Thesis (Ph. D.)--University of California, San Diego, 2008. / Title from first page of PDF file (viewed June 1, 2009). Available via ProQuest Digital Dissertations. Vita. Includes bibliographical references (p. 124-131).

A geochemical study of the composition of natural sediments and contaminating mine tailings in Hastings and Alice Arms has been carried out. Apart from the geochemical investigation on the solid fraction, pore waters from six sediment cores have been analyzed to evaluate the diagenetic processes in the sediments of these two inlets. Differences in the mineralogy as well as in the chemical composition of the sediments were used to distinguish the natural sediments from contaminated sediments and pure tailings. In Alice Arm, two types of tailings could be differentiated with these methods. The first tailings type originated from the Kitsault Mo-deposit, which was mined in the past two decades by the B.C. Molybdenum Corporation and AMAX/Canada. These tailings are characterized by a number of features which make them distinguishable from natural sediments. The K-feldspar content of the tailings is significantly increased, mainly at the expense of plagioclase, which is the main characteristic for the mineralogical identification of this tailings type. The enhanced K-feldspar content is the cause for increased K and Rb values in the Mo-mine tailings. Another indicator specific to these recent tailings is an increased Mo content. The second tailings type is derived from an older mining operation in the Kitsault Valley, most likely the Dolly Varden Silver Mine. A specific indicator for these tailings is their high Ba content which is due to large amounts of barite. This mineral phase could be identified by X-ray diffraction methods in a heavy mineral fraction of the relevant sediment layers. Both tailings types show enrichment in their Pb, Zn and S concentrations, caused by an increased amount of metal-sulphides in the ore materials. In this area, these elements can therefore serve as a general indicator for the contamination of natural sediment with either tailings type. The interstitial water analyses indicated that the sediments in both inlets become reducing at a fairly shallow depth (10-15 cm), resulting in the mobilization of Mn, Fe and Mo from the solid phase. In the deeper parts of the cores, consumption of these metals could usually be observed which is likely due to precipitation of authigenic components. The dissolved Mo concentrations in the sediments contaminated with the modern tailings were much higher than in the natural sediments. In the pore water of the pure tailings the concentration reaches some 300 times that of the overlying water, which is the highest value ever reported for saline pore waters. These high Mo concentrations must support a flux of Mo from the sediment into the overlying water, and it is shown that such a flux could increase the inventory of naturally occurring dissolved Mo in the deep waters of Alice Arm by up to 4%. / Science, Faculty of / Earth, Ocean and Atmospheric Sciences, Department of / Graduate

The Dolly Varden camp, Alice Arm area, northwestern British Columbia, is characterized by stratiform and volcanogenic silver-lead-zinc-barite deposits in Early to Middle Jurassic calc-alkaline volcanic rocks of the Hazelton Group. These deposits, containing exceptional silver and significant base metal values, are in andesitic tuffaceous rocks, and occur typically as layers of quartz, carbonate, barite and jasper, with lesser amounts of pyrite, sphalerite and galena, and sparse chalcopyrite. Production from three deposits, the Dolly Varden, Northstar and Torbrit mines, totaled 1,284,902 tonnes of ore that averaged 484g silver per tonne, 0.38 percent lead and 0.02 percent zinc. The Hazelton Group is a thick, widespread assemblage of basaltic to rhyolitic volcanic flow rocks, their tuffaceous equivalents, and derived sedimentary rocks. Dolly Varden camp is underlain by more than 3,000m of Hazelton Group rocks comprised of one major volcanic and one major sedimentary formation. Volcanic rocks underlie sedimentary rocks and have been subdivided into footwall and hangingwall units based on stratigraphic position relative to the mineralized stratiform horizon. Footwall volcanic rocks consist of green ± maroon basaltic-andesite tuff, green ± maroon porphyritic andesite and green andesite shard tuff. Stratiform mineralization rests conformably upon the underlying green andesite shard tuff. Hangingwall volcanic rocks above the stratiform layer consist of pale grey basaltic-andesite ash tuff, maroon basaltic-andesite ash-lapilli tuff, grey-green porphyritic andesite, and pale green andesite ash tuff. Hangingwall volcanics are unconformably capped by sedimentary rocks consisting of maroon siltstone, calcareous and fossiliferous wacke, and black siltstone and shale; black siltstone and shale form the youngest rock unit of the Hazelton Group in the Dolly Varden area. Basalt and lamprophyre dykes intrude all rocks of the Hazelton Group. The rocks of the Hazelton group exposed in the Dolly Varden camp are folded into a series of anticlines and synclines with gentle, northwestern plunges. Two major sets of nearly vertical block faults cut all rock units; earlier faults trend northwest and younger faults trend north-northeast. Geological mapping, combined with petrologic, petrographic and isotopic data, indicate that the stratiform deposits probably formed as submarine exhalative deposits associated with andesitic volcanism of the Hazelton Group during the Early to Middle Jurassic. Evidence for a volcanogenic origin is the conformity of layered mineralization with stratigraphy, lateral and vertical mineral zonation patterns, consistent hangingwall versus footwall contact relationships, fragments of stratiform ore within tuffaceous volcanic rocks of the hangingwall, consistent differences in the stable isotopic compositions between the sulfides versus barite, quartz and carbonate gangue, and the Jurassic "fingerprint" for the lead-bearing deposits of the Dolly Varden camp. The Dolly Varden deposits display criteria for classification of a new, previously unrecognized, stratiform and volcanogenic, deposit type, named here, the "Dolly Varden type", and is characterized by silver-rich, low sulfide and high oxide stratiform mineralization within andesitic volcanic rocks. / Science, Faculty of / Earth, Ocean and Atmospheric Sciences, Department of / Graduate

Nowadays, the human ability to utilize the technology has increased. One of the most important branches of technology in human service is Robotics, which helps humans to perform their daily work.This thesis is a part of a big project (Iron Arm) that was done at the Bioservo Technology AB in Kista-Stockholm. Bioservo exerts its effort to use SEM™ (Soft Extra Muscle) technology to build the new products. The aim of this thesis work was to design an effective mechanical actuator that will complete the former prototype built by Bioservo through another master thesis work done by John Ekblom in 2014. The thesis also describes how a mechanical actuator can be used in a device (robotic arm) to provide extra force and to assist someone who has weak arm lifting muscles. A big challenge for this device is to have a low weight because the user should wear the device and carry it during the entire day. / Bioservo Technology AB är ett företag som etablerades i Sverige 2006 . Företaget samarbetar med läkare och sjukhus för att utveckla produkter för att hjälpa de som har svaga muskler. Det här examensarbete, som gjordes på Biservo Tecknology AB i Stockholm, är en del av projektet Iron Arm, som började 2014. Syftet med Iron Arm projektet är att assistera äldre som lider av nedsatt muskelstyrka och därmed har svårt att lyfta armen. I detta examensarbete konstrueras en aktuator som ger extra kraft för att lyfta armen och underlätta vardagsarbeten, som att kamma håret, äta mat, laga mat och att ta på sig ytterkläder.

Reverse engineering is the technique of gathering scientific knowledge about a part by physically examining it. In the computer aided manufacturing world this is referred to as Part to CAD conversion, where the geometry of physical objects are being captured as Digital 3-D CAD Data. This is vital not only to produce drawing of parts for which no CAD data exists, but also is frequently being used to produce better designs. The industry professionals to achieve this are frequently using Coordinate Measuring Machine [CMM] among other tools. The purpose of this thesis is to demonstrate the versatility of portable CMM as a Reverse Engineering Tool through application experiments aimed at industrial and non-industrial solutions. The thesis also researches in to the feasibility of customization options through experimentations focused on reverse engineering. Focusing further on Reverse Engineering applications, some of the interesting digitizing and CAD techniques are demonstrated and compared.

No description available.

<p>The primary purpose of this thesis was to measure arm strengths, in combinations of exertion directions, and to evaluate the importance of knowing the precise posture of the arm and specific joint locations in 3D space when predicting female arm strength. A stepwise multiple regression approach was utilized in the prediction of female arm strengths, using kinematic measures of hand location, arm posture and 26-force directions from 17 subjects and 8 hand locations as inputs. When including measures of arm posture, the regression model was indeed improved, explaining 75.4% of the variance, with an RMS error of 9.1 N, compared to an explained variance of 67.3% and an RMS error of 10.5 N without those postural variables. A comparison was also made between the empirical strength data from this thesis and the outputs from the University of Michigan’s Center for Ergonomics 3-Dimensional Static Strength Prediction Program (3DSSPP) software. A poor correlation (R-square = 0.305) and high RMS error (39 N) was found, indicating a definite need for further evaluation of the 3DSSPP package, as it is one of the most commonly used ergonomic tools in industry. <strong> </strong></p> / Master of Science (MSc)

This thesis deals with the design of the hydraulic system of hydraulic crane. It focuses on the description of the individual elements of the existing hydraulic system, analysis of forces, calculate diameters of linear hydraulic motors and their pressures and flow rates.

Redundant robotic systems, in terms of manipulators with one or twoarms, mobile manipulators, and multi-agent systems, have received an in-creasing amount of attention in recent years. In this thesis we describe severalways to improve robotic system performance by exploiting the redundancy. As the robot workspace becomes increasingly dynamic, it is common towork with imperfect geometric models of the robots or its workspace. Inorder to control the robot in a robust way in the presence of geometric uncer-tainties, we propose to assess the stability of our controller with respect to acertain task by deriving bounds on the geometric uncertainties. Preliminaryexperimental results support the fact that stability is ensured if the proposedbounds on the geometric uncertainties are fulfilled. As a non-contact measurement, computer vision could provide rich infor-mation for robot control. We introduce a two step method that transformsthe position-based visual servoing problem into a quadratic optimization prob-lem with linear constraints. This method is optimal in terms of minimizinggeodesic distance and allows us to integrate constraints, e.g. visibility con-straints, in a natural way. In the case of a single robot with redundant degrees of freedom, we canspecify a family of complex robotic tasks using constraint based programming(CBP). CBP allows us to represent robotic tasks with a set of equality andinequality constraints. Using these constraints we can formulate quadraticprogramming problems that exploit the redundancy of the robot and itera-tively resolve the trade-off between the different constraints. For example, wecould improve the velocity or force transmission ratios along a task-dependent direction using the priorities between different constraints in real time. Using the reactiveness of CBP, we formulated and implemented a dual-armpan cleaning task. If we mount a dual-arm robot on a mobile base, we proposeto use a virtual kinematic chain to specify the coordination between the mobilebase and two arms. Using the modularity of the CBP, we can integrate themobility and dual-arm manipulation by adding coordination constraints intoan optimization problem where dual-arm manipulation constraints are alreadyspecified. We also found that the reactiveness and modularity of the CBPapproach is important in the context of teleoperation. Inspired by the 3Ddesign community, we proposed a teleoperation interface control mode thatis identical to the ones being used to locally navigate the virtual viewpoint ofmost Computer Aided Design (CAD) softwares. In the case of multiple robots, we combine ideas from multi-agent coopera-tive coverage control, with problem formulations from the resource allocationfield, to create a distributed convergent approach to the resource positioningproblem. / <p>QC 20160224</p>

ITC/USA 2010 Conference Proceedings / The Forty-Sixth Annual International Telemetering Conference and Technical Exhibition / October 25-28, 2010 / Town and Country Resort & Convention Center, San Diego, California / Development is currently underway to produce a dual redundant Flight Termination System (FTS) capable Missile Telemetry Section. This FTS will mainly consist of a conformal wraparound antenna, two flight termination safe & arm (FTS&A) devices, two flight termination receivers (FTR), two explosive foil initiators (EFI) and destruct charge. This paper will discuss the current status of the development of these FTS components along with the process of obtaining the Flight Certification from Range and System Safety to fly this newly outfitted missile on a governmental test range.