Development of a flexible test-bed for robotics, telemanipulation and servicing research

The development of a flexible operation test-bed, based around a commercially available ASEA industrial robot is described. The test-bed was designed to investigate fundamental human factors issues concerned with the unique problems of robotic manipulation in the hostile environment of Space

Discrete Nodal Domain Theorems

We give a detailed proof for two discrete analogues of Courant's Nodal Domain Theorem

THE SPECTROSCOPY OF CRYSTAL DEFECTS - A COMPENDIUM OF DEFECT NOMENCLATURE

The authors bring together tables of current defect nomenclature and a summary of the rules actually practised (rather than idealised schemes) in choosing such labels for signals obtained with a range of spectroscopies. As well as providing a source of reference for the user lost in a maze of labels, the compilation also indicates parallels between similar defect species in very different systems (e.g. ice and quartz), even though the relationships may be far from obvious from the labels. The systems considered are all non-metals, namely ionic crystals (including oxides), silica, semiconductors (e.g. III-V and tetrahedrally coordinated II-VI), valence crystals (e.g. diamond, c-Si, a-Si) and other special hosts like ice and conducting polymers

Coordinates of features on the Galilean satellites

The coordinate systems of each of the Galilean satellites are defined and coordinates of features seen in the Voyager pictures of these satellites are presented. The control nets of the satellites were computed by means of single block analytical triangulations. The normal equations were solved by the conjugate iterative method which is convenient and which converges rapidly as the initial estimates of the parameters are very good

NRQCD results on the MILC extra coarse ensemble

We present preliminary results using NRQCD to describe heavy quarks on the MILC 2+1 flavour dynamical extra coarse ensemble. We calculate the spectra of low lying states in bottomonium to complement earlier results on the finer MILC ensembles. We then exploit the coarseness of the lattices to calculate charm propagators using NRQCD. These are used to examine the charmonium spectrum and to calclate the mass of the $B_c$ using NRQCD. Finally we look breifly at the $B_d$ and $B_s$ systems using the imporoved staggered formalism to describe the light valence quarks.Comment: 6 pages, Talk presented at Lattice 2005 (Heavy Quarks), Dublin, 25-30 July 200

An investigation of irregular crack path effects on fracture mechanics parameters using a grain microstructure meshing technique

Electronic version of an article published as Journal of Multiscale Modeling, Vol. 4, Iss. 1, atricle 1250001, 2012, http://dx.doi.org/10.1142/S1756973712500011 © World Scientific Publishing Company, http://www.worldscientific.com/worldscinet/jmmA sub-grain size finite element modelling approach is presented in this paper to investigate variations in fracture mechanics parameters for irregular crack paths. The results can be used when modelling intergranular and transgranular crack growth where creep and fatigue are the dominant failure mechanisms and their crack paths are irregular. A novel method for sub-grain scale finite element mesh consisting of multiple elements encased in ~50–150 μm-sized grains has been developed and implemented in a compact tension, C(T), mesh structure. The replicated shapes and dimensions were derived from an isotropic metallic grain structure using representative random sized grain shapes repeated in sequence ahead of the crack tip. In this way the effects of crack tip angle ahead of the main crack path can be considered in a more realistic manner. A comprehensive sensitivity analysis has been performed for elastic and elastic-plastic materials using ABAQUS and the stress distributions, the stress intensity factor and the J-integral have been evaluated for irregular crack paths and compared to those of obtained from analytical solutions. To examine the local and macroscopic graph path effects on fracture mechanics parameters, a few extreme cases with various crack-tip angles have been modelled by keeping the macroscopic crack path parallel to the axis of symmetry. The numerical solutions from these granular mesh structures have been found in relatively good agreement with analytical solutions