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FMI Capabilities in Robotics, Diagnostics, and Multi-Phase Flow Monitoring

FMI Capabilities in Robotics, Diagnostics, and Multi-Phase Flow Monitoring. Dr. Wayne S. Hill whill@foster-miller.com. Shipboard Weapons Loading The Problem !. The Navy Wants Double the Rate and Half the People. Shipboard Weapons Loader The Solution. 3000 lb Payload Capacity

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FMI Capabilities in Robotics, Diagnostics, and Multi-Phase Flow Monitoring

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  1. FMI Capabilities inRobotics, Diagnostics, andMulti-Phase Flow Monitoring Dr. Wayne S. Hill whill@foster-miller.com

  2. Shipboard Weapons LoadingThe Problem ! The Navy Wants Double the Rate and Half the People

  3. Shipboard Weapons LoaderThe Solution • 3000 lb Payload Capacity • Nine Degrees of Motion Freedom • Can Handle All Shipboard Weapons • Human Force Amplification With Gravity Compensation and Ship Motion-Induced Dynamic Error Compensation • Built-In Equipment Diagnostics

  4. Auto-Galley and Smart Galley • Smart Galley • Allows full oversight and supervision of galley functions for both new and legacy ships • Meal planning, consumption monitoring, inventory control, food safety (HAACP) monitoring • Equipment diagnostics & prognostics • AutoGalley: • Integration of Modular Robotic Food Service System into Existing DDG-51 Galley • Adaptable to any ship platform • Automation concepts adaptable to a wide range of shipboard material handling needs

  5. Performance Mapping for Dishwasher Operation

  6. Industrial Robotics for Plant Automation • BoxHandler • Mobile Robot for Refrigerated Material Storage • Designed to eliminate hazardous, high injury jobs • Totally electric design (food storage, hydraulic fluids not permitted • Inventory tracking key part of system • Distributed control system with autonomous robotic operations • RoboPacker / AutoBoxer • Box Packing automation system • Manipulate a wide range of different size, weight, and shape products • Reduce packing personnel • Improve speed and quality of packing • Designed for use in difficult food plant cleaning environment (high pressure hot water)

  7. Robotics for Inspection, Repair and Hazardous Duty • TOMCAT: remotely operated robot arm • High voltage insulation maintenance tool • Tactile feedback loop • Keep personnel out of hazardous environment

  8. Pipe Mouse • Attributes • Semi-autonomous operation in a live gas main • Fault tolerant distributed control system • Multi-car design permits different sensors and tool payloads to be added depending on specific task at hand • Performance • Range – 2000 ft. • Negotiate all elbows, tees, valves and pipe orientation • Operate in operating pipe environment – gas or liquid • 8-hr per battery charge • Travel speed 5 to 10-ft/min

  9. EMALS • Electromagnetic Design • Motor Control • Health Monitoring • Prognostics • Operational Concept • System Software • Operator Control Stations • Modeling & Simulation

  10. Advanced Arresting Gear (AAG) • Electromagnetic Design • Motor Control • Health Monitoring • Prognostics • Operational Concept • System Software • Operator Control Stations • Modeling & Simulation

  11. FMI Skill Areas forCondition-Based Maintenance

  12. FMI’s Dynamical Instruments Technology Concept: Nonlinear portion of signals can be a more sensitive indicator of a problem than the harmonic or linear portion. Applications: • Aircraft flight control actuators • Electromechanical system diagnostics and prognostics • Helicopter vibration reduction • Mechanical equipment fault identification • Multi-phase flow sensing • Oil/water/gas • Gas-solid (coal/air) • Container security Raw Helicopter Vibration Signal

  13. Prognostics for HydraulicAircraft Flight Control Actuator

  14. Prognostics for Electric Aircraft Actuators Flight controller signals analyzed to determine EHV health Clustering and Associated Command Window for Sine-Wave Command. Frequency: 1/6 Hz Amplitude: 0.25” Fault level (remaining life) of EHV Determined

  15. Helicopter Active Vibration Reduction Background • The Westland-Augusta EH-101 is the first production helicopter to use active vibration reduction. • Active Control of Structural Response (ACSR) is a quasi-linear vibration isolation system. • ACSR can only address the “average vibration” from previous rotor rotations, and cannot handle the chaotic variation of vibration. Phase II SBIR Program • Investigate improved vibration control techniques based on Chaotic Control (nonlinear dynamics of structure) • Demonstrate control improvements on helicopter structural test stand using flight vibration data as input to structure EH-101 has been licensed by Lockheed Martin to be the new Presidential helicopter. Results: 80% reduction in vibration amplitude, close to the limit of controllability for the test aircraft. ACSR reduced vibration by 56%.

  16. Sensitive Diagnostics for Mechanical Equipment Fluid Film Bearing Ventricular Assist Device Dynamical Instrument Analysis Spectral Analysis

  17. Multi-Phase Flow Measurement Example: Ultrasonic Thickness Measurement Liquid Flow Gas Flow Raw Data Quality

  18. Water Cut in Oil/Water Flows Data Collected in Laboratory Testing With Mineral Oil And Water Using Swept-Frequency Acoustic Interferometry and Dynamic Pressure

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