Abstract: A substrate with a superhydrophobic coating, wherein the superhydrophobic coating includes a binding layer disposed on the substrate, and a hydrophobic layer disposed on the binding layer, wherein the hydrophobic layer includes perfluoroalkyl-functionalized silica nanoparticles, and a method of fabricating the substrate with the superhydrophobic coating. Various combinations of embodiments of the substrate with the superhydrophobic coating and the method of fabricating thereof are provided.

Abstract: A substrate with a superhydrophobic coating, wherein the superhydrophobic coating includes a binding layer disposed on the substrate, and a hydrophobic layer disposed on the binding layer, wherein the hydrophobic layer includes perfluoroalkyl-functionalized silica nanoparticles, and a method of fabricating the substrate with the superhydrophobic coating. Various combinations of embodiments of the substrate with the superhydrophobic coating and the method of fabricating thereof are provided.

Abstract: A substrate with a superhydrophobic coating, wherein the superhydrophobic coating includes a binding layer disposed on the substrate, and a hydrophobic layer disposed on the binding layer, wherein the hydrophobic layer includes perfluoroalkyl-functionalized silica nanoparticles, and a method of fabricating the substrate with the superhydrophobic coating. Various combinations of embodiments of the substrate with the superhydrophobic coating and the method of fabricating thereof are provided.

Abstract: A substrate with a superhydrophobic coating, wherein the superhydrophobic coating includes a binding layer disposed on the substrate, and a hydrophobic layer disposed on the binding layer, wherein the hydrophobic layer includes perfluoroalkyl-functionalized silica nanoparticles, and a method of fabricating the substrate with the superhydrophobic coating. Various combinations of embodiments of the substrate with the superhydrophobic coating and the method of fabricating thereof are provided.

Abstract: The apparatus for joint sealing using tube expansion and friction welding includes a friction welding apparatus including a clamping assembly and a tube expansion apparatus. A tube having a beveled edge is inserted into an aperture in a tube sheet. The tube expansion apparatus expands the end of the tube with the beveled edge to swage the tube to the sheet. A tube sleeve having an edge beveled at an angle complementary to the beveled edge of the tube is clamped to the spindle of the friction welding apparatus. The tube sleeve is abutted to the beveled edge of the tube with the application of pressure and the spindle is rotated or oscillated to friction weld the tube sleeve to the tube and the tube sheet, forming a sealed joint. The process may be repeated to form a heat exchanger tube assembly having sealed joints.

Abstract: A wheelchair suspension system which includes two springs with at least one damper and a central movable component that attaches to a wheel on a wheelchair. The damper is positioned in the center of at least one of the two springs and resists sudden force acting against the wheelchair with the two springs, the central movable component moves either in an upward or downward direction when there is force acting on it from both the springs and damper or by the uneven terrain. The wheelchair suspension apparatus will create greater stability for the entire wheelchair and increase the comfort of the user.

Abstract: The tool for friction stir welding is a tool adapted to operatively engage a tube and a tubesheet to form a sealed joint. The tool has two components. The first component is a shoulder having orthogonal faces for simultaneously engaging the sheet and the tube, the shoulder defining a bore terminating in an aperture at the junction of the faces. The second component is a stir welding probe that is insertable into the bore and has an end exiting the aperture at the end of the bore. A forging pressure urges the shoulder against the junction of the tube and tubesheet. The probe is rotated about its axis, penetrating the tube and tubesheet and generating heat through friction to weld the tube to the tubesheet, while the shoulder is rotated about the tube so that the weld forms a seal about the circumference of the tube.

Abstract: The stair-climbing apparatus has a series of articulating wheel sets extending below the platform. All of the wheel sets are vertically adjustable to negotiate stairways and similar changes of elevation. The lead wheel set is fixed longitudinally relative to the platform, while following wheel sets are longitudinally adjustable to adjust for the pitch or slope of different stairways. The apparatus uses sensors (e.g., mechanical, infrared, ultrasonic, etc.) to detect the presence of the stair risers and their height, control of the assembly being accomplished by a control circuit on board the machine. The wheel sets are raised and lowered independently of one another by pantograph mechanisms extending between the platform and the wheel sets. The horizontally adjustable wheel sets are positioned by a longitudinally disposed rack on the platform.

Abstract: The anthropomorphic force-reflective master arm is a light, anthropomorphic, back-drivable, six degree of freedom (DOF) master arm designed to control the motion of a remote slave device having arbitrary structure. Three of the link members are rotationally coupled to each other to form a handle, such that axes of rotation of each of the handle link members intersects at the user's hand position. The kinematics of the master arm is simplified to two independent sub-systems, which are the hand position and hand orientation.

Abstract: The stair-climbing apparatus has a series of articulating wheel sets extending below the platform. All of the wheel sets are vertically adjustable to negotiate stairways and similar changes of elevation. The lead wheel set is fixed longitudinally relative to the platform, while following wheel sets are longitudinally adjustable to adjust for the pitch or slope of different stairways. The apparatus uses sensors (e.g., mechanical, infrared, ultrasonic, etc.) to detect the presence of the stair risers and their height, control of the assembly being accomplished by a control circuit on board the machine. The wheel sets are raised and lowered independently of one another by pantograph mechanisms extending between the platform and the wheel sets. The horizontally adjustable wheel sets are positioned by a longitudinally disposed rack on the platform.

Abstract: The stair-climbing apparatus has a series of articulating wheel sets extending below the platform. All of the wheel sets are vertically adjustable to negotiate stairways and similar changes of elevation. The lead wheel set is fixed longitudinally relative to the platform, while following wheel sets are longitudinally adjustable to adjust for the pitch or slope of different stairways. The apparatus uses sensors (e.g., mechanical, infrared, ultrasonic, etc.) to detect the presence of the stair risers and their height, control of the assembly being accomplished by a control circuit on board the machine. The wheel sets are raised and lowered independently of one another by pantograph mechanisms extending between the platform and the wheel sets. The horizontally adjustable wheel sets are positioned by a longitudinally disposed rack on the platform.

Abstract: The stair-climbing apparatus has a series of articulating wheel sets extending below the platform. All of the wheel sets are vertically adjustable to negotiate stairways and similar changes of elevation. The lead wheel set is fixed longitudinally relative to the platform, while following wheel sets are longitudinally adjustable to adjust for the pitch or slope of different stairways. The apparatus uses sensors (e.g., mechanical, infrared, ultrasonic, etc.) to detect the presence of the stair risers and their height, control of the assembly being accomplished by a control circuit on board the machine. The wheel sets are raised and lowered independently of one another by pantograph mechanisms extending between the platform and the wheel sets. The horizontally adjustable wheel sets are positioned by a longitudinally disposed rack on the platform.

Abstract: The anthropomorphic force-reflective master arm is a light, anthropomorphic, back-drivable, six degree of freedom (DOF) master arm designed to control the motion of a remote slave device having arbitrary structure. Three of the link members are rotationally coupled to each other to form a handle, such that axes of rotation of each of the handle link members intersects at the user's hand position. The kinematics of the master arm is simplified to two independent sub-systems, which are the hand position and hand orientation.

Abstract: The anthropomorphic force-reflective master arm controls a remote robotic arm and includes a plurality of rotatably joined mechanical links extending from a base to provide up to six degrees of freedom. Three of the link members are rotatably coupled to each other to form a handle, so that axes of rotation of each of the handle link members intersect at a user's hand position. Cable and pulley assemblies for the link joints are connected to their corresponding backdrive motors, the backdrive motors being disposed on the base to provide efficient transmission of forces experienced by the remote machine to the master arm handle.