42 research outputs found

    Mathematical principles for the design of isostatic mount systems for dynamic structures

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    Isostatic mounts are used in applications like telescopes and robotics to move and hold part of a structure in a desired pose relative to the rest, by driving some controls rather than driving the subsystem directly. To achieve this successfully requires an understanding of the structure of the coupled space of configurations and controls, and of the singularities of the mapping from the coupled space to the space of controls. It is crucial to avoid such singularities because generically they lead to large constraint forces and internal stresses which can cause distortion. In this paper we outline design principles for isostatic mount systems for dynamic structures, with particular emphasis on robots

    Inconsistency of threat level in soft armour standards, correlation of experimental tests to bullet X-ray 3D images

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    Fundamental to any ballistic armour standard is the reference projectile that is to be defeated. Typically, for certification, consistency of bullet geometry is assumed. Therefore, practical variations in bullet jacket dimensions can have far reaching consequences. Traditionally, internal dimensions have been analysed by physically sectioning bullets – an approach which rules out any subsequent ballistic assessment. The use of a non-destructive X-ray Computed Tomography (CT) method was demonstrated in [1]. Now, the authors apply this technique to correlate bullet impact response to jacket thickness variations. A set of 20 bullets (9 mm DM 11) was selected to analyse both intra and inter bullet variations using an image based analysis method to map the jacket thickness and measure the centre of gravity. Thickness variations of the order of 200μm were found commonly across all the bullets along the length and an angular variation of up to 50μm was found in a few bullets. The bullets were subsequently impacted against a rigid flat plate and re-scanned. The results of the experiments are shown and compared to the un-deformed bullet jacket thickness variations. The conclusions are relevant for future soft armour standards and provide important data for numerical model correlation and development

    Simulation, modelling and development of the metris RCA

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    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

    Inconsistency in 9 mm bullets : correlation of jacket thickness to post-impact geometry measured with non-destructive X-ray computed tomography

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    Fundamental to any ballistic armour standard is the reference projectile to be defeated. Typically, for certification purposes, a consistent and symmetrical bullet geometry is assumed, however variations in bullet jacket dimensions can have far reaching consequences. Traditionally, characteristics and internal dimensions have been analysed by physically sectioning bullets – an approach which is of restricted scope and which precludes subsequent ballistic assessment. The use of a non-destructive X-ray computed tomography (CT) method has been demonstrated and validated Kumar et al., 2011); the authors now apply this technique to correlate bullet impact response with jacket thickness variations. A set of 20 bullets (9 mm DM11) were selected for comparison and an image-based analysis method was employed to map jacket thickness and determine the centre of gravity of each specimen. Both intra- and inter-bullet variations were investigated, with thickness variations of the order of 200 um commonly found along the length of all bullets and angular variations of up to 50 um in some. The bullets were subsequently impacted against a rigid flat plate under controlled conditions (observed on a high-speed video camera) and the resulting deformed projectiles were re-analysed. The results of the experiments demonstrate a marked difference in ballistic performance between bullets from different manufacturers and an asymmetric thinning of the jacket is observed in regions of pre-impact weakness. The conclusions are relevant for future soft armour standards and provide important quantitative data for numerical model correlation and development. The implications of the findings of the work on the reliability and repeatability of the industry standard V50 ballistic test are also discussed

    Characteristics, accuracy and reverification of robotised articulated arm CMMs

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    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

    Indentation-based characterization of creep and hardness behavior of magnesium carbon nanotube nanocomposites at room temperature

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    The time-dependent plastic deformation response of magnesium/carbon nanotube (CNT) nanocomposites containing 0.25, 0.5, and 0.75 vol% of carbon nanotubes is investigated through depth nanoindentation tests against monolithic pure magnesium in the present study. The Mg-CNT nanocomposite materials were successfully synthesized via a powder metallurgy technique coupled with microwave sintering followed by hot extrusion to produce 8-mm diameter, long solid bars. All depth-sensing indentation creep tests were conducted at ambient (room) temperature employing a diamond Berkovich pyramidal indenter. These tests are dual-stage, i.e., loading to a prescribed peak load of 50 mN, holding the peak load constant for a dwell period of 500 s, and finally unloading. Various strain rates of 0.01, 0.1, 1, and 10 s−1were performed to assess the effects of strain rate and dwell time on the ambient temperature creep response of the Mg-CNT nanocomposites. The outcomes of these tests are explained through material hardness, microstructure, the extent of CNT content in each material, and strain rate sensitivity. Upon analyzing the nanoindentation creep tests, the dominant creep mechanism at room temperature was found to be a dislocation creep mechanism. It is also found that CNTs increase the creep resistance of magnesium. Findings of this study can be used as a starting point for a high-temperature creep study on Mg-CNT nanocomposites. This paper is a continued study from our group on time-dependent plastic deformation of Mg nanocomposites (i.e., see Haghshenas et al., Journal of Composite Materials, https://doi.org/10.1177/0021998318808358). The short-term goal is to provide a compressive picture of the controlling creep mechanisms and their dependency upon, time, temperature, strain rate, volume fraction of the nanoparticles, and the type of the nanoparticles. Mg, in general, is a notorious material for high-temperature application; therefore, the long-term objective is to propose Mg nanocomposite as reliable replacements for Mg when lightweight and creep resistance are needed. However, to be able to confidently suggest such a replacement detailed understanding on the controlling phenomena, mention as short-term goals, are required

    Collecting Multiple Data Linkage Consents in a Mixed-mode Survey: Evidence from a large-scale longitudinal study in the UK

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    Linking survey responses with administrative data is a promising practice to increase the range of research questions to be explored, at a limited interview burden, both for respondents and interviewers. We describe the protocol for asking consent to data linkage on nine different sources in a large-scale nationally representative longitudinal survey of young adults in England: the Next Steps Age 25 Survey. We present empirical evidence on consent to data linkage from qualitative interviews, a pilot study, and the mainstage survey. To the best of our knowledge, this is the first study that discusses the practicalities of implementing a data linkage protocol asking consent both retrospectively and prospectively, on multiple domains, and in the context of a mixed-mode survey

    Additive manufacture of impedance matching layers for air-coupled ultrasonic transducers

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    A key problem in designing an efficient ultrasonic transducer for operating in a low acoustic impedance medium such as air is the large impedance mismatch between the active piezoceramic material and the load medium. While acoustic matching layers can be added to the face of the piezoceramic, the associated manufacturing difficulties and reliability can impact upon the cost and longevity of the resultant transducer. This paper presents some preliminary investigations conducted using an additive manufacturing technique, to develop a new material system for matching layer fabrication for air-coupled ultrasonic transducers. Results to date are very encouraging, and could result in a robust, reproducible, economical and improved fabrication method for air-coupled transducers

    Modelling the Dynamics of Feral Alfalfa Populations and Its Management Implications

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    BACKGROUND: Feral populations of cultivated crops can pose challenges to novel trait confinement within agricultural landscapes. Simulation models can be helpful in investigating the underlying dynamics of feral populations and determining suitable management options. METHODOLOGY/PRINCIPAL FINDINGS: We developed a stage-structured matrix population model for roadside feral alfalfa populations occurring in southern Manitoba, Canada. The model accounted for the existence of density-dependence and recruitment subsidy in feral populations. We used the model to investigate the long-term dynamics of feral alfalfa populations, and to evaluate the effectiveness of simulated management strategies such as herbicide application and mowing in controlling feral alfalfa. Results suggest that alfalfa populations occurring in roadside habitats can be persistent and less likely to go extinct under current roadverge management scenarios. Management attempts focused on controlling adult plants alone can be counterproductive due to the presence of density-dependent effects. Targeted herbicide application, which can achieve complete control of seedlings, rosettes and established plants, will be an effective strategy, but the seedbank population may contribute to new recruits. In regions where roadside mowing is regularly practiced, devising a timely mowing strategy (early- to mid-August for southern Manitoba), one that can totally prevent seed production, will be a feasible option for managing feral alfalfa populations. CONCLUSIONS/SIGNIFICANCE: Feral alfalfa populations can be persistent in roadside habitats. Timely mowing or regular targeted herbicide application will be effective in managing feral alfalfa populations and limit feral-population-mediated gene flow in alfalfa. However, in the context of novel trait confinement, the extent to which feral alfalfa populations need to be managed will be dictated by the tolerance levels established by specific production systems for specific traits. The modelling framework outlined in this paper could be applied to other perennial herbaceous plants with similar life-history characteristics
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