High temperature, low-cycle fatigue of copper-base alloys in argon. Part 1: Preliminary results for 12 alloys at 1000 F (538 C)

Short-term tensile evaluations at room temperature and 538 C and low-cycle fatigue evaluations at 538 C are presented for the following materials: Zirconium copper-annealed, Zirconium copper-1/4 hard, Zirconium copper-1/2 hard, Tellurium copper-1/2 hard, Chromium copper-SA and aged, OFHC copper-hard, OFHC copper-1/4 hard, OFHC copper-annealed, Silver-as drawn, Zr-Cr-Mg copper-SA, CW and aged, Electroformed copper-30-35 ksi, and Co-Be-Zr- copper-SA, aged. A total of 50 tensile tests and 76 low-cycle fatigue tests were performed using a strain rate of 0.2 percent per second

High temperature, low cycle fatigue of copper-base alloys in argon. Part 3: Zirconium-copper; thermal-mechanical strain cycling, hold-time and notch fatigue results

The low-cycle fatigue characteristics of smooth bar and notched bar specimens (hourglass shape) of zirconium-copper, 1/2 Hard, material (R-2 Series) were evaluated at room temperature in axial strain control. Over the fatigue life range from about 300 to 3000 cycles the ratio of fatigue life for smooth bar to fatigue life for notched bar remained constant at a value of about 6.0. Some additional hold-time data for the R-2 alloy tested in argon at 538 C are reported. An analysis of the relaxation data obtained in these hold-time tests is also reported and it is shown that these data yield a fairly consistent correlation in terms of instantaneous stress rate divided by instantaneous stress. Two thermal-mechanical strain cycling tests were also performed using a cyclic frequency of 4.5 cycles per hour and a temperature cycling interval from 260 to 538 C. The fatigue life values in these tests were noticeably lower than that observed in isothermal tests at 538 C

High-temperature, low-cycle fatigue of advanced copper-base alloys for rocket nozzles. Part 2: NASA 1.1, Glidcop, and sputtered copper alloys

Short-term tensile and low-cycle fatigue data are reported for five advance copper-base alloys: Sputtered Zr-Cu as received, sputtered Zr-Cu heat-treated, Glidcop AL-10, and NASA alloys 1-1A and 1-1B. Tensile tests were performed in argon at 538 C using an axial strain rate of 0.002/sec. Yield strength and ultimate tensile strength data are reported along with reduction in area values. Axial strain controlled low-cycle fatigue tests were performed in argon at 538C using an axial strain rate of 0.002/sec to define the fatigue life over the range from 100 to 3000 cycles for the five materials studied. It was found that the fatigue characteristics of the NASA 1-1A and NASA 1-1B compositions are identical and represent fatique life values which are much greater than those for the other materials tested. The effect of temperature on NASA 1-1B alloy at a strain rate of 0.002/sec was evaluated along with the effect of strain rates of 0.0004 and 0.01/sec at 538 C. Hold-time data are reported for the NASA 1-1B alloy at 538 C using 5 minute hold periods in tension only and compression only at two different strain range values. Hold periods in tension were much more detrimental than hold periods in compression

High-temperature, low-cycle fatigue of advanced copper-base alloys for rocket nozzles. Part 1: Narloy Z

Short-term tensile and low-cycle fatigue data are reported for Narloy Z, a centrifugally cast, copper-base alloy. Tensile tests were performed at room temperature in air and in argon at 482, 538 and 593 C using an axial strain rate of .002/sec to the -1 power. In addition tensile tests were performed at 538 C in an evaluation of tensile properties at strain rates of .004 and .01/sec to the -1 power. Ultimate and yield strength values of about 315 and 200 MN/sq m respectively were recorded at room temperature and these decreased to about 120 and 105 respectively as the temperature was increased to 593 C. Reduction in area values were recorded in the range from 40 to 50% with some indication of a minimum ductility point at 538 C

High temperature, low-cycle fatigue of copper-base alloys for rocket nozzles. Part 2: Strainrange partitioning and low-cycle fatigue results at 538 deg C

Low-cycle fatigue tests of 1/2 Hard AMZIRC Copper and NARloy Z were performed in argon at 538 C to determine partitioned strain range versus life relationships. Strain-controlled low-cycle fatigue tests of a Zr-Cr-Mg copper-base alloy were also performed. Strain ranges, lower than those employed in previous tests, were imposed in order to extend the fatigue life curve out to approximately 400,000 cycles. An experimental copper alloy and an experimental silver alloy were also studied. Tensile tests were performed in air at room temperature and in argon at 538 C. Strain-controlled low-cycle fatigue tests were performed at 538 C in argon to define the fatigue life over the regime from 300 to 3,000 cycles. For the silver alloy, three additional heat treatments were introduced, and a limited evaluation of the short-term tensile and low-cycle fatigue behavior at 538 C was performed

Path Clearance

In military scenarios, agents (i.e., troops of soldiers, convoys, and unmanned vehicles) may often have to traverse environments with only a limited intelligence about the locations of adversaries. We study a particular instance of this problem that we refer to as path clearance problem.This article presents a survey of our work on scalable and suitable for real-time use approaches to solving the path clearance problem. In particular, in the first part of the article, we show that the path clearance problem exhibits clear preferences on uncertainty. It turns out that these clear preferences can be used to develop an efficient algorithm called probabilistic planning with clear preferences (PPCP). The algorithm is anytime usable, converges to an optimal solution under certain conditions, and scales well to large-scale problems. We briefly describe the PPCP algorithm and show how it can be used to solve the path clearance problem when no scouts are present. In the second part of the article, we show several strategies for how to use the PPCP algorithm in case multiple scouting unmanned aerial vehicles (UAVs) are available. The experimental analysis shows that planning with PPCP results in a substantially smaller execution cost than when ignoring uncertainty, and employing scouts can decrease this execution cost even further

Learning Models for Following Natural Language Directions in Unknown Environments

Natural language offers an intuitive and flexible means for humans to communicate with the robots that we will increasingly work alongside in our homes and workplaces. Recent advancements have given rise to robots that are able to interpret natural language manipulation and navigation commands, but these methods require a prior map of the robot's environment. In this paper, we propose a novel learning framework that enables robots to successfully follow natural language route directions without any previous knowledge of the environment. The algorithm utilizes spatial and semantic information that the human conveys through the command to learn a distribution over the metric and semantic properties of spatially extended environments. Our method uses this distribution in place of the latent world model and interprets the natural language instruction as a distribution over the intended behavior. A novel belief space planner reasons directly over the map and behavior distributions to solve for a policy using imitation learning. We evaluate our framework on a voice-commandable wheelchair. The results demonstrate that by learning and performing inference over a latent environment model, the algorithm is able to successfully follow natural language route directions within novel, extended environments.Comment: ICRA 201

R* Search

Optimal heuristic searches such as A* search are widely used for planning but can rarely scale to large complex problems. The suboptimal versions of heuristic searches such as weighted A* search can often scale to much larger planning problems by trading off the quality of the solution for efficiency. They do so by relying more on the ability of the heuristic function to guide them well towards the goal. For complex planning problems, however, the heuristic function may often guide the search into a large local minimum and make the search examine most of the states in the minimum before proceeding. In this paper, we propose a novel heuristic search, called R* search, which depends much less on the quality of the heuristic function. The search avoids local minima by solving the whole planning problem with a series of short-range and easy-to-solve searches, each guided by the heuristic function towards a randomly chosen goal. In addition, R* scales much better in terms of memory because it can discard a search state-space after each of its searches. On the theoretical side, we derive probabilistic guarantees on the sub-optimality of the solution returned by R*. On the experimental side, we show that R* can scale to large complex problems

Cephalosporinases associated with outer membrane vesicles released by Bacteroides spp. protect gut pathogens and commensals against beta-lactam antibiotics

Objectives: To identify β-lactamase genes in gut commensal Bacteroides species and to assess the impact of these enzymes, when carried by outer membrane vesicles (OMVs), in protecting enteric pathogens and commensals. Methods: A deletion mutant of the putative class A β-lactamase gene (locus tag BT_4507) found in the genome of the human commensal Bacteroides thetaiotaomicron was constructed and a phenotypic analysis performed. A phylogenetic tree was built from an alignment of nine Bacteroides cephalosporinase protein sequences, using the maximum likelihood method. The rate of cefotaxime degradation after incubation with OMVs produced by different Bacteroides species was quantified using a disc susceptibility test. The resistance of Salmonella Typhimurium and Bifidobacterium breve to cefotaxime in liquid culture in the presence of B. thetaiotaomicron OMVs was evaluated by measuring bacterial growth. Results: The B. thetaiotaomicron BT_4507 gene encodes a β-lactamase related to the CepA cephalosporinase of Bacteroides fragilis. OMVs produced by B. thetaiotaomicron and several other Bacteroides species, except Bacteroides ovatus, carried surface-associated β-lactamases that could degrade cefotaxime. β-Lactamase-harbouring OMVs from B. thetaiotaomicron protected Salmonella Typhimurium and B. breve from an otherwise lethal dose of cefotaxime. Conclusions: The production of membrane vesicles carrying surface-associated β-lactamases by Bacteroides species, which constitute a major part of the human colonic microbiota, may protect commensal bacteria and enteric pathogens, such as Salmonella Typhimurium, against β-lactam antibiotics