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In essence, the U-joint and hub assembly acts as a steerable axle, which is switched between skid-steer and all-wheel drive modes hydraulically through a Hydraforce pressure compensated steer valve controlled by the Phoenix International electronic controller. "One of the big challenges with a four-wheel steer vehicle or even a two-wheel steer vehicle is that typically you have one hydraulic function activating one of the wheels and then a tie rod going between to lock the wheels together so they''re mechanically linked together," said Krause. "With this vehicle, there just is no room to run a tie rod across, so we had to develop a hydraulic steer valve that would electronically hydraulically link the wheels and perform the tie rod function."

[FIGURE 2 OMITTED]In each of the previous efforts, the 3T team from AR&SD was required to interface the AI architecture to existing legacy software and hardware systems (Schreckenghost et al. 1998a). In 1999, however, we began to support advanced water-recovery projects that were being built from the ground up. As a charter member of the water research group in CTSD, the AR&SD AI team was influential in the selection of hardware components and the design of the overall control of these systems. For the first time, we were able to build the full 3T system from the A/D converter boards used by the sensors and devices to the top tier of the architecture.

Though light in weight, Airbor magnetic drill has a powerful 1.6-hp air motor and 1,600-lb magnetic holding strength. With its extra rack, stroke length is extended to 10 1/4 in. Annular cutter capacity is up to 2 1/16 in. diam. Geared chuck adapter converts the unit to a standard drill press. The Slugger Air Force pneumatic drill, at 24 lbs, 6 1/4" high, is useful for confined area drilling. The drill''s features include a permanent magnet that turns on or off by air power, a cutter capacity of up to 1 1/16" diameter x 3/4" depth and the ability to use ShortSlugger cutters and frame cutters. These cutters'' geometry allows the operator to drill multi-layered truck frames in a single pass.

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