SlideShare a Scribd company logo
ISSN 2393-8471
International Journal of Recent Research in Civil and Mechanical Engineering (IJRRCME)
Vol. 2, Issue 1, pp: (106-109), Month: April 2015 – September 2015, Available at: www.paperpublications.org
Page | 106
Paper Publications
Milling By Using Single Cutter As Cutting
Tool
1
Mr.Barkade Shriram, 2
Mr.Nevaskar Onkar, 3
Mr.Pol Kishor, 4
Kapare Rohan
1,2,3,4
Department of Mechanical Engineering, Sinhgad institute of technology and science, Pune, India.
Abstract: This Kinematic linkage of internal cylindrical surface is need for cutting the elliptical as well as cylindrical
surface .The cost required for these type of machines is less as compared the conventional milling machine. Kinematic
linkage mechanism is based on four bar linkage mechanism is converted into internal cylindrical boring & shape.
Double worm drive is used to drive the worktable in circular manner as well as elliptical manner. Worm gear pair
ensure that is zero backlash. Adjustable crank mechanism is used for increase the range or the radius of circle traced
by the worktable .speed required for machine can easily vary by using speed regulator for large plant but small plant
we can easily change the motor.
Keywords: Small milling machine special purpose machine (SPM), elliptical milling.
1. INTRODUCTION
This paper describes that kinematic linkage for internal cylindrical Industrial products like wooden blocks, Plummet blocks
etc. are machined from materials like castings, wood or nylon , often special fixtures need to be developed to carry out the
internal surface operations like milling , boring and grinding when these parts are to be processed on conventional machines
like lathe, milling or grinding machine. which proves costly, and time consuming, Linkage design of mechanism to give
desired machining action , adjustable crank design to give variety of sizes ,pair of worm and worm wheel to ensure robust and
vibration free drive , spiral bevel gear box to ensure high torque and variable speed to spindle, table linkage design for
workpiece holding and movement.
Mechanical design of components under given system of forces to determine functional dimensions of the components to be
used using various formulae and empirical relations,
Manufacturing assembly of the device and testing on various job materials for various operations.
2. CONVENTIONAL MACHINE AND SPM
2.1 Conventional Machines:
Now a days conventional machine are used to machine the work piece or job like lathe machine, milling machine, boring
machine, drilling machine etc. milling operation done on the milling machine .milling machine is heavy and need more space
for installation. It is not easy to transport the whole assembly on the site need to shift with dissembled position.it require the
more time to assemble the machine. Required power to run the machine is very high as compare to the other machines.
2.2 Special purpose machines:
This machine are developed for the single operation or for sequenced operation . they produced in limited quantiy with high
quality and high accuracy .they have specific specification to do work. Work by the spm it will be automatic, semiautomatic
and manual.
2.3Comparison of conventional and SPM:
By considering all the parameter like speed ,accuracy,cost,time production rate etc.
2.4 Gashof’s law:
The length of the shortest link plus the longest link of a planar four-bar kinematic-chains cannot be greater than the lengths of
the other two Parts.
ISSN 2393-8471
International Journal of Recent Research in Civil and Mechanical Engineering (IJRRCME)
Vol. 2, Issue 1, pp: (951-954), Month: April 2015 – September 2015, Available at: www.paperpublications.org
Page | 107
Paper Publications
Figure 1:- Fig. For Gashofs Law
3. OPERATION ANALYSIS OF MACHINE
 The job to be machined is held onto the table by clamping bolts.
 Cutter motor is started to drive cutter gear box which in turn drives the cutter.
 Depth of cut is given by moving the cutter down using screw mechanism.
 Handle is rotated to drive the worm wheels which will turn the crank mechanism that moves the job in circular path thus
the internal diameter is cut.
 Next cut is taken by rotating screw and thus job is finished.
4. BALLBEARING
1. Inner/Outer Ring Manufacturing Process
• The bearing steel is machined (turned) or forged into rough cut, basic ring configurations;
• Rings are machined to within rough tolerance specifications;
• Rings are heat treated to increase the steel’s strength;
• Ring faces receive the final grinding, removing any rough spots;
• The ring O.D. and I.D. are finish ground to a smooth surface;
• Raceways are also finish ground to an even surface;
• The raceways are honed to a polished finish; and,
• The rings are then cleaned and readied for assembly.
2. Ball Manufacturing Process
• The bearing steel wire is cold stamped (headed) into roughly shaped balls;
• Balls are rough ground to remove the flashing (orbit) created during heading;
• The balls are heat treated for strength;
• Balls are rough ground again to remove coarser imperfections;
• The balls are next finish ground;
• The balls are lapped (a fine-polishing process); and,
• Finally, the balls are cleaned and readied for assembly.
ISSN 2393-8471
International Journal of Recent Research in Civil and Mechanical Engineering (IJRRCME)
Vol. 2, Issue 1, pp: (951-954), Month: April 2015 – September 2015, Available at: www.paperpublications.org
Page | 108
Paper Publications
3. The Stamped Steel Cage Manufacturing Process
• Blanks, or donut shaped discs, are stamped out of strip steel;
• The retainers are partially (rough) formed;
• The retainers are next finish formed;
• Retainers are then punched (if rivets are to be used);
• Retainers go through a deburring process; and,
• The finished retainers are cleaned and readied for assembly.
Part Table
SR NO. PART CODE DESCRIPTION QTY MATERIAL
1. ICM –1 MAIN SPINDLE 01 EN24
2. ICM –2 GEAR BOX 01 STD
3. ICM –3 WORM 02 EN9
4. ICM –4 WORM GEAR 02 CI
5. ICM –5 SPINDLE HOUSING-2 01 EN9
6. ICM –6 CRANK 02 EN9
7. ICM –7 BEARING HOUSING-1 02 EN9
8. ICM –8 BEARING HOUSING-2 01 EN9
9. ICM –9 DRIVE MECHANISM 01 EN9
10. ICM –10 HANDLE 01 EN9
11. ICM –11 CUTTER 01 STD
12. ICM –12 WORK TABLE GUIDE 01 MS
13. ICM –13 WORK TABLE 01 MS
14. ICM –14 HANDLE CLAMP 01 EN9
15. ICM –15 GUIDE BAR 01 EN9
16. ICM –16 GUIDE BUSH 01 GM
17. ICM –17 MOTOR 01 STD
Table 1: Components of Project
5. CONCLUSION
We successfully designed the mechanism to run the single tool as cutter and to fix the job we designed magnetic table which
help to hold the cast material jobs.
ACKNOWLEDGMENT
It is believed that our heartiest gratitude with pleasure is towards S.I.T.S., Narhe, which gave us an opportunity in fulfilling
our desire of reaching our goal. The satisfaction that accompanies the successful completion of any task would be incomplete
without the mention of all people who deserve it. Last but not least, we would like to thanks our project guide Prof.Rohan
Kapare& entire friend for their timely suggestion during the project
Figure 2:- Force analysis in a work piece cut by a flat end mill
ISSN 2393-8471
International Journal of Recent Research in Civil and Mechanical Engineering (IJRRCME)
Vol. 2, Issue 1, pp: (951-954), Month: April 2015 – September 2015, Available at: www.paperpublications.org
Page | 109
Paper Publications
REFERENCES
[1] C. Yuksel, A. Kahraman, Dynamic tooth loads of planetary gear sets having tooth profile wear, Mechanism and Machine
Theory 39 (2004) 695–715.
[2] R.G. Parker, S.M. Vijayakar, T. Imajo, Non-linear dynamic response of a spur gear pair: modeling and experimental
comparisons, Journal of Sound and Vibration 237 (3) (2000) 435–455.
[3] R. Maliha, U.C. Dogruer, H.N. Ozguven, Nonlinear dynamic modeling of gear-shaft-disk-bearing systems using finite
elements and describing functions, Journal of Mechanical Design 126 (2004) 534–541.
[4] R.D. Britton, C.D. Elcoate, M.P. Alanou, H.P. Evans, R.W. Snidle, Effect of surface finish on gear tooth friction, Journal
of Tribology 122 (2000) 354–360.
[5] S. Kong, K. Sharif, H.P. Evans, R.W. Snidle, Elastohydrodynamics of a worm gear contact, Journal of Tribology 123
(2001) 268–275.
[6] D.T. Tuttle, P.W. Seeing, A nonlinear model of a harmonic drive gear transmission, IEEE Transactions on Robotics and
Automation 12 (3) (1996) 368–374.
[7] B.A. Helouvry, A survey of models, analysis tools and compensation methods for the control of machines with friction,
Automatica 30 (7) (1994) 1083–1138.
[8] P. Doupont, Avoiding stick–slip in position and force control through feedback, Proceedings of the 1991 IEEE
International Conference on Robotics and Automation, Sacramento, California, pp. 1470–1475.

More Related Content

PDF
Design and Fabrication of Manual Spring Rolling Machine
PDF
Multipurpose mechanical machine
PDF
Design and Fabrication Multi Spindle Drilling Machine with Different Pitch Hole
PDF
Study of Fabrication of Multipurpose Tooling Machine
PPTX
Design & fabrication of an automated nut tapping attachment for drilling machine
PDF
Multi spindle drilling machine project report
PDF
Design and fabrication of prototype of multipurpose machine for sheet metal o...
PDF
multi operational machine
Design and Fabrication of Manual Spring Rolling Machine
Multipurpose mechanical machine
Design and Fabrication Multi Spindle Drilling Machine with Different Pitch Hole
Study of Fabrication of Multipurpose Tooling Machine
Design & fabrication of an automated nut tapping attachment for drilling machine
Multi spindle drilling machine project report
Design and fabrication of prototype of multipurpose machine for sheet metal o...
multi operational machine

What's hot (20)

PDF
DESIGN AND FABRICATION OF MULTIANGLE DRILLING MACHINE
DOCX
Project Report on flexible drill machine
PDF
PDF
Ball throwing machine project report https://youtu.be/HZnxelUkAXg
PDF
mjrprjct
DOCX
PDF
Power Transmission Devices
PPTX
Unit 6 mechanism and applications
PPTX
Double Acting hacksaw using Scotch Mechanism Machine ppt
PDF
Design & development of multi orientation drilling special purpose machine su...
PPTX
PDF
Static stiffness analysis of high frequency milling spindle
PDF
Design and construction of Bevel gear
PPT
Autonomous Drilling machine
PDF
Design and fabrication of geneva mechanism based punching machine
PPTX
Gear box –industrial applications
PPTX
BALL SCREW TECHNOLOGY
PPTX
2. lathe
DOCX
Project documents on weight optimization of lathe bed
PDF
Design of geneva wheel based auto-roll punching machine
DESIGN AND FABRICATION OF MULTIANGLE DRILLING MACHINE
Project Report on flexible drill machine
Ball throwing machine project report https://youtu.be/HZnxelUkAXg
mjrprjct
Power Transmission Devices
Unit 6 mechanism and applications
Double Acting hacksaw using Scotch Mechanism Machine ppt
Design & development of multi orientation drilling special purpose machine su...
Static stiffness analysis of high frequency milling spindle
Design and construction of Bevel gear
Autonomous Drilling machine
Design and fabrication of geneva mechanism based punching machine
Gear box –industrial applications
BALL SCREW TECHNOLOGY
2. lathe
Project documents on weight optimization of lathe bed
Design of geneva wheel based auto-roll punching machine
Ad

Similar to Milling By Using Single Cutter As Cutting Tool (20)

PDF
IRJET- Development and Analysis of Special Purpose Machine (Peck Drilling Mac...
PDF
Analysis the effects of different types of tool on metal spinning process
PDF
3. analysis the effects of different types of tool on metal
PDF
Analysis the effects of different types of tool on metal spinning process
PDF
Design of Mechanical Crushing Machine
PDF
multiway hack saw machine
PDF
DESIGN AND ANALYSIS OF AXIAL CROSSING OF WORK ROLLS IN ROLLING MILL WORK ROLL...
PDF
Review Paper on Lathe Machine Components and It’s Application
DOCX
Design and fabrication of multi way hacksaw machine REPORT
PDF
IRJET- Design and Modification of Chaff Cutting Machine
PDF
Optimization of cutting tool material in lathe machine by T-test
PDF
IRJET - Multi Spindle Machine
PDF
IRJET- Design, Static, and Modal Analysis of High Speed Motorized Milling Spi...
PDF
IRJET- Impact of Ground Water on Forest Productivity in Haliyal Taluka using ...
PDF
IRJET - Fabrication of Four Way Machining by using Scotch Yoke Mechanism
PDF
IRJET- Design and Development of Collet Chuck
PDF
IRJET- Delumper Machine
PPTX
FUNDAMENTAL OF MACHINE TOOLS.pptx
PDF
Surface Belt Grinder for Keys-A Review
IRJET- Development and Analysis of Special Purpose Machine (Peck Drilling Mac...
Analysis the effects of different types of tool on metal spinning process
3. analysis the effects of different types of tool on metal
Analysis the effects of different types of tool on metal spinning process
Design of Mechanical Crushing Machine
multiway hack saw machine
DESIGN AND ANALYSIS OF AXIAL CROSSING OF WORK ROLLS IN ROLLING MILL WORK ROLL...
Review Paper on Lathe Machine Components and It’s Application
Design and fabrication of multi way hacksaw machine REPORT
IRJET- Design and Modification of Chaff Cutting Machine
Optimization of cutting tool material in lathe machine by T-test
IRJET - Multi Spindle Machine
IRJET- Design, Static, and Modal Analysis of High Speed Motorized Milling Spi...
IRJET- Impact of Ground Water on Forest Productivity in Haliyal Taluka using ...
IRJET - Fabrication of Four Way Machining by using Scotch Yoke Mechanism
IRJET- Design and Development of Collet Chuck
IRJET- Delumper Machine
FUNDAMENTAL OF MACHINE TOOLS.pptx
Surface Belt Grinder for Keys-A Review
Ad

Recently uploaded (20)

PDF
Complications of Minimal Access Surgery at WLH
PDF
RTP_AR_KS1_Tutor's Guide_English [FOR REPRODUCTION].pdf
PPTX
History, Philosophy and sociology of education (1).pptx
PDF
What if we spent less time fighting change, and more time building what’s rig...
PDF
LNK 2025 (2).pdf MWEHEHEHEHEHEHEHEHEHEHE
PPTX
1st Inaugural Professorial Lecture held on 19th February 2020 (Governance and...
PPTX
Digestion and Absorption of Carbohydrates, Proteina and Fats
PPTX
Final Presentation General Medicine 03-08-2024.pptx
PDF
Classroom Observation Tools for Teachers
PPTX
202450812 BayCHI UCSC-SV 20250812 v17.pptx
PDF
ChatGPT for Dummies - Pam Baker Ccesa007.pdf
PPTX
Final Presentation General Medicine 03-08-2024.pptx
PPTX
Cell Types and Its function , kingdom of life
PDF
Supply Chain Operations Speaking Notes -ICLT Program
PDF
Weekly quiz Compilation Jan -July 25.pdf
PPTX
Lesson notes of climatology university.
PDF
Indian roads congress 037 - 2012 Flexible pavement
PPTX
Introduction-to-Literarature-and-Literary-Studies-week-Prelim-coverage.pptx
PDF
Practical Manual AGRO-233 Principles and Practices of Natural Farming
DOC
Soft-furnishing-By-Architect-A.F.M.Mohiuddin-Akhand.doc
Complications of Minimal Access Surgery at WLH
RTP_AR_KS1_Tutor's Guide_English [FOR REPRODUCTION].pdf
History, Philosophy and sociology of education (1).pptx
What if we spent less time fighting change, and more time building what’s rig...
LNK 2025 (2).pdf MWEHEHEHEHEHEHEHEHEHEHE
1st Inaugural Professorial Lecture held on 19th February 2020 (Governance and...
Digestion and Absorption of Carbohydrates, Proteina and Fats
Final Presentation General Medicine 03-08-2024.pptx
Classroom Observation Tools for Teachers
202450812 BayCHI UCSC-SV 20250812 v17.pptx
ChatGPT for Dummies - Pam Baker Ccesa007.pdf
Final Presentation General Medicine 03-08-2024.pptx
Cell Types and Its function , kingdom of life
Supply Chain Operations Speaking Notes -ICLT Program
Weekly quiz Compilation Jan -July 25.pdf
Lesson notes of climatology university.
Indian roads congress 037 - 2012 Flexible pavement
Introduction-to-Literarature-and-Literary-Studies-week-Prelim-coverage.pptx
Practical Manual AGRO-233 Principles and Practices of Natural Farming
Soft-furnishing-By-Architect-A.F.M.Mohiuddin-Akhand.doc

Milling By Using Single Cutter As Cutting Tool

  • 1. ISSN 2393-8471 International Journal of Recent Research in Civil and Mechanical Engineering (IJRRCME) Vol. 2, Issue 1, pp: (106-109), Month: April 2015 – September 2015, Available at: www.paperpublications.org Page | 106 Paper Publications Milling By Using Single Cutter As Cutting Tool 1 Mr.Barkade Shriram, 2 Mr.Nevaskar Onkar, 3 Mr.Pol Kishor, 4 Kapare Rohan 1,2,3,4 Department of Mechanical Engineering, Sinhgad institute of technology and science, Pune, India. Abstract: This Kinematic linkage of internal cylindrical surface is need for cutting the elliptical as well as cylindrical surface .The cost required for these type of machines is less as compared the conventional milling machine. Kinematic linkage mechanism is based on four bar linkage mechanism is converted into internal cylindrical boring & shape. Double worm drive is used to drive the worktable in circular manner as well as elliptical manner. Worm gear pair ensure that is zero backlash. Adjustable crank mechanism is used for increase the range or the radius of circle traced by the worktable .speed required for machine can easily vary by using speed regulator for large plant but small plant we can easily change the motor. Keywords: Small milling machine special purpose machine (SPM), elliptical milling. 1. INTRODUCTION This paper describes that kinematic linkage for internal cylindrical Industrial products like wooden blocks, Plummet blocks etc. are machined from materials like castings, wood or nylon , often special fixtures need to be developed to carry out the internal surface operations like milling , boring and grinding when these parts are to be processed on conventional machines like lathe, milling or grinding machine. which proves costly, and time consuming, Linkage design of mechanism to give desired machining action , adjustable crank design to give variety of sizes ,pair of worm and worm wheel to ensure robust and vibration free drive , spiral bevel gear box to ensure high torque and variable speed to spindle, table linkage design for workpiece holding and movement. Mechanical design of components under given system of forces to determine functional dimensions of the components to be used using various formulae and empirical relations, Manufacturing assembly of the device and testing on various job materials for various operations. 2. CONVENTIONAL MACHINE AND SPM 2.1 Conventional Machines: Now a days conventional machine are used to machine the work piece or job like lathe machine, milling machine, boring machine, drilling machine etc. milling operation done on the milling machine .milling machine is heavy and need more space for installation. It is not easy to transport the whole assembly on the site need to shift with dissembled position.it require the more time to assemble the machine. Required power to run the machine is very high as compare to the other machines. 2.2 Special purpose machines: This machine are developed for the single operation or for sequenced operation . they produced in limited quantiy with high quality and high accuracy .they have specific specification to do work. Work by the spm it will be automatic, semiautomatic and manual. 2.3Comparison of conventional and SPM: By considering all the parameter like speed ,accuracy,cost,time production rate etc. 2.4 Gashof’s law: The length of the shortest link plus the longest link of a planar four-bar kinematic-chains cannot be greater than the lengths of the other two Parts.
  • 2. ISSN 2393-8471 International Journal of Recent Research in Civil and Mechanical Engineering (IJRRCME) Vol. 2, Issue 1, pp: (951-954), Month: April 2015 – September 2015, Available at: www.paperpublications.org Page | 107 Paper Publications Figure 1:- Fig. For Gashofs Law 3. OPERATION ANALYSIS OF MACHINE  The job to be machined is held onto the table by clamping bolts.  Cutter motor is started to drive cutter gear box which in turn drives the cutter.  Depth of cut is given by moving the cutter down using screw mechanism.  Handle is rotated to drive the worm wheels which will turn the crank mechanism that moves the job in circular path thus the internal diameter is cut.  Next cut is taken by rotating screw and thus job is finished. 4. BALLBEARING 1. Inner/Outer Ring Manufacturing Process • The bearing steel is machined (turned) or forged into rough cut, basic ring configurations; • Rings are machined to within rough tolerance specifications; • Rings are heat treated to increase the steel’s strength; • Ring faces receive the final grinding, removing any rough spots; • The ring O.D. and I.D. are finish ground to a smooth surface; • Raceways are also finish ground to an even surface; • The raceways are honed to a polished finish; and, • The rings are then cleaned and readied for assembly. 2. Ball Manufacturing Process • The bearing steel wire is cold stamped (headed) into roughly shaped balls; • Balls are rough ground to remove the flashing (orbit) created during heading; • The balls are heat treated for strength; • Balls are rough ground again to remove coarser imperfections; • The balls are next finish ground; • The balls are lapped (a fine-polishing process); and, • Finally, the balls are cleaned and readied for assembly.
  • 3. ISSN 2393-8471 International Journal of Recent Research in Civil and Mechanical Engineering (IJRRCME) Vol. 2, Issue 1, pp: (951-954), Month: April 2015 – September 2015, Available at: www.paperpublications.org Page | 108 Paper Publications 3. The Stamped Steel Cage Manufacturing Process • Blanks, or donut shaped discs, are stamped out of strip steel; • The retainers are partially (rough) formed; • The retainers are next finish formed; • Retainers are then punched (if rivets are to be used); • Retainers go through a deburring process; and, • The finished retainers are cleaned and readied for assembly. Part Table SR NO. PART CODE DESCRIPTION QTY MATERIAL 1. ICM –1 MAIN SPINDLE 01 EN24 2. ICM –2 GEAR BOX 01 STD 3. ICM –3 WORM 02 EN9 4. ICM –4 WORM GEAR 02 CI 5. ICM –5 SPINDLE HOUSING-2 01 EN9 6. ICM –6 CRANK 02 EN9 7. ICM –7 BEARING HOUSING-1 02 EN9 8. ICM –8 BEARING HOUSING-2 01 EN9 9. ICM –9 DRIVE MECHANISM 01 EN9 10. ICM –10 HANDLE 01 EN9 11. ICM –11 CUTTER 01 STD 12. ICM –12 WORK TABLE GUIDE 01 MS 13. ICM –13 WORK TABLE 01 MS 14. ICM –14 HANDLE CLAMP 01 EN9 15. ICM –15 GUIDE BAR 01 EN9 16. ICM –16 GUIDE BUSH 01 GM 17. ICM –17 MOTOR 01 STD Table 1: Components of Project 5. CONCLUSION We successfully designed the mechanism to run the single tool as cutter and to fix the job we designed magnetic table which help to hold the cast material jobs. ACKNOWLEDGMENT It is believed that our heartiest gratitude with pleasure is towards S.I.T.S., Narhe, which gave us an opportunity in fulfilling our desire of reaching our goal. The satisfaction that accompanies the successful completion of any task would be incomplete without the mention of all people who deserve it. Last but not least, we would like to thanks our project guide Prof.Rohan Kapare& entire friend for their timely suggestion during the project Figure 2:- Force analysis in a work piece cut by a flat end mill
  • 4. ISSN 2393-8471 International Journal of Recent Research in Civil and Mechanical Engineering (IJRRCME) Vol. 2, Issue 1, pp: (951-954), Month: April 2015 – September 2015, Available at: www.paperpublications.org Page | 109 Paper Publications REFERENCES [1] C. Yuksel, A. Kahraman, Dynamic tooth loads of planetary gear sets having tooth profile wear, Mechanism and Machine Theory 39 (2004) 695–715. [2] R.G. Parker, S.M. Vijayakar, T. Imajo, Non-linear dynamic response of a spur gear pair: modeling and experimental comparisons, Journal of Sound and Vibration 237 (3) (2000) 435–455. [3] R. Maliha, U.C. Dogruer, H.N. Ozguven, Nonlinear dynamic modeling of gear-shaft-disk-bearing systems using finite elements and describing functions, Journal of Mechanical Design 126 (2004) 534–541. [4] R.D. Britton, C.D. Elcoate, M.P. Alanou, H.P. Evans, R.W. Snidle, Effect of surface finish on gear tooth friction, Journal of Tribology 122 (2000) 354–360. [5] S. Kong, K. Sharif, H.P. Evans, R.W. Snidle, Elastohydrodynamics of a worm gear contact, Journal of Tribology 123 (2001) 268–275. [6] D.T. Tuttle, P.W. Seeing, A nonlinear model of a harmonic drive gear transmission, IEEE Transactions on Robotics and Automation 12 (3) (1996) 368–374. [7] B.A. Helouvry, A survey of models, analysis tools and compensation methods for the control of machines with friction, Automatica 30 (7) (1994) 1083–1138. [8] P. Doupont, Avoiding stick–slip in position and force control through feedback, Proceedings of the 1991 IEEE International Conference on Robotics and Automation, Sacramento, California, pp. 1470–1475.