Lubricant rheology applied to elastohydrodynamic lubrication

Viscosity measurements in a high pressure rheometer, elastohydrodynamic simulator studies (including the development of a temperature measuring technique), and analytical fluid modeling for elastohydrodynamic contacts are described. The more recent research which is described concerns infrared temperature measurements in elastohydrodynamic contacts and the exploration of the glassy state of lubricants. A correlation, of engineering significance, was made between transient surface temperature measurements and surface roughness profiles. Measurements of glass transitions of lubricants and the study of the effect of rate processes on materials lead to the conclusion that typical lubricants go into the glassy state as they pass through the contact region of typical elastohydrodynamic contacts

Pressure-viscosity measurements for several lubricants to 5.5 x 10 to the 8th power Newtons per square meter (8 x 10 to the 4th psi) and 149 C (300 F)

A capillary viscometer was used to measure viscosity as a function of pressure, temperature, and shear stress for a number of lubricants. The conditions under which the measurements were made are specified. The results obtained for each material are analyzed. It was determined that all pressure-viscosity coefficients decreased with increasing temperature. Data from other techniques such as optical elastohydrodynamics, oscillating crystal, and low shear capillary viscometry were compared with the results obtained

Investigations of lubricant rheology as applied to elastohydrodynamic lubrication

The pressure viscometer was modified to permit the measurement of viscosity at elevated pressures and shear stresses up to 5 x 10 to the 6th power N/sq m (720 psi). This shear stress is within a factor of three of the shear stress occurring in a sliding ehd point contact such as occurs in the ehd simulator. Viscosity data were taken on five lubricant samples, and it was found that viscous heating effects on the viscosity were predominant and not non-Newtonian behavior at the high shear stresses. The development of the infrared temperature measuring technique for the ehd simulator was completed, and temperature data for a set of operating conditions and one lubricant are reported. The numerical analysis of the behavior of nonlinear lubricants in the lubrication of rollers is reported

Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation, appendix A

A generic computer simulation for manipulator systems (ROBSIM) was implemented and the specific technologies necessary to increase the role of automation in various missions were developed. The specific items developed were: (1) Capability for definition of a manipulator system consisting of multiple arms, load objects, and an environment; (2) Capability for kinematic analysis, requirements analysis, and response simulation of manipulator motion; (3) Postprocessing options such as graphic replay of simulated motion and manipulator parameter plotting; (4) Investigation and simulation of various control methods including manual force/torque and active compliance control; (5) Evaluation and implementation of three obstacle avoidance methods; (6) Video simulation and edge detection; and (7) Software simulation validation. This appendix is the user's guide and includes examples of program runs and outputs as well as instructions for program use

Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation

A generic computer simulation for manipulator systems (ROBSIM) was implemented and the specific technologies necessary to increase the role of automation in various missions were developed. The specific items developed are: (1) capability for definition of a manipulator system consisting of multiple arms, load objects, and an environment; (2) capability for kinematic analysis, requirements analysis, and response simulation of manipulator motion; (3) postprocessing options such as graphic replay of simulated motion and manipulator parameter plotting; (4) investigation and simulation of various control methods including manual force/torque and active compliances control; (5) evaluation and implementation of three obstacle avoidance methods; (6) video simulation and edge detection; and (7) software simulation validation

Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation. Appendix A: ROBSIM user's guide

The purpose of the Robotics Simulation Program is to provide a broad range of computer capabilities to assist in the design, verification, simulation, and study of robotics systems. ROBSIM is program in FORTRAN 77 for use on a VAX 11/750 computer under the VMS operating system. This user's guide describes the capabilities of the ROBSIM programs, including the system definition function, the analysis tools function and the postprocessor function. The options a user may encounter with each of these executables are explained in detail and the different program prompts appearing to the user are included. Some useful suggestions concerning the appropriate answers to be given by the user are provided. An example user interactive run in enclosed for each of the main program services, and some of the capabilities are illustrated

Evaluation of automated decision making methodologies and development of an integrated robotic system simulation: Study results

The implementation of a generic computer simulation for manipulator systems (ROBSIM) is described. The program is written in FORTRAN, and allows the user to: (1) Interactively define a manipulator system consisting of multiple arms, load objects, targets, and an environment; (2) Request graphic display or replay of manipulator motion; (3) Investigate and simulate various control methods including manual force/torque and active compliance control; and (4) Perform kinematic analysis, requirements analysis, and response simulation of manipulamotion. Previous reports have described the algorithms and procedures for using ROBSIM. These reports are superseded and additional features which were added are described. They are: (1) The ability to define motion profiles and compute loads on a common base to which manipulator arms are attached; (2) Capability to accept data describing manipulator geometry from a Computer Aided Design data base using the Initial Graphics exchange Specification format; (3) A manipulator control algorithm derived from processing the TV image of known reference points on a target; and (4) A vocabulary of simple high level task commands which can be used to define task scenarios

Investigations of lubricant rheology as applied to elastohydrodynamic lubrication

Traction prediction in sliding elastohydrodynamic (EHD) contacts was examined along with an elastohydrodynamic lubrication simulation of the effects of load and speed on temperatures in the EHD contact. An existing shear stress theory and lubricant rheological model were studied and evaluated by applying them to traction prediction. Results obtained using measured film thickness and surface temperature data, were compared with measured traction values. The infrared technique for measuring temperatures in an EHD contact was further developed and ball surface and fluid temperatures are reported for sliding speeds of 0.35 to 5.08 m/s at 0.52 to 2.03 GN/sq m maximum pressure and surface roughnesses of .011 to .381 micrometers c.1.a. The relationship between asperity interaction, as measured by relocation surface profilimetry and high frequency temperature measurements, and the ratio of film thickness to surface roughness was also studied

Nebula Scale Mixing Between Non-Carbonaceous and Carbonaceous Chondrite Reservoirs: Testing the Grand Tack Model with Almahata Sitta Stones

There is an increasing number of Cr-O-Ti isotope studies that show that solar system materials are divided into two main populations, one carbonaceous chondrite (CC)-like and the other is non-carbonaceous (NCC)-like, with minimal mixing between them attributed to a gap opened in the propoplanetary disk due to Jupiter's formation. The Grand Tack model suggests that there should be a particular time in the disk history when this gap is breached and ensuring a subsequent large-scale mixing between S- and C-type asteroids (inner solar system and outer solar system materials), an idea supported by our recent work on chondrule (Delta)17O-(epsilon)54Cr isotope systematics

Approach to IAEA material-balance verification at the Portsmouth Gas Centrifuge Enrichment Plant

This paper describes a potential approach by which the International Atomic Energy Agency (IAEA) might verify the nuclear-material balance at the Portsmouth Gas Centrifuge Enrichment Plant (GCEP). The strategy makes use of the attributes and variables measurement verification approach, whereby the IAEA would perform independent measurements on a randomly selected subset of the items comprising the U-235 flows and inventories at the plant. In addition, the MUF-D statistic is used as the test statistic for the detection of diversion. The paper includes descriptions of the potential verification activities, as well as calculations of: (1) attributes and variables sample sizes for the various strata, (2) standard deviations of the relevant test statistics, and (3) the detection sensitivity which the IAEA might achieve by this verification strategy at GCEP