Enhanced direct stiffness method for finite element analysis of textile composites

Traditional homogenization techniques are not useful when the microstructural scale of a material is of the same order of magnitude as the structural scale of a component. Such is the case for many textile composites. Since discrete modeling of the microstructure throughout a component is prohibitively expensive, continuum finite elements are needed which account for the microstructure within a single element. This paper describes a simple substructuring technique for formulating these special elements.     

Distributed real-time control of a spatial robot juggler

The Yale spatial juggler and an emerging set of working principles for the design and implementation of embedded real-time distributed controllers are described. The robot uses a distributed network of transputers to process stereo camera data and control the torque of a three-degree-of-freedom arm to juggle a ball. The juggling algorithm is a direct extension of a novel class of nonlinear feedback controllers, called mirror laws. The algorithm takes the form of a mathematical expression that specifies robot position as a function of the ball's position and velocity. The programming approach, called geometric programming, substitutes event-driven dynamical processes and geometrical transformations for a more syntactically oriented if-then-else approach     

Adaptive Identification on the Group of Rigid-Body Rotations and its Application to Underwater Vehicle Navigation

This paper reports a novel stable adaptive identifier on the group of rigid-body rotations, and its application to a sensor-calibration problem arising in underwater vehicle navigation. The problem addressed is the identification of an unknown rigid-body rotation map from input-output data. General least-squares (LS) and adaptive identification techniques are commonly employed to identify general linear maps from input-output data, but do not guarantee that the resulting identified map is a rigid-body rotation. At present, an LS singular value decomposition approach is the standard method for identification constrained to the group of rigid-body rotations. This paper reports the first exact adaptive identifier on the group of rigid-body rotations, together with a proof of asymptotic stability. Techniques for navigating underwater vehicles are reviewed, and the Doppler-alignment calibration problem is posed. The reported adaptive identifier is employed to solve this problem, and performance of this adaptive identifier is evaluated on both laboratory and field experimental data. The results reported herein compare favorably with results obtained via previously reported LS techniques. The methodology reported herein may be of broader interest because of its applicability to more general problems in the identification, dynamics, and control on the group of rigid-body motions     

Rheology of guar solutions

The rheology of aqueous solutions of guar is studied over a wide range of shear rates and concentrations. At sufficiently low and high shear rates guar solutions show regions of Newtonian behavior, while at intermediate shear rates they are pseudoplastic. Preliminary normal stress data, and the effects of salt concentration are discussed. Molecular size distribution profiles of hydrated guar, obtained by low pressure (20 psig) filtration through Nucleopore filter membranes, are discussed in terms of guar purity.     

Design of a novel MRI compatible manipulator for image guided prostate interventions

This paper reports a novel remotely actuated manipulator for access to prostate tissue under magnetic resonance imaging guidance (APT-MRI) device, designed for use in a standard high-field MRI scanner. The device provides three-dimensional MRI guided needle placement with millimeter accuracy under physician control. Procedures enabled by this device include MRI guided needle biopsy, fiducial marker placements, and therapy delivery. Its compact size allows for use in both standard cylindrical and open configuration MRI scanners. Preliminary in vivo canine experiments and first clinical trials are reported.     

Silver carboxylate nanostructure nucleation and growth on AgBr crystals

The initial stage of the reaction between sodium stearate (NaSt) and AgNO(3) produces silver stearate (AgSt) micelles, [(C(18)H(35)O(2))(x)(Na(x-y))(Ag(y))(H(2)O)(z)], and aggregations of these AgSt micelles in the form of cubic pre-AgSt crystals. When cubic grains of 50?nm AgBr are added to the NaSt dispersion prior to the AgNO(3), the reaction proceeds to form the silver stearate micelles, but not the aggregation of those micelles. Instead, the {111} silver ion planes of the cubic AgBr crystal corners provide nucleation sites for silver stearate micelle deposition and crystal growth. After nucleation, the AgSt micelles evolve into nanostructured bud-like formations via an epitaxial interface on one or several corners of each AgBr cubic crystal. Over time, additional AgSt micelle deposition enables the buds to grow longer into strand-like structures, which then connect to form the beginnings of the ultimate silver stearate crystal plates.     

A method for preparing chelate-cytokine conjugates with retention of protein structure, biological activity, and pharmacokinetic properties

The chelating agent diethylenetriaminepentaacetic acid (DTPA) has been conjugated site-specifically to the N-terminus of recombinant human interleukin-2 (rhIL-2) by reaction with DTPA dianhydride at an initial pH of 6.0, thus demonstrating broader application of the conjugation method previously described for the structurally related cytokine rhG-CSF (Ralph et al., 1995). Purity of the DTPA-rhIL-2 conjugate, isolated by cation-exchange FPLC, and chelation of 111In were revealed by cation-exchange HPLC. Purity of the conjugate as well as chelation of radiometal were also demonstrated by SDS-PAGE and TLC, respectively. The stoichiometric molar ratio of DTPA to protein for the conjugate was approximately 1:1 as determined by TLC and mass spectrometry. Localization of the DTPA moiety was resolved by a peptide mapping procedure. The protein retained > 95% secondary structure (alpha helicity) following the conjugation. Addition of metal induced an approximate 22% loss of secondary structure for the conjugate. The in vitro biological activity of the protein was unaffected by the conjugated DTPA, even with chelated metal. Pharmacokinetic analysis of DTPA-conjugated cytokines, following chelated 111In, showed clearance and pharmacokinetic parameter values comparable to those of the corresponding unmodified cytokine. DTPA-conjugated cytokines may prove useful in cytokine research, and furthermore may represent a novel class of molecules for imaging, diagnosing, and/or treatment of malignancies where the cytokine receptor is overexpressed.     

Reliability of the finite element method for calculating free edge stresses in composite laminates

The edge-stress problem for a [±45]_s graphite/epoxy laminate was examined in detail. A review of the literature on this problem showed that the interlaminar normal stress σ_z distributions along the interface between the +45° and -45° plies, obtained by various investigators, disagreed in magnitude and sign. In particular, a finite difference solution and a perturbation solution predicted a tensile σ_z, whereas the finite element methods predicted a compressive stress. Since a stress singularity exists at the intersection of the interface and the free edge, the differences in magnitude of the peak stress were expected, but not the difference in the sign.This paper investigates the reliability of the displacement-formulated finite element method in analyzing the edge-stress problem. Analyses of two well-known elasticity problems, one involving a stress discontinuity and one a singularity, showed that the finite element analysis yields accurate stress distributions everywhere except in two elements closest to the stress discontinuity or singularity. Stress distributions for a [±45]_s laminate showed the same behavior near the singularity as found in the well-known problems with exact solutions. The displacementformulated finite element method, therefore, appears to be a highly accurate technique for calculating interlaminar stresses in composite laminates. The disagreement among the numerical methods was attributed to the unsymmetric stress tensor at the singularity.