Engineering Commons^™

Otter: A Testbed Submersible For Robotics Research, Tim Mclain, H H. Wang, R L. Marks, S D. Fleischer, D W. Miles, G A. Sapilewski, S M. Rock, M J. Lee, R C. Burton

Faculty Publications

Untethered, unmanned submersibles (UUSs) have the potential of becoming useful tools in nuclear reactor inspection and repair and waste-site cleanup and survey, in addition to subsea exploration. Classical "hand-in-glove" control methods used currently by tethered, remotely-operated vehicles (ROVs) are unsuitable for UUS systems which have, at best, limited communications. The Stanford Aerospace Robotics Laboratory (ARL) has joined with the Monterey Bay Aquarium Research Institute (MBARI) in a program to develop new methods of controlling UUS systems.

As a part of this effort, a submersible testbed has been built to test and develop new technologies that will make UUSs useful tools …

Characterization Of The Near-Interface Region Of Chemical Vapor Deposited Diamond Films On Silicon By Backscatter Kikuchi Diffraction, Brent L. Adams, K. Kunze, S. Geier, R. Hessmer, M. Schreck, B. Rauschembach, B. Stritzker

Faculty Publications

The lattice orientations near the interface of chemical vapor deposited diamond films on Si(001) have been studied by orientation imaging microscopy. This technique is based on the automated analysis of electron backscatter Kikuchi diffraction patterns. The electron beam has been scanned in discrete steps over the reverse side of the diamond film after having removed the substrate. The obtained data have allowed us to determine the texture and to visualize quantitatively the orientational arrangement of and among individual diamond crystallites in the near-interface region. A comparison with the orientation of the substrate has proved the existence of epitaxially nucleated grains. …

Characterization Of The Near-Interface Region Of Chemical Vapor Deposited Diamond Films On Silicon By Backscatter Kikuchi Diffraction, Brent L. Adams, K. Kunze, S. Geier, R. Hessmer, B. Rauschembach, M. Schreck, B. Stritzker

Faculty Publications

B.L.A. and K.K. gratefully acknowledge support under a Materials Research Group Award by the National Science Foundation No. DMR-9001278. Also the software support by Th. Bollmeier is greatly appreciated. The lattice orientations near the interface of chemical vapor deposited diamond films on Si(001) have been studied by orientation imaging microscopy. This technique is based on the automated analysis of electron backscatter Kikuchi diffraction patterns. The electron beamhas been scanned in discrete steps over the reverse side of the diamond film after having removed the substrate. The obtained data have allowed us to determine the texture and to visualize quantitatively the …

Inversion Of Light Scattering Measurements For Particle Size And Optical Constants: Theoretical Study, Matthew R. Jones, Bill P. Curry, M. Quinn Brewster, Keng H. Leong

Faculty Publications

We invert the Fredholm equation representing the light scattered by a single spherical particle or a distribution of spherical particles to obtain the particle size distribution function and refractive index. We obtain the solution by expanding the distribution function as a linear combination of a set of orthonormal basis functions. The set of orthonormal basis functions is composed of Schmidt-Hilbert eigenfunctions and a set of supplemental basis functions, which have been orthogonalized with respect to the Schmidt-Hilbert eigenfunctions by using the Gram-Schmidt orthogonalization procedure. We use the orthogonality properties of the basis functions and of the eigenvectors of the kernel …

Inversion Of Light Scattering Measurements For Particle Size And Optical Constants: Experimental Study, Matthew R. Jones, Keng H. Leong, M. Quinn Brewster, Bill P. Curry

Faculty Publications

Measurements of the light scattered by a sample contain information regarding the physical properties of the sample. Laser light-scattering measurements can be made unobtrusively in environments that are inaccessible to other types of measurements, so laser light-scattering techniques have become an important tool in aerosol research. The primary difficulty associated with using light-scattering techniques to determine aerosol particle properties is inverting the measurements or extracting the desired information from the measurements. In this study we use a 15-channel polar nephelometer to measure the light-scattering patterns of monodisperse polystyrene spheres. The light-scattering measurements are inverted, and the particle size distribution function …

Heterogeneity Of Intergranular Damage In Copper Crept In Plane-Strain Tension, Brent L. Adams, David P. Field

Faculty Publications

The authors wish to acknowledge support of this work by the Office of Basic Energy Sciences of the U. S. Department of Energy. An interface damage function (IDF), which statistically describes the area fraction of interface damage as a function of up to eight parameters defining crystallite interfaces, was determined for commercial purity copper specimens crept in plane strain tension. The IDF was determined from stereological parameters measured on plane sections cut through damaged specimens. The eight-dimensional space of the function was investigated by analyzing two-dimensional projections of the complete domain. Certain special interfaces were observed to damage preferentially. A …

Interface Cavitation Damage In Polycrystalline Copper, Brent L. Adams, David P. Field

Faculty Publications

The authors acknowledge the support of the Office of Basic Energy Sciences of the United States Department of Energy. Determination of an interface damage function (IDF) from a stereological procedure similar to that presented by Hilliard is described. The mathematical and experimental simplicity of the method is utilized in measuring an IDF for polycrystalline copper crept at 0.6T sub m under uniaxial tension. Whereas previous work focused on a five parameter description of the local state of a grain boundary, the domain of the IDF is increased to eight degrees of freedom in the present study to include the complete …

Experimental Measurement Of Rov Tether Tension, Tim W. Mclain, S M. Rock

Faculty Publications

In the undersea operation of a tethered ROV system, the pilot's ability to control precisely the ROV is often limited by disturbance forces generated by drag due to currents that act either directly on the ROV or indirectly on the ROV through the tether. The objective of this research, which was conducted at the Monterey Bay Aquarium Research Institute (MBARI), was to characterize the magnitude and dynamics of tether forces by measuring them during operation. To achieve this, a tether tension sensor and data logging system were developed. This system was used to measure the forces in the tether of …

Discussion Of The Representation Of Intercrystalline Misorientation In Cubic Materials, Brent L. Adams, Hans Grimmer, Junwu Zhao

Faculty Publications

BLA and JZ acknowledge the support of the Office of Basic Energy Science of the US Department of Energy under grant No. DE-FG02-88ER45355. Help from Stuart Wright with the figures is gratefully acknowledged. Salient features of various parameterizations of cubic-cubic misorientation are discussed. It is proposed that the quaternion representation of rotations, as a pair of antipodal points on the surface of a four-dimensional sphere, encompasses the most desirable properties of other proposed representations, viz rectilinearity, a closed form for the composition of successive rotations, and an equivalence between the Euclidean measure on its parameter space and the invariant measure …

Development, Simulation, And Validation Of A Highly Nonlinear Hydraulic Servosystem Model, Tim W. Mclain, E K. Iversen, C C. Davis, S C. Jacobsen

Faculty Publications

A highly accurate and predictive dynamic model of an electrohydraulic actuation system has been developed and verified. The accuracy of the model can be attributed to the inclusion of nonlinear representations of many system elements including hysteresis and saturation effects, orifice areas, piston damping, and flow forces. This level of accuracy makes the model a potentially valuable tool in the analysis and design of electrohydraulic actuation systems.

Design Of A Multiple Degree Of Freedom, Force Reflective Hand Master/Slave With A High Mobility Wrist, Tim Mclain, S C. Jacobsen, E K. Iversen, C C. Davis, D M. Potter

Faculty Publications

The Center for Engineering Design (CED) at the University of Utah has developed a force reflective, teleoperated multiple degree of freedom hand and high mobility wrist. This hand/wrist teleoperation system is targeted to perform dexterous manipulation and assembly tasks in an effort to approach the capabilities of a human. A first-stage prototype of this hand/wrist master/slave system, which is scheduled for laboratory demonstration in February of 1989, has nine actuated degrees of freedom in both the hand master and hand slave. This paper discusses elements of the design of this hand/wrist master and slave with particular emphasis on servo system …

Definition Of An Asymmetric Domain For Intercrystalline Misorientation In Cubic Materials In The Space Of Euler Angles, Brent L. Adams, Junwu Zhao

Faculty Publications

The authors wish to acknowledge the support of the United States Department of Energy, Office of Basic Energy Sciences, under grant No. DE-FG02-85ER45203. Critical review by Professor Dorian Hatch of the Physics Department at Brigham Young University is gratefully acknowledged. A new asymmetric domain for intercrystalline misorientation is defined in the space of Euler angles for materials exhibiting cubic (Oh point-group) lattice symmetry. The invariant measure for this new domain is nearly constant; this is in significant contrast to the previous domain defined by MacKenzie [Biornetrika (1958), 45, 229-240]. Distribution functions in the misorientation can now be represented with greater …

Atomic Simulation Of The Al2 (111) (110) Edge Dislocation In Alpha-Iron, Brent L. Adams, P. C. Gehlen, J. P. Hirth, R. G. Hoagland

Faculty Publications

The authors are pleased to acknowledge: the support of this research by the National Science Foundation under Grant DMR 74-21243 and by the provision of computer time by The Ohio State University and by Battelle Columbus Laboratories; and helpful comments on the manuscript by V Vitek. Computer simulation is used to obtain the plane strain and non-plane strain equilibrium core structures for the a/2 <111> {110} edge dislocation in alpha-iron as modelled by the Johnson potential. The methods of the integral formulation of anisotropic linear eleasticity theory are employed in the analysis. Flexible core boundary methods reveal that positive volume expansions …