause an electrostatic adhesion between the electrodes and the induced charges on the substrate. Since the electrodes and the polymer are compliant and can conform to uneven or rough surfaces, the electrodes can remain intimately close to the entire surface, enabling high clamping pressures. Clamping pressures of more than 3 N/cm2 in shear can be achieved on a variety of substrates with ultra-low holding power consumption (measured values are less than 20 microW/Newton weight held). A single EA surface geometry can be used to clamp both dielectric and conductive substrates, with slightly different physical mechanisms. Furthermore EA clamping requires no normal force be placed on the substrate, as conventional docking requires. Internally funded research and development has demonstrated that EA can function effectively in space, even in the presence of strong ultraviolet radiation, atomic oxygen, and free electrons. We created a test setup in an existing vacuum chamber to simulate low-Earth-orbit conditions. An EA mechanism was fabricated and installed in the chamber, instrumented, operated in a vacuum, and subjected to ultraviolet photons and free electrons generated by an in-chamber multipactor electron emitter. Extensions to EA that can add value include proximity and contact sensing and transverse motion or rotation, both of which could enhance docking or assembly applications. Possible next steps include development of targeted applications for ground investigation or on-orbit subsystem performance demonstrations using low cost access to space such as CubeSats.

Robotic Ankle for Omnidirectional Rock Anchors

NASA Technical Reports Server (NTRS)

Parness, Aaron; Frost, Matthew; Thatte, Nitish

2013-01-01

Future robotic exploration of near-Earth asteroids and the vertical and inverted rock walls of lava caves and cliff faces on Mars and other planetary bodies would require a method of gripping their rocky surfaces to allow mobility without gravitational assistance. In order to successfully navigate this terrain and drill for samples, the grippers must be able to produce anchoring forces in excess of 100 N. Additionally, the grippers must be able to support the inertial forces of a moving robot, as well gravitational forces for demonstrations on Earth. One possible solution would be to use microspine arrays to anchor to rock surfaces and provide the necessary load-bearing abilities for robotic exploration of asteroids. Microspine arrays comprise dozens of small steel hooks supported on individual suspensions. When these arrays are dragged along a rock surface, the steel hooks engage with asperities and holes on the surface. The suspensions allow for individual hooks to engage with asperities while the remaining hooks continue to drag along the surface. This ensures that the maximum possible number of hooks engage with the surface, thereby increasing the load-bearing abilities of the gripper. Using the microspine array grippers described above as the end-effectors of a robot would allow it to traverse terrain previously unreachable by traditional wheeled robots. Furthermore, microspine-gripping robots that can perch on cliffs or rocky walls could enable a new class of persistent surveillance devices for military applications. In order to interface these microspine grippers with a legged robot, an ankle is needed that can robotically actuate the gripper, as well as allow it to conform to the large-scale irregularities in the rock. The anchor serves three main purposes: deploy and release the anchor, conform to roughness or misalignment with the surface, and cancel out any moments about the anchor that could cause unintentional detachment. The ankle design contains a rotary DC motor that can drag the microspine arrays across the surface to engage them with asperities, as well as a linear actuator to disengage the hooks from the surface. Additionally, the ankle allows the gripper to rotate freely about all three axes so that when the robot takes a step, the gripper may optimally orient itself with respect to the wall or ground. Finally, the ankle contains some minimal elasticity, so that between steps, the gripper returns to a default position that is roughly parallel to the wall.

Design and development an insect-inspired humanoid gripper that is structurally sound, yet very flexible

NASA Astrophysics Data System (ADS)

Hajjaj, S.; Pun, N.

2013-06-01

One of the biggest challenges in mechanical robotics design is the balance between structural integrity and flexibility. An industrial robotic gripper could be technically advanced, however it contains only 1 Degree of Freedom (DOF). If one is to add more DOFs the design would become complex. On the other hand, the human wrist and fingers contain 23 DOFs, and is very lightweight and highly flexible. Robotics are becoming more and more part of our social life, they are more and more being incorporated in social, medical, and personal application. Therefore, for such robots to be effective, they need to mimic human performance, both in performance as well as in mechanical design. In this work, a Humanoid Gripper is designed and built to mimic a simplified version of a human wrist and fingers. This is attempted by mimicking insect and human designs of grippes. The main challenge was to insure that the gripper is structurally sound, but at the same time flexible and lightweight. A combination of light weight material and a unique design of finger actuators were applied. The gripper is controlled by a PARALLAX servo controller 28823 (PSCI), which mounted on the assembly itself. At the end, a 6 DOF humanoid gripper made of lightweight material, similar in size to the human arm, and is able to carry a weight of 1 Kg has been designed and built.

Microgripper construction kit

NASA Astrophysics Data System (ADS)

Gengenbach, Ulrich K.; Hofmann, Andreas; Engelhardt, Friedhelm; Scharnowell, Rudolf; Koehler, Bernd

2001-10-01

A large number of microgrippers has been developed in industry and academia. Although the importance of hybrid integration techniques and hence the demand for assembly tools grows continuously a large part of these developments has not yet been used in industrial production. The first grippers developed for microassembly were basically vacuum grippers and downscaled tweezers. Due to increasingly complex assembly tasks more and more functionality such as sensing or additional functions such as adhesive dispensing has been integrated into gripper systems over the last years. Most of these gripper systems are incompatible since there exists no standard interface to the assembly machine and no standard for the internal modules and interfaces. Thus these tools are not easily interchangeable between assembly machines and not easily adaptable to assembly tasks. In order to alleviate this situation a construction kit for modular microgrippers is being developed. It is composed of modules with well defined interfaces that can be combined to build task specific grippers. An abstract model of a microgripper is proposed as a tool to structure the development of the construction kit. The modular concept is illustrated with prototypes.

Design of a Robotic Ankle Joint for a Microspine-Based Robot

NASA Technical Reports Server (NTRS)

Thatte, Nitish

2011-01-01

Successful robotic exploration of near-Earth asteroids necessitates a method of securely anchoring to the surface of these bodies without gravitational assistance. Microspine grip- per arrays that can grasp rock faces are a potential solution to this problem. A key component of a future microspine-based rover will be the ankle used to attach each microspine gripper to the robot. The ankle's purpose is twofold: 1) to allow the gripper to conform to the rock so a higher percentage of microspines attach to the surface, and 2) to neutralize torques that may dislodge the grippers from the wall. Parts were developed using computer aided design and manufactured using a variety of methods including selective laser sintering, CNC milling, and traditional manual machining techniques. Upon completion of the final prototype, the gripper and ankle system was tested to demonstrate robotic engagement and disengagement of the gripper and to determine load bearing ability. The immediate application of this project is to out t the Lemur IIb robot so it can climb and hang from rock walls.

Method of lining a vertical mine shaft with concrete

DOEpatents

Eklund, James D.; Halter, Joseph M.; Rasmussen, Donald E.; Sullivan, Robert G.; Moffat, Robert B.

1981-01-01

The apparatus includes a cylindrical retainer form spaced inwardly of the wall of the shaft by the desired thickness of the liner to be poured and having overlapping edges which seal against concrete flow but permit the form to be contracted to a smaller circumference after the liner has hardened and is self-supporting. A curb ring extends downwardly and outwardly toward the shaft wall from the bottom of the retainer form to define the bottom surface of each poured liner section. An inflatable toroid forms a seal between the curb ring and the shaft wall. A form support gripper ring having gripper shoes laterally extendable under hydraulic power to engage the shaft wall supports the retainer form, curb ring and liner until the newly poured liner section becomes self-supporting. Adjusting hydraulic cylinders permit the curb ring and retainer form to be properly aligned relative to the form support gripper ring. After a liner section is self-supporting, an advancing system advances the retainer form, curb ring and form support gripper ring toward a shaft boring machine above which the liner is being formed. The advancing system also provides correct horizontal alignment of the form support gripper ring.

Design and fabrication of robotic gripper for grasping in minimizing contact force

NASA Astrophysics Data System (ADS)

Heidari, Hamidreza; Pouria, Milad Jafary; Sharifi, Shahriar; Karami, Mahmoudreza

2018-03-01

This paper presents a new method to improve the kinematics of robot gripper for grasping in unstructured environments, such as space operations. The robot gripper is inspired from the human hand and kept the hand design close to the structure of human fingers to provide successful grasping capabilities. The main goal is to improve kinematic structure of gripper to increase the grasping capability of large objects, decrease the contact forces and makes a successful grasp of various objects in unstructured environments. This research will describe the development of a self-adaptive and reconfigurable robotic hand for space operations through mechanical compliance which is versatile, robust and easy to control. Our model contains two fingers, two-link and three-link, with combining a kinematic model of thumb index. Moreover, some experimental tests are performed to examine the effectiveness of the hand-made in real, unstructured tasks. The results represent that the successful grasp range is improved about 30% and the contact forces is reduced approximately 10% for a wide range of target object size. According to the obtained results, the proposed approach provides an accommodative kinematic model which makes the better grasping capability by fingers geometries for a robot gripper.

The M68HC11 gripper controller software. Thesis

NASA Technical Reports Server (NTRS)

Tsai, Jodi Wei-Duk

1991-01-01

This thesis discusses the development of firmware for the 68HC11 gripper controller. A general description of the software and hardware interfaces is given. The C library interface for the gripper is then described and followed by a detailed discussion of the software architecture of the firmware. A procedure to assemble and download 68HC11 programs is presented in the form of a tutorial. The tools used to implement this environment are then described. Finally, the implementation of the configuration management scheme used to manage all CIRSSE software is presented.

CONTROL FOR ROLLING MILL

DOEpatents

Shuck, A.B.; Shaw, W.C.

1961-06-20

A plutonium-rolling apparatus is patented that has two sets of feed rolls, shaping rolls between the feed rolls, and grippers beyond the feed rolls, which ready a workpiece for a new pass through the shaping rolls by angularly shifting the workpiece about its axis or transversely moving it on a line parallel to the axes of the shaping rolls. Actuation of each gripper for gripping or releasing the workpiece is produced by the relative positions assumed by the feed rolls adjacent to the gripper as the workpiece enters or leaves the feed rolls.

Shape memory polymer (SMP) gripper with a release sensing system

DOEpatents

Maitland, Duncan J.; Lee, Abraham P.; Schumann, Daniel L.; Silva, Luiz Da

2000-01-01

A system for releasing a target material, such as an embolic coil from an SMP located at the end of a catheter utilizing an optical arrangement for releasing the material. The system includes a laser, laser driver, display panel, photodetector, fiber optics coupler, fiber optics and connectors, a catheter, and an SMP-based gripper, and includes a release sensing and feedback arrangement. The SMP-based gripper is heated via laser light through an optic fiber causing the gripper to release a target material (e.g., embolic coil for therapeutic treatment of aneurysms). Various embodiments are provided for coupling the laser light into the SMP, which includes specific positioning of the coils, removal of the fiber cladding adjacent the coil, a metal coating on the SMP, doping the SMP with a gradient absorbing dye, tapering the fiber optic end, coating the SMP with low refractive index material, and locating an insert between the fiber optic and the coil.

Comparison of different soft grippers for lunch box packaging.

PubMed

Wang, Zhongkui; Zhu, Mingzhu; Kawamura, Sadao; Hirai, Shinichi

2017-01-01

Automating the lunch box packaging is a challenging task due to the high deformability and large individual differences in shape and physical property of food materials. Soft robotic grippers showed potentials to perform such tasks. In this paper, we presented four pneumatic soft actuators made of different materials and different fabrication methods and compared their performances through a series of tests. We found that the actuators fabricated by 3D printing showed better linearity and less individual differences, but showed low durability compared to actuators fabricated by traditional casting process. Robotic grippers were assembled using the soft actuators, and grasping tests were performed on soft paper containers filled with food materials. Results suggested that grippers with softer actuators required lower air pressure to lift up the same weight and generated less deformation on the soft container. The actuator made of casting process with Dragon Skin 10 material lifted the most weight among different actuators.

Parallel robot for micro assembly with integrated innovative optical 3D-sensor

NASA Astrophysics Data System (ADS)

Hesselbach, Juergen; Ispas, Diana; Pokar, Gero; Soetebier, Sven; Tutsch, Rainer

2002-10-01

Recent advances in the fields of MEMS and MOEMS often require precise assembly of very small parts with an accuracy of a few microns. In order to meet this demand, a new approach using a robot based on parallel mechanisms in combination with a novel 3D-vision system has been chosen. The planar parallel robot structure with 2 DOF provides a high resolution in the XY-plane. It carries two additional serial axes for linear and rotational movement in/about z direction. In order to achieve high precision as well as good dynamic capabilities, the drive concept for the parallel (main) axes incorporates air bearings in combination with a linear electric servo motors. High accuracy position feedback is provided by optical encoders with a resolution of 0.1 μm. To allow for visualization and visual control of assembly processes, a camera module fits into the hollow tool head. It consists of a miniature CCD camera and a light source. In addition a modular gripper support is integrated into the tool head. To increase the accuracy a control loop based on an optoelectronic sensor will be implemented. As a result of an in-depth analysis of different approaches a photogrammetric system using one single camera and special beam-splitting optics was chosen. A pattern of elliptical marks is applied to the surfaces of workpiece and gripper. Using a model-based recognition algorithm the image processing software identifies the gripper and the workpiece and determines their relative position. A deviation vector is calculated and fed into the robot control to guide the gripper.

Enhancing Perception with Tactile Object Recognition in Adaptive Grippers for Human-Robot Interaction.

PubMed

Gandarias, Juan M; Gómez-de-Gabriel, Jesús M; García-Cerezo, Alfonso J

2018-02-26

The use of tactile perception can help first response robotic teams in disaster scenarios, where visibility conditions are often reduced due to the presence of dust, mud, or smoke, distinguishing human limbs from other objects with similar shapes. Here, the integration of the tactile sensor in adaptive grippers is evaluated, measuring the performance of an object recognition task based on deep convolutional neural networks (DCNNs) using a flexible sensor mounted in adaptive grippers. A total of 15 classes with 50 tactile images each were trained, including human body parts and common environment objects, in semi-rigid and flexible adaptive grippers based on the fin ray effect. The classifier was compared against the rigid configuration and a support vector machine classifier (SVM). Finally, a two-level output network has been proposed to provide both object-type recognition and human/non-human classification. Sensors in adaptive grippers have a higher number of non-null tactels (up to 37% more), with a lower mean of pressure values (up to 72% less) than when using a rigid sensor, with a softer grip, which is needed in physical human-robot interaction (pHRI). A semi-rigid implementation with 95.13% object recognition rate was chosen, even though the human/non-human classification had better results (98.78%) with a rigid sensor.

Toward autonomous avian-inspired grasping for micro aerial vehicles.

PubMed

Thomas, Justin; Loianno, Giuseppe; Polin, Joseph; Sreenath, Koushil; Kumar, Vijay

2014-06-01

Micro aerial vehicles, particularly quadrotors, have been used in a wide range of applications. However, the literature on aerial manipulation and grasping is limited and the work is based on quasi-static models. In this paper, we draw inspiration from agile, fast-moving birds such as raptors, that are able to capture moving prey on the ground or in water, and develop similar capabilities for quadrotors. We address dynamic grasping, an approach to prehensile grasping in which the dynamics of the robot and its gripper are significant and must be explicitly modeled and controlled for successful execution. Dynamic grasping is relevant for fast pick-and-place operations, transportation and delivery of objects, and placing or retrieving sensors. We show how this capability can be realized (a) using a motion capture system and (b) without external sensors relying only on onboard sensors. In both cases we describe the dynamic model, and trajectory planning and control algorithms. In particular, we present a methodology for flying and grasping a cylindrical object using feedback from a monocular camera and an inertial measurement unit onboard the aerial robot. This is accomplished by mapping the dynamics of the quadrotor to a level virtual image plane, which in turn enables dynamically-feasible trajectory planning for image features in the image space, and a vision-based controller with guaranteed convergence properties. We also present experimental results obtained with a quadrotor equipped with an articulated gripper to illustrate both approaches.

Experimental robot gripper control for handling of soft objects

NASA Astrophysics Data System (ADS)

Friedrich, Werner E.; Ziegler, T. H.; Lim, P.

1996-10-01

The challenging task of automated handling of variable objects necessitates a combination of innovative engineering and advanced information technology. This paper describes the application of a recently developed control strategy applied to overcome some limitations of robot handling, particularly when dealing with variable objects. The paper focuses on a novel approach to accommodate the need for sensing and actuation in controlling the pickup procedure. An experimental robot-based system for the handling of soft parts, ranging from artificial components to natural objects such as fruit and meat pieces was developed. The configuration comprises a modular gripper subsystem, and an industrial robot as part of a distributed control system. The gripper subsystem features manually configurable fingers with integrated sensing capabilities. The control architecture is based on a concept of decentralized control differentiating between positioning and gripping procedures. In this way, the robot and gripper systems are treated as individual handling operations. THis concept allows very short set-up times for future changes involving one or more sub-systems.

Biopsy using a magnetic capsule endoscope carrying, releasing, and retrieving untethered microgrippers.

PubMed

Yim, Sehyuk; Gultepe, Evin; Gracias, David H; Sitti, Metin

2014-02-01

This paper proposes a new wireless biopsy method where a magnetically actuated untethered soft capsule endoscope carries and releases a large number of thermo-sensitive, untethered microgrippers (μ-grippers) at a desired location inside the stomach and retrieves them after they self-fold and grab tissue samples. We describe the working principles and analytical models for the μ-gripper release and retrieval mechanisms, and evaluate the proposed biopsy method in ex vivo experiments. This hierarchical approach combining the advanced navigation skills of centimeter-scaled untethered magnetic capsule endoscopes with highly parallel, autonomous, submillimeter scale tissue sampling μ-grippers offers a multifunctional strategy for gastrointestinal capsule biopsy.

Touch Sensor for Robots

NASA Technical Reports Server (NTRS)

Primus, H. C.

1986-01-01

Touch sensor for robot hands provides information about shape of grasped object and force exerted by gripper on object. Pins projecting from sensor create electrical signals when pressed. When grasped object depresses pin, it contacts electrode under it, connecting electrode to common electrode. Sensor indicates where, and how firmly, gripper has touched object.

Biopsy using a Magnetic Capsule Endoscope Carrying, Releasing, and Retrieving Untethered Microgrippers

PubMed Central

Yim, Sehyuk; Gultepe, Evin; Gracias, David H.

2014-01-01

This paper proposes a new wireless biopsy method where a magnetically actuated untethered soft capsule endoscope carries and releases a large number of thermo-sensitive, untethered microgrippers (μ-grippers) at a desired location inside the stomach and retrieves them after they self-fold and grab tissue samples. We describe the working principles and analytical models for the μ-gripper release and retrieval mechanisms, and evaluate the proposed biopsy method in ex vivo experiments. This hierarchical approach combining the advanced navigation skills of centimeter-scaled untethered magnetic capsule endoscopes with highly parallel, autonomous, submillimeter scale tissue sampling μ-grippers offers a multifunctional strategy for gastrointestinal capsule biopsy. PMID:24108454

A Soft Gripper with Rigidity Tunable Elastomer Strips as Ligaments.

PubMed

Nasab, Amir Mohammadi; Sabzehzar, Amin; Tatari, Milad; Majidi, Carmel; Shan, Wanliang

2017-12-01

Like their natural counterparts, soft bioinspired robots capable of actively tuning their mechanical rigidity can rapidly transition between a broad range of motor tasks-from lifting heavy loads to dexterous manipulation of delicate objects. Reversible rigidity tuning also enables soft robot actuators to reroute their internal loading and alter their mode of deformation in response to intrinsic activation. In this study, we demonstrate this principle with a three-fingered pneumatic gripper that contains "programmable" ligaments that change stiffness when activated with electrical current. The ligaments are composed of a conductive, thermoplastic elastomer composite that reversibly softens under resistive heating. Depending on which ligaments are activated, the gripper will bend inward to pick up an object, bend laterally to twist it, and bend outward to release it. All of the gripper motions are generated with a single pneumatic source of pressure. An activation-deactivation cycle can be completed within 15 s. The ability to incorporate electrically programmable ligaments in a pneumatic or hydraulic actuator has the potential to enhance versatility and reduce dependency on tubing and valves.

LOADING AND UNLOADING DEVICE

DOEpatents

Treshow, M.

1960-08-16

A device for loading and unloading fuel rods into and from a reactor tank through an access hole includes parallel links carrying a gripper. These links enable the gripper to go through the access hole and then to be moved laterally from the axis of the access hole to the various locations of the fuel rods in the reactor tank.

Adjustment of gripping force by optical systems

NASA Astrophysics Data System (ADS)

Jalba, C. K.; Barz, C.

2018-01-01

With increasing automation, robotics also requires ever more intelligent solutions in the handling of various tasks. In this context, many grippers must also be re-designed. For this, they must always be adapted for different requirements. The equipment of the gripper systems with sensors should help to make the gripping process more intelligent. In order to achieve such objectives, optical systems can also be used. This work analyzes how the gripping force can be adjusted by means of an optical recognition. The result of this work is the creation of a connection between optical recognition, tolerances, gripping force and real-time control. In this way, algorithms can be created, with the aid of which robot grippers as well as other gripping systems become more intelligent.

DEVELOPMENT OF TECHNOLOGY TO REMOTELY NAVIGATE VERTICAL PIPE ARRAYS

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

Krementz, D.; Immel, D.; Vrettos, N.

Situations exist around the Savannah River Site (SRS) and the Department of Energy (DOE) complex where it is advantageous to remotely navigate vertical pipe arrays. Specific examples are waste tanks in the SRS Tank Farms, which contain horizontal cooling coils at the tank bottom, vertical cooling coils throughout and a limited number of access points or ''risers''. These factors limit accessibility to many parts of these tanks by conventional means. Pipe Traveler technology has been developed to address these issues. The Pipe Traveler addresses these issues by using the vertical cooling coils as its medium of travel. The unit operatesmore » by grabbing a pipe using dual grippers located on either side of the equipment. Once securely attached to the pipe a drive wheel is extended to come in contact with the pipe. Rotation of the drive wheel causes the unit to rotate around the pipe. This action is continued until the second set of grippers is aligned with the next pipe. Extension pistons are actuated to extend the second set of grippers in contact with a second pipe. The second set of grippers is then actuated to grasp the pipe. The first set of grippers releases the original pipe and the process is repeated until the unit reaches its desired location. Once at the tool deployment location the desired tool may be used. The current design has proven the concept of pipe-to-pipe navigation. Testing of the Pipe Traveler has proven its ability to transfer itself from one pipe to another.« less

Design and Fabrication of a Universal Soft Gripper

NASA Astrophysics Data System (ADS)

Sabzehzar, Amin

Inspired from nature, soft robots capable of actively tuning their mechanical rigidity can rapidly transition between a broad range of motor tasks, from lifting heavy loads to dexterous manipulation of delicate objects. Reversible rigidity tuning also enables soft robotic actuators to reroute their internal loading and alter their mode of deformation in response to intrinsic activation. In this study, we demonstrate this principle with a three-fingered pneumatic gripper that contains programmable ligaments that change stiness when activated with electrical current. The ligaments are composed of a conductive thermoplastic elastomer composite that reversibly softens under resistive heating. Depending on which ligaments are activated, the gripper will bend inward to pick up an object, bend laterally to twist it, or bend outward to release it. Each finger consists of three PDMS phalanges that are attached with two Ecoflex joints. Three ligaments (strips of a cPBE-PDMS composite layer) are attached along the finger and are stimulated with electricity individually. When the high pressure air is injected in the hollow middle part of the finger, the finger will be bent in the opposite direction of the stimulated cPBE-PDMS element (softer wall). This enables the gripper's fingers to grab and twist objects with dierent sizes and shapes. All of the gripper motions are generated with a single pneumatic source of pressure and are controlled with an electrical board. The ability to incorporate electrically programmable ligaments in pneumatic or hydraulic actuators has the potential to enhance versatility and reduce dependency on tubing and valves. In this study, an activation/deactivation cycle can be completed within 15 s.

Soft grippers using micro-fibrillar adhesives for transfer printing.

PubMed

Song, Sukho; Sitti, Metin

2014-07-23

The adhesive characteristics of fibrillar adhesives on a soft deformable membrane are reported. A soft gripper with an inflatable membrane covered by elastomer mushroom-shaped microfibers have a superior conformation to non-planar 3D part geometries, enabling the transfer printing of various parts serially or in parallel. © 2014 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

A micromachined piezoelectric microgripper for manipulation of micro/nanomaterials

NASA Astrophysics Data System (ADS)

Shi, Huaduo; Shi, Weiliang; Zhang, Ran; Zhai, Junyi; Chu, Jinkui; Dong, Shuxiang

2017-06-01

Micro/nanomaterials and devices have attracted great interest in recent years because of their extensive application prospects in almost all kinds of fields. However, the manipulations of the material at the micro/nanoscale, such as the separation or transfer of a micro/nano-object in the process of assembling micro/nanodevices, are quite difficult. In this paper, we present a micromachined micro-gripper made of photoresist material (SU-8) and driven by piezoelectric Pb(Mg,Nb)O3-PbTiO3 single crystal pieces. In order to keep two grasping jaws of the micro-gripper operating in the same plane at the micro/nanometer scale, a fine circular flexure hinge was fabricated for elastically connecting them together. After introducing the interface effect, the relationship between the opening stroke of two jaws and the applied voltage was developed and then confirmed by finite element simulation. The micro-gripper was finally installed on a six degree of freedom stage for performing a pick-up, release, and transfer manipulation of a 2 μm ZnO micro-fiber. The presented piezoelectric micro-gripper shows a great potential for the precise manipulation of a single piece of micro/nanomaterial for micro/nanodevices' assembling.

Modeling of prepregs during automated draping sequences

NASA Astrophysics Data System (ADS)

Krogh, Christian; Glud, Jens A.; Jakobsen, Johnny

2017-10-01

The behavior of wowen prepreg fabric during automated draping sequences is investigated. A drape tool under development with an arrangement of grippers facilitates the placement of a woven prepreg fabric in a mold. It is essential that the draped configuration is free from wrinkles and other defects. The present study aims at setting up a virtual draping framework capable of modeling the draping process from the initial flat fabric to the final double curved shape and aims at assisting the development of an automated drape tool. The virtual draping framework consists of a kinematic mapping algorithm used to generate target points on the mold which are used as input to a draping sequence planner. The draping sequence planner prescribes the displacement history for each gripper in the drape tool and these displacements are then applied to each gripper in a transient model of the draping sequence. The model is based on a transient finite element analysis with the material's constitutive behavior currently being approximated as linear elastic orthotropic. In-plane tensile and bias-extension tests as well as bending tests are conducted and used as input for the model. The virtual draping framework shows a good potential for obtaining a better understanding of the drape process and guide the development of the drape tool. However, results obtained from using the framework on a simple test case indicate that the generation of draping sequences is non-trivial.

Evaluating the Dynamics of Agent-Environment Interaction

DTIC Science & Technology

2001-05-01

a color sensor in the gripper, a radio transmitter/receiver for communication and data gathering, and an ultrasound /radio triangulation system for...Cooperative Mobile Robot Control’, Autonomous Robots 4(4), 387{403. Vaughan, R. T., Sty, K., Sukhatme, G. S. & Mataric, M. J. (2000), Whistling in the Dark...sensor in the gripper, a radio transmitter/receiver for communication and data gathering, and an ultrasound /radio triangu- lation system for

Efficient visual grasping alignment for cylinders

NASA Technical Reports Server (NTRS)

Nicewarner, Keith E.; Kelley, Robert B.

1992-01-01

Monocular information from a gripper-mounted camera is used to servo the robot gripper to grasp a cylinder. The fundamental concept for rapid pose estimation is to reduce the amount of information that needs to be processed during each vision update interval. The grasping procedure is divided into four phases: learn, recognition, alignment, and approach. In the learn phase, a cylinder is placed in the gripper and the pose estimate is stored and later used as the servo target. This is performed once as a calibration step. The recognition phase verifies the presence of a cylinder in the camera field of view. An initial pose estimate is computed and uncluttered scan regions are selected. The radius of the cylinder is estimated by moving the robot a fixed distance toward the cylinder and observing the change in the image. The alignment phase processes only the scan regions obtained previously. Rapid pose estimates are used to align the robot with the cylinder at a fixed distance from it. The relative motion of the cylinder is used to generate an extrapolated pose-based trajectory for the robot controller. The approach phase guides the robot gripper to a grasping position. The cylinder can be grasped with a minimal reaction force and torque when only rough global pose information is initially available.

An under-actuated origami gripper with adjustable stiffness joints for multiple grasp modes

NASA Astrophysics Data System (ADS)

Firouzeh, Amir; Paik, Jamie

2017-05-01

Under-actuated robots offer multiple degrees of freedom without much added complexity to the actuation and control. Utilizing adjustable stiffness joints in these robots allows us to control their stable configurations and their mode of interaction with the environment. In this paper, we present the design of tendon-driven robotic origami (robogami) joints with adjustable stiffness. The proposed designs allow us to place joints along any direction in the plane of the robot and in the normal direction to the plane. The layer-by-layer manufacturing of robogamis facilitates the design and manufacturing of robots with different arrangement of joints for different applications. We use thermally activated shape memory polymer to control the joint stiffness. The manufacturing of the polymer layer is compatible with the layer-by-layer manufacturing process of the robogamis which results in scalable and customizable robots. To demonstrate, we prototyped an under-actuated gripper with three fingers and only one input actuation. The grasp mode of the gripper is set by adjusting the configuration of the locked joints and modulating the stiffness of the active joints. We present a model to estimate the configuration and the contact forces of the gripper at different settings that will assist us in design and control of future generation of under-actuated robogamis.

Efficient visual grasping alignment for cylinders

NASA Technical Reports Server (NTRS)

Nicewarner, Keith E.; Kelley, Robert B.

1991-01-01

Monocular information from a gripper-mounted camera is used to servo the robot gripper to grasp a cylinder. The fundamental concept for rapid pose estimation is to reduce the amount of information that needs to be processed during each vision update interval. The grasping procedure is divided into four phases: learn, recognition, alignment, and approach. In the learn phase, a cylinder is placed in the gripper and the pose estimate is stored and later used as the servo target. This is performed once as a calibration step. The recognition phase verifies the presence of a cylinder in the camera field of view. An initial pose estimate is computed and uncluttered scan regions are selected. The radius of the cylinder is estimated by moving the robot a fixed distance toward the cylinder and observing the change in the image. The alignment phase processes only the scan regions obtained previously. Rapid pose estimates are used to align the robot with the cylinder at a fixed distance from it. The relative motion of the cylinder is used to generate an extrapolated pose-based trajectory for the robot controller. The approach phase guides the robot gripper to a grasping position. The cylinder can be grasped with a minimal reaction force and torque when only rough global pose information is initially available.

Prospective clinical evaluation of the Polyperf® Safe, a safety Huber needle, in cancer patients.

PubMed

Goossens, Godelieve A; Moons, Philip; Jérôme, Martine; Stas, Marguerite

2011-01-01

Evaluation of the Polyperf® Safe (PPS) needle on safety and user-friendliness, as experienced by first-time and non-first-time users of the device. A prospective, descriptive study was carried out at the University Hospitals Leuven, Belgium. Five hundred PPS needles were individually evaluated in cancer patients. Different aspects of the PPS were assessed: packaging, needle insertion, and needle removal. Nurses were asked whether they had previously inserted or removed this type of needle. We compared the PPS needle with the standard Gripper® needle in terms of safety, ease of use, and ease of training. Three hundred sixty-six evaluation forms were available for analysis (73.2%). Packaging and access evaluations were scored positively, except for two aspects: (1) needle stability, and (2) ease of dressing. Ease of removal was scored unsatisfactory in up to 22.4% of the registrations. Pain at insertion was reported in about 20% registrations, and blood contact was reported by 2.5% of non-first-time users. Safety was scored as good, although ease of use and ease in training scored 25.4% and 43.8%, respectively, lower than the Gripper®. In general, nurses evaluated the PPS positively, with the exception of needle stability, ease of dressing, and ease of removal. No needlestick accidents were recorded. Aspects of ease of use and ease of training for PPS needles scored less than those for the Gripper® needles in up to one-third of the registrations.

Integration of a sensor based multiple robot environment for space applications: The Johnson Space Center Teleoperator Branch Robotics Laboratory

NASA Technical Reports Server (NTRS)

Hwang, James; Campbell, Perry; Ross, Mike; Price, Charles R.; Barron, Don

1989-01-01

An integrated operating environment was designed to incorporate three general purpose robots, sensors, and end effectors, including Force/Torque Sensors, Tactile Array sensors, Tactile force sensors, and Force-sensing grippers. The design and implementation of: (1) the teleoperation of a general purpose PUMA robot; (2) an integrated sensor hardware/software system; (3) the force-sensing gripper control; (4) the host computer system for dual Robotic Research arms; and (5) the Ethernet integration are described.

Vision-guided gripping of a cylinder

NASA Technical Reports Server (NTRS)

Nicewarner, Keith E.; Kelley, Robert B.

1991-01-01

The motivation for vision-guided servoing is taken from tasks in automated or telerobotic space assembly and construction. Vision-guided servoing requires the ability to perform rapid pose estimates and provide predictive feature tracking. Monocular information from a gripper-mounted camera is used to servo the gripper to grasp a cylinder. The procedure is divided into recognition and servo phases. The recognition stage verifies the presence of a cylinder in the camera field of view. Then an initial pose estimate is computed and uncluttered scan regions are selected. The servo phase processes only the selected scan regions of the image. Given the knowledge, from the recognition phase, that there is a cylinder in the image and knowing the radius of the cylinder, 4 of the 6 pose parameters can be estimated with minimal computation. The relative motion of the cylinder is obtained by using the current pose and prior pose estimates. The motion information is then used to generate a predictive feature-based trajectory for the path of the gripper.

A Proposal for Automatic Fruit Harvesting by Combining a Low Cost Stereovision Camera and a Robotic Arm

PubMed Central

Font, Davinia; Pallejà, Tomàs; Tresanchez, Marcel; Runcan, David; Moreno, Javier; Martínez, Dani; Teixidó, Mercè; Palacín, Jordi

2014-01-01

This paper proposes the development of an automatic fruit harvesting system by combining a low cost stereovision camera and a robotic arm placed in the gripper tool. The stereovision camera is used to estimate the size, distance and position of the fruits whereas the robotic arm is used to mechanically pickup the fruits. The low cost stereovision system has been tested in laboratory conditions with a reference small object, an apple and a pear at 10 different intermediate distances from the camera. The average distance error was from 4% to 5%, and the average diameter error was up to 30% in the case of a small object and in a range from 2% to 6% in the case of a pear and an apple. The stereovision system has been attached to the gripper tool in order to obtain relative distance, orientation and size of the fruit. The harvesting stage requires the initial fruit location, the computation of the inverse kinematics of the robotic arm in order to place the gripper tool in front of the fruit, and a final pickup approach by iteratively adjusting the vertical and horizontal position of the gripper tool in a closed visual loop. The complete system has been tested in controlled laboratory conditions with uniform illumination applied to the fruits. As a future work, this system will be tested and improved in conventional outdoor farming conditions. PMID:24984059

A proposal for automatic fruit harvesting by combining a low cost stereovision camera and a robotic arm.

PubMed

Font, Davinia; Pallejà, Tomàs; Tresanchez, Marcel; Runcan, David; Moreno, Javier; Martínez, Dani; Teixidó, Mercè; Palacín, Jordi

2014-06-30

This paper proposes the development of an automatic fruit harvesting system by combining a low cost stereovision camera and a robotic arm placed in the gripper tool. The stereovision camera is used to estimate the size, distance and position of the fruits whereas the robotic arm is used to mechanically pickup the fruits. The low cost stereovision system has been tested in laboratory conditions with a reference small object, an apple and a pear at 10 different intermediate distances from the camera. The average distance error was from 4% to 5%, and the average diameter error was up to 30% in the case of a small object and in a range from 2% to 6% in the case of a pear and an apple. The stereovision system has been attached to the gripper tool in order to obtain relative distance, orientation and size of the fruit. The harvesting stage requires the initial fruit location, the computation of the inverse kinematics of the robotic arm in order to place the gripper tool in front of the fruit, and a final pickup approach by iteratively adjusting the vertical and horizontal position of the gripper tool in a closed visual loop. The complete system has been tested in controlled laboratory conditions with uniform illumination applied to the fruits. As a future work, this system will be tested and improved in conventional outdoor farming conditions.

Shape Memory Alloy-Based Soft Gripper with Variable Stiffness for Compliant and Effective Grasping.

PubMed

Wang, Wei; Ahn, Sung-Hoon

2017-12-01

Soft pneumatic actuators and motor-based mechanisms being concomitant with the cumbersome appendages have many challenges to making the independent robotic system with compact and lightweight configuration. Meanwhile, shape memory actuators have shown a promising alternative solution in many engineering applications ranging from artificial muscle to aerospace industry. However, one of the main limitations of such systems is their inherent softness resulting in a small actuation force, which prevents them from more effective applications. This issue can be solved by combining shape memory actuators and the mechanism of stiffness modulation. As a first, this study describes a shape memory alloy-based soft gripper composed of three identical fingers with variable stiffness for adaptive grasping in low stiffness state and effective holding in high stiffness state. Each finger with two hinges is fabricated through integrating soft composite actuator with stiffness changeable material where each hinge can approximately achieve a 55-fold changeable stiffness independently. Besides, each finger with two hinges can actively achieve multiple postures by both selectively changing the stiffness of hinges and actuating the relevant SMA wire. Based on these principles, the gripper is applicable for grasping objects with deformable shapes and varying shapes with a large range of weight where its maximum grasping force is increased to ∼10 times through integrating with the stiffness changeable mechanism. The final demonstration shows that the finger with desired shape-retained configurations enables the gripper to successfully pick up a frustum-shaped object.

Proceedings of the Meeting of the Coordinating Group on Modern Control Theory (4th) Held at Rochester, Michigan, on 27-28 October 1982. Part II,

DTIC Science & Technology

1983-01-01

DCUMNTATON AGEREAD INSTRUCTIONS ______ REPORT___DOCUMENTATION _____PAGE_ BEFORE COMPLETKNG FORM 1REPORT NUMBER ILGOVT ACCESSION No. 3 . RECIPIENT’S...Herbert E. Cohen) control 0900 - Endgame Performance Study of a Special Class of Interceptors by Dr. Jonathan Korn ALPHATECH, Inc. 3 New England Executive...tactile/force feedback sensor applications. 3 L i7 TYPICAL GRIPPER FACE (NOT IN GRIPPER B3OLTS 00 BASE SLIP Nm mSENSORS "o 0 TORQUE, GRIP 0 fie d e

Spline-Screw Multiple-Rotation Mechanism

NASA Technical Reports Server (NTRS)

Vranish, John M.

1994-01-01

Mechanism functions like combined robotic gripper and nut runner. Spline-screw multiple-rotation mechanism related to spline-screw payload-fastening system described in (GSC-13454). Incorporated as subsystem in alternative version of system. Mechanism functions like combination of robotic gripper and nut runner; provides both secure grip and rotary actuation of other parts of system. Used in system in which no need to make or break electrical connections to payload during robotic installation or removal of payload. More complicated version needed to make and break electrical connections. Mechanism mounted in payload.

A novel in situ device based on a bionic piezoelectric actuator to study tensile and fatigue properties of bulk materials.

PubMed

Wang, Shupeng; Zhang, Zhihui; Ren, Luquan; Zhao, Hongwei; Liang, Yunhong; Zhu, Bing

2014-06-01

In this work, a miniaturized device based on a bionic piezoelectric actuator was developed to investigate the static tensile and dynamic fatigue properties of bulk materials. The device mainly consists of a bionic stepping piezoelectric actuator based on wedge block clamping, a pair of grippers, and a set of precise signal test system. Tensile and fatigue examinations share a set of driving system and a set of signal test system. In situ tensile and fatigue examinations under scanning electron microscope or metallographic microscope could be carried out due to the miniaturized dimensions of the device. The structure and working principle of the device were discussed and the effects of output difference between two piezoelectric stacks on the device were theoretically analyzed. The tensile and fatigue examinations on ordinary copper were carried out using this device and its feasibility was verified through the comparison tests with a commercial tensile examination instrument.

A Demonstrator Intelligent Scheduler For Sensor-Based Robots

NASA Astrophysics Data System (ADS)

Perrotta, Gabriella; Allen, Charles R.; Shepherd, Andrew J.

1987-10-01

The development of an execution module capable of functioning as as on-line supervisor for a robot equipped with a vision sensor and tactile sensing gripper system is described. The on-line module is supported by two off-line software modules which provide a procedural based assembly constraints language to allow the assembly task to be defined. This input is then converted into a normalised and minimised form. The host Robot programming language permits high level motions to be issued at the to level, hence allowing a low programming overhead to the designer, who must describe the assembly sequence. Components are selected for pick and place robot movement, based on information derived from two cameras, one static and the other mounted on the end effector of the robot. The approach taken is multi-path scheduling as described by Fox pi. The system is seen to permit robot assembly in a less constrained parts presentation environment making full use of the sensory detail available on the robot.

A novel in situ device based on a bionic piezoelectric actuator to study tensile and fatigue properties of bulk materials

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

Wang, Shupeng; Zhang, Zhihui, E-mail: zhzh@jlu.edu.cn; Ren, Luquan

2014-06-15

In this work, a miniaturized device based on a bionic piezoelectric actuator was developed to investigate the static tensile and dynamic fatigue properties of bulk materials. The device mainly consists of a bionic stepping piezoelectric actuator based on wedge block clamping, a pair of grippers, and a set of precise signal test system. Tensile and fatigue examinations share a set of driving system and a set of signal test system. In situ tensile and fatigue examinations under scanning electron microscope or metallographic microscope could be carried out due to the miniaturized dimensions of the device. The structure and working principlemore » of the device were discussed and the effects of output difference between two piezoelectric stacks on the device were theoretically analyzed. The tensile and fatigue examinations on ordinary copper were carried out using this device and its feasibility was verified through the comparison tests with a commercial tensile examination instrument.« less

Innovative Electrostatic Adhesion Technologies

NASA Astrophysics Data System (ADS)

Gagliano, L.; Bryan, T.; Williams, S.; McCoy, B.; MacLeod, T.

Developing specialized Electro-Static grippers (commercially used in Semiconductor Manufacturing and in package handling) will allow gentle and secure Capture, Soft Docking, and Handling of a wide variety of materials and shapes (such as upper-stages, satellites, arrays, and possibly asteroids) without requiring physical features or cavities for a pincher or probe or using harpoons or nets. Combined with new rigid boom mechanisms or small agile chaser vehicles, flexible, high speed Electro-Static Grippers can enable compliant capture of spinning objects starting from a safe stand-off distance. Electroadhesion (EA) can enable lightweight, ultra-low-power, compliant attachment in space by using an electrostatic force to adhere similar and dissimilar surfaces. A typical EA enabled device is composed of compliant space-rated materials, such as copper-clad polyimide encapsulated by polymers. Attachment is induced by strong electrostatic forces between any substrate material, such as an exterior satellite panel and a compliant EA surface. When alternate positive and negative charges are induced in adjacent planar electrodes in an EA surface, the electric fields set up opposite charges on the substrate and cause an electrostatic adhesion between the electrodes and the induced charges on the substrate. Since the electrodes and the polymer are compliant and can conform to uneven or rough surfaces, the electrodes can remain intimately close to the entire surface, enabling high clamping pressures. Clamping pressures of more than 3 N/cm2 in shear can be achieved on a variety of substrates with ultra-low holding power consumption (measured values are less than 20 microW/Newton weight held). A single EA surface geometry can be used to clamp both dielectric and conductive substrates, with slightly different physical mechanisms. Furthermore EA clamping requires no normal force be placed on the substrate, as conventional docking requires. Internally funded research and development has demonstrated that EA can function effectively in space, even in the presence of strong ultraviolet radiation, atomic oxygen, and free electrons. We created a test setup in an existing vacuum chamber to simulate low-Earth-orbit conditions. An EA mechanism was fabricated and installed in the chamber, instrumented, operated in a vacuum, and subjected to ultraviolet photons and free electrons generated by an in-chamber multipactor electron emitter. Extensions to EA that can add value include proximity and contact sensing and transverse motion or rotation, both of which could enhance docking or assembly applications. Possible next steps include development of targeted applications for ground investigation or on-orbit subsystem performance demonstrations using low cost access to space such as CubeSats.

A vacuum microgripping tool with integrated vibration releasing capability

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

Rong, Weibin; Fan, Zenghua, E-mail: zenghua-fan@163.com; Wang, Lefeng

2014-08-01

Pick-and-place of micro-objects is a basic task in various micromanipulation demands. Reliable releasing of micro-objects is usually disturbed due to strong scale effects. This paper focuses on a vacuum micro-gripper with vibration releasing functionality, which was designed and assembled for reliable micromanipulation tasks. Accordingly, a vibration releasing strategy of implementing a piezoelectric actuator on the vacuum microgripping tool is presented to address the releasing problem. The releasing mechanism was illustrated using a dynamic micro contact model. This model was developed via theoretical analysis, simulations and pull-off force measurement using atomic force microscopy. Micromanipulation experiments were conducted to verify the performancemore » of the vacuum micro-gripper. The results show that, with the assistance of the vibration releasing, the vacuum microgripping tool can achieve reliable release of micro-objects. A releasing location accuracy of 4.5±0.5 μm and a successful releasing rate of around 100% (which is based on 110 trials) were achieved for manipulating polystyrene microspheres with radius of 35–100 μm.« less

Switchable adhesion for wafer-handling based on dielectric elastomer stack transducers

NASA Astrophysics Data System (ADS)

Grotepaß, T.; Butz, J.; Förster-Zügel, F.; Schlaak, H. F.

2016-04-01

Vacuum grippers are often used for the handling of wafers and small devices. In order to evacuate the gripper, a gas flow is created that can harm the micro structures on the wafer. A promising alternative to vacuum grippers could be adhesive grippers with switchable adhesion. There have been some publications of gecko-inspired adhesive devices. Most of these former works consist of a structured surface which adheres to the object manipulated and an actuator for switching the adhesion. Until now different actuator principles have been investigated, like smart memory alloys and pneumatics. In this work for the first time dielectric elastomer stack transducers (DEST) are combined with a structured surface. DESTs are a promising new transducer technology with many applications in different industry sectors like medical devices, human-machine-interaction and soft robotics. Stacked dielectric elastomer transducers show thickness contraction originating from the electromechanical pressure of two compliant electrodes compressing an elastomeric dielectric when a voltage is applied. Since DESTs and the adhesive surfaces previously described are made of elastomers, it is self-evident to combine both systems in one device. The DESTs are fabricated by a spin coating process. If the flat surface of the spinning carrier is substituted for example by a perforated one, the structured elastomer surface and the DEST can be fabricated in one process. By electrical actuation the DEST contracts and laterally expands which causes the gecko-like cilia to adhere on the object to manipulate. This work describes the assembly and the experimental results of such a device using switchable adhesion. It is intended to be used for the handling of glass wafers.

Flexible Electrostatic Technologies for Capture and Handling, Phase 1

NASA Technical Reports Server (NTRS)

Bryan, Thomas

2015-01-01

Fundamental to many of NASA's in-space transportation missions is the capture and handling of various objects and vehicles in various orbits for servicing, debris disposal, sample retrieval, and assembly without the benefit of sufficient grapple fixtures and docking ports. To perform similar material handling tasks on Earth, pincher grippers, suction grippers, or magnetic chucks are used, but are unable to reliably grip aluminum and composite spacecraft, insulation, radiators, solar arrays, or extra-terrestrial objects in the vacuum of outer space without dedicated handles in the right places. The electronic Flexible Electrostatic Technologies for space Capture and Handling (FETCH) will enable reliable and compliant gripping (soft dock) of practically any object in various orbits or surfaces without dedicated mechanical features, very low impact capture, and built-in proximity sensing without any conventional actuators. Originally developed to handle semiconductor and glass wafers during vacuum chamber processing without contamination, the normal rigid wafer handling chucks are replaced with thin metal foil segments laminated in flexible insulation driven by commercial off-the-shelf solid state, high-voltage power supplies. Preliminary testing in NASA Marshall Space Flight Center's (MSFC's) Flat Floor Robotics Lab demonstrated compliant alignment and gripping with a full-sized, 150-lb microsat mockup and translation before a clean release with a flip of a switch. The flexible electrostatic gripper pads can be adapted to various space applications with different sizes, shapes, and foil electrode layouts even with openings through the gripper pads for addition of guidance sensors or injection of permanent adhesives. With gripping forces estimated between 0.5 and 2.5 lb/in2 or 70-300 lb/ft2 of surface contact, the FETCH can turn on and off rapidly and repeatedly to enable sample handling, soft docking, in-space assembly, precision relocation, and surface translation for accurate anchoring.

Development of a bio-inspired UAV perching system

NASA Astrophysics Data System (ADS)

Xie, Pu

Although technologies of unmanned aerial vehicles (UAVs) including micro air vehicles (MAVs) have been greatly advanced in the recent years, it is still very difficult for a UAV to perform some very challenging tasks such as perching to any desired spot reliably and agilely like a bird. Unlike the UAVs, the biological control mechanism of birds has been optimized through millions of year evolution and hence, they can perform many extremely maneuverability tasks, such as perching or grasping accurately and robustly. Therefore, we have good reason to learn from the nature in order to significantly improve the capabilities of UAVs. The development of a UAV perching system is becoming feasible, especially after a lot of research contributions in ornithology which involve the analysis of the bird's functionalities. Meanwhile, as technology advances in many engineering fields, such as airframes, propulsion, sensors, batteries, micro-electromechanical-system (MEMS), and UAV technology is also advancing rapidly. All of these research efforts in ornithology and the fast growing development technologies in UAV applications are motivating further interests and development in the area of UAV perching and grasping research. During the last decade, the research contributions about UAV perching and grasping were mainly based on fixed-wing, flapping-wing, and rotorcraft UAVs. However, most of the current researches in UAV systems with perching and grasping capability are focusing on either active (powered) grasping and perching or passive (unpowered) perching. Although birds do have both active and passive perching capabilities depending on their needs, there is no UAV perching system with both capabilities. In this project, we focused on filling this gap. Inspired by the anatomy analysis of bird legs and feet, a novel perching system has been developed to implement the bionics action for both active grasping and passive perching. In addition, for developing a robust and autonomous perching system, the following objectives were included for this project. The statics model was derived through both quasi-static and analytical method. The grasping stable condition and grasping target of the mechanical gripper were studied through the static analysis. Furthermore, the contact behavior between each foot and the perched object was modeled and evaluated on SimMechanics based on the contact force model derived through virtual principle. The kinematics modeling of UAV perching system was governed with Euler angles and quaternions. Also the propulsion model of the brushless motors was introduced and calibrated. In addition, the flight dynamics model of the UAV system was developed for simulation-based analysis prior to developing a hardware prototype and flight experiment. A special inertial measurement unit (IMU) was designed which has the capability of indirectly calculating the angular acceleration from the angular velocity and the linear acceleration readings. Moreover, a commercial-of-the-shelf (COTS) autopilot-APM 2.6 was selected for the autonomous flight control of the quadrotor. The APM 2.6 is a complete open source autopilot system, which allows the user to turn any fixed, rotary wing or multi-rotor vehicle into a fully autonomous vehicle and capable of performing programmed GPS missions with pre-programed waypoints. In addition, algorithms for inverted pendulum control and autonomous perching control was introduced. The proportion-integrate-differential (PID) controller was used for the simplified UAV perching with inverted pendulum model for horizontal balance. The performance of the controller was verified through both simulation and experiment. In addition, for the purpose of achieving the autonomous perching, guidance and control algorithms were developed the UAV perching system. For guidance, the desired flight trajectory was developed based on a bio-behavioral tau theory which was established from studying the natural motion patterns of animals and human arms approaching to a fixed or moving target for grasping or capturing. The autonomous flight control was also implemented through a PID controller. Autonomous flight performance was proved through simulation in SimMechanics. Finally, the prototyping of our designs were conducted in different generations of our bio-inspired UAV perching system, which include the leg prototype, gripper prototype, and system prototype. Both the machined prototype and 3D printed prototype were tried. The performance of these prototypes was tested through experiments.

Microspine Gripping Mechanism for Asteroid Capture

NASA Technical Reports Server (NTRS)

Merriam, Ezekiel G.; Berg, Andrew B.; Willig, Andrew; Parness, Aaron; Frey, Tim; Howell, Larry L.

2016-01-01

This paper details the development and early testing of a compliant suspension for a microspine gripper device for asteroid capture or micro-gravity percussive drilling. The microspine gripper architecture is reviewed, and a proposed microspine suspension design is presented and discussed. Prototyping methods are discussed, as well as testing methods and results. A path forward is identified from the results of the testing completed thus far. Key findings include: the microspine concept has been established as a valid architecture and the compliant suspension exhibits the desired stiffness characteristics for good gripping behavior. These developments will aid in developing the capability to grasp irregularly shaped boulders in micro-gravity.

3D display for enhanced tele-operation and other applications

NASA Astrophysics Data System (ADS)

Edmondson, Richard; Pezzaniti, J. Larry; Vaden, Justin; Hyatt, Brian; Morris, James; Chenault, David; Bodenhamer, Andrew; Pettijohn, Bradley; Tchon, Joe; Barnidge, Tracy; Kaufman, Seth; Kingston, David; Newell, Scott

2010-04-01

In this paper, we report on the use of a 3D vision field upgrade kit for TALON robot consisting of a replacement flat panel stereoscopic display, and multiple stereo camera systems. An assessment of the system's use for robotic driving, manipulation, and surveillance operations was conducted. A replacement display, replacement mast camera with zoom, auto-focus, and variable convergence, and a replacement gripper camera with fixed focus and zoom comprise the upgrade kit. The stereo mast camera allows for improved driving and situational awareness as well as scene survey. The stereo gripper camera allows for improved manipulation in typical TALON missions.

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.

Design and experimental research of a novel inchworm type piezo-driven rotary actuator with the changeable clamping radius.

PubMed

Zhao, Hongwei; Fu, Lu; Ren, Luquan; Huang, Hu; Fan, Zunqiang; Li, Jianping; Qu, Han

2013-01-01

In this paper, a novel piezo-driven rotary actuator with the changeable clamping radius is developed based on the inchworm principle. This actuator mainly utilizes three piezoelectric actuators, a flexible gripper, a clamping block, and a rotor to achieve large stroke rotation with high resolution. The design process of the flexible gripper consisting of the driving unit and the clamping unit is described. Lever-type mechanisms were used to amplify the micro clamping displacements. The amplifying factor and parasitic displacement of the lever-type mechanism in the clamping unit was analyzed theoretically and experimentally. In order to investigate the rotation characteristics of the actuator, a series of experiments was carried out. Experimental results indicate that the actuator can rotate at a speed of 77,488 μrad/s with a driving frequency of 167 Hz. The rotation resolution and maximum load torque of the actuator are 0.25 μrad and 37 N mm, respectively. The gripper is movable along the z direction based on an elevating platform, and the clamping radius can change from 10.6 mm to 25 mm. Experimental results confirm that the actuator can achieve different rotation speeds by changing the clamping radius.

A simple 5-DOF walking robot for space station application

NASA Technical Reports Server (NTRS)

Brown, H. Benjamin, Jr.; Friedman, Mark B.; Kanade, Takeo

1991-01-01

Robots on the NASA space station have a potential range of applications from assisting astronauts during EVA (extravehicular activity), to replacing astronauts in the performance of simple, dangerous, and tedious tasks; and to performing routine tasks such as inspections of structures and utilities. To provide a vehicle for demonstrating the pertinent technologies, a simple robot is being developed for locomotion and basic manipulation on the proposed space station. In addition to the robot, an experimental testbed was developed, including a 1/3 scale (1.67 meter modules) truss and a gravity compensation system to simulate a zero-gravity environment. The robot comprises two flexible links connected by a rotary joint, with a 2 degree of freedom wrist joints and grippers at each end. The grippers screw into threaded holes in the nodes of the space station truss, and enable it to walk by alternately shifting the base of support from one foot (gripper) to the other. Present efforts are focused on mechanical design, application of sensors, and development of control algorithms for lightweight, flexible structures. Long-range research will emphasize development of human interfaces to permit a range of control modes from teleoperated to semiautonomous, and coordination of robot/astronaut and multiple-robot teams.

Simulation study of the ROMPS robot control system

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Liu, HUI-I.

1994-01-01

This is a report presenting the progress of a research grant funded by NASA for work performed from June 1, 1993 to August 1, 1993. The report deals with the Robot Operated Material Processing System (ROMPS). It presents results of a computer simulation study conducted to investigate the performance of the control systems controlling the azimuth, elevation, and radial axes of the ROMPS and its gripper. Four study cases are conducted. The first case investigates the control of free motion of the three areas. In the second case, the compliant motion in the elevation axis with the wrist compliant device is studied in terms of position accuracy and impact forces. The third case focuses on the behavior of the control system in controlling the robot motion along the radial axis when pulling the pallet out of the rack. In the fourth case, the compliant motion of the gripper grasping a solid object under the effect of the gripper passive compliance is studied in terms of position accuracy and contact forces. For each of the above cases, a set of PIR gains will be selected to optimize the controller performance and computer simulation results will be presented and discussed.

Development of novel hybrid flexure-based microgrippers for precision micro-object manipulation.

PubMed

Mohd Zubir, Mohd Nashrul; Shirinzadeh, Bijan; Tian, Yanling

2009-06-01

This paper describes the process of developing a microgripper that is capable of high precision and fidelity manipulation of micro-objects. The design adopts the concept of flexure-based hinges on its joints to provide the rotational motion, thus eliminating the inherent nonlinearities associated with the application of conventional rigid hinges. A combination of two modeling techniques, namely, pseudorigid body model and finite element analysis was utilized to expedite the prototyping procedure, which leads to the establishment of a high performance mechanism. A new hybrid compliant structure integrating cantilever beam and flexural hinge configurations within microgripper mechanism mainframe has been developed. This concept provides a novel approach to harness the advantages within each individual configuration while mutually compensating the limitations inherent between them. A wire electrodischarge machining technique was utilized to fabricate the gripper out of high grade aluminum alloy (Al 7075T6). Experimental studies were conducted on the model to obtain various correlations governing the gripper performance as well as for model verification. The experimental results demonstrate high level of compliance in comparison to the computational results. A high amplification characteristic and maximum achievable stroke of 100 microm can be achieved.

Development of novel hybrid flexure-based microgrippers for precision micro-object manipulation

NASA Astrophysics Data System (ADS)

Mohd Zubir, Mohd Nashrul; Shirinzadeh, Bijan; Tian, Yanling

2009-06-01

This paper describes the process of developing a microgripper that is capable of high precision and fidelity manipulation of micro-objects. The design adopts the concept of flexure-based hinges on its joints to provide the rotational motion, thus eliminating the inherent nonlinearities associated with the application of conventional rigid hinges. A combination of two modeling techniques, namely, pseudorigid body model and finite element analysis was utilized to expedite the prototyping procedure, which leads to the establishment of a high performance mechanism. A new hybrid compliant structure integrating cantilever beam and flexural hinge configurations within microgripper mechanism mainframe has been developed. This concept provides a novel approach to harness the advantages within each individual configuration while mutually compensating the limitations inherent between them. A wire electrodischarge machining technique was utilized to fabricate the gripper out of high grade aluminum alloy (Al 7075T6). Experimental studies were conducted on the model to obtain various correlations governing the gripper performance as well as for model verification. The experimental results demonstrate high level of compliance in comparison to the computational results. A high amplification characteristic and maximum achievable stroke of 100 μm can be achieved.

Soft Robotic Grippers for Biological Sampling on Deep Reefs.

PubMed

Galloway, Kevin C; Becker, Kaitlyn P; Phillips, Brennan; Kirby, Jordan; Licht, Stephen; Tchernov, Dan; Wood, Robert J; Gruber, David F

2016-03-01

This article presents the development of an underwater gripper that utilizes soft robotics technology to delicately manipulate and sample fragile species on the deep reef. Existing solutions for deep sea robotic manipulation have historically been driven by the oil industry, resulting in destructive interactions with undersea life. Soft material robotics relies on compliant materials that are inherently impedance matched to natural environments and to soft or fragile organisms. We demonstrate design principles for soft robot end effectors, bench-top characterization of their grasping performance, and conclude by describing in situ testing at mesophotic depths. The result is the first use of soft robotics in the deep sea for the nondestructive sampling of benthic fauna.

Soft Robotic Grippers for Biological Sampling on Deep Reefs

PubMed Central

Galloway, Kevin C.; Becker, Kaitlyn P.; Phillips, Brennan; Kirby, Jordan; Licht, Stephen; Tchernov, Dan; Gruber, David F.

2016-01-01

Abstract This article presents the development of an underwater gripper that utilizes soft robotics technology to delicately manipulate and sample fragile species on the deep reef. Existing solutions for deep sea robotic manipulation have historically been driven by the oil industry, resulting in destructive interactions with undersea life. Soft material robotics relies on compliant materials that are inherently impedance matched to natural environments and to soft or fragile organisms. We demonstrate design principles for soft robot end effectors, bench-top characterization of their grasping performance, and conclude by describing in situ testing at mesophotic depths. The result is the first use of soft robotics in the deep sea for the nondestructive sampling of benthic fauna. PMID:27625917

Self-Folded Gripper-Like Architectures from Stimuli-Responsive Bilayers.

PubMed

Abdullah, Arif M; Li, Xiuling; Braun, Paul V; Rogers, John A; Hsia, K Jimmy

2018-06-19

Self-folding microgrippers are an emerging class of smart structures that have widespread applications in medicine and micro/nanomanipulation. To achieve their functionalities, these architectures rely on spatially patterned hinges to transform into 3D configurations in response to an external stimulus. Incorporating hinges into the devices requires the processing of multiple layers which eventually increases the fabrication costs and actuation complexities. The goal of this work is to demonstrate that it is possible to achieve gripper-like configurations in an on-demand manner from simple planar bilayers that do not require hinges for their actuation. Finite element modeling of bilayers is performed to understand the mechanics behind their stimuli-responsive shape transformation behavior. The model predictions are then experimentally validated and axisymmetric gripper-like shapes are realized using millimeter-scale poly(dimethylsiloxane) bilayers that undergo differential swelling in organic solvents. Owing to the nature of the computational scheme which is independent of length scales and material properties, the guidelines reported here would be applicable to a diverse array of gripping systems and functional devices. Thus, this work not only demonstrates a simple route to fabricate functional microgrippers but also contributes to self-assembly in general. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Fabrication and characterization of an SU-8 gripper actuated by a shape memory alloy thin film

NASA Astrophysics Data System (ADS)

Roch, I.; Bidaud, Ph; Collard, D.; Buchaillot, L.

2003-03-01

In this paper, we present the fabrication process of a shape memory alloy (SMA) thin film in both monolithic and hybrid configurations. This provides an effective actuation part for a gripper made of SU-8 thick photoresist. We also extensively describe and discuss the assembly of the SMA thin film with the SU-8 mechanism. Measurements show that the SU-8 gripper is able to achieve an opening action of 500 mum in amplitude at a frequency of 1 Hz. Finite element model simulations indicate that a force of 50 mN, corresponding to 400 mum of opening amplitude, should be produced by the SMA actuator. Although the assembly of the TiNi SMA thin film with the SU-8 mechanism is demonstrated, the bond reliability needs further development in order to improve the thermal behavior of the interface. In this paper, we show that SU-8 is well suited as a structural material for microelectromechanical systems (MEMS) applications. An attractive feature in the MEMS design is that the SMA generated force is well matched with the elastic properties of SU-8. From the application point of view, a SMA-actuated SU-8 high-aspect-ratio microgripper can serve as a secure means to transport microelectronics device, because it provides good grasping and safe insulation. This is also a preliminary result for the future development of biogrippers.

Hazardous materials emergency response mobile robot

NASA Technical Reports Server (NTRS)

Stone, Henry W. (Inventor); Lloyd, James (Inventor); Alahuzos, George (Inventor)

1992-01-01

A simple or unsophisticated robot incapable of effecting straight-line motion at the end of its arm inserts a key held in its end effector or hand into a door lock with nearly straight-line motion by gently thrusting its back heels downwardly so that it pivots forwardly on its front toes while holding its arm stationary. The relatively slight arc traveled by the robot's hand is compensated by a complaint tool with which the robot hand grips the door key. A visible beam is projected through the axis of the hand or gripper on the robot arm end at an angle to the general direction in which the robot thrusts the gripper forward. As the robot hand approaches a target surface, a video camera on the robot wrist watches the beam spot on the target surface fall from a height proportional to the distance between the robot hand and the target surface until the beam spot is nearly aligned with the top of the robot hand. Holes in the front face of the hand are connected through internal passages inside the arm to an on-board chemical sensor. Full rotation of the hand or gripper about the robot arm's wrist is made possible by slip rings in the wrist which permit passage of the gases taken in through the nose holes in the front of the hand through the wrist regardless of the rotational orientation of the wrist.

Optimal design of a microgripper-type actuator based on AlN/Si heterogeneous bimorph

NASA Astrophysics Data System (ADS)

Ruiz, D.; Díaz-Molina, A.; Sigmund, O.; Donoso, A.; Bellido, J. C.; Sánchez-Rojas, J. L.

2017-05-01

This work presents a systematic procedure to design piezoelectrically actuated microgrippers. Topology optimization combined with optimal design of electrodes is used to maximize the displacement at the output port of the gripper. The fabrication at the microscale leads us to overcome an important issue: the difficulty of placing a piezoelectric film on both top and bottom of the host layer. Due to the non-symmetric lamination of the structure, an out-of-plane bending spoils the behaviour of the gripper. Suppression of this out-of-plane deformation is the main novelty introduced. In addition, a robust formulation approach is used in order to control the length scale in the whole domain and to reduce sensitivity of the designs to small manufacturing errors.

Optical Gripper

NASA Astrophysics Data System (ADS)

Jalba, C. K.; Muminovic, A.; Epple, S.; Barz, C.; Nasui, V.

2017-05-01

With increasing automation, many work processes become more and more complex. Most technical products can no longer be developed and manufactured by a single department. They are often the product of different divisions and require cooperation from different specialist areas. For example, in the Western world, a simple coffee maker is no longer so much in demand. If the buyer has the possibility to choose between a simple coffee maker and a coffee machine with very complex functions, the choice will probably fall to the more complex variant. Technical progress also applies to other technical products, such as grippers and manipulators. In this paper, it is shown how grasping processes can be redefined and developed with interdisciplinary technical approaches. Both conventional and latest developments in mechanical engineering, production technology, mechatronics and sensor technology will be considered.

Force Sensing Resistor (FSR): a brief overview and the low-cost sensor for active compliance control

NASA Astrophysics Data System (ADS)

Sadun, A. S.; Jalani, J.; Sukor, J. A.

2016-07-01

Force Sensing Resistors (FSR) sensors are devices that allow measuring static and dynamic forces applied to a contact surface. Their range of responses is basically depending on the variation of its electric resistance. In general, Flexiforce and Interlink are two common types of FSR sensors that are available, cheap and easily found in the market. Studies have shown that the FSR sensors are usually applied for robotic grippers and for biomechanical fields. This paper provides a brief overview of the application of the FSR sensors. Subsequently, two different set of experiments are carried out to test the effectiveness of the Flexiforce and Interlink sensors. First, the hardness detector system (Case Study A) and second, the force-position control system (Case Study B). The hardware used for the experiment was developed from low-cost materials. The results revealed that both FSR sensors are sufficient and reliable to provide a good sensing modality particularly for measuring force. Apart from the low-cost sensors, essentially, the FSR sensors are very useful devices that able to provide a good active compliance control, particularly for the grasping robotic hand.

3D vision upgrade kit for TALON robot

NASA Astrophysics Data System (ADS)

Edmondson, Richard; Vaden, Justin; Hyatt, Brian; Morris, James; Pezzaniti, J. Larry; Chenault, David B.; Tchon, Joe; Barnidge, Tracy; Kaufman, Seth; Pettijohn, Brad

2010-04-01

In this paper, we report on the development of a 3D vision field upgrade kit for TALON robot consisting of a replacement flat panel stereoscopic display, and multiple stereo camera systems. An assessment of the system's use for robotic driving, manipulation, and surveillance operations was conducted. The 3D vision system was integrated onto a TALON IV Robot and Operator Control Unit (OCU) such that stock components could be electrically disconnected and removed, and upgrade components coupled directly to the mounting and electrical connections. A replacement display, replacement mast camera with zoom, auto-focus, and variable convergence, and a replacement gripper camera with fixed focus and zoom comprise the upgrade kit. The stereo mast camera allows for improved driving and situational awareness as well as scene survey. The stereo gripper camera allows for improved manipulation in typical TALON missions.

Hazardous materials emergency response mobile robot

NASA Technical Reports Server (NTRS)

Stone, Henry W. (Inventor); Lloyd, James W. (Inventor); Alahuzos, George A. (Inventor)

1995-01-01

A simple or unsophisticated robot incapable of effecting straight-line motion at the end of its arm is presented. This robot inserts a key held in its end effector or hand into a door lock with nearly straight-line motion by gently thrusting its back heels downwardly so that it pivots forwardly on its front toes while holding its arm stationary. The relatively slight arc traveled by the robot's hand is compensated by a complaint tool with which the robot hand grips the door key. A visible beam is projected through the axis of the hand or gripper on the robot arm end at an angle to the general direction in which the robot thrusts the gripper forward. As the robot hand approaches a target surface, a video camera on the robot wrist watches the beam spot on the target surface fall from a height proportional to the distance between the robot hand and the target surface until the beam spot is nearly aligned with the top of the robot hand. Holes in the front face of the hand are connected through internal passages inside the arm to an on-board chemical sensor. Full rotation of the hand or gripper about the robot arm's wrist is made possible by slip rings in the wrist which permit passage of the gases taken in through the nose holes in the front of the hand through the wrist regardless of the rotational orientation of the wrist.

Metal muscles and nerves—a self-sensing SMA-actuated hand concept

NASA Astrophysics Data System (ADS)

Simone, F.; Rizzello, G.; Seelecke, S.

2017-09-01

Bio-inspired hand-like grippers actuated by Shape Memory Alloy (SMA) wires represent an emerging new technology with potential applications in many different fields, ranging from industrial assembly processes to biomedical systems. The inherently high energy density makes SMAs a natural choice for compact, lightweight, and silent actuator systems capable of producing a high amount of work, such as hand prostheses or robotic systems in industrial human/machine environments. In this work, a concept for a compact and versatile gripping system is developed, in which SMA wires are implemented as antagonistic muscles actuating an artificial hand with three fingers. In order to combine high gripping force with sufficient actuation speed, the muscle implementation pursues a multi-wire concept with several 0.1 mm diameter NiTi wires connected in parallel, in order to increase the surface-to-volume ratio for accelerated cooling. The paper starts with an illustration of the design concept of an individual 3-phalanx-finger, along with kinematic considerations for optimal placement of SMA wires. Three identical fingers are subsequently fabricated via 3D printing and assembled into a hand-like gripper. The maximum displacement of each finger phalanx is measured, and an average phalanxes dynamic responsiveness is evaluated. SMA self-sensing is documented by experiments relating the wires change in resistance to the finger motion. Several finger force measurements are also performed. The versatility of the gripper is finally documented by displaying a variety of achievable grasping configurations.

Universal robotic gripper based on the jamming of granular material

PubMed Central

Brown, Eric; Rodenberg, Nicholas; Amend, John; Mozeika, Annan; Steltz, Erik; Zakin, Mitchell R.; Lipson, Hod; Jaeger, Heinrich M.

2010-01-01

Gripping and holding of objects are key tasks for robotic manipulators. The development of universal grippers able to pick up unfamiliar objects of widely varying shape and surface properties remains, however, challenging. Most current designs are based on the multifingered hand, but this approach introduces hardware and software complexities. These include large numbers of controllable joints, the need for force sensing if objects are to be handled securely without crushing them, and the computational overhead to decide how much stress each finger should apply and where. Here we demonstrate a completely different approach to a universal gripper. Individual fingers are replaced by a single mass of granular material that, when pressed onto a target object, flows around it and conforms to its shape. Upon application of a vacuum the granular material contracts and hardens quickly to pinch and hold the object without requiring sensory feedback. We find that volume changes of less than 0.5% suffice to grip objects reliably and hold them with forces exceeding many times their weight. We show that the operating principle is the ability of granular materials to transition between an unjammed, deformable state and a jammed state with solid-like rigidity. We delineate three separate mechanisms, friction, suction, and interlocking, that contribute to the gripping force. Using a simple model we relate each of them to the mechanical strength of the jammed state. This advance opens up new possibilities for the design of simple, yet highly adaptive systems that excel at fast gripping of complex objects.

Flexible Electrostatic Technology for Capture and Handling Project

NASA Technical Reports Server (NTRS)

Keys, Andrew; Bryan, Tom; Horwitz, Chris; Rakoczy, John; Waggoner, Jason

2015-01-01

To NASA unfunded & planned missions: This new capability to sense proximity, flexibly align to, and attractively grip and capture practically any object in space without any pre-designed physical features or added sensors or actuators will enable or enhance many of MSFC's strategic emphasis areas in space transportation, and space systems such as: 1. A Flexible Electrostatic gripper can enable the capture, gripping and releasing of an extraterrestrial sample of different minerals or a sample canister (metallic or composite) without requiring a handle or grapple fixture.(B) 2. Flexible self-aligning in-space capture/soft docking or berthing of ISS resupply vehicles, pressurized modules, or nodes for in-space assembly and shielding, radiator, and solar Array deployment for space habitats (C) 3. The flexible electrostatic gripper when combined with a simple steerable extendible boom can grip, position, and release objects of various shapes and materials with low mass and power without any prior handles or physical accommodations or surface contamination for ISS experiment experiments and in-situ repair.(F)(G) 4. The Dexterous Docking concept previously proposed to allow simple commercial resupply ships to station-keep and capture either ISS or an Exploration vehicle for supply or fluid transfer lacked a self-sensing, compliant, soft capture gripper like FETCH that could retract and attach to a CBM. (I) 5. To enable a soft capture and de-orbit of a piece of orbital debris will require self-aligning gripping and holding an object wherever possible (thermal coverings or shields of various materials, radiators, solar arrays, antenna dishes) with little or no residual power while adding either drag or active low level thrust.(K) 6. With the scalability of the FETCH technology, small satellites can be captured and handled or can incorporate FETCH gripper to dock to and handle other small vehicles and larger objects for de-orbiting or mitigating Orbital debris (L) 7. Many of previous MSFC and NASA proposals or concepts can now be realized or simplified by the development of the this initial and future FETCH grippers including commercial resupply, Exploration vehicle assembly, Satellite servicing, and orbital debris removal since a major part of these missions is to align to and capture some handle. Completed Project (2013 - 2014) Flexible Electrostatic Technology for Capture & Handling Project Center Innovation Fund: MSFC CIF Program | Space Technology Mission Directorate (STMD) For more information visit techport.nasa.gov Some NASA technology projects are smaller (for example SBIR/STTR, NIAC and Center Innovation Fund), and will have less content than other, larger projects. Newly created projects may not sensors or injection of permanent adhesives. With gripping forces estimated between 0.5 and 2.5 pounds per square inch or 70-300 lb./sq. ft. of surface contact, the FETCH can turn-on and turn-off rapidly and repeatedly to enable sample handling, soft docking, in-space assembly, and precision relocation for accurate anchor adhesion.

Development of an Automated Airfield Dynamic Cone Penetrometer (AADCP) Prototype and the Evaluation of Unsurfaced Airfield Seismic Surveying Using Spectral Analysis of Surface Waves (SSW) Technology.

DTIC Science & Technology

1993-12-01

mnwwrowl «rlpl« Flar* Ijrp«. Longth 8.3 ft V« lgbt 1 lb. Signal Duration 7 soo. Figure 2.21 Aerial Penetrometer (Molineux 1955) 58 springs, for...Preliminary testing showed that the penetration rod which carried the weight of the piston apparatus did not move. The movement came from the air piston...inclined gripper teeth set inside a narrow barrel that allowed penetration in one direction but locked tight against the rod if movement occurred in

Quantifying the bending of bilayer temperature-sensitive hydrogels

NASA Astrophysics Data System (ADS)

Dong, Chenling; Chen, Bin

2017-04-01

Stimuli-responsive hydrogels can serve as manipulators, including grippers, sensors, etc., where structures can undergo significant bending. Here, a finite-deformation theory is developed to quantify the evolution of the curvature of bilayer temperature-sensitive hydrogels when subjected to a temperature change. Analysis of the theory indicates that there is an optimal thickness ratio to acquire the largest curvature in the bilayer and also suggests that the sign or the magnitude of the curvature can be significantly affected by pre-stretches or small pores in the bilayer. This study may provide important guidelines in fabricating temperature-responsive bilayers with desirable mechanical performance.

Sensory Interactive Teleoperator Robotic Grasping

NASA Technical Reports Server (NTRS)

Alark, Keli; Lumia, Ron

1997-01-01

As the technological world strives for efficiency, the need for economical equipment that increases operator proficiency in minimal time is fundamental. This system links a CCD camera, a controller and a robotic arm to a computer vision system to provide an alternative method of image analysis. The machine vision system which was employed possesses software tools for acquiring and analyzing images which are received through a CCD camera. After feature extraction on the object in the image was performed, information about the object's location, orientation and distance from the robotic gripper is sent to the robot controller so that the robot can manipulate the object.

Snap-in compressible biomedical electrode

NASA Technical Reports Server (NTRS)

Frost, J. D., Jr.; Hillman, C. E., Jr. (Inventor)

1977-01-01

A replaceable, prefilled electrode enclosed in a plastic seal and suitably adapted for attachment to a reusable, washable cap having snaps thereon is disclosed. The apparatus is particularly adapted for quick positioning of electrodes to obtain an EEG. The individual electrodes are formed of a sponge body which is filled with a conductive electrolyte gel during manufacture. The sponge body is adjacent to a base formed of a conductive plastic material. The base has at its center a male gripper snap. The cap locates the female snap to enable the electrode to be positioned. The electrode can be stored and used quickly by attaching to the female gripper snap. The snap is correctly positioned and located by mounting it in a stretchable cap. The cap is reusable with new electrodes for each use. The electrolyte gel serves as the contact electrode to achieve a good ohmic contact with the scalp.

Enhanced operator perception through 3D vision and haptic feedback

NASA Astrophysics Data System (ADS)

Edmondson, Richard; Light, Kenneth; Bodenhamer, Andrew; Bosscher, Paul; Wilkinson, Loren

2012-06-01

Polaris Sensor Technologies (PST) has developed a stereo vision upgrade kit for TALON® robot systems comprised of a replacement gripper camera and a replacement mast zoom camera on the robot, and a replacement display in the Operator Control Unit (OCU). Harris Corporation has developed a haptic manipulation upgrade for TALON® robot systems comprised of a replacement arm and gripper and an OCU that provides haptic (force) feedback. PST and Harris have recently collaborated to integrate the 3D vision system with the haptic manipulation system. In multiple studies done at Fort Leonard Wood, Missouri it has been shown that 3D vision and haptics provide more intuitive perception of complicated scenery and improved robot arm control, allowing for improved mission performance and the potential for reduced time on target. This paper discusses the potential benefits of these enhancements to robotic systems used for the domestic homeland security mission.

Bioinspired Robotic Fingers Based on Pneumatic Actuator and 3D Printing of Smart Material.

PubMed

Yang, Yang; Chen, Yonghua; Li, Yingtian; Chen, Michael Z Q; Wei, Ying

2017-06-01

In this article, we have proposed a novel robotic finger design principle aimed to address two challenges in soft pneumatic grippers-the controllability of the stiffness and the controllability of the bending position. The proposed finger design is composed of a 3D printed multimaterial substrate and a soft pneumatic actuator. The substrate has four polylactic acid (PLA) segments interlocked with three shape memory polymer (SMP) joints, inspired by bones and joints in human fingers. By controlling the thermal energy of an SMP joint, the stiffness of the joints is modulated due to the dramatic change in SMP elastic modulus around its glass transition temperature (T g ). When SMP joints are heated above T g , they exhibit very small stiffness, allowing the finger to easily bend around the SMP joints if the attached soft actuator is actuated. When there is no force from the soft actuator, shape recovery stress in SMP contributes to the finger's shape restoration. Since each joint's rotation can be individually controlled, the position control of the finger is made possible. Experimental analysis has been conducted to show the finger's variable stiffness and the result is compared with the analytical values. It is found that the stiffness ratio can be 24.9 times for a joint at room temperature (20°C) and at an elevated temperature of 60°C when air pressure p of the soft actuator is turned off. Finally, a gripper composed of two fingers is fabricated for demonstration.

Robotic System For Greenhouse Or Nursery

NASA Technical Reports Server (NTRS)

Gill, Paul; Montgomery, Jim; Silver, John; Heffelfinger, Neil; Simonton, Ward; Pease, Jim

1993-01-01

Report presents additional information about robotic system described in "Robotic Gripper With Force Control And Optical Sensors" (MFS-28537). "Flexible Agricultural Robotics Manipulator System" (FARMS) serves as prototype of robotic systems intended to enhance productivities of agricultural assembly-line-type facilities in large commercial greenhouses and nurseries.

The M68HC11 gripper controller electronics

NASA Technical Reports Server (NTRS)

Kelley, Robert B.; Bethel, Jeffrey

1991-01-01

This document describes the instrumentation, operational theory, circuit implementation, calibration procedures, and general notes for the CIRSSE general purpose pneumatic hand. The mechanical design and the control software are discussed. The circuit design, PCB layout, hand instrumentation, and controller construction described in detail in this document are the result of a senior project.

A novel algorithm for fast grasping of unknown objects using C-shape configuration

NASA Astrophysics Data System (ADS)

Lei, Qujiang; Chen, Guangming; Meijer, Jonathan; Wisse, Martijn

2018-02-01

Increasing grasping efficiency is very important for the robots to grasp unknown objects especially subjected to unfamiliar environments. To achieve this, a new algorithm is proposed based on the C-shape configuration. Specifically, the geometric model of the used under-actuated gripper is approximated as a C-shape. To obtain an appropriate graspable position, this C-shape configuration is applied to fit geometric model of an unknown object. The geometric model of unknown object is constructed by using a single-view partial point cloud. To examine the algorithm using simulations, a comparison of the commonly used motion planners is made. The motion planner with the highest number of solved runs, lowest computing time and the shortest path length is chosen to execute grasps found by this grasping algorithm. The simulation results demonstrate that excellent grasping efficiency is achieved by adopting our algorithm. To validate this algorithm, experiment tests are carried out using a UR5 robot arm and an under-actuated gripper. The experimental results show that steady grasping actions are obtained. Hence, this research provides a novel algorithm for fast grasping of unknown objects.

Soft Robotics Commercialization: Jamming Grippers from Research to Product

PubMed Central

Cheng, Nadia; Fakhouri, Sami; Culley, Bill

2016-01-01

Abstract Recent work in the growing field of soft robotics has demonstrated a number of very promising technologies. However, to make a significant impact in real-world applications, these new technologies must first transition out of the laboratory through successful commercialization. Commercialization is perhaps the most critical future milestone facing the field of soft robotics today, and this process will reveal whether the apparent impact we now perceive has been appropriately estimated. Since 2012, Empire Robotics has been one of the first companies to attempt to reach this milestone through our efforts to commercialize jamming-based robotic gripper technology in a product called VERSABALL®. However, in spring 2016 we are closing our doors, having not been able to develop a sustainable business around this technology. This article presents some of the key takeaways from the technical side of the commercialization process and lessons learned that may be valuable to others. We hope that sharing this information will provide a frame of reference for technology commercialization that can help others motivate research directions and maximize research impact. PMID:28078197

Integrated Force and Distance Sensing using Elastomer-Embedded Commodity Proximity Sensors.

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

Patel, Radhen; Cox, Rebecca E.; Correll, Nikolaus

We describe a combined proximity, contact and force (PCF) sensor based on a commodity infrared distance sensor embedded in a transparent elastomer with applications in robotic manipulation. Prior to contact, the sensor works as a distance sensor (0{6 cm), whereas after contact the material doubles as a spring, with force proportional to the compression of the elastomer (0{5 N). We describe its principle of operation and design parameters, including polymer thickness, mixing ratio, and emitter current, and show that the sensor response has an in ection point at contact that is independent of an object's surface properties, making it amore » robust detector for contact events. We then demonstrate how arrays of sensors, custom made for a standard Baxter gripper as well as embedded in the nger of the Kinova hand, can be used to (1) improve gripper alignment during grasping, (2) determine contact points with objects, (3) obtain simple 3D models using both proximity and touch, and (4) register point clouds from touch and RGB-D data.« less

Developing a 3-DOF Compliant Perching Arm for a Free-Flying Robot on the International Space Station

NASA Technical Reports Server (NTRS)

Park, In-Won; Smith, Marion F.; Sanchez, Hugo S.; Wong, Sze Wun; Piacenza, Pedro; Ciocarlie, Matei

2017-01-01

This paper presents the design and control of the 3-DOF compliant perching arm for the free-flying Astrobee robots that will operate inside the International Space Station (ISS). The robots are intended to serve as a flexible platform for future guest scientists to use for zero-gravity robotics research - thus, the arm is designed to support manipulation research. It provides a 1-DOF underactuated tendon-driven gripper capable of enveloping a range of objects of different shapes and sizes. Co-located RGB camera and LIDAR sensors provide perception. The Astrobee robots will be capable of grasping each other in flight, to simulate orbital capture scenarios. The arm's end-effector module is swappable on-orbit, allowing guest scientists to add upgraded grippers, or even additional arm degrees of freedom. The design of the arm balances research capabilities with Astrobee's operational need to perch on ISS handrails to reduce power consumption. Basic arm functioning and grip strength were evaluated using an integrated Astrobee prototype riding on a low-friction air bearing.

Enhancement of figural creativity by motor activation: effects of unilateral hand contractions on creativity are moderated by positive schizotypy.

PubMed

Rominger, Christian; Papousek, Ilona; Fink, Andreas; Weiss, Elisabeth M

2014-01-01

Creativity is an important trait necessary to achieve innovations in science, economy, arts and daily life. Therefore, the enhancement of creative performance is a significant field of investigation. A recent experiment showed enhanced verbal creativity after unilateral left-hand contractions, which was attributed to elevated activation of the right hemisphere. The present study aimed to extend these findings to the domain of figural creativity. Furthermore, as creativity and positive schizotypy may share some neurobiological underpinnings associated with the right hemisphere, we studied the potential moderating effect of positive schizotypy on the effects of the experimental modification of relative hemispheric activation on creativity. In a gender-balanced sample (20 men and 20 women), squeezing a hand gripper with the left hand enhanced figural creativity on the Torrance Test of Creative Thinking compared to squeezing the gripper with the right hand. However, this was only true when positive schizotypy was low. The moderating effect of schizotypy may be produced by relatively greater activity of certain parts of the right hemisphere being a shared neuronal correlate of creativity and positive schizotypy.

Rod gripper, changer, and storage system

NASA Technical Reports Server (NTRS)

Benson, Mark; Demi, Todd; Mcneill, Robert; Waldo, Keith; Afghan, Alex; Oliver, Jim

1989-01-01

A rod changer and storage design is presented for the lunar deep drill apparatus to be used in conjunction with the Skitter walking platform. The design must take into account all of the lunar environment and working conditions. Some of these are: (1) the moon has one sixth the gravity of earth; (2) temperature gradients can range from about -170 to 265 C; (3) because of the high transportation costs, the design must be as light as possible; and (4) the process must be remotely operated (from earth or satellite) and must be automated. Because of Skitter's multiple degree of freedom movement, the design will utilize Skitter's movement to locate an implement and transport it from the rack to the drill string. The implement will be gripped by a thumb and two finger device, identified through an electronic sensing device on the thumb, and transported from the rack to the footplate and back from the footplate to the rack. The major designs discussed in this report have been broken down into three major areas: (1) gripper design (linear transport mechanism); (2) indexing system; and (3) rack design.

Mechanics and energetics in tool manufacture and use: a synthetic approach.

PubMed

Wang, Liyu; Brodbeck, Luzius; Iida, Fumiya

2014-11-06

Tool manufacture and use are observed not only in humans but also in other animals such as mammals, birds and insects. Manufactured tools are used for biomechanical functions such as effective control of fluids and small solid objects and extension of reaching. These tools are passive and used with gravity and the animal users' own energy. From the perspective of evolutionary biology, manufactured tools are extended phenotypes of the genes of the animal and exhibit phenotypic plasticity. This incurs energetic cost of manufacture as compared to the case with a fixed tool. This paper studies mechanics and energetics aspects of tool manufacture and use in non-human beings. Firstly, it investigates possible mechanical mechanisms of the use of passive manufactured tools. Secondly, it formulates the energetic cost of manufacture and analyses when phenotypic plasticity benefits an animal tool maker and user. We take a synthetic approach and use a controlled physical model, i.e. a robot arm. The robot is capable of additively manufacturing scoop and gripper structures from thermoplastic adhesives to pick and place fluid and solid objects, mimicking primates and birds manufacturing tools for a similar function. We evaluate the effectiveness of tool use in pick-and-place and explain the mechanism for gripper tools picking up solid objects with a solid-mechanics model. We propose a way to formulate the energetic cost of tool manufacture that includes modes of addition and reshaping, and use it to analyse the case of scoop tools. Experiment results show that with a single motor trajectory, the robot was able to effectively pick and place water, rice grains, a pebble and a plastic box with a scoop tool or gripper tools that were manufactured by itself. They also show that by changing the dimension of scoop tools, the energetic cost of tool manufacture and use could be reduced. The work should also be interesting for engineers to design adaptive machines. © 2014 The Author(s) Published by the Royal Society. All rights reserved.

Mechanics and energetics in tool manufacture and use: a synthetic approach

PubMed Central

Wang, Liyu; Brodbeck, Luzius; Iida, Fumiya

2014-01-01

Tool manufacture and use are observed not only in humans but also in other animals such as mammals, birds and insects. Manufactured tools are used for biomechanical functions such as effective control of fluids and small solid objects and extension of reaching. These tools are passive and used with gravity and the animal users' own energy. From the perspective of evolutionary biology, manufactured tools are extended phenotypes of the genes of the animal and exhibit phenotypic plasticity. This incurs energetic cost of manufacture as compared to the case with a fixed tool. This paper studies mechanics and energetics aspects of tool manufacture and use in non-human beings. Firstly, it investigates possible mechanical mechanisms of the use of passive manufactured tools. Secondly, it formulates the energetic cost of manufacture and analyses when phenotypic plasticity benefits an animal tool maker and user. We take a synthetic approach and use a controlled physical model, i.e. a robot arm. The robot is capable of additively manufacturing scoop and gripper structures from thermoplastic adhesives to pick and place fluid and solid objects, mimicking primates and birds manufacturing tools for a similar function. We evaluate the effectiveness of tool use in pick-and-place and explain the mechanism for gripper tools picking up solid objects with a solid-mechanics model. We propose a way to formulate the energetic cost of tool manufacture that includes modes of addition and reshaping, and use it to analyse the case of scoop tools. Experiment results show that with a single motor trajectory, the robot was able to effectively pick and place water, rice grains, a pebble and a plastic box with a scoop tool or gripper tools that were manufactured by itself. They also show that by changing the dimension of scoop tools, the energetic cost of tool manufacture and use could be reduced. The work should also be interesting for engineers to design adaptive machines. PMID:25209405

Enzyme architecture: deconstruction of the enzyme-activating phosphodianion interactions of orotidine 5'-monophosphate decarboxylase.

PubMed

Goldman, Lawrence M; Amyes, Tina L; Goryanova, Bogdana; Gerlt, John A; Richard, John P

2014-07-16

The mechanism for activation of orotidine 5'-monophosphate decarboxylase (OMPDC) by interactions of side chains from Gln215 and Try217 at a gripper loop and R235, adjacent to this loop, with the phosphodianion of OMP was probed by determining the kinetic parameters k(cat) and K(m) for all combinations of single, double, and triple Q215A, Y217F, and R235A mutations. The 12 kcal/mol intrinsic binding energy of the phosphodianion is shown to be equal to the sum of the binding energies of the side chains of R235 (6 kcal/mol), Q215 (2 kcal/mol), Y217 (2 kcal/mol), and hydrogen bonds to the G234 and R235 backbone amides (2 kcal/mol). Analysis of a triple mutant cube shows small (ca. 1 kcal/mol) interactions between phosphodianion gripper side chains, which are consistent with steric crowding of the side chains around the phosphodianion at wild-type OMPDC. These mutations result in the same change in the activation barrier to the OMPDC-catalyzed reactions of the whole substrate OMP and the substrate pieces (1-β-D-erythrofuranosyl)orotic acid (EO) and phosphite dianion. This shows that the transition states for these reactions are stabilized by similar interactions with the protein catalyst. The 12 kcal/mol intrinsic phosphodianion binding energy of OMP is divided between the 8 kcal/mol of binding energy, which is utilized to drive a thermodynamically unfavorable conformational change of the free enzyme, resulting in an increase in (k(cat))(obs) for OMPDC-catalyzed decarboxylation of OMP, and the 4 kcal/mol of binding energy, which is utilized to stabilize the Michaelis complex, resulting in a decrease in (K(m))(obs).

Bimanual Force Coordination in Children with Spastic Unilateral Cerebral Palsy

ERIC Educational Resources Information Center

Smits-Engelsman, B. C. M.; Klingels, K.; Feys, H.

2011-01-01

In this study bimanual grip-force coordination was quantified using a novel "Gripper" system that records grip forces produced while holding a lower and upper unit, in combination with the lift force necessary to separate these units. Children with unilateral cerebral palsy (CP) (aged 5-14 years, n = 12) were compared to age matched typically…

Analysis and experimental evaluation of a Stewart platform-based force/torque sensor

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Antrazi, Sami S.

1992-01-01

The kinematic analysis and experimentation of a force/torque sensor whose design is based on the mechanism of the Stewart Platform are discussed. Besides being used for measurement of forces/torques, the sensor also serves as a compliant platform which provides passive compliance during a robotic assembly task. It consists of two platforms, the upper compliant platform (UCP) and the lower compliant platform (LCP), coupled together through six spring-loaded pistons whose length variations are measured by six linear voltage differential transformers (LVDT) mounted along the pistons. Solutions to the forward and inverse kinematics of the force sensor are derived. Based on the known spring constant and the piston length changes, forces/torques applied to the LCP gripper are computed using vector algebra. Results of experiments conducted to evaluate the sensing capability of the force sensor are reported and discussed.

Design of Ammunition Gripper for 155-mm Robotic Howitzer

DTIC Science & Technology

1985-03-01

construed as an official Department of the Army position, policy , or decision, unless so designated by other docimientation. The citation in this...ocn-^moocaocouiincD-^rcTXDoinnnru’rin lA- ■♦ fuin—«p-oo^mr--^ T ■^ iD’^ .-4ono>inc»^ o^incwr- cncD ’-^-^.^ocucuoooorucDinmLnf^CJicn ojcnnj^u)t7

Automatic assembly of micro-optical components

NASA Astrophysics Data System (ADS)

Gengenbach, Ulrich K.

1996-12-01

Automatic assembly becomes an important issue as hybrid micro systems enter industrial fabrication. Moving from a laboratory scale production with manual assembly and bonding processes to automatic assembly requires a thorough re- evaluation of the design, the characteristics of the individual components and of the processes involved. Parts supply for automatic operation, sensitive and intelligent grippers adapted to size, surface and material properties of the microcomponents gain importance when the superior sensory and handling skills of a human are to be replaced by a machine. This holds in particular for the automatic assembly of micro-optical components. The paper outlines these issues exemplified at the automatic assembly of a micro-optical duplexer consisting of a micro-optical bench fabricated by the LIGA technique, two spherical lenses, a wavelength filter and an optical fiber. Spherical lenses, wavelength filter and optical fiber are supplied by third party vendors, which raises the question of parts supply for automatic assembly. The bonding processes for these components include press fit and adhesive bonding. The prototype assembly system with all relevant components e.g. handling system, parts supply, grippers and control is described. Results of first automatic assembly tests are presented.

Robot-assisted microsurgical forceps with haptic feedback for transoral laser microsurgery.

PubMed

Deshpande, Nikhil; Chauhan, Manish; Pacchierotti, Claudio; Prattichizzo, Domenico; Caldwell, Darwin G; Mattos, Leonardo S

2016-08-01

In this paper, a novel, motorized, multi-degrees-of-freedom (DoF), microsurgical forceps tool is presented, which is based on a master-slave teleoperation architecture. The slave device is a 7-DoF manipulator with: (i) 6-DoF positioning and orientation, (ii) 1 open/close gripper DoF; and (iii) an integrated force/torque sensor for tissue grip-force measurement. The master device is a 7-DoF haptic interface which teleoperates the slave device, and provides haptic feedback in its gripper interface. The combination of the device and the surgeon interface replaces the manual, hand-held device providing easy-to-use and ergonomic tissue control, simplifying the surgical tasks. This makes the system suitable to real surgical scenarios in the operating room (OR). The performance of the system was analysed through the evaluation of teleoperation control and characterization of gripping force. The new system offers an overall positioning error of less than 400 μm demonstrating its safety and accuracy. Improved system precision, usability, and ergonomics point to the potential suitability of the device for the OR and its ability to advance haptic-feedback-enhanced transoral laser microsurgeries.

Design of a piezoelectric inchworm actuator and compliant end effector for minimally invasive surgery

NASA Astrophysics Data System (ADS)

Canfield, Shawn; Edinger, Ben; Frecker, Mary I.; Koopmann, Gary H.

1999-06-01

Recent advances in robotics, tele-robotics, smart material actuators, and mechatronics raise new possibilities for innovative developments in millimeter-scale robotics capable of manipulating objects only fractions of a millimeter in size. These advances can have a wide range of applications in the biomedical community. A potential application of this technology is in minimally invasive surgery (MIS). The focus of this paper is the development of a single degree of freedom prototype to demonstrate the viability of smart materials, force feedback and compliant mechanisms for minimally invasive surgery. The prototype is a compliant gripper that is 7-mm by 17-mm, made from a single piece of titanium that is designed to function as a needle driver for small scale suturing. A custom designed piezoelectric `inchworm' actuator drives the gripper. The integrated system is computer controlled providing a user interface device capable of force feedback. The design methodology described draws from recent advances in three emerging fields in engineering: design of innovative tools for MIS, design of compliant mechanisms, and design of smart materials and actuators. The focus of this paper is on the design of a millimeter-scale inchworm actuator for use with a compliant end effector in MIS.

Static Analysis Using Abstract Interpretation

NASA Technical Reports Server (NTRS)

Arthaud, Maxime

2017-01-01

Short presentation about static analysis and most particularly abstract interpretation. It starts with a brief explanation on why static analysis is used at NASA. Then, it describes the IKOS (Inference Kernel for Open Static Analyzers) tool chain. Results on NASA projects are shown. Several well known algorithms from the static analysis literature are then explained (such as pointer analyses, memory analyses, weak relational abstract domains, function summarization, etc.). It ends with interesting problems we encountered (such as C++ analysis with exception handling, or the detection of integer overflow).

Sensor tip for a robotic gripper and method of manufacture

NASA Technical Reports Server (NTRS)

Lorenz, Robert D. (Inventor); Jackson, Gregory T. (Inventor)

1991-01-01

A sensor tip (10) for use in a robotic hand has a three-dimensional compliant elastomeric body (12) with an outer boundary (22) having a circular base (24) and a convex surface (26) extending therefrom. Four strain transducers (14, 16, 18, and 20) produce electrical signals indicative of the strain at various positions near the boundary of the elastomeric body (12) resulting from forces exerted upon the sensor tip (10) by an object which the robotic hand is manipulating. The transducers (14, 16, 18, and 20) are positioned about the convex surface (26) so as to produce signals that may be decoupled to determine the normal and tangential forces and the applied torque. A buffer amplifier circuit (34), one for each of the transducers (14, 16, 18, and 20), receives the signals and provides quasi-steady state force information. The circuit (34) connects the respective transducer (40) in a feedback loop around an amplifier (36) and has desirable attributes for static charge buffering. The sensor tip (10) is calibrated to determine proportionality constants for the decoupling algorithm for use of a force delivering system (60), which uses voice coils (74) to apply a force that is linearly related to the current introduced to each of the coils (74). A method of manufacture of the sensor tip (10) results in improved bonding between the transducers (14, 16, 18, and 20) and the elastomeric body (12) for better performance and longer life of the sensor tip (10).

Sensor tip for a robotic gripper and method of manufacture

NASA Technical Reports Server (NTRS)

Lorenz, Robert D. (Inventor); Jackson, Gregory T. (Inventor)

1993-01-01

A sensor tip (10) for use in a robotic hand has a three-dimensional compliant elastomeric body (12) with an outer boundary (22) having a circular base (24) and a convex surface (26) extending therefrom. Four strain transducers (14, 16, 18, and 20) produce electrical signals indicative of the strain at various positions near the boundary of the elastomeric body (12) resulting from forces exerted upon the sensor tip (10) by an object which the robotic hand is manipulating. The transducers (14, 16, 18, and 20) are positioned about the convex surface (26) so as to produce signals that may be decoupled to determine the normal and tangential forces and the applied torque. A buffer amplifier circuit (34), one for each of the transducers (14, 16, 18, and 20), receives the signals and provides quasi-steady state force information. The circuit (34) connects the respective transducer (40) in a feedback loop around an amplifier (36) and has desirable attributes for static charge buffering. The sensor tip (10) is calibrated to determine proportionality constants for the decoupling algorithm for use of a force delivering system (60), which uses voice coils (74) to apply a force that is linearly related to the current introduced to each of the coils (74). A method of manufacture of the sensor tip (10) results in improved bonding between the transducers (14, 16, 18, and 20) and the elastomeric body (12) for better performance and longer life of the sensor tip (10).

Voice/Natural Language Interfacing for Robotic Control.

DTIC Science & Technology

1987-11-01

THIS PAGE REPORT DOCUMENTATION PAGE Is. REPORT SECURITY CLASSIFICATION lb . RESTRICTIVE MARKINGS UNCLASSIFIED 2a. SECURITY CLASSIFICATION AUTHORITY 3...until major computing power can be profitably allocated to the speech recognition process, off-the- shelf units will never have sufficient intelligence to...coordinate transformation for a location, and opening or closing the gripper’s toggles. External to world operations, each joint may be rotated

IKOS: A Framework for Static Analysis based on Abstract Interpretation (Tool Paper)

NASA Technical Reports Server (NTRS)

Brat, Guillaume P.; Laserna, Jorge A.; Shi, Nija; Venet, Arnaud Jean

2014-01-01

The RTCA standard (DO-178C) for developing avionic software and getting certification credits includes an extension (DO-333) that describes how developers can use static analysis in certification. In this paper, we give an overview of the IKOS static analysis framework that helps developing static analyses that are both precise and scalable. IKOS harnesses the power of Abstract Interpretation and makes it accessible to a larger class of static analysis developers by separating concerns such as code parsing, model development, abstract domain management, results management, and analysis strategy. The benefits of the approach is demonstrated by a buffer overflow analysis applied to flight control systems.

Highly Stretchable and UV Curable Elastomers for Digital Light Processing Based 3D Printing.

PubMed

Patel, Dinesh K; Sakhaei, Amir Hosein; Layani, Michael; Zhang, Biao; Ge, Qi; Magdassi, Shlomo

2017-04-01

Stretchable UV-curable (SUV) elastomers can be stretched by up to 1100% and are suitable for digital-light-processing (DLP)-based 3D-printing technology. DLP printing of these SUV elastomers enables the direct creation of highly deformable complex 3D hollow structures such as balloons, soft actuators, grippers, and buckyball electronical switches. © 2017 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Dynamic modeling and Super-Twisting Sliding Mode Control for Tethered Space Robot

NASA Astrophysics Data System (ADS)

Zhao, Yakun; Huang, Panfeng; Zhang, Fan

2018-02-01

Recent years, tethered space capturing systems have been considered as one of the most promising solutions for active space debris removal due to the increasing threat of space debris to spacecraft and astronauts. In this paper, one of the tethered space capturing systems, Tethered Space Robot (TSR), is investigated. TSR includes a space platform, a space tether, and a gripper as the terminal device. Based on the assumptions that the platform and the gripper are point masses and the tether is rigid, inextensible and remaining straight, the dynamic model of TSR is presented, in which the disturbances from space environment is considered. According to the previous study, the in-plane and out-of-plane angles of the tether oscillate periodically although the tether is released to the desired length. A super-twisting adaptive sliding mode control scheme is designed for TSR to eliminate the vibration of the tether to assure a successful capture in station-keeping phase. Both uncontrolled and controlled situations are simulated. The simulation results show that the proposed controller is effective. Additionally, after comparing with normal sliding mode control algorithm, it is verified that the proposed control scheme can avoid the chattering of normal sliding mode control and is robust for unknown boundary perturbations.

Design and implementation of a magnetically suspended microrobotic pick-and-place system

NASA Astrophysics Data System (ADS)

Shameli, Ehsan; Craig, David G.; Khamesee, Mir Behrad

2006-04-01

Micromanipulation is an emerging technology in such diverse areas as precision engineering, microfabrication, and microsurgery. Each of these areas impose certain technological constraints and requirements in fabrication, actuation, and control. This paper performs a review on the latest technologies of microrobotic actuation techniques and suggests a suitable technique for the actuation of a magnetically levitated microrobot. The microrobot, suspended in an externally produced magnetic field, consists of a gripper attached to a series of permanent magnets and is capable of simple pick and place tasks. A number of electromagnets produce the external magnetic field and three laser sensors feedback the position of the levitated microrobot. Through finite element analysis, performance of the levitation system was investigated, and simulations and experiments were carried out to demonstrate the practical capabilities of the proposed system.

Combining Static Analysis and Model Checking for Software Analysis

NASA Technical Reports Server (NTRS)

Brat, Guillaume; Visser, Willem; Clancy, Daniel (Technical Monitor)

2003-01-01

We present an iterative technique in which model checking and static analysis are combined to verify large software systems. The role of the static analysis is to compute partial order information which the model checker uses to reduce the state space. During exploration, the model checker also computes aliasing information that it gives to the static analyzer which can then refine its analysis. The result of this refined analysis is then fed back to the model checker which updates its partial order reduction. At each step of this iterative process, the static analysis computes optimistic information which results in an unsafe reduction of the state space. However we show that the process converges to a fired point at which time the partial order information is safe and the whole state space is explored.

Analysis and design of a six-degree-of-freedom Stewart platform-based robotic wrist

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Antrazi, Sami; Zhou, Zhen-Lei

1991-01-01

The kinematic analysis and implementation of a six degree of freedom robotic wrist which is mounted to a general open-kinetic chain manipulator to serve as a restbed for studying precision robotic assembly in space is discussed. The wrist design is based on the Stewart Platform mechanism and consists mainly of two platforms and six linear actuators driven by DC motors. Position feedback is achieved by linear displacement transducers mounted along the actuators and force feedback is obtained by a 6 degree of freedom force sensor mounted between the gripper and the payload platform. The robot wrist inverse kinematics which computes the required actuator lengths corresponding to Cartesian variables has a closed-form solution. The forward kinematics is solved iteratively using the Newton-Ralphson method which simultaneously provides a modified Jacobian Matrix which relates length velocities to Cartesian translational velocities and time rates of change of roll-pitch-yaw angles. Results of computer simulation conducted to evaluate the efficiency of the forward kinematics and Modified Jacobian Matrix are discussed.

Closed-form Static Analysis with Inertia Relief and Displacement-Dependent Loads Using a MSC/NASTRAN DMAP Alter

NASA Technical Reports Server (NTRS)

Barnett, Alan R.; Widrick, Timothy W.; Ludwiczak, Damian R.

1995-01-01

Solving for the displacements of free-free coupled systems acted upon by static loads is commonly performed throughout the aerospace industry. Many times, these problems are solved using static analysis with inertia relief. This solution technique allows for a free-free static analysis by balancing the applied loads with inertia loads generated by the applied loads. For some engineering applications, the displacements of the free-free coupled system induce additional static loads. Hence, the applied loads are equal to the original loads plus displacement-dependent loads. Solving for the final displacements of such systems is commonly performed using iterative solution techniques. Unfortunately, these techniques can be time-consuming and labor-intensive. Since the coupled system equations for free-free systems with displacement-dependent loads can be written in closed-form, it is advantageous to solve for the displacements in this manner. Implementing closed-form equations in static analysis with inertia relief is analogous to implementing transfer functions in dynamic analysis. Using a MSC/NASTRAN DMAP Alter, displacement-dependent loads have been included in static analysis with inertia relief. Such an Alter has been used successfully to solve efficiently a common aerospace problem typically solved using an iterative technique.

Tetherless thermobiochemically actuated microgrippers.

PubMed

Leong, Timothy G; Randall, Christina L; Benson, Bryan R; Bassik, Noy; Stern, George M; Gracias, David H

2009-01-20

We demonstrate mass-producible, tetherless microgrippers that can be remotely triggered by temperature and chemicals under biologically relevant conditions. The microgrippers use a self-contained actuation response, obviating the need for external tethers in operation. The grippers can be actuated en masse, even while spatially separated. We used the microgrippers to perform diverse functions, such as picking up a bead on a substrate and the removal of cells from tissue embedded at the end of a capillary (an in vitro biopsy).

Flexible Low-Mass Devices and Mechanisms Actuated by Electroactive Polymers

NASA Technical Reports Server (NTRS)

Bar-Cohen, Y; Leary, S.; Shahinpoor, M.; Harrison, J. O.; Smith, J.

1999-01-01

Miniature, lightweight, miser actuators that operate similar to biological muscles can be used to develop robotic devices with unmatched capabilities to impact many technology areas. Electroactive polymers (EAP) offer the potential to producing such actuators and their main attractive feature is their ability to induce relatively large bending or longitudinal strain. Generally, these materials produce a relatively low force and the applications that can be considered at the current state of the art are relatively limited. This reported study is concentrating on the development of effective EAPs and the resultant enabling mechanisms employing their unique characteristics. Several EAP driven mechanisms, which emulate human hand, were developed including a gripper, manipulator arm and surface wiper. The manipulator arm was made of a composite rod with an EAP actuator consisting of a scrolled rope that is activated longitudinally by an electrostatic field. A gripper was made to serve as an end effector and it consisted of multiple bending EAP fingers for grabbing and holding such objects as rocks. An EAP surface wiper was developed to operate like a human finger and to demonstrate the potential to remove dust from optical and IR windows as well as solar cells. These EAP driven devices are taking advantage of the large actuation displacement of these materials but there is need for a significantly greater actuation force capability.

Soft shape-adaptive gripping device made from artificial muscle

NASA Astrophysics Data System (ADS)

Hamburg, E.; Vunder, V.; Johanson, U.; Kaasik, F.; Aabloo, A.

2016-04-01

We report on a multifunctional four-finger gripper for soft robotics, suitable for performing delicate manipulation tasks. The gripping device is comprised of separately driven gripping and lifting mechanisms, both made from a separate single piece of smart material - ionic capacitive laminate (ICL) also known as artificial muscle. Compared to other similar devices the relatively high force output of the ICL material allows one to construct a device able to grab and lift objects exceeding multiple times its own weight. Due to flexible design of ICL grips, the device is able to adapt the complex shapes of different objects and allows grasping single or multiple objects simultaneously without damage. The performance of the gripper is evaluated in two different configurations: a) the ultimate grasping strength of the gripping hand; and b) the maximum lifting force of the lifting actuator. The ICL is composed of three main layers: a porous membrane consisting of non-ionic polymer poly(vinylidene fluoride-co-hexafluoropropene) (PVdF-HFP), ionic liquid 1-ethyl-3-methylimidazolium trifluoromethane-sulfonate (EMITFS), and a reinforcing layer of woven fiberglass cloth. Both sides of the membrane are coated with a carbonaceous electrode. The electrodes are additionally covered with thin gold layers, serving as current collectors. Device made of this material operates silently, requires low driving voltage (<3 V), and is suitable for performing tasks in open air environment.

MSC/NASTRAN DMAP Alter Used for Closed-Form Static Analysis With Inertia Relief and Displacement-Dependent Loads

NASA Technical Reports Server (NTRS)

1996-01-01

Solving for the displacements of free-free coupled systems acted upon by static loads is a common task in the aerospace industry. Often, these problems are solved by static analysis with inertia relief. This technique allows for a free-free static analysis by balancing the applied loads with the inertia loads generated by the applied loads. For some engineering applications, the displacements of the free-free coupled system induce additional static loads. Hence, the applied loads are equal to the original loads plus the displacement-dependent loads. A launch vehicle being acted upon by an aerodynamic loading can have such applied loads. The final displacements of such systems are commonly determined with iterative solution techniques. Unfortunately, these techniques can be time consuming and labor intensive. Because the coupled system equations for free-free systems with displacement-dependent loads can be written in closed form, it is advantageous to solve for the displacements in this manner. Implementing closed-form equations in static analysis with inertia relief is analogous to implementing transfer functions in dynamic analysis. An MSC/NASTRAN (MacNeal-Schwendler Corporation/NASA Structural Analysis) DMAP (Direct Matrix Abstraction Program) Alter was used to include displacement-dependent loads in static analysis with inertia relief. It efficiently solved a common aerospace problem that typically has been solved with an iterative technique.

Assessment of current AASHTO LRFD methods for static pile capacity analysis in Rhode Island soils.

DOT National Transportation Integrated Search

2013-07-01

This report presents an assessment of current AASHTO LRFD methods for static pile capacity analysis in Rhode : Island soils. Current static capacity methods and associated resistance factors are based on pile load test data in sands : and clays. Some...

Grippers Based on Opposing Van Der Waals Adhesive Pads

NASA Technical Reports Server (NTRS)

Parness, Aaron (Inventor); Kennedy, Brett A. (Inventor); Heverly, Matthew C (Inventor); Cutkosky, Mark R. (Inventor); Hawkes, Elliot Wright (Inventor)

2016-01-01

Novel gripping structures based on van der Waals adhesive forces are disclosed. Pads covered with fibers can be activated in pairs by opposite forces, thereby enabling control of the adhesive force in an ON or OFF state. Pads can be used in groups, each comprising a group of opposite pads. The adhesive structures enable anchoring forces that can resist adverse forces from different directions. The adhesive structures can be used to enable the operation of robots on surfaces of space vehicles.

Command/response protocols and concurrent software

NASA Technical Reports Server (NTRS)

Bynum, W. L.

1987-01-01

A version of the program to control the parallel jaw gripper is documented. The parallel jaw end-effector hardware and the Intel 8031 processor that is used to control the end-effector are briefly described. A general overview of the controller program is given and a complete description of the program's structure and design are contained. There are three appendices: a memory map of the on-chip RAM, a cross-reference listing of the self-scheduling routines, and a summary of the top-level and monitor commands.

Anthropomorphic Robot Hand And Teaching Glove

NASA Technical Reports Server (NTRS)

Engler, Charles D., Jr.

1991-01-01

Robotic forearm-and-hand assembly manipulates objects by performing wrist and hand motions with nearly human grasping ability and dexterity. Imitates hand motions of human operator who controls robot in real time by programming via exoskeletal "teaching glove". Telemanipulator systems based on this robotic-hand concept useful where humanlike dexterity required. Underwater, high-radiation, vacuum, hot, cold, toxic, or inhospitable environments potential application sites. Particularly suited to assisting astronauts on space station in safely executing unexpected tasks requiring greater dexterity than standard gripper.

Detection Of Malware Collusion With Static Dependence Analysis On Inter-App Communication

DTIC Science & Technology

2016-12-08

DETECTION OF MALWARE COLLUSION WITH STATIC DEPENDENCE ANALYSIS ON INTER-APP COMMUNICATION VIRGINIA TECH DECEMBER 2016 FINAL TECHNICAL REPORT... DEPENDENCE ANALYSIS ON INTER-APP COMMUNICATION 5a. CONTRACT NUMBER FA8750-15-2-0076 5b. GRANT NUMBER N/A 5c. PROGRAM ELEMENT NUMBER 61101E 6. AUTHOR(S...exploited. 15. SUBJECT TERMS Malware Collusion; Inter-App Communication; Static Dependence Analysis 16. SECURITY CLASSIFICATION OF: 17. LIMITATION OF

A foundational methodology for determining system static complexity using notional lunar oxygen production processes

NASA Astrophysics Data System (ADS)

Long, Nicholas James

This thesis serves to develop a preliminary foundational methodology for evaluating the static complexity of future lunar oxygen production systems when extensive information is not yet available about the various systems under consideration. Evaluating static complexity, as part of a overall system complexity analysis, is an important consideration in ultimately selecting a process to be used in a lunar base. When system complexity is higher, there is generally an overall increase in risk which could impact the safety of astronauts and the economic performance of the mission. To evaluate static complexity in lunar oxygen production, static complexity is simplified and defined into its essential components. First, three essential dimensions of static complexity are investigated, including interconnective complexity, strength of connections, and complexity in variety. Then a set of methods is developed upon which to separately evaluate each dimension. Q-connectivity analysis is proposed as a means to evaluate interconnective complexity and strength of connections. The law of requisite variety originating from cybernetic theory is suggested to interpret complexity in variety. Secondly, a means to aggregate the results of each analysis is proposed to create holistic measurement for static complexity using the Single Multi-Attribute Ranking Technique (SMART). Each method of static complexity analysis and the aggregation technique is demonstrated using notional data for four lunar oxygen production processes.

Comparative analysis of numerical models of pipe handling equipment used in offshore drilling applications

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

Pawlus, Witold, E-mail: witold.p.pawlus@ieee.org; Ebbesen, Morten K.; Hansen, Michael R.

Design of offshore drilling equipment is a task that involves not only analysis of strict machine specifications and safety requirements but also consideration of changeable weather conditions and harsh environment. These challenges call for a multidisciplinary approach and make the design process complex. Various modeling software products are currently available to aid design engineers in their effort to test and redesign equipment before it is manufactured. However, given the number of available modeling tools and methods, the choice of the proper modeling methodology becomes not obvious and – in some cases – troublesome. Therefore, we present a comparative analysis ofmore » two popular approaches used in modeling and simulation of mechanical systems: multibody and analytical modeling. A gripper arm of the offshore vertical pipe handling machine is selected as a case study for which both models are created. In contrast to some other works, the current paper shows verification of both systems by benchmarking their simulation results against each other. Such criteria as modeling effort and results accuracy are evaluated to assess which modeling strategy is the most suitable given its eventual application.« less

Supporting secure programming in web applications through interactive static analysis.

PubMed

Zhu, Jun; Xie, Jing; Lipford, Heather Richter; Chu, Bill

2014-07-01

Many security incidents are caused by software developers' failure to adhere to secure programming practices. Static analysis tools have been used to detect software vulnerabilities. However, their wide usage by developers is limited by the special training required to write rules customized to application-specific logic. Our approach is interactive static analysis, to integrate static analysis into Integrated Development Environment (IDE) and provide in-situ secure programming support to help developers prevent vulnerabilities during code construction. No additional training is required nor are there any assumptions on ways programs are built. Our work is motivated in part by the observation that many vulnerabilities are introduced due to failure to practice secure programming by knowledgeable developers. We implemented a prototype interactive static analysis tool as a plug-in for Java in Eclipse. Our technical evaluation of our prototype detected multiple zero-day vulnerabilities in a large open source project. Our evaluations also suggest that false positives may be limited to a very small class of use cases.

Supporting secure programming in web applications through interactive static analysis

PubMed Central

Zhu, Jun; Xie, Jing; Lipford, Heather Richter; Chu, Bill

2013-01-01

Many security incidents are caused by software developers’ failure to adhere to secure programming practices. Static analysis tools have been used to detect software vulnerabilities. However, their wide usage by developers is limited by the special training required to write rules customized to application-specific logic. Our approach is interactive static analysis, to integrate static analysis into Integrated Development Environment (IDE) and provide in-situ secure programming support to help developers prevent vulnerabilities during code construction. No additional training is required nor are there any assumptions on ways programs are built. Our work is motivated in part by the observation that many vulnerabilities are introduced due to failure to practice secure programming by knowledgeable developers. We implemented a prototype interactive static analysis tool as a plug-in for Java in Eclipse. Our technical evaluation of our prototype detected multiple zero-day vulnerabilities in a large open source project. Our evaluations also suggest that false positives may be limited to a very small class of use cases. PMID:25685513

An easily implemented static condensation method for structural sensitivity analysis

NASA Technical Reports Server (NTRS)

Gangadharan, S. N.; Haftka, R. T.; Nikolaidis, E.

1990-01-01

A black-box approach to static condensation for sensitivity analysis is presented with illustrative examples of a cube and a car structure. The sensitivity of the structural response with respect to joint stiffness parameter is calculated using the direct method, forward-difference, and central-difference schemes. The efficiency of the various methods for identifying joint stiffness parameters from measured static deflections of these structures is compared. The results indicate that the use of static condensation can reduce computation times significantly and the black-box approach is only slightly less efficient than the standard implementation of static condensation. The ease of implementation of the black-box approach recommends it for use with general-purpose finite element codes that do not have a built-in facility for static condensation.

76 FR 28131 - Federal Motor Vehicle Safety Standards; Motorcycle Helmets

Federal Register 2010, 2011, 2012, 2013, 2014

2011-05-13

..., this final rule sets a quasi-static load application rate for the helmet retention system; revises the... Analysis and Conclusion e. Quasi-Static Retention Test f. Helmet Conditioning Tolerances g. Other... it as a quasi-static test, instead of a static test. Specifying the application rate will aid...

Energy minimization for self-organized structure formation and actuation

NASA Astrophysics Data System (ADS)

Kofod, Guggi; Wirges, Werner; Paajanen, Mika; Bauer, Siegfried

2007-02-01

An approach for creating complex structures with embedded actuation in planar manufacturing steps is presented. Self-organization and energy minimization are central to this approach, illustrated with a model based on minimization of the hyperelastic free energy strain function of a stretched elastomer and the bending elastic energy of a plastic frame. A tulip-shaped gripper structure illustrates the technological potential of the approach. Advantages are simplicity of manufacture, complexity of final structures, and the ease with which any electroactive material can be exploited as means of actuation.

Advanced dexterous manipulation for IED defeat : report on the feasibility of using the ShadowHand for remote operations.

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

Anderson, Robert J.

2011-01-01

Improvised Explosive Device (IED) defeat (IEDD) operations can involve intricate operations that exceed the current capabilities of the grippers on board current bombsquad robots. The Shadow Dexterous Hand from the Shadow Robot Company or 'ShadowHand' for short (www.shadowrobot.com) is the first commercially available robot hand that realistically replicates the motion, degrees-of-freedom and dimensions of a human hand (Figure 1). In this study we evaluate the potential for the ShadowHand to perform potential IED defeat tasks on a mobile platform.

Pipe gripper

DOEpatents

Moyers, S.M.

1975-12-16

A device for gripping the exterior surface of a pipe or rod is described which has a plurality of wedges, each having a concave face which engages the outer surface of the pipe and each having a smooth face opposing the concave face. The wedges are seated on and their grooved concave faces are maintained in circular alignment by tapered axial segments of an opening extending through a wedge-seating member. The wedges are allowed to slide across the tapered axial segments so that such a sliding movement acts to vary the diameter of the circular alignment.

Force/torque and tactile sensors for sensor-based manipulator control

NASA Technical Reports Server (NTRS)

Vanbrussel, H.; Belieen, H.; Bao, Chao-Ying

1989-01-01

The autonomy of manipulators, in space and in industrial environments, can be dramatically enhanced by the use of force/torque and tactile sensors. The development and future use of a six-component force/torque sensor for the Hermes Robot Arm (HERA) Basic End-Effector (BEE) is discussed. Then a multifunctional gripper system based on tactile sensors is described. The basic transducing element of the sensor is a sheet of pressure-sensitive polymer. Tactile image processing algorithms for slip detection, object position estimation, and object recognition are described.

Fuel subassembly leak test chamber for a nuclear reactor

DOEpatents

Divona, Charles J.

1978-04-04

A container with a valve at one end is inserted into a nuclear reactor coolant pool. Once in the pool, the valve is opened by a mechanical linkage. An individual fuel subassembly is lifted into the container by a gripper; the valve is then closed providing an isolated chamber for the subassembly. A vacuum is drawn on the chamber to encourage gaseous fission product leakage through any defects in the cladding of the fuel rods comprising the subassembly; this leakage may be detected by instrumentation, and the need for replacement of the assembly ascertained.

Tensile testing apparatus

NASA Technical Reports Server (NTRS)

Blackburn, L. B.; Ellingsworth, J. R. (Inventor)

1985-01-01

An improved mechanical extensometer is described for use with a constant load creep test machine. The dead weight of the extensometer is counterbalanced by two pairs of weights connected through a pulley system and to rod extension and leading into the furnace where the test sample is undergoing elevated temperature (above 500 F.) tensile testing. Novel gripper surfaces, conical tip and flat surface are provided in each sampling engaging platens to reduce the grip pressure normally required for attachment of the extensometer to the specimen and reduce initial specimen bending normally associated with foil-gage metal testing.

The Stanford Automated Mounter: Pushing the limits of sample exchange at the SSRL macromolecular crystallography beamlines

DOE PAGES

Russi, Silvia; Song, Jinhu; McPhillips, Scott E.; ...

2016-02-24

The Stanford Automated Mounter System, a system for mounting and dismounting cryo-cooled crystals, has been upgraded to increase the throughput of samples on the macromolecular crystallography beamlines at the Stanford Synchrotron Radiation Lightsource. This upgrade speeds up robot maneuvers, reduces the heating/drying cycles, pre-fetches samples and adds an air-knife to remove frost from the gripper arms. As a result, sample pin exchange during automated crystal quality screening now takes about 25 s, five times faster than before this upgrade.

The Stanford Automated Mounter: Pushing the limits of sample exchange at the SSRL macromolecular crystallography beamlines

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

Russi, Silvia; Song, Jinhu; McPhillips, Scott E.

The Stanford Automated Mounter System, a system for mounting and dismounting cryo-cooled crystals, has been upgraded to increase the throughput of samples on the macromolecular crystallography beamlines at the Stanford Synchrotron Radiation Lightsource. This upgrade speeds up robot maneuvers, reduces the heating/drying cycles, pre-fetches samples and adds an air-knife to remove frost from the gripper arms. As a result, sample pin exchange during automated crystal quality screening now takes about 25 s, five times faster than before this upgrade.

Static and dynamic stability analysis of the space shuttle vehicle-orbiter

NASA Technical Reports Server (NTRS)

Chyu, W. J.; Cavin, R. K.; Erickson, L. L.

1978-01-01

The longitudinal static and dynamic stability of a Space Shuttle Vehicle-Orbiter (SSV Orbiter) model is analyzed using the FLEXSTAB computer program. Nonlinear effects are accounted for by application of a correction technique in the FLEXSTAB system; the technique incorporates experimental force and pressure data into the linear aerodynamic theory. A flexible Orbiter model is treated in the static stability analysis for the flight conditions of Mach number 0.9 for rectilinear flight (1 g) and for a pull-up maneuver (2.5 g) at an altitude of 15.24 km. Static stability parameters and structural deformations of the Orbiter are calculated at trim conditions for the dynamic stability analysis, and the characteristics of damping in pitch are investigated for a Mach number range of 0.3 to 1.2. The calculated results for both the static and dynamic stabilities are compared with the available experimental data.

Theoretical research and experimental validation of quasi-static load spectra on bogie frame structures of high-speed trains

NASA Astrophysics Data System (ADS)

Zhu, Ning; Sun, Shou-Guang; Li, Qiang; Zou, Hua

2014-12-01

One of the major problems in structural fatigue life analysis is establishing structural load spectra under actual operating conditions. This study conducts theoretical research and experimental validation of quasi-static load spectra on bogie frame structures of high-speed trains. The quasistatic load series that corresponds to quasi-static deformation modes are identified according to the structural form and bearing conditions of high-speed train bogie frames. Moreover, a force-measuring frame is designed and manufactured based on the quasi-static load series. The load decoupling model of the quasi-static load series is then established via calibration tests. Quasi-static load-time histories, together with online tests and decoupling analysis, are obtained for the intermediate range of the Beijing—Shanghai dedicated passenger line. The damage consistency calibration of the quasi-static discrete load spectra is performed according to a damage consistency criterion and a genetic algorithm. The calibrated damage that corresponds with the quasi-static discrete load spectra satisfies the safety requirements of bogie frames.

Static aeroelastic analysis and tailoring of a single-element racing car wing

NASA Astrophysics Data System (ADS)

Sadd, Christopher James

This thesis presents the research from an Engineering Doctorate research programme in collaboration with Reynard Motorsport Ltd, a manufacturer of racing cars. Racing car wing design has traditionally considered structures to be rigid. However, structures are never perfectly rigid and the interaction between aerodynamic loading and structural flexibility has a direct impact on aerodynamic performance. This interaction is often referred to as static aeroelasticity and the focus of this research has been the development of a computational static aeroelastic analysis method to improve the design of a single-element racing car wing. A static aeroelastic analysis method has been developed by coupling a Reynolds-Averaged Navier-Stokes CFD analysis method with a Finite Element structural analysis method using an iterative scheme. Development of this method has included assessment of CFD and Finite Element analysis methods and development of data transfer and mesh deflection methods. Experimental testing was also completed to further assess the computational analyses. The computational and experimental results show a good correlation and these studies have also shown that a Navier-Stokes static aeroelastic analysis of an isolated wing can be performed at an acceptable computational cost. The static aeroelastic analysis tool was used to assess methods of tailoring the structural flexibility of the wing to increase its aerodynamic performance. These tailoring methods were then used to produce two final wing designs to increase downforce and reduce drag respectively. At the average operating dynamic pressure of the racing car, the computational analysis predicts that the downforce-increasing wing has a downforce of C[1]=-1.377 in comparison to C[1]=-1.265 for the original wing. The computational analysis predicts that the drag-reducing wing has a drag of C[d]=0.115 in comparison to C[d]=0.143 for the original wing.

Results of application of automatic computation of static corrections on data from the South Banat Terrain

NASA Astrophysics Data System (ADS)

Milojević, Slavka; Stojanovic, Vojislav

2017-04-01

Due to the continuous development of the seismic acquisition and processing method, the increase of the signal/fault ratio always represents a current target. The correct application of the latest software solutions improves the processing results and justifies their development. A correct computation and application of static corrections represents one of the most important tasks in pre-processing. This phase is of great importance for further processing steps. Static corrections are applied to seismic data in order to compensate the effects of irregular topography, the difference between the levels of source points and receipt in relation to the level of reduction, of close to the low-velocity surface layer (weathering correction), or any reasons that influence the spatial and temporal position of seismic routes. The refraction statics method is the most common method for computation of static corrections. It is successful in resolving of both the long-period statics problems and determining of the difference in the statics caused by abrupt lateral changes in velocity in close to the surface layer. XtremeGeo FlatironsTM is a program whose main purpose is computation of static correction through a refraction statics method and allows the application of the following procedures: picking of first arrivals, checking of geometry, multiple methods for analysis and modelling of statics, analysis of the refractor anisotropy and tomography (Eikonal Tomography). The exploration area is located on the southern edge of the Pannonian Plain, in the plain area with altitudes of 50 to 195 meters. The largest part of the exploration area covers Deliblato Sands, where the geological structure of the terrain and high difference in altitudes significantly affects the calculation of static correction. Software XtremeGeo FlatironsTM has powerful visualization and tools for statistical analysis which contributes to significantly more accurate assessment of geometry close to the surface layers and therefore more accurately computed static corrections.

Planar and finger-shaped optical tactile sensors for robotic applications

NASA Technical Reports Server (NTRS)

Begej, Stefan

1988-01-01

Progress is described regarding the development of optical tactile sensors specifically designed for application to dexterous robotics. These sensors operate on optical principles involving the frustration of total internal reflection at a waveguide/elastomer interface and produce a grey-scale tactile image that represents the normal (vertical) forces of contact. The first tactile sensor discussed is a compact, 32 x 32 planar sensor array intended for mounting on a parallel-jaw gripper. Optical fibers were employed to convey the tactile image to a CCD camera and microprocessor-based image analysis system. The second sensor had the shape and size of a human fingertip and was designed for a dexterous robotic hand. It contained 256 sensing sites (taxels) distributed in a dual-density pattern that included a tactile fovea near the tip measuring 13 x 13 mm and containing 169 taxels. The design and construction details of these tactile sensors are presented, in addition to photographs of tactile imprints.

Haptic Edge Detection Through Shear

NASA Astrophysics Data System (ADS)

Platkiewicz, Jonathan; Lipson, Hod; Hayward, Vincent

2016-03-01

Most tactile sensors are based on the assumption that touch depends on measuring pressure. However, the pressure distribution at the surface of a tactile sensor cannot be acquired directly and must be inferred from the deformation field induced by the touched object in the sensor medium. Currently, there is no consensus as to which components of strain are most informative for tactile sensing. Here, we propose that shape-related tactile information is more suitably recovered from shear strain than normal strain. Based on a contact mechanics analysis, we demonstrate that the elastic behavior of a haptic probe provides a robust edge detection mechanism when shear strain is sensed. We used a jamming-based robot gripper as a tactile sensor to empirically validate that shear strain processing gives accurate edge information that is invariant to changes in pressure, as predicted by the contact mechanics study. This result has implications for the design of effective tactile sensors as well as for the understanding of the early somatosensory processing in mammals.

Haptic Edge Detection Through Shear

PubMed Central

Platkiewicz, Jonathan; Lipson, Hod; Hayward, Vincent

2016-01-01

Most tactile sensors are based on the assumption that touch depends on measuring pressure. However, the pressure distribution at the surface of a tactile sensor cannot be acquired directly and must be inferred from the deformation field induced by the touched object in the sensor medium. Currently, there is no consensus as to which components of strain are most informative for tactile sensing. Here, we propose that shape-related tactile information is more suitably recovered from shear strain than normal strain. Based on a contact mechanics analysis, we demonstrate that the elastic behavior of a haptic probe provides a robust edge detection mechanism when shear strain is sensed. We used a jamming-based robot gripper as a tactile sensor to empirically validate that shear strain processing gives accurate edge information that is invariant to changes in pressure, as predicted by the contact mechanics study. This result has implications for the design of effective tactile sensors as well as for the understanding of the early somatosensory processing in mammals. PMID:27009331

Robotic Sample Manipulator for Handling Astromaterials Inside the Geolab Microgravity Glovebox

NASA Technical Reports Server (NTRS)

Bell, Mary S.; Calaway, M. J.; Evans, C. A.; Li,Z.; Tong, S.; Zhong, Y.; Dahiwala, R.; Wang, L.; Porter, F.

2013-01-01

Future human and robotic sample return missions will require isolation containment systems with strict protocols and procedures for reducing inorganic and organic contamination. Robotic handling and manipulation of astromaterials may be required for preliminary examination inside such an isolation containment system. In addition, examination of astromaterials in microgravity will require constant contact to secure samples during manipulation. The National Space Grant Foundation exploration habitat (XHab) academic innovative challenge 2012 administered through the NASA advanced exploration systems (AES) deep space habitat (DSH) project awarded funding to the University of Bridgeport team to develop an engineering design for tools to facilitate holding and handling geological samples for analysis in a microgravity glovebox environment. The Bridgeport XHab team developed a robotic arm system with a three-finger gripper that could manipulate geologic samples within the existing GeoLab glovebox integrated into NASA's DSH called the GeoLab Robotic Sample Manipulator (see fig. 1 and 2). This hardware was deployed and tested during the 2012 DSH mission operations tests [1].

Haptic Edge Detection Through Shear.

PubMed

Platkiewicz, Jonathan; Lipson, Hod; Hayward, Vincent

2016-03-24

Most tactile sensors are based on the assumption that touch depends on measuring pressure. However, the pressure distribution at the surface of a tactile sensor cannot be acquired directly and must be inferred from the deformation field induced by the touched object in the sensor medium. Currently, there is no consensus as to which components of strain are most informative for tactile sensing. Here, we propose that shape-related tactile information is more suitably recovered from shear strain than normal strain. Based on a contact mechanics analysis, we demonstrate that the elastic behavior of a haptic probe provides a robust edge detection mechanism when shear strain is sensed. We used a jamming-based robot gripper as a tactile sensor to empirically validate that shear strain processing gives accurate edge information that is invariant to changes in pressure, as predicted by the contact mechanics study. This result has implications for the design of effective tactile sensors as well as for the understanding of the early somatosensory processing in mammals.

An empirical comparison of a dynamic software testability metric to static cyclomatic complexity

NASA Technical Reports Server (NTRS)

Voas, Jeffrey M.; Miller, Keith W.; Payne, Jeffrey E.

1993-01-01

This paper compares the dynamic testability prediction technique termed 'sensitivity analysis' to the static testability technique termed cyclomatic complexity. The application that we chose in this empirical study is a CASE generated version of a B-737 autoland system. For the B-737 system we analyzed, we isolated those functions that we predict are more prone to hide errors during system/reliability testing. We also analyzed the code with several other well-known static metrics. This paper compares and contrasts the results of sensitivity analysis to the results of the static metrics.

Sawja: Static Analysis Workshop for Java

NASA Astrophysics Data System (ADS)

Hubert, Laurent; Barré, Nicolas; Besson, Frédéric; Demange, Delphine; Jensen, Thomas; Monfort, Vincent; Pichardie, David; Turpin, Tiphaine

Static analysis is a powerful technique for automatic verification of programs but raises major engineering challenges when developing a full-fledged analyzer for a realistic language such as Java. Efficiency and precision of such a tool rely partly on low level components which only depend on the syntactic structure of the language and therefore should not be redesigned for each implementation of a new static analysis. This paper describes the Sawja library: a static analysis workshop fully compliant with Java 6 which provides OCaml modules for efficiently manipulating Java bytecode programs. We present the main features of the library, including i) efficient functional data-structures for representing a program with implicit sharing and lazy parsing, ii) an intermediate stack-less representation, and iii) fast computation and manipulation of complete programs. We provide experimental evaluations of the different features with respect to time, memory and precision.

Effect of Ankle Range of Motion (ROM) and Lower-Extremity Muscle Strength on Static Balance Control Ability in Young Adults: A Regression Analysis

PubMed Central

Kim, Seong-Gil

2018-01-01

Background The purpose of this study was to investigate the effect of ankle ROM and lower-extremity muscle strength on static balance control ability in young adults. Material/Methods This study was conducted with 65 young adults, but 10 young adults dropped out during the measurement, so 55 young adults (male: 19, female: 36) completed the study. Postural sway (length and velocity) was measured with eyes open and closed, and ankle ROM (AROM and PROM of dorsiflexion and plantarflexion) and lower-extremity muscle strength (flexor and extensor of hip, knee, and ankle joint) were measured. Pearson correlation coefficient was used to examine the correlation between variables and static balance ability. Simple linear regression analysis and multiple linear regression analysis were used to examine the effect of variables on static balance ability. Results In correlation analysis, plantarflexion ROM (AROM and PROM) and lower-extremity muscle strength (except hip extensor) were significantly correlated with postural sway (p<0.05). In simple correlation analysis, all variables that passed the correlation analysis procedure had significant influence (p<0.05). In multiple linear regression analysis, plantar flexion PROM with eyes open significantly influenced sway length (B=0.681) and sway velocity (B=0.011). Conclusions Lower-extremity muscle strength and ankle plantarflexion ROM influenced static balance control ability, with ankle plantarflexion PROM showing the greatest influence. Therefore, both contractile structures and non-contractile structures should be of interest when considering static balance control ability improvement. PMID:29760375

Effect of Ankle Range of Motion (ROM) and Lower-Extremity Muscle Strength on Static Balance Control Ability in Young Adults: A Regression Analysis.

PubMed

Kim, Seong-Gil; Kim, Wan-Soo

2018-05-15

BACKGROUND The purpose of this study was to investigate the effect of ankle ROM and lower-extremity muscle strength on static balance control ability in young adults. MATERIAL AND METHODS This study was conducted with 65 young adults, but 10 young adults dropped out during the measurement, so 55 young adults (male: 19, female: 36) completed the study. Postural sway (length and velocity) was measured with eyes open and closed, and ankle ROM (AROM and PROM of dorsiflexion and plantarflexion) and lower-extremity muscle strength (flexor and extensor of hip, knee, and ankle joint) were measured. Pearson correlation coefficient was used to examine the correlation between variables and static balance ability. Simple linear regression analysis and multiple linear regression analysis were used to examine the effect of variables on static balance ability. RESULTS In correlation analysis, plantarflexion ROM (AROM and PROM) and lower-extremity muscle strength (except hip extensor) were significantly correlated with postural sway (p<0.05). In simple correlation analysis, all variables that passed the correlation analysis procedure had significant influence (p<0.05). In multiple linear regression analysis, plantar flexion PROM with eyes open significantly influenced sway length (B=0.681) and sway velocity (B=0.011). CONCLUSIONS Lower-extremity muscle strength and ankle plantarflexion ROM influenced static balance control ability, with ankle plantarflexion PROM showing the greatest influence. Therefore, both contractile structures and non-contractile structures should be of interest when considering static balance control ability improvement.

The Importance of Visual Feedback Design in BCIs; from Embodiment to Motor Imagery Learning

PubMed Central

Alimardani, Maryam; Nishio, Shuichi; Ishiguro, Hiroshi

2016-01-01

Brain computer interfaces (BCIs) have been developed and implemented in many areas as a new communication channel between the human brain and external devices. Despite their rapid growth and broad popularity, the inaccurate performance and cost of user-training are yet the main issues that prevent their application out of the research and clinical environment. We previously introduced a BCI system for the control of a very humanlike android that could raise a sense of embodiment and agency in the operators only by imagining a movement (motor imagery) and watching the robot perform it. Also using the same setup, we further discovered that the positive bias of subjects’ performance both increased their sensation of embodiment and improved their motor imagery skills in a short period. In this work, we studied the shared mechanism between the experience of embodiment and motor imagery. We compared the trend of motor imagery learning when two groups of subjects BCI-operated different looking robots, a very humanlike android’s hands and a pair of metallic gripper. Although our experiments did not show a significant change of learning between the two groups immediately during one session, the android group revealed better motor imagery skills in the follow up session when both groups repeated the task using the non-humanlike gripper. This result shows that motor imagery skills learnt during the BCI-operation of humanlike hands are more robust to time and visual feedback changes. We discuss the role of embodiment and mirror neuron system in such outcome and propose the application of androids for efficient BCI training. PMID:27598310

The Importance of Visual Feedback Design in BCIs; from Embodiment to Motor Imagery Learning.

PubMed

Alimardani, Maryam; Nishio, Shuichi; Ishiguro, Hiroshi

2016-01-01

Brain computer interfaces (BCIs) have been developed and implemented in many areas as a new communication channel between the human brain and external devices. Despite their rapid growth and broad popularity, the inaccurate performance and cost of user-training are yet the main issues that prevent their application out of the research and clinical environment. We previously introduced a BCI system for the control of a very humanlike android that could raise a sense of embodiment and agency in the operators only by imagining a movement (motor imagery) and watching the robot perform it. Also using the same setup, we further discovered that the positive bias of subjects' performance both increased their sensation of embodiment and improved their motor imagery skills in a short period. In this work, we studied the shared mechanism between the experience of embodiment and motor imagery. We compared the trend of motor imagery learning when two groups of subjects BCI-operated different looking robots, a very humanlike android's hands and a pair of metallic gripper. Although our experiments did not show a significant change of learning between the two groups immediately during one session, the android group revealed better motor imagery skills in the follow up session when both groups repeated the task using the non-humanlike gripper. This result shows that motor imagery skills learnt during the BCI-operation of humanlike hands are more robust to time and visual feedback changes. We discuss the role of embodiment and mirror neuron system in such outcome and propose the application of androids for efficient BCI training.

Pellet inspection apparatus

DOEpatents

Wilks, Robert S.; Taleff, Alexander; Sturges, Jr., Robert H.

1982-01-01

Apparatus for inspecting nuclear fuel pellets in a sealed container for diameter, flaws, length and weight. The apparatus includes, in an array, a pellet pick-up station, four pellet inspection stations and a pellet sorting station. The pellets are delivered one at a time to the pick-up station by a vibrating bowl through a vibrating linear conveyor. Grippers each associated with a successive pair of the stations are reciprocable together to pick up a pellet at the upstream station of each pair and to deposit the pellet at the corresponding downstream station. The gripper jaws are opened selectively depending on the state of the pellets at the stations and the particular cycle in which the apparatus is operating. Inspection for diameter, flaws and length is effected in each case by a laser beam projected on the pellets by a precise optical system while each pellet is rotated by rollers. Each laser and its optical system are mounted in a container which is free standing on a precise surface and is provided with locating buttons which engage locating holes in the surface so that each laser and its optical system is precisely set. The roller stands are likewise free standing and are similarly precisely positioned. The diameter optical system projects a thin beam of light which scans across the top of each pellet and is projected on a diode array. The fl GOVERNMENT CONTRACT CLAUSE The invention herein described was made in the course of or under a contract or subcontract thereunder with the Department of Energy bearing No. EY-67-14-C-2170.

Structural Analysis Peer Review for the Static Display of the Orbiter Atlantis at the Kennedy Space Center Visitors Center

NASA Technical Reports Server (NTRS)

Minute, Stephen A.

2013-01-01

Mr. Christopher Miller with the Kennedy Space Center (KSC) NASA Safety & Mission Assurance (S&MA) office requested the NASA Engineering and Safety Center's (NESC) technical support on March 15, 2012, to review and make recommendations on the structural analysis being performed for the Orbiter Atlantis static display at the KSC Visitor Center. The principal focus of the assessment was to review the engineering firm's structural analysis for lifting and aligning the orbiter and its static display configuration

Parametric optimization and design validation based on finite element analysis of hybrid socket adapter for transfemoral prosthetic knee.

PubMed

Kumar, Neelesh

2014-10-01

Finite element analysis has been universally employed for the stress and strain analysis in lower extremity prosthetics. The socket adapter was the principal subject of interest due to its importance in deciding the knee motion range. This article focused on the static and dynamic stress analysis of the designed hybrid adapter developed by the authors. A standard mechanical design validation approach using von Mises was followed. Four materials were considered for the analysis, namely, carbon fiber, oil-filled nylon, Al-6061, and mild steel. The paper analyses the static and dynamic stress on designed hybrid adapter which incorporates features of conventional male and female socket adapters. The finite element analysis was carried out for possible different angles of knee flexion simulating static and dynamic gait situation. Research was carried out on available design of socket adapter. Mechanical design of hybrid adapter was conceptualized and a CAD model was generated using Inventor modelling software. Static and dynamic stress analysis was carried out on different materials for optimization. The finite element analysis was carried out on the software Autodesk Inventor Professional Ver. 2011. The peak value of von Mises stress occurred in the neck region of the adapter and in the lower face region at rod eye-adapter junction in static and dynamic analyses, respectively. Oil-filled nylon was found to be the best material among the four with respect to strength, weight, and cost. Research investigations on newer materials for development of improved prosthesis will immensely benefit the amputees. The study analyze the static and dynamic stress on the knee joint adapter to provide better material used for hybrid design of adapter. © The International Society for Prosthetics and Orthotics 2013.

LEWICE3D/GlennHT Particle Analysis of the Honeywell Al502 Low Pressure Compressor

NASA Technical Reports Server (NTRS)

Bidwell, Colin S.; Rigby, David L.

2015-01-01

A flow and ice particle trajectory analysis was performed for the booster of the Honeywell AL502 engine. The analysis focused on two closely related conditions one of which produced a rollback and another which did not rollback during testing in the Propulsion Systems Lab at NASA Glenn Research Center. The flow analysis was generated using the NASA Glenn GlennHT flow solver and the particle analysis was generated using the NASA Glenn LEWICE3D v3.56 ice accretion software. The flow and particle analysis used a 3D steady flow, mixing plane approach to model the transport of flow and particles through the engine. The inflow conditions for the rollback case were: airspeed, 145 ms; static pressure, 33,373 Pa; static temperature, 253.3 K. The inflow conditions for the non-roll-back case were: airspeed, 153 ms; static pressure, 34,252 Pa; static temperature, 260.1 K. Both cases were subjected to an ice particle cloud with a median volume diameter of 24 microns, an ice water content of 2.0 gm3 and a relative humidity of 100 percent. The most significant difference between the rollback and non-rollback conditions was the inflow static temperature which was 6.8 K higher for the non-rollback case.

Advanced robot locomotion.

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

Neely, Jason C.; Sturgis, Beverly Rainwater; Byrne, Raymond Harry

This report contains the results of a research effort on advanced robot locomotion. The majority of this work focuses on walking robots. Walking robot applications include delivery of special payloads to unique locations that require human locomotion to exo-skeleton human assistance applications. A walking robot could step over obstacles and move through narrow openings that a wheeled or tracked vehicle could not overcome. It could pick up and manipulate objects in ways that a standard robot gripper could not. Most importantly, a walking robot would be able to rapidly perform these tasks through an intuitive user interface that mimics naturalmore » human motion. The largest obstacle arises in emulating stability and balance control naturally present in humans but needed for bipedal locomotion in a robot. A tracked robot is bulky and limited, but a wide wheel base assures passive stability. Human bipedal motion is so common that it is taken for granted, but bipedal motion requires active balance and stability control for which the analysis is non-trivial. This report contains an extensive literature study on the state-of-the-art of legged robotics, and it additionally provides the analysis, simulation, and hardware verification of two variants of a proto-type leg design.« less

Grasping with mechanical intelligence. M.S. Thesis

NASA Technical Reports Server (NTRS)

Ulrich, Nathan Thatcher

1988-01-01

Many robotic hands have been designed and a number have been built. Because of the difficulty of controlling and using complex hands, which usually have nine or more degrees of freedom, the simple one- or two-degree-of-freedom gripper is still the most common robotic end effector. A new category of device is presented: a medium-complexity end effector. With three to five degrees of freedom, such a tool is much easier to control and use, as well as more economical, compact and lightweight than complex hands. In order to increase the versatility, it was necessary to identify grasping primitives and to implement them in the mechanism. In addition, power and enveloping grasps are stressed over fingertip and precision grasps. The design is based upon analysis of object apprehension types, requisite characteristics for active sensing, and a determination of necessary environmental interactions. Contained are the general concepts necessary to the design of a medium-complexity end effector, an analysis of typical performance, and a computer simulation of a grasp planning algorithm specific to this type of mechanism. Finally, some details concerning the UPenn Hand-a tool designed for the research laboratory-are presented.

Learning Enterprise Malware Triage from Automatic Dynamic Analysis

DTIC Science & Technology

2013-03-01

Kolter and Maloof n-gram method, Dube’s malware target recognition (MaTR) static method performs significantly more accurately at the 95% confidence...from the static method as in Kolter and Maloof. The MIST approach with behavior sequences 9 allows researchers to tailor the level of analysis to the...citations, none publish work that implements it. Only Kolter and Maloof use nearly as long gram structures, although that research uses static grams rather

Static, Dynamic, and Fatigue Analysis of the Mechanical System of Ultrasonic Scanner for Inservice Inspection of Research Reactors

NASA Astrophysics Data System (ADS)

Awwaluddin, Muhammad; Kristedjo, K.; Handono, Khairul; Ahmad, H.

2018-02-01

This analysis is conducted to determine the effects of static and dynamic loads of the structure of mechanical system of Ultrasonic Scanner i.e., arm, column, and connection systems for inservice inspection of research reactors. The analysis is performed using the finite element method with 520 N static load. The correction factor of dynamic loads used is the Gerber mean stress correction (stress life). The results of the analysis show that the value of maximum equivalent von Mises stress is 1.3698E8 Pa for static loading and value of the maximum equivalent alternating stress is 1.4758E7 Pa for dynamic loading. These values are below the upper limit allowed according to ASTM A240 standards i.e. 2.05E8 Pa. The result analysis of fatigue life cycle are at least 1E6 cycle, so it can be concluded that the structure is in the high life cycle category.

A COMPARATIVE STUDY OF REAL-TIME AND STATIC ULTRASONOGRAPHY DIAGNOSES FOR THE INCIDENTAL DETECTION OF DIFFUSE THYROID DISEASE.

PubMed

Kim, Dong Wook

2015-08-01

The aim of this study was to compare the diagnostic accuracy of real-time and static ultrasonography (US) for the incidental detection of diffuse thyroid disease (DTD). In 118 consecutive patients, a single radiologist performed real-time US before thyroidectomy. For static US, the same radiologist retrospectively investigated the sonographic findings on a picture-archiving and communication system after 3 months. The diagnostic categories of both real-time and static US diagnoses were determined based on the number of abnormal findings, and the diagnostic indices were calculated by a receiver operating characteristic (ROC) curve analysis using the histopathologic results as the reference standard. Histopathologic results included normal thyroid (n = 77), Hashimoto thyroiditis (n = 11), non-Hashimoto lymphocytic thyroiditis (n = 29), and diffuse hyperplasia (n = 1). Normal thyroid and DTD showed significant differences in echogenicity, echotexture, glandular margin, and vascularity on both real-time and static US. There was a positive correlation between US categories and histopathologic results in both real-time and static US. The highest diagnostic indices were obtained when the cutoff criteria of real-time and static US diagnoses were chosen as indeterminate and suspicious for DTD, respectively. The ROC curve analysis showed that real-time US was superior to static US in diagnostic accuracy. Both real-time and static US may be helpful for the detection of incidental DTD, but real-time US is superior to static US for detecting incidental DTD.

Dexterous programmable robot and control system

NASA Astrophysics Data System (ADS)

Engler, Charles D., Jr.

1995-09-01

An anatomically correct, humanlike, mechanical arm and hand is provided that an operator can control to perform with the dexterity and compliance of a human hand. Being humanlike and robotic enhances the device's control and gripper dexterity. Control of the movement of the arm and hand is performed or guided by a 'teach glove' worn by the operator. As he or she performs some hand manipulation, a controller stores signals from sensors on the exoskeleton. The sensors monitor the operator's finger-joint movement positions. These values are later translated into actuator control signals for servomotors, eventually duplicating the operator's movement.

Electroactive Polymers as Artificial Muscles - Reality and Challenges

NASA Technical Reports Server (NTRS)

Bar-Cohen, Y.

2001-01-01

Electroactive Polymers (EAPs) are emerging as effective displacement actuators. These materials offer the closest resemblance of biological muscle potentially enabling unique capabilities changing the paradigm about robots construction. Under a NASA task, several EAP driven mechanisms were developed including dust wiper, gripper, and robotic arm EAP are inducing a low actuation force limiting the applications that can use their current capability. In recognition of this limitation a series of international forums were established including SPIE conference, Webhub, Newsletter, and Newsgroup. A challenge was posed to the EAP community to have an arm wrestling between robot that is equipped with EAP actuators and human.

Internal shim

DOEpatents

Barth, Clyde H.; Blizinski, Theodore W.

2003-05-13

An internal shim used to accurately measure spaces in conjunction with a standard small probe has a shim top and a chassis. The internal shim is adjustably fixed within the space to be measured using grippers that emerge from the chassis and which are controlled by an arm pivotably attached to the shim top. A standard small probe passes through the shim along guides on the chassis and measures the distance between the exterior of the chassis and the boundary. By summing the measurements on each side of the chassis and the width of the chassis, the dimension of the space can be determined to within 0.001 inches.

Stability of the Einstein static universe in open cosmological models

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

Canonico, Rosangela; Parisi, Luca; INFN, Sezione di Napoli, GC di Salerno, Via Ponte Don Melillo, I-84081 Baronissi

2010-09-15

The stability properties of the Einstein static solution of general relativity are altered when corrective terms arising from modification of the underlying gravitational theory appear in the cosmological equations. In this paper the existence and stability of static solutions are considered in the framework of two recently proposed quantum gravity models. The previously known analysis of the Einstein static solutions in the semiclassical regime of loop quantum cosmology with modifications to the gravitational sector is extended to open cosmological models where a static neutrally stable solution is found. A similar analysis is also performed in the framework of Horava-Lifshitz gravitymore » under detailed balance and projectability conditions. In the case of open cosmological models the two solutions found can be either unstable or neutrally stable according to the admitted values of the parameters.« less

The Neglect of Monotone Comparative Statics Methods

ERIC Educational Resources Information Center

Tremblay, Carol Horton; Tremblay, Victor J.

2010-01-01

Monotone methods enable comparative static analysis without the restrictive assumptions of the implicit-function theorem. Ease of use and flexibility in solving comparative static and game-theory problems have made monotone methods popular in the economics literature and in graduate courses, but they are still absent from undergraduate…

Expert Design Advisor

DTIC Science & Technology

1990-10-01

to economic, technological, spatial or logistic concerns, or involve training, man-machine interfaces, or integration into existing systems. Once the...probabilistic reasoning, mixed analysis- and simulation-oriented, mixed computation- and communication-oriented, nonpreemptive static priority...scheduling base, nonrandomized, preemptive static priority scheduling base, randomized, simulation-oriented, and static scheduling base. The selection of both

Duration Dependent Effect of Static Stretching on Quadriceps and Hamstring Muscle Force.

PubMed

Alizadeh Ebadi, Leyla; Çetin, Ebru

2018-03-13

The aim of this study was to determine the acute effect of static stretching on hamstring and quadriceps muscles' isokinetic strength when applied for various durations to elite athletes, to investigate the effect of different static stretching durations on isokinetic strength, and finally to determine the optimal stretching duration. Fifteen elite male athletes from two different sport branches (10 football and five basketball) participated in this study. Experimental protocol was designed as 17 repetitive static stretching exercises for hamstring and quadriceps muscle groups according to the indicated experimental protocols; ((A) 5 min jogging; (B) 5 min jogging followed by 15 s static stretching; (C) 5 min jogging followed by 30 s static stretching; (D) 5 min jogging, followed by static stretching for 45 s). Immediately after each protocol, an isokinetic strength test consisting of five repetitions at 60°/s speed and 20 repetitions at 180°/s speed was recorded for the right leg by the Isomed 2000 device. Friedman variance analysis test was employed for data analysis. According to the analyzes, it was observed that 5 min jogging and 15 s stretching exercises increased the isokinetic strength, whereas 30 and 45 s stretching exercises caused a decrease.

Duration Dependent Effect of Static Stretching on Quadriceps and Hamstring Muscle Force

PubMed Central

Çetin, Ebru

2018-01-01

The aim of this study was to determine the acute effect of static stretching on hamstring and quadriceps muscles’ isokinetic strength when applied for various durations to elite athletes, to investigate the effect of different static stretching durations on isokinetic strength, and finally to determine the optimal stretching duration. Fifteen elite male athletes from two different sport branches (10 football and five basketball) participated in this study. Experimental protocol was designed as 17 repetitive static stretching exercises for hamstring and quadriceps muscle groups according to the indicated experimental protocols; ((A) 5 min jogging; (B) 5 min jogging followed by 15 s static stretching; (C) 5 min jogging followed by 30 s static stretching; (D) 5 min jogging, followed by static stretching for 45 s). Immediately after each protocol, an isokinetic strength test consisting of five repetitions at 60°/s speed and 20 repetitions at 180°/s speed was recorded for the right leg by the Isomed 2000 device. Friedman variance analysis test was employed for data analysis. According to the analyzes, it was observed that 5 min jogging and 15 s stretching exercises increased the isokinetic strength, whereas 30 and 45 s stretching exercises caused a decrease.

Slope Stability Analysis In Seismic Areas Of The Northern Apennines (Italy)

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

Lo Presti, D.; Fontana, T.; Marchetti, D.

2008-07-08

Several research works have been published on the slope stability in the northern Tuscany (central Italy) and particularly in the seismic areas of Garfagnana and Lunigiana (Lucca and Massa-Carrara districts), aimed at analysing the slope stability under static and dynamic conditions and mapping the landslide hazard. In addition, in situ and laboratory investigations are available for the study area, thanks to the activities undertaken by the Tuscany Seismic Survey. Based on such a huge information the co-seismic stability of few ideal slope profiles have been analysed by means of Limit equilibrium method LEM - (pseudo-static) and Newmark sliding block analysismore » (pseudo-dynamic). The analysis--results gave indications about the most appropriate seismic coefficient to be used in pseudo-static analysis after establishing allowable permanent displacement. Such indications are commented in the light of the Italian and European prescriptions for seismic stability analysis with pseudo-static approach. The stability conditions, obtained from the previous analyses, could be used to define microzonation criteria for the study area.« less

FlexED8: the first member of a fast and flexible sample-changer family for macromolecular crystallography.

PubMed

Papp, Gergely; Felisaz, Franck; Sorez, Clement; Lopez-Marrero, Marcos; Janocha, Robert; Manjasetty, Babu; Gobbo, Alexandre; Belrhali, Hassan; Bowler, Matthew W; Cipriani, Florent

2017-10-01

Automated sample changers are now standard equipment for modern macromolecular crystallography synchrotron beamlines. Nevertheless, most are only compatible with a single type of sample holder and puck. Recent work aimed at reducing sample-handling efforts and crystal-alignment times at beamlines has resulted in a new generation of compact and precise sample holders for cryocrystallography: miniSPINE and NewPin [see the companion paper by Papp et al. (2017, Acta Cryst., D73, 829-840)]. With full data collection now possible within seconds at most advanced beamlines, and future fourth-generation synchrotron sources promising to extract data in a few tens of milliseconds, the time taken to mount and centre a sample is rate-limiting. In this context, a versatile and fast sample changer, FlexED8, has been developed that is compatible with the highly successful SPINE sample holder and with the miniSPINE and NewPin sample holders. Based on a six-axis industrial robot, FlexED8 is equipped with a tool changer and includes a novel open sample-storage dewar with a built-in ice-filtering system. With seven versatile puck slots, it can hold up to 112 SPINE sample holders in uni-pucks, or 252 miniSPINE or NewPin sample holders, with 36 samples per puck. Additionally, a double gripper, compatible with the SPINE sample holders and uni-pucks, allows a reduction in the sample-exchange time from 40 s, the typical time with a standard single gripper, to less than 5 s. Computer vision-based sample-transfer monitoring, sophisticated error handling and automatic error-recovery procedures ensure high reliability. The FlexED8 sample changer has been successfully tested under real conditions on a beamline.

Auditory motion-specific mechanisms in the primate brain

PubMed Central

Baumann, Simon; Dheerendra, Pradeep; Joly, Olivier; Hunter, David; Balezeau, Fabien; Sun, Li; Rees, Adrian; Petkov, Christopher I.; Thiele, Alexander; Griffiths, Timothy D.

2017-01-01

This work examined the mechanisms underlying auditory motion processing in the auditory cortex of awake monkeys using functional magnetic resonance imaging (fMRI). We tested to what extent auditory motion analysis can be explained by the linear combination of static spatial mechanisms, spectrotemporal processes, and their interaction. We found that the posterior auditory cortex, including A1 and the surrounding caudal belt and parabelt, is involved in auditory motion analysis. Static spatial and spectrotemporal processes were able to fully explain motion-induced activation in most parts of the auditory cortex, including A1, but not in circumscribed regions of the posterior belt and parabelt cortex. We show that in these regions motion-specific processes contribute to the activation, providing the first demonstration that auditory motion is not simply deduced from changes in static spatial location. These results demonstrate that parallel mechanisms for motion and static spatial analysis coexist within the auditory dorsal stream. PMID:28472038

Does Intellectual Property Restrict Output? An Analysis of Pharmaceutical Markets*

PubMed Central

Lakdawalla, Darius; Philipson, Tomas

2013-01-01

Standard normative analysis of intellectual property focuses on the balance between incentives for research and the static welfare costs of reduced price-competition from monopoly. However, static welfare loss from patents is not universal. While patents restrict price competition, they may also provide static welfare benefits by improving incentives for marketing, which is a form of non-price competition. We show theoretically how stronger marketing incentives mitigate, and can even offset, the static costs of monopoly pricing. Empirical analysis in the pharmaceutical industry context suggests that, in the short-run, patent expirations reduce consumer welfare as a result of decreased marketing effort. In the long-run, patent expirations do benefit consumers, but by 30% less than would be implied by the reduction in price alone. The social value of monopoly marketing to consumers alone is roughly on par with its costs to firms. PMID:25221349

Does Intellectual Property Restrict Output? An Analysis of Pharmaceutical Markets.

PubMed

Lakdawalla, Darius; Philipson, Tomas

2012-02-01

Standard normative analysis of intellectual property focuses on the balance between incentives for research and the static welfare costs of reduced price-competition from monopoly. However, static welfare loss from patents is not universal. While patents restrict price competition, they may also provide static welfare benefits by improving incentives for marketing, which is a form of non -price competition. We show theoretically how stronger marketing incentives mitigate, and can even offset, the static costs of monopoly pricing. Empirical analysis in the pharmaceutical industry context suggests that, in the short-run, patent expirations reduce consumer welfare as a result of decreased marketing effort. In the long-run, patent expirations do benefit consumers, but by 30% less than would be implied by the reduction in price alone. The social value of monopoly marketing to consumers alone is roughly on par with its costs to firms.

Automatic Estimation of Verified Floating-Point Round-Off Errors via Static Analysis

NASA Technical Reports Server (NTRS)

Moscato, Mariano; Titolo, Laura; Dutle, Aaron; Munoz, Cesar A.

2017-01-01

This paper introduces a static analysis technique for computing formally verified round-off error bounds of floating-point functional expressions. The technique is based on a denotational semantics that computes a symbolic estimation of floating-point round-o errors along with a proof certificate that ensures its correctness. The symbolic estimation can be evaluated on concrete inputs using rigorous enclosure methods to produce formally verified numerical error bounds. The proposed technique is implemented in the prototype research tool PRECiSA (Program Round-o Error Certifier via Static Analysis) and used in the verification of floating-point programs of interest to NASA.

14 CFR 23.785 - Seats, berths, litters, safety belts, and shoulder harnesses.

Code of Federal Regulations, 2014 CFR

2014-01-01

... combination of structural analysis and static load tests to limit load; or (3) Static load tests to ultimate... OF TRANSPORTATION AIRCRAFT AIRWORTHINESS STANDARDS: NORMAL, UTILITY, ACROBATIC, AND COMMUTER CATEGORY... resulting from the ultimate static load factors prescribed in § 23.561(b)(2) of this part. Each occupant...

14 CFR 23.785 - Seats, berths, litters, safety belts, and shoulder harnesses.

Code of Federal Regulations, 2011 CFR

2011-01-01

... combination of structural analysis and static load tests to limit load; or (3) Static load tests to ultimate... OF TRANSPORTATION AIRCRAFT AIRWORTHINESS STANDARDS: NORMAL, UTILITY, ACROBATIC, AND COMMUTER CATEGORY... resulting from the ultimate static load factors prescribed in § 23.561(b)(2) of this part. Each occupant...

14 CFR 23.785 - Seats, berths, litters, safety belts, and shoulder harnesses.

Code of Federal Regulations, 2010 CFR

2010-01-01

... combination of structural analysis and static load tests to limit load; or (3) Static load tests to ultimate... OF TRANSPORTATION AIRCRAFT AIRWORTHINESS STANDARDS: NORMAL, UTILITY, ACROBATIC, AND COMMUTER CATEGORY... resulting from the ultimate static load factors prescribed in § 23.561(b)(2) of this part. Each occupant...

14 CFR 23.785 - Seats, berths, litters, safety belts, and shoulder harnesses.

Code of Federal Regulations, 2012 CFR

2012-01-01

... combination of structural analysis and static load tests to limit load; or (3) Static load tests to ultimate... OF TRANSPORTATION AIRCRAFT AIRWORTHINESS STANDARDS: NORMAL, UTILITY, ACROBATIC, AND COMMUTER CATEGORY... resulting from the ultimate static load factors prescribed in § 23.561(b)(2) of this part. Each occupant...

14 CFR 23.785 - Seats, berths, litters, safety belts, and shoulder harnesses.

Code of Federal Regulations, 2013 CFR

2013-01-01

... combination of structural analysis and static load tests to limit load; or (3) Static load tests to ultimate... OF TRANSPORTATION AIRCRAFT AIRWORTHINESS STANDARDS: NORMAL, UTILITY, ACROBATIC, AND COMMUTER CATEGORY... resulting from the ultimate static load factors prescribed in § 23.561(b)(2) of this part. Each occupant...

An Aeroelastic Analysis of a Thin Flexible Membrane

NASA Technical Reports Server (NTRS)

Scott, Robert C.; Bartels, Robert E.; Kandil, Osama A.

2007-01-01

Studies have shown that significant vehicle mass and cost savings are possible with the use of ballutes for aero-capture. Through NASA's In-Space Propulsion program, a preliminary examination of ballute sensitivity to geometry and Reynolds number was conducted, and a single-pass coupling between an aero code and a finite element solver was used to assess the static aeroelastic effects. There remain, however, a variety of open questions regarding the dynamic aeroelastic stability of membrane structures for aero-capture, with the primary challenge being the prediction of the membrane flutter onset. The purpose of this paper is to describe and begin addressing these issues. The paper includes a review of the literature associated with the structural analysis of membranes and membrane utter. Flow/structure analysis coupling and hypersonic flow solver options are also discussed. An approach is proposed for tackling this problem that starts with a relatively simple geometry and develops and evaluates analysis methods and procedures. This preliminary study considers a computationally manageable 2-dimensional problem. The membrane structural models used in the paper include a nonlinear finite-difference model for static and dynamic analysis and a NASTRAN finite element membrane model for nonlinear static and linear normal modes analysis. Both structural models are coupled with a structured compressible flow solver for static aeroelastic analysis. For dynamic aeroelastic analyses, the NASTRAN normal modes are used in the structured compressible flow solver and 3rd order piston theories were used with the finite difference membrane model to simulate utter onset. Results from the various static and dynamic aeroelastic analyses are compared.

Evaluation of Relationship between Trunk Muscle Endurance and Static Balance in Male Students

PubMed Central

Barati, Amirhossein; SafarCherati, Afsaneh; Aghayari, Azar; Azizi, Faeze; Abbasi, Hamed

2013-01-01

Purpose Fatigue of trunk muscle contributes to spinal instability over strenuous and prolonged physical tasks and therefore may lead to injury, however from a performance perspective, relation between endurance efficient core muscles and optimal balance control has not been well-known. The purpose of this study was to examine the relationship of trunk muscle endurance and static balance. Methods Fifty male students inhabitant of Tehran university dormitory (age 23.9±2.4, height 173.0±4.5 weight 70.7±6.3) took part in the study. Trunk muscle endurance was assessed using Sørensen test of trunk extensor endurance, trunk flexor endurance test, side bridge endurance test and static balance was measured using single-limb stance test. A multiple linear regression analysis was applied to test if the trunk muscle endurance measures significantly predicted the static balance. Results There were positive correlations between static balance level and trunk flexor, extensor and lateral endurance measures (Pearson correlation test, r=0.80 and P<0.001; r=0.71 and P<0.001; r=0.84 and P<0.001, respectively). According to multiple regression analysis for variables predicting static balance, the linear combination of trunk muscle endurance measures was significantly related to the static balance (F (3,46) = 66.60, P<0.001). Endurance of trunk flexor, extensor and lateral muscles were significantly associated with the static balance level. The regression model which included these factors had the sample multiple correlation coefficient of 0.902, indicating that approximately 81% of the variance of the static balance is explained by the model. Conclusion There is a significant relationship between trunk muscle endurance and static balance. PMID:24800004

Fast grasping of unknown objects using cylinder searching on a single point cloud

NASA Astrophysics Data System (ADS)

Lei, Qujiang; Wisse, Martijn

2017-03-01

Grasping of unknown objects with neither appearance data nor object models given in advance is very important for robots that work in an unfamiliar environment. The goal of this paper is to quickly synthesize an executable grasp for one unknown object by using cylinder searching on a single point cloud. Specifically, a 3D camera is first used to obtain a partial point cloud of the target unknown object. An original method is then employed to do post treatment on the partial point cloud to minimize the uncertainty which may lead to grasp failure. In order to accelerate the grasp searching, surface normal of the target object is then used to constrain the synthetization of the cylinder grasp candidates. Operability analysis is then used to select out all executable grasp candidates followed by force balance optimization to choose the most reliable grasp as the final grasp execution. In order to verify the effectiveness of our algorithm, Simulations on a Universal Robot arm UR5 and an under-actuated Lacquey Fetch gripper are used to examine the performance of this algorithm, and successful results are obtained.

Origami Inspired Self-assembly of Patterned and Reconfigurable Particles

PubMed Central

Pandey, Shivendra; Gultepe, Evin; Gracias, David H.

2013-01-01

There are numerous techniques such as photolithography, electron-beam lithography and soft-lithography that can be used to precisely pattern two dimensional (2D) structures. These technologies are mature, offer high precision and many of them can be implemented in a high-throughput manner. We leverage the advantages of planar lithography and combine them with self-folding methods1-20 wherein physical forces derived from surface tension or residual stress, are used to curve or fold planar structures into three dimensional (3D) structures. In doing so, we make it possible to mass produce precisely patterned static and reconfigurable particles that are challenging to synthesize. In this paper, we detail visualized experimental protocols to create patterned particles, notably, (a) permanently bonded, hollow, polyhedra that self-assemble and self-seal due to the minimization of surface energy of liquefied hinges21-23 and (b) grippers that self-fold due to residual stress powered hinges24,25. The specific protocol described can be used to create particles with overall sizes ranging from the micrometer to the centimeter length scales. Further, arbitrary patterns can be defined on the surfaces of the particles of importance in colloidal science, electronics, optics and medicine. More generally, the concept of self-assembling mechanically rigid particles with self-sealing hinges is applicable, with some process modifications, to the creation of particles at even smaller, 100 nm length scales22, 26 and with a range of materials including metals21, semiconductors9 and polymers27. With respect to residual stress powered actuation of reconfigurable grasping devices, our specific protocol utilizes chromium hinges of relevance to devices with sizes ranging from 100 μm to 2.5 mm. However, more generally, the concept of such tether-free residual stress powered actuation can be used with alternate high-stress materials such as heteroepitaxially deposited semiconductor films5,7 to possibly create even smaller nanoscale grasping devices. PMID:23407436

A comparison of dynamic and static economic models of uneven-aged stand management

Treesearch

Robert G. Haight

1985-01-01

Numerical techniques have been used to compute the discrete-time sequence of residual diameter distributions that maximize the present net worth (PNW) of harvestable volume from an uneven-aged stand. Results contradicted optimal steady-state diameter distributions determined with static analysis. In this paper, optimality conditions for solutions to dynamic and static...

Development of wide-angle 2D light scattering static cytometry

NASA Astrophysics Data System (ADS)

Xie, Linyan; Liu, Qiao; Shao, Changshun; Su, Xuantao

2016-10-01

We have recently developed a 2D light scattering static cytometer for cellular analysis in a label-free manner, which measures side scatter (SSC) light in the polar angular range from 79 to 101 degrees. Compared with conventional flow cytometry, our cytometric technique requires no fluorescent labeling of the cells, and static cytometry measurements can be performed without flow control. In this paper we present an improved label-free static cytometer that can obtain 2D light scattering patterns in a wider angular range. By illuminating the static microspheres on chip with a scanning optical fiber, wide-angle 2D light scattering patterns of single standard microspheres with a mean diameter of 3.87 μm are obtained. The 2D patterns of 3.87 μm microspheres contain both large-angle forward scatter (FSC) and SSC light in the polar angular range from 40 to 100 degrees, approximately. Experimental 2D patterns of 3.87 μm microspheres are in good agreement with Mie theory simulated ones. The wide-angle light scattering measurements may provide a better resolution for particle analysis as compared with the SSC measurements. Two dimensional light scattering patterns of HL-60 human acute leukemia cells are obtained by using our static cytometer. Compared with SSC 2D light scattering patterns, wide-angle 2D patterns contain richer information of the HL-60 cells. The obtaining of 2D light scattering patterns in a wide angular range could help to enhance the capabilities of our label-free static cytometry for cell analysis.

Fuzzy Logic Controller Design for A Robot Grasping System with Different Membership Functions

NASA Astrophysics Data System (ADS)

Ahmad, Hamzah; Razali, Saifudin; Rusllim Mohamed, Mohd

2013-12-01

This paper investigates the effects of the membership function to the object grasping for a three fingered gripper system. The performance of three famously used membership functions is compared to identify their behavior in lifting a defined object shape. MATLAB Simulink and SimMechanics toolboxes are used to examine the performance. Our preliminary results proposed that the Gaussian membership function surpassed the two other membership functions; triangular and trapezoid memberships especially in the context of firmer grasping and less time consumption during operations. Therefore, Gaussian membership function could be the best solution when time consumption and firmer grasp are considered.

Assembly of optical fibers for the connection of polymer-based waveguide

NASA Astrophysics Data System (ADS)

Ansel, Yannick; Grau, Daniel; Holzki, Markus; Kraus, Silvio; Neumann, Frank; Reinhard, Carsten; Schmitz, Felix

2003-03-01

This paper describes the realization of polymer-based optical structures and the assembly and packaging strategy to connect optical fiber ribbons to the waveguides. For that a low cost fabrication process using the SU-8TM thick photo-resist is presented. This process consists in the deposition of two photo-structurized resist layers filled up with epoxy glue realising the core waveguide. For the assembly, a new modular vacuum gripper was realised and installed on an automatic pick and place assembly robot to mount precisely and efficiently the optical fibers in the optical structures. First results have shown acceptable optical propagation loss for the complete test structure.

Coordination of multiple robot arms

NASA Technical Reports Server (NTRS)

Barker, L. K.; Soloway, D.

1987-01-01

Kinematic resolved-rate control from one robot arm is extended to the coordinated control of multiple robot arms in the movement of an object. The structure supports the general movement of one axis system (moving reference frame) with respect to another axis system (control reference frame) by one or more robot arms. The grippers of the robot arms do not have to be parallel or at any pre-disposed positions on the object. For multiarm control, the operator chooses the same moving and control reference frames for each of the robot arms. Consequently, each arm then moves as though it were carrying out the commanded motions by itself.

ROTEX-TRIIFEX: Proposal for a joint FRG-USA telerobotic flight experiment

NASA Technical Reports Server (NTRS)

Hirzinger, G.; Bejczy, A. K.

1989-01-01

The concepts and main elements of a RObot Technology EXperiment (ROTEX) proposed to fly with the next German spacelab mission, D2, are presented. It provides a 1 meter size, six axis robot inside a spacelab rack, equipped with a multisensory gripper (force-torque sensors, an array of range finders, and mini stereo cameras). The robot will perform assembly and servicing tasks in a generic way, and will grasp a floating object. The man machine and supervisory control concepts for teleoperation from the spacelab and from ground are discussed. The predictive estimation schemes for an extensive use of time-delay compensating 3D computer graphics are explained.

Numerical Modeling of Sliding Stability of RCC dam

NASA Astrophysics Data System (ADS)

Mughieda, O.; Hazirbaba, K.; Bani-Hani, K.; Daoud, W.

2017-06-01

Stability and stress analyses are the most important elements that require rigorous consideration in design of a dam structure. Stability of dams against sliding is crucial due to the substantial horizontal load that requires sufficient and safe resistance to develop by mobilization of adequate shearing forces along the base of the dam foundation. In the current research, the static sliding stability of a roller-compacted-concrete (RCC) dam was modelled using finite element method to investigate the stability against sliding. A commercially available finite element software (SAP 2000) was used to analyze stresses in the body of the dam and foundation. A linear finite element static analysis was performed in which a linear plane strain isoperimetric four node elements was used for modelling the dam-foundation system. The analysis was carried out assuming that no slip will occur at the interface between the dam and the foundation. Usual static loading condition was applied for the static analysis. The greatest tension was found to develop in the rock adjacent to the toe of the upstream slope. The factor of safety against sliding along the entire base of the dam was found to be greater than 1 (FS>1), for static loading conditions.

Archer

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

Atzeni, Simone; Ahn, Dong; Gopalakrishnan, Ganesh

2017-01-12

Archer is built on top of the LLVM/Clang compilers that support OpenMP. It applies static and dynamic analysis techniques to detect data races in OpenMP programs generating a very low runtime and memory overhead. Static analyses identify data race free OpenMP regions and exclude them from runtime analysis, which is performed by ThreadSanitizer included in LLVM/Clang.

Static Analysis of Programming Exercises: Fairness, Usefulness and a Method for Application

ERIC Educational Resources Information Center

Nutbrown, Stephen; Higgins, Colin

2016-01-01

This article explores the suitability of static analysis techniques based on the abstract syntax tree (AST) for the automated assessment of early/mid degree level programming. Focus is on fairness, timeliness and consistency of grades and feedback. Following investigation into manual marking practises, including a survey of markers, the assessment…

An Economical Method for Static Headspace Enrichment for Arson Analysis

ERIC Educational Resources Information Center

Olesen, Bjorn

2010-01-01

Static headspace analysis of accelerants from suspected arsons is accomplished by placing an arson sample in a sealed container with a carbon strip suspended above the sample. The sample is heated, cooled to room temperature, and then the organic components are extracted from the carbon strip with carbon disulfide followed by gas chromatography…

Cost-Effectiveness Analysis of Family Planning Services Offered by Mobile Clinics versus Static Clinics in Assiut, Egypt.

PubMed

Al-Attar, Ghada S T; Bishai, David; El-Gibaly, Omaima

2017-03-01

Cost effectiveness studies of family planning (FP) services are very valuable in providing evidence-based data for decision makers in Egypt. Cost data came from record reviews for all 15 mobile clinics and a matched set of 15 static clinics and interviews with staff members of the selected clinics at Assiut Governorate. Effectiveness measures included couple years of protection (CYPs) and FP visits. Incremental cost-effectiveness ratios (ICER) and sensitivity analyses were calculated. Mobile clinics cost more per facility, produced more CYPs but had fewer FP visits. Sensitivity analysis was done using: total costs, CYP and FP visits of mobile and static clinics and showed that variations in CYP of mobile and static clinics altered the ICER for CYP from $2 -$6. Mobile clinics with their high emphasis on IUDs offer a reasonable cost effectiveness of $4.46 per additional CYP compared to static clinics. The ability of mobile clinics to reach more vulnerable women and to offer more long acting methods might affect a policy decision between these options. Static clinics should consider whether emphasizing IUDs may make their services more cost-effective.

Dynamic and static fatigue behavior of sintered silicon nitrides

NASA Technical Reports Server (NTRS)

Chang, J.; Khandelwal, P.; Heitman, P. W.

1987-01-01

The dynamic and static fatigue behavior of Kyocera SN220M sintered silicon nitride at 1000 C was studied. Fractographic analysis of the material failing in dynamic fatigue revealed the presence of slow crack growth (SCG) at stressing rates below 41 MPa/min. Under conditions of static fatigue this material also displayed SCG at stresses below 345 MPa. SCG appears to be controlled by microcracking of the grain boundaries. The crack velocity exponent (n) determined from both dynamic and static fatigue tests ranged from 11 to 16.

DARKDROID: Exposing the Dark Side of Android Marketplaces

DTIC Science & Technology

2016-06-01

Moreover, our approaches can detect apps containing both intentional and unintentional vulnerabilities, such as unsafe code loading mechanisms and...Security, Static Analysis, Dynamic Analysis, Malware Detection , Vulnerability Scanning 16. SECURITY CLASSIFICATION OF: 17. LIMITATION OF ABSTRACT UU 18...applications in a DoD context. ................... 1 1.2.2 Develop sophisticated whole-system static analyses to detect malicious Android applications

Effective Use of Multimedia Presentations to Maximize Learning within High School Science Classrooms

ERIC Educational Resources Information Center

Rapp, Eric

2013-01-01

This research used an evidenced-based experimental 2 x 2 factorial design General Linear Model with Repeated Measures Analysis of Covariance (RMANCOVA). For this analysis, time served as the within-subjects factor while treatment group (i.e., static and signaling, dynamic and signaling, static without signaling, and dynamic without signaling)…

Correcting (18)F-fluoride PET static scan measurements of skeletal plasma clearance for tracer efflux from bone.

PubMed

Siddique, Musib; Frost, Michelle L; Moore, Amelia E B; Fogelman, Ignac; Blake, Glen M

2014-03-01

The aim of the study was to examine whether (18)F-fluoride PET ((18)F-PET) static scan measurements of bone plasma clearance (Ki) can be corrected for tracer efflux from bone from the time of injection. The efflux of tracer from bone mineral to plasma was described by a first-order rate constant kloss. A modified Patlak analysis was applied to 60-min dynamic (18)F-PET scans of the spine and hip acquired during trials on the bone anabolic agent teriparatide to find the best-fit values of kloss at the lumbar spine, total hip and femoral shaft. The resulting values of kloss were used to extrapolate the modified Patlak plots to 120 min after injection and derive a sequence of static scan estimates of Ki at 4-min intervals that were compared with the Patlak Ki values from the 60-min dynamic scans. A comparison was made with the results of the standard static scan analysis, which assumes kloss=0. The best-fit values of kloss for the spine and hip regions of interest averaged 0.006/min and did not change when patients were treated with teriparatide. Static scan values of Ki calculated using the modified analysis with kloss=0.006/min were independent of time between 10 and 120 min after injection and were in close agreement with findings from the dynamic scans. In contrast, by 2 h after injection the static scan Ki values calculated using the standard analysis underestimated the dynamic scan results by 20%. Using a modified analysis that corrects for F efflux from bone, estimates of Ki from static PET scans can be corrected for time up to 2 h after injection. This simplified approach may obviate the need to perform dynamic scans and hence shorten the scanning procedure for the patient and reduce the cost of studies. It also enables reliable estimates of Ki to be obtained from multiple skeletal sites with a single injection of tracer.

The First Static and Dynamic Analysis of 3-D Printed Sintered Ceramics for Body Armor Applications

DTIC Science & Technology

2016-09-01

evaluate sintered alumina tiles produced by 3-D printing methodology. This report examines the static and quasi -static parameters (including density...Figures iv List of Tables iv Acknowledgments v 1. Introduction 1 2. Processing and Experimental Procedures 1 3. Results and Discussion 7 4...6 Fig. 8 Experimental setup for recording fracture .............................................7 Fig. 9 Rod projectile

In-flight measurement of the National Oceanic and Atmospheric Administration (NOAA)-10 static Earth sensor error

NASA Technical Reports Server (NTRS)

Harvie, E.; Filla, O.; Baker, D.

1993-01-01

Analysis performed in the Goddard Space Flight Center (GSFC) Flight Dynamics Division (FDD) measures error in the static Earth sensor onboard the National Oceanic and Atmospheric Administration (NOAA)-10 spacecraft using flight data. Errors are computed as the difference between Earth sensor pitch and roll angle telemetry and reference pitch and roll attitude histories propagated by gyros. The flight data error determination illustrates the effect on horizon sensing of systemic variation in the Earth infrared (IR) horizon radiance with latitude and season, as well as the effect of anomalies in the global IR radiance. Results of the analysis provide a comparison between static Earth sensor flight performance and that of scanning Earth sensors studied previously in the GSFC/FDD. The results also provide a baseline for evaluating various models of the static Earth sensor. Representative days from the NOAA-10 mission indicate the extent of uniformity and consistency over time of the global IR horizon. A unique aspect of the NOAA-10 analysis is the correlation of flight data errors with independent radiometric measurements of stratospheric temperature. The determination of the NOAA-10 static Earth sensor error contributes to realistic performance expectations for missions to be equipped with similar sensors.

Static strain and vibration characteristics of a metal semimonocoque helicopter tail cone of moderate size

NASA Technical Reports Server (NTRS)

Bielawa, Richard L.; Hefner, Rachel E.; Castagna, Andre

1991-01-01

The results are presented of an analytic and experimental research program involving a Sikorsky S-55 helicopter tail cone directed ultimately to the improved structural analysis of airframe substructures typical of moderate sized helicopters of metal semimonocoque construction. Experimental static strain and dynamic shake-testing measurements are presented. Correlation studies of each of these tests with a PC-based finite element analysis (COSMOS/M) are described. The tests included static loadings at the end of the tail cone supported in the cantilever configuration as well as vibrational shake-testing in both the cantilever and free-free configurations.

Investigating the Magnetic Interaction with Geomag and Tracker Video Analysis: Static Equilibrium and Anharmonic Dynamics

ERIC Educational Resources Information Center

Onorato, P.; Mascheretti, P.; DeAmbrosis, A.

2012-01-01

In this paper, we describe how simple experiments realizable by using easily found and low-cost materials allow students to explore quantitatively the magnetic interaction thanks to the help of an Open Source Physics tool, the Tracker Video Analysis software. The static equilibrium of a "column" of permanents magnets is carefully investigated by…

Dead zone analysis of ECAL barrel modules under static and dynamic load

NASA Astrophysics Data System (ADS)

Pierre-Emile, T.; Anduze, M.

2018-03-01

In the context of ILD project, impact studies of environmental loads on the Electromagnetic CALorimeter (ECAL) have been initiated. The ECAL part considered is the barrel and it consists of several independent modules which are mounted on the Hadronic CALorimeter barrel (HCAL) itself mounted on the cryostat coil and the yoke. The estimate of the gap required between each ECAL modules is fundamental to define the assembly step and avoid mechanical contacts over the barrel lifetime. In the meantime, it has to be done in consideration to the dead spaces reduction and detector hermiticity optimization. Several Finite Element Analysis (FEA) with static and dynamic loads have been performed in order to define correctly the minimum values for those gaps. Due to the implantation site of the whole project in Japan, seismic analysis were carried out in addition to the static ones. This article shows results of these analysis done with the Finite Element Method (FEM) in ANSYS. First results show the impact of HCAL design on the ECAL modules motion in static load. The second study dedicated to seismic approach on a larger model (including yoke and cryostat) gives additional results on earthquake consequences.

Predicting System Accidents with Model Analysis During Hybrid Simulation

NASA Technical Reports Server (NTRS)

Malin, Jane T.; Fleming, Land D.; Throop, David R.

2002-01-01

Standard discrete event simulation is commonly used to identify system bottlenecks and starving and blocking conditions in resources and services. The CONFIG hybrid discrete/continuous simulation tool can simulate such conditions in combination with inputs external to the simulation. This provides a means for evaluating the vulnerability to system accidents of a system's design, operating procedures, and control software. System accidents are brought about by complex unexpected interactions among multiple system failures , faulty or misleading sensor data, and inappropriate responses of human operators or software. The flows of resource and product materials play a central role in the hazardous situations that may arise in fluid transport and processing systems. We describe the capabilities of CONFIG for simulation-time linear circuit analysis of fluid flows in the context of model-based hazard analysis. We focus on how CONFIG simulates the static stresses in systems of flow. Unlike other flow-related properties, static stresses (or static potentials) cannot be represented by a set of state equations. The distribution of static stresses is dependent on the specific history of operations performed on a system. We discuss the use of this type of information in hazard analysis of system designs.

Static air-gap eccentricity fault diagnosis using rotor slot harmonics in line neutral voltage of three-phase squirrel cage induction motor

NASA Astrophysics Data System (ADS)

Oumaamar, Mohamed El Kamel; Maouche, Yassine; Boucherma, Mohamed; Khezzar, Abdelmalek

2017-02-01

The mixed eccentricity fault detection in a squirrel cage induction motor has been thoroughly investigated. However, a few papers have been related to pure static eccentricity fault and the authors focused on the RSH harmonics presented in stator current. The main objective of this paper is to present an alternative method based on the analysis of line neutral voltage taking place between the supply and the stator neutrals in order to detect air-gap static eccentricity, and to highlight the classification of all RSH harmonics in line neutral voltage. The model of squirrel cage induction machine relies on the rotor geometry and winding layout. Such developed model is used to analyze the impact of the pure static air-gap eccentricity by predicting the related frequencies in the line neutral voltage spectrum. The results show that the line neutral voltage spectrum are more sensitive to the air-gap static eccentricity fault compared to stator current one. The theoretical analysis and simulated results are confirmed by experiments.

Failure mechanics in low-velocity impacts on thin composite plates

NASA Technical Reports Server (NTRS)

Elber, W.

1983-01-01

Eight-ply quasi-isotropic composite plates of Thornel 300 graphite in Narmco 5208 epoxy resin (T300/5208) were tested to establish the degree of equivalence between low-velocity impact and static testing. Both the deformation and failure mechanics under impact were representable by static indentation tests. Under low-velocity impacts such as tool drops, the dominant deformation mode of the plates was the first, or static, mode. Higher modes are excited on contact, but they decay significantly by the time the first-mode load reaches a maximum. The delamination patterns were observed by X-ray analysis. The areas of maximum delamination patterns were observed by X-ray analysis. The areas of maximum delamination coincided with the areas of highest peel stresses. The extent of delamination was similar for static and impact tests. Fiber failure damage was established by tensile tests on small fiber bundles obtained by deplying test specimens. The onset of fiber damage was in internal plies near the lower surface of the plates. The distribution and amount of fiber damage was similar fo impact and static tests.

Static analysis of the hull plate using the finite element method

NASA Astrophysics Data System (ADS)

Ion, A.

2015-11-01

This paper aims at presenting the static analysis for two levels of a container ship's construction as follows: the first level is at the girder / hull plate and the second level is conducted at the entire strength hull of the vessel. This article will describe the work for the static analysis of a hull plate. We shall use the software package ANSYS Mechanical 14.5. The program is run on a computer with four Intel Xeon X5260 CPU processors at 3.33 GHz, 32 GB memory installed. In terms of software, the shared memory parallel version of ANSYS refers to running ANSYS across multiple cores on a SMP system. The distributed memory parallel version of ANSYS (Distributed ANSYS) refers to running ANSYS across multiple processors on SMP systems or DMP systems.

A fast and robust kinematic model for a 12 DoF hyper-redundant robot positioning: An optimization proposal

NASA Astrophysics Data System (ADS)

Lima, José; Pereira, Ana I.; Costa, Paulo; Pinto, Andry; Costa, Pedro

2017-07-01

This paper describes an optimization procedure for a robot with 12 degrees of freedom avoiding the inverse kinematics problem, which is a hard task for this type of robot manipulator. This robot can be used to pick and place tasks in complex designs. Combining an accurate and fast direct kinematics model with optimization strategies, it is possible to achieve the joints angles for a desired end-effector position and orientation. The optimization methods stretched simulated annealing algorithm and genetic algorithm were used. The solutions found were validated using data originated by a real and by a simulated robot formed by 12 servomotors with a gripper.

Improving the Quality of Welding Seam of Automatic Welding of Buckets Based on TCP

NASA Astrophysics Data System (ADS)

Hu, Min

2018-02-01

Since February 2014, the welding defects of the automatic welding line of buckets have been frequently appeared. The average repair time of each bucket is 26min, which seriously affects the production efficiency and welding quality. We conducted troubleshooting, and found the main reasons for the welding defects of the buckets were the deviations of the center points of the robot tools and the poor quality of the locating welding. We corrected the gripper, welding torch, and accuracy of repeat positioning of robots to control the quality of positioning welding. The welding defect rate of buckets was reduced greatly, ensuring the production efficiency and welding quality.

Force-controlled automatic microassembly of tissue engineering scaffolds

NASA Astrophysics Data System (ADS)

Zhao, Guoyong; Teo, Chee Leong; Hutmacher, Dietmar Werner; Burdet, Etienne

2010-03-01

This paper presents an automated system for 3D assembly of tissue engineering (TE) scaffolds made from biocompatible microscopic building blocks with relatively large fabrication error. It focuses on the pin-into-hole force control developed for this demanding microassembly task. A beam-like gripper with integrated force sensing at a 3 mN resolution with a 500 mN measuring range is designed, and is used to implement an admittance force-controlled insertion using commercial precision stages. Visual-based alignment followed by an insertion is complemented by a haptic exploration strategy using force and position information. The system demonstrates fully automated construction of TE scaffolds with 50 microparts whose dimension error is larger than 5%.

An analysis of the effects of aeroelasticity on static longitudinal stability and control of a swept-wing airplane

NASA Technical Reports Server (NTRS)

Skoog, Richard B

1957-01-01

A theoretical analysis has been made of the effects of aeroelasticity on the static longitudinal stability and elevator angle required for balance of an airplane. The analysis is based on the familiar stability equation expressing the contribution of wing and tail to longitudinal stability. Effects of wing, tail, and fuselage flexibility are considered. Calculated effects are shown for a swept-wing bomber of relatively high flexibility.

MSC products for the simulation of tire behavior

NASA Technical Reports Server (NTRS)

Muskivitch, John C.

1995-01-01

The modeling of tires and the simulation of tire behavior are complex problems. The MacNeal-Schwendler Corporation (MSC) has a number of finite element analysis products that can be used to address the complexities of tire modeling and simulation. While there are many similarities between the products, each product has a number of capabilities that uniquely enable it to be used for a specific aspect of tire behavior. This paper discusses the following programs: (1) MSC/NASTRAN - general purpose finite element program for linear and nonlinear static and dynamic analysis; (2) MSC/ADAQUS - nonlinear statics and dynamics finite element program; (3) MSC/PATRAN AFEA (Advanced Finite Element Analysis) - general purpose finite element program with a subset of linear and nonlinear static and dynamic analysis capabilities with an integrated version of MSC/PATRAN for pre- and post-processing; and (4) MSC/DYTRAN - nonlinear explicit transient dynamics finite element program.

Pile Driving Analysis for Pile Design and Quality Assurance

DOT National Transportation Integrated Search

2017-08-01

Driven piles are commonly used in foundation engineering. The most accurate measurement of pile capacity is achieved from measurements made during static load tests. Static load tests, however, may be too expensive for certain projects. In these case...

Speckle temporal stability in XAO coronagraphic images. II. Refine model for quasi-static speckle temporal evolution for VLT/SPHERE

NASA Astrophysics Data System (ADS)

Martinez, P.; Kasper, M.; Costille, A.; Sauvage, J. F.; Dohlen, K.; Puget, P.; Beuzit, J. L.

2013-06-01

Context. Observing sequences have shown that the major noise source limitation in high-contrast imaging is the presence of quasi-static speckles. The timescale on which quasi-static speckles evolve is determined by various factors, mechanical or thermal deformations, among others. Aims: Understanding these time-variable instrumental speckles and, especially, their interaction with other aberrations, referred to as the pinning effect, is paramount for the search for faint stellar companions. The temporal evolution of quasi-static speckles is, for instance, required for quantifying the gain expected when using angular differential imaging (ADI) and to determining the interval on which speckle nulling techniques must be carried out. Methods: Following an early analysis of a time series of adaptively corrected, coronagraphic images obtained in a laboratory condition with the high-order test bench (HOT) at ESO Headquarters, we confirm our results with new measurements carried out with the SPHERE instrument during its final test phase in Europe. The analysis of the residual speckle pattern in both direct and differential coronagraphic images enables the characterization of the temporal stability of quasi-static speckles. Data were obtained in a thermally actively controlled environment reproducing realistic conditions encountered at the telescope. Results: The temporal evolution of the quasi-static wavefront error exhibits a linear power law, which can be used to model quasi-static speckle evolution in the context of forthcoming high-contrast imaging instruments, with implications for instrumentation (design, observing strategies, data reduction). Such a model can be used for instance to derive the timescale on which non-common path aberrations must be sensed and corrected. We found in our data that quasi-static wavefront error increases with ~0.7 Å per minute.

Correction of static axial alignment in children with knee varus or valgus deformities through guided growth: Does it also correct dynamic frontal plane moments during walking?

PubMed

Böhm, Harald; Stief, Felix; Sander, Klaus; Hösl, Matthias; Döderlein, Leonhard

2015-09-01

Malaligned knees are predisposed to the development and progression of unicompartmental degenerations because of the excessive load placed on one side of the knee. Therefore, guided growth in skeletally immature patients is recommended. Indication for correction of varus/valgus deformities are based on static weight bearing radiographs. However, the dynamic knee abduction moment during walking showed only a weak correlation to malalignment determined by static radiographs. Therefore, the aim of the study was to measure the effects of guided growth on the normalization of frontal plane knee joint moments during walking. 15 legs of 8 patients (11-15 years) with idiopathic axial varus or valgus malalignment were analyzed. 16 typically developed peers served as controls. Instrumented gait analysis and clinical assessment were performed the day before implantation and explantation of eight-plates. Correlation between static mechanical tibiofemoral axis angle (MAA) and dynamic frontal plane knee joint moments and their change by guided growth were performed. The changes in dynamic knee moment in the frontal plane following guided growth showed high and significant correlation to the changes in static MAA (R=0.97, p<0.001). Contrary to the correlation of the changes, there was no correlation between static and dynamic measures in both sessions. In consequence two patients that had a natural knee moment before treatment showed a more pathological one after treatment. In conclusion, the changes in the dynamic load situation during walking can be predicted from the changes in static alignment. If pre-surgical gait analysis reveals a natural load situation, despite a static varus or valgus deformity, the intervention must be critically discussed. Copyright © 2015 Elsevier B.V. All rights reserved.

Instance Analysis for the Error of Three-pivot Pressure Transducer Static Balancing Method for Hydraulic Turbine Runner

NASA Astrophysics Data System (ADS)

Weng, Hanli; Li, Youping

2017-04-01

The working principle, process device and test procedure of runner static balancing test method by weighting with three-pivot pressure transducers are introduced in this paper. Based on an actual instance of a V hydraulic turbine runner, the error and sensitivity of the three-pivot pressure transducer static balancing method are analysed. Suggestions about improving the accuracy and the application of the method are also proposed.

STATIC AND KINETIC SITE-SPECIFIC PROTEIN-DNA PHOTOCROSSLINKING: ANALYSIS OF BACTERIAL TRANSCRIPTION INITIATION COMPLEXES

PubMed Central

Naryshkin, Nikolai; Druzhinin, Sergei; Revyakin, Andrei; Kim, Younggyu; Mekler, Vladimir; Ebright, Richard H.

2009-01-01

Static site-specific protein-DNA photocrosslinking permits identification of protein-DNA interactions within multiprotein-DNA complexes. Kinetic site-specific protein-DNA photocrosslinking--involving rapid-quench-flow mixing and pulsed-laser irradiation--permits elucidation of pathways and kinetics of formation of protein-DNA interactions within multiprotein-DNA complexes. We present detailed protocols for application of static and kinetic site-specific protein-DNA photocrosslinking to bacterial transcription initiation complexes. PMID:19378179

Precise and Efficient Static Array Bound Checking for Large Embedded C Programs

NASA Technical Reports Server (NTRS)

Venet, Arnaud

2004-01-01

In this paper we describe the design and implementation of a static array-bound checker for a family of embedded programs: the flight control software of recent Mars missions. These codes are large (up to 250 KLOC), pointer intensive, heavily multithreaded and written in an object-oriented style, which makes their analysis very challenging. We designed a tool called C Global Surveyor (CGS) that can analyze the largest code in a couple of hours with a precision of 80%. The scalability and precision of the analyzer are achieved by using an incremental framework in which a pointer analysis and a numerical analysis of array indices mutually refine each other. CGS has been designed so that it can distribute the analysis over several processors in a cluster of machines. To the best of our knowledge this is the first distributed implementation of static analysis algorithms. Throughout the paper we will discuss the scalability setbacks that we encountered during the construction of the tool and their impact on the initial design decisions.

Integrated analysis on static/dynamic aeroelasticity of curved panels based on a modified local piston theory

NASA Astrophysics Data System (ADS)

Yang, Zhichun; Zhou, Jian; Gu, Yingsong

2014-10-01

A flow field modified local piston theory, which is applied to the integrated analysis on static/dynamic aeroelastic behaviors of curved panels, is proposed in this paper. The local flow field parameters used in the modification are obtained by CFD technique which has the advantage to simulate the steady flow field accurately. This flow field modified local piston theory for aerodynamic loading is applied to the analysis of static aeroelastic deformation and flutter stabilities of curved panels in hypersonic flow. In addition, comparisons are made between results obtained by using the present method and curvature modified method. It shows that when the curvature of the curved panel is relatively small, the static aeroelastic deformations and flutter stability boundaries obtained by these two methods have little difference, while for curved panels with larger curvatures, the static aeroelastic deformation obtained by the present method is larger and the flutter stability boundary is smaller compared with those obtained by the curvature modified method, and the discrepancy increases with the increasing of curvature of panels. Therefore, the existing curvature modified method is non-conservative compared to the proposed flow field modified method based on the consideration of hypersonic flight vehicle safety, and the proposed flow field modified local piston theory for curved panels enlarges the application range of piston theory.

Some studies on the use of NASTRAN for nuclear power plant structural analysis and design

NASA Technical Reports Server (NTRS)

Setlur, A. V.; Valathur, M.

1973-01-01

Studies made on the use of NASTRAN for nuclear power plant analysis and design are presented. These studies indicate that NASTRAN could be effectively used for static, dynamic and special purpose problems encountered in the design of such plants. Normal mode capability of NASTRAN is extended through a post-processor program to handle seismic analysis. Static and dynamic substructuring is discussed. Extension of NASTRAN to include the needs in the civil engineering industry is discussed.

Deformation behavior of welded steel sandwich panels under quasi-static loading

DOT National Transportation Integrated Search

2011-03-16

This paper summarizes basic research (i.e., testing and analysis) : conducted to examine the deformation behavior of flat-welded : steel sandwich panels under two types of quasi-static loading: : (1) uniaxial compression; and (2) bending through an i...

Commuter rail seat testing and analysis of facing seats

DOT National Transportation Integrated Search

2003-12-01

Tests have been conducted on the Bombardier back-to-back commuter rail car seat in a facing-seat configuration to evaluate its performance under static and dynamic loading conditions. Quasi-static tests have been conducted to establish the load defle...

Determination of the static friction coefficient from circular motion

NASA Astrophysics Data System (ADS)

Molina-Bolívar, J. A.; Cabrerizo-Vílchez, M. A.

2014-07-01

This paper describes a physics laboratory exercise for determining the coefficient of static friction between two surfaces. The circular motion of a coin placed on the surface of a rotating turntable has been studied. For this purpose, the motion is recorded with a high-speed digital video camera recording at 240 frames s-1, and the videos are analyzed using Tracker video-analysis software, allowing the students to dynamically model the motion of the coin. The students have to obtain the static friction coefficient by comparing the centripetal and maximum static friction forces. The experiment only requires simple and inexpensive materials. The dynamics of circular motion and static friction forces are difficult for many students to understand. The proposed laboratory exercise addresses these topics, which are relevant to the physics curriculum.

RADIOLOGICAL SURVEY STATION DEVELOPMENT FOR THE PIT DISASSEMBLY AND CONVERSION PROJECT

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

Dalmaso, M.; Gibbs, K.; Gregory, D.

2011-05-22

The Savannah River National Laboratory (SRNL) has developed prototype equipment to demonstrate remote surveying of Inner and Outer DOE Standard 3013 containers for fixed and transferable contamination in accordance with DOE Standard 3013 and 10 CFR 835 Appendix B. When fully developed the equipment will be part of a larger suite of equipment used to package material in accordance with DOE Standard 3013 at the Pit Disassembly and Conversion Project slated for installation at the Savannah River Site. The prototype system consists of a small six-axis industrial robot with an end effector consisting of a force sensor, vacuum gripper andmore » a three fingered pneumatic gripper. The work cell also contains two alpha survey instruments, swipes, swipe dispenser, and other ancillary equipment. An external controller interfaces with the robot controller, survey instruments and other ancillary equipment to control the overall process. SRNL is developing automated equipment for the Pit Disassembly and Conversion (PDC) Project that is slated for the Savannah River Site (SRS). The equipment being developed is automated packaging equipment for packaging plutonium bearing materials in accordance with DOE-STD-3013-2004. The subject of this paper is the development of a prototype Radiological Survey Station (RSS). Other automated equipment being developed for the PDC includes the Bagless transfer System, Outer Can Welder, Gantry Robot System (GRS) and Leak Test Station. The purpose of the RSS is to perform a frisk and swipe of the DOE Standard 3013 Container (either inner can or outer can) to check for fixed and transferable contamination. This is required to verify that the contamination levels are within the limits specified in DOE-STD-3013-2004 and 10 CFR 835, Appendix D. The surface contamination limit for the 3013 Outer Can (OC) is 500 dpm/100 cm2 (total) and 20 dpm/100 cm2 (transferable). This paper will concentrate on the RSS developments for the 3013 OC but the system for the 3013 Inner Can (IC) is nearly identical.« less

Static and Dynamical Structural Investigations of Metal-Oxide Nanocrystals by Powder X-ray Diffraction: Colloidal Tungsten Oxide as a Case Study

DOE PAGES

Caliandro, Rocco; Sibillano, Teresa; Belviso, B. Danilo; ...

2016-02-02

In this study, we have developed a general X-ray powder diffraction (XPD) methodology for the simultaneous structural and compositional characterization of inorganic nanomaterials. The approach is validated on colloidal tungsten oxide nanocrystals (WO 3-x NCs), as a model polymorphic nanoscale material system. Rod-shaped WO 3-x NCs with different crystal structure and stoichiometry are comparatively investigated under an inert atmosphere and after prolonged air exposure. An initial structural model for the as-synthesized NCs is preliminarily identified by means of Rietveld analysis against several reference crystal phases, followed by atomic pair distribution function (PDF) refinement of the best-matching candidates (static analysis). Subtlemore » stoichiometry deviations from the corresponding bulk standards are revealed. NCs exposed to air at room temperature are monitored by XPD measurements at scheduled time intervals. The static PDF analysis is complemented with an investigation into the evolution of the WO 3-x NC structure, performed by applying the modulation enhanced diffraction technique to the whole time series of XPD profiles (dynamical analysis). Prolonged contact with ambient air is found to cause an appreciable increase in the static disorder of the O atoms in the WO 3-x NC lattice, rather than a variation in stoichiometry. Finally, the time behavior of such structural change is identified on the basis of multivariate analysis.« less

An Analysis of the Effects of Wing Aspect Ratio and Tail Location on Static Longitudinal Stability Below the Mach Number of Lift Divergence

NASA Technical Reports Server (NTRS)

Axelson, John A.; Crown, J. Conrad

1948-01-01

An analysis is presented of the influence of wing aspect ratio and tail location on the effects of compressibility upon static longitudinal stability. The investigation showed that the use of reduced wing aspect ratios or short tail lengths leads to serious reductions in high-speed stability and the possibility of high-speed instability.

Static Analysis Alert Audits: Lexicon and Rules

DTIC Science & Technology

2016-11-04

collaborators • Includes a standard set of well-defined determinations for static analysis alerts • Includes a set of auditing rules to help auditors make...consistent decisions in commonly-encountered situations Different auditors should make the same determination for a given alert! Improve the quality and...scenarios • Establish assumptions auditors can make • Overall: help make audit determinations more consistent We developed 12 rules • Drew on our own

Design and analysis on robotic arm for serving hazard container

NASA Astrophysics Data System (ADS)

Razali, Zol Bahri; Kader, Mohamed Mydin M. Abdul; Yi, Khoo Zern; Daud, Mohd Hisam

2017-09-01

This paper presents about design, analyses development and fabrication of robotic arm for sorting multi-material. The major problem that urges the initiation of the project is the fact that manufacturing industry is growing at relatively faster rate. Most of the company produce high load robotic arm. Less company creates light weight, and affordable robotic arm. As the result, light weight and affordable robot is developing to cover this issue. Plastic material was used to construct the body of the robotic arm, and an optical sensor was implemented to provide basic recognition of object to be carried. The robotic arm used five servomotors for overall operation; four for its joints, and one for the gripping mechanism. The gripper was designed and fabricated using Perspex due to the light weight and high strength of the material. The operation of the robotic arm was governed by Basic Stamp programming sequence and the device was expected to differentiate material and other objects based on reflective theory, and perform subsequent operations afterwards. The SolidWorks was used to model the detail design of the robotic arm, and to simulate the motion of the device.

Controllable curvature from planar polymer sheets in response to light.

PubMed

Hubbard, Amber M; Mailen, Russell W; Zikry, Mohammed A; Dickey, Michael D; Genzer, Jan

2017-03-22

The ability to change shape and control curvature in 3D structures starting from planar sheets can aid in assembly and add functionality to an object. Herein, we convert planar sheets of shape memory polymers (SMPs) into 3D objects with controllable curvature by dictating where the sheets shrink. Ink patterned on the surface of the sheet absorbs infrared (IR) light, resulting in localized heating, and the material shrinks locally wherever the temperature exceeds the activation temperature, T a . We introduce two different mechanisms for controlling curvature within SMP sheets. The 'direct' mechanism uses localized shrinkage to induce curvature only in regions patterned with ink. The 'indirect' mechanism uses localized shrinkage in regions patterned with ink to induce curvature in neighboring regions without ink through a balance of internal stresses. Finite element analysis predicts the final shape of the polymer sheets with excellent qualitative agreement with experimental studies. Results from this study show that curvature can be controlled by the distribution and darkness of the ink pattern on the polymer sheet. Additionally, we utilize the direct and indirect curvature mechanisms to demonstrate the formation and actuation of gripper devices, which represent the potential utility of this approach.

Analysis for lateral deflection of railroad track under quasi-static loading

DOT National Transportation Integrated Search

2013-10-15

This paper describes analyses to examine the lateral : deflection of railroad track subjected to quasi-static loading. : Rails are assumed to behave as beams in bending. Movement : of the track in the lateral plane is constrained by idealized : resis...

Static Analysis of Large-Scale Multibody System Using Joint Coordinates and Spatial Algebra Operator

PubMed Central

Omar, Mohamed A.

2014-01-01

Initial transient oscillations inhibited in the dynamic simulations responses of multibody systems can lead to inaccurate results, unrealistic load prediction, or simulation failure. These transients could result from incompatible initial conditions, initial constraints violation, and inadequate kinematic assembly. Performing static equilibrium analysis before the dynamic simulation can eliminate these transients and lead to stable simulation. Most exiting multibody formulations determine the static equilibrium position by minimizing the system potential energy. This paper presents a new general purpose approach for solving the static equilibrium in large-scale articulated multibody. The proposed approach introduces an energy drainage mechanism based on Baumgarte constraint stabilization approach to determine the static equilibrium position. The spatial algebra operator is used to express the kinematic and dynamic equations of the closed-loop multibody system. The proposed multibody system formulation utilizes the joint coordinates and modal elastic coordinates as the system generalized coordinates. The recursive nonlinear equations of motion are formulated using the Cartesian coordinates and the joint coordinates to form an augmented set of differential algebraic equations. Then system connectivity matrix is derived from the system topological relations and used to project the Cartesian quantities into the joint subspace leading to minimum set of differential equations. PMID:25045732

Static analysis of large-scale multibody system using joint coordinates and spatial algebra operator.

PubMed

Omar, Mohamed A

2014-01-01

Initial transient oscillations inhibited in the dynamic simulations responses of multibody systems can lead to inaccurate results, unrealistic load prediction, or simulation failure. These transients could result from incompatible initial conditions, initial constraints violation, and inadequate kinematic assembly. Performing static equilibrium analysis before the dynamic simulation can eliminate these transients and lead to stable simulation. Most exiting multibody formulations determine the static equilibrium position by minimizing the system potential energy. This paper presents a new general purpose approach for solving the static equilibrium in large-scale articulated multibody. The proposed approach introduces an energy drainage mechanism based on Baumgarte constraint stabilization approach to determine the static equilibrium position. The spatial algebra operator is used to express the kinematic and dynamic equations of the closed-loop multibody system. The proposed multibody system formulation utilizes the joint coordinates and modal elastic coordinates as the system generalized coordinates. The recursive nonlinear equations of motion are formulated using the Cartesian coordinates and the joint coordinates to form an augmented set of differential algebraic equations. Then system connectivity matrix is derived from the system topological relations and used to project the Cartesian quantities into the joint subspace leading to minimum set of differential equations.

The Perception of Dynamic and Static Facial Expressions of Happiness and Disgust Investigated by ERPs and fMRI Constrained Source Analysis

PubMed Central

Trautmann-Lengsfeld, Sina Alexa; Domínguez-Borràs, Judith; Escera, Carles; Herrmann, Manfred; Fehr, Thorsten

2013-01-01

A recent functional magnetic resonance imaging (fMRI) study by our group demonstrated that dynamic emotional faces are more accurately recognized and evoked more widespread patterns of hemodynamic brain responses than static emotional faces. Based on this experimental design, the present study aimed at investigating the spatio-temporal processing of static and dynamic emotional facial expressions in 19 healthy women by means of multi-channel electroencephalography (EEG), event-related potentials (ERP) and fMRI-constrained regional source analyses. ERP analysis showed an increased amplitude of the LPP (late posterior positivity) over centro-parietal regions for static facial expressions of disgust compared to neutral faces. In addition, the LPP was more widespread and temporally prolonged for dynamic compared to static faces of disgust and happiness. fMRI constrained source analysis on static emotional face stimuli indicated the spatio-temporal modulation of predominantly posterior regional brain activation related to the visual processing stream for both emotional valences when compared to the neutral condition in the fusiform gyrus. The spatio-temporal processing of dynamic stimuli yielded enhanced source activity for emotional compared to neutral conditions in temporal (e.g., fusiform gyrus), and frontal regions (e.g., ventromedial prefrontal cortex, medial and inferior frontal cortex) in early and again in later time windows. The present data support the view that dynamic facial displays trigger more information reflected in complex neural networks, in particular because of their changing features potentially triggering sustained activation related to a continuing evaluation of those faces. A combined fMRI and EEG approach thus provides an advanced insight to the spatio-temporal characteristics of emotional face processing, by also revealing additional neural generators, not identifiable by the only use of an fMRI approach. PMID:23818974

A mechanism to explain the variations of tropopause and tropopause inversion layer in the Arctic region during a sudden stratospheric warming in 2009

NASA Astrophysics Data System (ADS)

Wang, Rui; Tomikawa, Yoshihiro; Nakamura, Takuji; Huang, Kaiming; Zhang, Shaodong; Zhang, Yehui; Yang, Huigen; Hu, Hongqiao

2016-10-01

The mechanism to explain the variations of tropopause and tropopause inversion layer (TIL) in the Arctic region during a sudden stratospheric warming (SSW) in 2009 was studied with the Modern-Era Retrospective analysis for Research and Applications reanalysis data and GPS/Constellation Observing system for Meteorology, Ionosphere, and Climate (COSMIC) temperature data. During the prominent SSW in 2009, the cyclonic system changed to the anticyclonic system due to the planetary wave with wave number 2 (wave2). The GPS/COSMIC temperature data showed that during the SSW in 2009, the tropopause height in the Arctic decreased accompanied with the tropopause temperature increase and the TIL enhancement. The variations of the tropopause and TIL were larger in higher latitudes. A static stability analysis showed that the variations of the tropopause and TIL were associated with the variations of the residual circulation and the static stability due to the SSW. Larger static stability appeared in the upper stratosphere and moved downward to the narrow region just above the tropopause. The descent of strong downward flow was faster in higher latitudes. The static stability tendency analysis showed that the strong downward residual flow induced the static stability change in the stratosphere and around the tropopause. The strong downwelling in the stratosphere was mainly induced by wave2, which led to the tropopause height and temperature changes due to the adiabatic heating. Around the tropopause, a pair of downwelling above the tropopause and upwelling below the tropopause due to wave2 contributed to the enhancement of static stability in the TIL immediately after the SSW.

A comparison of the two approaches of the theory of critical distances based on linear-elastic and elasto-plastic analyses

NASA Astrophysics Data System (ADS)

Terekhina, A. I.; Plekhov, O. A.; Kostina, A. A.; Susmel, L.

2017-06-01

The problem of determining the strength of engineering structures, considering the effects of the non-local fracture in the area of stress concentrators is a great scientific and industrial interest. This work is aimed on modification of the classical theory of critical distance that is known as a method of failure prediction based on linear-elastic analysis in case of elasto-plastic material behaviour to improve the accuracy of estimation of lifetime of notched components. Accounting plasticity has been implemented with the use of the Simplified Johnson-Cook model. Mechanical tests were carried out using a 300 kN electromechanical testing machine Shimadzu AG-X Plus. The cylindrical un-notched specimens and specimens with stress concentrators of titanium alloy Grade2 were tested under tensile loading with different grippers travel speed, which ensured several orders of strain rate. The results of elasto-plastic analyses of stress distributions near a wide variety of notches are presented. The results showed that the use of the modification of the TCD based on elasto-plastic analysis gives us estimates falling within an error interval of ±5-10%, that more accurate predictions than the linear elastic TCD solution. The use of an improved description of the stress-strain state at the notch tip allows introducing the critical distances as a material parameter.

Static Holdup of Liquid Slag in Simulated Packed Coke Bed Under Oxygen Blast Furnace Ironmaking Conditions

NASA Astrophysics Data System (ADS)

Wang, Guang; Liu, Yingli; Zhou, Zhenfeng; Wang, Jingsong; Xue, Qingguo

2018-01-01

The liquid-phase flow behavior of slag in the lower zone of a blast furnace affects the furnace permeability, performance, and productivity. The effects of pulverized coal injection (PCI) on the behavior of simulated primary slag flow were investigated by quantifying the effect of key variables including Al/Si ratio [Al2O3 (wt.%) to SiO2 (wt.%)] and the amount of unburnt pulverized coal (UPC) at 1500°C. Viscosity analysis demonstrated that the slag fluidity decreased as the Al/Si ratio was increased (from 0.35 to 0.50), resulting in gradual increase of the static holdup. Increasing the amount of UPC resulted in a significant increase of the static holdup. Flooding analysis was applied to determine the maximum static holdup, which was found to be 11.5%. It was inferred that the burnout rates of pulverized coal should exceed 78.6% and 83.9% in traditional and oxygen blast furnaces, respectively.

Characterization of Triaxial Braided Composite Material Properties for Impact Simulation

NASA Technical Reports Server (NTRS)

Roberts, Gary D.; Goldberg, Robert K.; Biniendak, Wieslaw K.; Arnold, William A.; Littell, Justin D.; Kohlman, Lee W.

2009-01-01

The reliability of impact simulations for aircraft components made with triaxial braided carbon fiber composites is currently limited by inadequate material property data and lack of validated material models for analysis. Improvements to standard quasi-static test methods are needed to account for the large unit cell size and localized damage within the unit cell. The deformation and damage of a triaxial braided composite material was examined using standard quasi-static in-plane tension, compression, and shear tests. Some modifications to standard test specimen geometries are suggested, and methods for measuring the local strain at the onset of failure within the braid unit cell are presented. Deformation and damage at higher strain rates is examined using ballistic impact tests on 61- by 61- by 3.2-mm (24- by 24- by 0.125-in.) composite panels. Digital image correlation techniques were used to examine full-field deformation and damage during both quasi-static and impact tests. An impact analysis method is presented that utilizes both local and global deformation and failure information from the quasi-static tests as input for impact simulations. Improvements that are needed in test and analysis methods for better predictive capability are examined.

Flight calibration of compensated and uncompensated pitot-static airspeed probes and application of the probes to supersonic cruise vehicles

NASA Technical Reports Server (NTRS)

Webb, L. D.; Washington, H. P.

1972-01-01

Static pressure position error calibrations for a compensated and an uncompensated XB-70 nose boom pitot static probe were obtained in flight. The methods (Pacer, acceleration-deceleration, and total temperature) used to obtain the position errors over a Mach number range from 0.5 to 3.0 and an altitude range from 25,000 feet to 70,000 feet are discussed. The error calibrations are compared with the position error determined from wind tunnel tests, theoretical analysis, and a standard NACA pitot static probe. Factors which influence position errors, such as angle of attack, Reynolds number, probe tip geometry, static orifice location, and probe shape, are discussed. Also included are examples showing how the uncertainties caused by position errors can affect the inlet controls and vertical altitude separation of a supersonic transport.

Numerical analysis of stiffened shells of revolution. Volume 1: Theory manual for STARS-2S, 2B, 2V digital computer programs

NASA Technical Reports Server (NTRS)

Svalbonas, V.

1973-01-01

The theoretical analysis background for the STARS-2 (shell theory automated for rotational structures) program is presented. The theory involved in the axisymmetric nonlinear and unsymmetric linear static analyses, and the stability and vibrations (including critical rotation speed) analyses involving axisymmetric prestress are discussed. The theory for nonlinear static, stability, and vibrations analyses, involving shells with unsymmetric loadings are included.

Design, Static Analysis And Fabrication Of Composite Joints

NASA Astrophysics Data System (ADS)

Mathiselvan, G.; Gobinath, R.; Yuvaraja, S.; Raja, T.

2017-05-01

The Bonded joints will be having one of the important issues in the composite technology is the repairing of aging in aircraft applications. In these applications and also for joining various composite material parts together, the composite materials fastened together either using adhesives or mechanical fasteners. In this paper, we have carried out design, static analysis of 3-D models and fabrication of the composite joints (bonded, riveted and hybrid). The 3-D model of the composite structure will be fabricated by using the materials such as epoxy resin, glass fibre material and aluminium rivet for preparing the joints. The static analysis was carried out with different joint by using ANSYS software. After fabrication, parametric study was also conducted to compare the performance of the hybrid joint with varying adherent width, adhesive thickness and overlap length. Different joint and its materials tensile test result have compared.

Static analysis of a sonar dome rubber window

NASA Technical Reports Server (NTRS)

Lai, J. L.

1978-01-01

The application of NASTRAN (level 16.0.1) to the static analysis of a sonar dome rubber window (SDRW) was demonstrated. The assessment of the conventional model (neglecting the enclosed fluid) for the stress analysis of the SDRW was made by comparing its results to those based on a sophisticated model (including the enclosed fluid). The fluid was modeled with isoparametric linear hexahedron elements with approximate material properties whose shear modulus was much smaller than its bulk modulus. The effect of the chosen material property for the fluid is discussed.

Transient analysis using conical shell elements

NASA Technical Reports Server (NTRS)

Yang, J. C. S.; Goeller, J. E.; Messick, W. T.

1973-01-01

The use of the NASTRAN conical shell element in static, eigenvalue, and direct transient analyses is demonstrated. The results of a NASTRAN static solution of an externally pressurized ring-stiffened cylinder agree well with a theoretical discontinuity analysis. Good agreement is also obtained between the NASTRAN direct transient response of a uniform cylinder to a dynamic end load and one-dimensional solutions obtained using a method of characteristics stress wave code and a standing wave solution. Finally, a NASTRAN eigenvalue analysis is performed on a hydroballistic model idealized with conical shell elements.

NASA LeRC/Akron University Graduate Cooperative Fellowship Program and Graduate Student Researchers Program

NASA Technical Reports Server (NTRS)

Fertis, D. G.; Simon, A. L.

1981-01-01

The requisite methodology to solve linear and nonlinear problems associated with the static and dynamic analysis of rotating machinery, their static and dynamic behavior, and the interaction between the rotating and nonrotating parts of an engine is developed. Linear and nonlinear structural engine problems are investigated by developing solution strategies and interactive computational methods whereby the man and computer can communicate directly in making analysis decisions. Representative examples include modifying structural models, changing material, parameters, selecting analysis options and coupling with interactive graphical display for pre- and postprocessing capability.

Carbohydrate-protein interactions investigated on plastic chips statically coated with hydrophobically modified hydroxyethylcellulose.

PubMed

Dang, Fuquan; Maeda, Eiki; Osafune, Tomo; Nakajima, Kazuki; Kakehi, Kazuaki; Ishikawa, Mitsuru; Baba, Yoshinobu

2009-12-15

We developed a novel method for rapid screening of carbohydrate-protein interactions using poly(methyl methacrylate) (PMMA) channels statically coated with hydrophobically modified hydroxyethylcellulose (HM-HEC). We found that a self-assembled monolayer (SAM) of HM-HEC on a PMMA surface intact by water allows rapid and reproducible separations of glycan samples using a 20 mM phosphate without HM-HEC. The underlying mechanism for dynamic and static coatings on the PMMA surface is discussed. Simultaneous analysis of the molecular interaction between a complex mixture of carbohydrates from alpha1-acid glycoprotein and proteins has been successfully achieved in PMMA channels statically coated with a SAM of HM-HEC.

Task-level testing of the JPL-OMV smart end effector

NASA Technical Reports Server (NTRS)

Hannaford, B.

1987-01-01

An intelligent end effector previously developed at JPL has been tested in over 21 hours of experimental teleoperation. The end effector provides local control of gripper clamping force and a 6-degree-of-freedom, wrist mounted force torque sensor. Resolved forces and torques were displayed to the test subjects, and the effect of this information on their performance of simulated satellite servicing tasks was assessed. The experienced subjects accomplished the tasks with lower levels of Remote Manipulator System (RMS) forces than intermediate and naive subjects, but the force levels were apparently uncorrelated with the presence or absence of the display. This negative finding was attributed to the lack of a suitable control mode in the manipulator control system.

Robotic Vehicle

NASA Technical Reports Server (NTRS)

1994-01-01

A commercially available ANDROS Mark V-A robot was used by Jet Propulsion Laboratory (JPL) as the departure point in the development of the HAZBOT III, a prototype teleoperated mobile robot designed for response to emergencies. Teleoperated robots contribute significantly to reducing human injury levels by performing tasks too hazardous for humans. ANDROS' manufacturer, REMOTEC, Inc., in turn, adopted some of the JPL concepts, particularly the control panel. HAZBOT III has exceptional mobility, employs solid state electronics and brushless DC motors for safer operation, and is designed so combustible gases cannot penetrate areas containing electronics and motors. Other features include the six-degree-of-freedom manipulator, the 30-pound squeeze force parallel jaw gripper and two video cameras, one for general viewing and navigation and the other for manipulation/grasping.

Interaction Forces Between Multiple Bodies in a Magnetic Field

NASA Technical Reports Server (NTRS)

Joffe, Benjamin

1996-01-01

Some of the results from experiments to determine the interaction forces between multiple bodies in a magnetic field are presented in this paper. It is shown how the force values and the force directions depend on the configuration of the bodies, their relative positions to each other, and the vector of the primary magnetic field. A number of efficient new automatic loading and assembly machines, as well as manipulators and robots, have been created based on the relationship between bodies and magnetic fields. A few of these patented magnetic devices are presented. The concepts involved open a new way to design universal grippers for robot and other kinds of mechanisms for the manipulation of objects. Some of these concepts can be used for space applications.

Characteristics and requirements of robotic manipulators for space operations

NASA Technical Reports Server (NTRS)

Andary, James F.; Hewitt, Dennis R.; Spidaliere, Peter D.; Lambeck, Robert W.

1992-01-01

A robotic manipulator, DTF-1, developed as part of the Flight Telerobotic Servicer (FTS) project at Goddard Space Flight Center is discussed focusing on the technical, operational, and safety requirements. The DTF-1 system design, which is based on the manipulator, gripper, cameras, computer, and an operator control station incorporates the fundamental building blocks of the original FTS, the end product of which was to have been a light-weight, dexterous telerobotic device. For the first time in the history of NASA, space technology and robotics were combined to find new and unique solutions to the demanding requirements of flying a sophisticated robotic manipulator in space. DTF-1 is considered to be the prototype for all future development in space robotics.

Control system for the 2nd generation Berkeley AutoMounters (BAM2) at GM/CA CAT macromolecular crystallography beamlines

PubMed Central

Makarov, O.; Hilgart, M.; Ogata, C.; Pothineni, S.; Cork, C.

2011-01-01

GM/CA CAT at Sector 23 of the Advanced Photon Source (APS) is an NIH funded facility for crystallographic structure determination of biological macromolecules by X-ray diffraction. A second generation Berkeley automounter is being integrated into the beamline control system at the 23-BM experimental station. This new device replaces the previous all-pneumatic gripper motions with a combination of pneumatics and XYZ motorized linear stages. The latter adds a higher degree of flexibility to the robot including auto-alignment capability, accommodation of a larger capacity sample Dewar of arbitrary shape, and support for advanced operations such as crystal washing, while preserving the overall simplicity and efficiency of the Berkeley automounter design. PMID:21822343

Hydraulically amplified self-healing electrostatic actuators with muscle-like performance

NASA Astrophysics Data System (ADS)

Acome, E.; Mitchell, S. K.; Morrissey, T. G.; Emmett, M. B.; Benjamin, C.; King, M.; Radakovitz, M.; Keplinger, C.

2018-01-01

Existing soft actuators have persistent challenges that restrain the potential of soft robotics, highlighting a need for soft transducers that are powerful, high-speed, efficient, and robust. We describe a class of soft actuators, termed hydraulically amplified self-healing electrostatic (HASEL) actuators, which harness a mechanism that couples electrostatic and hydraulic forces to achieve a variety of actuation modes. We introduce prototypical designs of HASEL actuators and demonstrate their robust, muscle-like performance as well as their ability to repeatedly self-heal after dielectric breakdown—all using widely available materials and common fabrication techniques. A soft gripper handling delicate objects and a self-sensing artificial muscle powering a robotic arm illustrate the wide potential of HASEL actuators for next-generation soft robotic devices.

Approaching control for tethered space robot based on disturbance observer using super twisting law

NASA Astrophysics Data System (ADS)

Hu, Yongxin; Huang, Panfeng; Meng, Zhongjie; Wang, Dongke; Lu, Yingbo

2018-05-01

Approaching control is a key mission for the tethered space robot to perform the task of removing space debris. But the uncertainties of the TSR such as the change of model parameter have an important effect on the approaching mission. Considering the space tether and the attitude of the gripper, the dynamic model of the TSR is derived using Lagrange method. Then a disturbance observer is designed to estimate the uncertainty based on STW control method. Using the disturbance observer, a controller is designed, and the performance is compared with the dynamic inverse controller which turns out that the proposed controller performs better. Numerical simulation validates the feasibility of the proposed controller on the position and attitude tracking of the TSR.

Response, analysis, and design of pile groups subjected to static & dynamic lateral loads.

DOT National Transportation Integrated Search

2003-06-01

Static and dynamic lateral load tests were performed on four full-scale pile groups driven at four different spacings. P-multipliers to account for group : interaction effects were back-calculated for each test. P-multipliers were found to be a funct...

Brain activation in response to randomized visual stimulation as obtained from conjunction and differential analysis: an fMRI study

NASA Astrophysics Data System (ADS)

Nasaruddin, N. H.; Yusoff, A. N.; Kaur, S.

2014-11-01

The objective of this multiple-subjects functional magnetic resonance imaging (fMRI) study was to identify the common brain areas that are activated when viewing black-and-white checkerboard pattern stimuli of various shapes, pattern and size and to investigate specific brain areas that are involved in processing static and moving visual stimuli. Sixteen participants viewed the moving (expanding ring, rotating wedge, flipping hour glass and bowtie and arc quadrant) and static (full checkerboard) stimuli during an fMRI scan. All stimuli have black-and-white checkerboard pattern. Statistical parametric mapping (SPM) was used in generating brain activation. Differential analyses were implemented to separately search for areas involved in processing static and moving stimuli. In general, the stimuli of various shapes, pattern and size activated multiple brain areas mostly in the left hemisphere. The activation in the right middle temporal gyrus (MTG) was found to be significantly higher in processing moving visual stimuli as compared to static stimulus. In contrast, the activation in the left calcarine sulcus and left lingual gyrus were significantly higher for static stimulus as compared to moving stimuli. Visual stimulation of various shapes, pattern and size used in this study indicated left lateralization of activation. The involvement of the right MTG in processing moving visual information was evident from differential analysis, while the left calcarine sulcus and left lingual gyrus are the areas that are involved in the processing of static visual stimulus.

Nondestructive Measurement of Dynamic Modulus for Cellulose Nanofibril Films

Treesearch

Yan Qing; Robert J. Ross; Zhiyong Cai; Yiqiang Wu

2013-01-01

Nondestructive evaluation of cellulose nanofibril (CNF) films was performed using cantilever beam vibration (CBV) and acoustic methods to measure dynamic modulus. Static modulus was tested using tensile tension method. Correlation analysis shows the data measured by CBV has little linear relationship with static modulus, possessing a correlation coefficient (R

Analysis of the Static Strength and Relative Endurance of Women Athletes

ERIC Educational Resources Information Center

Heyward, Vivian; McCreary, Leslie

1977-01-01

Investigations of static strength and relative endurance of the grip muscles of women athletes revealed that mean endurance time was significantly greater than for men. Results were discussed in light of evidence suggesting possible sex differences in muscle hypertrophy, capillarization of muscle tissue, critical occluding tension level, and…

Constrained posture in dentistry - a kinematic analysis of dentists.

PubMed

Ohlendorf, Daniela; Erbe, Christina; Nowak, Jennifer; Hauck, Imke; Hermanns, Ingo; Ditchen, Dirk; Ellegast, Rolf; Groneberg, David A

2017-07-05

How a dentist works, such as the patterns of movements performed daily, is also largely affected by the workstation Dental tasks are often executed in awkward body positions, thereby causing a very high degree of strain on the corresponding muscles. The objective of this study is to detect those dental tasks, during which awkward postures occur most frequently. The isolated analysis of static postures will examine the duration for which these postures are maintained during the corresponding dental, respectively non-dental, activities. 21 (11f/10 m) dentists (age: 40.1 ± 10.4 years) participated in this study. An average dental workday was collected for every subject. To collect kinematic data of all activities, the CUELA system was used. Parallel to the kinematic examination, a detailed computer-based task analysis was conducted. Afterwards, both data sets were synchronized based on the chronological order of the postures assumed in the trunk and the head region. All tasks performed were assigned to the categories "treatment" (I), "office" (II) and "other activities" (III). The angle values of each body region (evaluation parameter) were examined and assessed corresponding to ergonomic standards. Moreover, this study placed a particular focus on static positions, which are held statically for 4 s and longer. For "treatment" (I), the entire head and trunk area is anteriorly tilted while the back is twisted to the right, in (II) and (III) the back is anteriorly tilted and twisted to the right (non-neutral position). Static positions in (I) last for 4-10s, static postures (approx. 60%) can be observed while in (II) and (III) in the back area static positions for more than 30 s are most common. Moreover, in (II) the back is twisted to the right for more than 60 s in 26.8%. Awkward positions are a major part of a dentists' work. This mainly pertains to static positions of the trunk and head in contrast to "office work." These insights facilitate the quantitative description of the dentist profession with regard to the related physical load along with the health hazards to the musculoskeletal system. Moreover, the results allow for a selective extraction of the most unfavorable static body positions that dentists assume for each of the activities performed.

Finite element modeling of ROPS in static testing and rear overturns.

PubMed

Harris, J R; Mucino, V H; Etherton, J R; Snyder, K A; Means, K H

2000-08-01

Even with the technological advances of the last several decades, agricultural production remains one of the most hazardous occupations in the United States. Death due to tractor rollover is a prime contributor to this hazard. Standards for rollover protective structures (ROPS) performance and certification have been developed by groups such as the Society of Automotive Engineers (SAE) and the American Society of Agricultural Engineers (ASAE) to combat these problems. The current ROPS certification standard, SAE J2194, requires either a dynamic or static testing sequence or both. Although some ROPS manufacturers perform both the dynamic and static phases of SAE J2194 testing, it is possible for a ROPS to be certified for field operation using static testing alone. This research compared ROPS deformation response from a simulated SAE J2194 static loading sequence to ROPS deformation response as a result of a simulated rearward tractor rollover. Finite element analysis techniques for plastic deformation were used to simulate both the static and dynamic rear rollover scenarios. Stress results from the rear rollover model were compared to results from simulated static testing per SAE J2194. Maximum stress values from simulated rear rollovers exceeded maximum stress values recorded during simulated static testing for half of the elements comprising the uprights. In the worst case, the static model underpredicts dynamic model results by approximately 7%. In the best case, the static model overpredicts dynamic model results by approximately 32%. These results suggest the need for additional experimental work to characterize ROPS stress levels during staged overturns and during testing according to the SAE standard.

Static sign language recognition using 1D descriptors and neural networks

NASA Astrophysics Data System (ADS)

Solís, José F.; Toxqui, Carina; Padilla, Alfonso; Santiago, César

2012-10-01

A frame work for static sign language recognition using descriptors which represents 2D images in 1D data and artificial neural networks is presented in this work. The 1D descriptors were computed by two methods, first one consists in a correlation rotational operator.1 and second is based on contour analysis of hand shape. One of the main problems in sign language recognition is segmentation; most of papers report a special color in gloves or background for hand shape analysis. In order to avoid the use of gloves or special clothing, a thermal imaging camera was used to capture images. Static signs were picked up from 1 to 9 digits of American Sign Language, a multilayer perceptron reached 100% recognition with cross-validation.

Static magnetotherapy for the treatment of insomnia.

PubMed

Shieh, Yao Y; Tsai, Fong Y

2008-01-01

Magnets have been used for centuries to treat a number of physical disorders. The vast majority of research, however, on static magnet therapy for insomnia has been confined to the auricular type of therapy, with publications limited to Chinese journals. Most of these studies have depended on the subjective self-assessment of participants rather than objective scientific measurements. In this study, the authors report the positive preliminary results of insomnia treatment using pillows with embedded magnets, magnetic insoles and TriPhase bracelets. The analysis is based on objective actigraphic and polysomnographic data. A theory of accelerated transition from wakefulness to sleep is proposed to explain the process of insomnia relief through low-strength static magnetic fields. Analysis by functional Magnetic Resonance Imaging (fMRI) is used to further investigate the theory.

Modeling of composite beams and plates for static and dynamic analysis

NASA Technical Reports Server (NTRS)

Hodges, Dewey H.; Atilgan, Ali R.; Lee, Bok Woo

1990-01-01

A rigorous theory and corresponding computational algorithms was developed for a variety of problems regarding the analysis of composite beams and plates. The modeling approach is intended to be applicable to both static and dynamic analysis of generally anisotropic, nonhomogeneous beams and plates. Development of a theory for analysis of the local deformation of plates was the major focus. Some work was performed on global deformation of beams. Because of the strong parallel between beams and plates, the two were treated together as thin bodies, especially in cases where it will clarify the meaning of certain terminology and the motivation behind certain mathematical operations.

Dynamic analysis of solid propellant grains subjected to ignition pressurization loading

NASA Astrophysics Data System (ADS)

Chyuan, Shiang-Woei

2003-11-01

Traditionally, the transient analysis of solid propellant grains subjected to ignition pressurization loading was not considered, and quasi-elastic-static analysis was widely adopted for structural integrity because the analytical task gets simplified. But it does not mean that the dynamic effect is not useful and could be neglected arbitrarily, and this effect usually plays a very important role for some critical design. In order to simulate the dynamic response for solid rocket motor, a transient finite element model, accompanied by concepts of time-temperature shift principle, reduced integration and thermorheologically simple material assumption, was used. For studying the dynamic response, diverse ignition pressurization loading cases were used and investigated in the present paper. Results show that the dynamic effect is important for structural integrity of solid propellant grains under ignition pressurization loading. Comparing the effective stress of transient analysis and of quasi-elastic-static analysis, one can see that there is an obvious difference between them because of the dynamic effect. From the work of quasi-elastic-static and transient analyses, the dynamic analysis highlighted several areas of interest and a more accurate and reasonable result could be obtained for the engineer.

Analysis of dynamics and fit of diving suits

NASA Astrophysics Data System (ADS)

Mahnic Naglic, M.; Petrak, S.; Gersak, J.; Rolich, T.

2017-10-01

Paper presents research on dynamical behaviour and fit analysis of customised diving suits. Diving suits models are developed using the 3D flattening method, which enables the construction of a garment model directly on the 3D computer body model and separation of discrete 3D surfaces as well as transformation into 2D cutting parts. 3D body scanning of male and female test subjects was performed with the purpose of body measurements analysis in static and dynamic postures and processed body models were used for construction and simulation of diving suits prototypes. All necessary parameters, for 3D simulation were applied on obtained cutting parts, as well as parameters values for mechanical properties of neoprene material. Developed computer diving suits prototypes were used for stretch analysis on areas relevant for body dimensional changes according to dynamic anthropometrics. Garment pressures against the body in static and dynamic conditions was also analysed. Garments patterns for which the computer prototype verification was conducted were used for real prototype production. Real prototypes were also used for stretch and pressure analysis in static and dynamic conditions. Based on the obtained results, correlation analysis between body changes in dynamic positions and dynamic stress, determined on computer and real prototypes, was performed.

Analysis of high-rise constructions with the using of three-dimensional models of rods in the finite element program PRINS

NASA Astrophysics Data System (ADS)

Agapov, Vladimir

2018-03-01

The necessity of new approaches to the modeling of rods in the analysis of high-rise constructions is justified. The possibility of the application of the three-dimensional superelements of rods with rectangular cross section for the static and dynamic calculation of the bar and combined structures is considered. The results of the eighteen-story spatial frame free vibrations analysis using both one-dimensional and three-dimensional models of rods are presented. A comparative analysis of the obtained results is carried out and the conclusions on the possibility of three-dimensional superelements application in static and dynamic analysis of high-rise constructions are given on its basis.

A Categorization of Dynamic Analyzers

NASA Technical Reports Server (NTRS)

Lujan, Michelle R.

1997-01-01

Program analysis techniques and tools are essential to the development process because of the support they provide in detecting errors and deficiencies at different phases of development. The types of information rendered through analysis includes the following: statistical measurements of code, type checks, dataflow analysis, consistency checks, test data,verification of code, and debugging information. Analyzers can be broken into two major categories: dynamic and static. Static analyzers examine programs with respect to syntax errors and structural properties., This includes gathering statistical information on program content, such as the number of lines of executable code, source lines. and cyclomatic complexity. In addition, static analyzers provide the ability to check for the consistency of programs with respect to variables. Dynamic analyzers in contrast are dependent on input and the execution of a program providing the ability to find errors that cannot be detected through the use of static analysis alone. Dynamic analysis provides information on the behavior of a program rather than on the syntax. Both types of analysis detect errors in a program, but dynamic analyzers accomplish this through run-time behavior. This paper focuses on the following broad classification of dynamic analyzers: 1) Metrics; 2) Models; and 3) Monitors. Metrics are those analyzers that provide measurement. The next category, models, captures those analyzers that present the state of the program to the user at specified points in time. The last category, monitors, checks specified code based on some criteria. The paper discusses each classification and the techniques that are included under them. In addition, the role of each technique in the software life cycle is discussed. Familiarization with the tools that measure, model and monitor programs provides a framework for understanding the program's dynamic behavior from different, perspectives through analysis of the input/output data.

A nonlinear auxetic structural vibration damper with metal rubber particles

NASA Astrophysics Data System (ADS)

Ma, Yanhong; Scarpa, Fabrizio; Zhang, Dayi; Zhu, Bin; Chen, Lulu; Hong, Jie

2013-08-01

The work describes the mechanical performance of a metal rubber particles (MRP) damper design based on an auxetic (negative Poisson’s ratio) cellular configuration. The auxetic damper configuration is constituted by an anti-tetrachiral honeycomb, where the cylinders are filled with the MRP material. The MRP samples have been subjected to quasi-static loading to measure the stiffness and loss factor from the static hysteresis curve. A parametric experimental analysis has been carried out to investigate the effect of relative density and filling percentage on the static performance of the MRP, and to identify design guidelines for best use of MRP devices. An experimental assessment of the integrated auxetic-MRP damper concept has been provided through static and dynamic force response techniques.

Development and Application of Benchmark Examples for Mixed-Mode I/II Quasi-Static Delamination Propagation Predictions

NASA Technical Reports Server (NTRS)

Krueger, Ronald

2012-01-01

The development of benchmark examples for quasi-static delamination propagation prediction is presented and demonstrated for a commercial code. The examples are based on finite element models of the Mixed-Mode Bending (MMB) specimen. The examples are independent of the analysis software used and allow the assessment of the automated delamination propagation prediction capability in commercial finite element codes based on the virtual crack closure technique (VCCT). First, quasi-static benchmark examples were created for the specimen. Second, starting from an initially straight front, the delamination was allowed to propagate under quasi-static loading. Third, the load-displacement relationship from a propagation analysis and the benchmark results were compared, and good agreement could be achieved by selecting the appropriate input parameters. Good agreement between the results obtained from the automated propagation analysis and the benchmark results could be achieved by selecting input parameters that had previously been determined during analyses of mode I Double Cantilever Beam and mode II End Notched Flexure specimens. The benchmarking procedure proved valuable by highlighting the issues associated with choosing the input parameters of the particular implementation. Overall the results are encouraging, but further assessment for mixed-mode delamination fatigue onset and growth is required.

Comparison of tropical cyclogenesis processes in climate model and cloud-resolving model simulations using moist static energy budget analysis

NASA Astrophysics Data System (ADS)

Wing, Allison; Camargo, Suzana; Sobel, Adam; Kim, Daehyun; Murakami, Hiroyuki; Reed, Kevin; Vecchi, Gabriel; Wehner, Michael; Zarzycki, Colin; Zhao, Ming

2017-04-01

In recent years, climate models have improved such that high-resolution simulations are able to reproduce the climatology of tropical cyclone activity with some fidelity and show some skill in seasonal forecasting. However biases remain in many models, motivating a better understanding of what factors control the representation of tropical cyclone activity in climate models. We explore the tropical cyclogenesis processes in five high-resolution climate models, including both coupled and uncoupled configurations. Our analysis framework focuses on how convection, moisture, clouds and related processes are coupled and employs budgets of column moist static energy and the spatial variance of column moist static energy. The latter was originally developed to study the mechanisms of tropical convective organization in idealized cloud-resolving models, and allows us to quantify the different feedback processes responsible for the amplification of moist static energy anomalies associated with the organization of convection and cyclogenesis. We track the formation and evolution of tropical cyclones in the climate model simulations and apply our analysis both along the individual tracks and composited over many tropical cyclones. We then compare the genesis processes; in particular, the role of cloud-radiation interactions, to those of spontaneous tropical cyclogenesis in idealized cloud-resolving model simulations.

Quasi-Static Analysis of Round LaRC THUNDER Actuators

NASA Technical Reports Server (NTRS)

Campbell, Joel F.

2007-01-01

An analytic approach is developed to predict the shape and displacement with voltage in the quasi-static limit of round LaRC Thunder Actuators. The problem is treated with classical lamination theory and Von Karman non-linear analysis. In the case of classical lamination theory exact analytic solutions are found. It is shown that classical lamination theory is insufficient to describe the physical situation for large actuators but is sufficient for very small actuators. Numerical results are presented for the non-linear analysis and compared with experimental measurements. Snap-through behavior, bifurcation, and stability are presented and discussed.

Quasi-Static Analysis of LaRC THUNDER Actuators

NASA Technical Reports Server (NTRS)

Campbell, Joel F.

2007-01-01

An analytic approach is developed to predict the shape and displacement with voltage in the quasi-static limit of LaRC Thunder Actuators. The problem is treated with classical lamination theory and Von Karman non-linear analysis. In the case of classical lamination theory exact analytic solutions are found. It is shown that classical lamination theory is insufficient to describe the physical situation for large actuators but is sufficient for very small actuators. Numerical results are presented for the non-linear analysis and compared with experimental measurements. Snap-through behavior, bifurcation, and stability are presented and discussed.

Structural Finite Element Model Updating Using Vibration Tests and Modal Analysis for NPL footbridge - SHM demonstrator

NASA Astrophysics Data System (ADS)

Barton, E.; Middleton, C.; Koo, K.; Crocker, L.; Brownjohn, J.

2011-07-01

This paper presents the results from collaboration between the National Physical Laboratory (NPL) and the University of Sheffield on an ongoing research project at NPL. A 50 year old reinforced concrete footbridge has been converted to a full scale structural health monitoring (SHM) demonstrator. The structure is monitored using a variety of techniques; however, interrelating results and converting data to knowledge are not possible without a reliable numerical model. During the first stage of the project, the work concentrated on static loading and an FE model of the undamaged bridge was created, and updated, under specified static loading and temperature conditions. This model was found to accurately represent the response under static loading and it was used to identify locations for sensor installation. The next stage involves the evaluation of repair/strengthening patches under both static and dynamic loading. Therefore, before deliberately introducing significant damage, the first set of dynamic tests was conducted and modal properties were estimated. The measured modal properties did not match the modal analysis from the statically updated FE model; it was clear that the existing model required updating. This paper introduces the results of the dynamic testing and model updating. It is shown that the structure exhibits large non-linear, amplitude dependant characteristics. This creates a difficult updating process, but we attempt to produce the best linear representation of the structure. A sensitivity analysis is performed to determine the most sensitive locations for planned damage/repair scenarios and is used to decide whether additional sensors will be necessary.

Flight-test data on the static fore-and-aft stability of various German airplanes

NASA Technical Reports Server (NTRS)

Hubner, Walter

1933-01-01

The static longitudinal stability of an airplane with locked elevator is usually determined by analysis and model tests. The present report proposes to supply the results of such measurements. The method consisted of recording the dynamic pressure versus elevator displacement at different center-of-gravity positions in unaccelerated flight.

Experience patterns: capturing the dynamic nature of a recreation experience

Treesearch

R.B., IV Hull; William P. Stewart; Young K. Yi

1992-01-01

A recreation experience is not static, it varies over the course of an engagement. Yet, most recreation research operationalizes recreation benefits andoutcomes as essentially static in nature (i.e., satisfaction). "Experience patterns" capture the dynamic nature of a recreation experience and thus might prove useful as units of analysis in the management and...

Study of Geometric Porosity on Static Stability and Drag Using Computational Fluid Dynamics for Rigid Parachute Shapes

NASA Technical Reports Server (NTRS)

Greathouse, James S.; Schwing, Alan M.

2015-01-01

This paper explores use of computational fluid dynamics to study the e?ect of geometric porosity on static stability and drag for NASA's Multi-Purpose Crew Vehicle main parachute. Both of these aerodynamic characteristics are of interest to in parachute design, and computational methods promise designers the ability to perform detailed parametric studies and other design iterations with a level of control previously unobtainable using ground or flight testing. The approach presented here uses a canopy structural analysis code to define the inflated parachute shapes on which structured computational grids are generated. These grids are used by the computational fluid dynamics code OVERFLOW and are modeled as rigid, impermeable bodies for this analysis. Comparisons to Apollo drop test data is shown as preliminary validation of the technique. Results include several parametric sweeps through design variables in order to better understand the trade between static stability and drag. Finally, designs that maximize static stability with a minimal loss in drag are suggested for further study in subscale ground and flight testing.

Development and Application of Benchmark Examples for Mixed-Mode I/II Quasi-Static Delamination Propagation Predictions

NASA Technical Reports Server (NTRS)

Krueger, Ronald

2012-01-01

The development of benchmark examples for quasi-static delamination propagation prediction is presented. The example is based on a finite element model of the Mixed-Mode Bending (MMB) specimen for 50% mode II. The benchmarking is demonstrated for Abaqus/Standard, however, the example is independent of the analysis software used and allows the assessment of the automated delamination propagation prediction capability in commercial finite element codes based on the virtual crack closure technique (VCCT). First, a quasi-static benchmark example was created for the specimen. Second, starting from an initially straight front, the delamination was allowed to propagate under quasi-static loading. Third, the load-displacement as well as delamination length versus applied load/displacement relationships from a propagation analysis and the benchmark results were compared, and good agreement could be achieved by selecting the appropriate input parameters. The benchmarking procedure proved valuable by highlighting the issues associated with choosing the input parameters of the particular implementation. Overall, the results are encouraging, but further assessment for mixed-mode delamination fatigue onset and growth is required.

Tilted orthodontic micro implants: a photoelastic stress analysis.

PubMed

Çehreli, Seçil; Özçırpıcı, Ayça Arman; Yılmaz, Alev

2013-10-01

The aim of this study was to examine peri-implant stresses around orthodontic micro implants upon torque-tightening and static load application by quasi-three-dimensional photoelastic stress analysis. Self-tapping orthodontic micro implants were progressively inserted into photoelastic models at 30, 45, 70, and 90 degrees and insertion torques were measured. Stress patterns (isochromatic fringe orders) were recorded by the quasi-three-dimensional photoelastic method using a circular polariscope after insertion and 250 g static force application. Torque-tightening of implants generated peri-implant stresses. Upon insertion, 90 degree placed implants displayed the lowest and homogeneous stress distribution followed by 30, 70, and 45 degree tilted implants. Static loading did not dramatically alter stress fields around the implants tested. The highest alteration in stress distribution was observed for the 90 degree placed implant, while 70 degree tilted implant had the lowest stresses among tilted implants. Torque-tightening of orthodontic micro implants creates a stress field that is not dramatically altered after application of static lateral moderate orthodontic loads, particularly at the cervical region of tilted implants.

A Comparison of the Immediate Effects of Eccentric Training vs Static Stretch on Hamstring Flexibility in High School and College Athletes.

PubMed

Nelson, Russell T

2006-05-01

A pre-event static stretching program is often used to prepare an athlete for competition. Recent studies have suggested that static stretching may not be an effective method for stretching the muscle prior to competition. The intent of this study was to compare the immediate effect of static stretching, eccentric training, and no stretching/training on hamstring flexibility in high school and college athletes. Seventy-five athletes, with a mean age of 17.22 (+/- 1.30) were randomly assigned to one of three groups - thirty- second static stretch one time, an eccentric training protocol through a full range of motion, and a control group. All athletes had limited hamstring flexibility, defined as a 20° loss of knee extension measured with the femur held at 90° of hip flexion. A significant difference was indicated by follow up analysis between the control group (gain = -1.08°) and both the static stretch (gain = 5.05°) and the eccentric training group (gain = 9.48°). In addition, the gains in the eccentric training group were significantly greater than the static stretch group. The findings of this study reveal that one session of eccentrically training through a full range of motion improved hamstring flexibility better than the gains made by a static stretch group or a control group.

A Comparison of the Immediate Effects of Eccentric Training vs Static Stretch on Hamstring Flexibility in High School and College Athletes

PubMed Central

2006-01-01

Background A pre-event static stretching program is often used to prepare an athlete for competition. Recent studies have suggested that static stretching may not be an effective method for stretching the muscle prior to competition. Objective The intent of this study was to compare the immediate effect of static stretching, eccentric training, and no stretching/training on hamstring flexibility in high school and college athletes. Methods Seventy-five athletes, with a mean age of 17.22 (+/- 1.30) were randomly assigned to one of three groups - thirty- second static stretch one time, an eccentric training protocol through a full range of motion, and a control group. All athletes had limited hamstring flexibility, defined as a 20° loss of knee extension measured with the femur held at 90° of hip flexion. Results A significant difference was indicated by follow up analysis between the control group (gain = -1.08°) and both the static stretch (gain = 5.05°) and the eccentric training group (gain = 9.48°). In addition, the gains in the eccentric training group were significantly greater than the static stretch group. Discussion and Conclusion The findings of this study reveal that one session of eccentrically training through a full range of motion improved hamstring flexibility better than the gains made by a static stretch group or a control group. PMID:21522215

Experimental and Numerical Analysis of Notched Composites Under Tension Loading

NASA Astrophysics Data System (ADS)

Aidi, Bilel; Case, Scott W.

2015-12-01

Experimental quasi-static tests were performed on center notched carbon fiber reinforced polymer (CFRP) composites having different stacking sequences made of G40-600/5245C prepreg. The three-dimensional Digital Image Correlation (DIC) technique was used during quasi-static tests conducted on quasi-isotropic notched samples to obtain the distribution of strains as a function of applied stress. A finite element model was built within Abaqus to predict the notched strength and the strain profiles for comparison with measured results. A user-material subroutine using the multi-continuum theory (MCT) as a failure initiation criterion and an energy-based damage evolution law as implemented by Autodesk Simulation Composite Analysis (ASCA) was used to conduct a quantitative comparison of strain components predicted by the analysis and obtained in the experiments. Good agreement between experimental data and numerical analyses results are observed. Modal analysis was carried out to investigate the effect of static damage on the dominant frequencies of the notched structure using the resulted degraded material elements. The first in-plane mode was found to be a good candidate for tracking the level of damage.

Prediction of future falls in a community dwelling older adult population using instrumented balance and gait analysis.

PubMed

Bauer, C M; Gröger, I; Rupprecht, R; Marcar, V L; Gaßmann, K G

2016-04-01

The role of instrumented balance and gait assessment when screening for prospective fallers is currently a topic of controversial discussion. This study analyzed the association between variables derived from static posturography, instrumented gait analysis and clinical assessments with the occurrence of prospective falls in a sample of community dwelling older people. In this study 84 older people were analyzed. Based on a prospective occurrence of falls, participants were categorized into fallers and non-fallers. Variables derived from clinical assessments, static posturography and instrumented gait analysis were evaluated with respect to the association with the occurrence of prospective falls using a forward stepwise, binary, logistic regression procedure. Fallers displayed a significantly shorter single support time during walking while counting backwards, increased mediolateral to anteroposterior sway amplitude ratio, increased fast mediolateral oscillations and a larger coefficient (Coeff) of sway direction during various static posturography tests. Previous falls were insignificantly associated with the occurrence of prospective falls. Variables derived from posturography and instrumented gait analysis showed significant associations with the occurrence of prospective falls in a sample of community dwelling older adults.

Static headspace analysis using polyurethane phases--application to roasted coffee volatiles characterization.

PubMed

Rodrigues, C; Portugal, F C M; Nogueira, J M F

2012-01-30

Static headspace sorptive extraction using polyurethane foams (HSSE(PU)) followed by gas chromatography coupled to mass spectrometry is proposed for volatile analysis. The application of this novel analytical approach to characterize the volatiles profile from roasted coffee samples, selected as model system, revealed remarkable advantages under convenient experimental conditions. The comparison of HSSE(PU) with other well-established procedures, such as headspace sorptive extraction using polydimethylsiloxane (HSSE(PDMS)) and headspace solid phase microextraction using carboxen/polydimethylsiloxane fibers (HS-SPME(CAR/PDMS)), showed that the former presented much higher capacity, sensitivity and even selectivity, where larger abundance and number of roasted coffee volatile compounds (e.g. furans, pyrazines, ketones, acids and pyrroles) could be achieved, under similar experimental conditions. The data presented herein proved, for the first time, that PU foams present great performance for static headspace sorption-based procedures, showing to be an alternative polymeric phase for volatile analysis. Copyright © 2011 Elsevier B.V. All rights reserved.

A new rational-based optimal design strategy of ship structure based on multi-level analysis and super-element modeling method

NASA Astrophysics Data System (ADS)

Sun, Li; Wang, Deyu

2011-09-01

A new multi-level analysis method of introducing the super-element modeling method, derived from the multi-level analysis method first proposed by O. F. Hughes, has been proposed in this paper to solve the problem of high time cost in adopting a rational-based optimal design method for ship structural design. Furthermore, the method was verified by its effective application in optimization of the mid-ship section of a container ship. A full 3-D FEM model of a ship, suffering static and quasi-static loads, was used as the analyzing object for evaluating the structural performance of the mid-ship module, including static strength and buckling performance. Research results reveal that this new method could substantially reduce the computational cost of the rational-based optimization problem without decreasing its accuracy, which increases the feasibility and economic efficiency of using a rational-based optimal design method in ship structural design.

Digital microarray analysis for digital artifact genomics

NASA Astrophysics Data System (ADS)

Jaenisch, Holger; Handley, James; Williams, Deborah

2013-06-01

We implement a Spatial Voting (SV) based analogy of microarray analysis for digital gene marker identification in malware code sections. We examine a famous set of malware formally analyzed by Mandiant and code named Advanced Persistent Threat (APT1). APT1 is a Chinese organization formed with specific intent to infiltrate and exploit US resources. Manidant provided a detailed behavior and sting analysis report for the 288 malware samples available. We performed an independent analysis using a new alternative to the traditional dynamic analysis and static analysis we call Spatial Analysis (SA). We perform unsupervised SA on the APT1 originating malware code sections and report our findings. We also show the results of SA performed on some members of the families associated by Manidant. We conclude that SV based SA is a practical fast alternative to dynamics analysis and static analysis.

A dynamic analysis of the radiation excitation from the activation of a current collecting system in space

NASA Technical Reports Server (NTRS)

Wang, J.; Hastings, D. E.

1991-01-01

Current collecting systems moving in the ionosphere will induce electromagnetic wave radiation. The commonly used static analysis is incapable of studying the situation when such systems undergo transient processes. A dynamic analysis has been developed, and the radiation excitation processes are studied. This dynamic analysis is applied to study the temporal wave radiation from the activation of current collecting systems in space. The global scale electrodynamic interactions between a space-station-like structure and the ionospheric plasma are studied. The temporal evolution and spatial propagation of the electric wave field after the activation are described. The wave excitations by tethered systems are also studied. The dependencies of the temporal Alfven wave and lower hybrid wave radiation on the activation time and the space system structure are discussed. It is shown that the characteristics of wave radiation are determined by the matching of two sets of characteristic frequencies, and a rapid change in the current collection can give rise to substantial transient radiation interference. The limitations of the static and linear analysis are examined, and the condition under which the static assumption is valid is obtained.

Development of Benchmark Examples for Quasi-Static Delamination Propagation and Fatigue Growth Predictions

NASA Technical Reports Server (NTRS)

Krueger, Ronald

2012-01-01

The development of benchmark examples for quasi-static delamination propagation and cyclic delamination onset and growth prediction is presented and demonstrated for Abaqus/Standard. The example is based on a finite element model of a Double-Cantilever Beam specimen. The example is independent of the analysis software used and allows the assessment of the automated delamination propagation, onset and growth prediction capabilities in commercial finite element codes based on the virtual crack closure technique (VCCT). First, a quasi-static benchmark example was created for the specimen. Second, based on the static results, benchmark examples for cyclic delamination growth were created. Third, the load-displacement relationship from a propagation analysis and the benchmark results were compared, and good agreement could be achieved by selecting the appropriate input parameters. Fourth, starting from an initially straight front, the delamination was allowed to grow under cyclic loading. The number of cycles to delamination onset and the number of cycles during delamination growth for each growth increment were obtained from the automated analysis and compared to the benchmark examples. Again, good agreement between the results obtained from the growth analysis and the benchmark results could be achieved by selecting the appropriate input parameters. The benchmarking procedure proved valuable by highlighting the issues associated with choosing the input parameters of the particular implementation. Selecting the appropriate input parameters, however, was not straightforward and often required an iterative procedure. Overall the results are encouraging, but further assessment for mixed-mode delamination is required.

Development of Benchmark Examples for Static Delamination Propagation and Fatigue Growth Predictions

NASA Technical Reports Server (NTRS)

Kruger, Ronald

2011-01-01

The development of benchmark examples for static delamination propagation and cyclic delamination onset and growth prediction is presented and demonstrated for a commercial code. The example is based on a finite element model of an End-Notched Flexure (ENF) specimen. The example is independent of the analysis software used and allows the assessment of the automated delamination propagation, onset and growth prediction capabilities in commercial finite element codes based on the virtual crack closure technique (VCCT). First, static benchmark examples were created for the specimen. Second, based on the static results, benchmark examples for cyclic delamination growth were created. Third, the load-displacement relationship from a propagation analysis and the benchmark results were compared, and good agreement could be achieved by selecting the appropriate input parameters. Fourth, starting from an initially straight front, the delamination was allowed to grow under cyclic loading. The number of cycles to delamination onset and the number of cycles during stable delamination growth for each growth increment were obtained from the automated analysis and compared to the benchmark examples. Again, good agreement between the results obtained from the growth analysis and the benchmark results could be achieved by selecting the appropriate input parameters. The benchmarking procedure proved valuable by highlighting the issues associated with the input parameters of the particular implementation. Selecting the appropriate input parameters, however, was not straightforward and often required an iterative procedure. Overall, the results are encouraging but further assessment for mixed-mode delamination is required.

Augmenting Traditional Static Analysis With Commonly Available Metadata

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

Cook, Devin

Developers and security analysts have been using static analysis for a long time to analyze programs for defects and vulnerabilities with some success. Generally a static analysis tool is run on the source code for a given program, flagging areas of code that need to be further inspected by a human analyst. These areas may be obvious bugs like potential bu er over flows, information leakage flaws, or the use of uninitialized variables. These tools tend to work fairly well - every year they find many important bugs. These tools are more impressive considering the fact that they only examinemore » the source code, which may be very complex. Now consider the amount of data available that these tools do not analyze. There are many pieces of information that would prove invaluable for finding bugs in code, things such as a history of bug reports, a history of all changes to the code, information about committers, etc. By leveraging all this additional data, it is possible to nd more bugs with less user interaction, as well as track useful metrics such as number and type of defects injected by committer. This dissertation provides a method for leveraging development metadata to find bugs that would otherwise be difficult to find using standard static analysis tools. We showcase two case studies that demonstrate the ability to find 0day vulnerabilities in large and small software projects by finding new vulnerabilities in the cpython and Roundup open source projects.« less

Development and Application of Benchmark Examples for Mode II Static Delamination Propagation and Fatigue Growth Predictions

NASA Technical Reports Server (NTRS)

Krueger, Ronald

2011-01-01

The development of benchmark examples for static delamination propagation and cyclic delamination onset and growth prediction is presented and demonstrated for a commercial code. The example is based on a finite element model of an End-Notched Flexure (ENF) specimen. The example is independent of the analysis software used and allows the assessment of the automated delamination propagation, onset and growth prediction capabilities in commercial finite element codes based on the virtual crack closure technique (VCCT). First, static benchmark examples were created for the specimen. Second, based on the static results, benchmark examples for cyclic delamination growth were created. Third, the load-displacement relationship from a propagation analysis and the benchmark results were compared, and good agreement could be achieved by selecting the appropriate input parameters. Fourth, starting from an initially straight front, the delamination was allowed to grow under cyclic loading. The number of cycles to delamination onset and the number of cycles during delamination growth for each growth increment were obtained from the automated analysis and compared to the benchmark examples. Again, good agreement between the results obtained from the growth analysis and the benchmark results could be achieved by selecting the appropriate input parameters. The benchmarking procedure proved valuable by highlighting the issues associated with choosing the input parameters of the particular implementation. Selecting the appropriate input parameters, however, was not straightforward and often required an iterative procedure. Overall the results are encouraging, but further assessment for mixed-mode delamination is required.

Detection of Fatty Acids from Intact Microorganisms by Molecular Beam Static Secondary Ion Mass Spectrometry

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

Ingram, Jani Cheri; Lehman, Richard Michael; Bauer, William Francis

We report the use of a surface analysis approach, static secondary ion mass spectrometry (SIMS) equipped with a molecular (ReO4-) ion primary beam, to analyze the surface of intact microbial cells. SIMS spectra of 28 microorganisms were compared to fatty acid profiles determined by gas chromatographic analysis of transesterfied fatty acids extracted from the same organisms. The results indicate that surface bombardment using the molecular primary beam cleaved the ester linkage characteristic of bacteria at the glycerophosphate backbone of the phospholipid components of the cell membrane. This cleavage enables direct detection of the fatty acid conjugate base of intact microorganismsmore » by static SIMS. The limit of detection for this approach is approximately 107 bacterial cells/cm2. Multivariate statistical methods were applied in a graded approach to the SIMS microbial data. The results showed that the full data set could initially be statistically grouped based upon major differences in biochemical composition of the cell wall. The gram-positive bacteria were further statistically analyzed, followed by final analysis of a specific bacterial genus that was successfully grouped by species. Additionally, the use of SIMS to detect microbes on mineral surfaces is demonstrated by an analysis of Shewanella oneidensis on crushed hematite. The results of this study provide evidence for the potential of static SIMS to rapidly detect bacterial species based on ion fragments originating from cell membrane lipids directly from sample surfaces.« less

Real time control for NASA robotic gripper

NASA Technical Reports Server (NTRS)

Salter, Carole A.; Baras, John S.

1990-01-01

The ability to easily manipulate objects in a zero gravity environment will pay a key role in future space activities. Emphasis will be placed on robotic manipulation. This will serve to increase astronaut safety and utility in addition to several other benefits. The aim is to develop control laws for the zero gravity robotic end effectors. A hybrid force/position controller will be used. Sensory data available to the controller are obtained from an array of strain gauges and a linear potentiometer. Applying well known optimal control theoretical principles, the control which minimizes the transition time between positions is obtained. A robust force control scheme is developed which allows the desired holding force to be achieved smoothly without oscillation. In addition, an algorithm is found to determine contact force and contact location.

Low-voltage, large-strain soft electrothermal actuators based on laser-reduced graphene oxide/Ag particle composites

NASA Astrophysics Data System (ADS)

Wang, Qian; Li, Yu-Tao; Zhang, Tian-Yu; Wang, Dan-Yang; Tian, Ye; Yan, Jun-Chao; Tian, He; Yang, Yi; Yang, Fan; Ren, Tian-Ling

2018-03-01

In this paper, low-voltage, large-strain flexible electrothermal actuators (ETAs) based on laser-reduced graphene oxide (LRGO)/Ag particle composites were fabricated in a simple and cost-efficient process. By adding Ag particles to the LRGO, the sheet resistance decreased effectively. Under a driving voltage of 28 V, the actuator obtained a bending angle of 192° within 6 s. Besides, the bending deformation could be precisely controlled by the driving voltage ranging from 10° to 192°. Finally, a gripper composed of two actuators was demonstrated to manipulate a piece of polydimethylsiloxane block. With the advantages of low-voltage, fast-response, and easy-to-manufacture, the graphene based ETAs have a promising application in soft robotics and soft machines.

A refined analysis of composite laminates. [theory of statics and dynamics

NASA Technical Reports Server (NTRS)

Srinivas, S.

1973-01-01

The purpose of this paper is to develop a sufficiently accurate analysis, which is much simpler than exact three-dimensional analysis, for statics and dynamics of composite laminates. The governing differential equations and boundary conditions are derived by following a variational approach. The displacements are assumed piecewise linear across the thickness and the effects of transverse shear deformations and rotary inertia are included. A procedure for obtaining the general solution of the above governing differential equations in the form of hyperbolic-trigonometric series is given. The accuracy of the present theory is assessed by obtaining results for free vibrations and flexure of simply supported rectangular laminates and comparing them with results from exact three-dimensional analysis.

Stress Analysis of Columns and Beam Columns by the Photoelastic Method

NASA Technical Reports Server (NTRS)

Ruffner, B F

1946-01-01

Principles of similarity and other factors in the design of models for photoelastic testing are discussed. Some approximate theoretical equations, useful in the analysis of results obtained from photoelastic tests are derived. Examples of the use of photoelastic techniques and the analysis of results as applied to uniform and tapered beam columns, circular rings, and statically indeterminate frames, are given. It is concluded that this method is an effective tool for the analysis of structures in which column action is present, particularly in tapered beam columns, and in statically indeterminate structures in which the distribution of loads in the structures is influenced by bending moments due to axial loads in one or more members.

A reconsideration for forming mechanism of optic fiber probe fabricated by static chemical etching

NASA Astrophysics Data System (ADS)

Chen, Yiru; Shen, Ruiqi

2016-07-01

The studies on the mechanism of static chemical etching are supplemented in this paper. Surface tension and diffusion effect are both taken into account. Theoretical analysis and data fitting show that the slant angle of the liquid-liquid interface leads to the maximum liquid rising, when diffusion effect is negligible.

Joint production and substitution in timber supply: a panel data analysis

Treesearch

Torjus F Bolkesjo; Joseph Buongiorno; Birger Solberg

2010-01-01

Supply equations for sawlog and pulpwood were developed with a panel of data from 102 Norwegian municipalities, observed from 1980 to 2000. Static and dynamic models were estimated by cross-section, time-series andpanel data methods. A static model estimated by first differencing gavethe best overall results in terms of theoretical expectations, pattern ofresiduals,...

Structural testing for static failure, flutter and other scary things

NASA Technical Reports Server (NTRS)

Ricketts, R. H.

1983-01-01

Ground test and flight test methods are described that may be used to highlight potential structural problems that occur on aircraft. Primary interest is focused on light-weight general aviation airplanes. The structural problems described include static strength failure, aileron reversal, static divergence, and flutter. An example of each of the problems is discussed to illustrate how the data acquired during the tests may be used to predict the occurrence of the structural problem. While some rules of thumb for the prediction of structural problems are given the report is not intended to be used explicitly as a structural analysis handbook.

Application of a Modal Approach in Solving the Static Stability Problem for Electric Power Systems

NASA Astrophysics Data System (ADS)

Sharov, J. V.

2017-12-01

Application of a modal approach in solving the static stability problem for power systems is examined. It is proposed to use the matrix exponent norm as a generalized transition function of the power system disturbed motion. Based on the concept of a stability radius and the pseudospectrum of Jacobian matrix, the necessary and sufficient conditions for existence of the static margins were determined. The capabilities and advantages of the modal approach in designing centralized or distributed control and the prospects for the analysis of nonlinear oscillations and rendering the dynamic stability are demonstrated.

Speech processing using maximum likelihood continuity mapping

DOEpatents

Hogden, John E.

2000-01-01

Speech processing is obtained that, given a probabilistic mapping between static speech sounds and pseudo-articulator positions, allows sequences of speech sounds to be mapped to smooth sequences of pseudo-articulator positions. In addition, a method for learning a probabilistic mapping between static speech sounds and pseudo-articulator position is described. The method for learning the mapping between static speech sounds and pseudo-articulator position uses a set of training data composed only of speech sounds. The said speech processing can be applied to various speech analysis tasks, including speech recognition, speaker recognition, speech coding, speech synthesis, and voice mimicry.

Speech processing using maximum likelihood continuity mapping

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

Hogden, J.E.

Speech processing is obtained that, given a probabilistic mapping between static speech sounds and pseudo-articulator positions, allows sequences of speech sounds to be mapped to smooth sequences of pseudo-articulator positions. In addition, a method for learning a probabilistic mapping between static speech sounds and pseudo-articulator position is described. The method for learning the mapping between static speech sounds and pseudo-articulator position uses a set of training data composed only of speech sounds. The said speech processing can be applied to various speech analysis tasks, including speech recognition, speaker recognition, speech coding, speech synthesis, and voice mimicry.

Space Shuttle Main Engine structural analysis and data reduction/evaluation. Volume 7: High pressure fuel turbo-pump third stage impeller analysis

NASA Technical Reports Server (NTRS)

Pool, Kirby V.

1989-01-01

This volume summarizes the analysis used to assess the structural life of the Space Shuttle Main Engine (SSME) High Pressure Fuel Turbo-Pump (HPFTP) Third Stage Impeller. This analysis was performed in three phases, all using the DIAL finite element code. The first phase was a static stress analysis to determine the mean (non-varying) stress and static margin of safety for the part. The loads involved were steady state pressure and centrifugal force due to spinning. The second phase of the analysis was a modal survey to determine the vibrational modes and natural frequencies of the impeller. The third phase was a dynamic response analysis to determine the alternating component of the stress due to time varying pressure impulses at the outlet (diffuser) side of the impeller. The results of the three phases of the analysis show that the Third Stage Impeller operates very near the upper limits of its capability at full power level (FPL) loading. The static loading alone creates stresses in some areas of the shroud which exceed the yield point of the material. Additional cyclic loading due to the dynamic force could lead to a significant reduction in the life of this part. The cyclic stresses determined in the dynamic response phase of this study are based on an assumption regarding the magnitude of the forcing function.

Evaluation of Progressive Failure Analysis and Modeling of Impact Damage in Composite Pressure Vessels

NASA Technical Reports Server (NTRS)

Sanchez, Christopher M.

2011-01-01

NASA White Sands Test Facility (WSTF) is leading an evaluation effort in advanced destructive and nondestructive testing of composite pressure vessels and structures. WSTF is using progressive finite element analysis methods for test design and for confirmation of composite pressure vessel performance. Using composite finite element analysis models and failure theories tested in the World-Wide Failure Exercise, WSTF is able to estimate the static strength of composite pressure vessels. Additionally, test and evaluation on composites that have been impact damaged is in progress so that models can be developed to estimate damage tolerance and the degradation in static strength.

Quasi-static analysis of foil journal bearings for a Brayton cycle turboalternator

NASA Technical Reports Server (NTRS)

Eshel, A.

1974-01-01

A quasi-static analysis is presented for foil journal bearings designed for a NASA Brayton Cycle Turboalternator. Included in the analysis are effects of 'slack' (due to flexural rigidity of the foil), of frictionally restrained extension of the foil-length in contact with cylindrical guides, of fluid inertia and compressibility, and of thermal expansion of rotor, foil and supporting structure. Comparisons are made with results of early experiments performed by Licht (1968, 1969) and recent data of Licht and Branger (1973). Variatons of film thickness, foil tension and bearing stiffness are presented graphically as functions of pertinent parameters for the case of operation in zero-gravity environment.

Design and control of a multi-DOF micromanipulator dedicated to multiscale micromanipulation

NASA Astrophysics Data System (ADS)

Yang, Yi-Ling; Wei, Yan-Ding; Lou, Jun-Qiang; Fu, Lei; Fang, Sheng

2017-11-01

This paper presents the design, implementation and control of a new piezoelectrically actuated compliant micromanipulator dedicated to multiscale, precision and reliable operations. To begin with, the manipulator is devised to obtain multi degrees of freedom and large workspace ranges. Two-stage amplification mechanisms (consists of the leverage and the rocker mechanisms) and composite parallelogram mechanisms are combined to construct the lower microstage. Meanwhile, the structure design of the upper dual-driven microgripper is based on the bridge-type mechanism and the unilateral parallelogram mechanism. Through finite-element analysis, the structural parameters of the micromanipulator are optimized and the structural interaction performances are examined. Moreover, a cooperative control strategy is proposed to achieve the synchronous control of the motion trajectory, the gripper position and the contact force. Precision motion control in terms of the hysteresis phenomenon and system disturbances is ensured by using an adaptive sliding mode control (SMC). In particular, an improved nonsymmetrical Bouc-Wen model and a fuzzy regulator are proposed in the SMC. Several experimental investigations are conducted to validate the effectiveness of the developed micromanipulator by performing transferring operations of a micro-object. Experimental results demonstrate that the micromanipulator presents good characteristics, and precision and robust operation can be acquired using the cooperative controller.

Thermal stabilization of static single-mirror Fourier transform spectrometers

NASA Astrophysics Data System (ADS)

Schardt, Michael; Schwaller, Christian; Tremmel, Anton J.; Koch, Alexander W.

2017-05-01

Fourier transform spectroscopy has become a standard method for spectral analysis of infrared light. With this method, an interferogram is created by two beam interference which is subsequently Fourier-transformed. Most Fourier transform spectrometers used today provide the interferogram in the temporal domain. In contrast, static Fourier transform spectrometers generate interferograms in the spatial domain. One example of this type of spectrometer is the static single-mirror Fourier transform spectrometer which offers a high etendue in combination with a simple, miniaturized optics design. As no moving parts are required, it also features a high vibration resistance and high measurement rates. However, it is susceptible to temperature variations. In this paper, we therefore discuss the main sources for temperature-induced errors in static single-mirror Fourier transform spectrometers: changes in the refractive index of the optical components used, variations of the detector sensitivity, and thermal expansion of the housing. As these errors manifest themselves in temperature-dependent wavenumber shifts and intensity shifts, they prevent static single-mirror Fourier transform spectrometers from delivering long-term stable spectra. To eliminate these shifts, we additionally present a work concept for the thermal stabilization of the spectrometer. With this stabilization, static single-mirror Fourier transform spectrometers are made suitable for infrared process spectroscopy under harsh thermal environmental conditions. As the static single-mirror Fourier transform spectrometer uses the so-called source-doubling principle, many of the mentioned findings are transferable to other designs of static Fourier transform spectrometers based on the same principle.

Three-dimensional joint inversion for magnetotelluric resistivity and static shift distributions in complex media

NASA Astrophysics Data System (ADS)

Sasaki, Yutaka; Meju, Max A.

2006-05-01

Accurate interpretation of magnetotelluric (MT) data in the presence of static shift arising from near-surface inhomogeneities is an unresolved problem in three-dimensional (3-D) inversion. While it is well known in 1-D and 2-D studies that static shift can lead to erroneous interpretation, how static shift can influence the result of 3-D inversion is not fully understood and is relevant to improved subsurface analysis. Using the synthetic data generated from 3-D models with randomly distributed heterogeneous overburden and elongate homogeneous overburden that are consistent with geological observations, this paper examines the effects of near-surface inhomogeneity on the accuracy of 3-D inversion models. It is found that small-scale and shallow depth structures are severely distorted while the large-scale structure is marginally distorted in 3-D inversion not accounting for static shift; thus the erroneous near-surface structure does degrade the reconstruction of smaller-scale structure at any depth. However, 3-D joint inversion for resistivity and static shift significantly reduces the artifacts caused by static shifts and improves the overall resolution, irrespective of whether a zero-sum or Gaussian distribution of static shifts is assumed. The 3-D joint inversion approach works equally well for situations where the shallow bodies are of small size or long enough to allow some induction such that the effects of near-surface inhomogeneity are manifested as a frequency-dependent shift rather than a constant shift.

Correlation between static radiographic measurements and intersegmental angular measurements during gait using a multisegment foot model.

PubMed

Lee, Dong Yeon; Seo, Sang Gyo; Kim, Eo Jin; Kim, Sung Ju; Lee, Kyoung Min; Farber, Daniel C; Chung, Chin Youb; Choi, In Ho

2015-01-01

Radiographic examination is a widely used evaluation method in the orthopedic clinic. However, conventional radiography alone does not reflect the dynamic changes between foot and ankle segments during gait. Multiple 3-dimensional multisegment foot models (3D MFMs) have been introduced to evaluate intersegmental motion of the foot. In this study, we evaluated the correlation between static radiographic indices and intersegmental foot motion indices. One hundred twenty-five females were tested. Static radiographs of full-leg and anteroposterior (AP) and lateral foot views were performed. For hindfoot evaluation, we measured the AP tibiotalar angle (TiTA), talar tilt (TT), calcaneal pitch, lateral tibiocalcaneal angle, and lateral talcocalcaneal angle. For the midfoot segment, naviculocuboid overlap and talonavicular coverage angle were calculated. AP and lateral talo-first metatarsal angles and metatarsal stacking angle (MSA) were measured to assess the forefoot. Hallux valgus angle (HVA) and hallux interphalangeal angle were measured. In gait analysis by 3D MFM, intersegmental angle (ISA) measurements of each segment (hallux, forefoot, hindfoot, arch) were recorded. ISAs at midstance phase were most highly correlated with radiography. Significant correlations were observed between ISA measurements using MFM and static radiographic measurements in the same segment. In the hindfoot, coronal plane ISA was correlated with AP TiTA (P < .001) and TT (P = .018). In the hallux, HVA was strongly correlated with transverse ISA of the hallux (P < .001). The segmental foot motion indices at midstance phase during gait measured by 3D MFM gait analysis were correlated with the conventional radiographic indices. The observed correlation between MFM measurements at midstance phase during gait and static radiographic measurements supports the fundamental basis for the use of MFM in analysis of dynamic motion of foot segment during gait. © The Author(s) 2014.

Using Static Percentiles of AE9/AP9 to Approximate Dynamic Monte Carlo Runs for Radiation Analysis of Spiral Transfer Orbits

NASA Astrophysics Data System (ADS)

Kwan, Betty P.; O'Brien, T. Paul

2015-06-01

The Aerospace Corporation performed a study to determine whether static percentiles of AE9/AP9 can be used to approximate dynamic Monte Carlo runs for radiation analysis of spiral transfer orbits. Solar panel degradation is a major concern for solar-electric propulsion because solar-electric propulsion depends on the power output of the solar panel. Different spiral trajectories have different radiation environments that could lead to solar panel degradation. Because the spiral transfer orbits only last weeks to months, an average environment does not adequately address the possible transient enhancements of the radiation environment that must be accounted for in optimizing the transfer orbit trajectory. Therefore, to optimize the trajectory, an ensemble of Monte Carlo simulations of AE9/AP9 would normally be run for every spiral trajectory to determine the 95th percentile radiation environment. To avoid performing lengthy Monte Carlo dynamic simulations for every candidate spiral trajectory in the optimization, we found a static percentile that would be an accurate representation of the full Monte Carlo simulation for a representative set of spiral trajectories. For 3 LEO to GEO and 1 LEO to MEO trajectories, a static 90th percentile AP9 is a good approximation of the 95th percentile fluence with dynamics for 4-10 MeV protons, and a static 80th percentile AE9 is a good approximation of the 95th percentile fluence with dynamics for 0.5-2 MeV electrons. While the specific percentiles chosen cannot necessarily be used in general for other orbit trade studies, the concept of determining a static percentile as a quick approximation to a full Monte Carlo ensemble of simulations can likely be applied to other orbit trade studies. We expect the static percentile to depend on the region of space traversed, the mission duration, and the radiation effect considered.

A discourse on sensitivity analysis for discretely-modeled structures

NASA Technical Reports Server (NTRS)

Adelman, Howard M.; Haftka, Raphael T.

1991-01-01

A descriptive review is presented of the most recent methods for performing sensitivity analysis of the structural behavior of discretely-modeled systems. The methods are generally but not exclusively aimed at finite element modeled structures. Topics included are: selections of finite difference step sizes; special consideration for finite difference sensitivity of iteratively-solved response problems; first and second derivatives of static structural response; sensitivity of stresses; nonlinear static response sensitivity; eigenvalue and eigenvector sensitivities for both distinct and repeated eigenvalues; and sensitivity of transient response for both linear and nonlinear structural response.

Design and Analysis of AN Static Aeroelastic Experiment

NASA Astrophysics Data System (ADS)

Hou, Ying-Yu; Yuan, Kai-Hua; Lv, Ji-Nan; Liu, Zi-Qiang

2016-06-01

Static aeroelastic experiments are very common in the United States and Russia. The objective of static aeroelastic experiments is to investigate deformation and loads of elastic structure in flow field. Generally speaking, prerequisite of this experiment is that the stiffness distribution of structure is known. This paper describes a method for designing experimental models, in the case where the stiffness distribution and boundary condition of a real aircraft are both uncertain. The stiffness distribution form of the structure can be calculated via finite element modeling and simulation calculation and F141 steels and rigid foam are used to make elastic model. In this paper, the design and manufacturing process of static aeroelastic models is presented and a set of experiment model was designed to simulate the stiffness of the designed wings, a set of experiments was designed to check the results. The test results show that the experimental method can effectively complete the design work of elastic model. This paper introduces the whole process of the static aeroelastic experiment, and the experimental results are analyzed. This paper developed a static aeroelasticity experiment technique and established an experiment model targeting at the swept wing of a certain kind of large aspect ratio aircraft.

Effect of cantilever geometry on the optical lever sensitivities and thermal noise method of the atomic force microscope.

PubMed

Sader, John E; Lu, Jianing; Mulvaney, Paul

2014-11-01

Calibration of the optical lever sensitivities of atomic force microscope (AFM) cantilevers is especially important for determining the force in AFM measurements. These sensitivities depend critically on the cantilever mode used and are known to differ for static and dynamic measurements. Here, we calculate the ratio of the dynamic and static sensitivities for several common AFM cantilevers, whose shapes vary considerably, and experimentally verify these results. The dynamic-to-static optical lever sensitivity ratio is found to range from 1.09 to 1.41 for the cantilevers studied - in stark contrast to the constant value of 1.09 used widely in current calibration studies. This analysis shows that accuracy of the thermal noise method for the static spring constant is strongly dependent on cantilever geometry - neglect of these dynamic-to-static factors can induce errors exceeding 100%. We also discuss a simple experimental approach to non-invasively and simultaneously determine the dynamic and static spring constants and optical lever sensitivities of cantilevers of arbitrary shape, which is applicable to all AFM platforms that have the thermal noise method for spring constant calibration.

Neuroimaging of Human Balance Control: A Systematic Review

PubMed Central

Wittenberg, Ellen; Thompson, Jessica; Nam, Chang S.; Franz, Jason R.

2017-01-01

This review examined 83 articles using neuroimaging modalities to investigate the neural correlates underlying static and dynamic human balance control, with aims to support future mobile neuroimaging research in the balance control domain. Furthermore, this review analyzed the mobility of the neuroimaging hardware and research paradigms as well as the analytical methodology to identify and remove movement artifact in the acquired brain signal. We found that the majority of static balance control tasks utilized mechanical perturbations to invoke feet-in-place responses (27 out of 38 studies), while cognitive dual-task conditions were commonly used to challenge balance in dynamic balance control tasks (20 out of 32 studies). While frequency analysis and event related potential characteristics supported enhanced brain activation during static balance control, that in dynamic balance control studies was supported by spatial and frequency analysis. Twenty-three of the 50 studies utilizing EEG utilized independent component analysis to remove movement artifacts from the acquired brain signals. Lastly, only eight studies used truly mobile neuroimaging hardware systems. This review provides evidence to support an increase in brain activation in balance control tasks, regardless of mechanical, cognitive, or sensory challenges. Furthermore, the current body of literature demonstrates the use of advanced signal processing methodologies to analyze brain activity during movement. However, the static nature of neuroimaging hardware and conventional balance control paradigms prevent full mobility and limit our knowledge of neural mechanisms underlying balance control. PMID:28443007

Free-stream static pressure measurements in the Longshot hypersonic wind tunnel and sensitivity analysis

NASA Astrophysics Data System (ADS)

Grossir, Guillaume; Van Hove, Bart; Paris, Sébastien; Rambaud, Patrick; Chazot, Olivier

2016-05-01

The performance of fast-response slender static pressure probes is evaluated in the short-duration, cold-gas, VKI Longshot hypersonic wind tunnel. Free-stream Mach numbers range between 9.5 and 12, and unit Reynolds numbers are within 3-10 × 106/m. Absolute pressure sensors are fitted within the probes, and an inexpensive calibration method, suited to low static pressure environments (200-1000 Pa), is described. Transfer functions relating the probe measurements p w to the free-stream static pressure p ∞ are established for the Longshot flow conditions based on numerical simulations. The pressure ratios p w / p ∞ are found to be close to unity for both laminar and turbulent boundary layers. Weak viscous effects characterized by small viscous interaction parameters {bar{χ }}<1.5 are confirmed experimentally for probe aspect ratios of L/ D > 16.5 by installing multiple pressure sensors in a single probe. The effect of pressure orifice geometry is also evaluated experimentally and found to be negligible for either straight or chamfered holes, 0.6-1 mm in diameter. No sensitivity to probe angle of attack could be evidenced for α < 0.33°. Pressure measurements are compared to theoretical predictions assuming an isentropic nozzle flow expansion. Significant deviations from this ideal case and the Mach 14 contoured nozzle design are uncovered. Validation of the static pressure measurements is obtained by comparing shock wave locations on Schlieren photographs to numerical predictions using free-stream properties derived from the static pressure probes. While these results apply to the Longshot wind tunnel, the present methodology and sensitivity analysis can guide similar investigations for other hypersonic test facilities.

Analysis and testing of high entrainment single nozzle jet pumps with variable mixing tubes

NASA Technical Reports Server (NTRS)

Hickman, K. E.; Hill, P. G.; Gilbert, G. B.

1972-01-01

An analytical model was developed to predict the performance characteristics of axisymmetric single-nozzle jet pumps with variable area mixing tubes. The primary flow may be subsonic or supersonic. The computer program uses integral techniques to calculate the velocity profiles and the wall static pressures that result from the mixing of the supersonic primary jet and the subsonic secondary flow. An experimental program was conducted to measure mixing tube wall static pressure variations, velocity profiles, and temperature profiles in a variable area mixing tube with a supersonic primary jet. Static pressure variations were measured at four different secondary flow rates. These test results were used to evaluate the analytical model. The analytical results compared well to the experimental data. Therefore, the analysis is believed to be ready for use to relate jet pump performance characteristics to mixing tube design.

CYCLOTRON-WAVE INSTABILITIES,

DTIC Science & Technology

Interactions of waves on electron streams or plasmas are studied for several geometric configurations of finite cross section in a finite magnetic...velocity parallel to the magnetic field. It is further assumed that either macroscopic neutrality exists or static spacecharge forces are negligible. For...the most part the quasi-static analysis is used. For the case of two drifting streams cyclotron waves act to giveinstabilities which are either

A static acoustic signature system for the analysis of dynamic flight information

NASA Technical Reports Server (NTRS)

Ramer, D. J.

1978-01-01

The Army family of helicopters was analyzed to measure the polar octave band acoustic signature in various modes of flight. A static array of calibrated microphones was used to simultaneously acquire the signature and differential times required to mathematically position the aircraft in space. The signature was then reconstructed, mathematically normalized to a fixed radius around the aircraft.

Magnetizing technique for permanent magnets by intense static fields generated by HTS bulk magnets: Numerical Analysis

NASA Astrophysics Data System (ADS)

N. Kawasaki; Oka, T.; Fukui, S.; Ogawa, J.; Sato, T.; Terasawa, T.; Itoh, Y.

A demagnetized Nd-Fe-B permanent magnet was scanned in the strong magnetic field space just above the magnetic pole containing a HTS bulk magnet which generates the magnetic field 3.4 T. The magnet sample was subsequently found to be fully magnetized in the open space of the static magnetic fields. The finite element method was carried out for the static field magnetization of a permanent magnet using a HTS bulk magnet. Previously, our research group experimentally demonstrated the possibility of full magnetization of rare earth permanent magnets with high-performance magnetic properties with use of the static field of HTS bulk magnets. In the present study, however, we succeeded for the first time in visualizing the behavior of the magnetizing field of the bulk magnet during the magnetization process and the shape of the magnetic field inside the body being magnetized. By applying this kind of numerical analysis to the magnetization for planned motor rotors which incorporate rare-earth permanent magnets, we hope to study the fully magnetized regions for the new magnetizing method using bulk magnets and to give motor designing a high degree of freedom.

Application of Benchmark Examples to Assess the Single and Mixed-Mode Static Delamination Propagation Capabilities in ANSYS

NASA Technical Reports Server (NTRS)

Krueger, Ronald

2012-01-01

The application of benchmark examples for the assessment of quasi-static delamination propagation capabilities is demonstrated for ANSYS. The examples are independent of the analysis software used and allow the assessment of the automated delamination propagation in commercial finite element codes based on the virtual crack closure technique (VCCT). The examples selected are based on two-dimensional finite element models of Double Cantilever Beam (DCB), End-Notched Flexure (ENF), Mixed-Mode Bending (MMB) and Single Leg Bending (SLB) specimens. First, the quasi-static benchmark examples were recreated for each specimen using the current implementation of VCCT in ANSYS . Second, the delamination was allowed to propagate under quasi-static loading from its initial location using the automated procedure implemented in the finite element software. Third, the load-displacement relationship from a propagation analysis and the benchmark results were compared, and good agreement could be achieved by selecting the appropriate input parameters. The benchmarking procedure proved valuable by highlighting the issues associated with choosing the input parameters of the particular implementation. Overall the results are encouraging, but further assessment for three-dimensional solid models is required.

A comparison of parallel and diverging screw angles in the stability of locked plate constructs.

PubMed

Wähnert, D; Windolf, M; Brianza, S; Rothstock, S; Radtke, R; Brighenti, V; Schwieger, K

2011-09-01

We investigated the static and cyclical strength of parallel and angulated locking plate screws using rigid polyurethane foam (0.32 g/cm(3)) and bovine cancellous bone blocks. Custom-made stainless steel plates with two conically threaded screw holes with different angulations (parallel, 10° and 20° divergent) and 5 mm self-tapping locking screws underwent pull-out and cyclical pull and bending tests. The bovine cancellous blocks were only subjected to static pull-out testing. We also performed finite element analysis for the static pull-out test of the parallel and 20° configurations. In both the foam model and the bovine cancellous bone we found the significantly highest pull-out force for the parallel constructs. In the finite element analysis there was a 47% more damage in the 20° divergent constructs than in the parallel configuration. Under cyclical loading, the mean number of cycles to failure was significantly higher for the parallel group, followed by the 10° and 20° divergent configurations. In our laboratory setting we clearly showed the biomechanical disadvantage of a diverging locking screw angle under static and cyclical loading.

Elastomeric Sensing of Pressure with Liquid Metal and Wireless Inductive Coupling

NASA Technical Reports Server (NTRS)

Dick, Jacob; Zou, Xiyue; Hogan, Ben; Tumalle, Jonathan; Etikyala, Sowmith; Fung, Diego; Charles, Watley; Gu, Tianye; Hull, Patrick V.; Mazzeo, Aaron D.

2017-01-01

This project describes resistance-based soft sensors filled with liquid metal, which permit measurements of large strains (0 percent to 110 percent), associated with small forces of less than 30 Newtons. This work also demonstrates a methodology for wireless transfer of these strain measurements without connected electrodes. These sensors allow intermittent detection of pressure on soft membranes with low force. Adapting these sensors for passive wireless pressure sensing will eliminate the need for embedded batteries, and will allow the sensors to transmit pressure data through non-conductive materials including glass and acrylic. The absence of batteries allows us to embed these sensors into materials for long-term use because the sensors only use passive analog circuit elements. We found the oxidation of the liquid metal (eutectic gallium indium) plays a role in the repeatability of the soft sensors. We investigated how the oxidation layer affected the behavior of the sensor by encapsulating materials (silicone, fluorosilicone, and PVC) with varied permeabilities to oxygen. We measured the effects of mechanical loading on the oxidation layer and the effects of wireless inductive coupling on the oxidation layer. We concluded our research by investigating the effects of embedding self-resonant circuits into polydimethylsiloxane (PDMS). Efforts to design engineered systems with soft materials are a growing field with progress in soft robotics, epidermal electronics, and wearable electronics. In the field of soft robotics, PDMS-based grippers are capable of picking up delicate objects because their form-fitting properties allow them to conform to the shape of objects more easily than conventional robotic grippers. Epidermal devices also use PDMS as a substrate to hold electronic components such as radios, sensors, and power supply circuits. Additionally, PDMS-based soft sensors can monitor human motion with liquid metal embedded within micro-channels. Passive wireless sensors have applications in structural health monitoring and medical health monitoring. Doctors can take wireless blood pressure measurements inside arteries to monitor the progression of heart disease. Glaucoma patients can use this technology to monitor the pressure in their eyes to track the progression of the disease.

Dynamic 68Ga-DOTATOC PET/CT and static image in NET patients. Correlation of parameters during PRRT.

PubMed

Van Binnebeek, Sofie; Koole, Michel; Terwinghe, Christelle; Baete, Kristof; Vanbilloen, Bert; Haustermans, Karine; Clement, Paul M; Bogaerts, Kris; Verbruggen, Alfons; Nackaerts, Kris; Van Cutsem, Eric; Verslype, Chris; Mottaghy, Felix M; Deroose, Christophe M

2016-06-28

To investigate the relationship between the dynamic parameters (Ki) and static image-derived parameters of 68Ga-DOTATOC-PET, to determine which static parameter best reflects underlying somatostatin-receptor-expression (SSR) levels on neuroendocrine tumours (NETs). 20 patients with metastasized NETs underwent a dynamic and static 68Ga-DOTATOC-PET before PRRT and at 7 and 40 weeks after the first administration of 90Y-DOTATOC (in total 4 cycles were planned); 175 lesions were defined and analyzed on the dynamic as well as static scans. Quantitative analysis was performed using the software PMOD. One to five target lesions per patient were chosen and delineated manually on the baseline dynamic scan and further, on the corresponding static 68Ga-DOTATOC-PET and the dynamic and static 68Ga-DOTATOC-PET at the other time-points; SUVmax and SUVmean of the lesions was assessed on the other six scans. The input function was retrieved from the abdominal aorta on the images. Further on, Ki was calculated using the Patlak-Plot. At last, 5 reference regions for normalization of SUVtumour were delineated on the static scans resulting in 5 ratios (SUVratio). SUVmax and SUVmean of the tumoural lesions on the dynamic 68Ga-DOTATOC-PET had a very strong correlation with the corresponding parameters in the static scan (R²: 0.94 and 0.95 respectively). SUVmax, SUVmean and Ki of the lesions showed a good linear correlation; the SUVratios correlated poorly with Ki. A significantly better correlation was noticed between Ki and SUVtumour(max and mean) (p < 0.0001). As the dynamic parameter Ki correlates best with the absolute SUVtumour, SUVtumour best reflects underlying SSR-levels in NETs.

Statistical Learning of Origin-Specific Statically Optimal Individualized Treatment Rules

PubMed Central

van der Laan, Mark J.; Petersen, Maya L.

2008-01-01

Consider a longitudinal observational or controlled study in which one collects chronological data over time on a random sample of subjects. The time-dependent process one observes on each subject contains time-dependent covariates, time-dependent treatment actions, and an outcome process or single final outcome of interest. A statically optimal individualized treatment rule (as introduced in van der Laan et. al. (2005), Petersen et. al. (2007)) is a treatment rule which at any point in time conditions on a user-supplied subset of the past, computes the future static treatment regimen that maximizes a (conditional) mean future outcome of interest, and applies the first treatment action of the latter regimen. In particular, Petersen et. al. (2007) clarified that, in order to be statically optimal, an individualized treatment rule should not depend on the observed treatment mechanism. Petersen et. al. (2007) further developed estimators of statically optimal individualized treatment rules based on a past capturing all confounding of past treatment history on outcome. In practice, however, one typically wishes to find individualized treatment rules responding to a user-supplied subset of the complete observed history, which may not be sufficient to capture all confounding. The current article provides an important advance on Petersen et. al. (2007) by developing locally efficient double robust estimators of statically optimal individualized treatment rules responding to such a user-supplied subset of the past. However, failure to capture all confounding comes at a price; the static optimality of the resulting rules becomes origin-specific. We explain origin-specific static optimality, and discuss the practical importance of the proposed methodology. We further present the results of a data analysis in which we estimate a statically optimal rule for switching antiretroviral therapy among patients infected with resistant HIV virus. PMID:19122792

The Relationship of Static Tibial Tubercle-Trochlear Groove Measurement and Dynamic Patellar Tracking.

PubMed

Carlson, Victor R; Sheehan, Frances T; Shen, Aricia; Yao, Lawrence; Jackson, Jennifer N; Boden, Barry P

2017-07-01

The tibial tubercle to trochlear groove (TT-TG) distance is used for screening patients with a variety of patellofemoral joint disorders to determine who may benefit from patellar medialization using a tibial tubercle osteotomy. Clinically, the TT-TG distance is predominately based on static imaging with the knee in full extension; however, the predictive ability of this measure for dynamic patellar tracking patterns is unknown. To determine whether the static TT-TG distance can predict dynamic lateral displacement of the patella. Cohort study (Diagnosis); Level of evidence, 2. The static TT-TG distance was measured at full extension for 70 skeletally mature subjects with (n = 32) and without (n = 38) patellofemoral pain. The dynamic patellar tracking patterns were assessed from approximately 45° to 0° of knee flexion by use of dynamic cine-phase contrast magnetic resonance imaging. For each subject, the value of dynamic lateral tracking corresponding to the exact knee angle measured in the static images for that subject was identified. Linear regression analysis determined the predictive ability of static TT-TG distance for dynamic patellar lateral displacement for each cohort. The static TT-TG distance measured with the knee in full extension cannot accurately predict dynamic lateral displacement of the patella. There was weak predictive ability among subjects with patellofemoral pain ( r 2 = 0.18, P = .02) and no predictive capability among controls. Among subjects with patellofemoral pain and static TT-TG distances 15 mm or more, 8 of 13 subjects (62%) demonstrated neutral or medial patellar tracking patterns. The static TT-TG distance cannot accurately predict dynamic lateral displacement of the patella. A large percentage of patients with patellofemoral pain and pathologically large TT-TG distances may have neutral to medial maltracking patterns.

Assessment of Diagnostic Value of Single View Dynamic Technique in Diagnosis of Developmental Dysplasia of Hip: A Comparison with Static and Dynamic Ultrasond Techniques

PubMed Central

Alamdaran, Seyed Ali; Kazemi, Sahar; Parsa, Ali; Moghadam, Mohammad Hallaj; Feyzi, Ali; Mardani, Reza

2016-01-01

Background: Developmental dysplasia of hip (DDH) is a common childhood disorder, and ultrasonography examination is routinely used for screening purposes. In this study, we aimed to evaluate a modified combined static and dynamic ultrasound technique for the detection of DDH and to compare with the results of static and dynamic ultrasound techniques. Methods: In this cross-sectional study, during 2013- 2015, 300 high-risk infants were evaluated by ultrasound for DDH. Both hips were examined with three techniques: static, dynamic and single view static and dynamic technique. Statistical analysis was performed using SPSS version 11.5. Results: Patients aged 9 days to 83 weeks. 75% of the patients were 1 to 3 months old. Among 600 hip joints, about 5% were immature in static sonography and almost all of them were unstable in dynamic techniques. 0.3% of morphologically normal hips were unstable in dynamic sonography and 9% of unstable hips had normal morphology. The mean β angle differences in coronal view before and after stress maneuver was 14.43±5.47° in unstable hips. Single view static and dynamic technique revealed that all cases with acetabular dysplasia, instability and dislocation, except two dislocations, were detected by dynamic transverse view. For two cases, Ortolani maneuver showed femoral head reversibility in dislocated hips. Using single view static and dynamic technique was indicative and applicable for detection of more than 99% of cases. Conclusion: Single view static and dynamic technique not only is a fast and easy technique, but also it is of high diagnostic value in assessment of DDH. PMID:27847852

solveTruss v1.0: Static, global buckling and frequency analysis of 2D and 3D trusses with Mathematica

NASA Astrophysics Data System (ADS)

Ozbasaran, Hakan

Trusses have an important place amongst engineering structures due to many advantages such as high structural efficiency, fast assembly and easy maintenance. Iterative truss design procedures, which require analysis of a large number of candidate structural systems such as size, shape and topology optimization with stochastic methods, mostly lead the engineer to establish a link between the development platform and external structural analysis software. By increasing number of structural analyses, this (probably slow-response) link may climb to the top of the list of performance issues. This paper introduces a software for static, global member buckling and frequency analysis of 2D and 3D trusses to overcome this problem for Mathematica users.

Determination of orthotropic material properties by modal analysis

NASA Astrophysics Data System (ADS)

Lai, Junpeng

The methodology for determination of orthotropic material properties in plane stress condition will be presented. It is applied to orthotropic laminated plates like printed wiring boards. The first part of the thesis will focus on theories and methodologies. The static beam model and vibratory plate model is presented. The methods are validated by operating a series of test on aluminum. In the static tests, deflection and two directions of strain are measured, thus four of the properties will be identified: Ex, Ey, nuxy, nuyx. Moving on to dynamic test, the first ten modes' resonance frequencies are obtained. The technique of modal analysis is adopted. The measured data is processed by FFT and analyzed by curve fitting to extract natural frequencies and mode shapes. With the last material property to be determined, a finite element method using ANSYS is applied. Along with the identified material properties in static tests, and proper initial guess of the unknown shear modulus, an iterative process creates finite element model and conducts modal analysis with the updating model. When the modal analysis result produced by ANSYS matches the natural frequencies acquired by dynamic test, the process will halt. Then we obtained the last material property in plane stress condition.

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

Caliandro, Rocco; Sibillano, Teresa; Belviso, B. Danilo

In this study, we have developed a general X-ray powder diffraction (XPD) methodology for the simultaneous structural and compositional characterization of inorganic nanomaterials. The approach is validated on colloidal tungsten oxide nanocrystals (WO 3-x NCs), as a model polymorphic nanoscale material system. Rod-shaped WO 3-x NCs with different crystal structure and stoichiometry are comparatively investigated under an inert atmosphere and after prolonged air exposure. An initial structural model for the as-synthesized NCs is preliminarily identified by means of Rietveld analysis against several reference crystal phases, followed by atomic pair distribution function (PDF) refinement of the best-matching candidates (static analysis). Subtlemore » stoichiometry deviations from the corresponding bulk standards are revealed. NCs exposed to air at room temperature are monitored by XPD measurements at scheduled time intervals. The static PDF analysis is complemented with an investigation into the evolution of the WO 3-x NC structure, performed by applying the modulation enhanced diffraction technique to the whole time series of XPD profiles (dynamical analysis). Prolonged contact with ambient air is found to cause an appreciable increase in the static disorder of the O atoms in the WO 3-x NC lattice, rather than a variation in stoichiometry. Finally, the time behavior of such structural change is identified on the basis of multivariate analysis.« less

Error analysis and prevention of cosmic ion-induced soft errors in static CMOS RAMs

NASA Astrophysics Data System (ADS)

Diehl, S. E.; Ochoa, A., Jr.; Dressendorfer, P. V.; Koga, P.; Kolasinski, W. A.

1982-12-01

Cosmic ray interactions with memory cells are known to cause temporary, random, bit errors in some designs. The sensitivity of polysilicon gate CMOS static RAM designs to logic upset by impinging ions has been studied using computer simulations and experimental heavy ion bombardment. Results of the simulations are confirmed by experimental upset cross-section data. Analytical models have been extended to determine and evaluate design modifications which reduce memory cell sensitivity to cosmic ions. A simple design modification, the addition of decoupling resistance in the feedback path, is shown to produce static RAMs immune to cosmic ray-induced bit errors.

Quasi-Static Indentation Analysis of Carbon-Fiber Laminates.

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

Briggs, Timothy; English, Shawn Allen; Nelson, Stacy Michelle

2015-12-01

A series of quasi - static indentation experiments are conducted on carbon fiber reinforced polymer laminates with a systematic variation of thicknesses and fixture boundary conditions. Different deformation mechanisms and their resulting damage mechanisms are activated b y changing the thickn ess and boundary conditions. The quasi - static indentation experiments have been shown to achieve damage mechanisms similar to impact and penetration, however without strain rate effects. The low rate allows for the detailed analysis on the load response. Moreover, interrupted tests allow for the incremental analysis of various damage mechanisms and pr ogressions. The experimentally tested specimens aremore » non - destructively evaluated (NDE) with optical imaging, ultrasonics and computed tomography. The load displacement responses and the NDE are then utilized in numerical simulations for the purpose of model validation and vetting. The accompanying numerical simulation work serves two purposes. First, the results further reveal the time sequence of events and the meaning behind load dro ps not clear from NDE . Second, the simulations demonstrate insufficiencies in the code and can then direct future efforts for development.« less

Failure Progress of 3D Reinforced GFRP Laminate during Static Bending, Evaluated by Means of Acoustic Emission and Vibrations Analysis.

PubMed

Koziol, Mateusz; Figlus, Tomasz

2015-12-14

The work aimed to assess the failure progress in a glass fiber-reinforced polymer laminate with a 3D-woven and (as a comparison) plain-woven reinforcement, during static bending, using acoustic emission signals. The innovative method of the separation of the signal coming from the fiber fracture and the one coming from the matrix fracture with the use of the acoustic event's energy as a criterion was applied. The failure progress during static bending was alternatively analyzed by evaluation of the vibration signal. It gave a possibility to validate the results of the acoustic emission. Acoustic emission, as well as vibration signal analysis proved to be good and effective tools for the registration of failure effects in composite laminates. Vibration analysis is more complicated methodologically, yet it is more precise. The failure progress of the 3D laminate is "safer" and more beneficial than that of the plain-woven laminate. It exhibits less rapid load capacity drops and a higher fiber effort contribution at the moment of the main laminate failure.

Analysis of SMA Hybrid Composite Structures in MSC.Nastran and ABAQUS

NASA Technical Reports Server (NTRS)

Turner, Travis L.; Patel, Hemant D.

2005-01-01

A thermoelastic constitutive model for shape memory alloy (SMA) actuators and SMA hybrid composite (SMAHC) structures was recently implemented in the commercial finite element codes MSC.Nastran and ABAQUS. The model may be easily implemented in any code that has the capability for analysis of laminated composite structures with temperature dependent material properties. The model is also relatively easy to use and requires input of only fundamental engineering properties. A brief description of the model is presented, followed by discussion of implementation and usage in the commercial codes. Results are presented from static and dynamic analysis of SMAHC beams of two types; a beam clamped at each end and a cantilever beam. Nonlinear static (post-buckling) and random response analyses are demonstrated for the first specimen. Static deflection (shape) control is demonstrated for the cantilever beam. Approaches for modeling SMAHC material systems with embedded SMA in ribbon and small round wire product forms are demonstrated and compared. The results from the commercial codes are compared to those from a research code as validation of the commercial implementations; excellent correlation is achieved in all cases.

Structural design and static analysis of a double-ring deployable truss for mesh antennas

NASA Astrophysics Data System (ADS)

Xu, Yan; Guan, Fuling; Chen, Jianjun; Zheng, Yao

2012-12-01

This paper addresses the structural design, the deployment control design, the static analysis and the model testing of a new double-ring deployable truss that is intended for large mesh antennas. This deployable truss is a multi-DOF (degree-of-freedom), over-constrained mechanism. Two kinds of deployable basic elements were introduced, as well as a process to synthesise the structure of the deployable truss. The geometric equations were formulated to determine the length of each strut, including the effects of the joint size. A DOF evaluation showed that the mechanism requires two active cables and requires deployment control. An open-loop control system was designed to control the rotational velocities of two motors. The structural stiffness of the truss was assessed by static analysis that considered the effects of the constraint condition and the pre-stress of the passive cables. A 4.2-metre demonstration model of an antenna was designed and fabricated. The geometry and the deployment behaviour of the double-ring truss were validated by the experiments using this model.

Analysis of SMA Hybrid Composite Structures using Commercial Codes

NASA Technical Reports Server (NTRS)

Turner, Travis L.; Patel, Hemant D.

2004-01-01

A thermomechanical model for shape memory alloy (SMA) actuators and SMA hybrid composite (SMAHC) structures has been recently implemented in the commercial finite element codes MSC.Nastran and ABAQUS. The model may be easily implemented in any code that has the capability for analysis of laminated composite structures with temperature dependent material properties. The model is also relatively easy to use and requires input of only fundamental engineering properties. A brief description of the model is presented, followed by discussion of implementation and usage in the commercial codes. Results are presented from static and dynamic analysis of SMAHC beams of two types; a beam clamped at each end and a cantilevered beam. Nonlinear static (post-buckling) and random response analyses are demonstrated for the first specimen. Static deflection (shape) control is demonstrated for the cantilevered beam. Approaches for modeling SMAHC material systems with embedded SMA in ribbon and small round wire product forms are demonstrated and compared. The results from the commercial codes are compared to those from a research code as validation of the commercial implementations; excellent correlation is achieved in all cases.

The analysis of thin walled composite laminated helicopter rotor with hierarchical warping functions and finite element method

NASA Astrophysics Data System (ADS)

Zhu, Dechao; Deng, Zhongmin; Wang, Xingwei

2001-08-01

In the present paper, a series of hierarchical warping functions is developed to analyze the static and dynamic problems of thin walled composite laminated helicopter rotors composed of several layers with single closed cell. This method is the development and extension of the traditional constrained warping theory of thin walled metallic beams, which had been proved very successful since 1940s. The warping distribution along the perimeter of each layer is expanded into a series of successively corrective warping functions with the traditional warping function caused by free torsion or free bending as the first term, and is assumed to be piecewise linear along the thickness direction of layers. The governing equations are derived based upon the variational principle of minimum potential energy for static analysis and Rayleigh Quotient for free vibration analysis. Then the hierarchical finite element method is introduced to form a numerical algorithm. Both static and natural vibration problems of sample box beams are analyzed with the present method to show the main mechanical behavior of the thin walled composite laminated helicopter rotor.

Static, Dynamic and Semantic Dimensions: Towards a Multidisciplinary Approach of Social Networks Analysis

NASA Astrophysics Data System (ADS)

Thovex, Christophe; Trichet, Francky

The objective of our work is to extend static and dynamic models of Social Networks Analysis (SNA), by taking conceptual aspects of enterprises and institutions social graph into account. The originality of our multidisciplinary work is to introduce abstract notions of electro-physic to define new measures in SNA, for new decision-making functions dedicated to Human Resource Management (HRM). This paper introduces a multidimensional system and new measures: (1) a tension measure for social network analysis, (2) an electrodynamic, predictive and semantic system for recommendations on social graphs evolutions and (3) a reactance measure used to evaluate the individual stress at work of the members of a social network.

Simulations of Carnival Rides and Rube Goldberg Machines for the Visualization of Concepts of Statics and Dynamics

ERIC Educational Resources Information Center

Howard, William; Williams, Richard; Yao, Jason

2010-01-01

Solid modeling is widely used as a teaching tool in summer activities with high school students. The addition of motion analysis allows concepts from statics and dynamics to be introduced to students in both qualitative and quantitative ways. Two sets of solid modeling projects--carnival rides and Rube Goldberg machines--are shown to allow the…

Postural control and low back pain in elite athletes comparison of static balance in elite athletes with and without low back pain.

PubMed

Oyarzo, Claudio A; Villagrán, Claudio R; Silvestre, Rony E; Carpintero, Pedro; Berral, Francisco J

2014-01-01

Although current research findings suggest that postural control or static balance is impaired in subjects with low back pain, few studies have specifically addressed the effect of low back pain on static balance in elite athletes. Forty-four athletes belonging to Chilean national teams took part in this study; 20 had low back pain and the remaining 24 were healthy controls. Displacement of the centre of pressure was analyzed by computerized platform posturography, using a standardized protocol; subjects were required to stand upright on both feet, with eyes first open then closed. The results showed that, athletes with low back pain used significantly more energy (p< 0.0182) and had a greater displacement of the centre of pressure (p< 0.005) with open eyes to control posture than healthy athletes. It may be concluded that static balance is impaired in elite athletes with low back pain and that analysis of two-footed stance provides a sensitive assessment of static balance in athletes.

Emotion recognition in Parkinson's disease: Static and dynamic factors.

PubMed

Wasser, Cory I; Evans, Felicity; Kempnich, Clare; Glikmann-Johnston, Yifat; Andrews, Sophie C; Thyagarajan, Dominic; Stout, Julie C

2018-02-01

The authors tested the hypothesis that Parkinson's disease (PD) participants would perform better in an emotion recognition task with dynamic (video) stimuli compared to a task using only static (photograph) stimuli and compared performances on both tasks to healthy control participants. In a within-subjects study, 21 PD participants and 20 age-matched healthy controls performed both static and dynamic emotion recognition tasks. The authors used a 2-way analysis of variance (controlling for individual participant variance) to determine the effect of group (PD, control) on emotion recognition performance in static and dynamic facial recognition tasks. Groups did not significantly differ in their performances on the static and dynamic tasks; however, the trend was suggestive that PD participants performed worse than controls. PD participants may have subtle emotion recognition deficits that are not ameliorated by the addition of contextual cues, similar to those found in everyday scenarios. Consistent with previous literature, the results suggest that PD participants may have underlying emotion recognition deficits, which may impact their social functioning. (PsycINFO Database Record (c) 2018 APA, all rights reserved).

Large Deformation Dynamic Bending of Composite Beams

NASA Technical Reports Server (NTRS)

Derian, E. J.; Hyer, M. W.

1986-01-01

Studies were conducted on the large deformation response of composite beams subjected to a dynamic axial load. The beams were loaded with a moderate eccentricity to promote bending. The study was primarily experimental but some finite element results were obtained. Both the deformation and the failure of the beams were of interest. The static response of the beams was also studied to determine potential differences between the static and dynamic failure. Twelve different laminate types were tested. The beams were loaded dynamically with a gravity driven impactor traveling at 19.6 ft/sec and quasi-static tests were conducted on identical beams in a displacement controlled manner. For laminates of practical interest, the failure modes under static and dynamic loadings were identical. Failure in most of the laminate types occurred in a single event involving 40% to 50% of the plies. However, failure in laminates with 30 deg or 15 deg off-axis plies occured in several events. All laminates exhibited bimodular elastic properties. Using empirically determined flexural properties, a finite element analysis was reasonably accurate in predicting the static and dynamic deformation response.

Relating stick-slip friction experiments to earthquake source parameters

USGS Publications Warehouse

McGarr, Arthur F.

2012-01-01

Analytical results for parameters, such as static stress drop, for stick-slip friction experiments, with arbitrary input parameters, can be determined by solving an energy-balance equation. These results can then be related to a given earthquake based on its seismic moment and the maximum slip within its rupture zone, assuming that the rupture process entails the same physics as stick-slip friction. This analysis yields overshoots and ratios of apparent stress to static stress drop of about 0.25. The inferred earthquake source parameters static stress drop, apparent stress, slip rate, and radiated energy are robust inasmuch as they are largely independent of the experimental parameters used in their estimation. Instead, these earthquake parameters depend on C, the ratio of maximum slip to the cube root of the seismic moment. C is controlled by the normal stress applied to the rupture plane and the difference between the static and dynamic coefficients of friction. Estimating yield stress and seismic efficiency using the same procedure is only possible when the actual static and dynamic coefficients of friction are known within the earthquake rupture zone.

Direct surface analysis of pesticides on soil, leaves, grass, and stainless steel by static secondary ion mass spectrometry

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

Ingram, J.C.; Groenewold, G.S.; Appelhans, A.D.

1997-02-01

Direct surface analyses by static secondary ion mass spectrometry (SIMS) were performed for the following pesticides adsorbed on dandelion leaves, grass, soil, and stainless steel samples: alachlor, atrazine, captan, carbofuran, chlorpyrifos, chlorosulfuron, chlorthal-dimethyl, cypermethrin, 2,4-D, diuron, glyphosate, malathion, methomyl, methyl arsonic acid, mocap, norflurazon, oxyfluorfen, paraquat, temik, and trifluralin. The purpose of this study was to evaluate static SIMS as a tool for pesticide analysis, principally for use in screening samples for pesticides. The advantage of direct surface analysis compared with conventional pesticide analysis methods is the elimination of sample pretreatment including extraction, which streamlines the analysis substantially; total analysismore » time for SIMS analysis was ca. 10 min/sample. Detection of 16 of the 20 pesticides on all four substrates was achieved. Of the remaining four pesticides, only one (trifluralin) was not detected on any of the samples. The minimum detectable quantity was determined for paraquat on soil in order to evaluate the efficacy of using SIMS as a screening tool. Paraquat was detected at 3 pg/mm{sup 2} (c.a. 0.005 monolayers). The results of these studies suggest that SIMS is capable of direct surface detection of a range of pesticides, with low volatility, polar pesticides being the most easily detected. 25 refs., 2 figs., 2 tabs.« less

Modular Elastomer Photoresins for Digital Light Processing Additive Manufacturing.

PubMed

Thrasher, Carl J; Schwartz, Johanna J; Boydston, Andrew J

2017-11-15

A series of photoresins suitable for the production of elastomeric objects via digital light processing additive manufacturing are reported. Notably, the printing procedure is readily accessible using only entry-level equipment under ambient conditions using visible light projection. The photoresin formulations were found to be modular in nature, and straightforward adjustments to the resin components enabled access to a range of compositions and mechanical properties. Collectively, the series includes silicones, hydrogels, and hybrids thereof. Printed test specimens displayed maximum elongations of up to 472% under tensile load, a tunable swelling behavior in water, and Shore A hardness values from 13.7 to 33.3. A combination of the resins was used to print a functional multimaterial three-armed pneumatic gripper. These photoresins could be transformative to advanced prototyping applications such as simulated human tissues, stimuli-responsive materials, wearable devices, and soft robotics.

Soft Robots: Manipulation, Mobility, and Fast Actuation

NASA Astrophysics Data System (ADS)

Shepherd, Robert; Ilievski, Filip; Choi, Wonjae; Stokes, Adam; Morin, Stephen; Mazzeo, Aaron; Kramer, Rebecca; Majidi, Carmel; Wood, Rob; Whitesides, George

2012-02-01

Material innovation will be a key feature in the next generation of robots. A simple, pneumatically powered actuator composed of only soft-elastomers can perform the function of a complex arrangement of mechanical components and electric motors. This talk will focus on soft-lithography as a simple method to fabricate robots--composed of exclusively soft materials (elastomeric polymers). These robots have sophisticated capabilities: a gripper (with no electrical sensors) can manipulate delicate and irregularly shaped objects and a quadrupedal robot can walk to an obstacle (a gap smaller than its walking height) then shrink its body and squeeze through the gap using an undulatory gait. This talk will also introduce a new method of rapidly actuating soft robots. Using this new method, a robot can be caused to jump more than 30 times its height in under 200 milliseconds.

An approach to simultaneous control of trajectory and interaction forces in dual-arm configurations

NASA Technical Reports Server (NTRS)

Yun, Xiaoping; Kumar, Vijay R.

1991-01-01

An approach to the control of constrained dynamic systems such as multiple arm systems, multifingered grippers, and walking vehicles is described. The basic philosophy is to utilize a minimal set of inputs to control the trajectory and the surplus input to control the constraint or interaction forces and moments in the closed chain. A dynamic control model for the closed chain is derived that is suitable for designing a controller in which the trajectory and the interaction forces and moments are explicitly controlled. Nonlinear feedback techniques derived from differential geometry are then applied to linearize and decouple the nonlinear model. These ideas are illustrated through a planar example in which two arms are used for cooperative manipulation. Results from a simulation are used to illustrate the efficacy of the method.

Magnetic gripper device

DOEpatents

Meyer, Ross E.

1993-01-01

A climbing apparatus is provided for climbing ferromagnetic surfaces, such as storage tanks and steel frame structures. A magnet assembly is rotatably mounted in a frame assembly. The frame assembly provides a pair of cam surfaces having different dimensions so that, when the frame is rotated, the cam surfaces contact the ferromagnetic surface to separate the magnet assembly from the surface. The different cam dimensions enable one side of the magnet at a time to be detached from the surface to reduce the effort needed to disengage the climbing apparatus. The cam surface also provides for smoothly attaching the apparatus. A hardened dowel pin is also attached to the frame and the pointed end of the dowel engages the surface when the magnet is attached to the surface to prevent downward sliding movement of the assembly under the weight of the user.

Magnetic gripper device

DOEpatents

Meyer, R.E.

1993-03-09

A climbing apparatus is provided for climbing ferromagnetic surfaces, such as storage tanks and steel frame structures. A magnet assembly is rotatably mounted in a frame assembly. The frame assembly provides a pair of cam surfaces having different dimensions so that, when the frame is rotated, the cam surfaces contact the ferromagnetic surface to separate the magnet assembly from the surface. The different cam dimensions enable one side of the magnet at a time to be detached from the surface to reduce the effort needed to disengage the climbing apparatus. The cam surface also provides for smoothly attaching the apparatus. A hardened dowel pin is also attached to the frame and the pointed end of the dowel engages the surface when the magnet is attached to the surface to prevent downward sliding movement of the assembly under the weight of the user.

Scaling Effects in Carbon/Epoxy Laminates Under Transverse Quasi-Static Loading

NASA Technical Reports Server (NTRS)

Nettles, Alan T.; Douglas, Michael J.; Estes, Eric E.

1999-01-01

Scaling effects were considered for 8, 16, 32, and 64 ply IM-7/8551-7 carbon/epoxy composites plates transversely loaded to the first significant load drop by means of both a quasi-static and an equivalent impact force. The resulting damage was examined by x-ray and photomicroscopy analysis. Load-deflection curves were generated for the quasi-static tests and the resulting indentation depth was measured. Results showed that the load-deflection data scaled well for most of the various thicknesses of plates. However, damage did not scale as well. No correlation could be found between dent depth and any of the other parameters measured in this study. The impact test results showed that significantly less damage was formed compared to the quasi- static results for a given maximum transverse load. The criticality of ply-level scaling (grouping plies) was also examined.

No static black hole hairs in gravitational theories with broken Lorentz invariance

NASA Astrophysics Data System (ADS)

Lin, Kai; Mukohyama, Shinji; Wang, Anzhong; Zhu, Tao

2017-06-01

In this paper, we revisit the issue of static hairs of black holes in gravitational theories with broken Lorentz invariance in the case that the speed cϕ of the khronon field becomes infinitely large, cϕ=∞ , for which the sound horizon of the khronon field coincides with the universal horizon, and the boundary conditions at the sound horizon reduce to those given normally at the universal horizons. As a result, fewer boundary conditions are present in this extreme case in comparison with the case cϕ=finite . Consequently, it is expected that static hairs might exist. However, we show analytically that, even in this case, static hairs still cannot exist, based on a decoupling limit analysis. We also consider the cases in which cϕ is finite but with cϕ≫1 , and we obtain the same conclusion.

Low-speed Aerodynamic Investigations of a Hybrid Wing Body Configuration

NASA Technical Reports Server (NTRS)

Vicroy, Dan D.; Gatlin, Gregory M.; Jenkins, Luther N.; Murphy, Patrick C.; Carter, Melissa B.

2014-01-01

Two low-speed static wind tunnel tests and a water tunnel static and dynamic forced-motion test have been conducted on a hybrid wing-body (HWB) twinjet configuration. These tests, in addition to computational fluid dynamics (CFD) analysis, have provided a comprehensive dataset of the low-speed aerodynamic characteristics of this nonproprietary configuration. In addition to force and moment measurements, the tests included surface pressures, flow visualization, and off-body particle image velocimetry measurements. This paper will summarize the results of these tests and highlight the data that is available for code comparison or additional analysis.

Aeroelastic optimization methodology for viscous and turbulent flows

NASA Astrophysics Data System (ADS)

Barcelos Junior, Manuel Nascimento Dias

2007-12-01

In recent years, the development of faster computers and parallel processing allowed the application of high-fidelity analysis methods to the aeroelastic design of aircraft. However, these methods are restricted to the final design verification, mainly due to the computational cost involved in iterative design processes. Therefore, this work is concerned with the creation of a robust and efficient aeroelastic optimization methodology for inviscid, viscous and turbulent flows by using high-fidelity analysis and sensitivity analysis techniques. Most of the research in aeroelastic optimization, for practical reasons, treat the aeroelastic system as a quasi-static inviscid problem. In this work, as a first step toward the creation of a more complete aeroelastic optimization methodology for realistic problems, an analytical sensitivity computation technique was developed and tested for quasi-static aeroelastic viscous and turbulent flow configurations. Viscous and turbulent effects are included by using an averaged discretization of the Navier-Stokes equations, coupled with an eddy viscosity turbulence model. For quasi-static aeroelastic problems, the traditional staggered solution strategy has unsatisfactory performance when applied to cases where there is a strong fluid-structure coupling. Consequently, this work also proposes a solution methodology for aeroelastic and sensitivity analyses of quasi-static problems, which is based on the fixed point of an iterative nonlinear block Gauss-Seidel scheme. The methodology can also be interpreted as the solution of the Schur complement of the aeroelastic and sensitivity analyses linearized systems of equations. The methodologies developed in this work are tested and verified by using realistic aeroelastic systems.

Double symbolic joint entropy in nonlinear dynamic complexity analysis

NASA Astrophysics Data System (ADS)

Yao, Wenpo; Wang, Jun

2017-07-01

Symbolizations, the base of symbolic dynamic analysis, are classified as global static and local dynamic approaches which are combined by joint entropy in our works for nonlinear dynamic complexity analysis. Two global static methods, symbolic transformations of Wessel N. symbolic entropy and base-scale entropy, and two local ones, namely symbolizations of permutation and differential entropy, constitute four double symbolic joint entropies that have accurate complexity detections in chaotic models, logistic and Henon map series. In nonlinear dynamical analysis of different kinds of heart rate variability, heartbeats of healthy young have higher complexity than those of the healthy elderly, and congestive heart failure (CHF) patients are lowest in heartbeats' joint entropy values. Each individual symbolic entropy is improved by double symbolic joint entropy among which the combination of base-scale and differential symbolizations have best complexity analysis. Test results prove that double symbolic joint entropy is feasible in nonlinear dynamic complexity analysis.

Dynamic stress analysis of smooth and notched fiber composite flexural specimens

NASA Technical Reports Server (NTRS)

Murthy, P. L. N.; Chamis, C. C.

1984-01-01

A detailed analysis of the dynamic stress field in smooth and notched fiber composite (Charpy-type) specimens is reported in this paper. The analysis is performed with the aid of the direct transient response analysis solution sequence of MSC/NASTRAN. Three unidirectional composites were chosen for the study. They are S-Glass/Epoxy, Kevlar/Epoxy and T-300/Epoxy composite systems. The specimens are subjected to an impact load which is modeled as a triangular impulse with a maximum of 2000 lb and a duration of 1 ms. The results are compared with those of static analysis of the specimens subjected to a peak load of 2000 lb. For the geometry and type of materials studied, the static analysis results gave close conservative estimates for the dynamic stresses. Another interesting inference from the study is that the impact induced effects are felt by S-Glass/Epoxy specimens sooner than Kevlar/Epoxy or T-300/Epoxy specimens.

Nanocantilevers with Adjustable Static Deflection and Significantly Tunable Spectrum Resonant Frequencies for Applications in Nanomechanical Mass Sensors

PubMed Central

Stachiv, Ivo; Sittner, Petr

2018-01-01

Nanocantilevers have become key components of nanomechanical sensors that exploit changes in their resonant frequencies or static deflection in response to the environment. It is necessary that they can operate at a given, but adjustable, resonant frequency and/or static deflection ranges. Here we propose a new class of nanocantilevers with a significantly tunable spectrum of the resonant frequencies and changeable static deflection utilizing the unique properties of a phase-transforming NiTi film sputtered on the usual nanotechnology cantilever materials. The reversible frequency tuning and the adjustable static deflection are obtained by intentionally changing the Young’s modulus and the interlayer stress of the NiTi film during its phase transformation, while the usual cantilever elastic materials guarantee a high frequency actuation (up to tens of MHz). By incorporating the NiTi phase transformation characteristic into the classical continuum mechanics theory we present theoretical models that account for the nanocantilever frequency shift and variation in static deflection caused by a phase transformation of NiTi film. Due to the practical importance in nanomechanical sensors, we carry out a complete theoretical analysis and evaluate the impact of NiTi film on the cantilever Young’s modulus, static deflection, and the resonant frequencies. Moreover, the importance of proposed NiTi nanocantilever is illustrated on the nanomechanical based mass sensors. Our findings will be of value in the development of advanced nanotechnology sensors with intentionally-changeable physical and mechanical properties. PMID:29462996

Accurate mobile malware detection and classification in the cloud.

PubMed

Wang, Xiaolei; Yang, Yuexiang; Zeng, Yingzhi

2015-01-01

As the dominator of the Smartphone operating system market, consequently android has attracted the attention of s malware authors and researcher alike. The number of types of android malware is increasing rapidly regardless of the considerable number of proposed malware analysis systems. In this paper, by taking advantages of low false-positive rate of misuse detection and the ability of anomaly detection to detect zero-day malware, we propose a novel hybrid detection system based on a new open-source framework CuckooDroid, which enables the use of Cuckoo Sandbox's features to analyze Android malware through dynamic and static analysis. Our proposed system mainly consists of two parts: anomaly detection engine performing abnormal apps detection through dynamic analysis; signature detection engine performing known malware detection and classification with the combination of static and dynamic analysis. We evaluate our system using 5560 malware samples and 6000 benign samples. Experiments show that our anomaly detection engine with dynamic analysis is capable of detecting zero-day malware with a low false negative rate (1.16 %) and acceptable false positive rate (1.30 %); it is worth noting that our signature detection engine with hybrid analysis can accurately classify malware samples with an average positive rate 98.94 %. Considering the intensive computing resources required by the static and dynamic analysis, our proposed detection system should be deployed off-device, such as in the Cloud. The app store markets and the ordinary users can access our detection system for malware detection through cloud service.

Opening Up Architectures of Software-Intensive Systems: A First Prototype Implementation

DTIC Science & Technology

2007-11-01

9 4.1.2 Sequence Diagram Viewer NetBeans Module .................................. 11 4.1.3 Limitations of Static Analysis...Viewer NetBeans module [18]. Note that there exist other tools which can statically reverse engineer sequence diagrams such as Borland Together [19...and the NetBeans UML Modeling module [20]. The reason those are not presented in this document is because their functionalities are very similar

Static magnetic field reduced exogenous oligonucleotide uptake by spermatozoa using magnetic nanoparticle gene delivery system

NASA Astrophysics Data System (ADS)

Katebi, Samira; Esmaeili, Abolghasem; Ghaedi, Kamran

2016-03-01

Spermatozoa could introduce exogenous oligonucleotides of interest to the oocyte. The most important reason of low efficiency of sperm mediated gene transfer (SMGT) is low uptake of exogenous DNA by spermatozoa. The aim of this study was to evaluate the effects of static magnetic field on exogenous oligonucleotide uptake of spermatozoa using magnetofection method. Magnetic nanoparticles (MNPs) associated with the labeled oligonucleotides were used to increase the efficiency of exogenous oligonucleotide uptake by rooster spermatozoa. We used high-field/high-gradient magnet (NdFeB) to enhance and accelerate exogenous DNA sedimentation at the spermatozoa surface. Flow cytometry analysis was performed to measure viability and percentage of exogenous oligonucleotide uptake by sperm. Flow cytometry analysis showed a significant increase in exogenous oligonucleotide uptake by rooster spermatozoa (P<0.001) when spermatozoa were incubated in exogenous oligonucleotide solution and MNPs. However, by applying static magnetic field during magnetofection method, a significant decrease in exogenous oligonucleotide uptake was observed (P<0.05). Findings of this study showed that MNPs were effective to increase exogenous oligonucleotide uptake by rooster spermatozoa; however unlike others studies, static magnetic field, was not only ineffective to enhance exogenous oligonucleotide uptake by rooster spermatozoa but also led to reduction in efficiency of magnetic nanoparticles in gene transfer.

Applications of Temporal Graph Metrics to Real-World Networks

NASA Astrophysics Data System (ADS)

Tang, John; Leontiadis, Ilias; Scellato, Salvatore; Nicosia, Vincenzo; Mascolo, Cecilia; Musolesi, Mirco; Latora, Vito

Real world networks exhibit rich temporal information: friends are added and removed over time in online social networks; the seasons dictate the predator-prey relationship in food webs; and the propagation of a virus depends on the network of human contacts throughout the day. Recent studies have demonstrated that static network analysis is perhaps unsuitable in the study of real world network since static paths ignore time order, which, in turn, results in static shortest paths overestimating available links and underestimating their true corresponding lengths. Temporal extensions to centrality and efficiency metrics based on temporal shortest paths have also been proposed. Firstly, we analyse the roles of key individuals of a corporate network ranked according to temporal centrality within the context of a bankruptcy scandal; secondly, we present how such temporal metrics can be used to study the robustness of temporal networks in presence of random errors and intelligent attacks; thirdly, we study containment schemes for mobile phone malware which can spread via short range radio, similar to biological viruses; finally, we study how the temporal network structure of human interactions can be exploited to effectively immunise human populations. Through these applications we demonstrate that temporal metrics provide a more accurate and effective analysis of real-world networks compared to their static counterparts.

Study of the effect of static/dynamic Coulomb friction variation at the tape-head interface of a spacecraft tape recorder by non-linear time response simulation

NASA Technical Reports Server (NTRS)

Mukhopadhyay, A. K.

1978-01-01

A description is presented of six simulation cases investigating the effect of the variation of static-dynamic Coulomb friction on servo system stability/performance. The upper and lower levels of dynamic Coulomb friction which allowed operation within requirements were determined roughly to be three times and 50% respectively of nominal values considered in a table. A useful application for the nonlinear time response simulation is the sensitivity analysis of final hardware design with respect to such system parameters as cannot be varied realistically or easily in the actual hardware. Parameters of the static/dynamic Coulomb friction fall in this category.

Static shape control for flexible structures

NASA Technical Reports Server (NTRS)

Rodriguez, G.; Scheid, R. E., Jr.

1986-01-01

An integrated methodology is described for defining static shape control laws for large flexible structures. The techniques include modeling, identifying and estimating the control laws of distributed systems characterized in terms of infinite dimensional state and parameter spaces. The models are expressed as interconnected elliptic partial differential equations governing a range of static loads, with the capability of analyzing electromagnetic fields around antenna systems. A second-order analysis is carried out for statistical errors, and model parameters are determined by maximizing an appropriate defined likelihood functional which adjusts the model to observational data. The parameter estimates are derived from the conditional mean of the observational data, resulting in a least squares superposition of shape functions obtained from the structural model.

Effects of acute static, ballistic, and PNF stretching exercise on the muscle and tendon tissue properties.

PubMed

Konrad, A; Stafilidis, S; Tilp, M

2017-10-01

The purpose of this study was to investigate the influence of a single static, ballistic, or proprioceptive neuromuscular facilitation (PNF) stretching exercise on the various muscle-tendon parameters of the lower leg and to detect possible differences in the effects between the methods. Volunteers (n = 122) were randomly divided into static, ballistic, and PNF stretching groups and a control group. Before and after the 4 × 30 s stretching intervention, we determined the maximum dorsiflexion range of motion (RoM) with the corresponding fascicle length and pennation angle of the gastrocnemius medialis. Passive resistive torque (PRT) and maximum voluntary contraction (MVC) were measured with a dynamometer. Observation of muscle-tendon junction (MTJ) displacement with ultrasound allowed us to determine the length changes in the tendon and muscle, respectively, and hence to calculate stiffness. Although RoM increased (static: +4.3%, ballistic: +4.5%, PNF: +3.5%), PRT (static: -11.4%, ballistic: -11.5%, PNF: -13,7%), muscle stiffness (static: -13.1%, ballistic: -20.3%, PNF: -20.2%), and muscle-tendon stiffness (static: -11.3%, ballistic: -10.5%, PNF: -13.7%) decreased significantly in all the stretching groups. Only in the PNF stretching group, the pennation angle in the stretched position (-4.2%) and plantar flexor MVC (-4.6%) decreased significantly. Multivariate analysis showed no clinically relevant difference between the stretching groups. The increase in RoM and the decrease in PRT and muscle-tendon stiffness could be explained by more compliant muscle tissue following a single static, ballistic, or PNF stretching exercise. © 2017 The Authors Scandinavian Journal of Medicine & Science In Sports Published by John Wiley & Sons Ltd.

Comparison of Inter-Observer Variability and Diagnostic Performance of the Fifth Edition of BI-RADS for Breast Ultrasound of Static versus Video Images.

PubMed

Youk, Ji Hyun; Jung, Inkyung; Yoon, Jung Hyun; Kim, Sung Hun; Kim, You Me; Lee, Eun Hye; Jeong, Sun Hye; Kim, Min Jung

2016-09-01

Our aim was to compare the inter-observer variability and diagnostic performance of the Breast Imaging Reporting and Data System (BI-RADS) lexicon for breast ultrasound of static and video images. Ninety-nine breast masses visible on ultrasound examination from 95 women 19-81 y of age at five institutions were enrolled in this study. They were scheduled to undergo biopsy or surgery or had been stable for at least 2 y of ultrasound follow-up after benign biopsy results or typically benign findings. For each mass, representative long- and short-axis static ultrasound images were acquired; real-time long- and short-axis B-mode video images through the mass area were separately saved as cine clips. Each image was reviewed independently by five radiologists who were asked to classify ultrasound features according to the fifth edition of the BI-RADS lexicon. Inter-observer variability was assessed using kappa (κ) statistics. Diagnostic performance on static and video images was compared using the area under the receiver operating characteristic curve. No significant difference was found in κ values between static and video images for all descriptors, although κ values of video images were higher than those of static images for shape, orientation, margin and calcifications. After receiver operating characteristic curve analysis, the video images (0.83, range: 0.77-0.87) had higher areas under the curve than the static images (0.80, range: 0.75-0.83; p = 0.08). Inter-observer variability and diagnostic performance of video images was similar to that of static images on breast ultrasonography according to the new edition of BI-RADS. Copyright © 2016 World Federation for Ultrasound in Medicine & Biology. Published by Elsevier Inc. All rights reserved.

Aerodynamic characteristics of a large-scale semispan model with a swept wing and an augmented jet flap with hypermixing nozzles. [Ames 40- by 80-Foot Wind Tunnel and Static Test Facility

NASA Technical Reports Server (NTRS)

Aiken, T. N.; Falarski, M. D.; Koenin, D. G.

1979-01-01

The aerodynamic characteristics of the augmentor wing concept with hypermixing primary nozzles were investigated. A large-scale semispan model in the Ames 40- by 80-Foot Wind Tunnel and Static Test Facility was used. The trailing edge, augmentor flap system occupied 65% of the span and consisted of two fixed pivot flaps. The nozzle system consisted of hypermixing, lobe primary nozzles, and BLC slot nozzles at the forward inlet, both sides and ends of the throat, and at the aft flap. The entire wing leading edge was fitted with a 10% chord slat and a blowing slot. Outboard of the flap was a blown aileron. The model was tested statically and at forward speed. Primary parameters and their ranges included angle of attack from -12 to 32 degrees, flap angles of 20, 30, 45, 60 and 70 degrees, and deflection and diffuser area ratios from 1.16 to 2.22. Thrust coefficients ranged from 0 to 2.73, while nozzle pressure ratios varied from 1.0 to 2.34. Reynolds number per foot varied from 0 to 1.4 million. Analysis of the data indicated a maximum static, gross augmentation of 1.53 at a flap angle of 45 degrees. Analysis also indicated that the configuration was an efficient powered lift device and that the net thrust was comparable with augmentor wings of similar static performance. Performance at forward speed was best at a diffuser area ratio of 1.37.

Analysis of muscle activation in lower extremity for static balance.

PubMed

Chakravarty, Kingshuk; Chatterjee, Debatri; Das, Rajat Kumar; Tripathy, Soumya Ranjan; Sinha, Aniruddha

2017-07-01

Balance plays an important role for human bipedal locomotion. Degeneration of balance control is prominent in stroke patients, elderly adults and even for majority of obese people. Design of personalized balance training program, in order to strengthen muscles, requires the analysis of muscle activation during an activity. In this paper we have proposed an affordable and portable approach to analyze the relationship between the static balance strategy and activation of various lower extremity muscles. To do that we have considered Microsoft Kinect XBox 360 as a motion sensing device and Wii balance board for measuring external force information. For analyzing the muscle activation pattern related to static balance, participants are asked to do the single limb stance (SLS) exercise on the balance board and in front of the Kinect. Static optimization to minimize the overall muscle activation pattern is carried out using OpenSim, which is an open-source musculoskeletal simulation software. The study is done on ten normal and ten obese people, grouped according to body mass index (BMI). Results suggest that the lower extremity muscles like biceps femoris, psoas major, sartorius, iliacus play the major role for both maintaining the balance using one limb as well as maintaining the flexion of the other limb during SLS. Further investigations reveal that the higher muscle activations of the flexed leg for normal group demonstrate higher strength. Moreover, the lower muscle activation of the standing leg for normal group demonstrate more headroom for the biceps femoris-short-head and psoas major to withstand the load and hence have better static balance control.

Utilization of Facial Image Analysis Technology for Blink Detection: A Validation Study.

PubMed

Kitazawa, Momoko; Yoshimura, Michitaka; Liang, Kuo-Ching; Wada, Satoshi; Mimura, Masaru; Tsubota, Kazuo; Kishimoto, Taishiro

2018-06-25

The assessment of anterior eye diseases and the understanding of psychological functions of blinking can benefit greatly from a validated blinking detection technology. In this work, we proposed an algorithm based on facial recognition built on current video processing technologies to automatically filter and analyze blinking movements. We compared electrooculography (EOG), the gold standard of blinking measurement, with manual video tape recording counting (mVTRc) and our proposed automated video tape recording analysis (aVTRa) in both static and dynamic conditions to validate our aVTRa method. We measured blinking in both static condition, where the subject was sitting still with chin fixed on the table, and dynamic condition, where the subject's face was not fixed and natural communication was taking place between the subject and interviewer. We defined concordance of blinks between measurement methods as having less than 50 ms difference between eyes opening and closing. The subjects consisted of seven healthy Japanese volunteers (3 male, four female) without significant eye disease with average age of 31.4±7.2. The concordance of EOG vs. aVTRa, EOG vs. mVTRc, and aVTRa vs. mVTRc (average±SD) were found to be 92.2±10.8%, 85.0±16.5%, and 99.6±1.0% in static conditions and 32.6±31.0%, 28.0±24.2%, and 98.5±2.7% in dynamic conditions, respectively. In static conditions, we have found a high blink concordance rate between the proposed aVTRa versus EOG, and confirmed the validity of aVTRa in both static and dynamic conditions.

Analysis of Wind Tunnel Longitudinal Static and Oscillatory Data of the F-16XL Aircraft

NASA Technical Reports Server (NTRS)

Klein, Vladislav; Murphy, Patrick C.; Curry, Timothy J.; Brandon, Jay M.

1997-01-01

Static and oscillatory wind tunnel data are presented for a 10-percent-scale model of an F-16XL aircraft. Static data include the effect of angle of attack, sideslip angle, and control surface deflections on aerodynamic coefficients. Dynamic data from small-amplitude oscillatory tests are presented at nominal values of angle of attack between 20 and 60 degrees. Model oscillations were performed at five frequencies from 0.6 to 2.9 Hz and one amplitude of 5 degrees. A simple harmonic analysis of the oscillatory data provided Fourier coefficients associated with the in-phase and out-of-phase components of the aerodynamic coefficients. A strong dependence of the oscillatory data on frequency led to the development of models with unsteady terms in the form of indicial functions. Two models expressing the variation of the in-phase and out-of-phase components with angle of attack and frequency were proposed and their parameters estimated from measured data.

[Research progress on mechanical performance evaluation of artificial intervertebral disc].

PubMed

Li, Rui; Wang, Song; Liao, Zhenhua; Liu, Weiqiang

2018-03-01

The mechanical properties of artificial intervertebral disc (AID) are related to long-term reliability of prosthesis. There are three testing methods involved in the mechanical performance evaluation of AID based on different tools: the testing method using mechanical simulator, in vitro specimen testing method and finite element analysis method. In this study, the testing standard, testing equipment and materials of AID were firstly introduced. Then, the present status of AID static mechanical properties test (static axial compression, static axial compression-shear), dynamic mechanical properties test (dynamic axial compression, dynamic axial compression-shear), creep and stress relaxation test, device pushout test, core pushout test, subsidence test, etc. were focused on. The experimental techniques using in vitro specimen testing method and testing results of available artificial discs were summarized. The experimental methods and research status of finite element analysis were also summarized. Finally, the research trends of AID mechanical performance evaluation were forecasted. The simulator, load, dynamic cycle, motion mode, specimen and test standard would be important research fields in the future.

Design and static structural analysis of a race car chassis for Formula Society of Automotive Engineers (FSAE) event

NASA Astrophysics Data System (ADS)

Mohamad, M. L.; Rahman, M. T. A.; Khan, S. F.; Basha, M. H.; Adom, A. H.; Hashim, M. S. M.

2017-10-01

The main purpose of this study is to make improvement for the UniMAP Automotive Racing Team car chassis which has several problems associated with the chassis must be fixed and some changes are needed to be made in order to perform well. This study involves the process of designing three chassis that are created based on the rules stated by FSAE rules book (2017/2018). The three chassis will undergo analysis test that consists of five tests which are main roll hoop test, front roll hoop test, static shear, side impact, static torsional loading and finally one of them will be selected as the best design in term of Von Mises Stress and torsional displacement. From the results obtained, the new selected chassis design which also declared as the new improved design poses the weight of 27.66 kg which was decreased by 16.7% from the existing chassis (32.77 kg). The torsional rigidity of the improved chassis increased by 37.74%.

Statistical analysis of fires and explosions attributed to static electricity over the last 50 years in Japanese industry

NASA Astrophysics Data System (ADS)

Ohsawa, A.

2011-06-01

This paper presents a statistical analysis of 153 accidents attributable to static electricity in Japanese industry over the last 50 years. A more thorough understanding of their causes could help prevent similar incidents and identify hazards that could assist in the task of risk assessment. Most of the incidents occurred during operations performed by workers. In addition, more than 70% of the flammable atmospheres resulted from the presence of vapours. A noteworthy finding is that at least 70% of the ignitions were caused by isolated conductors including operators' bodies leading to spark discharges, which could have easily been prevented with earthing. These tendencies indicate that, when operators handle flammable liquids with any conductors, the ignition risk is significantly high. A serious lack of information regarding fundamental countermeasures for static electricity seems to be the main cause of such hazards. Only organised management, including education and risk communication, would prevent them.

MSC/NASTRAN Stress Analysis of Complete Models Subjected to Random and Quasi-Static Loads

NASA Technical Reports Server (NTRS)

Hampton, Roy W.

2000-01-01

Space payloads, such as those which fly on the Space Shuttle in Spacelab, are designed to withstand dynamic loads which consist of combined acoustic random loads and quasi-static acceleration loads. Methods for computing the payload stresses due to these loads are well known and appear in texts and NASA documents, but typically involve approximations such as the Miles' equation, as well as possible adjustments based on "modal participation factors." Alternatively, an existing capability in MSC/NASTRAN may be used to output exact root mean square [rms] stresses due to the random loads for any specified elements in the Finite Element Model. However, it is time consuming to use this methodology to obtain the rms stresses for the complete structural model and then combine them with the quasi-static loading induced stresses. Special processing was developed as described here to perform the stress analysis of all elements in the model using existing MSC/NASTRAN and MSC/PATRAN and UNIX utilities. Fail-safe and buckling analyses applications are also described.

Statically vs dynamically balanced gait: Analysis of a robotic exoskeleton compared with a human.

PubMed

Barbareschi, Giulia; Richards, Rosie; Thornton, Matt; Carlson, Tom; Holloway, Catherine

2015-01-01

In recent years exoskeletons able to replicate human gait have begun to attract growing popularity for both assistive and rehabilitative purposes. Although wearable robots often need the use of external support in order to maintain stability, the REX exoskeleton by REX Bionics is able to self-balance through the whole cycle. However this statically balanced gait presents important differences with the dynamically balanced gait of human subjects. This paper will examine kinematic and kinetic differences between the gait analysis performed on a subject wearing the REX exoskeleton and human gait analysis data as presented in literature. We will also provide an insight on the impact that these differences can have for both rehabilitative and assistive applications.

Layerwise mechanics and finite element for the dynamic analysis of piezoelectric composite plates

NASA Technical Reports Server (NTRS)

Saravanos, Dimitris A.; Heyliger, Paul R.; Hopkins, Dale A.

1996-01-01

Laminate and structural mechanics for the analysis of laminated composite plate structures with piezoelectric actuators and sensors are presented. The theories implement layerwise representations of displacements and electric potential, and can model both the global and local electromechanical response of smart composite laminates. Finite-element formulations are developed for the quasi-static and dynamic analysis of smart composite structures containing piezoelectric layers. Comparisons with an exact solution illustrate the accuracy, robustness and capability of the developed mechanics to capture the global and local response of thin and/or thick laminated piezoelectric plates. Additional correlations and numerical applications demonstrate the unique capabilities of the mechanics in analyzing the static and free-vibration response of composite plates with distributed piezoelectric actuators and sensors.

An algorithm for selecting the most accurate protocol for contact angle measurement by drop shape analysis.

PubMed

Xu, Z N

2014-12-01

In this study, an error analysis is performed to study real water drop images and the corresponding numerically generated water drop profiles for three widely used static contact angle algorithms: the circle- and ellipse-fitting algorithms and the axisymmetric drop shape analysis-profile (ADSA-P) algorithm. The results demonstrate the accuracy of the numerically generated drop profiles based on the Laplace equation. A significant number of water drop profiles with different volumes, contact angles, and noise levels are generated, and the influences of the three factors on the accuracies of the three algorithms are systematically investigated. The results reveal that the above-mentioned three algorithms are complementary. In fact, the circle- and ellipse-fitting algorithms show low errors and are highly resistant to noise for water drops with small/medium volumes and contact angles, while for water drop with large volumes and contact angles just the ADSA-P algorithm can meet accuracy requirement. However, this algorithm introduces significant errors in the case of small volumes and contact angles because of its high sensitivity to noise. The critical water drop volumes of the circle- and ellipse-fitting algorithms corresponding to a certain contact angle error are obtained through a significant amount of computation. To improve the precision of the static contact angle measurement, a more accurate algorithm based on a combination of the three algorithms is proposed. Following a systematic investigation, the algorithm selection rule is described in detail, while maintaining the advantages of the three algorithms and overcoming their deficiencies. In general, static contact angles over the entire hydrophobicity range can be accurately evaluated using the proposed algorithm. The ease of erroneous judgment in static contact angle measurements is avoided. The proposed algorithm is validated by a static contact angle evaluation of real and numerically generated water drop images with different hydrophobicity values and volumes.

Landing Biomechanics in Participants With Different Static Lower Extremity Alignment Profiles

PubMed Central

Nguyen, Anh-Dung; Shultz, Sandra J.; Schmitz, Randy J.

2015-01-01

Context: Whereas static lower extremity alignment (LEA) has been identified as a risk factor for anterior cruciate ligament injury, little is known about its influence on joint motion and moments commonly associated with anterior cruciate ligament injury. Objective: To cluster participants according to combinations of LEA variables and compare these clusters in hip- and knee-joint kinematics and kinetics during the landing phase of a drop-jump task. Design: Descriptive laboratory study. Setting: Research laboratory. Patients or Other Participants: A total of 141 participants (50 men: age = 22.2 ± 2.8 years, height = 177.9 ± 9.3 cm, weight = 80.9 ± 13.3 kg; 91 women: age = 21.2 ± 2.6 years, height = 163.9 ± 6.6 cm, weight = 61.1 ± 8.7 kg). Main Outcome Measure(s): Static LEA included pelvic angle, femoral anteversion, quadriceps angle, tibiofemoral angle, genu recurvatum, tibial torsion, and navicular drop. Cluster analysis grouped participants according to their static LEA profiles, and these groups were compared on their hip- and knee-joint kinematics and external moments during the landing phase of a double-legged drop jump. Results: Three distinct clusters (C1–C3) were identified based on their static LEAs. Participants in clusters characterized with static internally rotated hip and valgus knee posture (C1) and externally rotated knee and valgus knee posture (C3) alignments demonstrated greater knee-valgus motion and smaller hip-flexion moments than the cluster with more neutral static alignment (C2). Participants in C1 also experienced greater hip internal-rotation and knee external-rotation moments than those in C2 and C3. Conclusions: Static LEA clusters that are positioned anatomically with a more rotated and valgus knee posture experienced greater dynamic valgus along with hip and knee moments during landing. Whereas static LEA contributes to differences in hip and knee rotational moments, sex may influence the differences in frontal-plane knee kinematics and sagittal-plane hip moments. PMID:25658815

Demonstration of UAV deployment and control of mobile wireless sensing networks for modal analysis of structures

NASA Astrophysics Data System (ADS)

Zhou, Hao; Hirose, Mitsuhito; Greenwood, William; Xiao, Yong; Lynch, Jerome; Zekkos, Dimitrios; Kamat, Vineet

2016-04-01

Unmanned aerial vehicles (UAVs) can serve as a powerful mobile sensing platform for assessing the health of civil infrastructure systems. To date, the majority of their uses have been dedicated to vision and laser-based spatial imaging using on-board cameras and LiDAR units, respectively. Comparatively less work has focused on integration of other sensing modalities relevant to structural monitoring applications. The overarching goal of this study is to explore the ability for UAVs to deploy a network of wireless sensors on structures for controlled vibration testing. The study develops a UAV platform with an integrated robotic gripper that can be used to install wireless sensors in structures, drop a heavy weight for the introduction of impact loads, and to uninstall wireless sensors for reinstallation elsewhere. A pose estimation algorithm is embedded in the UAV to estimate the location of the UAV during sensor placement and impact load introduction. The Martlet wireless sensor network architecture is integrated with the UAV to provide the UAV a mobile sensing capability. The UAV is programmed to command field deployed Martlets, aggregate and temporarily store data from the wireless sensor network, and to communicate data to a fixed base station on site. This study demonstrates the integrated UAV system using a simply supported beam in the lab with Martlet wireless sensors placed by the UAV and impact load testing performed. The study verifies the feasibility of the integrated UAV-wireless monitoring system architecture with accurate modal characteristics of the beam estimated by modal analysis.

Analysis of Pull-In Instability of Geometrically Nonlinear Microbeam Using Radial Basis Artificial Neural Network Based on Couple Stress Theory

PubMed Central

Heidari, Mohammad; Heidari, Ali; Homaei, Hadi

2014-01-01

The static pull-in instability of beam-type microelectromechanical systems (MEMS) is theoretically investigated. Two engineering cases including cantilever and double cantilever microbeam are considered. Considering the midplane stretching as the source of the nonlinearity in the beam behavior, a nonlinear size-dependent Euler-Bernoulli beam model is used based on a modified couple stress theory, capable of capturing the size effect. By selecting a range of geometric parameters such as beam lengths, width, thickness, gaps, and size effect, we identify the static pull-in instability voltage. A MAPLE package is employed to solve the nonlinear differential governing equations to obtain the static pull-in instability voltage of microbeams. Radial basis function artificial neural network with two functions has been used for modeling the static pull-in instability of microcantilever beam. The network has four inputs of length, width, gap, and the ratio of height to scale parameter of beam as the independent process variables, and the output is static pull-in voltage of microbeam. Numerical data, employed for training the network, and capabilities of the model have been verified in predicting the pull-in instability behavior. The output obtained from neural network model is compared with numerical results, and the amount of relative error has been calculated. Based on this verification error, it is shown that the radial basis function of neural network has the average error of 4.55% in predicting pull-in voltage of cantilever microbeam. Further analysis of pull-in instability of beam under different input conditions has been investigated and comparison results of modeling with numerical considerations shows a good agreement, which also proves the feasibility and effectiveness of the adopted approach. The results reveal significant influences of size effect and geometric parameters on the static pull-in instability voltage of MEMS. PMID:24860602

Low-Speed Dynamic Wind Tunnel Test Analysis of a Generic 53 Degree Swept UCAV Configuration With Controls

NASA Technical Reports Server (NTRS)

Vicroy, Dan D.; Huber, Kerstin C.; Rohlf, Detlef; Loser, Thomas

2014-01-01

Several static and dynamic forced-motion wind tunnel tests have been conducted on a generic unmanned combat air vehicle (UCAV) configuration with a 53deg swept leading edge. These tests are part of an international research effort to assess and advance the state-of-art of computational fluid dynamics (CFD) methods to predict the static and dynamic stability and control characteristics for this type of configuration. This paper describes the dynamic forced motion data collected from two different models of this UCAV configuration as well as analysis of the control surface deflections on the dynamic forces and moments.

Photovoltaic static concentrator analysis

NASA Astrophysics Data System (ADS)

Almonacid, G.; Luque, A.; Molledo, A. G.

1984-12-01

Ray tracing is the basis of the present analysis of truncated bifacial compound parabolic concentrators filled with a dielectric substance, which are of interest in photovoltaic applications where the bifacial cells allow higher static concentrations to be achieved. Among the figures of merit for this type of concentrator, the directional intercept factor plays a major role and is defined as the ratio of the power of the collector to that at the entry aperture, in a lossless concentrator illuminated by light arriving from a given direction. A procedure for measuring outdoor, full size panels has been developed, and a correction method for avoiding the effect of unwanted diffuse radiation during the measurements is presented.

Implementation of structural response sensitivity calculations in a large-scale finite-element analysis system

NASA Technical Reports Server (NTRS)

Giles, G. L.; Rogers, J. L., Jr.

1982-01-01

The methodology used to implement structural sensitivity calculations into a major, general-purpose finite-element analysis system (SPAR) is described. This implementation includes a generalized method for specifying element cross-sectional dimensions as design variables that can be used in analytically calculating derivatives of output quantities from static stress, vibration, and buckling analyses for both membrane and bending elements. Limited sample results for static displacements and stresses are presented to indicate the advantages of analytically calculating response derivatives compared to finite difference methods. Continuing developments to implement these procedures into an enhanced version of SPAR are also discussed.

Automated Static Culture System Cell Module Mixing Protocol and Computational Fluid Dynamics Analysis

NASA Technical Reports Server (NTRS)

Kleis, Stanley J.; Truong, Tuan; Goodwin, Thomas J,

2004-01-01

This report is a documentation of a fluid dynamic analysis of the proposed Automated Static Culture System (ASCS) cell module mixing protocol. The report consists of a review of some basic fluid dynamics principles appropriate for the mixing of a patch of high oxygen content media into the surrounding media which is initially depleted of oxygen, followed by a computational fluid dynamics (CFD) study of this process for the proposed protocol over a range of the governing parameters. The time histories of oxygen concentration distributions and mechanical shear levels generated are used to characterize the mixing process for different parameter values.

An analysis of the effects of aeroelasticity on static longitudinal stability and control of a swept-back-wing airplane

NASA Technical Reports Server (NTRS)

Skoog, Richard B

1951-01-01

A theoretical analysis of the effects of aeroelasticity on the stick-fixed static longitudinal stability and elevator angle required for balance of an airplane is presented together with calculated effects for a swept-wing bomber of relatively high flexibility. Although large changes in stability due to certain parameters are indicated for the example airplane, the over-all stability change after considering all parameters was quite small, compared to the individual effects, due to the counterbalancing of wing and tail contributions. The effect of flexibility on longitudinal control for the example airplane was found to be of little real importance.

A Handbook of Sound and Vibration Parameters

DTIC Science & Technology

1978-09-18

fixed in space. (Reference 1.) no motion atay node Static Divergence: (See Divergence.) Statistical Energy Analysis (SEA): Statistical energy analysis is...parameters of the circuits come from statistics of the vibrational characteristics of the structure. Statistical energy analysis is uniquely successful

Bending strength of delaminated aerospace composites.

PubMed

Kinawy, Moustafa; Butler, Richard; Hunt, Giles W

2012-04-28

Buckling-driven delamination is considered among the most critical failure modes in composite laminates. This paper examines the propagation of delaminations in a beam under pure bending. A pre-developed analytical model to predict the critical buckling moment of a thin sub-laminate is extended to account for propagation prediction, using mixed-mode fracture analysis. Fractography analysis is performed to distinguish between mode I and mode II contributions to the final failure of specimens. Comparison between experimental results and analysis shows agreement to within 5 per cent in static propagation moment for two different materials. It is concluded that static fracture is almost entirely driven by mode II effects. This result was unexpected because it arises from a buckling mode that opens the delamination. For this reason, and because of the excellent repeatability of the experiments, the method of testing may be a promising means of establishing the critical value of mode II fracture toughness, G(IIC), of the material. Fatigue testing on similar samples showed that buckled delamination resulted in a fatigue threshold that was over 80 per cent lower than the static propagation moment. Such an outcome highlights the significance of predicting snap-buckling moment and subsequent propagation for design purposes.

The influence of computational assumptions on analysing abdominal aortic aneurysm haemodynamics.

PubMed

Ene, Florentina; Delassus, Patrick; Morris, Liam

2014-08-01

The variation in computational assumptions for analysing abdominal aortic aneurysm haemodynamics can influence the desired output results and computational cost. Such assumptions for abdominal aortic aneurysm modelling include static/transient pressures, steady/transient flows and rigid/compliant walls. Six computational methods and these various assumptions were simulated and compared within a realistic abdominal aortic aneurysm model with and without intraluminal thrombus. A full transient fluid-structure interaction was required to analyse the flow patterns within the compliant abdominal aortic aneurysms models. Rigid wall computational fluid dynamics overestimates the velocity magnitude by as much as 40%-65% and the wall shear stress by 30%-50%. These differences were attributed to the deforming walls which reduced the outlet volumetric flow rate for the transient fluid-structure interaction during the majority of the systolic phase. Static finite element analysis accurately approximates the deformations and von Mises stresses when compared with transient fluid-structure interaction. Simplifying the modelling complexity reduces the computational cost significantly. In conclusion, the deformation and von Mises stress can be approximately found by static finite element analysis, while for compliant models a full transient fluid-structure interaction analysis is required for acquiring the fluid flow phenomenon. © IMechE 2014.

Non-Linear Vibroisolation Pads Design, Numerical FEM Analysis and Introductory Experimental Investigations

NASA Astrophysics Data System (ADS)

Zielnica, J.; Ziółkowski, A.; Cempel, C.

2003-03-01

Design and theoretical and experimental investigation of vibroisolation pads with non-linear static and dynamic responses is the objective of the paper. The analytical investigations are based on non-linear finite element analysis where the load-deflection response is traced against the shape and material properties of the analysed model of the vibroisolation pad. A new model of vibroisolation pad of antisymmetrical type was designed and analysed by the finite element method based on the second-order theory (large displacements and strains) with the assumption of material's non-linearities (Mooney-Rivlin model). Stability loss phenomenon was used in the design of the vibroisolators, and it was proved that it would be possible to design a model of vibroisolator in the form of a continuous pad with non-linear static and dynamic response, typical to vibroisolation purposes. The materials used for the vibroisolator are those of rubber, elastomers, and similar ones. The results of theoretical investigations were examined experimentally. A series of models made of soft rubber were designed for the test purposes. The experimental investigations of the vibroisolation models, under static and dynamic loads, confirmed the results of the FEM analysis.

Eccentric Training and Static Stretching Improve Hamstring Flexibility of High School Males

PubMed Central

Bandy, William D.

2004-01-01

Objective: To determine if the flexibility of high-school-aged males would improve after a 6-week eccentric exercise program. In addition, the changes in hamstring flexibility that occurred after the eccentric program were compared with a 6-week program of static stretching and with a control group (no stretching). Design and Setting: We used a test-retest control group design in a laboratory setting. Subjects were assigned randomly to 1 of 3 groups: eccentric training, static stretching, or control. Subjects: A total of 69 subjects, with a mean age of 16.45 ± 0.96 years and with limited hamstring flexibility (defined as 20° loss of knee extension measured with the thigh held at 90° of hip flexion) were recruited for this study. Measurements: Hamstring flexibility was measured using the passive 90/90 test before and after the 6-week program. Results: Differences were significant for test and for the test-by-group interaction. Follow-up analysis indicated significant differences between the control group (gain = 1.67°) and both the eccentric-training (gain = 12.79°) and static-stretching (gain = 12.05°) groups. No difference was found between the eccentric and static-stretching groups. Conclusions: The gains achieved in range of motion of knee extension (indicating improvement in hamstring flexibility) with eccentric training were equal to those made by statically stretching the hamstring muscles. PMID:15496995

Eccentric Training and Static Stretching Improve Hamstring Flexibility of High School Males.

PubMed

Nelson, Russell T; Bandy, William D

2004-09-01

OBJECTIVE: To determine if the flexibility of high-school-aged males would improve after a 6-week eccentric exercise program. In addition, the changes in hamstring flexibility that occurred after the eccentric program were compared with a 6-week program of static stretching and with a control group (no stretching). DESIGN AND SETTING: We used a test-retest control group design in a laboratory setting. Subjects were assigned randomly to 1 of 3 groups: eccentric training, static stretching, or control. SUBJECTS: A total of 69 subjects, with a mean age of 16.45 +/- 0.96 years and with limited hamstring flexibility (defined as 20 degrees loss of knee extension measured with the thigh held at 90 degrees of hip flexion) were recruited for this study. MEASUREMENTS: Hamstring flexibility was measured using the passive 90/90 test before and after the 6-week program. RESULTS: Differences were significant for test and for the test-by-group interaction. Follow-up analysis indicated significant differences between the control group (gain = 1.67 degrees ) and both the eccentric-training (gain = 12.79 degrees ) and static-stretching (gain = 12.05 degrees ) groups. No difference was found between the eccentric and static-stretching groups. CONCLUSIONS: The gains achieved in range of motion of knee extension (indicating improvement in hamstring flexibility) with eccentric training were equal to those made by statically stretching the hamstring muscles.

Effect of yoga training on one leg standing and functional reach tests in obese individuals with poor postural control

PubMed Central

Jorrakate, Chaiyong; Kongsuk, Jutaluk; Pongduang, Chiraprapa; Sadsee, Boontiwa; Chanthorn, Phatchari

2015-01-01

[Purpose] The aim of the present study was to investigate the effect of yoga training on static and dynamic standing balance in obese individuals with poor standing balance. [Subjects and Methods] Sixteen obese volunteers were randomly assigned into yoga and control groups. The yoga training program was performed for 45 minutes per day, 3 times per week, for 4 weeks. Static and dynamic balance were assessed in volunteers with one leg standing and functional reach tests. Outcome measures were tested before training and after a single week of training. Two-way repeated measure analysis of variance with Tukey’s honestly significant difference post hoc statistics was used to analyze the data. [Results] Obese individuals showed significantly increased static standing balance in the yoga training group, but there was no significant improvement of static or dynamic standing balance in the control group after 4 weeks. In the yoga group, significant increases in static standing balance was found after the 2nd, 3rd, and 4th weeks. Compared with the control group, static standing balance in the yoga group was significantly different after the 2nd week, and dynamic standing balance was significantly different after the 4th week. [Conclusion] Yoga training would be beneficial for improving standing balance in obese individuals with poor standing balance. PMID:25642038

The role of visual representation in physics learning: dynamic versus static visualization

NASA Astrophysics Data System (ADS)

Suyatna, Agus; Anggraini, Dian; Agustina, Dina; Widyastuti, Dini

2017-11-01

This study aims to examine the role of visual representation in physics learning and to compare the learning outcomes of using dynamic and static visualization media. The study was conducted using quasi-experiment with Pretest-Posttest Control Group Design. The samples of this research are students of six classes at State Senior High School in Lampung Province. The experimental class received a learning using dynamic visualization and control class using static visualization media. Both classes are given pre-test and post-test with the same instruments. Data were tested with N-gain analysis, normality test, homogeneity test and mean difference test. The results showed that there was a significant increase of mean (N-Gain) learning outcomes (p <0.05) in both experimental and control classes. The averages of students’ learning outcomes who are using dynamic visualization media are significantly higher than the class that obtains learning by using static visualization media. It can be seen from the characteristics of visual representation; each visualization provides different understanding support for the students. Dynamic visual media is more suitable for explaining material related to movement or describing a process, whereas static visual media is appropriately used for non-moving physical phenomena and requires long-term observation.

Static structure of a pointed charged drop

NASA Astrophysics Data System (ADS)

Fernandez de La Mora, Juan

2017-11-01

The static equilibrium structure of an equipotential drop with two symmetric Taylor cones is computed by assigning a charge distribution along the z axis q (z) = ∑Bn (L2 -z2)n + 1 / 2 . Taylor's local equilibrium at the poles z = L , - L fixes two of the Bn coefficients as a function of the other, determined by minimizing stress imbalance. Just two optimally chosen terms in the Bn expansion yield imperceptible errors. Prior work has argued that an exploding drop initially carrying Rayleigh's charge qR is quasi static. Paradoxically, quasi-static predictions on the size of the progeny drops emitted during a Coulombic explosion disagree with observations. The static drop structure found here also models poorly a Coulomb explosion having an equatorial over polar length ratio (0.42) and the a drop charge exceeding those observed (0.28-0.36 and qR / 2). Our explanation for this paradox is that, while the duration tc of a Coulomb explosion is much larger than the charge relaxation time, the dynamic time scale for drop elongation is typically far longer than tc. Therefore, the pressure distribution within the exploding drop is not uniform. A similar analysis for a drop in an external field fits well the experimental shape.

A High-Resolution Demodulation Algorithm for FBG-FP Static-Strain Sensors Based on the Hilbert Transform and Cross Third-Order Cumulant

PubMed Central

Huang, Wenzhu; Zhen, Tengkun; Zhang, Wentao; Zhang, Fusheng; Li, Fang

2015-01-01

Static strain can be detected by measuring a cross-correlation of reflection spectra from two fiber Bragg gratings (FBGs). However, the static-strain measurement resolution is limited by the dominant Gaussian noise source when using this traditional method. This paper presents a novel static-strain demodulation algorithm for FBG-based Fabry-Perot interferometers (FBG-FPs). The Hilbert transform is proposed for changing the Gaussian distribution of the two FBG-FPs’ reflection spectra, and a cross third-order cumulant is used to use the results of the Hilbert transform and get a group of noise-vanished signals which can be used to accurately calculate the wavelength difference of the two FBG-FPs. The benefit by these processes is that Gaussian noise in the spectra can be suppressed completely in theory and a higher resolution can be reached. In order to verify the precision and flexibility of this algorithm, a detailed theory model and a simulation analysis are given, and an experiment is implemented. As a result, a static-strain resolution of 0.9 nε under laboratory environment condition is achieved, showing a higher resolution than the traditional cross-correlation method. PMID:25923938

A High-Resolution Demodulation Algorithm for FBG-FP Static-Strain Sensors Based on the Hilbert Transform and Cross Third-Order Cumulant.

PubMed

Huang, Wenzhu; Zhen, Tengkun; Zhang, Wentao; Zhang, Fusheng; Li, Fang

2015-04-27

Static strain can be detected by measuring a cross-correlation of reflection spectra from two fiber Bragg gratings (FBGs). However, the static-strain measurement resolution is limited by the dominant Gaussian noise source when using this traditional method. This paper presents a novel static-strain demodulation algorithm for FBG-based Fabry-Perot interferometers (FBG-FPs). The Hilbert transform is proposed for changing the Gaussian distribution of the two FBG-FPs' reflection spectra, and a cross third-order cumulant is used to use the results of the Hilbert transform and get a group of noise-vanished signals which can be used to accurately calculate the wavelength difference of the two FBG-FPs. The benefit by these processes is that Gaussian noise in the spectra can be suppressed completely in theory and a higher resolution can be reached. In order to verify the precision and flexibility of this algorithm, a detailed theory model and a simulation analysis are given, and an experiment is implemented. As a result, a static-strain resolution of 0.9 nε under laboratory environment condition is achieved, showing a higher resolution than the traditional cross-correlation method.

A 3D inversion for all-space magnetotelluric data with static shift correction

NASA Astrophysics Data System (ADS)

Zhang, Kun

2017-04-01

Base on the previous studies on the static shift correction and 3D inversion algorithms, we improve the NLCG 3D inversion method and propose a new static shift correction method which work in the inversion. The static shift correction method is based on the 3D theory and real data. The static shift can be detected by the quantitative analysis of apparent parameters (apparent resistivity and impedance phase) of MT in high frequency range, and completed correction with inversion. The method is an automatic processing technology of computer with 0 cost, and avoids the additional field work and indoor processing with good results. The 3D inversion algorithm is improved (Zhang et al., 2013) base on the NLCG method of Newman & Alumbaugh (2000) and Rodi & Mackie (2001). For the algorithm, we added the parallel structure, improved the computational efficiency, reduced the memory of computer and added the topographic and marine factors. So the 3D inversion could work in general PC with high efficiency and accuracy. And all the MT data of surface stations, seabed stations and underground stations can be used in the inversion algorithm.

Approach to Operational Experimental Estimation of Static Stresses of Elements of Mechanical Structures

NASA Astrophysics Data System (ADS)

Sedov, A. V.; Kalinchuk, V. V.; Bocharova, O. V.

2018-01-01

The evaluation of static stresses and strength of units and components is a crucial task for increasing reliability in the operation of vehicles and equipment, to prevent emergencies, especially in structures made of metal and composite materials. At the stage of creation and commissioning of structures to control the quality of manufacturing of individual elements and components, diagnostic control methods are widely used. They are acoustic, ultrasonic, X-ray, radiation methods and others. The using of these methods to control the residual life and the degree of static stresses of units and parts during operation is fraught with great difficulties both in methodology and in instrumentation. In this paper, the authors propose an effective approach of operative control of the degree of static stresses of units and parts of mechanical structures which are in working condition, based on recording the changing in the surface wave properties of a system consisting of a sensor and a controlled environment (unit, part). The proposed approach of low-frequency diagnostics of static stresses presupposes a new adaptive-spectral analysis of a surface wave created by external action (impact). It is possible to estimate implicit stresses of structures in the experiment due to this approach.

Space Shuttle Main Engine structural analysis and data reduction/evaluation. Volume 5: Main Injector LOX Inlet analysis

NASA Technical Reports Server (NTRS)

Violett, Rebeca S.

1989-01-01

The analysis performed on the Main Injector LOX Inlet Assembly located on the Space Shuttle Main Engine is summarized. An ANSYS finite element model of the inlet assemably was built and executed. Static stress analysis was also performed.

Trajectory Adjustments Underlying Task-Specific Intermittent Force Behaviors and Muscular Rhythms

PubMed Central

Chen, Yi-Ching; Lin, Yen-Ting; Huang, Chien-Ting; Shih, Chia-Li; Yang, Zong-Ru; Hwang, Ing-Shiou

2013-01-01

Force intermittency is one of the major causes of motor variability. Focusing on the dynamics of force intermittency, this study was undertaken to investigate how force trajectory is fine-tuned for static and dynamic force-tracking of a comparable physical load. Twenty-two healthy adults performed two unilateral resistance protocols (static force-tracking at 75% maximal effort and dynamic force-tracking in the range of 50%–100% maximal effort) using the left hand. The electromyographic activity and force profile of the designated hand were monitored. Gripping force was off-line decomposed into a primary movement spectrally identical to the target motion and a force intermittency profile containing numerous force pulses. The results showed that dynamic force-tracking exhibited greater intermittency amplitude and force pulse but a smaller amplitude ratio of primary movement to force intermittency than static force-tracking. Multi-scale entropy analysis revealed that force intermittency during dynamic force-tracking was more complex on a low time scale but more regular on a high time scale than that of static force-tracking. Together with task-dependent force intermittency properties, dynamic force-tracking exhibited a smaller 8–12 Hz muscular oscillation but a more potentiated muscular oscillation at 35–50 Hz than static force-tracking. In conclusion, force intermittency reflects differing trajectory controls for static and dynamic force-tracking. The target goal of dynamic tracking is achieved through trajectory adjustments that are more intricate and more frequent than those of static tracking, pertaining to differing organizations and functioning of muscular oscillations in the alpha and gamma bands. PMID:24098640

Optimization of culture conditions for osteogenically-induced mesenchymal stem cells in β-tricalcium phosphate ceramics with large interconnected channels.

PubMed

Bernhardt, Anne; Lode, Anja; Peters, Fabian; Gelinsky, Michael

2011-06-01

The aim of this study was to optimize culture conditions for human mesenchymal stem cells (hMSCs) in β-tricalcium phosphate ceramics with large interconnected channels. Fully interconnected macrochannels comprising pore diameters of 750 µm and 1400 µm were inserted into microporous β-tricalcium phosphate (β-TCP) scaffolds by milling. Human bone marrow-derived MSCs were seeded into the scaffolds and cultivated for up to 3 weeks in both static and perfusion culture in the presence of osteogenic supplements (dexamethasone, β-glycerophosphate, ascorbate). It was confirmed by scanning electron microscopic investigations and histological staining that the perfusion culture resulted in uniform distribution of cells inside the whole channel network, whereas the statically cultivated cells were primarily found at the surface of the ceramic samples. It was also determined that perfusion with standard medium containing 10% fetal calf serum (FCS) led to a strong increase (seven-fold) of cell numbers compared with static cultivation observed after 3 weeks. Perfusion with low-serum medium (2% FCS) resulted in moderate proliferation rates which were comparable to those achieved in static culture, although the specific alkaline phosphatase (ALP) activity increased by a factor of more than 3 compared to static cultivation. Gene expression analysis of the ALP gene also revealed higher levels of ALP mRNA in low-serum perfused samples compared to statically cultivated constructs. In contrast, gene expression of the late osteogenic marker bone sialoprotein II (BSPII) was decreased for perfused samples compared to statically cultivated samples. Copyright © 2010 John Wiley & Sons, Ltd.

Respiratory monitoring system based on the nasal pressure technique for the analysis of sleep breathing disorders: Reduction of static and dynamic errors, and comparisons with thermistors and pneumotachographs

NASA Astrophysics Data System (ADS)

Alves de Mesquita, Jayme; Lopes de Melo, Pedro

2004-03-01

Thermally sensitive devices—thermistors—have usually been used to monitor sleep-breathing disorders. However, because of their long time constant, these devices are not able to provide a good characterization of fast events, like hypopneas. Nasal pressure recording technique (NPR) has recently been suggested to quantify airflow during sleep. It is claimed that the short time constants of the devices used to implement this technique would allow an accurate analysis of fast abnormal respiratory events. However, these devices present errors associated with nonlinearities and acoustic resonance that could reduce the diagnostic value of the NPR. Moreover, in spite of the high scientific and clinical potential, there is no detailed description of a complete instrumentation system to implement this promising technique in sleep studies. In this context, the purpose of this work was twofold: (1) describe the development of a flexible NPR device and (2) evaluate the performance of this device when compared to pneumotachographs (PNTs) and thermistors. After the design details are described, the system static accuracy is evaluated by a comparative analysis with a PNT. This analysis revealed a significant reduction (p<0.001) of the static error when system nonlinearities were reduced. The dynamic performance of the NPR system was investigated by frequency response analysis and time constant evaluations and the results showed that the developed device response was as good as PNT and around 100 times faster (τ=5,3 ms) than thermistors (τ=512 ms). Experimental results obtained in simulated clinical conditions and in a patient are presented as examples, and confirmed the good features achieved in engineering tests. These results are in close agreement with physiological fundamentals, supplying substantial evidence that the improved dynamic and static characteristics of this device can contribute to a more accurate implementation of medical research projects and to improve the diagnoses of sleep-breathing disorders.

VFMA: Topographic Analysis of Sensitivity Data From Full-Field Static Perimetry

PubMed Central

Weleber, Richard G.; Smith, Travis B.; Peters, Dawn; Chegarnov, Elvira N.; Gillespie, Scott P.; Francis, Peter J.; Gardiner, Stuart K.; Paetzold, Jens; Dietzsch, Janko; Schiefer, Ulrich; Johnson, Chris A.

2015-01-01

Purpose: To analyze static visual field sensitivity with topographic models of the hill of vision (HOV), and to characterize several visual function indices derived from the HOV volume. Methods: A software application, Visual Field Modeling and Analysis (VFMA), was developed for static perimetry data visualization and analysis. Three-dimensional HOV models were generated for 16 healthy subjects and 82 retinitis pigmentosa patients. Volumetric visual function indices, which are measures of quantity and comparable regardless of perimeter test pattern, were investigated. Cross-validation, reliability, and cross-sectional analyses were performed to assess this methodology and compare the volumetric indices to conventional mean sensitivity and mean deviation. Floor effects were evaluated by computer simulation. Results: Cross-validation yielded an overall R2 of 0.68 and index of agreement of 0.89, which were consistent among subject groups, indicating good accuracy. Volumetric and conventional indices were comparable in terms of test–retest variability and discriminability among subject groups. Simulated floor effects did not negatively impact the repeatability of any index, but large floor changes altered the discriminability for regional volumetric indices. Conclusions: VFMA is an effective tool for clinical and research analyses of static perimetry data. Topographic models of the HOV aid the visualization of field defects, and topographically derived indices quantify the magnitude and extent of visual field sensitivity. Translational Relevance: VFMA assists with the interpretation of visual field data from any perimetric device and any test location pattern. Topographic models and volumetric indices are suitable for diagnosis, monitoring of field loss, patient counseling, and endpoints in therapeutic trials. PMID:25938002

Mechanical performance of cervical intervertebral body fusion devices: A systematic analysis of data submitted to the Food and Drug Administration.

PubMed

Peck, Jonathan H; Sing, David C; Nagaraja, Srinidhi; Peck, Deepa G; Lotz, Jeffrey C; Dmitriev, Anton E

2017-03-21

Cervical intervertebral body fusion devices (IBFDs) are utilized to provide stability while fusion occurs in patients with cervical pathology. For a manufacturer to market a new cervical IBFD in the United States, substantial equivalence to a cervical IBFD previously cleared by FDA must be established through the 510(k) regulatory pathway. Mechanical performance data are typically provided as part of the 510(k) process for IBFDs. We reviewed all Traditional 510(k) submissions for cervical IBFDs deemed substantially equivalent and cleared for marketing from 2007 through 2014. To reduce sources of variability in test methods and results, analysis was restricted to cervical IBFD designs without integrated fixation, coatings, or expandable features. Mechanical testing reports were analyzed and results were aggregated for seven commonly performed tests (static and dynamic axial compression, compression-shear, and torsion testing per ASTM F2077, and subsidence testing per ASTM F2267), and percentile distributions of performance measurements were calculated. Eighty-three (83) submissions met the criteria for inclusion in this analysis. The median device yield strength was 10,117N for static axial compression, 3680N for static compression-shear, and 8.6Nm for static torsion. Median runout load was 2600N for dynamic axial compression, 1400N for dynamic compression-shear, and ±1.5Nm for dynamic torsion. In subsidence testing, median block stiffness (Kp) was 424N/mm. The mechanical performance data presented here will aid in the development of future cervical IBFDs by providing a means for comparison for design verification purposes. Published by Elsevier Ltd.

Volatile flavor analysis and sensory evaluation of custard desserts varying in type and concentration of carboxymethyl cellulose.

PubMed

van Ruth, Saskia M; de Witte, Leontien; Uriarte, Amaya Rey

2004-12-29

The influence of type and concentration of carboxymethyl cellulose (CMC) on flavor and textural properties of custard desserts was examined. A synthetic strawberry flavor mixture was used to flavor the custards; it comprised 15 volatile flavor compounds. The viscosity of the custards was determined using rheometric measurements. Static headspace gas chromatography and in-nose proton transfer reaction-mass spectrometry analyses were conducted to determine the custards' volatile flavor properties. Perceived odor, flavor, and textural properties were assessed in sensory analysis experiments using magnitude estimation against a fixed modulus. Both type and concentration of CMC altered the viscosity of the custards. Softer custards had higher static headspace flavor concentrations. On the contrary, firmer custards demonstrated higher in-nose flavor concentrations. In sensory analysis, firmer custards showed higher thickness and lower sweetness intensities than their low-viscosity counterparts. The thickness perception corresponded to the viscosity of the custards. Removal of sucrose from the custards affected sweetness intensity only and not the intensity of other attributes. Therefore, the influence of the viscosity of the custards on the release of sweet-tasting components is held responsible for the effect on perceived sweetness intensity. Odor intensities were generally higher for the low-viscosity custard, whereas fruity flavor intensities were higher for the firmer custards. Odor intensities correlated with static headspace concentrations and flavor intensities related reasonably well with in-nose concentrations. Opening and closing of the nasal cavity is regarded as an important factor determining the discrepancy between static and in-nose measurements.

Control of a 2 DoF robot using a brain-machine interface.

PubMed

Hortal, Enrique; Ubeda, Andrés; Iáñez, Eduardo; Azorín, José M

2014-09-01

In this paper, a non-invasive spontaneous Brain-Machine Interface (BMI) is used to control the movement of a planar robot. To that end, two mental tasks are used to manage the visual interface that controls the robot. The robot used is a PupArm, a force-controlled planar robot designed by the nBio research group at the Miguel Hernández University of Elche (Spain). Two control strategies are compared: hierarchical and directional control. The experimental test (performed by four users) consists of reaching four targets. The errors and time used during the performance of the tests are compared in both control strategies (hierarchical and directional control). The advantages and disadvantages of each method are shown after the analysis of the results. The hierarchical control allows an accurate approaching to the goals but it is slower than using the directional control which, on the contrary, is less precise. The results show both strategies are useful to control this planar robot. In the future, by adding an extra device like a gripper, this BMI could be used in assistive applications such as grasping daily objects in a realistic environment. In order to compare the behavior of the system taking into account the opinion of the users, a NASA Tasks Load Index (TLX) questionnaire is filled out after two sessions are completed. Copyright © 2014 Elsevier Ireland Ltd. All rights reserved.

Method and apparatus for use in making an object

NASA Technical Reports Server (NTRS)

Derkacs, Thomas (Inventor); Fetheroff, Charles W. (Inventor); Matay, Istvan M. (Inventor); Toth, Istvan J. (Inventor)

1982-01-01

Although the method and apparatus of the present invention can be utilized to apply either a uniform or a nonuniform covering of material over many different workpieces, the apparatus (20) is advantageously utilized to apply a thermal barrier covering (64) to an airfoil (22) which is used in a turbine engine. The airfoil is held by a gripper assembly (86) while a spray gun (24) is effective to apply the covering over the airfoil. When a portion of the covering has been applied, a sensor (28) is utilized to detect the thickness of the covering. A control apparatus (32) compares the thickness of the covering of material which has been applied with the desired thickness and is subsequently effective to regulate the operation of the spray gun to adaptively apply a covering of a desired thickness with an accuracy of at least plus or minus 0.0015 inches (1.5 mils) despite unanticipated process variations.

Control apparatus

NASA Technical Reports Server (NTRS)

Derkacs, Thomas (Inventor); Fetheroff, Charles W. (Inventor); Matay, Istvan M. (Inventor); Toth, Istvan J. (Inventor)

1982-01-01

Although the method and apparatus of the present invention can be utilized to apply either a uniform or a nonuniform covering of material over many different workpieces, the apparatus (20) is advantageously utilized to apply a thermal barrier covering (64) to an airfoil (22) which is used in a turbine engine. The airfoil is held by a gripper assembly (86) while a spray gun (24) is effective to apply the covering over the airfoil. When a portion of the covering has been applied, a sensor (28) is utilized to detect the thickness of the covering. A control apparatus (32) compares the thickness of the covering of material which has been applied with the desired thickness and is subsequently effective to regulate the operation of the spray gun to adaptively apply a covering of a desired thickness with an accuracy of at least plus or minus 0.0015 inches (1.5 mils) despite unanticipated process variations.

Research on torsional vibration modelling and control of printing cylinder based on particle swarm optimization

NASA Astrophysics Data System (ADS)

Wang, Y. M.; Xu, W. C.; Wu, S. Q.; Chai, C. W.; Liu, X.; Wang, S. H.

2018-03-01

The torsional oscillation is the dominant vibration form for the impression cylinder of printing machine (printing cylinder for short), directly restricting the printing speed up and reducing the quality of the prints. In order to reduce torsional vibration, the active control method for the printing cylinder is obtained. Taking the excitation force and moment from the cylinder gap and gripper teeth open & closing cam mechanism as variable parameters, authors establish the dynamic mathematical model of torsional vibration for the printing cylinder. The torsional active control method is based on Particle Swarm Optimization(PSO) algorithm to optimize input parameters for the serve motor. Furthermore, the input torque of the printing cylinder is optimized, and then compared with the numerical simulation results. The conclusions are that torsional vibration active control based on PSO is an availability method to the torsional vibration of printing cylinder.

Robotic end gripper with a band member to engage object

DOEpatents

Pollard, Roy E.; Robinson, Samuel C.; Thompson, William F.; Couture, Scott A.; Sutton, Bill J.

1994-01-01

An end effector for use with robotic arms and like devices that utilizes a flexible band to draw an object against an anvil having a concave surface. One typical convex surface is created by a V-block, with an apex of the V being centrally located. If an object to be grasped is fragile, the contour of the concave surface closely matches the surface of the object. Typically the movement of the band is effected by a linear actuator, with the anvil remaining fixed relative to a support base. Several embodiments are described that utilize variations in drawing the band toward the anvil, with one of these embodiments described in detail in the form of a fabricated unit. One embodiment includes a cover element that can be moved over an object after the grasping thereof, with this cover potentially serving various functions. Movement of the cover can be effected with a second linear actuator.

Epidemics Modelings: Some New Challenges

NASA Astrophysics Data System (ADS)

Boatto, Stefanella; Khouri, Renata Stella; Solerman, Lucas; Codeço, Claudia; Bonnet, Catherine

2010-09-01

Epidemics modeling has been particularly growing in the past years. In epidemics studies, mathematical modeling is used in particular to reach a better understanding of some neglected diseases (dengue, malaria, …) and of new emerging ones (SARS, influenza A,….) of big agglomerates. Such studies offer new challenges both from the modeling point of view (searching for simple models which capture the main characteristics of the disease spreading), data analysis and mathematical complexity. We are facing often with complex networks especially when modeling the city dynamics. Such networks can be static (in first approximation) and homogeneous, static and not homogeneous and/or not static (when taking into account the city structure, micro-climates, people circulation, etc.). The objective being studying epidemics dynamics and being able to predict its spreading.

Soft errors in commercial off-the-shelf static random access memories

NASA Astrophysics Data System (ADS)

Dilillo, L.; Tsiligiannis, G.; Gupta, V.; Bosser, A.; Saigne, F.; Wrobel, F.

2017-01-01

This article reviews state-of-the-art techniques for the evaluation of the effect of radiation on static random access memory (SRAM). We detailed irradiation test techniques and results from irradiation experiments with several types of particles. Two commercial SRAMs, in 90 and 65 nm technology nodes, were considered as case studies. Besides the basic static and dynamic test modes, advanced stimuli for the irradiation tests were introduced, as well as statistical post-processing techniques allowing for deeper analysis of the correlations between bit-flip cross-sections and design/architectural characteristics of the memory device. Further insight is provided on the response of irradiated stacked layer devices and on the use of characterized SRAM devices as particle detectors.

Plastic and Large-Deflection Analysis of Nonlinear Structures

NASA Technical Reports Server (NTRS)

Thomson, R. G.; Hayduk, R. J.; Robinson, M. P.; Durling, B. J.; Pifko, A.; Levine, H. S.; Armen, H. J.; Levy, A.; Ogilvie, P.

1982-01-01

Plastic and Large Deflection Analysis of Nonlinear Structures (PLANS) system is collection of five computer programs for finite-element static-plastic and large deflection analysis of variety of nonlinear structures. System considers bending and membrane stresses, general three-dimensional bodies, and laminated composites.

[Static posturography versus clinical tests in elderly people with vestibular pathology].

PubMed

Ortuño-Cortés, Miguel A; Martín-Sanz, Eduardo; Barona-de Guzmán, Rafael

2008-01-01

Balance can be quantified by clinical tests and through instrumental studies. The objective of this paper is to determine the correlation between static posturography and 4 clinical tests of balance in elderly people with vestibular disorders and to identify its capability to discriminate the groups studied. 60 patients with vestibular disorders and 60 healthy subjects performed 4 clinical tests (one leg standing with opened eyes, Timed Up and Go, Tinetti and Berg tests) and a static posturography analysis (NedSVE/IBV system) under 4 conditions: Romberg Test, Eyes Open (REO), Romberg Test, Eyes Closed (REC), Romberg Test on Foam with Eyes Open (RFEO), and Romberg Test on Foam with Eyes Closed (RFEC). RFEO correlated best with the clinical tests and RFEC was the worst. RFEO distinguished between healthy individuals and decompensated patients. RFEO gave the best information about postural balance in the elderly. RFEC was not useful. Static posturography can be useful to distinguish vestibular compensation status.

Compilation time analysis to minimize run-time overhead in preemptive scheduling on multiprocessors

NASA Astrophysics Data System (ADS)

Wauters, Piet; Lauwereins, Rudy; Peperstraete, J.

1994-10-01

This paper describes a scheduling method for hard real-time Digital Signal Processing (DSP) applications, implemented on a multi-processor. Due to the very high operating frequencies of DSP applications (typically hundreds of kHz) runtime overhead should be kept as small as possible. Because static scheduling introduces very little run-time overhead it is used as much as possible. Dynamic pre-emption of tasks is allowed if and only if it leads to better performance in spite of the extra run-time overhead. We essentially combine static scheduling with dynamic pre-emption using static priorities. Since we are dealing with hard real-time applications we must be able to guarantee at compile-time that all timing requirements will be satisfied at run-time. We will show that our method performs at least as good as any static scheduling method. It also reduces the total amount of dynamic pre-emptions compared with run time methods like deadline monotonic scheduling.

Dynamic Analysis of Spur Gear Transmissions (DANST). PC Version 3.00 User Manual

NASA Technical Reports Server (NTRS)

Oswald, Fred B.; Lin, Hsiang Hsi; Delgado, Irebert R.

1996-01-01

DANST is a FORTRAN computer program for static and dynamic analysis of spur gear systems. The program can be used for parametric studies to predict the static transmission error, dynamic load, tooth bending stress and other properties of spur gears as they are influenced by operating speed, torque, stiffness, damping, inertia, and tooth profile. DANST performs geometric modeling and dynamic analysis for low- or high-contact-ratio spur gears. DANST can simulate gear systems with contact ratios ranging from one to three. It was designed to be easy to use and it is extensively documented in several previous reports and by comments in the source code. This report describes installing and using a new PC version of DANST, covers input data requirements and presents examples.

Artificial neural network prediction of aircraft aeroelastic behavior

NASA Astrophysics Data System (ADS)

Pesonen, Urpo Juhani

An Artificial Neural Network that predicts aeroelastic behavior of aircraft is presented. The neural net was designed to predict the shape of a flexible wing in static flight conditions using results from a structural analysis and an aerodynamic analysis performed with traditional computational tools. To generate reliable training and testing data for the network, an aeroelastic analysis code using these tools as components was designed and validated. To demonstrate the advantages and reliability of Artificial Neural Networks, a network was also designed and trained to predict airfoil maximum lift at low Reynolds numbers where wind tunnel data was used for the training. Finally, a neural net was designed and trained to predict the static aeroelastic behavior of a wing without the need to iterate between the structural and aerodynamic solvers.

Aeroelastic analysis and ground vibration survey of the NASA, Grumman American Yankee modified for spin testing

NASA Technical Reports Server (NTRS)

Kroeger, R. A.

1977-01-01

A complete ground vibration and aeroelastic analysis was made of a modified version of the Grumman American Yankee. The aircraft had been modified for four empennage configurations, a wing boom was added, a spin chute installed and provisions included for large masses in the wing tip to vary the lateral and directional inertia. Other minor changes were made which have much less influence on the flutter and vibrations. Neither static divergence nor aileron reversal was considered since the wing structure was not sufficiently changed to affect its static aeroelastic qualities. The aircraft was found to be free from flutter in all of the normal modes explored in the ground shake test. The analysis demonstrated freedom from flutter up to 214 miles per hour.

A Model for Simulating the Response of Aluminum Honeycomb Structure to Transverse Loading

NASA Technical Reports Server (NTRS)

Ratcliffe, James G.; Czabaj, Michael W.; Jackson, Wade C.

2012-01-01

A 1-dimensional material model was developed for simulating the transverse (thickness-direction) loading and unloading response of aluminum honeycomb structure. The model was implemented as a user-defined material subroutine (UMAT) in the commercial finite element analysis code, ABAQUS(Registered TradeMark)/Standard. The UMAT has been applied to analyses for simulating quasi-static indentation tests on aluminum honeycomb-based sandwich plates. Comparison of analysis results with data from these experiments shows overall good agreement. Specifically, analyses of quasi-static indentation tests yielded accurate global specimen responses. Predicted residual indentation was also in reasonable agreement with measured values. Overall, this simple model does not involve a significant computational burden, which makes it more tractable to simulate other damage mechanisms in the same analysis.

Numerical and Experimental Dynamic Characteristics of Thin-Film Membranes

NASA Technical Reports Server (NTRS)

Young, Leyland G.; Ramanathan, Suresh; Hu, Jia-Zhu; Pai, P. Frank

2004-01-01

Presented is a total-Lagrangian displacement-based non-linear finite-element model of thin-film membranes for static and dynamic large-displacement analyses. The membrane theory fully accounts for geometric non-linearities. Fully non-linear static analysis followed by linear modal analysis is performed for an inflated circular cylindrical Kapton membrane tube under different pressures, and for a rectangular membrane under different tension loads at four comers. Finite element results show that shell modes dominate the dynamics of the inflated tube when the inflation pressure is low, and that vibration modes localized along four edges dominate the dynamics of the rectangular membrane. Numerical dynamic characteristics of the two membrane structures were experimentally verified using a Polytec PI PSV-200 scanning laser vibrometer and an EAGLE-500 8-camera motion analysis system.

Risk Factors for Injuries During Military Static-Line Airborne Operations: A Systematic Review and Meta-Analysis.

PubMed

Knapik, Joseph; Steelman, Ryan

2016-11-01

 To identify and analyze articles in which the authors examined risk factors for soldiers during military static-line airborne operations.  We searched for articles in PubMed, the Defense Technical Information Center, reference lists, and other sources using the key words airborne, parachuting, parachutes, paratrooper, injuries, wounds, trauma, and musculoskeletal.  The search identified 17 684 potential studies. Studies were included if they were written in English, involved military static-line parachute operations, recorded injuries directly from events on the landing zone or from safety or medical records, and provided data for quantitative assessment of injury risk factors. A total of 23 studies met the review criteria, and 15 were included in the meta-analysis.  The summary statistic obtained for each risk factor was the risk ratio, which was the ratio of the injury risk in 1 group to that of another (baseline) group. Where data were sufficient, meta-analyses were performed and heterogeneity and publication bias were assessed.  Risk factors for static-line parachuting injuries included night jumps, jumps with extra equipment, higher wind speeds, higher air temperatures, jumps from fixed-wing aircraft rather than balloons or helicopters, jumps onto certain types of terrain, being a female paratrooper, greater body weight, not using the parachute ankle brace, smaller parachute canopies, simultaneous exits from both sides of an aircraft, higher heat index, winds from the rear of the aircraft on exit entanglements, less experience with a particular parachute system, being an enlisted soldier rather than an officer, and jumps involving a greater number of paratroopers.  We analyzed and summarized factors that increased the injury risk for soldiers during military static-line parachute operations. Understanding and considering these factors in risk evaluations may reduce the likelihood of injury during parachuting.

Reliability and Construct Validity of the Patient-Reported Outcomes Measurement Information System (PROMIS) Instruments in Women with Fibromyalgia.

PubMed

Merriwether, Ericka N; Rakel, Barbara A; Zimmerman, Miriam B; Dailey, Dana L; Vance, Carol G T; Darghosian, Leon; Golchha, Meenakshi; Geasland, Katherine M; Chimenti, Ruth; Crofford, Leslie J; Sluka, Kathleen A

2017-08-01

The Patient-Reported Outcomes Measurement Information System (PROMIS) was developed to standardize measurement of clinically relevant patient-reported outcomes. This study evaluated the reliability and construct validity of select PROMIS static short-form (SF) instruments in women with fibromyalgia. Analysis of baseline data from the Fibromyalgia Activity Study with TENS (FAST), a randomized controlled trial of the efficacy of transcutaneous electrical nerve stimulation. Dual site, university-based outpatient clinics. Women aged 20 to 67 years diagnosed with fibromyalgia. Participants completed the Revised Fibromyalgia Impact Questionnaire (FIQR) and 10 PROMIS static SF instruments. Internal consistency was calculated using Cronbach alpha. Convergent validity was examined against the FIQR using Pearson correlation and multiple regression analysis. PROMIS static SF instruments had fair to high internal consistency (Cronbach α = 0.58 to 0.94, P  < 0.05). PROMIS 'physical function' domain score was highly correlated with FIQR 'function' score (r = -0.73). The PROMIS 'total' score was highly correlated with the FIQR total score (r = -0.72). Correlations with FIQR total score of each of the three PROMIS domain scores were r = -0.65 for 'physical function,' r = -0.63 for 'global,' and r = -0.57 for 'symptom' domain. PROMIS 'physical function,' 'global,' and 'symptom' scores explained 58% of the FIQR total score variance. Select PROMIS static SF instruments demonstrate convergent validity with the FIQR, a legacy measure of fibromyalgia disease severity. These results highlight the potential utility of select PROMIS static SFs for assessment and tracking of patient-reported outcomes in fibromyalgia. © 2016 American Academy of Pain Medicine. All rights reserved. For permissions, please e-mail: journals.permissions@oup.com

Sensitivity analysis of static resistance of slender beam under bending

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

Valeš, Jan

2016-06-08

The paper deals with statical and sensitivity analyses of resistance of simply supported I-beams under bending. The resistance was solved by geometrically nonlinear finite element method in the programme Ansys. The beams are modelled with initial geometrical imperfections following the first eigenmode of buckling. Imperfections were, together with geometrical characteristics of cross section, and material characteristics of steel, considered as random quantities. The method Latin Hypercube Sampling was applied to evaluate statistical and sensitivity resistance analyses.

A Semantic Analysis Method for Scientific and Engineering Code

NASA Technical Reports Server (NTRS)

Stewart, Mark E. M.

1998-01-01

This paper develops a procedure to statically analyze aspects of the meaning or semantics of scientific and engineering code. The analysis involves adding semantic declarations to a user's code and parsing this semantic knowledge with the original code using multiple expert parsers. These semantic parsers are designed to recognize formulae in different disciplines including physical and mathematical formulae and geometrical position in a numerical scheme. In practice, a user would submit code with semantic declarations of primitive variables to the analysis procedure, and its semantic parsers would automatically recognize and document some static, semantic concepts and locate some program semantic errors. A prototype implementation of this analysis procedure is demonstrated. Further, the relationship between the fundamental algebraic manipulations of equations and the parsing of expressions is explained. This ability to locate some semantic errors and document semantic concepts in scientific and engineering code should reduce the time, risk, and effort of developing and using these codes.

BEST3D user's manual: Boundary Element Solution Technology, 3-Dimensional Version 3.0

NASA Technical Reports Server (NTRS)

1991-01-01

The theoretical basis and programming strategy utilized in the construction of the computer program BEST3D (boundary element solution technology - three dimensional) and detailed input instructions are provided for the use of the program. An extensive set of test cases and sample problems is included in the manual and is also available for distribution with the program. The BEST3D program was developed under the 3-D Inelastic Analysis Methods for Hot Section Components contract (NAS3-23697). The overall objective of this program was the development of new computer programs allowing more accurate and efficient three-dimensional thermal and stress analysis of hot section components, i.e., combustor liners, turbine blades, and turbine vanes. The BEST3D program allows both linear and nonlinear analysis of static and quasi-static elastic problems and transient dynamic analysis for elastic problems. Calculation of elastic natural frequencies and mode shapes is also provided.

Static and dynamic deflection studies of the SRM aft case-nozzle joint

NASA Technical Reports Server (NTRS)

Christian, David C.; Kos, Lawrence D.; Torres, Isaias

1989-01-01

The redesign of the joints on the solid rocket motor (SRM) has prompted the need for analyzing the behavior of the joints using several different types of analyses. The types of analyses performed include modal analysis, static analysis, transient response analysis, and base driving response analysis. The forces used in these analyses to drive the mathematical model include SRM internal chamber pressure, nozzle blowout and side forces, shuttle vehicle lift-off dynamics, SRM pressure transient rise curve, gimbal forces and moments, actuator gimbal loads, and vertical and radial bolt preloads. The math model represented the SRM from the aft base tangent point (1,823.95 in) all the way back to the nozzle, where a simplified, tuned nozzle model was attached. The new design used the radial bolts as an additional feature to reduce the gap opening at the aft dome/nozzle fixed housing interface.

Analysis of static and dynamic characteristic of spindle system and its structure optimization in camshaft grinding machine

NASA Astrophysics Data System (ADS)

Feng, Jianjun; Li, Chengzhe; Wu, Zhi

2017-08-01

As an important part of the valve opening and closing controller in engine, camshaft has high machining accuracy requirement in designing. Taking the high-speed camshaft grinder spindle system as the research object and the spindle system performance as the optimizing target, this paper firstly uses Solidworks to establish the three-dimensional finite element model (FEM) of spindle system, then conducts static analysis and the modal analysis by applying the established FEM in ANSYS Workbench, and finally uses the design optimization function of the ANSYS Workbench to optimize the structure parameter in the spindle system. The study results prove that the design of the spindle system fully meets the production requirements, and the performance of the optimized spindle system is promoted. Besides, this paper provides an analysis and optimization method for other grinder spindle systems.

Flight Dynamics of an Aeroshell Using an Attached Inflatable Aerodynamic Decelerator

NASA Technical Reports Server (NTRS)

Cruz, Juan R.; Schoenenberger, Mark; Axdahl, Erik; Wilhite, Alan

2009-01-01

An aeroelastic analysis of the behavior of an entry vehicle utilizing an attached inflatable aerodynamic decelerator during supersonic flight is presented. The analysis consists of a planar, four degree of freedom simulation. The aeroshell and the IAD are assumed to be separate, rigid bodies connected with a spring-damper at an interface point constraining the relative motion of the two bodies. Aerodynamic forces and moments are modeled using modified Newtonian aerodynamics. The analysis includes the contribution of static aerodynamic forces and moments as well as pitch damping. Two cases are considered in the analysis: constant velocity flight and planar free flight. For the constant velocity and free flight cases with neutral pitch damping, configurations with highly-stiff interfaces exhibit statically stable but dynamically unstable aeroshell angle of attack. Moderately stiff interfaces exhibit static and dynamic stability of aeroshell angle of attack due to damping induced by the pitch angle rate lag between the aeroshell and IAD. For the free-flight case, low values of both the interface stiffness and damping cause divergence of the aeroshell angle of attack due to the offset of the IAD drag force with respect to the aeroshell center of mass. The presence of dynamic aerodynamic moments was found to influence the stability characteristics of the vehicle. The effect of gravity on the aeroshell angle of attack stability characteristics was determined to be negligible for the cases investigated.

USB environment measurements based on full-scale static engine ground tests

NASA Technical Reports Server (NTRS)

Sussman, M. B.; Harkonen, D. L.; Reed, J. B.

1976-01-01

Flow turning parameters, static pressures, surface temperatures, surface fluctuating pressures and acceleration levels were measured in the environment of a full-scale upper surface blowing (USB) propulsive lift test configuration. The test components included a flightworthy CF6-50D engine, nacelle, and USB flap assembly utilized in conjunction with ground verification testing of the USAF YC-14 Advanced Medium STOL Transport propulsion system. Results, based on a preliminary analysis of the data, generally show reasonable agreement with predicted levels based on model data. However, additional detailed analysis is required to confirm the preliminary evaluation, to help delineate certain discrepancies with model data, and to establish a basis for future flight test comparisons.

A digital flight control system verification laboratory

NASA Technical Reports Server (NTRS)

De Feo, P.; Saib, S.

1982-01-01

A NASA/FAA program has been established for the verification and validation of digital flight control systems (DFCS), with the primary objective being the development and analysis of automated verification tools. In order to enhance the capabilities, effectiveness, and ease of using the test environment, software verification tools can be applied. Tool design includes a static analyzer, an assertion generator, a symbolic executor, a dynamic analysis instrument, and an automated documentation generator. Static and dynamic tools are integrated with error detection capabilities, resulting in a facility which analyzes a representative testbed of DFCS software. Future investigations will ensue particularly in the areas of increase in the number of software test tools, and a cost effectiveness assessment.

Dynamic Forces Between Two Deformable Oil Droplets in Water

NASA Astrophysics Data System (ADS)

Dagastine, Raymond R.; Manica, Rogério; Carnie, Steven L.; Chan, D. Y. C.; Stevens, Geoffrey W.; Grieser, Franz

2006-07-01

The understanding of static interactions in colloidal suspensions is well established, whereas dynamic interactions more relevant to biological and other suspended soft-matter systems are less well understood. We present the direct force measurement and quantitative theoretical description for dynamic forces for liquid droplets in another immiscible fluid. Analysis of this system demonstrates the strong link between interfacial deformation, static surface forces, and hydrodynamic drainage, which govern dynamic droplet-droplet interactions over the length scale of nanometers and over the time scales of Brownian collisions. The results and analysis have direct bearing on the control and manipulation of suspended droplets in soft-matter systems ranging from the emulsions in shampoo to cellular interactions.

Stall flutter analysis of propfans

NASA Technical Reports Server (NTRS)

Reddy, T. S. R.

1988-01-01

Three semi-empirical aerodynamic stall models are compared with respect to their lift and moment hysteresis loop prediction, limit cycle behavior, easy implementation, and feasibility in developing the parameters required for stall flutter prediction of advanced turbines. For the comparison of aeroelastic response prediction including stall, a typical section model and a plate structural model are considered. The response analysis includes both plunging and pitching motions of the blades. In model A, a correction of the angle of attack is applied when the angle of attack exceeds the static stall angle. In model B, a synthesis procedure is used for angles of attack above static stall angles, and the time history effects are accounted for through the Wagner function.

Static and dynamic structural-sensitivity derivative calculations in the finite-element-based Engineering Analysis Language (EAL) system

NASA Technical Reports Server (NTRS)

Camarda, C. J.; Adelman, H. M.

1984-01-01

The implementation of static and dynamic structural-sensitivity derivative calculations in a general purpose, finite-element computer program denoted the Engineering Analysis Language (EAL) System is described. Derivatives are calculated with respect to structural parameters, specifically, member sectional properties including thicknesses, cross-sectional areas, and moments of inertia. Derivatives are obtained for displacements, stresses, vibration frequencies and mode shapes, and buckling loads and mode shapes. Three methods for calculating derivatives are implemented (analytical, semianalytical, and finite differences), and comparisons of computer time and accuracy are made. Results are presented for four examples: a swept wing, a box beam, a stiffened cylinder with a cutout, and a space radiometer-antenna truss.

NASA Tech Briefs, Februrary 2013

NASA Technical Reports Server (NTRS)

2013-01-01

Topics covered include: Measurements of Ultra-Stable Oscillator (USO) Allan Deviations in Space; Gaseous Nitrogen Orifice Mass Flow Calculator; Validation of Proposed Metrics for Two-Body Abrasion Scratch Test Analysis Standards; Rover Low Gain Antenna Qualification for Deep Space Thermal Environments; Automated, Ultra-Sterile Solid Sample Handling and Analysis on a Chip; Measuring and Estimating Normalized Contrast in Infrared Flash Thermography; Spectrally and Radiometrically Stable, Wideband, Onboard Calibration Source; High-Reliability Waveguide Vacuum/Pressure Window; Methods of Fabricating Scintillators With Radioisotopes for Beta Battery Applications; Magnetic Shield for Adiabatic Demagnetization Refrigerators (ADR); CMOS-Compatible SOI MESFETS for Radiation-Hardened DC-to-DC Converters; Silicon Heat Pipe Array; Adaptive Phase Delay Generator; High-Temperature, Lightweight, Self-Healing Ceramic Composites for Aircraft Engine Applications; Treatment to Control Adhesion of Silicone-Based Elastomers; High-Temperature Adhesives for Thermally Stable Aero-Assist Technologies; Rockballer Sample Acquisition Tool; Rock Gripper for Sampling, Mobility, Anchoring, and Manipulation; Advanced Magnetic Materials Methods and Numerical Models for Fluidization in Microgravity and Hypogravity; Data Transfer for Multiple Sensor Networks Over a Broad Temperature Range; Using Combustion Synthesis to Reinforce Berms and Other Regolith Structures; Visible-Infrared Hyperspectral Image Projector; Three-Axis Attitude Estimation With a High-Bandwidth Angular Rate Sensor Change_Detection.m; AGATE: Adversarial Game Analysis for Tactical Evaluation; Ionospheric Simulation System for Satellite Observations and Global Assimilative; Modeling Experiments (ISOGAME); An Extensible, User- Modifiable Framework for Planning Activities; Mission Operations Center (MOC) - Precipitation Processing System (PPS) Interface Software System (MPISS); Automated 3D Damaged Cavity Model Builder for Lower Surface Acreage Tile on Orbiter; Mixed Linear/Square-Root Encoded Single-Slope Ramp Provides Low-Noise ADC with High Linearity for Focal Plane Arrays; RUSHMAPS: Real-Time Uploadable Spherical Harmonic Moment Analysis for Particle Spectrometers; Powered Descent Guidance with General Thrust-Pointing Constraints; X-Ray Detection and Processing Models for Spacecraft Navigation and Timing; and Extreme Ionizing-Radiation-Resistant Bacterium

Quantifying hypoxia in human cancers using static PET imaging.

PubMed

Taylor, Edward; Yeung, Ivan; Keller, Harald; Wouters, Bradley G; Milosevic, Michael; Hedley, David W; Jaffray, David A

2016-11-21

Compared to FDG, the signal of 18 F-labelled hypoxia-sensitive tracers in tumours is low. This means that in addition to the presence of hypoxic cells, transport properties contribute significantly to the uptake signal in static PET images. This sensitivity to transport must be minimized in order for static PET to provide a reliable standard for hypoxia quantification. A dynamic compartmental model based on a reaction-diffusion formalism was developed to interpret tracer pharmacokinetics and applied to static images of FAZA in twenty patients with pancreatic cancer. We use our model to identify tumour properties-well-perfused without substantial necrosis or partitioning-for which static PET images can reliably quantify hypoxia. Normalizing the measured activity in a tumour voxel by the value in blood leads to a reduction in the sensitivity to variations in 'inter-corporal' transport properties-blood volume and clearance rate-as well as imaging study protocols. Normalization thus enhances the correlation between static PET images and the FAZA binding rate K 3 , a quantity which quantifies hypoxia in a biologically significant way. The ratio of FAZA uptake in spinal muscle and blood can vary substantially across patients due to long muscle equilibration times. Normalized static PET images of hypoxia-sensitive tracers can reliably quantify hypoxia for homogeneously well-perfused tumours with minimal tissue partitioning. The ideal normalizing reference tissue is blood, either drawn from the patient before PET scanning or imaged using PET. If blood is not available, uniform, homogeneously well-perfused muscle can be used. For tumours that are not homogeneously well-perfused or for which partitioning is significant, only an analysis of dynamic PET scans can reliably quantify hypoxia.

The impact of dynamic balance measures on walking performance in multiple sclerosis

PubMed Central

Fritz, Nora E.; Marasigan, Rhul Evans R.; Calabresi, Peter A.; Newsome, Scott D.; Zackowski, Kathleen M.

2014-01-01

Background Static posture imbalance and gait dysfunction are common in individuals with multiple sclerosis (MS). Although the impact of strength and static balance on walking has been examined, little is known about the impact of dynamic standing balance on walking in MS. Objective To determine the impact of dynamic balance, static balance, sensation, and strength measures to walking in individuals with MS. Methods 52 individuals with MS (27 females; 26 relapsing-remitting; mean age 45.6±10.3 years; median EDSS 3.5 (range 0-7) participated in testing for dynamic and static posturography (Kistler 9281 force plate), hip flexion, hip extension, and ankle dorsiflexion strength (Microfet2 hand-held dynamometer), sensation (Vibratron II) and walk velocity (Optotrak Motion Analysis System). Mann-Whitney tests, Spearman correlation coefficients, and forward stepwise multiple regression were used to assess statistical significance. Results All measures were significantly abnormal in MS subjects when compared to age and sex-matched norms (p<0.05 for all). Static balance (eyes open, feet together [EOFT]), anterior- posterior (AP) dynamic sway, and hip extension strength were strongly correlated with fast walking velocity (AP sway r=0.68; hip extension strength r=0.73; EOFT r=-0.40). Together, AP dynamic sway (ρr=0.71, p<0.001), hip extension strength (ρr=0.54, p<0.001), and EOFT static balance (ρr=-0.41, p=0.01) explained more than 70% of the variance in fast walking velocity (p<0.001). Conclusions These data suggest that AP dynamic sway impacts walking performance in MS. A combined evaluation of dynamic balance, static balance and strength may lead to a better understanding of walking mechanisms as well as the development of strategies to improve walking. PMID:24795162

Clinical Phenotype Classifications Based on Static Varus Alignment and Varus Thrust in Japanese Patients With Medial Knee Osteoarthritis

PubMed Central

Iijima, Hirotaka; Fukutani, Naoto; Fukumoto, Takahiko; Uritani, Daisuke; Kaneda, Eishi; Ota, Kazuo; Kuroki, Hiroshi; Matsuda, Shuichi

2015-01-01

Objective To investigate the association between knee pain during gait and 4 clinical phenotypes based on static varus alignment and varus thrust in patients with medial knee osteoarthritis (OA). Methods Patients in an orthopedic clinic (n = 266) diagnosed as having knee OA (Kellgren/Lawrence [K/L] grade ≥1) were divided into 4 phenotype groups according to the presence or absence of static varus alignment and varus thrust (dynamic varus): no varus (n = 173), dynamic varus (n = 17), static varus (n = 50), and static varus + dynamic varus (n = 26). The knee range of motion, spatiotemporal gait parameters, visual analog scale scores for knee pain, and scores on the Japanese Knee Osteoarthritis Measure were used to assess clinical outcomes. Multiple logistic regression analyses identified the relationship between knee pain during gait and the 4 phenotypes, adjusted for possible risk factors, including age, sex, body mass index, K/L grade, and gait velocity. Results Multiple logistic regression analysis showed that varus thrust without varus alignment was associated with knee pain during gait (odds ratio [OR] 3.30, 95% confidence interval [95% CI] 1.08–12.4), and that varus thrust combined with varus alignment was strongly associated with knee pain during gait (OR 17.1, 95% CI 3.19–320.0). Sensitivity analyses applying alternative cutoff values for defining static varus alignment showed comparable results. Conclusion Varus thrust with or without static varus alignment was associated with the occurrence of knee pain during gait. Tailored interventions based on individual malalignment phenotypes may improve clinical outcomes in patients with knee OA. PMID:26017348

Quantifying hypoxia in human cancers using static PET imaging

NASA Astrophysics Data System (ADS)

Taylor, Edward; Yeung, Ivan; Keller, Harald; Wouters, Bradley G.; Milosevic, Michael; Hedley, David W.; Jaffray, David A.

2016-11-01

Compared to FDG, the signal of 18F-labelled hypoxia-sensitive tracers in tumours is low. This means that in addition to the presence of hypoxic cells, transport properties contribute significantly to the uptake signal in static PET images. This sensitivity to transport must be minimized in order for static PET to provide a reliable standard for hypoxia quantification. A dynamic compartmental model based on a reaction-diffusion formalism was developed to interpret tracer pharmacokinetics and applied to static images of FAZA in twenty patients with pancreatic cancer. We use our model to identify tumour properties—well-perfused without substantial necrosis or partitioning—for which static PET images can reliably quantify hypoxia. Normalizing the measured activity in a tumour voxel by the value in blood leads to a reduction in the sensitivity to variations in ‘inter-corporal’ transport properties—blood volume and clearance rate—as well as imaging study protocols. Normalization thus enhances the correlation between static PET images and the FAZA binding rate K 3, a quantity which quantifies hypoxia in a biologically significant way. The ratio of FAZA uptake in spinal muscle and blood can vary substantially across patients due to long muscle equilibration times. Normalized static PET images of hypoxia-sensitive tracers can reliably quantify hypoxia for homogeneously well-perfused tumours with minimal tissue partitioning. The ideal normalizing reference tissue is blood, either drawn from the patient before PET scanning or imaged using PET. If blood is not available, uniform, homogeneously well-perfused muscle can be used. For tumours that are not homogeneously well-perfused or for which partitioning is significant, only an analysis of dynamic PET scans can reliably quantify hypoxia.

A study on a robot arm driven by three-dimensional trajectories predicted from non-invasive neural signals.

PubMed

Kim, Yoon Jae; Park, Sung Woo; Yeom, Hong Gi; Bang, Moon Suk; Kim, June Sic; Chung, Chun Kee; Kim, Sungwan

2015-08-20

A brain-machine interface (BMI) should be able to help people with disabilities by replacing their lost motor functions. To replace lost functions, robot arms have been developed that are controlled by invasive neural signals. Although invasive neural signals have a high spatial resolution, non-invasive neural signals are valuable because they provide an interface without surgery. Thus, various researchers have developed robot arms driven by non-invasive neural signals. However, robot arm control based on the imagined trajectory of a human hand can be more intuitive for patients. In this study, therefore, an integrated robot arm-gripper system (IRAGS) that is driven by three-dimensional (3D) hand trajectories predicted from non-invasive neural signals was developed and verified. The IRAGS was developed by integrating a six-degree of freedom robot arm and adaptive robot gripper. The system was used to perform reaching and grasping motions for verification. The non-invasive neural signals, magnetoencephalography (MEG) and electroencephalography (EEG), were obtained to control the system. The 3D trajectories were predicted by multiple linear regressions. A target sphere was placed at the terminal point of the real trajectories, and the system was commanded to grasp the target at the terminal point of the predicted trajectories. The average correlation coefficient between the predicted and real trajectories in the MEG case was [Formula: see text] ([Formula: see text]). In the EEG case, it was [Formula: see text] ([Formula: see text]). The success rates in grasping the target plastic sphere were 18.75 and 7.50 % with MEG and EEG, respectively. The success rates of touching the target were 52.50 and 58.75 % respectively. A robot arm driven by 3D trajectories predicted from non-invasive neural signals was implemented, and reaching and grasping motions were performed. In most cases, the robot closely approached the target, but the success rate was not very high because the non-invasive neural signal is less accurate. However the success rate could be sufficiently improved for practical applications by using additional sensors. Robot arm control based on hand trajectories predicted from EEG would allow for portability, and the performance with EEG was comparable to that with MEG.

Damage and fracture in fabric-reinforced composites under quasi-static and dynamic bending

NASA Astrophysics Data System (ADS)

Ullah, H.; Harland, A. R.; Silberschmidt, V. V.

2013-07-01

Fabric-reinforced polymer composites used in sports products can be exposed to different in-service conditions such as large deformations caused by quasi-static and dynamic loading. Composite materials subjected to such bending loads can demonstrate various damage modes - matrix cracking, delamination and, ultimately, fabric fracture. Damage evolution in composites affects both their in-service properties and performance that can deteriorate with time. Such behaviour needs adequate means of analysis and investigation, the main approaches being experimental characterisation and non-destructive examination of internal damage in composite laminates. This research deals with a deformation behaviour and damage in carbon fabric-reinforced polymer (CFRP) laminates caused by quasi-static and dynamic bending. Experimental tests were carried out to characterise the behaviour of a CFRP material under large-deflection bending, first in quasi-static and then in dynamic conditions. Izod-type impact bending tests were performed on un-notched specimens of CFRP using a Resil impactor to assess the transient response and energy absorbing capability of the material. X-ray micro computed tomography (micro-CT) was used to analyse various damage modes in the tested specimens. X-ray tomographs revealed that through-thickness matrix cracking, inter-ply and intra-ply delamination such as tow debonding, and fabric fracture were the prominent damage modes both in quasi-static and dynamic test specimens. However, the inter-ply damage was localised at impact location in dynamically tested specimens, whereas in the quasi-static specimens, it spread almost over the entire interface.

Gas Measurement Using Static Fourier Transform Infrared Spectrometers.

PubMed

Köhler, Michael H; Schardt, Michael; Rauscher, Markus S; Koch, Alexander W

2017-11-13

Online monitoring of gases in industrial processes is an ambitious task due to adverse conditions such as mechanical vibrations and temperature fluctuations. Whereas conventional Fourier transform infrared (FTIR) spectrometers use rather complex optical and mechanical designs to ensure stable operation, static FTIR spectrometers do not require moving parts and thus offer inherent stability at comparatively low costs. Therefore, we present a novel, compact gas measurement system using a static single-mirror Fourier transform spectrometer (sSMFTS). The system works in the mid-infrared range from 650 cm - 1 to 1250 cm - 1 and can be operated with a customized White cell, yielding optical path lengths of up to 120 cm for highly sensitive quantification of gas concentrations. To validate the system, we measure different concentrations of 1,1,1,2-Tetrafluoroethane (R134a) and perform a PLS regression analysis of the acquired infrared spectra. Thereby, the measured absorption spectra show good agreement with reference data. Since the system additionally permits measurement rates of up to 200 Hz and high signal-to-noise ratios, an application in process analysis appears promising.

Static voltage distribution between turns of secondary winding of air-core spiral strip transformer and its application

NASA Astrophysics Data System (ADS)

Zhang, Hong-bo; Liu, Jin-liang; Cheng, Xin-bing; Zhang, Yu

2011-09-01

The static voltage distribution between winding turns has great impact on output characteristics and lifetime of the air-core spiral strip pulse transformer (ACSSPT). In this paper, winding inductance was calculated by electromagnetic theory, so that the static voltage distribution between turns of secondary winding of ACSSPT was analyzed conveniently. According to theoretical analysis, a voltage gradient because of the turn-to-turn capacitance was clearly noticeable across the ground turns. Simulation results of Pspice and CST EM Studio codes showed that the voltage distribution between turns of secondary winding had linear increments from the output turn to the ground turn. In experiment, the difference in increased voltage between the ground turns and the output turns of a 20-turns secondary winding is almost 50%, which is believed to be responsible for premature breakdown of the insulation, particularly between the ground turns. The experimental results demonstrated the theoretical analysis and simulation results, which had important value for stable and long lifetime ACSSPT design. A new ACSSPT with improved structure has been used successfully in intense electron beam accelerators steadily.

Gas Measurement Using Static Fourier Transform Infrared Spectrometers

PubMed Central

Schardt, Michael; Rauscher, Markus S.; Koch, Alexander W.

2017-01-01

Online monitoring of gases in industrial processes is an ambitious task due to adverse conditions such as mechanical vibrations and temperature fluctuations. Whereas conventional Fourier transform infrared (FTIR) spectrometers use rather complex optical and mechanical designs to ensure stable operation, static FTIR spectrometers do not require moving parts and thus offer inherent stability at comparatively low costs. Therefore, we present a novel, compact gas measurement system using a static single-mirror Fourier transform spectrometer (sSMFTS). The system works in the mid-infrared range from 650 cm−1 to 1250 cm−1 and can be operated with a customized White cell, yielding optical path lengths of up to 120 cm for highly sensitive quantification of gas concentrations. To validate the system, we measure different concentrations of 1,1,1,2-Tetrafluoroethane (R134a) and perform a PLS regression analysis of the acquired infrared spectra. Thereby, the measured absorption spectra show good agreement with reference data. Since the system additionally permits measurement rates of up to 200 Hz and high signal-to-noise ratios, an application in process analysis appears promising. PMID:29137193

Static Aeroelastic Scaling and Analysis of a Sub-Scale Flexible Wing Wind Tunnel Model

NASA Technical Reports Server (NTRS)

Ting, Eric; Lebofsky, Sonia; Nguyen, Nhan; Trinh, Khanh

2014-01-01

This paper presents an approach to the development of a scaled wind tunnel model for static aeroelastic similarity with a full-scale wing model. The full-scale aircraft model is based on the NASA Generic Transport Model (GTM) with flexible wing structures referred to as the Elastically Shaped Aircraft Concept (ESAC). The baseline stiffness of the ESAC wing represents a conventionally stiff wing model. Static aeroelastic scaling is conducted on the stiff wing configuration to develop the wind tunnel model, but additional tailoring is also conducted such that the wind tunnel model achieves a 10% wing tip deflection at the wind tunnel test condition. An aeroelastic scaling procedure and analysis is conducted, and a sub-scale flexible wind tunnel model based on the full-scale's undeformed jig-shape is developed. Optimization of the flexible wind tunnel model's undeflected twist along the span, or pre-twist or wash-out, is then conducted for the design test condition. The resulting wind tunnel model is an aeroelastic model designed for the wind tunnel test condition.

Response of resin transfer molded (RTM) composites under reversed cyclic loading

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

Mahfuz, H.; Haque, A.; Yu, D.

1996-01-01

Compressive behavior and the tension-compression fatigue response of resin transfer molded IM7 PW/PR 500 composite laminate with a circular notch have been studied. Fatigue damage characteristics have been investigated through the changes in the laminate strength and stiffness by gradually incrementing the fatigue cycles at a preselected load level. Progressive damage in the surface of the laminate during fatigue has been investigated using cellulose replicas. Failure mechanisms during static and cyclic tests have been identified and presented in detail. Extensive debonding of filaments and complete fiber bundle fracture accompanied by delamination were found to be responsible for fatigue failures, whilemore » fiber buckling, partial fiber fracture and delamination were characterized as the failure modes during static tests. Weibull analysis of the static, cyclic and residual tests have been performed and described in detail. Fractured as well as untested specimens were C-scanned, and the progressive damage growth during fatigue is presented. Optical Microscopy (OM) and Scanning Electron Microscopy (SEM) for the fractured specimen were also performed and the analysis of the failure behavior is presented.« less

Static, free vibration and thermal analysis of composite plates and shells using a flat triangular shell element

NASA Astrophysics Data System (ADS)

Kapania, R. K.; Mohan, P.

1996-09-01

Finite element static, free vibration and thermal analysis of thin laminated plates and shells using a three noded triangular flat shell element is presented. The flat shell element is a combination of the Discrete Kirchhoff Theory (DKT) plate bending element and a membrane element derived from the Linear Strain Triangular (LST) element with a total of 18 degrees of freedom (3 translations and 3 rotations per node). Explicit formulations are used for the membrane, bending and membrane-bending coupling stiffness matrices and the thermal load vector. Due to a strong analogy between the induced strain caused by the thermal field and the strain induced in a structure due to an electric field the present formulation is readily applicable for the analysis of structures excited by surface bonded or embedded piezoelectric actuators. The results are presented for (i) static analysis of (a) simply supported square plates under doubly sinusoidal load and uniformly distributed load (b) simply supported spherical shells under a uniformly distributed load, (ii) free vibration analysis of (a) square cantilever plates, (b) skew cantilever plates and (c) simply supported spherical shells; (iii) Thermal deformation analysis of (a) simply supported square plates, (b) simply supported-clamped square plate and (c) simply supported spherical shells. A numerical example is also presented demonstrating the application of the present formulation to analyse a symmetrically laminated graphite/epoxy laminate excited by a layer of piezoelectric polyvinylidene flouride (PVDF). The results presented are in good agreement with those available in the literature.

NASTRAN applications to aircraft propulsion systems

NASA Technical Reports Server (NTRS)

White, J. L.; Beste, D. L.

1975-01-01

The use of NASTRAN in propulsion system structural integration analysis is described. Computer support programs for modeling, substructuring, and plotting analysis results are discussed. Requirements on interface information and data exchange by participants in a NASTRAN substructure analysis are given. Static and normal modes vibration analysis results are given with comparison to test and other analytical results.

Security Analysis of Session Initiation Protocol

DTIC Science & Technology

2010-06-01

traffic as Bob@biloxi.com), a VPN was established with OpenVPN 2.1_rc19 between all relevant entities. Configuration files used by the clients and...static key is created by running the command ’ openvpn --genkey --secret static.key.’ By 22 rerouting all SIP traffic through VPNs as needed, a network... OpenVPN , and VM 2’s routing table is modified so that all IP packets except those addressed to VM 1’s publicly facing IP are routed through the OpenVPN

Fatigue tests on big structure assemblies of concorde aircraft

NASA Technical Reports Server (NTRS)

Nguyen, V. P.; Perrais, J. P.

1972-01-01

Fatigue tests on structural assemblies of the Concorde supersonic transport aircraft are reported. Two main sections of the aircraft were subjected to pressure, mechanical load, and thermal static tests. The types of fatigue tests conducted and the results obtained are discussed. It was concluded that on a supersonic aircraft whose structural weight is a significant part of the weight analysis, many fatigue and static strength development tests should be made and fatigue and thermal tests of the structures are absolutely necessary.

Evaluation of Aero Commander sidewall vibration and interior acoustic data: Static operations

NASA Technical Reports Server (NTRS)

Piersol, A. G.; Wilby, E. G.; Wilby, J. F.

1980-01-01

Results for the vibration measured at five locations on the fuselage structure during static operations are presented. The analysis was concerned with the magnitude of the vibration and the relative phase between different locations, the frequency response (inertance) functions between the exterior pressure field and the vibration, and the coherent output power functions at interior microphone locations based on sidewall vibration. Fuselage skin panels near the plane of rotation of the propeller accept propeller noise excitation more efficiently than they do exhaust noise.

Stability of thin shell wormholes with a modified Chaplygin gas in Einstein-Hoffman-Born-Infeld theory

NASA Astrophysics Data System (ADS)

Eid, A.

2017-11-01

In the framework of Darmois-Israel formalism, the dynamics of motion equations of spherically symmetric thin shell wormholes that are supported by a modified Chaplygin gas in Einstein-Hoffman-Born-Infeld theory are constructed. The stability analysis of a thin shell wormhole is also discussed using a linearized radial perturbation around static solutions at the wormhole throat. The existence of stable static solutions depends on the value of some parameters of dynamical shell.

Implementation of structural response sensitivity calculations in a large-scale finite-element analysis system

NASA Technical Reports Server (NTRS)

Giles, G. L.; Rogers, J. L., Jr.

1982-01-01

The implementation includes a generalized method for specifying element cross-sectional dimensions as design variables that can be used in analytically calculating derivatives of output quantities from static stress, vibration, and buckling analyses for both membrane and bending elements. Limited sample results for static displacements and stresses are presented to indicate the advantages of analytically calclating response derivatives compared to finite difference methods. Continuing developments to implement these procedures into an enhanced version of the system are also discussed.

A Hybrid Approach to Composite Damage and Failure Analysis Combining Synergistic Damage Mechanics and Peridynamics

DTIC Science & Technology

2016-12-31

PERFORMING ORGANIZATION REPORT NUMBER Texas A&M Engineering Experiment Station (TEES) 400 Harvey Mitchell Parkway, Suite 300 M1601473 I 505170-0000112...likely to influence the quasi -static and dynamic crack growth in the composite system. For this step we need a method that reduces/eliminates stress...1 0 7 0 E 0 E _, - 5 _, Fig. 2.1. Quasi -static stretching of an elastic material. Bottom row shows the horizontal displacement obtained with

Stability of cylindrical thin shell wormholes supported by MGCG in f(R) gravity

NASA Astrophysics Data System (ADS)

Eid, A.

2018-02-01

In the framework of f(R) modified theory of gravity, the dynamical equations of motion of a cylindrical thin shell wormholes supported by a modified generalized Chaplygin gas are constructed, using the cut and paste scheme (Darmois Israel formalism). The mechanical stability analysis of a cylindrical thin shell wormhole is discussed using a linearized radial perturbation around static solutions at the wormhole throat. The presence of stable static solutions depends on the suitable values of some parameters of dynamical shell.

Analytical modeling of transport aircraft crash scenarios to obtain floor pulses

NASA Technical Reports Server (NTRS)

Wittlin, G.; Lackey, D.

1983-01-01

The KRAS program was used to analyze transport aircraft candidate crash scenarios. Aircraft floor pulses and seat/occupant responses are presented. Results show that: (1) longitudinal only pulses can be represented by equivalent step inputs and/or static requirements; (2) the L1649 crash test floor longitudinal pulse for the aft direction (forward inertia) is less than 9g static or an equivalent 5g pulse; aft inertia accelerations are extremely small ((ch76) 3g) for representative crash scenarios; (3) a viable procedure to relate crash scenario floor pulses to standard laboratory dynamic and static test data using state of the art analysis and test procedures was demonstrated; and (4) floor pulse magnitudes are expected to be lower for wide body aircraft than for smaller narrow body aircraft.

Integration of piezo-capacitive and piezo-electric nanoweb based pressure sensors for imaging of static and dynamic pressure distribution.

PubMed

Jeong, Y J; Oh, T I; Woo, E J; Kim, K J

2017-07-01

Recently, highly flexible and soft pressure distribution imaging sensor is in great demand for tactile sensing, gait analysis, ubiquitous life-care based on activity recognition, and therapeutics. In this study, we integrate the piezo-capacitive and piezo-electric nanowebs with the conductive fabric sheets for detecting static and dynamic pressure distributions on a large sensing area. Electrical impedance tomography (EIT) and electric source imaging are applied for reconstructing pressure distribution images from measured current-voltage data on the boundary of the hybrid fabric sensor. We evaluated the piezo-capacitive nanoweb sensor, piezo-electric nanoweb sensor, and hybrid fabric sensor. The results show the feasibility of static and dynamic pressure distribution imaging from the boundary measurements of the fabric sensors.

a Virtual Trip to the Schwarzschild-De Sitter Black Hole

NASA Astrophysics Data System (ADS)

Bakala, Pavel; Hledík, Stanislav; Stuchlík, Zdenĕk; Truparová, Kamila; Čermák, Petr

2008-09-01

We developed realistic fully general relativistic computer code for simulation of optical projection in a strong, spherically symmetric gravitational field. Standard theoretical analysis of optical projection for an observer in the vicinity of a Schwarzschild black hole is extended to black hole spacetimes with a repulsive cosmological constant, i.e, Schwarzschild-de Sitter (SdS) spacetimes. Influence of the cosmological constant is investigated for static observers and observers radially free-falling from static radius. Simulation includes effects of gravitational lensing, multiple images, Doppler and gravitational frequency shift, as well as the amplification of intensity. The code generates images of static observers sky and a movie simulations for radially free-falling observers. Techniques of parallel programming are applied to get high performance and fast run of the simulation code.

Accelerated development and flight evaluation of active controls concepts for subsonic transport aircraft. Volume 2: AFT C.G. simulation and analysis

NASA Technical Reports Server (NTRS)

Urie, D. M.

1979-01-01

Relaxed static stability and stability augmentation with active controls were investigated for subsonic transport aircraft. Analytical and simulator evaluations were done using a contemporary wide body transport as a baseline. Criteria for augmentation system performance and unaugmented flying qualities were evaluated. Augmentation control laws were defined based on selected frequency response and time history criteria. Flying qualities evaluations were conducted by pilots using a moving base simulator with a transport cab. Static margin and air turbulence intensity were varied in test with and without augmentation. Suitability of a simple pitch control law was verified at neutral static margin in cruise and landing flight tasks. Neutral stability was found to be marginally acceptable in heavy turbulence in both cruise and landing conditions.

Wind-Tunnel Investigation at Low Speed of the Yawing, Pitching, and Static Stability Characteristics of a 1/10-Scale Model of the Grumman F9F-9 Airplane, TED No. NACA AD 3109

NASA Technical Reports Server (NTRS)

Wolhart, Walter D.; Thomas, David F., Jr.

1955-01-01

An experimental investigation has been made in the Langley stability tunnel to determine the low-speed yawing, pitching, and static stability characteristics of a 1/10-scale model of the Grumman F9F-9 airplane. Tests were made to determine the effects of duct-entrance-fairing plugs on the static lateral and longitudinal stability characteristics of the complete model in the clean condition. The remaining tests were concerned with determining tail contributions as well as the effect of duct-entrance-fairing plugs, slats, flaps, and landing gear on the yawing and pitching stability derivatives. These data are presented without analysis in order to expedite distribution.

Confirmation of quasi-static approximation in SAR evaluation for a wireless power transfer system.

PubMed

Hirata, Akimasa; Ito, Fumihiro; Laakso, Ilkka

2013-09-07

The present study discusses the applicability of the magneto-quasi-static approximation to the calculation of the specific absorption rate (SAR) in a cylindrical model for a wireless power transfer system. Resonant coils with different parameters were considered in the 10 MHz band. A two-step quasi-static method that is comprised of the method of moments and the scalar-potential finite-difference methods is applied, which can consider the effects of electric and magnetic fields on the induced SAR separately. From our computational results, the SARs obtained from our quasi-static method are found to be in good agreement with full-wave analysis for different positions of the cylindrical model relative to the wireless power transfer system, confirming the applicability of the quasi-static approximation in the 10 MHz band. The SAR induced by the external electric field is found to be marginal as compared to that induced by the magnetic field. Thus, the dosimetry for the external magnetic field, which may be marginally perturbed by the presence of biological tissue, is confirmed to be essential for SAR compliance in the 10 MHz band or lower. This confirmation also suggests that the current in the coil rather than the transferred power is essential for SAR compliance.

Predictive role of measurement of pelvic floor muscle thickness with static MRI in stress and mixed urinary incontinence.

PubMed

Yaşar, Levent; Telci, Serpil Ortakuz; Doğan, Keziban; Kaya, Eyüp; Ekin, Murat

2018-05-19

To investigate the role of measuring the thickness of pelvic floor muscles with static MRI in the physiopathology of urinary incontinence in women with stress and mixed types of urinary incontinence diagnosed with urodynamic studies. A retrospective clinical study was designed in collaboration with the radiology department. We recruited only patients who had undergone static pelvic MRI to determine the etiology of pelvic pain and exclude gynecologic disorders. The study included 45 women diagnosed with stress or mixed-type urinary incontinence based on pelvic examination and urodynamic testing without symptomatic pelvic organ prolapse and 40 continent controls. We evaluated the images of pelvic static MRI of all patients to measure the thickness of the pelvic floor muscles with the radiologist by using an image analysis workstation retrospectively. The right and left puborectalis parts of levator ani muscle thicknesses were significantly lower in the urinary incontinence group than in the control group (p < 0.01). The right and left PR/OI ratios were significantly lower than in the control group. (p = 0.001). Morphologic changes of pelvic floor muscle thickness can be demonstrated by a static pelvic MRI, and this can be used as a prognostic test in the treatment and follow-up of patients with stress or mixed urinary incontinence.

Analysis of laboratory compaction methods of roller compacted concrete

NASA Astrophysics Data System (ADS)

Trtík, Tomáš; Chylík, Roman; Bílý, Petr; Fládr, Josef

2017-09-01

Roller-Compacted Concrete (RCC) is an ordinary concrete poured and compacted with machines typically used for laying of asphalt road layers. One of the problems connected with this technology is preparation of representative samples in the laboratory. The aim of this work was to analyse two methods of preparation of RCC laboratory samples with bulk density as the comparative parameter. The first method used dynamic compaction by pneumatic hammer. The second method of compaction had a static character. The specimens were loaded by precisely defined force in laboratory loading machine to create the same conditions as during static rolling (in the Czech Republic, only static rolling is commonly used). Bulk densities obtained by the two compaction methods were compared with core drills extracted from real RCC structure. The results have shown that the samples produced by pneumatic hammer tend to overestimate the bulk density of the material. For both compaction methods, immediate bearing index test was performed to verify the quality of compaction. A fundamental difference between static and dynamic compaction was identified. In static compaction, initial resistance to penetration of the mandrel was higher, after exceeding certain limit the resistance was constant. This means that the samples were well compacted just on the surface. Specimens made by pneumatic hammer actively resisted throughout the test, the whole volume was uniformly compacted.

Investigation of the Influence of Shapes-Texture on Surface Deformation of UHMWPE as a Bearing Material in Static Normal Load and Rolling Contact

NASA Astrophysics Data System (ADS)

Lestari, W. D.; Ismail, R.; Jamari, J.; Bayuseno, A. P.

2017-05-01

Surface texture is a common method for improving wear properties of a tribo-pair of soft and hard bearing material. The reduction of wear rates on the contacting surface material is becoming important issues. In the present study, analysis of the contact pressure on the flat surface of UHMWPE (Ultra High Molecular Weight Polyethylene) under the static- and rolling motion with the surface of steel ball used the 3D finite element method (FEM) (the ABAQUS software version 6.12). Five shaped-texture models (square, circle, ellipse, triangle, and chevron) were presented on the flat surface for analysis. The normal load of 17, 30 and 50 N was deliberately set-up for static and rolling contact analysis. The contact pressure was determined to predict the wear behavior of the shaped-texture on the flat surface of UHMWPE. The results have shown that the static normal load yielded the lowest von-Mises stress distribution on the shaped-texture of the ellipse for all values applied a load, while the square shape experienced the highest stress distribution. Under rolling contact, however, the increasing load yielded the increasing von Mises stress distribution for the texture with a triangle shape. Moreover, the texture shapes for circle, ellipse, and chevron respectively, may undergo the lowest stress distribution for all load. The wear calculation provided that the circle and square shape may undergo the highest wear rates. Obviously, the surface texture of circle, ellipse, and chevron may experience the lowest wear rates and is potential for use in the surface engineering of bearing materials.

Static aeroelastic analysis and tailoring of missile control fins

NASA Technical Reports Server (NTRS)

Mcintosh, S. C., Jr.; Dillenius, M. F. E.

1989-01-01

A concept for enhancing the design of control fins for supersonic tactical missiles is described. The concept makes use of aeroelastic tailoring to create fin designs (for given planforms) that limit the variations in hinge moments that can occur during maneuvers involving high load factors and high angles of attack. It combines supersonic nonlinear aerodynamic load calculations with finite-element structural modeling, static and dynamic structural analysis, and optimization. The problem definition is illustrated. The fin is at least partly made up of a composite material. The layup is fixed, and the orientations of the material principal axes are allowed to vary; these are the design variables. The objective is the magnitude of the difference between the chordwise location of the center of pressure and its desired location, calculated for a given flight condition. Three types of constraints can be imposed: upper bounds on static displacements for a given set of load conditions, lower bounds on specified natural frequencies, and upper bounds on the critical flutter damping parameter at a given set of flight speeds and altitudes. The idea is to seek designs that reduce variations in hinge moments that would otherwise occur. The block diagram describes the operation of the computer program that accomplishes these tasks. There is an option for a single analysis in addition to the optimization.

A Procedure for Modeling Structural Component/Attachment Failure Using Transient Finite Element Analysis

NASA Technical Reports Server (NTRS)

Lovejoy, Andrew E.; Jegley, Dawn C. (Technical Monitor)

2007-01-01

Structures often comprise smaller substructures that are connected to each other or attached to the ground by a set of finite connections. Under static loading one or more of these connections may exceed allowable limits and be deemed to fail. Of particular interest is the structural response when a connection is severed (failed) while the structure is under static load. A transient failure analysis procedure was developed by which it is possible to examine the dynamic effects that result from introducing a discrete failure while a structure is under static load. The failure is introduced by replacing a connection load history by a time-dependent load set that removes the connection load at the time of failure. The subsequent transient response is examined to determine the importance of the dynamic effects by comparing the structural response with the appropriate allowables. Additionally, this procedure utilizes a standard finite element transient analysis that is readily available in most commercial software, permitting the study of dynamic failures without the need to purchase software specifically for this purpose. The procedure is developed and explained, demonstrated on a simple cantilever box example, and finally demonstrated on a real-world example, the American Airlines Flight 587 (AA587) vertical tail plane (VTP).

Dynamic Pressure Distribution due to Horizontal Acceleration in Spherical LNG Tank with Cylindrical Central Part

NASA Astrophysics Data System (ADS)

Ko, Dae-Eun; Shin, Sang-Hoon

2017-11-01

Spherical LNG tanks having many advantages such as structural safety are used as a cargo containment system of LNG carriers. However, it is practically difficult to fabricate perfectly spherical tanks of different sizes in the yard. The most effective method of manufacturing LNG tanks of various capacities is to insert a cylindrical part at the center of existing spherical tanks. While a simplified high-precision analysis method for the initial design of the spherical tanks has been developed for both static and dynamic loads, in the case of spherical tanks with a cylindrical central part, the analysis method available only considers static loads. The purpose of the present study is to derive the dynamic pressure distribution due to horizontal acceleration, which is essential for developing an analysis method that considers dynamic loads as well.

MO-F-16A-01: Implementation of MPPG TPS Verification Tests On Various Accelerators

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

Smilowitz, J; Bredfeldt, J; Geurts, M

2014-06-15

Purpose: To demonstrate the implementation of the Medical Physics Practice Guideline (MPPG) for dose calculation and beam parameters verification of treatment planning systems (TPS). Methods: We implemented the draft TPS MPPG for three linacs: Varian Trilogy, TomoHDA and Elekta Infinity. Static and modulated test plans were created. The static fields are different than used in commissioning. Data was collected using ion chambers and diodes in a scanning water tank, Delta4 phantom and a custom phantom. MatLab and Microsoft Excel were used to create analysis tools to compare reference DICOM dose with scan data. This custom code allowed for the interpolation,more » registration and gamma analysis of arbitrary dose profiles. It will be provided as open source code. IMRT fields were validated with Delta4 registration and comparison tools. The time for each task was recorded. Results: The tests confirmed the strengths, and revealed some limitations, of our TPS. The agreement between calculated and measured dose was reported for all beams. For static fields, percent depth dose and profiles were analyzed with criteria in the draft MPPG. The results reveal areas of slight mismatch with the model (MLC leaf penumbra, buildup region.) For TomoTherapy, the IMRT plan 2%/2 mm gamma analysis revealed poorest agreement in the low dose regions. For one static test plan for all 10MV Trilogy photon beams, the plan generation, scan queue creation, data collection, data analysis and report took 2 hours, excluding tank setup. Conclusions: We have demonstrated the implementation feasibility of the TPS MPPG. This exercise generated an open source tool for dose comparisons between scan data and DICOM dose data. An easily reproducible and efficient infrastructure with streamlined data collection was created for repeatable robust testing of the TPS. The tests revealed minor discrepancies in our models and areas for improvement that are being investigated.« less

Comprehensive Forced Response Analysis of J2X Turbine Bladed-Discs with 360 Degree Variation in CFD Loading

NASA Technical Reports Server (NTRS)

Elrod, David; Christensen, Eric; Brown, Andrew

2011-01-01

The temporal frequency content of the dynamic pressure predicted by a 360 degree computational fluid dynamics (CFD) analysis of a turbine flow field provides indicators of forcing function excitation frequencies (e.g., multiples of blade pass frequency) for turbine components. For the Pratt and Whitney Rocketdyne J-2X engine turbopumps, Campbell diagrams generated using these forcing function frequencies and the results of NASTRAN modal analyses show a number of components with modes in the engine operating range. As a consequence, forced response and static analyses are required for the prediction of combined stress, high cycle fatigue safety factors (HCFSF). Cyclically symmetric structural models have been used to analyze turbine vane and blade rows, not only in modal analyses, but also in forced response and static analyses. Due to the tortuous flow pattern in the turbine, dynamic pressure loading is not cyclically symmetric. Furthermore, CFD analyses predict dynamic pressure waves caused by adjacent and non-adjacent blade/vane rows upstream and downstream of the row analyzed. A MATLAB script has been written to calculate displacements due to the complex cyclically asymmetric dynamic pressure components predicted by CFD analysis, for all grids in a blade/vane row, at a chosen turbopump running speed. The MATLAB displacements are then read into NASTRAN, and dynamic stresses are calculated, including an adjustment for possible mistuning. In a cyclically symmetric NASTRAN static analysis, static stresses due to centrifugal, thermal, and pressure loading at the mode running speed are calculated. MATLAB is used to generate the HCFSF at each grid in the blade/vane row. When compared to an approach assuming cyclic symmetry in the dynamic flow field, the current approach provides better assurance that the worst case safety factor has been identified. An extended example for a J-2X turbopump component is provided.

High Temperature Composite Analyzer (HITCAN) demonstration manual, version 1.0

NASA Technical Reports Server (NTRS)

Singhal, S. N; Lackney, J. J.; Murthy, P. L. N.

1993-01-01

This manual comprises a variety of demonstration cases for the HITCAN (HIgh Temperature Composite ANalyzer) code. HITCAN is a general purpose computer program for predicting nonlinear global structural and local stress-strain response of arbitrarily oriented, multilayered high temperature metal matrix composite structures. HITCAN is written in FORTRAN 77 computer language and has been configured and executed on the NASA Lewis Research Center CRAY XMP and YMP computers. Detailed description of all program variables and terms used in this manual may be found in the User's Manual. The demonstration includes various cases to illustrate the features and analysis capabilities of the HITCAN computer code. These cases include: (1) static analysis, (2) nonlinear quasi-static (incremental) analysis, (3) modal analysis, (4) buckling analysis, (5) fiber degradation effects, (6) fabrication-induced stresses for a variety of structures; namely, beam, plate, ring, shell, and built-up structures. A brief discussion of each demonstration case with the associated input data file is provided. Sample results taken from the actual computer output are also included.

Scaling effects in the static and dynamic response of graphite-epoxy beam-columns. Ph.D. Thesis - Virginia Polytechnic Inst. and State Univ.

NASA Technical Reports Server (NTRS)

Jackson, Karen E.

1990-01-01

Scale model technology represents one method of investigating the behavior of advanced, weight-efficient composite structures under a variety of loading conditions. It is necessary, however, to understand the limitations involved in testing scale model structures before the technique can be fully utilized. These limitations, or scaling effects, are characterized. in the large deflection response and failure of composite beams. Scale model beams were loaded with an eccentric axial compressive load designed to produce large bending deflections and global failure. A dimensional analysis was performed on the composite beam-column loading configuration to determine a model law governing the system response. An experimental program was developed to validate the model law under both static and dynamic loading conditions. Laminate stacking sequences including unidirectional, angle ply, cross ply, and quasi-isotropic were tested to examine a diversity of composite response and failure modes. The model beams were loaded under scaled test conditions until catastrophic failure. A large deflection beam solution was developed to compare with the static experimental results and to analyze beam failure. Also, the finite element code DYCAST (DYnamic Crash Analysis of STructure) was used to model both the static and impulsive beam response. Static test results indicate that the unidirectional and cross ply beam responses scale as predicted by the model law, even under severe deformations. In general, failure modes were consistent between scale models within a laminate family; however, a significant scale effect was observed in strength. The scale effect in strength which was evident in the static tests was also observed in the dynamic tests. Scaling of load and strain time histories between the scale model beams and the prototypes was excellent for the unidirectional beams, but inconsistent results were obtained for the angle ply, cross ply, and quasi-isotropic beams. Results show that valuable information can be obtained from testing on scale model composite structures, especially in the linear elastic response region. However, due to scaling effects in the strength behavior of composite laminates, caution must be used in extrapolating data taken from a scale model test when that test involves failure of the structure.

Development of an advanced pitch active control system for a wide body jet aircraft

NASA Technical Reports Server (NTRS)

Guinn, Wiley A.; Rising, Jerry J.; Davis, Walt J.

1984-01-01

An advanced PACS control law was developed for a commercial wide-body transport (Lockheed L-1011) by using modern control theory. Validity of the control law was demonstrated by piloted flight simulation tests on the NASA Langley visual motion simulator. The PACS design objective was to develop a PACS that would provide good flying qualities to negative 10 percent static stability margins that were equivalent to those of the baseline aircraft at a 15 percent static stability margin which is normal for the L-1011. Also, the PACS was to compensate for high-Mach/high-g instabilities that degrade flying qualities during upset recoveries and maneuvers. The piloted flight simulation tests showed that the PACS met the design objectives. The simulation demonstrated good flying qualities to negative 20 percent static stability margins for hold, cruise and high-speed flight conditions. Analysis and wind tunnel tests performed on other Lockheed programs indicate that the PACS could be used on an advanced transport configuration to provide a 4 percent fuel savings which results from reduced trim drag by flying at negative static stability margins.

Interlaminar shear fracture toughness and fatigue thresholds for composite materials

NASA Technical Reports Server (NTRS)

Obrien, T. Kevin; Murri, Gretchen B.; Salpekar, Satish A.

1987-01-01

Static and cyclic end notched flexure tests were conducted on a graphite epoxy, a glass epoxy, and graphite thermoplastic to determine their interlaminar shear fracture toughness and fatigue thresholds for delamination in terms of limiting values of the mode II strain energy release rate, G-II, for delamination growth. The influence of precracking and data reduction schemes are discussed. Finite element analysis indicated that the beam theory calculation for G-II with the transverse shear contribution included was reasonably accurate over the entire range of crack lengths. Cyclic loading significantly reduced the critical G-II for delamination. A threshold value of the maximum cyclic G-II below which no delamination occurred after one million cycles was identified for each material. Also, residual static toughness tests were conducted on glass epoxy specimens that had undergone one million cycles without delamination. A linear mixed-mode delamination criteria was used to characterize the static toughness of several composite materials; however, a total G threshold criterion appears to characterize the fatigue delamination durability of composite materials with a wide range of static toughness.

Static Aeroelastic and Longitudinal Trim Model of Flexible Wing Aircraft Using Finite-Element Vortex-Lattice Coupled Solution

NASA Technical Reports Server (NTRS)

Ting, Eric; Nguyen, Nhan; Trinh, Khanh

2014-01-01

This paper presents a static aeroelastic model and longitudinal trim model for the analysis of a flexible wing transport aircraft. The static aeroelastic model is built using a structural model based on finite-element modeling and coupled to an aerodynamic model that uses vortex-lattice solution. An automatic geometry generation tool is used to close the loop between the structural and aerodynamic models. The aeroelastic model is extended for the development of a three degree-of-freedom longitudinal trim model for an aircraft with flexible wings. The resulting flexible aircraft longitudinal trim model is used to simultaneously compute the static aeroelastic shape for the aircraft model and the longitudinal state inputs to maintain an aircraft trim state. The framework is applied to an aircraft model based on the NASA Generic Transport Model (GTM) with wing structures allowed to flexibly deformed referred to as the Elastically Shaped Aircraft Concept (ESAC). The ESAC wing mass and stiffness properties are based on a baseline "stiff" values representative of current generation transport aircraft.

Structural integrity of a confinement vessel for testing nuclear fuels for space propulsion

NASA Astrophysics Data System (ADS)

Bergmann, V. L.

Nuclear propulsion systems for rockets could significantly reduce the travel time to distant destinations in space. However, long before such a concept can become reality, a significant effort must be invested in analysis and ground testing to guide the development of nuclear fuels. Any testing in support of development of nuclear fuels for space propulsion must be safely contained to prevent the release of radioactive materials. This paper describes analyses performed to assess the structural integrity of a test confinement vessel. The confinement structure, a stainless steel pressure vessel with bolted flanges, was designed for operating static pressures in accordance with the ASME Boiler and Pressure Vessel Code. In addition to the static operating pressures, the confinement barrier must withstand static overpressures from off-normal conditions without releasing radioactive material. Results from axisymmetric finite element analyses are used to evaluate the response of the confinement structure under design and accident conditions. For the static design conditions, the stresses computed from the ASME code are compared with the stresses computed by the finite element method.

New Evidence for Strategic Differences between Static and Dynamic Search Tasks: An Individual Observer Analysis of Eye Movements

PubMed Central

Dickinson, Christopher A.; Zelinsky, Gregory J.

2013-01-01

Two experiments are reported that further explore the processes underlying dynamic search. In Experiment 1, observers’ oculomotor behavior was monitored while they searched for a randomly oriented T among oriented L distractors under static and dynamic viewing conditions. Despite similar search slopes, eye movements were less frequent and more spatially constrained under dynamic viewing relative to static, with misses also increasing more with target eccentricity in the dynamic condition. These patterns suggest that dynamic search involves a form of sit-and-wait strategy in which search is restricted to a small group of items surrounding fixation. To evaluate this interpretation, we developed a computational model of a sit-and-wait process hypothesized to underlie dynamic search. In Experiment 2 we tested this model by varying fixation position in the display and found that display positions optimized for a sit-and-wait strategy resulted in higher d′ values relative to a less optimal location. We conclude that different strategies, and therefore underlying processes, are used to search static and dynamic displays. PMID:23372555

Impaired recognition of body expressions in the behavioral variant of frontotemporal dementia.

PubMed

Van den Stock, Jan; De Winter, François-Laurent; de Gelder, Beatrice; Rangarajan, Janaki Raman; Cypers, Gert; Maes, Frederik; Sunaert, Stefan; Goffin, Karolien; Vandenberghe, Rik; Vandenbulcke, Mathieu

2015-08-01

Progressive deterioration of social cognition and emotion processing are core symptoms of the behavioral variant of frontotemporal dementia (bvFTD). Here we investigate whether bvFTD is also associated with impaired recognition of static (Experiment 1) and dynamic (Experiment 2) bodily expressions. In addition, we compared body expression processing with processing of static (Experiment 3) and dynamic (Experiment 4) facial expressions, as well as with face identity processing (Experiment 5). The results reveal that bvFTD is associated with impaired recognition of static and dynamic bodily and facial expressions, while identity processing was intact. No differential impairments were observed regarding motion (static vs. dynamic) or category (body vs. face). Within the bvFTD group, we observed a significant partial correlation between body and face expression recognition, when controlling for performance on the identity task. Voxel-Based Morphometry (VBM) analysis revealed that body emotion recognition was positively associated with gray matter volume in a region of the inferior frontal gyrus (pars orbitalis/triangularis). The results are in line with a supramodal emotion recognition deficit in bvFTD. Copyright © 2015 Elsevier Ltd. All rights reserved.

Microrheology: Structural evolution under static and dynamic conditions by simultaneous analysis of confocal microscopy and diffusing wave spectroscopy

NASA Astrophysics Data System (ADS)

Nicolas, Yves; Paques, Marcel; Knaebel, Alexandra; Steyer, Alain; Munch, Jean-Pierre; Blijdenstein, Theo B. J.; van Aken, George A.

2003-08-01

An oscillatory shear configuration was developed to improve understanding of structural evolution during deformation. It combines an inverted confocal scanning laser microscope (CSLM) and a special sample holder that can apply to the sample specific deformation: oscillatory shear or steady strain. In this configuration, a zero-velocity plane is created in the sample by moving two plates in opposite directions, thereby providing stable observation conditions of the structural behavior under deformation. The configuration also includes diffusion wave spectroscopy (DWS) to monitor the network properties via particle mobility under static and dynamic conditions. CSLM and DWS can be performed simultaneously and three-dimensional images can be obtained under static conditions. This configuration is mainly used to study mechanistic phenomena like particle interaction, aggregation, gelation and network disintegration, interactions at interfaces under static and dynamic conditions in semisolid food materials (desserts, dressings, sauces, dairy products) and in nonfood materials (mineral emulsions, etc.). Preliminary data obtained with this new oscillatory shear configuration are described that demonstrate their capabilities and the potential contribution to other areas of application also.

Using articulated scene models for dynamic 3d scene analysis in vista spaces

NASA Astrophysics Data System (ADS)

Beuter, Niklas; Swadzba, Agnes; Kummert, Franz; Wachsmuth, Sven

2010-09-01

In this paper we describe an efficient but detailed new approach to analyze complex dynamic scenes directly in 3D. The arising information is important for mobile robots to solve tasks in the area of household robotics. In our work a mobile robot builds an articulated scene model by observing the environment in the visual field or rather in the so-called vista space. The articulated scene model consists of essential knowledge about the static background, about autonomously moving entities like humans or robots and finally, in contrast to existing approaches, information about articulated parts. These parts describe movable objects like chairs, doors or other tangible entities, which could be moved by an agent. The combination of the static scene, the self-moving entities and the movable objects in one articulated scene model enhances the calculation of each single part. The reconstruction process for parts of the static scene benefits from removal of the dynamic parts and in turn, the moving parts can be extracted more easily through the knowledge about the background. In our experiments we show, that the system delivers simultaneously an accurate static background model, moving persons and movable objects. This information of the articulated scene model enables a mobile robot to detect and keep track of interaction partners, to navigate safely through the environment and finally, to strengthen the interaction with the user through the knowledge about the 3D articulated objects and 3D scene analysis. [Figure not available: see fulltext.

Challenging the in-vivo assessment of biomechanical properties of the uterine cervix: A critical analysis of ultrasound based quasi-static procedures.

PubMed

Maurer, M M; Badir, S; Pensalfini, M; Bajka, M; Abitabile, P; Zimmermann, R; Mazza, E

2015-06-25

Measuring the stiffness of the uterine cervix might be useful in the prediction of preterm delivery, a still unsolved health issue of global dimensions. Recently, a number of clinical studies have addressed this topic, proposing quantitative methods for the assessment of the mechanical properties of the cervix. Quasi-static elastography, maximum compressibility using ultrasound and aspiration tests have been applied for this purpose. The results obtained with the different methods seem to provide contradictory information about the physiologic development of cervical stiffness during pregnancy. Simulations and experiments were performed in order to rationalize the findings obtained with ultrasound based, quasi-static procedures. The experimental and computational results clearly illustrate that standardization of quasi-static elastography leads to repeatable strain values, but for different loading forces. Since force cannot be controlled, this current approach does not allow the distinction between a globally soft and stiff cervix. It is further shown that introducing a reference elastomer into the elastography measurement might overcome the problem of force standardization, but a careful mechanical analysis is required to obtain reliable stiffness values for cervical tissue. In contrast, the maximum compressibility procedure leads to a repeatable, semi-quantitative assessment of cervical consistency, due to the nonlinear nature of the mechanical behavior of cervical tissue. The evolution of cervical stiffness in pregnancy obtained with this procedure is in line with data from aspiration tests. Copyright © 2015 Elsevier Ltd. All rights reserved.

Analysis of the behavior of a wiper blade around the reversal in consideration of dynamic and static friction

NASA Astrophysics Data System (ADS)

Unno, M.; Shibata, A.; Yabuno, H.; Yanagisawa, D.; Nakano, T.

2017-04-01

Reducing noise generated by automobile windshield wipers during reversals is a desirable feature. For this purpose, details of the behavior of the wiper blade need to be ascertained. In this study, we present theoretical and experimental clarification of this behavior during reversals. Using simulation algorithms to consider exactly the effects of dynamic and static friction, we determined theoretical predictions for the vibrational response caused by friction and the response frequency and compared these results with experimental ones obtained from a mock-up incorporating an actual wiper blade. We introduce an analytical link model with two degrees of freedom and consider two types of states at the blade tip. In the stick and the slip states, static friction and dynamic friction, respectively, act on the blade tip. In the theoretical approach, the static friction is expressed by a set-valued function. The transition between the two states is repeated and an evaluation of an exact transition time leads to an accurate prediction of the behavior of the wiper system. In the analysis, the slack variable method is used to find the exact transition time. Assuming low blade speeds during reversal, a parameter study indicates that the blade tip transitions between slip and stick states and the frequency of the vibration caused by this transitions is close to the natural frequency of the neck of the wiper blade. The theoretical predictions are in good agreement with experimental observations.

Space Launch System Ascent Static Aerodynamic Database Development

NASA Technical Reports Server (NTRS)

Pinier, Jeremy T.; Bennett, David W.; Blevins, John A.; Erickson, Gary E.; Favaregh, Noah M.; Houlden, Heather P.; Tomek, William G.

2014-01-01

This paper describes the wind tunnel testing work and data analysis required to characterize the static aerodynamic environment of NASA's Space Launch System (SLS) ascent portion of flight. Scaled models of the SLS have been tested in transonic and supersonic wind tunnels to gather the high fidelity data that is used to build aerodynamic databases. A detailed description of the wind tunnel test that was conducted to produce the latest version of the database is presented, and a representative set of aerodynamic data is shown. The wind tunnel data quality remains very high, however some concerns with wall interference effects through transonic Mach numbers are also discussed. Post-processing and analysis of the wind tunnel dataset are crucial for the development of a formal ascent aerodynamics database.

Nonlinear static and dynamic finite element analysis of an eccentrically loaded graphite-epoxy beam

NASA Technical Reports Server (NTRS)

Fasanella, Edwin L.; Jackson, Karen E.; Jones, Lisa E.

1991-01-01

The Dynamic Crash Analysis of Structures (DYCAT) and NIKE3D nonlinear finite element codes were used to model the static and implulsive response of an eccentrically loaded graphite-epoxy beam. A 48-ply unidirectional composite beam was tested under an eccentric axial compressive load until failure. This loading configuration was chosen to highlight the capabilities of two finite element codes for modeling a highly nonlinear, large deflection structural problem which has an exact solution. These codes are currently used to perform dynamic analyses of aircraft structures under impact loads to study crashworthiness and energy absorbing capabilities. Both beam and plate element models were developed to compare with the experimental data using the DYCAST and NIKE3D codes.

Method for high resolution magnetic resonance analysis using magic angle technique

DOEpatents

Wind, Robert A.; Hu, Jian Zhi

2003-11-25

A method of performing a magnetic resonance analysis of a biological object that includes placing the biological object in a main magnetic field and in a radio frequency field, the main magnetic field having a static field direction; rotating the biological object at a rotational frequency of less than about 100 Hz around an axis positioned at an angle of about 54.degree.44' relative to the main magnetic static field direction; pulsing the radio frequency to provide a sequence that includes a magic angle turning pulse segment; and collecting data generated by the pulsed radio frequency. According to another embodiment, the radio frequency is pulsed to provide a sequence capable of producing a spectrum that is substantially free of spinning sideband peaks.

USB environment measurements based on full-scale static engine ground tests. [Upper Surface Blowing for YC-14

NASA Technical Reports Server (NTRS)

Sussman, M. B.; Harkonen, D. L.; Reed, J. B.

1976-01-01

Flow turning parameters, static pressures, surface temperatures, surface fluctuating pressures and acceleration levels were measured in the environment of a full-scale upper surface blowing (USB) propulsive-lift test configuration. The test components included a flightworthy CF6-50D engine, nacelle and USB flap assembly utilized in conjunction with ground verification testing of the USAF YC-14 Advanced Medium STOL Transport propulsion system. Results, based on a preliminary analysis of the data, generally show reasonable agreement with predicted levels based on model data. However, additional detailed analysis is required to confirm the preliminary evaluation, to help delineate certain discrepancies with model data and to establish a basis for future flight test comparisons.

Numerical analyses of a rocket engine turbine and comparison with air test data

NASA Technical Reports Server (NTRS)

Tran, Ken; Chan, Daniel C.; Hudson, Susan T.; Gaddis, Stephen W.

1992-01-01

The study presents cold air test data on the Space Shuttle Main Engine High Pressure Fuel Turbopump turbine recently collected at the NASA Marshall Space Flight Center. Overall performance data, static pressures on the first- and second-stage nozzles, and static pressures along with the gas path at the hub and tip are gathered and compared with various (1D, quasi-3D, and 3D viscous) analysis procedures. The results of each level of analysis are compared to test data to demonstrate the range of applicability for each step in the design process of a turbine. One-dimensional performance prediction, quasi-3D loading prediction, 3D wall pressure distribution prediction, and 3D viscous wall pressure distribution prediction are illustrated.

Using the technique of computed tomography for nondestructive analysis of pharmaceutical dosage forms

NASA Astrophysics Data System (ADS)

de Oliveira, José Martins, Jr.; Mangini, F. Salvador; Carvalho Vila, Marta Maria Duarte; ViníciusChaud, Marco

2013-05-01

This work presents an alternative and non-conventional technique for evaluatingof physic-chemical properties of pharmaceutical dosage forms, i.e. we used computed tomography (CT) technique as a nondestructive technique to visualize internal structures of pharmaceuticals dosage forms and to conduct static and dynamical studies. The studies were conducted involving static and dynamic situations through the use of tomographic images, generated by the scanner at University of Sorocaba - Uniso. We have shown that through the use of tomographic images it is possible to conduct studies of porosity, densities, analysis of morphological parameters and performing studies of dissolution. Our results are in agreement with the literature, showing that CT is a powerful tool for use in the pharmaceutical sciences.

Nuclear reactor transient analysis via a quasi-static kinetics Monte Carlo method

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

Jo, YuGwon; Cho, Bumhee; Cho, Nam Zin, E-mail: nzcho@kaist.ac.kr

2015-12-31

The predictor-corrector quasi-static (PCQS) method is applied to the Monte Carlo (MC) calculation for reactor transient analysis. To solve the transient fixed-source problem of the PCQS method, fission source iteration is used and a linear approximation of fission source distributions during a macro-time step is introduced to provide delayed neutron source. The conventional particle-tracking procedure is modified to solve the transient fixed-source problem via MC calculation. The PCQS method with MC calculation is compared with the direct time-dependent method of characteristics (MOC) on a TWIGL two-group problem for verification of the computer code. Then, the results on a continuous-energy problemmore » are presented.« less

Wind-tunnel investigation of the powered low-speed longitudinal aerodynamics of the Vectored-Engine-Over (VEO) wing fighter configuration

NASA Technical Reports Server (NTRS)

Paulson, J. W.; Whitten, P. D.; Stumpfl, S. C.

1982-01-01

A wind-tunnel investigation incorporating both static and wind-on testing was conducted in the Langley 4- by 7-Meter Tunnel to determine the effects of vectored thrust along with spanwise blowing on the low-speed aerodynamics of an advanced fighter configuration. Data were obtained over a large range of thrust coefficients corresponding to takeoff and landing thrust settings for many nozzle configurations. The complete set of static thrust data and the complete set of longitudinal aerodynamic data obtained in the investigation are presented. These data are intended for reference purposes and, therefore, are presented without analysis or comment. The analysis of the thrust-induced effects found in the investigation are not discussed.

The impact of dynamic balance measures on walking performance in multiple sclerosis.

PubMed

Fritz, Nora E; Marasigan, Rhul Evans R; Calabresi, Peter A; Newsome, Scott D; Zackowski, Kathleen M

2015-01-01

Static posture imbalance and gait dysfunction are common in individuals with multiple sclerosis (MS). Although the impact of strength and static balance on walking has been examined, the impact of dynamic standing balance on walking in MS remains unclear. To determine the impact of dynamic balance, static balance, sensation, and strength measures on walking in individuals with MS. Fifty-two individuals with MS (27 women; 26 relapsing-remitting; mean age = 45.6 ± 10.3 years; median Expanded Disability Status Scale score = 3.5) participated in posturography testing (Kistler-9281 force plate), hip flexion, hip extension, ankle dorsiflexion strength (Microfet2 hand-held dynamometer), sensation (Vibratron II), and walk velocity (Optotrak Motion Analysis System). Analyses included, Mann-Whitney, Spearman correlation coefficients, and multiple regression. All measures were abnormal in individuals with MS when compared with norms (P < .05). Static balance (eyes open, feet together [EOFT]), anterior-posterior (AP) dynamic sway, and hip extension strength were strongly correlated with walking velocity (AP sway r = 0.68; hip extension strength r = 0.73; EOFT r = -0.40). Together, AP dynamic sway (ρr = 0.71; P < .001), hip extension strength (ρr = 0.54; P < .001), and EOFT static balance (ρr = -0.41; P = .01) explained more than 70% of the variance in walking velocity (P < .001). AP dynamic sway affects walking performance in MS. A combined evaluation of dynamic balance, static balance, and strength may lead to a better understanding of walking mechanisms and the development of strategies to improve walking. © The Author(s) 2014.

David Keyser | NREL

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