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2003

Faculty Publications

Articles 1 - 12 of 12

Full-Text Articles in Mechanical Engineering

Multiple Uav Cooperative Search Under Collision Avoidance And Limited Range Communication Constraints, Randal W. Beard, Timothy W. Mclain Dec 2003

Multiple Uav Cooperative Search Under Collision Avoidance And Limited Range Communication Constraints, Randal W. Beard, Timothy W. Mclain

Faculty Publications

This paper focuses on the problem of cooperatively searching, using a team of unmanned air vehicles (UAVs), an area of interest that contains regions of opportunity and regions of potential hazard. The objective of the UAV team is to visit as many opportunities as possible, while avoiding as many hazards as possible. To enable cooperation, the UAVs are constrained to stay within communication range of one another. Collision avoidance is also required. Algorithms for team-optimal and individually-optimal/team-suboptimal solutions are developed and their computational complexity compared. Simulation results demonstrating the feasibility of the cooperative search algorithms are presented.

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Dynamic Modeling Of Compliant Constant-Force Compression Mechanisms, Cameron Boyle, Larry L. Howell, Spencer P. Magleby, Mark S. Evans Dec 2003

Dynamic Modeling Of Compliant Constant-Force Compression Mechanisms, Cameron Boyle, Larry L. Howell, Spencer P. Magleby, Mark S. Evans

Faculty Publications

A mathematical dynamic model is derived for compliant, constant-force compression-mechanisms, based on the pseudo-rigid-body model simplification of the device. The compliant constant-force compression mechanism (CFCM) is a slider mechanism incorporating large-deflection beams, which outputs near-constant-force across the range of its designed deflection. The equation of motion is successfully calibrated with empirical data from five separate mechanisms, comprising two basic configurations of CFCMs. The dynamic equation is derived from a generalized pseudo-rigid-body model. This allows every configuration to be represented by the same model, so a separate treatment is not required for each configuration. An unexpected dynamic trait of the constant-force …

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The Distribution Of Internal Interfaces In Polycrystals, Brent L. Adams, Bassem S. El-Dasher, Gregory S. Rohrer, Anthony D. Rollett, David M. Saylor, Paul Wynblatt Nov 2003

The Distribution Of Internal Interfaces In Polycrystals, Brent L. Adams, Bassem S. El-Dasher, Gregory S. Rohrer, Anthony D. Rollett, David M. Saylor, Paul Wynblatt

Faculty Publications

This work was supported by the MRSEC program of the National Science Foundation under Award Number DMR-0079996. Recent advances both in experimental instrumentation and computing power have made it possible to interrogate the distribution of internal interfaces in polycrystals and the three dimensional structure of the grain boundary network with an unprecedented level of detail. The purpose of this paper is to review techniques that can be used to study the mesoscopic crystallographic structure of grain boundary networks and to summarize current findings. Recent studies have shown that grain surfaces within dense polycrystals favor the same low energy planes that …

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Predictive Joint Motion Limiting In Robotic Applications, Edward Red, Brian Fielding Oct 2003

Predictive Joint Motion Limiting In Robotic Applications, Edward Red, Brian Fielding

Faculty Publications

Three joint space algorithms slow the Cartesian path motion when it appears that joint motion is approaching a joint, speed, or acceleration limit. All three algorithms use quadratic curve fitting to predict where the joint motion is heading, followed by a prediction as to how much time would elapse until a limit is reached.

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A Texture Evolution Model In Cubic-Orthotropic Polycrystalline System, Brent L. Adams, H. Garmestani, D. S. Li Sep 2003

A Texture Evolution Model In Cubic-Orthotropic Polycrystalline System, Brent L. Adams, H. Garmestani, D. S. Li

Faculty Publications

This work has been funded under the AFOSR Grant # F49620-03-1-0011 and Army Research Lab Contract # DAAD17-02-P-0398 and DAAD 19-01-1-0742. B.L. Adams acknowledges support of Army Research Office, Proposal No. 42566-MS. The authors express their sincere gratitude to Professor Surya Kalidindi, for helpful suggestions and correspondence for the derivation of the processing path functions. A new methodology based on a conservation principle in the orientation space is developed to simulate the texture evolution in a cubic-orthotropic polycrystalline system. A least squares error method was used to improve the accuracy of the simulation results obtained from the texture evolution function. …

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Autonomous Vehicle Technologies For Small Fixed Wing Uavs, Derek B. Kingston, Randal Beard, Timothy Mclain, Michael Larsen, Wei Ren Sep 2003

Autonomous Vehicle Technologies For Small Fixed Wing Uavs, Derek B. Kingston, Randal Beard, Timothy Mclain, Michael Larsen, Wei Ren

Faculty Publications

Autonomous unmanned air vehicle flight control systems require robust path generation to account for terrain obstructions, weather, and moving threats such as radar, jammers, and unfriendly aircraft. In this paper, we outline a feasible, hierarchal approach for real-time motion planning of small autonomous fixed-wing UAVs. The approach divides the trajectory generation into four tasks: waypoint path planning, dynamic trajectory smoothing, trajectory tracking, and low-level autopilot compensation. The waypoint path planner determines the vehicle's route without regard for the dynamic constraints of the vehicle. This results in a significant reduction in the path search space, enabling the generation of complicated paths …

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Learning Real-Time A* Path Planner For Sensing Closely-Spaced Targets From An Aircraft, Jason K. Howlett, Michael A. Goodrich, Timothy W. Mclain Aug 2003

Learning Real-Time A* Path Planner For Sensing Closely-Spaced Targets From An Aircraft, Jason K. Howlett, Michael A. Goodrich, Timothy W. Mclain

Faculty Publications

This work develops an any-time path planner, based on the learning real-time A* (LRTA*) search, for generating flyable paths that allow an aircraft with a specified sensor footprint to sense a group of closely-spaced targets. The LRTA* algorithm searches a tree of flyable paths for the branch that accomplishes the desired objectives in the shortest distance. The tree of paths is created by assembling primitive turn and straight sections of a specified step size. The operating parameters for the LRTA* search directly influence the running time and path-length performance of the search. A modified LRTA* search is presented that terminates …

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A Self-Retracting Fully Compliant Bistable Micromechanism, Nathan D. Masters, Larry L. Howell Jun 2003

A Self-Retracting Fully Compliant Bistable Micromechanism, Nathan D. Masters, Larry L. Howell

Faculty Publications

A new class of fully compliant bistable mechanisms with the added benefit of integrated self-retraction has been developed (hereafter identified as Self-Retracting Fully compliant Bistable Mechanism or SRFBM). A technique using tensural pivots to manage compressive loading in compliant mechanisms is introduced and implemented in the SRFBM. The elimination of traditional kinematic joints and their associated clearance allows a total displacement between stable positions of 8.5 m, and the mechanism size is less than 300 m square when using 2.0 m minimum line widths. Maximum actuation force is approximately 500 N. The SRFBM's small linear displacement and reasonable actuation force …

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Cooperative Path Planning For Timing Critical Missions, Timothy W. Mclain, Randal W. Beard Jun 2003

Cooperative Path Planning For Timing Critical Missions, Timothy W. Mclain, Randal W. Beard

Faculty Publications

This paper presents a cooperative path planning approach for teams of vehicles operating under timing constraints. A cooperative control approach based on coordination variables and coordination functions is introduced and applied to cooperative timing problems. Three types of timing constraints are considered: simultaneous arrival, tight sequencing, and loose sequencing. Simulation results demonstrating the approach are presented.

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Microstructure Sensitive Design Of An Orthotropic Plate Subjected To Tensile Load, Brent L. Adams, Mark Lyons, Joshua R. Houskamp, Surya R. Kalidindi May 2003

Microstructure Sensitive Design Of An Orthotropic Plate Subjected To Tensile Load, Brent L. Adams, Mark Lyons, Joshua R. Houskamp, Surya R. Kalidindi

Faculty Publications

Financial support for this work was provided by the Army Research Office, Proposal No. 42566-MS, Dr. David Stepp, Program Director and Army Research Lab, Dr. Scott Schoenfeld, Point of Contact. Microstructure Sensitive Design (MSD) is a newly developed mathematical framework that facilitates rigorous solutions to inverse problems in microstructure design of materials. In this paper, this methodology is applied to an orthotropic thin plate containing a circular hole subjected to an in-plane uniaxial tensile load. The primary design objective is to maximize the load carrying capacity of the plate while avoiding plastic deformation in the plate. Making use of the …

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A Joint Trajectory Generator For Motion Recovery, Edward Red, Wei Li Mar 2003

A Joint Trajectory Generator For Motion Recovery, Edward Red, Wei Li

Faculty Publications

This paper describes an adaptive S-curve used to recover a tool path upon a system crash in the Windows operating system (OS). For a mechanism such as a robot or machine tool, the joint values, being delivered as setpoints to the servo-controller, are dynamically recorded by the real-time operating system also residing on the computer. The real-time OS can control the abort and record pertinent motion data after Windows OS crash.

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Advances In Experimental Method And Analysis For Estimation Of Geometrically-Necessary Dislocations, Brent L. Adams, Bassem S. El-Dasher, Anthony D. Rollett Mar 2003

Advances In Experimental Method And Analysis For Estimation Of Geometrically-Necessary Dislocations, Brent L. Adams, Bassem S. El-Dasher, Anthony D. Rollett

Faculty Publications

The authors wish to thank The Alcoa Technical Research Center for supplying the specimens and performing the compression tests. This work was supported by the MRSEC program of the National Science Foundation under DMR-0079996 as well as Lawrence Livermore Laboratory DOE/DoD Joint Program. An behavior of grain boundaries of the polycrystalline materials over a wide range of length scales during plastic deformation is considered. Electron backscattering diffraction and orientation imaging microscopy provide automated scanning measurements of the lattice orientation near grain boundaries. These methods are useful to set the necessary length scales. The data are presented for directionally-solidified pure Al …

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