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Latch locked or unlocked with single motion of hand. No tools needed to operate it, and user easily opens or closes it with heavily gloved hand. When unlocked, stem free of main body. In locked state, dowel pins in main body hold stem. Latch equipped with lock and key so only authorized users operate it.
For applications in which unmanned vehicles must traverse unfamiliar terrain, there often exists the risk of vehicle entrapment. Typically, this risk can be reduced by using feedback from on-board sensors that assess the terrain. This work addressed the situations where a vehicle has already become immobilized or the desired route cannot be traversed using conventional rolling. Specifically, the focus was on using push-pull locomotion in high sinkage granular material. Push-pull locomotion is an alternative mode of travel that generates thrust through articulated motion, using vehicle components as anchors to push or pull against. It has been revealed through previous research that push-pull locomotion has the capacity for generating higher net traction forces than rolling, and a unique optical flow technique indicated that this is the result of a more efficient soil shearing method. It has now been found that pushpull locomotion results in less sinkage, lower travel reduction, and better power efficiency in high sinkage material as compared to rolling. Even when starting from an "entrapped" condition, push-pull locomotion was able to extricate the test vehicle. It is the authors' recommendation that push-pull locomotion be considered as a reliable back-up mode of travel for applications where terrain entrapment is a possibility.
SiC fiber-reinforced ceramic matrix composites are being developed for high-temperature advanced jet engine applications. Obtaining a strong, tough composite material depends critically on optimizing the mechanical coupling between the reinforcing fibers and the surrounding matrix material. This has usually been accomplished by applying a thin C or BN coating onto the surface of the reinforcing fibers. The performance of these fiber coatings, however, may degrade under cyclic loading conditions or exposure to different environments. Degradation of the coating-controlled interfacial behavior will strongly affect the useful service lifetime of the composite material. Cyclic fiber push-in testing was applied to monitor the evolution of fiber sliding behavior in both C- and BN-coated small-diameter (15-mm) SiC-fiber-reinforced ceramic matrix composites. The cyclic fiber push-in tests were performed using a desktop fiber push-out apparatus. At the beginning of each test, the fiber to be tested was aligned underneath a 10- mm-diameter diamond punch; then, the applied load was cycled between selected maximum and minimum loads. From the measured response, the fiber sliding distance and frictional sliding stresses were determined for each cycle. Tests were performed in both room air and nitrogen. Cyclic fiber push-in tests of C-coated, SiC-fiber-reinforced SiC showed progressive increases in fiber sliding distances along with decreases in frictional sliding stresses for continued cycling in room air. This rapid degradation in interfacial response was not observed for cycling in nitrogen, indicating that moisture exposure had a large effect in immediately lowering the frictional sliding stresses of C-coated fibers. These results indicate that matrix cracks bridged by C-coated fibers will not be stable, but will rapidly grow in moisture-containing environments. In contrast, cyclic fiber push-in tests of both BN-coated, SiC-fiber-reinforced SiC and BNcoated, SiC-fiber-reinforced barium strontium aluminosilicate showed no significant changes in fiber sliding behavior with continued short-term cycling in either room air or nitrogen. Although the composites with BN-coated fibers showed stable short-term cycling behavior in both environments, long-term (several-week) exposure of debonded fibers to room air resulted in dramatically increased fiber sliding distances and decreased frictional sliding stresses. These results indicate that although matrix cracks bridged by BNcoated fibers will show short-term stability, such cracks will show substantial growth with long-term exposure to moisture-containing environments. Newly formulated BN coatings, with higher moisture resistance, will be tested in the near future.
This paper details the multibody simulation of three phases of critical importance to the feasibility of the REMORA CubeSat space debris mitigation concept: the final approach of the CubeSat to a spent rocket booster; the grappling of the spent rocket booster using a robotic arm; and the pushing of the spent rocket booster to divert its course from another on-orbit asset. The extension of a robotic mobility and manipulation modeling toolkit (M3TK) from multibody dynamics simulation of manipulators and ground vehicles to simulation of orbital robotics is outlined. This includes the identification of the appropriate parameters required to concisely and generically describe thruster loads, thruster mixing, spacecraft control, and spacecraft navigation for the purpose of on-orbit robotics simulation. A high-level spacecraft navigator commands maneuvers to target spacecraft states. A PID spacecraft controller takes the target states and calculates desired forces and torques. A thruster mixer solves a quadratic program to determine the optimal thruster firing times for the propulsion system. Pulse width modulated actuation of eight canted cold gas thrusters is used in the simulated approach to a rocket nozzle from a distance of 200 m. A five degree of freedom robotic arm is controlled to position a pair of pincers to grasp the rocket nozzle. Contact dynamics are used to accurately simulate the grasping of the rocket nozzle by the pincers. A similar, but separate simulation is performed to assess the ability of the REMORA CubeSat to push the large spent rocket booster. This diversion maneuver makes use of an additional, larger thruster, and pushes the rocket booster in excess of 400 m. Appropriate motor control gains on the robotic arm are found to be higher during the pushing phase than those which are appropriate during free motion; this increase promotes rigidity of the arm and allows it to properly direct the pushing force. Challenges encountered in time step selection for numerical stability of the simulation are also discussed.
A push type fastener for fastening a movable structural part (41) to a fixed structural part (43), wherein the coupling and decoupling actions are both a push type operation, the fastener consisting of a plunger (12) having a shank (20) with a plunger head (18) at one end and a threaded end portion (26a) at the other end, an expandable grommet (14) adapted to receive the plunger shank (20) therethrough, and an attachable head (16) which is securable to the threaded end of the plunger shank (20). The fastener (10) requires each structural part (41, 43) to be provided with an aperture (45, 46) and the attachable head (16) to be smaller than the aperture (46) in the second structural part. The plunger (12) is extensible through the grommet (14) and is structurally configured with an external camming surface (25) which is cooperatively engageable with internal surfaces (38) of the grommet so that when the plunger is inserted in the grommet, the relative positioning of said cooperable camming surfaces determines the expansion of the grommet. Coupling of the parts is effected when the grommet is inserted in the aperture (46) in the fixed structural part (43) and expanded by pushing the plunger head (18) and plunger at least a minimal distance through the grommet. Decoupling is effected by pushing the attachable head (16).
A push type fastener for fastening a movable structural part to a fixed structural part, wherein the coupling and decoupling actions are both a push type operation, the fastener consisting of a plunger having a shank with a plunger head at one end and a threaded end portion at the other end, an expandable grommet adapted to receive the plunger shank there through, and an attachable head which is securable to the threaded end of the plunger shank. The fastener requires each structural part to be provided with an aperture and the attachable head to be smaller than the aperture in the second structural part. The plunger is extensible through the grommet and is structurally configured with an external camming surface which is cooperatively engageable with internal surfaces of the grommet so that when the plunger is inserted in the grommet, the relative positioning of said cooperable camming surfaces determines the expansion of the grommet. Coupling of the parts is effected when the grommet is inserted in the aperture in the fixed structural part and expanded by pushing the plunger head and plunger at least a minimal distance through the grommet. Decoupling is effected by pushing the attachable head.
A fiber push-out technique applied at several sample thicknesses was used to determine both the debond shear stress and the frictional shear stress at the fiber-matrix interface at room temperautre for a unidirectional SiC fiber-reinforced T-24Al-11Nb (in at. pct) composite prepared by a powder cloth technique. The push-out technique measures the separate contributions of bond strength and friction to the mechanical shear strength at the fiber-matrix interface. It was found that the fiber-matrix bond shear strength of this material is significantly higher than the fiber-matrix frictional shear stress (119.2 and 47.8 MPa, respectively).
AES depth profiling and a fiber push-out test for interfacial shear-strength determination have been used to ascertain the mechanical/chemical properties of the fiber/matrix interface in SiC-reinforced reaction-bonded Si3N4, with attention to the weak point where interfacial failure occurs. In the cases of both composite fracture and fiber push-outs, the interfacial failure occurred either between the two C-rich coatings that are present on the double-coated SiC fibers, or between the inner C-rich coating and the SiC fiber. Interface failure occurs at points of very abrupt concentration changes.
Fiber push-out tests have been performed on a ceramic matrix composite consisting of carborundum-sintered SiC fibers, with a BN coating, embedded in a reaction-bonded SiC matrix. Analysis of the push-out data, utilizing the most complete theory presently available, shows that one of the fiber/coating/matrix interfaces has a low fracture energy (one-tenth that of the fiber) and a moderate sliding resistance of about 8 MPa. The debonded sliding interface shows some continuous but minor abrasion, which appears to increase the sliding resistance, but overall the system exhibits very clean smooth sliding. The tensile response of a full-scale composite is then modeled using data obtained here and known fiber strengths to demonstrate the good composite behavior predicted for this material.
Results of the directional solidification experiments on Particle Engulfment and Pushing by Solidifying Interfaces (PEP) conducted on the space shuttle Columbia during the Life and Microgravity Science Mission are reported. Two pure aluminum (99.999%) 9 mm cylindrical rods, loaded with about 2 vol.% 500 micrometers diameter zirconia particles were melted and resolidified in the microgravity (microg) environment of the shuttle. One sample was processed at step-wise increased solidification velocity, while the other at step-wise decreased velocity. It was found that a pushing-to-engulfment transition (PET) occurred in the velocity range of 0.5 to 1 micrometers. This is smaller than the ground PET velocity of 1.9 to 2.4 micrometers. This demonstrates that natural convection increases the critical velocity. A previously proposed analytical model for PEP was further developed. A major effort to identify and produce data for the surface energy of various interfaces required for calculation was undertaken. The predicted critical velocity for PET was of 0.775 micrometers/s.
The experiment Particle Pushing and Engulfment by Solidifying Interfaces (PEP) was conducted during the USMP-4 (United States Microgravity Payload-4) mission on board the shuttle Columbia in November 1997. This experiment has its place within the framework of a long-term scientific effort to understand the physics of particle pushing. The first flight experiment of this kind was performed with a metal matrix composite on board STS-78 in the summer of 1996. The use of opaque matrices limits the evaluation to pre-and post-flight comparison of particle locations within the sample. By using transparent matrices the interaction of one or multiple particles with an advancing solid/liquid (SL) interface can be studied in-situ. If this observation can then directly be transmitted from the orbiter to the scientists by video down-link, a real-time execution of the experiment is possible in a micro-gravity environment. Part of this experiment was an extensive training of the payload specialists to perform the experiment in orbit. This was further enhanced by the availability of video down-link and direct communication with the astronauts. Even though the PEP experiment is aimed at understanding the interaction of a liquid/solid interface with insoluble particles and thus is fundamental in scope, the prospective applications are not. Possible applications range from improved metal matrix composites to understanding and preventing frost heaving affecting roads.
The distribution of insoluble particles in a metal casting depends primarily on the interaction of the particles with the solid/liquid interface (SLI) during the solidification process. The balance of the forces acting on the particle essentially determines whether a particle will be engulfed or pushed by the SLI. An important component of this force balance is the drag force generated by the particle motion in front of the SLI. Previously developed mathematical models for particle/SLI interaction made use of steady-state solutions of this force provided by the lubrication theory. However, our numerical model based on the SLI tracking approach shows that the steady-state approach is inappropriate to model the interaction process and that at steady-state the theoretical solution underestimates the drag force. It was found that regression analysis of steady-state numerical solutions for cylindrical particles moving normal to a flat SLI gives a relationship of the form: Abstract The distribution of insoluble particles in a metal casting depends primarily on the interaction of the particles with the solid/liquid interface (SLI) during the solidification process. The balance of the forces acting on the particle essentially determines whether a particle will be engulfed or pushed by the SLI. An important component of this force balance is the drag force generated by the particle motion in front of the SLI. Previously developed mathematical models for particle/SLI interaction made use of steady-state solutions of this force provided by the lubrication theory. However, our numerical model based on the SLI tracking approach shows that the steady-state approach is inappropriate to model the interaction process and that at steady-state the theoretical solution underestimates the drag force. It was found that regression analysis of steady-state numerical solutions for cylindrical particles moving normal to a flat SLI gives a relationship of the form: F(sub D, sup num) =sqoare root of 3(pi)(eta)V(sub p)(R(sub p)/d)(sup 10(gamma)/3). This is to compared to the solution provided by the lubrication theory: F(sub D), sup theor) = 3 square root of 2(pi)(eta)V(sub p)(R(sub p)/d)(sub 3/2), where F(sub D) is the drag force, eta is the dynamic viscosity of the fluid, V(sub p) is the particle velocity, R(sub p) is the particle radius, gamma is Euler's constant (gamma approx. = 0.577), and d is the width of the gap between the particle and the SLI. The domain on which the equations proposed by the lubrication theory are relevant is clearly identified in the paper. The numerical model was then validated against the classical lubrication theory within the domain of its validity.
The phenomenon of interaction of particles with solid-liquid interfaces (SLI) has been studied since the mid 1960's. While the original interest stemmed from geology applications (frost heaving in soil), researchers soon realized that fundamental understanding of particles behavior at solidifying interfaces might yield practical benefits in other fields, including metallurgy. In materials engineering the main issue is the location of particles with respect to grain boundaries at the end of solidification. Considerable experimental and theoretical research was lately focused on applications to metal matrix composites produced by casting or spray forming techniques, and on inclusion management in steel. Another application of particle SLI interaction is in the growing of Y1Ba2Cu3O(7-delta) (123) superconductor crystals from an undercooled liquid. The oxide melt contains Y2Ba1Cu1O5 (211) precipitates, which act as flux pinning sites. The experimental evidence on transparent organic materials, as well as the recent in situ observations on steel demonstrates that there exist a critical velocity of the planar SLI below which particles are pushed ahead of the interface, and above which particles are engulfment. The engulfment of a SiC particle in succinonitrile is exemplified. However, in most commercial alloys dendritic interfaces must be considered. Indeed, most data available on metallic alloys are on dendritic structures. The term engulfment is used to describe incorporation of a particle by a planar or cellular interface as a result of local interface perturbation, as opposed to entrapment that implies particle incorporation at cells or dendrites boundaries. During entrapment the particles are pushed in the intercellular or interdendritic regions and then captured when local solidification occurs. The physics of these two phenomena is fundamentally different.
The objective of the work on Particle Engulfment and Pushing by Solidifying Interfaces (PEP) include: 1) to obtain fundamental understanding of the physics of particle pushing and engulfment, 2) to develop mathematical models to describe the phenomenon, and 3) to perform critical experiments in the microgravity environment of space to provide benchmark data for model validation. Successful completion of this project will yield vital information relevant to a diverse area of terrestrial applications. With PEP being a long term research effort, this report will focus on advances in the theoretical treatment of the solid/liquid interface interaction with an approaching particle, experimental validation of some aspects of the developed models, and the experimental design aspects of future experiments to be performed on board the International Space Station.
A true push-pull switching power amplifier is disclosed utilizing two dc-to-dc converters. Each converter is comprised of two inductances, one inductance in series with a DC source and the other inductor in series with the output load, and an electrical energy transferring device with storage capability, namely storage capacitance, with suitable switching means between the inductances to obtain DC level conversion, where the switching means allows bidirectional current (and power) flow, and the switching means of one dc-to-dc converter is driven by the complement of a square-wave switching signal for the other dc-to-dc converter for true push-pull operation. For reduction of current ripple, the inductances in each of the two converters may be coupled, and with proper design of the coupling, the ripple can be reduced to zero at either the input or the output, but preferably the output.
The push-pull framework was developed in hopes that an infrastructure would be created that could literally connect to any given remote site, and (given a set of restrictions) download files from that remote site based on those restrictions. The Cataloging and Archiving Service (CAS) has recently been re-architected and re-factored in its canonical services, including file management, workflow management, and resource management. Additionally, a generic CAS Crawling Framework was built based on motivation from Apache s open-source search engine project called Nutch. Nutch is an Apache effort to provide search engine services (akin to Google), including crawling, parsing, content analysis, and indexing. It has produced several stable software releases, and is currently used in production services at companies such as Yahoo, and at NASA's Planetary Data System. The CAS Crawling Framework supports many of the Nutch Crawler's generic services, including metadata extraction, crawling, and ingestion. However, one service that was not ported over from Nutch is a generic protocol layer service that allows the Nutch crawler to obtain content using protocol plug-ins that download content using implementations of remote protocols, such as HTTP, FTP, WinNT file system, HTTPS, etc. Such a generic protocol layer would greatly aid in the CAS Crawling Framework, as the layer would allow the framework to generically obtain content (i.e., data products) from remote sites using protocols such as FTP and others. Augmented with this capability, the Orbiting Carbon Observatory (OCO) and NPP (NPOESS Preparatory Project) Sounder PEATE (Product Evaluation and Analysis Tools Elements) would be provided with an infrastructure to support generic FTP-based pull access to remote data products, obviating the need for any specialized software outside of the context of their existing process control systems. This extensible configurable framework was created in Java, and allows the use of different underlying communication middleware (at present, both XMLRPC, and RMI). In addition, the framework is entirely suitable in a multi-mission environment and is supporting both NPP Sounder PEATE and the OCO Mission. Both systems involve tasks such as high-throughput job processing, terabyte-scale data management, and science computing facilities. NPP Sounder PEATE is already using the push-pull framework to accept hundreds of gigabytes of IASI (infrared atmospheric sounding interferometer) data, and is in preparation to accept CRIMS (Cross-track Infrared Microwave Sounding Suite) data. OCO will leverage the framework to download MODIS, CloudSat, and other ancillary data products for use in the high-performance Level 2 Science Algorithm. The National Cancer Institute is also evaluating the framework for use in sharing and disseminating cancer research data through its Early Detection Research Network (EDRN).
Dual-transistor difference amplifier provides a push-pull output referenced to a dc potential which can be varied without affecting the signal levels. The amplifier is coupled with a feedback circuit which can vary the operating points of the transistors by equal amounts to provide the variable reference potentials.
Circuit in push-pull amplifier limits the current flowing to a predetermined level and provides that overcurrent in one half of the amplifier turns off the other half.