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JULY 2018 I DESIGN007 MAGAZINE 73 els; any investigation of the losses would be completely useless without such models. Thus, any stackup exploration or planning stage must include building small validation boards or test coupons to verify the data obtained from the PCB manufacturer and to identify actual geom- etry adjustments and the conductor roughness models. The coupons should have two seg- ments of transmission line (single-ended or differential) with different lengths per each layer with unique dielectric. The coupons must be cross-sectioned after S-parameters of the line segments are measured. This is the most important step of the systematic approach to design predictable interconnects. DESIGN007 Simbeor software was used for all computa- tions provided in this article. All corresponding Simbeor solutions are available upon request to learn the "sink or swim" process. References 1. M. Marin, Y. Shlepnev, 40 GHz PCB Inter- connect Validation: Expectation vs. Reality, an award-winning paper from DesignCon2018, January 31, 2018, Santa Clara, California. Pre- sentation with complete report is also avail- able here. 2. Y. Shlepnev, Sink or Swim at 28 Gbps, The PCB Design Magazine, October 2014, p. 12-23. 3. Y. Shlepnev, Unified approach to intercon- nect conductor surface roughness modelling, 2017 IEEE 26st Conference on Electrical Per- formance of Electronic Packaging and Systems (EPEPS2017), October 15-18, 2017, San Jose, California. 4. Y. Shlepnev, Broadband material model identification with GMS-parameters, 2015 IEEE 24st Conference on Electrical Performance of Electronic Packaging and Systems, October 25-28, 2015, San Jose, California. Yuriy Shlepnev is founder and president of Simberian Inc. The first week of July 2018 marked the last in a series of ground tests demonstrating the capabilities of the Tendon Actuated Lightweight In-Space MANipulator (TALISMAN) robotic arm; the Strut Assembly, Manufacturing, Utility & Robotic Aid (SAMURAI); and the NASA INtelligent Jigging and Assembly Robot (NINJAR) components of the Com - mercial Infrastructure for Robotic Assembly and Services (CIRAS) project. Earlier this year, the team of engineers manipulated the newer, longer arm back and forth from folded to extended positions to demonstrate that it is fully operational, then they showed it could pull a truss out from being stowed in a compartment. In this demonstration, the TALISMAN arm was used to move a solar array from one truss section to another and to install the array. SAMURAI, the robotic hand that passes truss parts, and NINJAR, the jigging robot that holds the pieces in place while they are fastened, have similarly been put to the test this year. The team first used a remote control to operate the two robots and assemble truss segments. This most recent test accomplished an autonomous truss build, using only code and no remote control. CIRAS is a part of the In-Space Robotic Manufac- turing and Assembly (IRMA) project portfolio, man- aged by NASA's Technology Demonstration Missions Program and sponsored by NASA's Space Technol- ogy Mission Directorate. Click here for more. NASA, Partners, Advance In-Space Assembly Robotics

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