Reduced heat input keyhole welding through improved joint design

An improved high energy density welding method for reducing input keyhole welding prepares the weld joint (8) between two edges (10, 14) of at least one member by separating the edges (10, 14) of the member (12, 16) with a controllable gap (22) by a projecting portion (24) selectively positioned on one edge (10, 14) of the member (12, 16). The projecting portion (24) closely abuts the other edge of the member for maintaining the controlled distance (d) of the controllable gap (22) to enhance the welding method

Simulation, modelling and development of the metris RCA

In partnership with Metris UK we discuss the utilisation of modelling and simulation methods in the development of a revolutionary 7-axis Robot CMM Arm (RCA). An offline virtual model is described, facilitating pre-emptive collision avoidance and assessment of optimal placement of the RCA relative to scan specimens. Workspace accessibility of the RCA is examined under a range of geometrical assumptions and we discuss the effects of arbitrary offsets resulting from manufacturing tolerances. Degeneracy is identified in the number of ways a given pose may be attained and it is demonstrated how a simplified model may be exploited to solve the inverse kinematics problem of finding the “correct” set of joint angles. We demonstrate how the seventh axis may be utilised to avoid obstacles or otherwise awkward poses, giving the unit greater dexterity than traditional CMMs. The results of finite element analysis and static force modelling on the RCA are presented which provide an estimate of the forces exerted on the internal measurement arm in a range of poses

Characteristics, accuracy and reverification of robotised articulated arm CMMs

VDI article 2617 specifies characteristics to describe the accuracy of articulated arm coordinate measuring machines (AACMMs) and outlines procedures for checking them. However the VDI prescription was written with a former generation of machines in mind: manual arms exploiting traditional touch probe technologies. Recent advances in metrology have given rise to noncontact laser scanning tools and robotic automation of articulated arms – technologies which are not adequately characterised using the VDI specification. In this paper we examine the “guidelines” presented in VDI 2617, finding many of them to be ambiguous and open to interpretation, with some tests appearing even to be optional. The engineer is left significant flexibility in the execution of the test procedures and the manufacturer is free to specify many of the test parameters. Such flexibility renders the VDI tests of limited value and the results can be misleading. We illustrate, with examples using the Nikon RCA, how a liberal interpretation of the VDI guidelines can significantly improve accuracy characterisation and suggest ways in which to mitigate this problem. We propose a series of stringent tests and revised definitions, in the same vein as VDI 2617 and similar US standards, to clarify the accuracy characterisation process. The revised methodology includes modified acceptance and reverification tests which aim to accommodate emerging technologies, laser scanning devices in particular, while maintaining the spirit of the existing and established standards. We seek to supply robust re-definitions for the accepted terms “zero point” and “useful arm length”, pre-supposing nothing about the geometry of the measuring device. We also identify a source of error unique to robotised AACMMs employing laser scanners – the forward-reverse pass error. We show how eliminating this error significantly improves the repeatability of a device and propose a novel approach to the testing of probing error based on statistical uncertainty

Characterization of Semi-Autonomous On-Orbit Assembly CubeSat Constellation

Demand for more complex space systems is ever increasing as the scale of the future missions expands. Accordingly, much focus has been given recently to innovations in on-orbit assembly and servicing to ensure those missions are executed in a time-efficient manner. The past on-orbit servicing demonstrations have involved large satellites that were designed to dock/berth and service specific client satellites, and did not leverage the current advancements in small satellite technology. The U.S. Naval Academy (USNA) is contributing to advancing the onorbit servicing and assembly technology with a next-generation robotic arm Intelligent Space Assembly Robot (ISAR) system, which is envisioned to operate independently or as a constellation of 3U CubeSats and seeks to demonstrate semi-autonomous robotic assembly capabilities on-orbit on a nano-satellite scale. This paper will present an overview of the ISAR system, outline design, operation, and demonstration modifications for the on-orbit demonstrator, analyze the results from the ground test platform, and discuss the interfacing between existing robotic operations structures and advanced sensors. It will also focus on the analysis of cost effectiveness of the proposed mission architecture by characterizing the operation envelope of CubeSat-based assembly satellite constellations and volumetric efficiency analysis of on-orbit assembly using “Bin of Parts”

Sternal non-union in a professional hockey player: considerations for return to play

We describe a healthy 40-year old professional hockey player with an asymptomatic sternal non-union following aortic root surgery. The purpose of this case report is to make orthopedic surgeons aware of the possibility of this complication following sternotomy, and to discuss the considerations involved in return to play in contact sports. We will discuss our work-up, evaluation, and management of a sternal non-union in a professional athlete. Patient's consent has been obtained

Radiating dipoles in photonic crystals

The radiation dynamics of a dipole antenna embedded in a Photonic Crystal are modeled by an initially excited harmonic oscillator coupled to a non--Markovian bath of harmonic oscillators representing the colored electromagnetic vacuum within the crystal. Realistic coupling constants based on the natural modes of the Photonic Crystal, i.e., Bloch waves and their associated dispersion relation, are derived. For simple model systems, well-known results such as decay times and emission spectra are reproduced. This approach enables direct incorporation of realistic band structure computations into studies of radiative emission from atoms and molecules within photonic crystals. We therefore provide a predictive and interpretative tool for experiments in both the microwave and optical regimes.Comment: Phys. Rev. E, accepte

Search for a Solution of the Pioneer Anomaly

In 1972 and 1973 the Pioneer 10 and 11 missions were launched. They were the first to explore the outer solar system and achieved stunning breakthroughs in deep-space exploration. But beginning in about 1980 an unmodeled force of \sim 8 \times 10^{-8} cm/s^2, directed approximately towards the Sun, appeared in the tracking data. It later was unambiguously verified as being in the data and not an artifact. The cause remains unknown (although radiant heat remains a likely origin). With time more and more effort has gone into understanding this anomaly (and also possibly related effects). We review the situation and describe ongoing programs to resolve the issue.Comment: 24 pages 8 figure