We have developed an automated software pipeline to perform Structural-Thermal-Optical Performance (STOP) analysis of the WFIRST coronagraph. The Coronagraph Instrument on the Wide Field InfraRed Survey Telescope (WFIRST) will search for exoplanets by controlling the diffraction of the host star light in order to suppress it and allow the planet light to become observable. Since the planet light is billions of times dimmer than the star light, precise control of the light is challenging and susceptible to even minute imperfections such as thermally induced deformations of the optics. The observatory STOP analysis is used to assess the impact of such perturbations. The pipeline integrates the thermal, structural, and optical analysis software to run a STOP analysis in a seamless manner, with the final output being optical wave-front errors for an input observational scenario. The pipeline is written in the Python high level language and uses the Luigi framework for dependency resolution, workload management, and visualization. The initial version uses Thermal Desktop for thermal analysis, NX NASTRAN for structural analysis, SigFit for optical surface fitting, and CODE V for optical analysis. The pipeline can be easily customized using configuration files and provides users with a web interface to monitor the submitted job. This paper will present results showing how the pipeline can be used to simulate different observational scenarios to generate optical wave-front errors. Which in turn are propagated through simulated WFIRST coronagraph optical system to generate realistic speckle patterns.
The WFIRST-AFTA coronagraph instrument takes advantage of AFTAs 2.4-meter aperture to provide novel exoplanet imaging science at approximately the same instrument cost as an Explorer mission. The AFTA coronagraph also matures direct imaging technologies to high TRL for an Exo-Earth Imager in the next decade. The coronagraph Design Reference Mission (DRM) optical design is based on the highly successful High Contrast Imaging Testbed (HCIT), with modifications to accommodate the AFTA telescope design, service-ability, volume constraints, and the addition of an Integral Field Spectrograph (IFS). In order to optimally satisfy the three science objectives of planet imaging, planet spectral characterization and dust debris imaging, the coronagraph is designed to operate in two different modes: Hybrid Lyot Coronagraph or Shaped Pupil Coronagraph. Active mechanisms change pupil masks, focal plane masks, Lyot masks, and bandpass filters to shift between modes. A single optical beam train can thus operate alternatively as two different coronagraph architectures. Structural Thermal Optical Performance (STOP) analysis predicts the instrument contrast with the Low Order Wave Front Control loop closed. The STOP analysis was also used to verify that the optical/structural/thermal design provides the extreme stability required for planet characterization in the presence of thermal disturbances expected in a typical observing scenario. This paper describes the instrument design and the flow down from science requirements to high level engineering requirements.
The most recent study of the Wide Field Infrared Survey Telescope (WFIRST) mission is based on reuse of an
existing 2.4m telescope. This study was commissioned by NASA to examine the potential science return and cost
effectiveness of WFIRST by using this significantly larger aperture telescope. We review the science program
envisioned by the WFIRST 2012-2013 Science Definition Team (SDT), an overview of the mission concept, and
the telescope design and status. Comparisons against the previous 1.3m and reduced cost 1.1m WFIRST design
concepts are discussed. A significant departure from past point designs is the option for serviceability and the
geostationary orbit location which enables servicing and replacement instrument insertion later during mission
life. Other papers at this conference provide more in depth discussion of the wide field instrument and the optional
exoplanet imaging coronagraph instrument.
Increasingly, NASA exploration mission objectives include sample acquisition tasks for in-situ analysis or for potential sample return to Earth. To address the requirements for samplers that could be operated at the conditions of the various bodies in the solar system, a piezoelectric actuated percussive sampling device was developed that requires low preload (as low as 10N) which is important for operation at low gravity. This device can be made as light as 400g, can be operated using low average power, and can drill rocks as hard as basalt. Significant improvement of the penetration rate was achieved by augmenting the hammering action by rotation and use of a fluted bit to provide effective cuttings removal. Generally, hammering is effective in fracturing drilled media while rotation of fluted bits is effective in cuttings removal. To benefit from these two actions, a novel configuration of a percussive mechanism was developed to produce an augmenter of rotary drills. The device was called Percussive Augmenter of Rotary Drills (PARoD). A breadboard PARoD was developed with a 6.4 mm (0.25 in) diameter bit and was demonstrated to increase the drilling rate of rotation alone by 1.5 to over 10 times. The test results of this configuration were published in a previous publication. Further, a larger PARoD breadboard with a 50.8 mm (2.0 in) diameter bit was developed and tested. This paper presents the design, analysis and test results of the large diameter bit percussive augmenter.
The Wide Field Infrared Survey Telescope (WFIRST) mission concept was ranked first in new space astrophysics
missions by the Astro2010 Decadal Survey, incorporating the Joint Dark Energy Mission payload concept and multiple
science white papers. This mission is based on a space telescope at L2 studying exoplanets [via gravitational
microlensing], probing dark energy, and surveying the near infrared sky. Since the release of the Astro2010 Decadal
Survey, the team has been working with the WFIRST Science Definition Team to refine mission and payload concepts.
We present the current interim reference mission point design of the payload, based on the use of a 1.3m unobscured
aperture three mirror anastigmat form, with focal imaging and slit-less spectroscopy science channels. We also present
the first results of Structural/Thermal/Optical performance modeling of the telescope point design.
The search for present or past life in the Universe is one of the most important objectives of NASA's exploration
missions. Drills for subsurface sampling of rocks, ice and permafrost are an essential tool for astrobiology studies on
other planets. Increasingly, it is recognized that drilling via a combination of rotation and hammering offers an efficient
and effective rapid penetration mechanism. The rotation provides an intrinsic method for removal of cuttings from the
borehole while the impact and shear forces aid in the fracturing of the penetrated medium. Conventional drills that use a
single actuator are based on a complex mechanism with many parts and their use in future mission involves greater risk
of failure and/or may require lubrication that can introduce contamination. In this paper, a compact drill is reported that
uses a single piezoelectric actuator to produce hammering and rotation of the bit. A horn with asymmetric grooves was
designed to impart a longitudinal (hammering) and transverse force (rotation) to a keyed free mass. The drill requires
low axial pre-load since the hammering-impacts fracture the rock under the bit kerf and rotate the bit to remove the
powdered cuttings while augmenting the rock fracture via shear forces. The vibrations 'fluidize' the powdered cuttings
inside the flutes reducing the friction with the auger surface. This action reduces the consumed power and heating of the
drilled medium helping to preserve the pristine content of the acquired samples. The drill consists of an actuator that
simultaneously impacts and rotates the bit by applying force and torque via a single piezoelectric stack actuator without
the need for a gearbox or lever mechanism. This can reduce the development/fabrication cost and complexity. In this
paper, the drill mechanism will be described and the test results will be reported and discussed.
There is a great need for compact, efficient motors for driving various mechanisms including robots or mobility
platforms. A study is currently underway to develop a new type of piezoelectric actuators with significantly more
strength, low mass, small footprint, and efficiency. The actuators/motors utilize piezoelectric actuated horns which have
a very high power density and high electromechanical conversion efficiency. The horns are fabricated using our recently
developed novel pre-stress flexures that make them thermally stable and increases their coupling efficiency. The
monolithic design and integrated flexures that pre-stresses the piezoelectric stack eliminates the use of a stress bolt. This
design allows embedding solid-state motors and actuators in any structure so that the only macroscopically moving parts
are the rotor or the linear translator. The developed actuator uses a stack/horn actuation and has a Barth motor
configuration, which potentially generates very large torque and speeds that do not require gearing. Finite element
modeling and design tools were investigated to determine the requirements and operation parameters and the results
were used to design and fabricate a motor. This new design offers a highly promising actuation mechanism that can
potentially be miniaturized and integrated into systems and structures. It can be configured in many shapes to operate as
multi-degrees of freedom and multi-dimensional motors/actuators including unidirectional, bidirectional, 2D and 3D. In
this manuscript, we are reporting the experimental measurements from a bench top design and the results from the
efforts to miniaturize the design using 2×2×2 mm piezoelectric stacks integrated into thin plates that are of the order of
3 × 3 × 0.2 cm.
The formation of scour patterns at bridge piers is driven by the forces at the boundary of the water flow. In most
experimental scour studies, indirect processes have been applied to estimate the shear and normal stress using measured
velocity profiles. The estimations are based on theoretical models and associated assumptions. However, the turbulence
flow fields and boundary layer in the pier-scour region are very complex. In addition, available turbulence models
cannot account accurately for the bed roughness effect. Direct measurement of the boundary shear and normal stress and
their fluctuations are attractive alternatives. However, this approach is a challenging one especially for high spatial
resolution and high fidelity measurements. The authors designed and fabricated a prototype miniature shear stress sensor
including an EDM machined floating plate and a high-resolution optical encoder. Tests were performed both in air as
well as operation in water with controlled flow. The sensor sensitivity, stability and signal-to-noise level were measured
and evaluated. The detailed test results and a discussion of future work will be presented in this paper.
One of the first piezoelectric motor designs with significant rotational speeds was outlined by Barth. This device used
extensional piezoelectric elements to produce a time varying force at a distance r from the center of a centrally supported
disk. These extensional actuators produced micro-steps at a high frequency with the end result being macroscopic
rotation of the disk and high torque. The rotation direction is controlled by the choice of the actuators and the direction
of the extension about the rotor center. A recent advancement in producing pre-stressed power ultrasonic horns using
flexures allows for the development of high torque ultrasonic motors based on the Barth's idea that can be fabricated in a
2D plate or in more complicated 3D structures. In addition to the pre-stress flexures the design also allows for the use
of flexures to produce the rotor/horn normal force. The torque can be controlled by the number of actuators in the plane
and the amplitude of the normal force. This paper will present analytical and experimental results obtained from testing
prototype planar motors.
Main brassboard Michelson interferometer components have been recently developed for the future flight phase
implementations of SIM Lite mission. These brassboard components include two fine steering mirrors, pathlength
modulation and cyclic averaging optics and astrometric beam combiner assembly. Field-independent performance tests
will be performed in a vacuum chamber using two siderostats in retro-reflecting positions and a white light stimulus. The
brightness and color dependence of the angle and fringe tracking performance will be measured. The performance of
filtering algorithms will be tested in a simulated spacecraft attitude control system perturbation. To demonstrate
capability of a dim star observation, the angle and fringe tracking CCD sensors are cooled to -110 C using a cold diode
heat pipe system. The new feed-forward control (angle and path-length) algorithms for the dim star observation will be
tested as well. In this paper, we will report the recent progress toward the integration and performance tests of the
brassboard interferometer.
The flow fields and boundary erosion that are associated with scour at bridge piers are very complex. Direct
measurement of the boundary shear stress and boundary pressure fluctuations in experimental scour research has always
been a challenge and high spatial resolution and fidelity have been almost impossible. Most researchers have applied an
indirect process to determine shear stress using precise measured velocity profiles. Laser Doppler Anemometry and
Particle Image Velocimetry are common techniques used to accurately measure velocity profiles. These methods are
based on theoretical assumptions to estimate boundary shear stress. In addition, available turbulence models cannot very
well account for the effect of bed roughness which is fundamentally important for any CFD simulation. The authors have
taken on the challenge to advance the magnitude level to which direct measurements of the shear stress in water flow can
be performed. This paper covered the challenges and the efforts to develop a higher accuracy and small spatial resolution
sensor. Also, preliminary sensor designs and test results are presented.
Space-based astronomical instruments such as SIM, the Space Interferometry Mission [1, 2] require high-quality mirrors
whose zero-gravity surface figure is specified to nanometer accuracy. Testing, however, necessarily proceeds in 1g,
normal earth gravity. Extracting the zero-gravity surface has traditionally been done by combining measurements with
the mirror in a number of different orientations, so that the effects of gravity cancel. Here we examine some refinements
to that technique, showing that for precise results it is necessary that mount forces as well as gravity forces cancel over
the different orientations. These ideas are illustrated with lab experience obtained with a 343 mm diameter spherical
mirror (PT-M1), which is a prototype SIM compressor mirror.
Piezoelectric acoustic-electric power feed-through devices transfer electric power wirelessly through a solid wall
using elastic waves. This approach allows for the elimination of the need for holes through structures for cabling or
electrical feed-thrus . The technology supplies power to electric equipment inside sealed containers, vacuum or pressure
vessels, etc where holes in the wall are prohibitive or may result in significant performance degradation or requires
complex designs. In the our previous work, 100-W of electric power was transferred through a metal wall by a small,
piezoelectric device with a simple-structure. To meet requirements of higher power applications, the feasibility to
transfer kilowatts level power was investigated. Pre-stressed longitudinal piezoelectric feed-thru devices were analyzed
by finite element modeling. An equivalent circuit model was developed to predict the characteristics of power transfer
to different electric loads. Based on the analytical results, a prototype device was designed, fabricated and successfully
demonstrated to transfer electric power at a level of 1-kW. Methods of minimizing plate wave excitation on the wall
were also analyzed. Both model analysis and experimental results are presented in detail in this paper.
There are numerous engineering applications where there is a need to transfer power and communication data thru
the walls of a structure. A piezoelectric acoustic-electric power feedthru system was developed in this reported study
allowing for wireless transfer of electric power through a metallic wall using elastic waves. The technology is applicable
to the transfer of power for actuation, sensing and other tasks inside sealed containers and vacuum/pressure vessels. A
network equivalent circuit including material damping loss was developed to analyze the performance of the devices.
Experimental test devices were constructed and tested. The power transfer capability and the transfer efficiency were
measured. A 100W feed though capability with 38 mm diameter device and 88% transmission efficiency were demonstrated. Both analytical and experimental results are presented and discussed in this paper.
Rock, soil, and ice penetration by coring, drilling or abrading is of great importance for a large number of space and
earth applications. Proven techniques to sample Mars subsurface will be critical for future NASA astrobiology missions
that will search for past and present life on the planet. The Ultrasonic/Sonic Drill/Corer (USDC) has been developed as
an adaptable tool for many of these applications [Bar-Cohen et al., 2001]. The USDC uses a novel drive mechanism to
transform the ultrasonic or sonic vibrations of the tip of a horn into a sonic hammering of a drill bit through an
intermediate free-flying mass. For shallow drilling the cuttings travel outside the hole due to acoustic vibrations of the
bit. Various methods to enhance the drilling/coring depth of this device have been considered including pneumatic
[Badescu et al., 2006] and bit rotation [Chang et al., 2006]. The combination of bit rotation at low speed for cuttings
removal and bit hammering at sonic frequencies are described in this paper. The theoretical background and testing
results are presented.
Piezoelectric acoustic-electric power feedthru devices that are able to transfer electric power through
metallic/ferromagnetic wall are investigated. Electric energy is converted to acoustic energy by piezoelectric transducer
at one side of the wall. The acoustic wave propagates through the wall and, then, it is converted back to electric energy
by another transducer on the other side. For high efficient transmission, it is critical that all the energy loss should be
minimized. In addition to the electrical, mechanical and electromechanical loss in the transducers and the thickness of
the wall, Lamb (plate) waves are excited by the transducers in the wall and they also result in energy losses. In this study,
the energy loss caused by the Lamb waves are analyzed analytically and by finite element simulations. The results and
the methods to reduce the loss are presented and discussed in this presentation.
Resonance tracking control of harmonic oscillators whose natural frequency is unknown is investigated from a Lyapunov
stability perspective. In particular, a periodically-modulated cosine driver (PMCD) is investigated for this purpose. The
proposed resonance tuner is time-synchronized with periodic sampling of the harmonic oscillator's output to ensure that an
analytical relationship exists between the drive frequency and the tracking error. This relation defines a class of discrete time
nonlinear systems whose origin, is shown to be asymptotically stable.
The search for existing or past life in the Universe is one of the most important objectives of NASA's mission. For this
purpose, effective instruments that can sample and conduct in-situ astrobiology analysis are being developed. In
support of this objective, a series of novel mechanisms that are driven by an Ultrasonic/Sonic actuator have been
developed to probe and sample rocks, ice and soil. This mechanism is driven by an ultrasonic piezoelectric actuator that
impacts a bit at sonic frequencies through the use of an intermediate free-mass. Ultrasonic/Sonic Driller/Corer (USDC)
devices were made that can produce both core and powdered cuttings, operate as a sounder to emit elastic waves and
serve as a platform for sensors. For planetary exploration, this mechanism has the important advantage of requiring low
axial force, virtually no torque, and can be duty cycled for operation at low average power. The advantage of requiring
low axial load allows overcoming a major limitation of planetary sampling in low gravity environments or when
operating from lightweight robots and rovers. The ability to operate at duty cycling with low average power produces a
minimum sample temperature rise allowing for control of the sample integrity and preventing damage to potential
biological markers in the acquired sample. The development of the USDC is being pursued on various fronts ranging
from analytical modeling to mechanisms improvements while considering a wide range of potential applications. While
developing the analytical capability to predict and optimize its performance, efforts are made to enhance its capability to
drill at higher power and high speed. Taking advantage of the fact that the bit does not require rotation, sensors (e.g.,
thermocouple and fiberoptics) were integrated into the bit to examine the borehole during drilling. The sounding effect
of the drill was used to emit elastic waves in order to evaluate the surface characteristics of rocks. Since the USDC is
driven by piezoelectric actuation mechanism it can designed to operate at extreme temperature environments from very
cold as on Titan and Europa to very hot as on Venus. In this paper, a review of the latest development and applications
of the USDC will be given.
KEYWORDS: Epoxies, Transducers, Acoustics, Chemical elements, Prototyping, Mechanical efficiency, Solid modeling, Data communications, Dielectrics, Mars
There are numerous engineering design problems where the use of wires to transfer power and communicate data thru the walls of a structure is prohibitive or significantly difficult that it may require a complex design. Using physical feedthroughs in such systems may make them susceptible to leakage of chemicals or gasses, loss of pressure or vacuum, as well as difficulties in providing adequate thermal or electrical insulation. Moreover, feeding wires thru a wall of a structure reduces the strength of the structure and makes the structure prone to cracking due to fatigue that can result from cyclic loading and stress concentrations. One area that has already been identified to require a wireless alternative to electrical feedthroughs would be the container of any Mars Sample Return Mission, which would need wireless sensors to sense a pressure leak and to avoid potential contamination. The idea of using elastic or acoustic waves to transfer power was suggested recently by [Y. Hu, et al., July 2003]. This system allows for the avoidance of cabling or wiring. The technology is applicable to the transfer of power for actuation, sensing and other tasks inside any sealed container or vacuum/pressure vessel. An alternative approach to the modeling presented previously [Sherrit et al., 2005] used network analysis to solve the same problem in a clear and expandable manner. Experimental tests on three different designs of these devices were performed. The three designs used different methods of coupling the piezoelectric element to the wall. In the first test the piezoelectric material was bolted using a backing structure. In the second test the piezoelectric was clamped after the application of grease. Finally the piezoelectric element was attached using a conductive epoxy. The mechanical clamp with grease produced the highest measured efficiency of 53% however this design was the least practical from a fabrication viewpoint. The power transfer efficiency of conductive epoxy joint was 40% and the stress bolts (12%). The experimental results on a variety of designs will be presented and the thermal and non-linear issues will be discussed.
Environment protection requires more testing and analysis tools. To detect buried chemical containers or other objects embedded in soil and avoid possible damage to them, a penetrator was developed for packed soil that requires low penetration force (the force needed to push rod probe into the soil). The design was based on the novel mechanism used by the ultrasonic/sonic driller/corer (USDC) that was developed jointly by scientists at the NDEAA lab at JPL and engineers at Cybersonics, Inc. [Bar-Cohen et al 2001, Bao et al 2003]. In the penetrator, a small free-flying mass is energized by a piezoelectric transducer and impacts a rod probe on its shoulder at frequencies of several hundred Hetz. The impacts help the probe to penetrate the packed soil with low pushing force. A large reduction of the penetration force was achieved. Preliminary tests show that the effects of the penetrator on plastic containers and other objectors are minimal. The details of the design of the prototype penetrator and the results of performance tests are presented.
Rock, soil, and ice penetration by coring, drilling or abrading is of great importance to a large number of space and earth applications. Proven techniques to sample Mars subsurface will be critical for future NASA astrobiology missions that will search for records of past and present life on the planet. An Ultrasonic/Sonic Drill/Corer (USDC) has been developed as an adaptable tool for many of these applications [Bar-Cohen et al., 2001]. The USDC uses a novel drive mechanism to transform the ultrasonic or sonic vibrations of the tip of a horn into a sonic hammering of a drill bit through an intermediate free-flying mass. The USDC design was modified to fabricate an Ultrasonic/Sonic Ice Gopher that is designed to core down to meters depth for in situ analysis and sample collection. This technology was demonstrated at Lake Vida in the Dry Valleys, Antarctica. Coring ice at -20°C as in Lake Vida has been a challenge and efforts were made to develop the required ice core cutting, ice chip handling and potential ice melting (and refreezing) during drilling. The analysis and fabrication challenges and testing results are presented in this paper.
Future NASA exploration missions will increasingly require sampling, in-situ analysis and possibly the return of material to Earth for laboratory analysis. To address these objectives, effective and optimized drilling techniques are needed. This requires developing comprehensive tools to be able to determine analytically what takes place during the operation and what are the control parameters that can be enhanced. In this study, three types of coring techniques were studied and were identified as potential candidates for operation from a possible future Mars Sample Return (MSR) mission rover. These techniques include percussive, rotary-friction, and rotary-percussive coring. Theoretical models were developed to predict the dynamic reaction forces transmitted from these three types of corers to the robotic arms that hold them. The predicted reaction forces will then be used in a dynamic simulation environment to simulate a representative corer tool to obtain a best estimate of a tool that can be operated from a small rover. The predicted dynamic reaction forces will be presented in this paper.
KEYWORDS: Actuators, Ultrasonics, Transducers, Detection and tracking algorithms, Resonators, Curium, Control systems, Signal to noise ratio, Baryon acoustic oscillations, LabVIEW
Future NASA exploration missions will increasingly require sampling, in-situ analysis and possibly the return of material to Earth for further tests. One of the challenges to addressing this need is the ability to drill using minimal reaction force and torque while operating from light weight platforms (e.g., lander, rover, etc.) as well as operate at planets with low gravity. For this purpose, the authors developed the Ultrasonic/Sonic Driller/Corer (USDC) jointly with Cybersonics Inc. Studies of the operation of the USDC at high power have shown there is a critical need to self-tune to maintain the operation of the piezoelectric actuator at resonance. Performing such tuning is encountered with difficulties and to address them an extremum-seeking control algorithm is being investigated. This algorithm is designed to tune the driving frequency of a time-varying resonating actuator subjected to both random and high-power impulsive noise disturbances. Using this algorithm, the performance of the actuator is monitored on a time-scale that is compatible with its slowly time-varying physical characteristics. The algorithm includes a parameter estimator, which estimates the coefficients of a function that characterizes the quality factor of the USDC. Since the parameter estimator converges sufficiently faster than the time-varying drift of the USDC's actuator physical parameters, this extremum-seeking estimation and control algorithm potentially allows for use in closed-loop monitoring of the operation of the USDC. Specifically, this system may be programmed to automatically adjust the duty-cycle of the sinusoidal driver signal to monitor the quality factor of the USDC not to fall below a user-defined set-point. Such fault-tolerant functionality is especially important in automated drilling applications where it is essential not to inadvertently drive the piezoelectric ceramic elements of the USDC beyond their operation capability. The details of the algorithm and experimental results are described and discussed in this paper.
Rock and soil penetration by coring, drilling or abrading is of great importance for a large number of space and earth applications. An Ultrasonic/Sonic Drill/Corer (USDC) has been developed as an adaptable tool for many of these applications [Bar-Cohen et al, 2001]. The USDC uses a novel drive mechanism to transform the ultrasonic or sonic vibrations of the tip of a horn into a sonic hammering of a drill bit through an intermediate free-flying mass. As the pace of adapting the USDC to various applications has increased, it has become more critical to develop an efficient simulation tool to predict the performance of various designs. A series of computer programs that model the function and performance of the USDC device were previously developed and tested against experimental data [Bao et al, 2003]. The combination of these programs into an integrated modeling package and the analysis of simulated results will be described in this paper.
There are numerous engineering design problems where the use of wires to transfer power and communicate data thru the walls of a structure is prohibitive or significantly difficult that it may require a complex design. Such systems may be concerned with the leakage of chemicals or gasses, loss of pressure or vacuum, as well as difficulties in providing adequate thermal or electrical insulation. Moreover, feeding wires thru a wall of a structure reduces the strength of the structure and makes the structure susceptibility to cracking due to fatigue that can result from cyclic loading. Two areas have already been identified to require a wireless alternative capability and they include (a) the container of the Mars Sample Return Mission will need the use of wireless sensors to sense pressure leak and to avoid potential contamination; and (b) the Navy is seeking the capability to communicate with the crew or the instrumentation inside marine structures without the use of wires that will weaken the structure. The idea of using elastic or acoustic waves to transfer power was suggested recently by Y. Hu, et al.1. However, the disclosed model was developed directly from the wave equation and the linear equations of piezoelectricity. This model restricted by an inability to incorporate head and tail mass and account for loss in all the mechanisms. In addition there is no mechanism for connecting the model to actual power processing circuitry (diode bridge, capacitors, rectifiers etc.). An alternative approach which is to be presented is a network equivalent circuit that can easily be modified to account for additional acoustic elements and connected directly to other networks or circuits. All the possible loss mechanisms of the disclosed solution can be accounted for and introduced into the model. The circuit model allows for both power and data transmission in the forward and reverse directions through acoustic signals at the harmonic and higher order resonances. This system allows or the avoidance of cabling or wiring. The technology is applicable to the transfer of power for actuation, sensing and other tasks inside sealed containers and vacuum/pressure vessels.
Inflatable membrane reflectors are attractive for deployable, large aperture, lightweight optical and microwave systems in micro-gravity space environment. However, any fabrication flaw or temperature variation may results in significant aberration of the surface. Even for a perfectly fabricated inflatable membrane mirror with uniform thickness, theory shows it will form a Hencky curve surface rather than the desired parabolic or spherical surface. Precision control of the surface shape of extremely flexible membrane structures is a critical challenge for the success of this technology. Wirelessly controllable inflated reflectors made of electroactive polymers (EAP) are proposed in this paper. A finite element model was configured to predict the behavior of the inflatable EAP membranes under pre-strains, pressures and distributed electric charges on the surface. To explore the controllability of the inflatable EAP reflectors, an iteration algorithm was developed to find the required applied electric field distribution for correcting the aberration of a Hencky curve to the desired parabolic curve. The correction capability of the reflectors with available EAP materials was explored numerically and is presented in this paper.
Future NASA's missions include the search for past and existing life in the Universe and evidence on how the planets in the Solar system formed and evolved. In order to fulfill these goals sampling systems that meet the stringent requirements of the various environments are required to be developed. To support these objectives an ultrasonic/sonic driller/corer (USDC) device has been developed at Jet Propulsion Laboratory (JPL) to allow drilling and coring rocks for in-situ planetary analysis [Bar-Cohen et al, 2001]. The site location and method of sampling are of vital importance to scientists. Surface rocks abrasion, small depth soil drilling, and deep drilling have been proposed. It has been suggested that another possible source of mineralogical or astrobiological information can be found by exploring the sidewall of canyons. The exploration of such sites requires the development of a limbed robotic system capable of walking and climbing slopes up to and including vertical faces and overhangs. An anchor/drilling mechanism is currently under development and is being installed on each leg of the four-legged Steep Terrain Access Robot (STAR). This paper presents the modeling, design, and preliminary testing results of the USDC for use as end-effectors of walking/climbing robots.
The search for existing or past life in the Universe is one of the most important objectives of NASA's mission. For this purpose, effective instruments that can sample and conduct in-situ astrobiology analysis are being sought. In support of this objective, a novel Ultrasonic/Sonic Driller/Corer (USDC) based mechanism has been developed to probe and sample rocks, ice and soil. The USDC consists of an ultrasonic actuator that impacts a coring or drilling bit at sonic frequencies through the use of an intermediate free-mass. The USDC can produce both a core and powdered cuttings as well as emit elastic waves into the penetrated medium. For planetary exploration, this mechanism has the important advantage of requiring low axial force, virtually no torque, and can be duty cycled to require low average power. This low axial load advantage overcomes a major limitation of planetary sampling in low gravity environments and when operating from lightweight robots and rovers. The low average power operation produces a minimum temperature rise which is important for the acquisition of biologically meaningful samples. The development of the USDC is being pursued on various fronts ranging from analytical modeling to improvements of the mechanism while seeking a wide range of applications. In this paper, the latest status of the USDC development and applications that are underway is reviewed and discussed.
Sample return and in-situ sampling and analysis is one of the major objectives of future NASA exploration missions. Existing drilling techniques are limited by the need for large axial forces, holding torques, and high power consumption. Lightweight robots and rovers have difficulties accommodating these requirements. To address these key challenges to the NASA objective of planetary in-situ rock sampling and analysis, a drilling technology called ultrasonic/sonic driller/corer (USDC) was developed. The USDC uses a novel driving mechanism, transferring ultrasonic vibration to sonic frequency impacts with the aid of a free-flying mass block (free-mass). The free mass then drives the drill bit. The actuator consists of a stack of piezoelectric disks with a horn that amplifies the induced vibration amplitudes. The standard USDC is a slender device, and some times its length is too long for specific NASA missions. It is of current interest to have novel designs that reduce the length of the device. For this purpose, two novel horn designs were examined analytically. One is the flipped horn, the other is the planar folded horn. The new designs of the horn were analyzed using finite element modeling and the results allow for the determination of the control parameters that can optimize the performance of the ultrasonic horn in terms of the tip displacement and velocity. The results of the modeling are described and discussed in this paper.
There is growing evidence for ice and fluids near the surface of Mars with potential discharge of brines, which may preserve a record of past life on the planet. Proven techniques to sample Mars subsurface will be critical for future NASA astrobiology missions that will search for such records. The required technology studies are underway in the McMurdo Dry valleys, Antarctica, which is serving as a Mars analog. The ice layer on Lake Vida in the dry valleys is estimated to be 20-meter thick where below 16-m depth there is a mix of ice and brine, which has never been sampled directly due to logistical constraints. A novel light weight, low power ultrasonic/sonic driller/corer (USDC) mechanism was developed that overcomes the need for high axial loads required by drilling via conventional techniques. The USDC was modified to produce an Ultrasonic/Sonic Gopher that is being developed to core down to the 20-m depth for in situ analysis and sample collection. Coring ice at -20°C as in Lake Vida suggests that it is a greater challenge and current efforts are focused on the problems of ice core cutting, ice chip handling and potential ice melt (and refreezing) during drilling. An analytical model and a prototype are being developed with an effort to optimize the design while addressing the thermal issues, drilling rate, power, mass and the electromechanical behavior.
In-situ sampling and analysis is one of the major objectives of future NASA exploration missions. Existing drilling techniques are limited by the need for large axial forces, holding torques, and high power consumption. Lightweight robots and rovers have difficulties accommodating these requirements. These requirements are becoming increasingly tougher to meet as the need for drilling techniques is expanding to reach deeper into the subsurface. To address these key challenges to the NASA objective of planetary in-situ rock sampling and analysis, a drilling technology called ultrasonic/sonic driller/corer (USDC) was developed. The USDC uses a novel driving mechanism, transferring ultrasonic vibration to sonic frequency impacts with the aid of a free-flying mass block (free-mass). The free mass then drives the drill bit. The actuator consists of a stack of piezoelectric disks with a horn that amplifies the induced vibration amplitudes. To meet the need for deep driller the USDC was modified to form the Ultrasonic/Sonic Gopher. Drilling to the depth of several meters in ice or hard rocks requires the optimization of the amplification of the vibration displacement and velocity that are generated by the piezoelectric materials. For this purpose, various horn designs were examined analytically. Conventional and new designs of the horn were analyzed using finite element modeling and the results allow for the determination of the control parameters that can enhance the tip displacement and velocity. The results of the modeling are described and discussed in this paper.
Electroactive polymers (EAP) are attractive actuation materials because of their large deformation, flexibility, and low density. The large deformation, especially in the bending mode, poses a challenge to the material and actuator characterization due to the geometric nonlinearity that is developed during the characterization. A CCD camera system was constructed to record the curved shapes of bending during the activation of EAP films and image-processing software was developed to digitize the bending curve s. A computer program was written to solve the inverse problem of cantilever EAP beams with a tip position limiter. Using the program and acquired curve images with and without a tip position limiter as well as the corresponding tip force, the performance of the beam under different applied voltages and tip force loads was determined. The experimental setup and the principles of the computer program are described and discussed in this paper.
The current NASA Decadal mission planning effort has identified Venus as a significant scientific target for a surface in-situ sampling mission. The Venus environment represents several extremes including high temperature (460°C), high pressure (~9 MPa.), and potentially corrosive (condensed sulfuric acid droplets that adhere to surfaces during entry) environments. This technology challenge requires new actuator and sensor designs that can withstand these extreme conditions. In addition a variety of industrial applications could benefit from an extended operating temperature range of actuators and sensors. Piezoelectric materials can potentially operate over a wide temperature range reaching as low as -270°C to as high as +650°C. Single crystals, like LiNbO3, have a Curie temperature that is higher than +1000°C. In order to investigate the feasibility of producing actuators/sensors that can operate under these conditions we have initiated a study of the properties of a variety of piezoelectric materials in the temperature range 250C to 5000C. These piezoelectric materials were chosen because they are solid state and can be designed as actuators to provide high torque, stroke, and speed. However the feasibility of this critical actuation capability has never been demonstrated under the extreme conditions mentioned above. We will present the results of our measurements on a variety of piezoelectric materials that can be operated at temperatures above 460°C. The data for small signal resonance analysis (ring, radial and thickness extensional modes) of disk and ring samples made of BST-PT and BMT-PT (TRS Technologies Inc.) and Bismuth Titanate BT (Ferroperm Piezoceramics A/S, Sinoceramics) as a function of the temperature will be presented.
The search for existing or past life in the Universe is one of the most important objectives of NASA's mission. In support of this objective, ultrasonic based mechanisms are currently being developed at JPL to allow probing and sampling of rocks and to use the mechanisms as a sensor platform for in-situ astrobiological analysis. The technology is based on the novel Ultrasonic/Sonic Driller/Corer (USDC), which requires low axial force, thereby overcoming one of the major limitations of planetary sampling using conventional drills in low gravity environments. The USDC was demonstrated to 1) drill ice and various rocks including granite, diorite, basalt and limestone, 2) not require bit sharpening, and 3) operate at high and low temperatures. The capabilities that are being investigated include probing the ground to select sampling sites, collecting various forms of samples, and hosting sensors for measuring various properties. A series of modifications of the USDC basic configuration were implemented leading to an ultrasonic abrasion tool (URAT), Ultrasonic Gopher for deep drilling, and the Lab-on-a-drill.
In-situ sampling and analysis are important capabilities to allow meeting the major objectives of future NASA's planetary exploration missions. The development of an ultrasonic device that can serve as a probe, sampler and sensors platform for in-situ analysis is currently underway at JPL. The device is based on the novel Ultrasonic/Sonic Driller/Corer (USDC) technology, which was co-developed by the Non-Destructive Evaluation and Advanced Actuator laboratory (NDEAA, http://ndeaa.jpl.nasa.gov/), JPL, and Cybersonics. This sampling technology requires low axial force, thereby overcoming one of the major limitations of planetary sampling in low gravity using conventional drills. This device allows the design of an effective tool that is compact, low mass and uses low power. To assure effective use of power for drilling/coring rocks in-situ probing is needed to allow selecting rocks with the highest probability of containing information (biological markers, water, etc.). While the major function of the USDC is sampling, drilling and coring, it also has great potential to serve as a probing device. The USDC imparts elastic waves into the sampled medium offering a sounding method for geophysical analysis similar to the techniques used by the oil industry. Also, the characteristic of the piezoelectric actuator, which drives the USDC, is affected by the medium to which it is coupled. Using a variety of device configurations, a series of experiments were conducted to measure the elastic wave velocity, scattering, impedance and the shift in resonance frequency. Various rocks are being tested to determine their characteristics. Preliminary results are encouraging. Currently, investigation is conducted to find methods of minimizing the effect of surface roughness, geometry and sample dimensions on the data.
Thin-film mirrors are attractive for large aperture, lightweight optical system and microwave antennas operating in micro-gravity space. The surface shape of these deployable thin film structures requires control to a precision range that depends on the specific applications. For optical systems, such surfaces need to be deployed and refined in the range of submicrons. Electroactive polymers (EAP) are potential candidates for making such thin film materials. Generally, EAPs are produced in thin film form with electrodes on their major surfaces. Depending on the reflectivity of the electrodes and surface roughness of the polymer they can also be produced with mirror finishes. A controllable mirror made of single-layer EAP mirror is proposed in this paper. An analytical solution of required voltage/strain distribution for forming a parabolic mirror from a planar film is presented. Calculations show a single layer film made of currently available EAP has the capability to control the focus distance of a 2-m mirror from infinity to 1.25 m. The results are verified by FEM model.
In-situ planetary sample analysis is a major goal in current and future NASA exploration missions. In general in-situ analysis experiments are designed to investigate chemical, biological or geological markers or properties to determine the complex history of the body being studied or for use as a pre-screening measurement to increase the scientific value of samples selected for sample return. In order to expand the number of applicable sensor schemes and the available capability an investigation into piezoelectric bulk acoustic wave (BAW) and surface acoustic wave (SAW) resonators has been initiated with emphasis on applications to future NASA missions. In general, BAW and SAW sensors can be configured to directly measure mass, acoustic impedance, density and elastic property changes. Indirectly they can be designed to measure or monitor pressure, temperature, dew/melting point, curing, adsorption/desorption, and viscosity and be configured with the appropriate reaction layers as chemical sensors or as Immunosensors. The various models used to describe these sensors will be presented and the measurand sensitivity and importance of cross sensitivities will be discussed. Recent advances in passive wireless RF interrogated SAW technology has increased the scope of these sensor systems to remote sensing (10m) and to applications which may have been deemed previously inaccessible. Examples include SAW stress sensors buried in large structures that once assembled are inaccessible for measurement that can be interrogated with wireless RF signals to determine the health of the structure. In addition, this technology has recently been coupled with other sensor technology allowing for an expansion of the possibilities for remote sensing. On the basis of the cost, range, versatility and ease of array fabrication of these sensors offer significant potential for future NASA missions.
Transducing materials are being used in many aspects of our daily life serving as actuators, sensors, displays, communications and other components of commercial mechanisms. At JPL, such materials are being used to enable novel space and terrestrial applications. This effort involves mostly the use of piezoelectric, electroactive polymers (EAP), and shape memory alloys (SMA). The piezoelectric based devices and mechanisms that were developed include ultrasonic motors, piezopump, ultrasonic/sonic driller/corer (USDC), and ferrosource. Further, the electroactive polymers were used to demonstrate a gripper, wiper, lifter and haptic interfaces. The research and develop tasks consists analytical modeling, experimental corroboration, material characterization as well as device and mechanisms design, construction and demonstration. This effort is multidisciplinary requiring expertise that is complemented through international cooperation. The research team activity will be reviewed in this paper.
A variety of Industrial applications exist where power ultrasonic elements such as the ultrasonic horn are used. These included the Automotive, Instruments, Foods, Medical, Textiles and Material Joining and Fabrication Industries. In many of these devices the ultrasonic horn is the key component. The standard transducer used in these devices consists of three main parts, the backing, the piezoelectric elements and the horn. Standard horn designs have changed very little since their inception. There are four common types of standard horns. They are; constant, linear, exponential and stepped, which refer to the degree to which the area changes from the base to the tip. A magnification in the strain occurs in the horn that in general is a function of the ratio of diameters. In addition the device is generally driven at resonance to further amplify the strain. The resonance amplification is in general determined by the mechanical Q (attenuation) of the horn material and radiation damping. The horn length primarily determines the resonance frequency. For a 22 kHz resonance frequency a stepped horn of titanium has a length of approximately 8 cm. Although these standard horns are found in many current industrial designs they suffer from some key limitations. In many applications it would be useful to reduce the resonance frequency however this would require device lengths of the order of fractions of meters which may be impractical. In addition, manufacturing a horn requires the turning down of the stock material (eg. Titanium) from the larger outer diameter to the horn tip diameter, which is both time consuming and wasteful. In this paper we will present a variety of novel horn designs, which overcome some of the limitations discussed above. One particular design that has been found to overcome these limitations is the folded horn. In this design the horn elements are folded which reduce the overall length of the resonator (physical length) but maintain or increase the acoustic length. In addition initial experiments indicate that the tip displacement can be further adjusted by phasing the bending displacements and the extensional displacements. The experimental results for a variety of these and other novel horn designs will be presented and compared to the results predicted by theory.
An ultrasonic/sonic driller/corer (USDC) was developed to address the challenges to the NASA objective of planetary in-situ rock sampling and analysis. The USDC uses a novel drive mechanism, transferring ultrasonic vibration into impacts on a drill stem at sonic frequency using a free- flying mass block (free-mass). The main parts of the device and the interactions between them were analyzed and numerically modeled to understand the drive mechanism and allow design of effective drilling mechanism. A computer program was developed to simulate the operation of the USDC and successfully predicted the characteristic behavior of the new device. This paper covers the theory, the analytical models and the algorithms that were developed and the predicted results.
In-situ sampling and analysis is one of the major tasks in future NASA exploration missions. It is essential that the samples acquired on other planets including Mars are free of contaminations from the Earth. Recently, a novel drilling technology that is actuated by a piezoelectric drive mechanism was developed and it is called Ultrasonic/Sonic Driller/Corer (USDC). This drill has an inherent capability to extract the formed drilling powder and thus addresses the critical issue of contamination. A modification of this USDC in the form of an Ultrasonic Rock Abrasion Tool (URAT) allows for the formation of pristine rock surface for analysis. An algorithm is being proposed for the reduction of the contamination that may be generated during the acquisition of the samples. The algorithm could be used to control the flow of particles using programmed vibration characteristics and thus allows for smart flow of particles. The hypothesis is that the probability of a contamination left on the ground surface is exponentially inverse- proportional to the volume of the core ground into dusts. To support this hypothesis, we need to understand the flow pattern of the particles. A model proposed by Savage is used to develop a computer program using finite difference method. Some preliminary results have been derived.
In this paper a variety of techniques to characterize the mechanical properties of polymers in the MHz frequency range based on the impedance analysis of thickness and thickness shear composite resonators will be presented. The analysis is based on inverting the impedance data of the composite resonator to find the best fit using the material coefficients of the piezoelectric resonator and attached polymer layer. Mason's equivalent circuit is used along with standard acoustic circuit elements to generate the impedance of the composite resonators and interpret the experimental data. Inversion techniques will be presented which allow for the direct determination of the acoustic load if the material properties of the resonator are known before being joined to the polymer. A specific example of this technique, the quartz crystal microbalance will be presented and it will be shown how the model can be extended to include all the acoustic elements of the experimental setup including the acoustic load of the solution. In the model all elements are treated as complex to account for loss mechanisms (viscous effects, electric dissipation etc.). If the free resonator is modeled prior to deposition a transform is presented that allows for the determination of the acoustic load directly. The advantage being that one no longer has to assume a functional form of the acoustic load (eg. mass damping) since it can be measured directly and compared to the various models. In addition the transform allows for an easy determination of the mass sensitivity and bandwidth for the system. The theory can be extended to account for electrode mass changes (adsorption/condensation and desertion/evaporation) or for use in chemical monitoring by the addition of a chemically sensitive layer (artificial noses and tongues). The technique has also applications for the direct determination of the elastic coefficients of polymer materials.
Future NASA exploration missions are increasingly seeking to conduct sampling, in-situ analysis and possibly return samples to Earth for further tests. Missions to Mars are the more near term projects that are seeking such capabilities. One of the major limitations of sampling on Mars and other low gravity environments is the need for high axial force when using conventional drilling. To address this limitation an ultrasonic/sonic drilling/coring (USDC) mechanism has been developed that employs an ultrasonic horn driven by a piezoelectric stack. The horn drives a free mass that resonates between the horn and drill stem. Tests have shown that the USDC addresses some of the key challenges to the NASA sampling objectives. The USDC is lightweight (450 g), requires low preload (< 5N) and can be driven at lower power (5W). The device has been shown to drill rocks with various levels of hardness including granite, diorite, basalt and limestone. The hammering action involved with the coring process can produce cores of various shapes, which need not necessarily be round. Because it is driven by piezoelectric ceramics, the USDC is highly tolerant to changes in its operating environment. These actuation materials can be designed to operate at a wide range of temperatures including those expected on Mars and Venus. Although the drill is driven electrically at 20 kHz, a substantial sub-harmonic acoustic component is found that is crucial to drilling performance. An analytical model has been developed to explain this low frequency coupling in the horn, free mass, drill stem and rock.
There is a range of NASA experiments, instruments and applications where miniature pumps are needed. To address such needs, a piezoelectrically actuated miniature pump is being developed. This pump employs a novel volume displacing mechanism using flexural traveling waves that acts peristaltically and eliminates the need for valves or physically moving parts. This pump is being developed for planetary instruments and space applications. Finite element model was developed using ANSYS for the purpose of prediction of the resonance frequency of the vibrating mode for the piezo-pump driving stator. The model allows determining simultaneously the mode shapes that are associated with the various resonance frequencies. This capability is essential for designing the pump size and geometry. To predict and optimize the pump efficiency that is determined by the volume of pumping chambers the model was modified to perform harmonic analysis. Current capability allows the determination of the effect of such design parameters as pump geometry, construction materials and operating modes on the volume of the chambers that are formed between the peaks and valleys of the waves. Experiments were made using a breadboard of the pump and showed water-pumping rate of about 4.5 cc/min. The pump is continually being modified to enhance the performance and efficiency.
Increasingly NASA experiments, instruments and applications are requiring pumps that are miniature and consume low power. To address this need, a piezoelectrically actuated pump is being developed. This pump employs a novel volume displacing mechanism using flexural traveling waves that act peristaltically eliminating the need for values or physically moving parts. Finite element model was developed using ANSYS to predict the resonance frequency of the vibrating mode for the piezo pump driving stator. The model also allows determining simultaneously the mode shapes that are associated with the various resonance frequencies. This capability is essential for designing the pump size and geometry. To predict and optimize the pump efficiency, which is determined by the volume of pumping chambers, the model was modified to perform harmonic analysis. Current capability allows the determination of the effect of such design parameters as pump geometry, construction materials and operating modes on the volume of the chambers that is available between the peaks and valleys of the waves. Experiments were conducted using a breadboard of the piezo pump and showed water-pumping rate of about 3.0 cc/min. The performance of pump is continuing to be modified to enhance the performance and efficiency.
The leaky Lamb wave (LLW) technique is approaching a maturity level that is making it an attractive quantitative NDE tool for composites and bonded joints. Since it was first observed in 1982, the phenomenon has been studied extensively, particularly in composite materials. The wave is induced by oblique insonification using a pitch-catch arrangement and the plate wave modes are detected by identifying minima in the reflected spectra to obtain the dispersion data. The wave behavior in multi-orientation laminates has ben well documented and corroborated experimentally with high accuracy. The sensitivity of the wave to the elastic constants of the material and to the boundary conditions led to the capability to measure the elastic properties of bonded joints. Recently, the authors significantly enhanced the LLW method's capability by increasing the speed of the data acquisition, the number of modes that can be identified and the accuracy of the data inversion. In spite of the theoretical and experimental progress, methods that employ oblique insonification of composites are still not being applied as standard industrial NDE methods. The authors investigated the issues that are hampering the transition of the LLW to industrial applications and identified 4 key issues. The current capability of the method and the nature of these issues are described in this paper.
Leaky Lamb wave (LLW) propagation in composite materials has been studied extensively since it was first observed in 1982. The wave is induced using a pitch-catch arrangement and the plate wave modes are detected by identifying minima in the reflected spectra to obtain the dispersion data. The wave behavior in multi-orientation laminates was well documented and corroborated experimentally with a very high accuracy. The sensitivity of the wave to the elastic constants of the material and to its boundary condition led to several studies where the elastic properties were inverted and the characteristics of bonded joint were evaluated. Recently, the authors modified their experimental setup to allow measuring dispersion curves at a significantly higher speed than ever recorded. A set of 20 angles of incidence along a single polar angle of a composite laminate are acquired in about 45 seconds. The reflection spectra are acquired in real time while filtering the high frequency noise providing reliable data at amplitude levels that are significantly lower that were acquired in prior studies. This new method makes the LLW a practical quantitative tool for both inversion of the elastic properties and characterization of flaws. The emphasis of the current study is on the detection and characterization of flaws. The composite is modeled as transversely isotropic and dissipative medium and the effect of flaws is analyzed and compared to the experimental data using a C-scan mounted LLW scanner.
This paper is concerned with the quantitative nondestructive evaluation of corrosion around and cracks emanating from rivet holes in typical aircraft structural components. Current techniques for detecting defects around rivet holes are time consuming and qualitative. A recently developed ultrasonic technique using plate guided Lamb waves as probes has been found to be successful in laboratory specimens and appear to have the potential to improve the speed and robustness of the inspection. The general features and future prospects of the method is described in the paper.
The problems of guided waves propagating across a lap joint as well as reflected by the free edge of a semi-infinite plate with defects are investigated both theoretically and experimentally. The theoretical analysis is accomplished by using a hybrid method called the global local finite element method. A bounded region enclosing the lap joint, or the free edge, is described and analyzed by the finite element method, and the Lamb wave modal expansion is used to represent the wave field outside this region. The experiments are performed by using the fracture wave detector. The theoretical and experimental results are compared and show good agreement.
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