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A dynamic simulation for the motion of an isolated superdislocation (SD) under an applied stress is presented. The simulation incorporates the concept that cross slip from (111) planes to (010) planes can locally pin the SD. It is determined that the principal effect of cross-slip-pinning is not the reduction in the SD velocity, but rather the exhaustion of the density of mobile SDs.
Several theoretical studies have reported that the geometry and structure of grain boundaries in polycrystalline materials could impose a significant effect on the Hall-Petch slope. However, experimental observations are primarily limited by the ability of the techniques to accurately quantify the grain boundary strength and validate these theoretical models. Using high-resolution electron backscatter diffraction (HR-EBSD), the local stress tensor ahead of a slip band blocked by a grain boundary was quantified and coupled with a continuum dislocation pile-up model to assess the barrier strength of specific grain boundaries to specific slip systems, referred to as micro-Hall-Petch coefficient. For basal slip system in a deformed Mg-4Al alloy, the micro-Hall-Petch coefficient ($k^{basal}_{μ}$) varied significantly, from 0.054 to 0.184 MPa - m 1/2 for nine different grain boundaries. These results were correlated with geometric descriptors of the respective grain boundaries, with three-dimensional GB profile additionally measured via focused ion beam milling. It was found that the angle between the two slip plane traces on the grain boundary plane was the most sensitive parameter affecting $k^{basal}_{μ}$, followed by the angle between the slip directions. A functional form for calculation of $k^{basal}_{μ}$ depending on these two angles is proposed to augment crystal plasticity constitutive models with slip resistance dependent on some measure of the grain size. The method allows a new pathway to calibrate grain size strengthening parameters in crystal plasticity models, allowing further computational investigations of the interrelationship between texture, grain morphology, and the Hall Petch effect.
Crystal plasticity (CP) is a powerful meso-scale technique for deformation modeling in polycrystalline materials. Crystal plasticity models typically do not include an explicit description of grain boundary (GB) sliding, which could lead to inaccurate predictions of strain distributions, especially in the vicinity of GBs. In the present study, a CP model is developed that includes GB sliding as an additional deformation mechanism and models the interaction between slip and GB sliding. Atomistic simulations are used to formulate the constitutive model for GB sliding and its interaction with incident slip. The deformation fields and structure of the GBs are obtained directly from experimental characterization and are faithfully reproduced as bicrystal systems for molecular dynamics simulations. The GBs are modeled as random-type (non-coincidence, asymmetrical) boundaries as observed from experimental data. The underlying atomistic-scale mechanism for pure sliding of random GBs was found to be analogous to fluid-flow. The interaction between incident slip and a sliding GB caused local increases in stress concentration, which further led to a momentary increase in the local sliding rate. The displacement profiles at the sliding GBs computed from the CP model with sliding accommodation are 38% more accurate than the baseline CP model as quantified by the mean squared error between the simulations and experiment. Here these results help improve the sophistication and accuracy of deformation modeling by including physics-based descriptions for GB sliding and its interaction with slip, eventually leading to more reliable predictions of micromechanical quantities.
Deformation twinning induces shear strain localization in hexagonal close-packed crystals and is critical for the material’s ductility and failure. Cracks often occur at twin-twin or twin-grain boundary intersections and propagate along twin bands. However, most crystal plasticity models for deformation twinning are based on a “pseudo-slip” approach and do not capture the localized deformation associated with the formation of each discrete twin band. The few exceptions are discrete twin models that involve very complex numerical algorithms and are often compromised in accuracy due to the numerical convergence. These factors make the discrete twin models hard to adopt. This paper proposes a modification to the conventional finite element weak form, to fully incorporate a twin-induced heterogeneous deformation that does not depend on the “pseudo-slip” assumption. The model starts by splitting the deformation gradient into elastic-slip-twinning components. The twin-induced deformation gradient component is computed separately by solving a microstructural evolution problem and then implemented into finite element weak form by constructing a global “twin-force” vector. The constitutive update (e.g., in the user-defined material subroutine, or UMAT, for ABAQUS) therefore avoids dealing with the twinning and recovers to the form of a regular slip-based crystal plasticity model. The results presented here indicate that the twin-induced strain localization and the associated stress-reversal phenomena near the twin band were naturally captured in the model, which was validated against an in-situ synchrotron X-ray micro-diffraction experiment.
In situ measurements of fracture deformation during fluid injection are rare, yet essential for understanding the mechanical response of fractured rock. In this study, we evaluate the reliability of two methods by comparing their slip vector estimates: high-resolution borehole acoustic televiewer images captured before and after injection tests, and displacement data from a three-component borehole deformation probe recorded during the injections. Acoustic televiewer images capture only final in-plane displacement, whereas three-component borehole deformation measurements provide full 3D, transient fracture movement. Four injection tests in a fractured granitic rock mass along an inclined borehole at the Bedretto Underground Laboratory (Switzerland), beneath more than 1100 m of overburden, were analyzed. The two methods yielded consistent kinematics and comparable slip magnitudes, typically in the range of 0.2 – 0.6 mm. Angular differences between estimated slip directions ranged from 0.2° to 28°. For two test intervals with pre-existing fractures optimally oriented for slip, the measured slip vectors agreed with forward-modeled slip vectors based on the regional in situ stress field, supporting the Wallace–Bott hypothesis. Measurable shear displacement was identified in two test intervals containing fractures oriented nearly perpendicular to the least principal stress, including a newly formed hydraulic fracture. This demonstrates that even fractures unfavorably oriented for slip can undergo shear due to local stress perturbations around an inclined borehole.
Here, the effects of 5 MeV Fe 2+ ion irradiation at 300°C on the microstructure evolution and deformation behavior of a FeCrAl C26M alloy are presented. It has been found that dislocation loop density increases an order of magnitude from 1 dpa to 16 dpa irradiations, whereas, the dislocation loop size saturates with increasing damage. Micropillars, 600 nm in diameter and 1.3 µm in height, were fabricated and compressed inside grains with <001>, <011> and <111> crystallographic orientations, respectively. {112} <111> has been identified as the primary slip system in both unirradiated and irradiated alloy. The increase in yield stress after irradiation is observed with measurable variation along <001> and <011> vs. along <111>. By applying the Orowan dispersed barrier model, the increase of yield stress is found mainly due to the slip resistance of radiation generated defect loops. Detailed transmission electron microscopy (TEM) studies were performed to quantify the Burgers vector and the distribution of irradiation induced dislocations at elevated strains. It is revealed that localized shear instability is caused by avalanche slip events of ½<111> dislocations gliding out of tested pillars. Simultaneously, a large number of sessile/immobile <100> dislocations formed in the vicinity of slip band, leading to the hardening at elevated strains.
Application of polycrystalline hexagonal close packed (HCP) metals in engineering designs has been constrained by their anisotropic responses due to twinning and limited plasticity. In deformation, twins most often initiate at grain boundaries (GBs), and thicken and propagate across the grain. In this work, the GB twin embryos in Mg and Mg alloys, and the conditions that influence their propagation are investigated. Using a micromechanical crystal plasticity model, the role of embryo shape on the driving forces prevailing at the embryo boundaries that could support its expansion is studied. The modeled embryos are either planar, extending more in the shear direction than normal to the twin plane, or equiaxed. Results show that the thinner the embryo, the greater the driving forces for both thickening and forward propagation. Alloys with low prismatic-to-basal critical resolved shear stress (CRSS) ratios promote embryo thickening and large CRSS values for the slip mode that primarily accommodates the twin shear encourage propagation. The neighboring grains with orientations that enable local accommodation of the embryo twin shear by pyramidal slip promote forward propagation but have little effect on thickening. When two like embryos lie along the same GB, their paired interaction promotes forward propagation but hinders thickening.
Polycrystalline alloys are used pervasively across structural applications contingent upon extensive experimental testing. A statistically representative number of tests are required to expose the variability in the material's performance, as a result of non-uniform microstructures and associated micromechanical fields. In a more direct means of capturing this pertinent information, multi-modal experimental techniques are presented to measure and track the complete micromechanical state, evolving during loading, of each and every grain within the regions of interest. Specifically, a combination of high-energy X-ray diffraction microscopy and digital image correlation coupled with electron backscatter diffraction are conducted on a specimen for each of the alloys, Haynes 282 and Ti7Al. The results of the multi-modal analysis definitively demonstrate that the degree of heterogeneity increases with deformation level and is used to assess the number of grains necessary for a representative volume element description of the stress state for each of these materials. Moreover, higher resolution imaging is used for identification of the slip system activity and subsequently used to study slip transmission events. An accurate knowledge of the resolved shear stress in adjacent grains (grain interactions) is demonstrated to be a key descriptor of the slip transmission events.
Time-dependent deformation in nuclear graphite is influenced by the creation and migration of radiation-induced defects in the reactor environment. This study investigates the role of pre-existing defects such as point defect clusters and Mrozowski cracks in nuclear graphite IG-110. Separate specimens were irradiated with a 2.8 MeV Au 2+ beam with a fluence of 4.38 × 10 14 cm −2 and an 8 MeV C 2+ beam with a fluence of 1.24 × 10 16 cm −2 . Microscopic specimens were either mechanically loaded inside a transmission electron microscope (TEM) or subjected to ex situ indentation-based creep loading. In situ TEM tests showed significant plasticity in regions highly localized around the Mrozowski cracks, resembling slip or ripplocation bands. Slip bands were also seen near regions without pre-existing defects but at very high stresses. Ex situ self-ion irradiation embrittled the specimens and decreased the creep displacement and rate, while heavy ion irradiation resulted in the opposite behavior. We hypothesize that the large-sized gold ions (compared to the carbon atoms) induced interplanar swelling as well as cross-plane channels for increased defect mobility. These findings illustrate the role of pre-existing defects in the dynamic relaxation of stresses during irradiation and the need for more studies into the radiation environment’s impact on the mechanical response of nuclear graphite.
Mean and fluctuating gas velocities, liquid mass fluxes and drop sizes were in nonevaporating sprays. These results, as well as existing measurements in solid particle-laden jets, were used to evaluate models of these processes. The following models were considered: (1) a locally homogeneous flow (LHF) model, where slip between the phases was neglected; (2) a deterministic separated flow (DSF) model, where slip was considered but effects of particle dispersion by turbulence were ignored; and (3) a stochastic separated flow (SSF) model, where effects of interphase slip and turbulent dispersion were considered using random-walk computations for particle motion. The LHF and DSF models did not provide very satisfactory predictions over the present data base. In contrast, the SSF model performed reasonably well - including conditions in nonevaporating sprays where enhanced dispersion of particles by turbulence caused the spray to spread more rapidly than single-phase jets for comparable conditions. While these results are encouraging, uncertainties in initial conditions limit the reliability of the evaluation. Current work is seeking to eliminate this deficiency.
Mean and fluctuating velocities of both phases, particle mass fluxes, particle size distributions in turbulent particle-laden jets were measured. The following models are considered: (1) a locally homogeneous flow (LHF) model, where slip between the phases was neglected; (2) a deterministic separated flow (DSF) model, where slip was considered but effects of particle dispersion by turbulence were ignored; and (3) a stochastic separated flow (SSF) model. The SSF model performed reasonably well with no modifications in the prescriptions for eddy properties from its original calibration. A modified k- model, incorporating direct contributions of interphase transport on turbulence properties (turbulence modulation), was developed within the framework of the SSF model.
Structure measurements were completed within the dilute portion of axisymmetric nonevaporating sprays (SMD of 30 and 87 microns) injected into a still air environment, including: mean and fluctuating gas velocities and Reynolds stress using laser-Doppler anemometry; mean liquid fluxes using isokinetic sampling; drop sizes using slide impaction; and drop sizes and velocities using multiflash photography. The new measurements were used to evaluate three representative models of sprays: (1) a locally homogeneous flow (LHF) model, where slip between the phases was neglected; (2) a deterministic separated flow (DSF) model, where slip was considered but effects of drop interaction with turbulent fluctuations were ignored; and (3) a stochastic separated flow (SSF) model, where effects of both interphase slip and turbulent fluctuations were considered using random sampling for turbulence properties in conjunction with random-walk computations for drop motion. The LHF and DSF models were unsatisfactory for present test conditions-both underestimating flow widths and the rate of spread of drops. In contrast, the SSF model provided reasonably accurate predictions, including effects of enhanced spreading rates of sprays due to drop dispersion by turbulence, with all empirical parameters fixed from earlier work.
Structure measurements were completed within the dilute portion of axisymmetric nonevaporating sprays. Measurements included: mean velocities, velocity fluctuations, and Reynolds stress of the gas phase; and mean velocities, fluctuating velocities, mass flux, and diameter distributions of the drop phase. The measurements were used to evaluate three typical methods of analyzing sprays: (1) a locally homogeneous flow (LHF) analysis, where slip between the phases is neglected; (2) a deterministic separated flow (DSF) analysis, where slip is considered but effects of drop interactions with turbulence are ignored; and (3) a stochastic separated flow (SSF) analysis, where effects of both slip and turbulence are considered using random-walk computations for drop motion. Measurements of initial conditions of both phases near the injector, mean gas-phase properties, and liquid flux distributions are described herein. Best agreement between predictions and measurements was obtained with the SSF model, which provided a reasonable representation of turbulent dispersion of drops. A companion paper presents additional measurements of drop continuous phase properties.
This is the second part of a study reporting structure measurements in the dilute portion of axisymmetric nonevaporating sprays. Measurements are compared with predictions of three typical methods for analyzing sprays: (1) locally homogeneous flow (LHF) analysis, where slip between the phases is neglected; (2) deterministic separated flow (DSF) analysis, where slip is considered but effects of drop interactions with turbulence are ignored; and (3) stochastic separated flow (SSF) analysis, where both slip and effects of drop interactions with turbulence are considered. This part of the study reports measurements of mean and fluctuating drop velocities, the variation of Sauter mean diameter, and gas-phase turbulence properties in the dilute portion of the sprays. Best agreement between predictions and measurements was obtained with the SSF analysis. For present measurements in the dilute region (void fraction greater than 99.1 percent), effects of drops on gas-phase turbulence properties (turbulence modulation) were small. However, as the dense spray regions near the injector were approached, the measurements indicated modification of turbulence properties by drop motion.
Robots in applications may be subject to holonomic or nonholonomic constraints. Examples of holonomic constraints include a manipulator constrained through the contact with the environment, e.g., inserting a part, turning a crank, etc., and multiple manipulators constrained through a common payload. Examples of nonholonomic constraints include no-slip constraints on mobile robot wheels, local normal rotation constraints for soft finger and rolling contacts in grasping, and conservation of angular momentum of in-orbit space robots. The above examples all involve equality constraints; in applications, there are usually additional inequality constraints such as robot joint limits, self collision and environment collision avoidance constraints, steering angle constraints in mobile robots, etc. The problem of finding a kinematically feasible path that satisfies a given set of holonomic and nonholonomic constraints, of both equality and inequality types is addressed. The path planning problem is first posed as a finite time nonlinear control problem. This problem is subsequently transformed to a static root finding problem in an augmented space which can then be iteratively solved. The algorithm has shown promising results in planning feasible paths for redundant arms satisfying Cartesian path following and goal endpoint specifications, and mobile vehicles with multiple trailers. In contrast to local approaches, this algorithm is less prone to problems such as singularities and local minima.
Teamed Robots for Exploration and Science in Steep Areas (TRESSA) is a system of three autonomous mobile robots that cooperate with each other to enable scientific exploration of steep terrain (slope angles up to 90 ). Originally intended for use in exploring steep slopes on Mars that are not accessible to lone wheeled robots (Mars Exploration Rovers), TRESSA and systems like TRESSA could also be used on Earth for performing rescues on steep slopes and for exploring steep slopes that are too remote or too dangerous to be explored by humans. TRESSA is modeled on safe human climbing of steep slopes, two key features of which are teamwork and safety tethers. Two of the autonomous robots, denoted Anchorbots, remain at the top of a slope; the third robot, denoted the Cliffbot, traverses the slope. The Cliffbot drives over the cliff edge supported by tethers, which are payed out from the Anchorbots (see figure). The Anchorbots autonomously control the tension in the tethers to counter the gravitational force on the Cliffbot. The tethers are payed out and reeled in as needed, keeping the body of the Cliffbot oriented approximately parallel to the local terrain surface and preventing wheel slip by controlling the speed of descent or ascent, thereby enabling the Cliffbot to drive freely up, down, or across the slope. Due to the interactive nature of the three-robot system, the robots must be very tightly coupled. To provide for this tight coupling, the TRESSA software architecture is built on a combination of (1) the multi-robot layered behavior-coordination architecture reported in "An Architecture for Controlling Multiple Robots" (NPO-30345), NASA Tech Briefs, Vol. 28, No. 10 (October 2004), page 65, and (2) the real-time control architecture reported in "Robot Electronics Architecture" (NPO-41784), NASA Tech Briefs, Vol. 32, No. 1 (January 2008), page 28. The combination architecture makes it possible to keep the three robots synchronized and coordinated, to use data from all three robots for decision- making at each step, and to control the physical connections among the robots. In addition, TRESSA (as in prior systems that have utilized this architecture) , incorporates a capability for deterministic response to unanticipated situations from yet another architecture reported in Control Architecture for Robotic Agent Command and Sensing (NPO-43635), NASA Tech Briefs, Vol. 32, No. 10 (October 2008), page 40. Tether tension control is a major consideration in the design and operation of TRESSA. Tension is measured by force sensors connected to each tether at the Cliffbot. The direction of the tension (both azimuth and elevation) is also measured. The tension controller combines a controller to counter gravitational force and an optional velocity controller that anticipates the motion of the Cliffbot. The gravity controller estimates the slope angle from the inclination of the tethers. This angle and the weight of the Cliffbot determine the total tension needed to counteract the weight of the Cliffbot. The total needed tension is broken into components for each Anchorbot. The difference between this needed tension and the tension measured at the Cliffbot constitutes an error signal that is provided to the gravity controller. The velocity controller computes the tether speed needed to produce the desired motion of the Cliffbot. Another major consideration in the design and operation of TRESSA is detection of faults. Each robot in the TRESSA system monitors its own performance and the performance of its teammates in order to detect any system faults and prevent unsafe conditions. At startup, communication links are tested and if any robot is not communicating, the system refuses to execute any motion commands. Prior to motion, the Anchorbots attempt to set tensions in the tethers at optimal levels for counteracting the weight of the Cliffbot; if either Anchorbot fails to reach its optimal tension level within a specified time, it sends message to the other robots and the commanded motion is not executed. If any mechanical error (e.g., stalling of a motor) is detected, the affected robot sends a message triggering stoppage of the current motion. Lastly, messages are passed among the robots at each time step (10 Hz) to share sensor information during operations. If messages from any robot cease for more than an allowable time interval, the other robots detect the communication loss and initiate stoppage.
The processing of the GPS observations of the site survey at Sheshan 25-m radio telescope in August 2008 is reported. Because each session in this survey is only about six hours, not allowing the subdaily high frequency variations in the station coordinates to be reasonably smoothed, and because there are serious cycle slips in the observations and a large volume of data would be rejected during the software automatic adjustment of slips, the ordinary solution settings of GAMIT needed to be adjusted by loosening the constraints in the a priori coordinates to 10 m, adopting the "quick" mode in the solution iteration, and combining Cview manual operation with GAMIT automatic fixing of cycle slips. The resulting coordinates of the local control polygon in ITRF2005 are then compared with conventional geodetic results. Due to large rotations and translations in the two sets of coordinates (geocentric versus quasi-topocentric), the seven transformation parameters cannot be solved for directly. With various trial solutions it is shown that with a partial pre-removal of the large parameters, high precision transformation parameters can be obtained with post-fit residuals at the millimeter level. This analysis is necessary to prepare the follow-on site and transformation survey of the VLBI and SLR telescopes at Sheshan
Linear elastic, thermo-mechanical stress analyses of the Space Shuttle Orbiter wing-leading-edge panels is presented for entry heating conditions. The wing-leading-edge panels are made from reinforced carbon-carbon and serve as a part of the overall thermal protection system. Three-dimensional finite element models are described for three configurations: integrated configuration, an independent single-panel configuration, and a local lower-apex joggle segment. Entry temperature conditions are imposed and the through-the-thickness response is examined. From the integrated model, it was concluded that individual panels can be analyzed independently since minimal interaction between adjacent components occurred. From the independent single-panel model, it was concluded that increased through-the-thickness stress levels developed all along the chord of a panel s slip-side joggle region, and hence isolated local joggle sections will exhibit the same trend. From the local joggle models, it was concluded that two-dimensional plane-strain models can be used to study the influence of subsurface defects along the slip-side joggle region of these panels.