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Automating the control of robotic systems in unstructured environments

Harrigan, Raymond W.

The US Department Energy`s Office of Technology Development has sponsored the development of generic robotics technologies for application to a wide range of remote systems. Of primary interest is the development of technologies which enable faster, safer, and cheaper cleanup of hazardous waste sites than is possible using conventional human contact or remote manual approaches. The development of model-based sensor-directed robot control approaches supports these goals by developing modular control technologies which reduce the time and cost of development by allowing reuse of control system software. In addition, the use of computer models improves the safety of remote site cleanup by allowing automated errors detection and recovery while reducing the time for technology development.

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Continuum representations of cellular solids

Neilsen, Michael K.

Cellular materials consist of interconnected struts or plates which form cells. The struts or plates are constructed from a variety of metals, polymers, ceramics and wood products. Cellular materials are often used in impact limiters for shipping containers to protect the contents from accidental impact events. These materials exhibit a variety of complex behavior when subjected to crushing loads. This research focuses on the development of continuum representations of cellular solids that can be used in the finite element analysis of shipping container accidents. A significant portion of this work is the development of a new methodology to relate localized deformations to appropriate constitutive descriptions. This methodology provides the insight needed to select constitutive descriptions for cellular solids that capture the localized deformations that are observed experimentally. Constitutive relations are developed for two different cellular materials, aluminum honeycomb and polyurethane foam. These constitutive relations are based on plasticity and continuum damage theories. Plasticity is used to describe the permanent deformation exhibited by both aluminum honeycomb and polyurethane foam. Continuum damage is needed to capture the change in elastic parameters due to cracking of the polyurethane cell wall materials. The new constitutive description of polyurethane foam is implemented in both static and dynamic finite element codes, and analytical and numerical predictions are compared with available experimental data.

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Strategic Petroleum Reserve (SPR) additional geologic site characterization studies, Bayou Choctaw salt dome, Louisiana

Neal, J.T.

This report revises and updates the geologic site characterization report that was published in 1980. Revised structure maps and sections show interpretative differences in the dome shape and caprock structural contours, especially a major east-west trending shear zone, not mapped in the 1980 report. Excessive gas influx in Caverns 18 and 20 may be associated with this shear zone. Subsidence values at Bayou Choctaw are among the lowest in the SPR system, averaging only about 10 mm/yr but measurement and interpretation issues persist, as observed values often approximate measurement accuracy. Periodic, temporary flooding is a continuing concern because of the low site elevation (less than 10 ft), and this may intensify as future subsidence lowers the surface even further. Cavern 4 was re-sonared in 1992 and the profiles suggest that significant change has not occurred since 1980, thereby reducing the uncertainty of possible overburden collapse -- as occurred at Cavern 7 in 1954. Other potential integrity issues persist, such as the proximity of Cavern 20 to the dome edge, and the narrow web separating Caverns 15 and 17. Injection wells have been used for the disposal of brine but have been only marginally effective thus far; recompletions into more permeable lower Pleistocene gravels may be a practical way of increasing injection capacity and brinefield efficiency. Cavern storage space is limited on this already crowded dome, but 15 MMBBL could be gained by enlarging Cavern 19 and by constructing a new cavern beneath and slightly north of abandoned Cavern 13. Environmental issues center on the low site elevation: the backswamp environment combined with the potential for periodic flooding create conditions that will require continuing surveillance.

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1992 Environmental monitoring report, Sandia National Laboratories, Albuquerque, New Mexico

Culp, Todd A.

This 1992 report contains monitoring data from routine radiological and nonradiological environmental surveillance activities. summaries of significant environmental compliance programs in progress, such as National Environmental Policy Act documentation, environmental permits, envirorunental restoration, and various waste management programs for Sandia National Laboratories in Albuquerque, New Mexico, are included. The maximum offsite dose impact was calculated to be 0.0034 millirem. The total population within a 50-mile radius of Sandia National Laboratories/New Mexico received an estimated collective dose of 0.019 person-rem during 1992 from the laboratories` operations. As in the previous year, the 1992 operations at Sandia National Laboratories/New Mexico had no discernible impact on the general public or on the environment.

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(BARS) -- Bibliographic Retrieval System, Sandia Shock Compression (SSC) database Shock Physics Index (SPHINX). PC/DOS version 4.0

Herrmann, W.

The Bibliographic Retrieval System (BARS) is a database management system specially designed to retrieve bibliographic references. Two databases are available, (i) the Sandia Shock Compression (SSC) database which contains over 5600 references to the literature related to stress waves in solids and their applications, and (ii) the Shock Physics Index (SPHINX) which includes over 6200 further references to stress waves in solids, material properties at intermediate and low rates, ballistic and hypervelocity impact, and explosive or shock fabrication methods. There is some overlap in the information in the two data bases.

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(BARS) -- Bibliographic Retrieval System Sandia shock compression (SSC) database shock physics index (SPHINX) database. Volume 3, UNIX version Systems Guide

Herrmann, W.

The Bibliographic Retrieval System (BARS) is a database management system specially designed to store and retrieve bibliographic references and track documents. The system uses INGRES to manage this database and user interface. It uses forms for journal articles, books, conference proceedings, theses, technical reports, letters, memos, visual aids, as well as a miscellaneous form which can be used for data sets or any other material which can be assigned an access or file number. Sorted output resulting from flexible BOOLEAN searches can be printed or saved in files which can be inserted in reference lists for use with word processors.

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Global Positioning System receiver evaluation results

Byrne, Raymond H.

A Sandia project currently uses an outdated Magnavox 6400 Global Positioning System (GPS) receiver as the core of its navigation system. The goal of this study was to analyze the performance of the current GPS receiver compared to newer, less expensive models and to make recommendations on how to improve the performance of the overall navigation system. This paper discusses the test methodology used to experimentally analyze the performance of different GPS receivers, the test results, and recommendations on how an upgrade should proceed. Appendices contain detailed information regarding the raw data, test hardware, and test software.

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Characteristics and development report for the MC4169 double-layer capacitor assembly

Clark, N.H.; Baca, W.E.

The MC4169 Double-Layer Capacitor Assembly was developed in response to a request from the B61 Systems organization to provide interim power for the B61 Common JTA Development. The project has been successfully completed, and Lot 1 has been built by MMSC/GEND. Development testing showed that this assembly met all design requirements. This report describes the design configuration, environmental testing, and aging, reliability, and safety studies done to ensure that the design requirements were met.

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Techniques for producing free-standing thin films on frames

Aubert, James H.

The procedures of vapor-deposition polymerization, spin coating and orientation-dependent etching have been employed to make free-standing thin films of Parylene-N, Parylene-D, polystyrene, polycarbonate and perfluoro-dimethyl-dioxole/tetrafluoroethylene copolymer (Teflon{reg_sign} AF-1600). The polymeric materials were vapor-deposited or spin-coated onto substrates of polished single-crystal silicon (wafers) and removed on frames of various shapes and sizes after application of adhesive and an etching process using potassium hydroxide. Thicknesses range from 2000{Angstrom} to 12000{Angstrom}.

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A comparison of IDEF1X and NIAM ISDM

Sharp, J.K.

This paper describes the major differences in the IDEFlX and NIAM ISDM information modeling methodologies and presents the different philosophies behind these methodologies. The IDEFlX methodology base document comes from the Integrated Information Support System (IISS) project sponsored by the US Air Force. The IISS project office was contacted and they supplied the referenced document as the best base description of this methodology. The NIAM ISDM methodology base documents present the general NIAM methodology. IDEFlX is a variant of the entity-attribute-relationship (E-A-R) approach to data modeling and although many other variants exist, the comparison presented here covers the common aspects of entity-relationship approaches. This comparison identifies and illustrates the differences in the two methodologies.

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Fact-based Enterprise Information Management using NIAM

Rivord, G.

The effort to consolidate the ``islands of information`` within an enterprise -- to manage information at the enterprise level rather than the department or sub-system level -- is known by many names, such as ``Information Resource Management`` and ``Corporate Data Administration``. Here we will call it ``Enterprise Information Management`` (EIM). This effort is becoming increasingly vital as the need for shared information grows, yet it is plagued by costly, time-consuming efforts that produce reams of hard-to-maintain documentation. The results are difficult to integrate, measure, or apply. Management needs a tool that can integrate models from diverse modeling efforts into a global knowledge base, produce metrics to clarify the value of the integration process, and provide a short, traceable route between information models and their physical implementations. The natural-language emphasis of NIAM makes it an ideal candidate for this tool. When integrated with enterprise-wide data administration, the collection of metrics, CASE tools that produce application code, and automated support tools, NIAM can effectively manage multiple Universes of Discourse (UOD). Prototypes of automated support tools, ``Fact Manager`` and ``Fact Designer``, will be discussed.

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Sensors for process control Focus Team report

Goehner, Raymond P.

At the Semiconductor Technology Workshop, held in November 1992, the Semiconductor Industry Association (SIA) convened 179 semiconductor technology experts to assess the 15-year outlook for the semiconductor manufacturing industry. The output of the Workshop, a document entitled ``Semiconductor Technology: Workshop Working Group Reports,`` contained an overall roadmap for the technology characteristics envisioned in integrated circuits (ICs) for the period 1992--2007. In addition, the document contained individual roadmaps for numerous key areas in IC manufacturing, such as film deposition, thermal processing, manufacturing systems, exposure technology, etc. The SIA Report did not contain a separate roadmap for contamination free manufacturing (CFM). A key component of CFM for the next 15 years is the use of sensors for (1) defect reduction, (2) improved product quality, (3) improved yield, (4) improved tool utilization through contamination reduction, and (5) real time process control in semiconductor fabrication. The objective of this Focus Team is to generate a Sensors for Process Control Roadmap. Implicit in this objective is the identification of gaps in current sensor technology so that research and development activity in the sensor industry can be stimulated to develop sensor systems capable of meeting the projected roadmap needs. Sensor performance features of interest include detection limit, specificity, sensitivity, ease of installation and maintenance, range, response time, accuracy, precision, ease and frequency of calibration, degree of automation, and adaptability to in-line process control applications.

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Quality and small business competitiveness: Where are we and what needs to happen?

Tapp, C.

Quality management is more than an idea whose time has come, more than a passing fancy. Quality will be an imperative for competitiveness in the 21st century. Many large US firms have already implemented or are considering implementing total quarry management practices and processes. While most of the current literature on quality management focuses on large firms, quality management is arguably even more relevant to small businesses. As global markets become increasingly a reality in today`s world, small business managers and owners must focus on customer, satisfaction and continuous improvement if they are to survive the global competitive battle. Quality management may not be a luxury but rather, an essential focus for successful small business oompetitiveness. This paper examines quality management practices, awareness level, needs, and successes for small businesses in the Rocky Mountain region of the United States. This region is especially dependent upon small business competitiveness for economic survival and growth. A significant percent of total employment and sales in this region of the US is attributable to businesses classified as small. The specific purposes of the paper are: to report the results of a survey of small manufacturers` use, success, awareness, and interest in quality management practices and programs; to provide a profile of those manufacturers who have implemented quality management programs; and to describe a unique partnership between a state university and a large national lab designed to assist small business owners and managers in evaluating and implementing total quality management techniques.

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Probabilistic analysis of mechanical systems

Paez, Thomas L.

This paper proposes a framework for the comprehensive analysis of complex problems in probabilistic structural mechanics. Tools that can be used to accurately estimate the probabilistic behavior of mechanical systems are discussed, and some of the techniques proposed in the paper are developed and used in the solution of a problem in nonlinear structural dynamics.

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Data collection system. Volume 1, Overview and operators manual; Volume 2, Maintenance manual; Appendices

Caudell, R.B.; Bauder, M.E.; Boyer, W.B.; French, R.E.; Isidoro, R.J.; Kaestner, P.C.; Perkins, W.G.

Sandia National Laboratories (SNL) Instrumentation Development Department was tasked by the Defense Nuclear Agency (DNA) to record data on Tektronix RTD720 Digitizers on the HUNTERS TROPHY field test conducted at the Nevada Test Site (NTS) on September 18, 1992. This report contains a overview and description of the computer hardware and software that was used to acquire, reduce, and display the data. The document is divided into two volumes: an overview and operators manual (Volume 1) and a maintenance manual (Volume 2).

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Autocharacterization feasibility system on Hunters Trophy event

Mills, R.A.

An automated system to characterize cable systems at NTS has been developed to test the feasibility of such a system. A rack of electronic equipment including a fast pulse generator, digital sampling scope, coaxial switch matrix and GPIB controller was installed downhole at NTS for the Hunters Trophy event. It was used to test automated characterization. Recorded measurements of simulation and other instrument data were gathered to determine if a full scale automated system would be practical in full scale underground nuclear effects tests. The benefits of such a full scale system would be fewer personnel required downhole; more instrument control in the uphole recording room; faster acquisition of cable parameter data.

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Simple method to estimate MOS oxide-trap, interface-trap, and border-trap densities

Fleetwood, D.M.

Recent work has shown that near-interfacial oxide traps that communicates with the underlaying Si (``border traps``) can play a significant role in determining MOS radiation response and long-term reliability. Thermally-stimulated-current 1/f noise, and frequency-dependent charge-pumping measurements have been used to estimate border-trap densities in MOS structures. These methods all require high-precision, low-noise measurements that are often difficult to perform and interpret. In this summary, we describe a new dual-transistor method to separate bulk-oxide-trap, interface-trap, and border-trap densities in irradiated MOS transistors that requires only standard threshold-voltage and high-frequency charge-pumping measurements.

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A constitutive model for layered wire mesh and aramid cloth fabric

Neilsen, Michael K.

A new package for the air transport of hazardous materials is currently being developed in the Transportation Systems Department at Sandia National Laboratories. The baseline design has a unique impact limiter which uses layers of aluminum screen wire and aramid cloth fabric. A primary motivation for selecting this unusual combination of materials is the need for the impact limiter to not only limit the amount of load transmitted to the primary container but also remain in place during impact events so that it provides a thermal barrier during a subsequent fire. A series of uniaxial and confined compression tests indicated that the layered material does not behave like other well characterized materials. No existing constitutive models were able to satisfactorily capture the behavior of the layered material; thus, a new plasticity model was developed. The new material model was then used to characterize the response of air transport packages with layered impact limiters to hypothetical accidental impact events. Responses predicted by these analyses compared favorably with experiments at Sandia`s rocket sled test facility in which a one-fourth scale package was subjected to side and end impacts at velocities of 428 and 650 fps, respectively.

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Effect of boundary conditions on the strength and deformability of replicas of natural fractures in welded tuff; Data report: Yucca Mountain Site Characterization Project

Price, Ronald H.

Four series of cyclic direct-shear experiments were conducted on several replicas of three natural fractures and a tensile fracture of welded tuff from Yucca Mountain. The objective of these tests was to examine the effect of cyclic loading on joint shear behavior under different boundary conditions. The shear tests were performed under either different levels of constant normal load ranging between 0.6 and 25.6 kips (2.7 and 113.9 kN) or constant normal stiffness ranging between 14.8 and 187.5 kips/in (25.9 and 328.1 kn/cm) . Bach test in the two categories consisted of five cycles of forward and reverse shear. Normal compression tests were also performed both before and after each shear experiment to measure changes in joint normal deformability. In order to quantify fracture surface damage during shear, fracture-surface fractal dimensions were obtained from measurements before and after shear.

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Effect of boundary conditions on the strength and deformability of replicas of natural fractures in welded tuff: Comparison between predicted and observed shear behavior using a graphical method; Yucca Mountain Site Characterization Project

Price, Ronald H.

Four series of cyclic direct-shear experiments were conducted on several replicas of three natural fractures and a laboratory-developed tensile fracture of welded tuff from Yucca Mountain to test the graphical load-displacement analysis method proposed by Saeb (1989) and Amadei and Saeb (1990). Based on the results of shear tests conducted on several joint replicas under different levels of constant normal load ranging between 0.6 and 25.6 kips (2.7 and 113.9 kN), the shear behavior of joint replicas under constant normal stiffness ranging between 14.8 and 187.5 kips/in. (25.9 and 328.1 kN/cm) was predicted by using the graphical method. The predictions were compared to the results of actual shear tests conducted for the same range of constant normal stiffness. In general, a good agreement was found between the predicted and the observed shear behavior.

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A lower bound for routing on a completely connected optical communication parallel computer

Goldberg, L.A.

The task of routing a 2-relation on an n-processor completely connected optical communication parallel computer (OCPC) is considered. A lower bound is presented that applies to any randomized distributed algorithm for this task: specifically, it is shown that the expected number of steps required to route a 2-relation is {Omega}({radical} log log n) in the worst case. For comparison, the best upper bound known is O(log log n).

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Results 94476–94500 of 96,771
Results 94476–94500 of 96,771