Experimental investigations of the effects of cutting angle on chattering of a flexible manipulator

When a machine tool is mounted at the tip of a robotic manipulator, the manipulator becomes more flexible (the natural frequencies are lowered). Moreover, for a given flexible manipulator, its compliance will be different depending on feedback gains, configurations, and direction of interest. Here, the compliance of a manipulator is derived analytically, and its magnitude is represented as a compliance ellipsoid. Then, using a two-link flexible manipulator with an abrasive cut off saw, the experimental investigation shows that the chattering varies with the saw cutting angle due to different compliance. The main work is devoted to finding a desirable cutting angle which reduces the chattering

A principled approach to the measurement of situation awareness in commercial aviation

The issue of how to support situation awareness among crews of modern commercial aircraft is becoming especially important with the introduction of automation in the form of sophisticated flight management computers and expert systems designed to assist the crew. In this paper, cognitive theories are discussed that have relevance for the definition and measurement of situation awareness. These theories suggest that comprehension of the flow of events is an active process that is limited by the modularity of attention and memory constraints, but can be enhanced by expert knowledge and strategies. Three implications of this perspective for assessing and improving situation awareness are considered: (1) Scenario variations are proposed that tax awareness by placing demands on attention; (2) Experimental tasks and probes are described for assessing the cognitive processes that underlie situation awareness; and (3) The use of computer-based human performance models to augment the measures of situation awareness derived from performance data is explored. Finally, two potential example applications of the proposed assessment techniques are described, one concerning spatial awareness using wide field of view displays and the other emphasizing fault management in aircraft systems

Solid state television camera system Patent

Solid state television camera system consisting of monolithic semiconductor mosaic sensor and molecular digital readout system

Multiple Molecular H2 Outflows in AFGL 618

We report high spatial (0.5 arcsec) and high spectral (9 km/s) resolution spectro-imaging of the 2.12 micron H2 1-0 S(1) line in the proto-planetary nebula AFGL 618 using BEAR at the CFHT. The observations reveal the presence of multiple, high-velocity, molecular outflows that align with the remarkable optical jets seen in HST images. The structure and kinematics of the outflows show how jets interact with circumstellar gas and shape the environment in which planetary nebulae form.Comment: 14 pages, 5 figures. To appear in The Astrophysical Journal Letter

Jets and the shaping of the giant bipolar envelope of the planetary nebula KjPn 8

A hydrodynamic model involving cooling gas in the stagnation region of a collimated outflow is proposed for the formation of the giant parsec-scale bipolar envelope that surrounds the planetary nebula KjPn 8. Analytical calculations and numerical simulations are presented to evaluate the model. The envelope is considered to consist mainly of environmental gas swept-up by shocks driven by an episodic, collimated, bipolar outflow. In this model, which we call the ``free stagnation knot'' mechanism, the swept-up ambient gas located in the stagnation region of the bow-shock cools to produce a high density knot. This knot moves along with the bow-shock. When the central outflow ceases, pressurization of the interior of the envelope stops and its expansion slows down. The stagnation knot, however, has sufficient momentum to propagate freely further along the axis, producing a distinct nose at the end of the lobe. The model is found to successfully reproduce the peculiar shape and global kinematics of the giant bipolar envelope of KjPn 8.Comment: 20 pages + 8 figures (in 1 tar-file 0.67 Mb

VLA Observations of H I in the Helix Nebula (NGC 7293)

We report the detection of 21-cm line emission from H I in the planetary nebula NGC 7293 (the Helix). The observations, made with the Very Large Array, show the presence of a ring of atomic hydrogen that is associated with the outer portion of the ionized nebula. This ring is most probably gas ejected in the AGB phase that has been subsequently photodissociated by radiation from the central star. The H I emission spreads over about 50 km/s in radial velocity. The mass in H I is approximately 0.07 solar masses, about three times larger than the mass in molecular hydrogen and comparable with the mass in ionized hydrogen.Comment: 19 pages, 9 figure

Advanced stratified charge rotary aircraft engine design study

A technology base of new developments which offered potential benefits to a general aviation engine was compiled and ranked. Using design approaches selected from the ranked list, conceptual design studies were performed of an advanced and a highly advanced engine sized to provide 186/250 shaft Kw/HP under cruise conditions at 7620/25,000 m/ft altitude. These are turbocharged, direct-injected stratified charge engines intended for commercial introduction in the early 1990's. The engine descriptive data includes tables, curves, and drawings depicting configuration, performance, weights and sizes, heat rejection, ignition and fuel injection system descriptions, maintenance requirements, and scaling data for varying power. An engine-airframe integration study of the resulting engines in advanced airframes was performed on a comparative basis with current production type engines. The results show airplane performance, costs, noise & installation factors. The rotary-engined airplanes display substantial improvements over the baseline, including 30 to 35% lower fuel usage

Polarization of superfluid turbulence

We show that normal fluid eddies in turbulent helium II polarize the tangle of quantized vortex lines present in the flow, thus inducing superfluid vorticity patterns similar to the driving normal fluid eddies. We also show that the polarization is effective over the entire inertial range. The results help explain the surprising analogies between classical and superfluid turbulence which have been observed recently.Comment: 3 figure