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At least 505 records · Page 28

Reflexive obstacle avoidance for kinematically-redundant manipulators

Dexterous telerobots incorporating 17 or more degrees of freedom operating under coordinated, sensor-driven computer control will play important roles in future space operations. They will also be used on Earth in assignments like fire fighting, construction and battlefield support. A real time, reflexive obstacle avoidance system, seen as a functional requirement for such massively redundant manipulators, was developed using arm-mounted proximity sensors to control manipulator pose. The project involved a review and analysis of alternative proximity sensor technologies for space applications, the development of a general-purpose algorithm for synthesizing sensor inputs, and the implementation of a prototypical system for demonstration and testing. A 7 degree of freedom Robotics Research K-2107HR manipulator was outfitted with ultrasonic proximity sensors as a testbed, and Robotics Research's standard redundant motion control algorithm was modified such that an object detected by sensor arrays located at the elbow effectively applies a force to the manipulator elbow, normal to the axis. The arm is repelled by objects detected by the sensors, causing the robot to steer around objects in the workspace automatically while continuing to move its tool along the commanded path without interruption. The mathematical approach formulated for synthesizing sensor inputs can be employed for redundant robots of any kinematic configuration.

Karlen, James P.↗

Fatigue Life of Postbuckled Structures with Indentation Damage

The fatigue life of composite stiffened panels with indentation damage was investigated experimentally using single stringer compression specimens. Indentation damage was induced on one of the two flanges of the stringer. The experiments were conducted using advanced instrumentation, including digital image correlation, passive thermography, and in-situ ultrasonic scanning. Specimens with initial indentation damage lengths of 37 millimeters to 56 millimeters were tested in fatigue and the effects of cyclic load amplitude and damage size were studied. A means of comparison of the damage propagation rates and collapse loads based on a stress intensity measure and the Paris law is proposed.

Davila, Carlos G.↗

Fatigue Life of Postbuckled Structures with Indentation Damages

The fatigue life of composite stiffened panels with indentation damage was investigated experimentally using single stringer compression specimens. Indentation damage was induced on one of the two flanges of each stringer. The experiments were conducted using advanced instrumentation, including digital image correlation, passive thermography, and in-situ ultrasonic scanning. Specimens with initial indentation damage lengths of 32 millimeters to 56 millimeters were tested quasi-statically and in fatigue, and the effects of cyclic load amplitude and damage size were studied. A means of comparison of the damage propagation rates and collapse loads based on a stress intensity measure and the Paris law is proposed.

Davila, Carlos G.↗

Ultrasonic characterization of microstructure in powder metal alloy

The ultrasonic wave propagation characteristics were measured for IN-100, a powder metallurgy alloy used for aircraft engine components. This material was as a model system for testing the feasibility of characterizing the microstructure of a variety of inhomogeneous media including powder metals, ceramics, castings and components. The data were obtained for a frequency range from about 2 to 20 MHz and were statistically averaged over numerous volume elements of the samples. Micrographical examination provided size and number distributions for grain and pore structure. The results showed that the predominant source for the ultrasonic attenuation and backscatter was a dense (approx. 100/cubic mm) distribution of small micropores (approx. 10 micron radius). Two samples with different micropore densities were studied in detail to test the feasibility of calculating from observed microstructural parameters the frequency dependence of the microstructural backscatter in the regime for which the wavelength is much larger than the size of the individual scattering centers. Excellent agreement was found between predicted and observed values so as to demonstrate the feasibility of solving the forward problem. The results suggest a way towards the nondestructive detection and characterization of anomalous distributions of micropores when conventional ultrasonic imaging is difficult. The findings are potentially significant toward the application of the early detection of porosity during the materials fabrication process and after manufacturing of potential sites for stress induced void coalescence leading to crack initiation and subsequent failure.

Tittmann, B. R.↗

Development of INL Ultrasonic Thermometer

This document summarizes the development at Idaho National Laboratory of an ultrasonic thermometer. The ultrasonic thermometer is a temperature sensor capable of multi-point measurements at very high temperatures with a high level of radiation tolerance. All of the components of the ultrasonic thermometer have been improved over the course of this work. The base technology, a magnetosrictive transducer, has been shown to be highly radiation tolerant. The solenoidal coil used in the transducer has been redesigned to operate at higher frequencies that previously possible. Materials used for the acoustic waveguide (the sensing portion of the device) have been tested and ideal candidates identified. Finally, a solution to the sticking issue (diffusion bonding between the waveguide and a protective sheath) has been developed and tested.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

Graphite/polyimide technology overview and Space Shuttle Orbiter applications

The materials, production processes, testing procedures, and repair techniques for composite structures on the Orbiter are reviewed. The Orbiter currently features graphite/epoxy payload bay doors, as well as graphite/polyimide elevons, vertical tail, and aft body flap, which can withstand up to 600 F temperatures. Graphite/polyimide is also being considered for areas of the baseline aluminum structure and the thermal protection system in order to achieve a 20-30% weight reduction, i.e., over 7.5 tons. An analysis of the allowable stresses on FRC imide thermal protection system tiles bonded directly to the structure has shown satisfactory performances in high temperature and cryogenic conditions, although failure modes are yet to be determined. Ultrasonic emissions have been used for defect detection in nondestructive evaluations, together with tension, notch, shear, and compression tests. Field repairs have not been perfected, and require the evolution of high temperature adhesives that are curable under vacuum pressure and heat blankets.

Morita, W. H.↗

Ultrasonic measurement of fracture toughness

Inexpensive nondestructive method ranks materials by crack toughness. Method can reduce expenses involved in conventional mechanical destructive testing and can be inspection tool in determining local variations of materials in fracture-prone components.

Vary, A.↗

Study Of Nondestructive Techniques For Testing Composites

Study evaluates some nondestructive methods for characterizing ceramic-, metal-, and polymer-matrix composite materials. Results demonstrated utility of two ultrasonic methods for obtaining quantitative data on microstructural anomalies in composite materials.

Roth, D.↗

Evaluation of Brine Processing Technologies for Spacecraft Wastewater

Brine drying systems may be used in spaceflight. There are several advantages to using brine processing technologies for long-duration human missions including a reduction in resupply requirements and achieving high water recovery ratios. The objective of this project was to evaluate four technologies for the drying of spacecraft water recycling system brine byproducts. The technologies tested were NASA's Forward Osmosis Brine Drying (FOBD), Paragon's Ionomer Water Processor (IWP), NASA's Brine Evaporation Bag (BEB) System, and UMPQUA's Ultrasonic Brine Dewatering System (UBDS). The purpose of this work was to evaluate the hardware using feed streams composed of brines similar to those generated on board the International Space Station (ISS) and future exploration missions. The brine formulations used for testing were the ISS Alternate Pretreatment and Solution 2 (Alt Pretreat). The brines were generated using the Wiped-film Rotating-disk (WFRD) evaporator, which is a vapor compression distillation system that is used to simulate the function of the ISS Urine Processor Assembly (UPA). Each system was evaluated based on the results from testing and Equivalent System Mass (ESM) calculations. A Quality Function Deployment (QFD) matrix was also developed as a method to compare the different technologies based on customer and engineering requirements.

recycling↗

Application of the Pseudo Wigner-Ville Distribution to the Measurement of the Dispersion of Lamb Modes in Graphite/Epoxy Plates

Acoustic waves propagate in thin plates as guided or Lamb modes. The velocities of these modes are dispersive in that they depend not only on the material elastic properties and density, but also on the frequency. Accurate characterization of Lamb wave dispersion is important in many acoustic based nondestructive evaluation techniques. It is necessary for ultrasonic measurements in thin plates to determine elastic properties and for flaw detection and localization. In acoustic emission (AE) testing, if not taken into account, highly dispersive Lamb mode propagation can lead to large errors in source location. In this study, the pseudo Wigner-Ville distribution (PWVD) was used for measurement of group velocity dispersion of Lamb waves in a unidirectional graphite/epoxy (AS4/3502) laminate. The PWVD is one of a number of transforms which provide a time-frequency representation of a digitized time series. Broad band acoustic waves were generated by a pencil lead fracture (Hsu-Neilsen source) and were detected with broad band ultrasonic transducers. The arrival times for the lowest order symmetric (S(sub 0)) and antisymmetric (A(sub 0)) Lamb modes were determined from measurements of the time at which the respective peak amplitudes occurred in the PWVD. Measurements were made at several source-to-detector distances and a least squares fit used to calculate the velocity. Results are presented for propagation along, and perpendicular to, the fiber direction. Theoretical dispersion curves were also calculated and a comparison between theory and experiment demonstrates good agreement.

Prosser, W. H.↗

An Acoustic Emission and Acousto-Ultrasonic Analysis of Impact Damaged Composite Pressure Vessels

The research presented herein summarizes the development of acoustic emission (AE) and acousto-ultrasonic (AU) techniques for the nondestructive evaluation of filament wound composite pressure vessels. Vessels fabricated from both graphite and kevlar fibers with an epoxy matrix were examined prior to hydroburst using AU and during hydroburst using AE. A dead weight drop apparatus featuring both blunt and sharp impactor tips was utilized to produce a single known energy 'damage' level in each of the vessels so that the degree to which the effects of impact damage could be measured. The damage levels ranged from barely visible to obvious fiber breakage and delamination. Independent neural network burst pressure prediction models were developed from a sample of each fiber/resin material system. Here, the cumulative AE amplitude distribution data collected from low level proof test (25% of the expected burst for undamaged vessels) were used to measure the effects of the impact on the residual burst pressure of the vessels. The results of the AE/neural network model for the inert propellant filled graphite/epoxy vessels 'IM7/3501-6, IM7/977-2 and IM7/8553-45' demonstrated that burst pressures can be predicted from low level AE proof test data, yielding an average error of 5.0%. The trained network for the IM7/977-2 class vessels was also able to predict the expected burst pressure of taller vessels (three times longer hoop region length) constructed of the same material and using the same manufacturing technique, with an average error of 4.9%. To a lesser extent, the burst pressure prediction models could also measure the effects of impact damage to the kevlar/epoxy 'Kevlar 49/ DPL862' vessels. Here though, due to the higher attenuation of the material, an insufficient amount of AE amplitude information was collected to generate robust network models. Although, the worst case trial errors were less than 6%, when additional blind predictions were attempted, errors as high as 50% were produced. An acousto-ultrasonic robotic evaluation system (AURES) was developed for mapping the effects of damage on filament wound pressure vessels prior to hydroproof testing. The AURES injects a single broadband ultrasonic pulse into each vessel at preprogrammed positions and records the effects of the interaction of that pulse on the material volume with a broadband receiver. A stress wave factor in the form of the energy associated with the 750 to 1000 kHz and 1000 to 1250 kHz frequency bands were used to map the potential failure sites for each vessel. The energy map associated with the graphite/epoxy vessels was found to decrease in the region of the impact damage. The kevlar vessels showed the opposite trend, with the energy values increasing around the damage/failure sites.

Walker, James L.↗

Online Monitoring System for Concrete Structures Affected by Alkali-Silica Reaction

This report presents a comprehensive study of developing ultrasonic wave and acoustic emission (AE) techniques for long-term monitoring of alkali-silica reaction (ASR) development in concrete. Small, medium, and full-scale concrete specimens were cast, conditioned, and monitored for various periods, from at least one year to 2.4 years. The reactive concrete specimens contain coarse or fine reactive aggregates to study the effects of different types of reactive aggregates. Confinements were also designed to simulate the 2-dimensional confinement effects of reinforcement in the shield building of nuclear power plants. The concrete specimens were stored in a environmental chamber with high humidity and high temperature to accelerate the ASR development. The ultrasonic monitoring data shows high sensitivity to ASR development and could detect cracking initiation well before visible surface cracks occurred. However, the linear ultrasonic analysis based on wave velocity is strongly affected by temperature variation. Therefore, a nonlinear ultrasonic method was proposed to measure thermally induced nonlinear acoustic responses of concrete (thermal modulation of ultrasonic wave). The measured nonlinear acoustic parameter shows a high correlation with ASR expansion across specimens with different reactive aggregates and confinement conditions. The same conclusion was obtained from nonlinear resonance tests on small concrete prisms. Compared to the linear acoustic methods, the nonlinear tests show high sensitivities to ASR damage from internal microcracking initiation at the early stage to visible cracks at the late stage of ASR. The attributes of the thermal modulation of nonlinear ultrasonic method include high sensitivity, immunity to temperature effects, and strong correlation with ASR expansion, which demonstrate great potentials of the nonlinear ultrasonic method for diagnosis of ASR damage and prediction of concrete deterioration process. Acoustic emission is a passive sensing technique for damage assessment, and access to only one surface is needed even for thick and heavily reinforced elements such as the walls utilized for nuclear shield building. Additionally, relatively few sensors are required to monitor the progression of the damage process. Results indicate that the AE data can be related to the damage rating index, which is a petrography-based means of assessing damage due to ASR in reinforced concrete. Furthermore, AE is capable of detecting ASR damage long before surface cracking is visually noticeable. Boundary conditions play in important role in the progression of ASR damage and differences in boundary conditions are reflected in the AE data. Entropy based data assessment methods provide a means to assess the damage state, and convolutional neural network based data assessment provided a means to assess the damage state in real-time. Results indicate that artificial neural network models may be used as a means to predict volumetric expansion based on AE data.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗

Radiation Mapping UAV [Poster]

The NuMI (Neutrinos at the Main Injector) target system delivers a high-energy flux of muon-neutrinos towards a detector more than 800 km away with the goal of better understanding the origin of the universe and its evolution. The target system becomes radioactive because it is irradiated by a sub-Mega-Watt power proton beam. Radiological hazard is one of critical issues for a radiological worker which limits the iractivities near the target system; however, they often need to quantify the radiation level of the target system manually. Thus, the objective of this project is to reduce their exposure to radiation while improving the accuracy of the measurements. A quadcopter UAV fitted with a radiation dosimeter is ideal to traverse the irradiated environment as it can be deployed in any space and requires minimal hardware integration to the test room. Due to the lack of indoor GPS signal, this UAV utilizes a series of ultrasonic beacons that release several varied-frequency pulses simultaneously in order to localize the drone. The flight controller returns a 3D coordinate tied to the radiation data to understand precisely where radiation spikes are being emitted from the horn. The flight controller stores log data that can be processed into an easily interpretable map of radiation intensities. The radiation map serves as one of the primary references for planning the transportation of the NuMI horn.

43 PARTICLE ACCELERATORS↗

Ultrasonic Measurements of Temperature Profile and Heat Fluxes in Coal-Fired Power Plants (Final Report)

Many industrial processes are inaccessible or inhospitable to characterization by traditional temperature measurement methods, such as thermocouples, especially over prolonged exposure to harsh environments. Ultrasound is an established characterization technology with diverse applications ranging from medical imaging to therapies to flaw detection to nondestructive evaluation. Ultrasound may characterize solid materials and components noninvasively as a nondestructive evaluation modality and obtain internal measurements of material properties. For example, the speed of ultrasound propagation changes with Young’s modulus and Poisson’s ratio, which can be found from its measurements. Traditional ultrasonic characterization assumes all material properties remain constant with the position. When this assumption holds, a property of interest may be measured by relating it to the speed of ultrasound propagation (or a speed of sound, SOS) and measuring the SOS by timing the ultrasound propagation through a known distance. However, when a property of interest is spatially distributed, the propagation time depends on the SOS changing with the position along the ultrasound propagation path. The multiple temperature distributions may lead to an identical time of flight (TOF). Temperature is one property that impacts the speed of ultrasound and often cannot be assumed to remain constant with the position. Previously, in the context of temperature, we addressed the challenge of ultrasonic characterization of spatially distributed properties by developing a method for measuring segmental temperature distributions (MSTD). This method divides the ultrasonic propagation into segments bound by echogenic features. These features provide ultrasonic interfaces where some energy is reflected toward the receiving transducer, and the rest continues through the medium. The time-of-flight between the echoes reflected from echogenic features characterizes the spatial distribution in the properties of interest in the corresponding segment of the ultrasonic propagation path. This project demonstrated the application of the MSTD method in industrial conditions of the coal-fired power plant. We implemented the MSTD using metals and alloys waveguides, which may be the existing structure for which the temperature distribution is characterized or purposefully designed waveguides added to the structure by welding or other means specifically to quantify thermal properties using the MSTD method. Previous iterations of the MSTD method used ceramic and cementitious waveguides, which significantly attenuate ultrasound. On the other hand, low attenuation in metallic waveguides creates interactions between echogenic features which compilates the signal analysis in the segmental TOF measurements. We have established the WG design principles that minimize the interferences between trailing and primary echoes and, in some cases, eliminate them. The waveguides in which echoes do not interfere improve the timing accuracy and the robustness of ultrasonic measurements of the spatial distributions in material properties. Our emphasis remained on the estimation of the temperature distributions. We have developed general recommendations for designing ultrasonically segmented waveguides with the reduced influence of trailing echoes. Two of our waveguide designs were tested in the industry. The first waveguide was designed for insertion into a combustion zone of the utility-scale coal-fired power plant boiler. The second design allows the characterization of temperature distribution in the direction normal to the boiler’s water wall, a large heat exchanger converting the chemical energy released during combustion to the steam driving the electrical power generation turbines. These waveguides were designed to operate within a restrictive space of thermally insulated water wall and incorporate densely located echogenic features while combatting the influence of trailing echoes. The project has successfully demonstrated the feasibility of using the developed method for accurate, continuous, and robust temperature measurements in extreme environments of power generation and other industrial processes. It, therefore, has achieved its overarching goal of advancing the technology readiness level of the novel Ultrasound Measurements of Segmental Temperature Distribution (US-MSTD) method for real-time measurements of the temperature distribution and heat fluxes closer to commercial availability, developing a prototype multipoint measurement system, and validating its performance on coal-fired utility boilers. The success of this project was achieved in collaboration with the power generator, Rocky Mountain Power, and set the stage for the transfer of this technology from the laboratory to the industry.

01 COAL, LIGNITE, AND PEAT↗

Reliability Studies for Fatigue-Crack Detection

Reusable test panels available to assess reliability of techniques that use fluorescent penetrant to detect fatigue cracks. Ultrasonic cleaning method developed for removing penetrant from panels prior to reuse.

Christner, B. K.↗

NASA's Radio Frequency Bolt Monitor: A Lifetime of Spinoffs

This story begins in the 1970s, when Dr. Joseph Heyman, a young scientist at NASA s Langley Research Center, was asked to support the investigation of a wind tunnel accident at a sister center. Although the work was outside of his physics background, it sparked a research focus that guided his lengthy NASA career and would earn him a slew of accolades, including NASA s highest award medals for Exceptional Leadership, Exceptional Achievement, and Exceptional Service; the coveted Silver Snoopy Astronaut Award for Space Shuttle Return to Flight; and the Arthur Fleming Award for being one of the Top Ten Federal Scientists in Government Service. He won 30 additional NASA awards, including the Agency s Invention of the Year and the Agency s highest award for technology transfer, and was the only person to ever win 4 R&D 100 Awards. Back in 1973, though, Heyman was a young civil servant with a background in physics who was asked to sit on an accident review panel. The panel met at Ames Research Center, in Moffet Field, California, and after considerable investigation, concluded that a high-pressure pebble heater used for heating gas had failed, due to improperly tightened bolts in a 1,000-pound gate valve control section. The accident showered the facility with incendiary ceramic spheres and nearly a ton of metal, but, luckily, caused no injuries. Heyman returned to Langley and began work on a solution. He developed an ultrasonic device that would measure bolt elongation, as opposed to torque, the factor typically measured in testing bolt preload or tension. Torque measurement can lead to load errors, with miscalculations as high as 80 percent that can be passed over during installation. Bolt stretch, however, is nearly always accurate to 1 percent or better. Within 1 month, he had an acoustic resonance solution that accurately determined bolt elongation. He assumed his work on this project had ended, but it was actually the start of nearly 15 years of work perfecting, improving, inventing, and modifying the "bolt monitor", all the while, filing numerous patents, presenting papers, and holding demonstrations as the technology matured. Industry engineers challenged Heyman s inventiveness, and reminded the physicist that most bolts are not perfect resonators, and that early devices required that the bolt have reasonably flat and parallel faces. The U.S. Geological Survey asked NASA for help in determining the load in mine roof bolts, which are 8- to 10-feet-long and rough cut. To solve that problem, Heyman modified the original device to operate at a lower frequency and to generate propagation modes that could be used to "lock" the instrument on a particular mode. Further work in this vein led to the development of the Pulsed Phase Locked Loop (P2L2) that worked on the mine bolts. The next set of problems involved high-strength bolts with head markings. For this solution, Heyman invented a modified P2L2 that tracked a specific phase point in the measurement wave. This class of instrumentation, well suited to measuring small changes in acoustic velocity, won the NASA "Invention of the Year" award in 1982. Other scientists and engineers have continued the evolution of this technology both inside NASA and outside of the Agency. Within NASA, the technology has been improved for medical applications, with a particular focus on intercranial pressure (ICP) monitoring.

Source record↗

Non-destructive evaluation method employing dielectric electrostatic ultrasonic transducers

An acoustic nonlinearity parameter (.beta.) measurement method and system for Non-Destructive Evaluation (NDE) of materials and structural members novelly employs a loosely mounted dielectric electrostatic ultrasonic transducer (DEUT) to receive and convert ultrasonic energy into an electrical signal which can be analyzed to determine the .beta. of the test material. The dielectric material is ferroelectric with a high dielectric constant .di-elect cons.. A computer-controlled measurement system coupled to the DEUT contains an excitation signal generator section and a measurement and analysis section. As a result, the DEUT measures the absolute particle displacement amplitudes in test material, leading to derivation of the nonlinearity parameter (.beta.) without the costly, low field reliability methods of the prior art.

Yost, William T.↗