Engineering topics
Publications and source records attributed to Bar-Cohen, Yoseph.
The objective of this study is to develop an analytical method for the optimization of the design of coring bits of vibratory drills with cutting teeth that percussively penetrate brittle material.
This paper lays out the mechanical, electrical, and algorithmic elements of the Lemur IIb robot and discusses the future directions of development in those areas.
This paper reviews the various aspects of the field of biomimetics and the role that EAP play and the outlook for its evolution.
A versatile mobile telerobot, denoted the magnetically attached multifunction maintenance rover (MAGMER), has been proposed for use in the inspection and maintenance of the surfaces of ships, tanks containing petrochemicals, and other large ferromagnetic structures. As its name suggests, this robot would utilize magnetic attraction to adhere to a structure. As it moved along the surface of the structure, the MAGMER would perform tasks that could include close-up visual inspection by use of video cameras, various sensors, and/or removal of paint by water-jet blasting, laser heating, or induction heating. The water-jet nozzles would be mounted coaxially within compressed-air-powered venturi nozzles that would collect the paint debris dislodged by the jets. The MAGMER would be deployed, powered, and controlled from a truck, to which it would be connected by hoses for water, compressed air, and collection of debris and by cables for electric power and communication (see Figure 1). The operation of the MAGMER on a typical large structure would necessitate the use of long cables and hoses, which can be heavy. To reduce the load of the hoses and cables on the MAGMER and thereby ensure its ability to adhere to vertical and overhanging surfaces, the hoses and cables would be paid out through telescopic booms that would be parts of a MAGMER support system. The MAGMER would move by use of four motorized, steerable wheels, each of which would be mounted in an assembly that would include permanent magnets and four pole pieces (see Figure 2). The wheels would protrude from between the pole pieces by only about 3 mm, so that the gap between the pole pieces and the ferromagnetic surface would be just large enough to permit motion along the surface but not so large as to reduce the magnetic attraction excessively. In addition to the wheel assemblies, the MAGMER would include magnetic adherence enhancement fixtures, which would comprise arrays of permanent magnets and pole pieces that could be adjusted to maximize or minimize the overall attractive magnetic force. Even with a paint thickness of 2 mm, a preliminary design provides a safety factor of 5 in the magnetic force in the upside- down, water-jets-operating condition, in which the total load (including the weight of the MAGMER and cables and the water-jet force) would be about 260 lb (the weight of 118 kg). Optionally, the MAGMER could carry magnetic shielding and/or could be equipped with a demagnetizing module to remove residual magnetism from the structure. The MAGMER would carry four charge-coupled-device cameras for visual inspection, monitoring of operation, navigation, and avoidance of collisions with obstacles. The control system of the MAGMER would include navigation and collision-avoidance subsystems that would utilize surface features as landmarks, in addition to direct images of obstacles.
Devices called solid-state ferroelectric- based sources (SSFBSs) are under development as sources of electrons, ions, ultraviolet light, and x-rays for diverse applications in characterization and processing of materials. Whereas heretofore it has been necessary to use a different device to generate each of the aforementioned species of charged particles or radiation, a single SSFBS can be configured and operated to selectively generate any of the species as needed using a single source. Relative to comparable prior sources based, variously, on field emission, thermionic emission, and gaseous discharge plasmas, SSFBSs demand less power, and are compact and lightweight. An SSFBS exploits the unique physical characteristics of a ferroelectric material in the presence of a high-frequency pulsed electric field. The basic building block of an SSFBS is a ferroelectric cathode -- a ferroelectric wafer with a solid electrode covering its rear face and a grid electrode on its front face (see figure). The application of a voltage pulse -- typically having amplitude of several kilovolts and duration of several nanoseconds -- causes dense surface plasma to form near the grid wires on the front surface.
An ultrasonic/sonic jackhammer (USJ) is the latest in a series of related devices. Each of these devices cuts into a brittle material by means of hammering and chiseling actions of a tool bit excited with a combination of ultrasonic and sonic vibrations. A small-scale prototype of the USJ has been demonstrated. A fully developed, full-scale version of the USJ would be used for cutting through concrete, rocks, hard asphalt, and other materials to which conventional pneumatic jackhammers are applied, but the USJ would offer several advantages over conventional pneumatic jackhammers.
Inflatable membrane reflectors are attractive for deployable, large aperture, lightweight optical and microwave systems in micro-gravity space environment. However, any fabrication flaw or temperature variation may results in significant aberration of the surface. Even for a perfectly fabricated inflatable membrane mirror with uniform thickness, theory shows it will form a Hencky curve surface but a desired parabolic or spherical surface. Precision control of the surfaceshape of extremely flexible membrane structures is a critical challenge for the success of this technology. Wirelessly controllable inflated reflectors made of electroactive polymers (EAP) are proposed in this paper. A finite element model was configured to predict the behavior of the inflatable EAP membranes under pre-strains, pressures and distributed electric charges on the surface. To explore the controllability of the inflatable EAP reflectors, an iteration algorism was developed to find the required electric actuation for correcting the aberration of the Hencky curve to the desired parabolic curve. The correction capability of the reflectors with available EAP materials was explored numerically and is presented in this paper.
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Rock and soil penetration by coring and drilling or abrading is of great importance for a large number of space and earth applications. An Ultrasonic/Sonic Drill/Corer has been developed as an adaptable tool to many of these applications
There are numerous engineering design problems where the use of wires to transfer power and communicate data thru the walls of a structure is prohibitive or significantly difficult that it may require a complex design.
This paper reviews the various aspects of the field of biomimetics and the role that EAP play and the outlook for its evolution.
A ferroelectric based multiple radiation source is being developed and tested at JPL. This device has the potential to emit five radation types enabling a new generation of compact, low power, low mass in-situ analysis instruments.
This paper provides a review of the current status, the challenges and potential near future applications of these materials.
A system for collecting samples of powdered rock has been devised for use in conjunction with an ultrasonic/sonic drill/corer (USDC) -- a lightweight, lowpower apparatus designed to cut into, and acquire samples of, rock or other hard material for scientific analysis. The USDC includes a drill bit, corer, or other tool bit, in which ultrasonic and sonic vibrations are excited by an electronically driven piezoelectric actuator. The USDC advances into the rock or other material of interest by means of a hammering action and a resulting chiseling action at the tip of the tool bit. The hammering and chiseling actions are so effective that unlike in conventional twist drilling, a negligible amount of axial force is needed to make the USDC advance into the material. Also unlike a conventional twist drill, the USDC operates without need for torsional restraint, lubricant, or a sharp bit. The USDC generates powder as a byproduct of the drilling or coring process. The purpose served by the present samplecollection system is to remove the powder from the tool-bit/rock interface and deliver the powder to one or more designated location(s) for analysis or storage
A proposed class of lightweight exoskeletal electromechanical systems would include electrically controllable actuators that would generate torques and forces that, depending on specific applications, would resist and/or assist wearers movements. The proposed systems would be successors to relatively heavy, bulky, and less capable human-strength-amplifying exoskeletal electromechanical systems that have been subjects of research during the past four decades. The proposed systems could be useful in diverse applications in which there are needs for systems that could be donned or doffed easily, that would exert little effect when idle, and that could be activated on demand: examples of such applications include (1) providing controlled movement and/or resistance to movement for physical exercise and (2) augmenting wearers strengths in the performance of military, law-enforcement, and industrial tasks. An exoskeleton according to the proposal would include adjustable lightweight graphite/epoxy struts and would be attached to the wearer's body by belts made of hook-and-pile material. At selected rotary and linear joints, the exoskeleton would be fitted, variously, with lightweight, low-power-consumption rotary and linear brakes, clutches, and motors. The exoskeleton would also be equipped with electronic circuitry for monitoring, control, and possibly communication with external electronic circuits that would perform additional monitoring and control functions.
A document proposes that lightweight, deployable, large-aperture, controllable curved mirrors made of reflectively coated thin electroactive-polymer (EAP) films be developed for use in spaceborne microwave and optical systems. In these mirrors, the EAP films would serve as both structures and actuators. EAPs that are potentially suitable for such use include piezoelectric, electrostrictive, ferroelectric, and dielectric polymers. These materials exhibit strains proportional to the squares of applied electric fields. Utilizing this phenomenon, a curved mirror according to the proposal could be made from a flat film, upon which a nonuniform electrostatic potential (decreasing from the center toward the edge) would be imposed to obtain a required curvature. The effect would be analogous to that of an old-fashioned metalworking practice in which a flat metal sheet is made into a bowl by hammering it repeatedly, the frequency of hammer blows decreasing with distance from the center. In operation, the nonuniform electrostatic potential could be imposed by use of an electron gun. Calculations have shown that by use of a single- layer film made of a currently available EAP, it would be possible to control the focal length of a 2-m-diameter mirror from infinity to 1.25 m.
Increasingly, electroactive materials are used to produce acutators, sensors, displays and other elements of mechanisms and devices. In recognition of the potential of these materials, research at the JPL's NDEAA Lab have led to many novel space and terrestrial applications. This effort involves mostly the use of piezoelectric and electroactive polymers (EAP).