Development of a slender continuum robotic system for on-wing inspection/repair of gas turbine engines

The maintenance works (e.g. inspection, repair) of aero-engines while still attached on the airframes requires a desirable approach since this can significantly shorten both the time and cost of such interventions as the aerospace industry commonly operates based on the generic concept “power by the hour”. However, navigating and performing a multi-axis movement of an end-effector in a very constrained environment such as gas turbine engines is a challenging task. This paper reports on the development of a highly flexible slender (i.e. low diameter-to-length ratios) continuum robot of 25 degrees of freedom capable to uncoil from a drum to provide the feeding motion needed to navigate into crammed environments and then perform, with its last 6 DoF, complex trajectories with a camera equipped machining end-effector for allowing in-situ interventions at a low-pressure compressor of a gas turbine engine. This continuum robot is a compact system and presents a set of innovative mechatronics solutions such as: (i) twin commanding cables to minimise the number of actuators; (ii) twin compliant joints to enable large bending angles (±90°) arranged on a tapered structure (start from 40 mm to 13 mm at its end); (iii) feeding motion provided by a rotating drum for coiling/uncoiling the continuum robot; (iv) machining end-effector equipped with vision system. To be able to achieve the in-situ maintenance tasks, a set of innovative control algorithms to enable the navigation and end-effector path generation have been developed and implemented. Finally, the continuum robot has been tested both for navigation and movement of the end-effector against a specified target within a gas turbine engine mock-up proving that: (i) max. deviations in navigation from the desired path (1000 mm length with bends between 45° and 90°) are ±10 mm; (ii) max. errors in positioning the end-effector against a target situated at the end of navigation path is 1 mm. Thus, this paper presents a compact continuum robot that could be considered as a step forward in providing aero-engine manufacturers with a solution to perform complex tasks in an invasive manner

Direct measurement of resonance strengths in S 34 (α,γ) Ar 38 at astrophysically relevant energies using the DRAGON recoil separator

Background: Nucleosynthesis of mid-mass elements is thought to occur under hot and explosive astrophysical conditions. Radiative α capture on S34 has been shown to impact nucleosynthesis in several such conditions, including core and shell oxygen burning, explosive oxygen burning, and type Ia supernovae. Purpose: Broad uncertainties exist in the literature for the strengths of three resonances within the astrophysically relevant energy range (ECM=1.94-3.42MeV at T=2.2GK). Further, there are several states in Ar38 within this energy range which have not been previously measured. This work aimed to remeasure the resonance strengths of states for which broad uncertainty existed as well as to measure the resonance strengths and energies of previously unmeasured states. Methods: Resonance strengths and energies of eight narrow resonances (five of which had not been previously studied) were measured in inverse kinematics with the DRAGON facility at TRIUMF by impinging an isotopically pure beam of S34 ions on a windowless He4 gas target. Prompt γ emissions of de-exciting Ar38 recoils were detected in an array of bismuth germanate scintillators in coincidence with recoil nuclei, which were separated from unreacted beam ions by an electromagnetic mass separator and detected by a time-of-flight system and a multianode ionization chamber. Results: The present measurements agree with previous results. Broad uncertainty in the resonance strength of the ECM=2709keV resonance persists. Resonance strengths and energies were determined for five low-energy resonances which had not been studied previously, and their strengths were determined to be significantly weaker than those of previously measured resonances. Conclusions: The five previously unmeasured resonances were found not to contribute significantly to the total thermonuclear reaction rate. A median total thermonuclear reaction rate calculated using data from the present work along with existing literature values using the STARLIB rate calculator agrees with the NON-SMOKER statistical model calculation as well as the REACLIB and STARLIB library rates at explosive and nonexplosive oxygen-burning temperatures (T=3-4GK and T=1.5-2.7GK, respectively)

Angular momentum in rotating superfluid droplets

The angular momentum of rotating superfluid droplets originates from quantized vortices and capillary waves, the interplay between which remains to be uncovered. Here, the rotation of isolated submicrometer superfluid 4He droplets is studied by ultrafast x-ray diffraction using a free electron laser. The diffraction patterns provide simultaneous access to the morphology of the droplets and the vortex arrays they host. In capsule-shaped droplets, vortices form a distorted triangular lattice, whereas they arrange along elliptical contours in ellipsoidal droplets. The combined action of vortices and capillary waves results in droplet shapes close to those of classical droplets rotating with the same angular velocity. The findings are corroborated by density functional theory calculations describing the velocity fields and shape deformations of a rotating superfluid cylinder

Filled pauses in Hungarian: Their phonetic form and function

Filled pauses are natural occurrences in spontaneous speech and they may turn up at any level of the speech planning process and in a number of functions. The aim of this paper is to find out whether the diverse functions of filled pauses correlate with diverse articulations resulting in diverse acoustic structures. Spontaneous narratives are used as research material. The duration of the filled pauses and the frequency values of their first two formants are analyzed. The most frequent form, schwa, shows function-dependent realizations as confirmed by the durational values and by the second formant values of these vowel-like sounds

2K nonvolatile shadow RAM and 265K EEPROM SONOS nonvolatile memory development

This paper describes Silicon Oxide Nitride Oxide Semiconductor (SONOS) nonvolatile memory development at Sandia National Laboratories. A 256K EEPROM nonvolatile memory and a 2K nonvolatile shadow RAM are under development using an n-channel SONOS memory technology. The technology has 1.2 {micro}m minimum features in a twin well design using shallow trench isolation

Prioritizing Risks and Uncertainties from Intentional Release of Selected Category A Pathogens

This paper synthesizes available information on five Category A pathogens (Bacillus anthracis, Yersinia pestis, Francisella tularensis, Variola major and Lassa) to develop quantitative guidelines for how environmental pathogen concentrations may be related to human health risk in an indoor environment. An integrated model of environmental transport and human health exposure to biological pathogens is constructed which 1) includes the effects of environmental attenuation, 2) considers fomite contact exposure as well as inhalational exposure, and 3) includes an uncertainty analysis to identify key input uncertainties, which may inform future research directions. The findings provide a framework for developing the many different environmental standards that are needed for making risk-informed response decisions, such as when prophylactic antibiotics should be distributed, and whether or not a contaminated area should be cleaned up. The approach is based on the assumption of uniform mixing in environmental compartments and is thus applicable to areas sufficiently removed in time and space from the initial release that mixing has produced relatively uniform concentrations. Results indicate that when pathogens are released into the air, risk from inhalation is the main component of the overall risk, while risk from ingestion (dermal contact for B. anthracis) is the main component of the overall risk when pathogens are present on surfaces. Concentrations sampled from untracked floor, walls and the filter of heating ventilation and air conditioning (HVAC) system are proposed as indicators of previous exposure risk, while samples taken from touched surfaces are proposed as indicators of future risk if the building is reoccupied. A Monte Carlo uncertainty analysis is conducted and input-output correlations used to identify important parameter uncertainties. An approach is proposed for integrating these quantitative assessments of parameter uncertainty with broader, qualitative considerations to identify future research priorities

Cytomegalovirus-based vaccine expressing Ebola virus glycoprotein protects nonhuman primates from Ebola virus infection.

Ebolaviruses pose significant public health problems due to their high lethality, unpredictable emergence, and localization to the poorest areas of the world. In addition to implementation of standard public health control procedures, a number of experimental human vaccines are being explored as a further means for outbreak control. Recombinant cytomegalovirus (CMV)-based vectors are a novel vaccine platform that have been shown to induce substantial levels of durable, but primarily T-cell-biased responses against the encoded heterologous target antigen. Herein, we demonstrate the ability of rhesus CMV (RhCMV) expressing Ebola virus (EBOV) glycoprotein (GP) to provide protective immunity to rhesus macaques against lethal EBOV challenge. Surprisingly, vaccination was associated with high levels of GP-specific antibodies, but with no detectable GP-directed cellular immunity