Joseph Genin

Accelerometer Placement for Angular Velocity Determination

An accelerometer placement scheme to determine the angular velocities and accelerations of a rigid body is presented. We show that the least number of uniaxial accelerometers required in a sensor array to uniquely determine the angular velocities in a moving frame is nine.

Kinematics of an n-Degree- of-Freedom Multi-Link Robotic System

A kinematic model is developed for n-degree-of-freedom multi-link manipulator systems. An essential step in the de velopment is the formulation of modified Eulerian angles, to allow maximum flexibility in positioning each link. Using the modified Eulerian angle method the kinematics of a system can be solved by multiplying fewer transformation matrices than is required by existing methods, thus reducing the complexity of computation. By allowing for a maximum number of kinematic variables (three for position and three for orientation) for each link, the analysis can be pursued in a general form without preimposed constraints on the system. The resulting formulation can be used as a basis for off-line analysis and design of a multi-link system. The inverse kine matics problem is solved by minimizing an objectivefunction that quantifies the joint displacements. A 16-degree-of- freedom redundant system is presented as an illustrative problem. Our algorithm provides highly accurate numerical solutions. Also, using our method a PUMA 560 robot arm is analyzed, and theformulation is compared with that ob tained by the Denavit-Hartenberg method.

Force stream function method

A new stress analysis procedure, the force stream function method, is introduced. A general relationship between a fluid stream function and a force stream function is established. Simultaneously, the relationship between an Airy stress function and the force stream function is also presented. Classic elasticity problems, such as a simple tension plate with a circular hole in it and torsional problems are revisited using the method.

Plate subjected to an out-of-plane follower force

Abstract The stability of bending-torsional equilibrium of a uniform plate subjected to an out-of-plane follower force is studied in this paper. The resulting system approximates to a wing subjected to the thrust of a jet engine. Attention is focused on the determination of the dynamic stability of the wing as a function of engine thrust. Criteria are established for the determination of the maximum allowable value of the engine thrust.

Static follower problem revisited

Abstract Using an energy technique, the classical solution for the static formulation of the tangential follower problem is reproduced considering the more general case of a column with variable stiffness. The method of solution allows for a more delicate analysis of the phenomena associated with this problem. It is shown that the classical problem is, in a sense, overdetermined. The problem is then reformulated to permit the existence of critical loads for the static case.

COBRA: New Interferometric Inspection Design Software

Coherent optical testing methods such as holography, electronic speckle pattern interferometry (ESPI) and shearography have proven capabilities for performing structural inspections. However, a recurring challenge for inspectors is the determination of the optimum inspection configuration and loading method. Typically inspectors rely on experience or trial and error methods. Often a single configuration is used for a variety of applications. This lack of inspection design can reduce inspection reliability for complex structures. Therefore, to provide an inspection design tool, we are developing a computer code which simulates inspection processes.

Boundary-Value Problem for Viscoelastic Creep in Deeply Imbedded Salt Vaults

In this paper the authors develop a mathematical model and associated boundary-value problem for the encapsulating mechanism of a deeply imbedded salt vault at the Department of Energys Waste Isolation Pilot Plant in Carlsbad, New Mexico. The solution of the resulting boundary-value problem, which is the subject of a follow-on paper, provides significant, accurate information for predicting the time history encapsulating mechanism of salt vaults.

Waste-Management Education and Research Consortium (WERC) annual progress report, 1991--1992

This report contains the following appendices: Appendix A - Requirements for Undergraduate Level; Appendix B - Requirements for Graduate Level; Appendix C - Graduate Degree In Environmental Engineering; Appendix D - Non-degree Certificate Program; Appendix E - Curriculum for Associate Degree Program; Appendix F - Curriculum for NCC Program; Appendix G - Information 1991 Teleconference Series; Appendix H - Information on 1992 Teleconference Series; Appendix I - WERC interactive Television Courses; Appendix J - WERC Research Seminar Series; Appendix K - Sites for Hazardous/Radioactive Waste Management Series; Appendix L- Summary of Technology Development of the Second Year; Appendix M - List of Major Publications Resulting from WERC; Appendix N - Types of Equipment at WERC Laboratories.