Science.gov (United States)

... see http://www.spawar.navy.mil/robots/ ), during which ... pixel-accurate routes for a small ground robot using aerial ... a USV, a UAV and a UUV as well ...

Science.gov (United States)

... for team sizes ranging from 2 to 6 robots. ... intercep- tion mission, a robot must overtake a ... of unmanned underwater vehicles (UUV), unmanned aerial ...

Science.gov (United States)

No Abstract Available

International Nuclear Information System (INIS)

The main trends of research carried out in remote handling systems in the fields of ergonomy, robotics and reliability are presented.

Science.gov (United States)

... learned will be applicable to all UUV systems. ... started the mobile robot baseline. ... demonstrated artificial intelligence in mobile robots for military use. ...

International Nuclear Information System (INIS)

The use of robots in powerplants is an option that can no longer be ignored. Robots can reduce worker exposure to harmful environments and minimize downtime. As a result, electric utilities are using them more than ever. As robots become more widely accepted, more are being developed to handle an expanding variety of applications. This report begins with an overview of the use of robotics in the electric-utility industry; following that are sections detailing applications for nuclear plants, fossil-fired stations, and transmission and distribution facilities.

International Nuclear Information System (INIS)

The paper gives a generic idea of the solutions that the neuronal nets contribute to the robotics. The advantages and the inconveniences are exposed that have regarding the conventional techniques. It also describe the more excellent applications as the pursuit of trajectories, the positioning based on images, the force control or of the mobile robots management, among others

International Nuclear Information System (INIS)

To encourage the application of robotics technology for routine radiobench applications, a laboratory dedicated to the research and development of contained robotic systems is being constructed. The facility will have several robots located in laminar flow hoods, and the hoods are being designed to allow the possibility for multiple robots to work together. This paper presents both the design features of the hoods and the general layout of the laboratory, and also discusses an application of a robotic system for the routine nuclear counting of gamma tube samples. The gamma tube system is presently operating in one of the routine analysis laboratories. 5 figs.

Science.gov (United States)

... UGV), in the air (UAV), or underwater (UUV) -across ... Figure 2 Tactical Mobile Robot MOUT concept: ... 10 robots to clear 20 rooms in 60 minutes ...

Medline Plus

ROBOT-ASSISTED RADICAL LAPAROSCOPIC PROSTATECTOMY WAKE FOREST UNIVERSITY BAPTIST MEDICAL CENTER WINSTON-SALEM, NC 00:00:08 ANTHONY ATALA, MD: I would like ...

Science.gov (United States)

... laws between particles (modeling UGV/UAV/UUV collectives) to ... A mobile robot test-bed is used in ... of this work on mobile robots executing pursuit ...

Science.gov (United States)

... and Unmanned Undersea Vehicle (UUV) communities as well. ... utilizes the Multi-Robot Operator Control ... Extending Mobile Security Robots to Force ...

ScienceCinema

@ work highlights Idaho National Laboratory employees and the jobs they perform.This segment features Robotic Software Engineer Miles Walton.

International Nuclear Information System (INIS)

We have recently shown the applicability of robotics to the synthesis of a positron-emitting radiopharmaceutical, namely 16#alpha#[F-18]fluoroestradiol-17#beta#, a breast tumor imaging agent. We now report the application of the robot to the synthesis of two additional radiopharmaceuticals, [F-18]spiroperiodol and [C-11]butanol. This achievement shows the power of a robot as a multifunctional automated device for the synthesis of several positron-emitting radiopharmaceuticals in limited laboratory space. (author).

KoreaScience (Korea)

Full Text Available

Energy Technology Data Exchange (ETDEWEB)

Role-limiting approaches support knowledge acquisition (KA) by centering knowledge base construction on common types of tasks or domain-independent problem-solving strategies. Within a particular problem-solving strategy, domain-dependent knowledge plays specific roles. A KA tool then helps a user to fill these roles. Although role-limiting approaches are useful for guiding KA, they are limited because they only support users in filling knowledge roles that have been built in by the designers of the KA system. EXPECT takes a different approach to KA by representing problem-solving knowledge explicitly, and deriving from the current knowledge base the knowledge gaps that must be resolved by the user during KA. This paper contrasts role-limiting approaches and EXPECT`s approach, using the propose-and-revise strategy as an example. EXPECT not only supports users in ...

International Nuclear Information System (INIS)

English 2005 p. 240 Russian Federation Fadeev, SN Gridnev, KA Institute

Energy Technology Data Exchange (ETDEWEB)

The six-axes industrial robot MANUTEC r15 UW was modified to work underwater and successfully tested down to the simulated water depth of 1100 m. Next step in the program was to use this robot as a handling tool for inspection tasks at the welding seam of an underwater structure conducted with CCD-cameras and distance sensors. This was also to demonstrate the possibility to assist and later on to replace divers from this work. Additional research was focussed on the stiffness and rigidity of the robot during the precise guiding of tools and workpieces under current water conditions up to a flow velocity of 1.1 m/s. Present work is concentrated on the application of this subsea robot on a maintenance task at the Brazilian underwater template OCTOS-1000. For this experiments the robot is integrated in a large mock-up which simulates a quarter section of this template. (orig.)

UK PubMed Central (United Kingdom)

PurposeThe objective of this study is to evaluate the continence rate following reconstruction of the posterior urethral plate in robot-assisted laparoscopic radical prostatectomy...Full Text Available

Energy Technology Data Exchange (ETDEWEB)

R and D of the robot control system was conducted in the following items: 1) integrated open control system, 2) remote control robot manipulation language, 3) human factor robot use built-in LAN system, 4) built-in actuator driver. In 1), there were some problems to be pointed out around the system, but the effectiveness was confirmed as system architecture of each verification item. In 2), development/design were made of RCML(R-Cube Manipulation Language) as a remote robot manipulation language, telecommunication protocol, and the experimental system, and the international standardization was targeted. In 3), the R and D was conducted of the realtime telecommunication protocol which clears the standards for the distributed control required for construction of human factor robot and the advanced realtime micro-controller, ULSI, which is the one that the protocol was made IC. In 4), ...

Energy Technology Data Exchange (ETDEWEB)

This paper describes the electrical design and mechanical construction of a 50 kA step switched'' battery bank. Individual fuses protect each of the forty parallel isolated strings of three series (12 V) batteries. Step current waveforms of 12.5 kA, 25 kA, 37.5 kA, and 50 kA are produced by 8 sets of pneumatically driven 20 pole step switches and current limiting stainless steel trombone'' resistors. Inexpensive, yet conservatively designed, Group 65 Motorcraft car batteries are used to give an I{sup 2}t capability of better than 5 {times} 10{sup 9}. The battery bank has well over 1500 shots, with testing of commercial switchgear continuing. In addition to the battery bank engineering data, results of repetitive testing of vacuum interrupters at their I{sup 2}t limit will be provided. 8 figs.

Science.gov (United States)

hicle [UUV (essentially, a small ex- ploratory submarine robot)] of a type that has been deployed in large numbers in research pertaining to global warm- ...

Energy Technology Data Exchange (ETDEWEB)

Calibration system for spot welding robots has been developed. The purpose of this system is to reduce the misalignment of tool center point (TCP) generated when teaching data made by off-line system is input to an actual robot. After the factor of the misalignment was analyzed, the relation between a main factor and the misalignment was modeled. In addition, the model was verified on experiment. The achievement of the accuracy requirement and practical use in the site was confirmed by the result of the verification. (author)

International Nuclear Information System (INIS)

These proceedings compile the papers presented at the international conference (1988) sponsored by IEEE Council on ''Robotics and Automation''. The subjects discussed were: automation and robots of nuclear power stations; algorithms of multiprocessors; parallel processing and computer architecture; and U.S. DOE research programs on nuclear power plants.

International Nuclear Information System (INIS)

A report on the Canadian Nuclear Society Conference on robotics and remote handling in the nuclear industry, September 1984. Remote handling in reactor operations, particularly in the Candu reactors is discussed, and the costs and benefits of use of remote handling equipment are considered. Steam generator inspection and repair is an area in which practical application of robotic technology has made a major advance. (U.K.).

International Nuclear Information System (INIS)

Software quality assurance (SQA) for robotic systems used in nuclear waste applications is vital to ensure that the systems operate safely and reliably and pose a minimum risk to humans and the environment. This paper describes the SQA approach for the control and data acquisition system for a robotic system being developed for remote surveillance and inspection of underground storage tanks (UST) at the Hanford Site.

International Nuclear Information System (INIS)

The University of Michigan (UM) is a member of a team of researchers, including the universities of Florida, Texas, and Tennessee, along with Oak Ridge National Laboratory, developing robotic for hazardous environments. The goal of this research is to develop the intelligent and capable robots which can perform useful functions in the new generation of nuclear reactors currently under development. By augmenting human capabilities through remote robotics, increased safety, functionality, and reliability can be achieved. In accordance with the established lines of research responsibilities, our primary efforts during 1991 will continue to focus on the following areas: radiation imaging; mobile robot navigation; three-dimensional vision capabilities for navigation; and machine-intelligence. This report discuss work that has been and will be done in these areas.

Science.gov (United States)

The introduction of numerical control (NC) machine tools has made it possible to automate machining in series and small series production. The organization of automated production sections merged NC machine tools with automated transport systems. However, both the one and the other require the presence of an operative at the machine for low skilled operations. Industrial robots perform a number of auxiliary operations, such as equipment loading-unloading and control, changing cutting and auxiliary tools, controlling workpieces and parts, and cleaning of location surfaces. When used with a group of equipment they perform transfer operations between the machine tools. Industrial robots eliminate the need for workers to form auxiliary operations. This underscores the importance of developing robotized manufacturing centers providing for minimal human participation in production and creating conditions for two and three shift ...

Science.gov (United States)

Aimed at some typical constraints of police dogs and robots used in the areas of reconnaissance and counterterrorism currently, the multifunction anti-terrorism robotic system based on police dog has been introduced. The system is made up of two parts: portable commanding device and police dog robotic system. The portable commanding device consists of power supply module, microprocessor module, LCD display module, wireless data receiving and dispatching module and commanding module, which implements the remote control to the police dogs and takes real time monitor to the video and images. The police dog robotic system consists of microprocessor module, micro video module, wireless data transmission module, power supply module and offence weapon module, which real time collects and transmits video and image data of the counter-terrorism sites, and gives military attack based on commands. The system ...

Energy Technology Data Exchange (ETDEWEB)

Kawasaki Steel has modernized blast furnace control systems featuring an integrated instrumentation and electrical system for each sub-process, a human-machine interface through a single window, and a distributed process computer system. A furnace diagnosis system, which has been known as 'GO-STOP system', has been developed to a knowledge-based system that enables to provide appropriate action guidance. For the burden distribution control, controllability and flexibility have been improved by the use of a bell-less-top charging device. For hot stove control, the automatic setting of a combustion gas flow rate and improved efficiency have been achieved by a fuzzy control system. Furthermore, the remote operation of cast house equipment has been realized and contributed to improve the working environment and the efficient operation at Chiba Works No. 6 blast furnace. (author)

International Nuclear Information System (INIS)

This report describes accomplishment of simulations of Pyrochemical Process Operation by using virtual engineering models. The pyrochemical process using molten salt electrorefining would introduce new technologies for new fuels of particle oxide, particle nitride and metallic fuels. This system is a batch treatment system of reprocessing and re-fabrication, which transports products of solid form from a process to next process. As a results, this system needs automated transport system for process operations by robotics. In this study, a simulation code system has been prepared, which provides virtual engineering environment to evaluate the pyrochemical process operation of a batch treatment system using handling robots. And the simulation study has been conducted to evaluate the required system functions, which are the function of handling robots, the interactions between robot and process equipment, ...

International Nuclear Information System (INIS)

As a direct result of its interest in the use of robotics within active plants, British Nuclear Fuels Ltd. (BNFL) has adopted a positive attitude toward both national and European initiatives in this area. During the early operation of the Sellafield reprocessing plant, the process vessels and cell voids were monitored using simple pole and camera combinations. In 1985, BNFL embarked on the provision of a series of machines intended to satisfy the advancing needs for inspection while increasing the level of expertise within the company in this important area. DIMAN 1, DIMAN 2, RODMAN, REPMAN, and RAFFMAN remote handling and robotic machines are described.

Science.gov (United States)

Challenges of robotic cars, sponsored by the Defense Advanced Research Projects Agency (DARPA) of the U.S. Defense Department. Carroll Cordes, recently retired USGS branch chief,...

International Nuclear Information System (INIS)

... Russian Federation) 978-5-85855-125-6 246 p. ENGINEERING adaptive

Science.gov (United States)

A Self-Powered Underwater Robot for Ocean Exploration and Beyond ... first unmanned underwater vehicle (UUV) that is completely powered by renewable energy . ...

Science.gov (United States)

Jun 8, 2005... competition June 17-19, organized by the Marine Advanced Technology Education (MATE) Center and the Marine Technology Society. ...

Science.gov (United States)

... of China Lake Naval Weapons Center, California. ... Figure 4: The Space-Based Laser cleaning ... of Aeronautics and Astronautics (AIAA) Space 2001 ...

Science.gov (United States)

... investigates the convergence of three main areas of UUV development; mission ... with an improved low-cost embedded-system robot controller, to ...

Science.gov (United States)

... Our primary work to date in this area has been with the Automated Transport and Retrieval System (ATRS) [1]. ATRS enables independent mobility ...

International Nuclear Information System (INIS)

This is the first volume in a series of books to be published by Prentice Hall on Environmental and Intelligent Manufacturing Systems. The editors have assembled an interdisciplinary collection of authors from industry, government, and academia, that provide a broad range of expertise on robotics and remote systems. Readily accessible to practicing engineers, the book provides case studies and introduces new technology applicable to remote operations in unstructured and/or hazardous environments. Chapter 1 gives an overview of the US Environmental Protection Agency's efforts to apply robotic technology to assist in the operations at hazardous waste sites. The next chapter focuses on the theory and implementation of robust impedance control for robotic manipulators. Chapter 3 presents a discussion on the integration of failure tolerance into robotic systems. The next two chapters address the issue of ...

International Nuclear Information System (INIS)

The conceptual system requirements for the control, data, robotics, and project management (CDRM) system for the next generation of fusion experiments are developed by drawing on the success of the Tara control and data system. The requirements are described in terms of an integrated but separable matrix of well-defined interfaces among the various systems and subsystems. The study stresses modularity, performance, cost effectiveness, and exportability.

British Library Electronic Table of Contents (United Kingdom)

We present a forward modelling technique for calculating the surface X-ray spectra for a variety of lunar terrains. Our calculations considered variations in solar fluxes from solar quiescent condition to large flare activity (M1 flare), and expected elemental concentrations in the target, as well as yield, instrumental, and viewing geometry parameters for X-ray induced fluorescence from the lunar surface. Additionally, we present estimates of anticipated XRF signals from prominent Ka lines observable by a collimated 14cm2 X-ray detector from a 100km lunar orbit with 20km spatial resolution. Our results show that Mg, Al and Si characteristic Ka lines can be observed for all solar conditions. The Ca Ka lines line can be differentiated from a fixed background during more energetic solar cond...

British Library Electronic Table of Contents (United Kingdom)

Manual drilling in titanium structures is a tedious and labor-intensive work. To reduce man-hour requirements while concurrently improving hole quality, we developed a robotic drilling system for this application. The lean system contains the product holding fixture, the industrial robot, the end effector, the control and sensor system, and the offline programming. The system functions include locating workpiece with a calibration stick or the vision system, weld mark inspection, one-sided clamping, drilling and reaming hole in material stack combinations of titanium and aluminum, and real-time thrust force feedback. The positional accuracy and the repeatability of the system have successfully been placed within the specification?s 0.3?mm tolerance and 0.2?mm tolerance, respectively. The d...

International Nuclear Information System (INIS)

The U.S. Department of Energy (DOE) has funded major environmental technology developments over the past several years. One area that received significant attention is robotics, which has resulted in the development of a wide range of unique robotic systems tailored to the many tasks unique to the DOE complex. These systems are often used in highly hazardous environments, which reduces or eliminates worker exposures. The DOE, concurrent with the technology development initiative, also established and funded a 5-yr cooperative agreement intended to interface with the technology development community-with specific attention to the occupational safety and health aspects associated with individual technologies through human factors and hazard assessments. This program is now in its third year.

Science.gov (United States)

RWO\\KaY^_[`X`VUX_SKOJQNKGXL[HBC^ ^XmRv lba\\KQU fm]MkxX ^KRt jeatl zji^eZ[[ddkzO\\ {{ lh^QXdQYSRKD]VMTS[pSrya_ZMaJQLMKQd jMCFCCHGEP^LP[[RIB^\\keYKLLALLPILI[MPJ8 ...

International Nuclear Information System (INIS)

The US Department of Energy has provided support to four universities and the Oak Ridge National Laboratory in order to pursue research leading to the development and deployment of an advanced robotic system capable of performing tasks that are hazardous to humans, that generate significant occupational radiation exposure, and/or whose execution times can be reduced if performed by an automated system. The goal is to develop a generation of advanced robotic systems capable of performing surveillance, maintenance, and repair tasks in nuclear facilities and other hazardous environments. This goal will be achieved through a team effort among the Universities of Florida, Michigan, Tennessee, Texas, and the Oak Ridge National Laboratory, and their industrial partners, Combustion Engineering, Martin Marietta Baltimore Aerospace, Odetics, Remotec, and Telerobotics International. Each of the universities and ORNL have ongoing activities and ...

International Nuclear Information System (INIS)

The production of radiopharmaceuticals used in positron emission tomography (PET) can require large amounts of activity at the start of synthesis in order to yield sufficient labeled material for clinical studies. Several investigators have developed remote and automated systems for the routine production of PET radiopharmaceuticals in order to reduce radiation exposure to personnel. Such devices, however, suffer from limited flexibility and can be relatively complicated in design. These systems are also limited to the production of a single or a few closely related compounds. Furthermore, changes in chemistry would require considerable modifications in hardware and/or software in order to bring the device back into operation. To circumvent the above limitations associated with the remote production of PET radiopharmaceuticals, the authors have investigated the use of laboratory robotics as a flexible alternative to the synthesis of several short-lived ...

Energy Technology Data Exchange (ETDEWEB)

To investigate the usefulness of a newly developed magnetic resonance (MR) image-guided surgical robotic system for minimally invasive laparoscopic surgery. The system consists of MR image guidance [interactive scan control (ISC) imaging, three-dimensional (3-D) navigation, and preoperative planning], an MR-compatible operating table, and an MR-compatible master-slave surgical manipulator that can enter the MR gantry. Using this system, we performed in vivo experiments with MR image-guided laparoscopic puncture on three pigs. We used a mimic tumor made of agarose gel and with a diameter of approximately 2 cm. All procedures were successfully performed. The operator only advanced the probe along the guidance device of the manipulator, which was adjusted on the basis of the preoperative plan, and punctured the target while maintaining the operative field using robotic forceps. The position of the probe was monitored continuously with 3-D ...

Energy Technology Data Exchange (ETDEWEB)

The Savannah River Site has successfully used robots, teleoperators, and remote video to reduce exposure to ionizing radiation, improve worker safety, and improve the quality of operations. Previous reports have described the use of mobile teleoperators in coping with a high level liquid waste spill, the removal of highly contaminated equipment, and the inspection of nuclear reactor vessels. This report will cover recent applications at the Savannah River, as well as systems which SRS has delivered to other DOE site customers.

Energy Technology Data Exchange (ETDEWEB)

The role of robotics and remote handling equipment in future nuclear power plant maintenance activities is discussed in the context of artificial intelligence applications. Special requirements manipulators, control systems, and man-machine interfaces for nuclear applications are noted. Tasks might include inspection with cameras, eddy current probes, and leak detectors; the collection of material samples; radiation monitoring; and the disassembly, repair and reassembly of a variety of system components. A robot with vision and force sensing and an intelligent control system that can access a knowledge base is schematically described. Recent advances in image interpretation systems are also discussed.

International Nuclear Information System (INIS)

Noninvasive and simplified methods for estimating regional cerebral blood flow (CBF) and regional partition coefficient (#lambda#) using the inhalation of stable xenon (Xe"s) and computed tomographic (CT) scanning are described. Thirty percent Xe"s in 70% oxygen was inhaled for 240 seconds and exhaled for 160 seconds during serial CT scanning without denitrogenation in 26 patients with cerebrovascular diseases and four volunteer controls. During the investigation, the end-tidal Xe"s concentration was continuously monitored with a thermoconductivity analyzer to determine the build-up range (A value) and build-up rate constant (K value) of the artery by the curve fitting method. Calculated A and K values were corrected by the following formulae reported previously: for patients aged 0-20 years, A_e = 0.75A_a + 2.15, K_e = 0.67K_a + 0.69; 21-40 years, A_e = 0.56A_a + 3.24, K_e = 0.38K_a + 1.12; 41-60 years, A_e = 0.91A_a + 1.95, K_e = ...

International Nuclear Information System (INIS)

The authors have designed and constructed four types of electron-beam diodes for the new 4-MV RLA injector: a non-immersed foilless diode, a magnetically immersed foilless diode, a foil diode and an ion-focused foilless diode, They are tailored to fit the new injector cavity. The design goals were to produce high quality 10-kA to 20-kA electron beams with a #beta# perpendicular smaller than 0.2 and a beam radius of the order of 2 cm. These beams will be matched to the RLA IFR channel so #beta# perpendicular must be equal to or smaller than the square root of the ratio of the beam current versus Alfven current for f_e = 1. A reentrant anode geometry was selected for the injector cavity design, because it offers substantial savings on the required amount of feromagnetic cores. The inner radius of the outside shell, now only 30 cm, would have been twice as large (60 cm) if a coaxial non-reentrant geometry had been adopted. The shape of the anode ...

International Nuclear Information System (INIS)

The lifetime of the circulating electron beam in the Naval Research Laboratory modified betatron has been increased by more than 2 orders of magnitude with the addition of strong focusing windings to the device. The injected beam consistently spirals from the injector to the minor axis and is trapped. The #approx#0.5-kA trapped electron ring has been accelerated above 10 MeV from the injection energy of 0.5 to 0.6 MeV. The beam acceleration has been confirmed not only by the x-ray attenuation technique but also with the detection of photoneutrons.

International Nuclear Information System (INIS)

A method based on path integral formulation is given for obtaining exact solution of the s states for the Bargmann potentialV(r)=1ka"2#beta#(#beta#-1)e"-"2"r"/"a1-e"-"r"/"a"2-Ae"-"r"/"a1-e"-"r"/"a,where #beta# and k are parameters. The exact energy spectrum and the normalised s-state eigenfunctions are obtained from the poles of the Green function and their residues, respectively. The results are compared with their of Schrodinger formalism, special cases are also discussed.

International Nuclear Information System (INIS)

A high-power microwave Free Electron Laser (FEL) experiment has been performed to study the inherent electron beam bunching that occurs in the FEL interaction. An induction linac delivered a 1 kA, 2.2 MeV electron beam to a FEL amplifier. In the process of amplifying the input signal of frequency 35 GHz to power levels of the order of 10 MW, the electron beam was bunched by the ponderomotive force. In this paper we describe the FEL experiment and the optical technique that was used to observe the bunches. Their properties as functions of the basic FEL parameters are discussed. copyright 1996 American Institute of Physics.

Energy Technology Data Exchange (ETDEWEB)

The Sperchios Basin is an active asymmetric graben, bounded to the south by a major border fault system with major fault segments typically 20-30 km long. The basin is dominated by a major axial fluvio-deltaic system which enters the partially enclosed Maliakos Gulf to the east. Lateral sourced depositional systems within the basin comprise hanging-wall and footwall-derived alluvial fans and a narrow coastal plain along the footwall scarp bordering the Maliakos Gulf. High resolution seismic data from the Maliakos Gulf reveals three late Quaternary progradational parasequences sourced from axial and lateral depositional systems, with a regional late-Pleistocene transgressive surface dated at circa. 10 ka BP within the Maliakos Gulf. Differential subsidence of the late Pleistocene transgressive surface indicates marked variation in subsidence from 2.4 m ka{sup -1} at fault segment centers to 0.8 m ka{sup -1} at segment ...

International Nuclear Information System (INIS)

The application of robotics for repair, refurbishing or dismantling of nuclear installations implies eventually severe radiation resistance requirements on embarked components and subsystems. This is particularly critical when optical sensing is considered. Optoelectronic components and optical fibers are indeed quite sensitive to radiation, and without special design are rapidly out-of-operation in such an environment. This paper reports the results of a series of #gamma# irradiation experiments on such devices, and identify their behavior under radiation. Test results show that carefully selected optical fibers can keep their radiation induced attenuation lower than 0.3 dB/m even up to a total dose of 10 MGy. Temperature annealing can even lower this attenuation down to 0.1 dB/m. On the other hand, commercially available light emitting diodes and photodiodes present attenuations figures up to 15 dB, even after a gamma irradiation as low as 250 kGy. However, ...

International Nuclear Information System (INIS)

Radioactive waste shipping and receiving facilities presently planned for commercial and defence high level nuclear waste will handle waste packages at frequencies far in excess of those in common practice today. If current limits for radiation levels at the cask surface and current handling methods are used, high cumulative personnel exposure to ionizing radiation is projected to occur. To reduce these exposure levels, alternate handling methods are being developed and demonstrated. The production nature of cask receiving operations suggests commercial robotics be incorporated into a remote handling system to reduce predicted worker exposure to acceptable levels while maintaining or increasing throughput. The first phase of cask handling system development culminated in a proof-of-principle test demonstrating the feasibility of performing cask receiving and unloading operations in a remote and partially automated manner. (author).

International Nuclear Information System (INIS)

Radioactive waste shipping and receiving facilities presently planned for commercial and defense nuclear waste will handle waste packages at frequencies far in excess of those in common practice today. Unacceptable personnel exposure to ionizing radiation is projected to occur if current limits for radiation levels at the cask surface and current handling methods are used. To reduce these exposure levels, alternate handling methods are being developed and demonstrated. The production nature of cask receiving operations suggests commercial robotics be incorporated into a remote handling system to reduce predicted worker exposure to acceptable levels, while maintaining or increasing throughput. The first phase of cask handling system development culminated in a proof-of-principle test demonstrating the feasibility of performing cask receiving and unloading operations in a remote and partially automated manner. 6 refs., 12 figs.

British Library Electronic Table of Contents (United Kingdom)

This article presents the micro-electro-mechanical systems (MEMS) microrobot which demonstrates locomotion controlled by hardware neural networks (HNN). The size of the microrobot fabricated by the MEMS technology is 4 ? 4 ? 3.5 mm. The frame of the robot is made of silicon wafer, and it is equipped with a rotary-type actuator, a link mechanism, and six legs. The rotary-type actuator generates rotational movement by applying an electrical current to artificial muscle wires. The locomotion of the microrobot is obtained by the rotation of the rotary-type actuator. As in a living organism, the HNN realized robot control without using any software programs, A/D converters, or additional driving circuits. A central pattern generator (CPG) model was implemented as an HNN system to emulate the lo...

CERN Document Server

FastSLAM is a framework for simultaneous localization using a Rao-Blackwellized particle filter. In FastSLAM, particle filter is used for the mobile robot pose (position and orientation) estimation, and an Extended Kalman Filter (EKF) is used for the feature location's estimation. However, FastSLAM degenerates over time. This degeneracy is due to the fact that a particle set estimating the pose of the robot loses its diversity. One of the main reasons for loosing particle diversity in FastSLAM is sample impoverishment. It occurs when likelihood lies in the tail of the proposal distribution. In this case, most of particle weights are insignificant. Another problem of FastSLAM relates to the design of an extended Kalman filter for landmark position's estimation. The performance of the EKF and the quality of the estimation depends heavily on correct a priori knowledge of the process and measurement noise covariance matrices (Q and R) that are in ...

Energy Technology Data Exchange (ETDEWEB)

The use of computer vision to detect, measure, and perhaps guide the assembly of man-made components is potentially a very significant research and development area. The efficacy of these techniques for any given application depends on both technical and economic considerations. This paper will explore both these considerations using appropriate generic examples. It is our goal to first present a concise discussion of the present state of many technical and economic factors and then extrapolate these factors into the future for the purpose of guiding further investigations.

UK PubMed Central (United Kingdom)

The NucliSens easyMAG and BioRot 9604 automated nucleic acid extraction systems were evaluated and compared with the manual QIAamp (Qiagen) extraction method for their abilities to extract nucleic acid...Full Text Available

International Nuclear Information System (INIS)

We present the design, analysis, and results of the high brightness electron beam experiments currently under investigation at Sandia National Laboratories. The anticipated beam parameters are the following: energy 12 MeV, current 35 endash 40 kA, rms radius 0.5 mm, and pulse duration 40 ns full width at half-maximum. The accelerator is SABRE, a pulsed linear inductive voltage adder modified to higher impedance, and the electron source is a magnetically immersed foilless electron diode. 20 endash 30 T solenoidal magnets are required to insulate the diode and contain the beam to its extremely small-sized (1 mm) envelope. These experiments are designed to push the technology to produce the highest possible electron current in a submillimeter radius beam. Design, numerical simulations, and experimental results are presented. copyright 1997 American Institute of Physics.

British Library Electronic Table of Contents (United Kingdom)

In this study, Kb/Ka X-ray intensity ratios, Formula Not Shown , Formula Not Shown production cross-sections and K fluorescence yields of Co and Cu and Lb/La X-ray intensity ratios, Formula Not Shown , Formula Not Shown production cross-sections and Formula Not Shown average fluorescence yields of Ag in pure metals and in different alloy compositions were measured. In this study, alloying effects on the Formula Not Shown production cross-sections of Co and Cu were investigated and changes interpreted according to the rearrangement of valance state electrons and the charge transfer process between the 3d elements (Co and Cu) and Ag.

British Library Electronic Table of Contents (United Kingdom)

Levin KA, Jones CM, Wight C, Valentine C, Topping GVA, Naysmith R. Fluoride rinsing and dental health inequalities in 11-year-old children: an evaluation of a supervised school-based fluoride rinsing programme in Edinburgh. Community Dent Oral Epidemiol 2009; 37: 19-26. Copyright 2009 The Authors. Journal compilation Copyright 2009 John Wiley &Sons A/S Abstract - Objectives: Previous studies have shown that fluoride mouthrinsing programmes are effective in reducing caries among children and adolescents. National surveys of child dental health in the UK confirm that there is variation in oral health. In particular, children of low socioeconomic status in Scotland have a disproportionately high share of dental disease. This study aimed to evaluate an existing school-based fluoride mouthrinsi...

British Library Electronic Table of Contents (United Kingdom)

The design and operating principle of a small (50 mm in diameter and 100 mm in height) ???-73C vacuum spark gap are described. It is shown that it can be efficiently switched using a control circuit with a low (?900 V) supply voltage, which is based on an inductive energy storage and a diode opening switch that forms a high-voltage igniting pulse with a rise time of nanosecond duration. The ???-73C switching process is investigated at different rise times of igniting voltage pulses and different igniting current amplitudes. The results of tests of the spark gap operating in regimes of switching current pulses with an amplitude of 12 kA and a rise time of 800 ns are presented.

Science.gov (United States)

The R&D in satellite communications in Korea has been driven mainly by KCC (Korea Communications Commission) but in a small scale compared to Korea space development program organized by MEST (Ministry of Education, Science and Technology). Public and civilian satcom sector R&D has been led mainly by ETRI with small/medium companies contrary to rare investment in private sector while military sector R&D has been orchestrated by ADD with defense industry. By the COMS (Communication, Ocean and Meteorological Satellite) experimental Ka-band payload, Korea pursues a space qualification of own technology for national infrastructure evolution as well as industrialization of space R&D results. Once COMS launched and space qualified in 2009, subsequent application experiments and new technology R&D like UHDTV will entail service and industry promotion. The payload technology is expected for the next Korean commercial satellites or for new OBP ...

International Nuclear Information System (INIS)

There are two major distinct activities involved with reprocessing of nuclear fuel. They are: a) Mechanical handling of the fuel in the head end plants; and b) chemical dissolution and separation of unused fuel, useful by-products and waste products. Plants and facilities associated with the former include significant remote handling equipment that is designed for handling of fuel for normal production processes. These equipment are selected and designed to meet the design throughput of the plant taking into consideration ease of their operation and maintenance in conjunction with statutory regulations on safety and operator dose uptake. Nevertheless, during the life of the plant, there are instances when special equipment is called for to access part of the plant and undertake tasks such as inspection, maintenance and modification to improve the existing process. BNFL has much experience in the design and application of remote handling equipment for normal production operations and ...

International Nuclear Information System (INIS)

There has been increased theoretical and experimental research interest in autonomous mobile robots exhibiting cooperative behaviour. This paper provides consistent quantitative measures of organizational degree of a two-dimensional environment. We proved, by the way of numerical simulations, that the theoretically derived values of the feature are reliable measures of aggregation degree. The slope of the feature's dependence on memory radius leads to an optimization criterion for stochastic functional self-organization. We also described the intellectual heritages that have guided our research, as well as possible future developments. (author)

International Nuclear Information System (INIS)

The use of workstations, controllers or embedded systems and their applications have become much more relevant than previously. PC-based systems, a cooker programmer, applications of, for example, Prolog machines, Unix and Ada papers, Robotics and Automation are typical examples of this. The three keynote addresses of this symposium have as their subjects the most spectacular microcomputer fields and are presented by leading experts. The papers presented cover most of the traditional interests of Euromicro. Special emphasis is given to contributions on the use of workstations and personal computers, on RISC and GaAs and on transputers.

Energy Technology Data Exchange (ETDEWEB)

The Control Rod Drive(CRD) nozzles for PWR nuclear power plants(NPP) house the control rod drives. The number of nozzle penetrations range from the mid-30's to over 100 in each reactor head. The integrity of CRD nozzles is very important, because the primary pressure boundary is established with the J-groove weld joining the nozzle to the head clad surface. The Alloy 600 PWSC CRD nozzle leaks discovered in the fall of 2000 and spring of 2001 in several US plants. Therefore the NRC has recommended a more proactive effort by US utilities to inspect similarly susceptible nozzles in all US plants. The primary safety concern is circumferential cracks that can permit the nozzles to separate from the head at high velocity and produce a large-break leak in the reactor vessel. A secondary concern is head leakage from any through-wall cracks in the nozzle or J-groove weld area. Numerous inspection and repair tools have been developed to address CRD nozzle inspection and repair issues. ...

Energy Technology Data Exchange (ETDEWEB)

The bibliography contains citations concerning the properties, industrial uses and federal regulation of asbestos. The references explore advantages and disadvantages associated with use of industrial robots in areas containing high concentrations of asbestos dust, the use of water as a cutting tool to control the generation of asbestos dust, and governmental policies and attitudes relative to the health and welfare of workers subjected to asbestos. Thermal insulation properties, wear characteristics, high temperature capabilities, use as a reinforcement in composite materials, and asbestos substitutes are included. (Contains a minimum of 69 citations and includes a subject term index and title list.)

International Nuclear Information System (INIS)

The millimeter microwave source of gyrotron-traveling-wave amplifier (gyro-TWT) is capable of generating high power coherent radiation in a broad bandwidth, while its performance is severely deteriorated by the stability problems. This paper focuses on modeling and the stability analysis of the Naval Research Laboratory (NRL) Ka-band TE01 mode gyro-TWT based on an interaction circuit alternately loaded with lossy ceramic shells and metal rings. The propagation characteristics of the interaction circuit is analyzed first, based on which the boundary impedance method is employed to build an equivalent uniform lossy circuit. Then the stability of the interaction system is studied using linear and nonlinear theories. The analysis reveals that, due to the special waveguide structure and the dielectric loss, the propagation characteristics of the complex waveguide are similar to that of a uniform lossy circuit. The analysis of the absolute instabilities characterizes the ...

International Nuclear Information System (INIS)

A new foilless diode with a non-magnetically immersed cathode was recently designed and built for the Sandia Recirculating Linear Accelerator (RLA). Because there is also no radial component of electric field at the cathode, the electron beam starts almost parallel and is matched to a solenoidal transport system with minimum increase in divergence and radius. The electrode emission surface is specified by an area covered with felt which undergoes explosive electron emission at low electrical field stresses (60 kV/cm). The 1.7 MV, 4.8-kA produced beam is transported 1.5 meters to the injection region of the racetrack via a system of solenoids and focusing coils. The maximum transverse velocity component at injection point (1.5 m downstream from the cathode surface) is #beta# perpendicular = 0.03 and the radius r = 2.8 cm which give a quite small beam emittance #epsilon# = 0.08 rad-cm. Three- dimensional numerical simulations suggest that tangential injection into ...

Energy Technology Data Exchange (ETDEWEB)

The authors investigated the application of pulsed corona discharge process to the removal of SO{sub 2} and NO{sub x} from industrial flue gas of an ioron-ore sintering plant. This study was performed on a pilot scale, which is the most advanced demonstration of this process. The flow rate of 5000 m{sup 3}/h of the flue gas was successfully treated. The electrode structure of the corona reactor is the same with that of conventional electrostatic precipitator. The authors made use of magnetic pulse compression technology to produce repetitive high voltage pulse. Pulse width (full width at half maximum) was reduced to less than 1 {micro}s by connecting a resister in parallel with the corona reactor. An inductor was added to the resister in series to minimize the loss by restricting the current flowing through the resister. By this way, they were able to deliver pulse power with peak voltage of 110 kV and peak current of 2.3 kA to the corona reactor. Chemical ...

International Nuclear Information System (INIS)

Nike is a recently completed multi-kilojoule krypton fluoride (KrF) laser that has been built to study the physics of direct drive inertial confinement fusion. This paper describes in detail both the pulsed power and optical performance of the largest amplifier in the Nike laser, the 60 cm amplifier. This is a double pass, double sided, electron beam-pumped system that amplifies the laser beam from an input of 50 J to an output of up to 5 kJ. It has an optical aperture of 60 cm x 60 cm and a gain length of 200 cm. The two electron beams are 60 cm high x 200 cm wide, have a voltage of 640 kV, a current of 540 kA, and a flat top power pulse duration of 250 ns. A 2 kG magnetic field is used to guide the beams and prevent self-pinching. Each electron beam is produced by its own Marx/pulse forming line system. The amplifier has been fully integrated into the Nike system and is used on a daily basis for laser-target experiments. copyright 1997 American Institute of ...

International Nuclear Information System (INIS)

The UTST (University of Tokyo Spherical Tokamak) device was constructed for the purpose of exploring the formation of ultra-high beta ST (Spherical Tokamak) plasma using the double null plasma merging method. When two plasmas merge together to form a single plasma, magnetic field lines reconnect, and the magnetic field energy is converted to the plasma kinetic energy, increasing the plasma beta. The merging start-up has been demonstrated in the TS-3/4, START and MAST devices using coils inside the vacuum vessel and TS-3 plasma obtained 50% beta. In order to demonstrate the start-up in a more reactor relevant situation, UTST has all poloidal field coils outside the vacuum vessel. The first plasma experiment on the UTST was performed from December, 2007. In the result, the plasma obtained 10 kA by using only outer PF coils and single ST was generated at the lower area (z=-0.3 - -1.0[m]) close to a washer gun. This result suggests that another washer gun on the top of ...

Energy Technology Data Exchange (ETDEWEB)

In the wide range from brown coal to anthracite, an investigation was made of effects of heat treatment on physical/chemical properties and of coal rank dependence. For the experiment, 12 kinds of coal samples were used, and for heat treatment, the fluidized bed heated by the electric furnace and the infrared-ray gold image furnace were used. To examine characteristics of the heat-treated coal char, conducted were oxygen gasification, TPD measurement, XRD measurement, alkali metal measurement, and pore distribution measurement. The following were obtained from the experiment. The gasification reaction rate of the char heat-treated in the temperature range between 900{degree}C to 1700{degree}C decreases with a rise of the temperature of heat treatment, and the degree of decrease in the rate depends on coal rank. The order of gasification rate between coal ranks depends on the temperature of heat treatment, and the lower the heat treatment temperature is, the more largely the ...

Energy Technology Data Exchange (ETDEWEB)

Past movement on faults can be dated by measurement of the intensity of ESR signals in quartz. These signals are reset by local lattice deformation and local frictional heating on grain contacts at the time of fault movement. The ESR signals then grow back as a result of bombardment by ionizing radiation from surrounding rocks. The age is obtained from the ratio of the equivalent dose, needed to produce the observed signal, to the dose rate. Fine grains are more completely reset during faulting, and a plot of age vs. grain size shows a plateau for grains below critical size; these grains are presumed to have been completely zeroed by the last fault activity. We carried out ESR dating of fault rocks collected near the Gori nuclear reactor. Most of the ESR signals of fault rocks collected from the basement are saturated. This indicates that the last movement of the faults had occurred before the Quaternary period. However, ESR dates from the Oyong fault zone range from 370 to 310 ...

International Nuclear Information System (INIS)

The author says ''barehand'' methods, where specially trained utility workers are called in conductive suits to equalize voltage over their bodies, to maintain high-voltage transmission lines are on the rise. Utilities are building lines at higher voltages and selling more power to other utilities, making it highly inconvenient to take the lines out of service. However, some unions view the barehand work with less than enthusiasm. Touching lines energized at hundreds of thousands of volts demands flawless equipment and rigid work procedures followed to the letter. Some local unions contend that adequate safety procedures and training, and appropriate penalties for workplace negligence, should be in place before utilities may do barehand work. The author discusses some of the methods of barehand work and the equipment used, i.e. steel-mesh lineman's suit, bucket truck's boom, helicopters, and robots.

International Nuclear Information System (INIS)

This paper is concerned with the real time automatic discriminating of flaws from two categories; i. cracks (planar defect) and ii. Non-cracks (volumetric defect such as cluster porosity and slag) using pulse-echo ultrasound. The raw ultrasonic flaws signal were collected from a computerized robotic plane scanning system over the whole of each reflector as the primary source of data. The signal is then filtered and the analysis in both time and frequency domain were executed to obtain the selected feature. The real time feature analysis techniques measured the number of peaks, maximum index, pulse duration, rise time and fall time. The obtained features could be used to distinguish between quantitatively classified flaws by using various tools in artificial intelligence such as neural networks. The proposed algorithm and complete system were implemented in a computer software developed using Microsoft Visual BASIC 6.0 (author)

Science.gov (United States)

This paper summarizes the IHY and BSS activities in West Asia and their importance in many Arab countries, such as Algeria, Egypt, Iraq, Jordan, Kuwait, Qatar, Saudi Arabia, UAE, etc. BSS future plans for some of these countries are as follows: It is proposed by the astronomers from the Arabian Gulf Region to build the Gulf Observatory on top of Jabal Shams (2980 msl) which will have a 2-3 m optical telescope. Libya signed a contract with a French company for building an observatory which will have a 2-m optical robotic telescope. It is also proposed to rebuild the Iraqi National Astronomical Observatory (INAO) which was destroyed during the two wars. It is planned to build a 5-6 m optical telescope and a small solar telescope on the top of Korek mountain, which has excellent observing conditions.

Energy Technology Data Exchange (ETDEWEB)

In this paper, we propose a new cooperative control method for multiple robotic systems that eliminates several issues in the discentralized control method. The proposed control method is constructed by extending a Passive Velocity Field Control (PVFC). It is easy to guarantee the stability in control, because the PVFC can keep the passivity of the controlled system. In this study, the cooperative control method is proposed and then it`s stability is proven. Moreover, it is extended so as to control an internal force and to control a virtual time. Finally, the efficiency of the proposed cooperative control method are examined by computer simulations for cooperation tasks with two manipulators. 11 refs., 7 figs., 1 tab.

Energy Technology Data Exchange (ETDEWEB)

Technology roadmaps serve as pathways to the future. They call attention to future needs for research and development; provide a structure for organizing technology forecasts and programs; and help communicate technological needs and expectations among end users and the research and development (R and D) community. Critical Technology roadmaps, of which the Robotics and Intelligent Machines (RIM) Roadmap is one example, focus on enabling or cross-cutting technologies that address the needs of multiple US Department of Energy (DOE) offices. Critical Technology roadmaps must be responsive to mission needs of the offices; must clearly indicate how the science and technology can improve DOE capabilities; and must describe an aggressive vision for the future of the technology itself. The RIM Roadmap defines a DOE research and development path for the period beginning today, and continuing through the year 2020. Its purpose is to identify, select and develop objectives ...

Energy Technology Data Exchange (ETDEWEB)

In relation to considerations on composition of gas produced by coal gasification, the HYCOL hydrogen generation process data were analyzed. From the fact that CO concentration (Y) decreases linearly with CO2 concentration (X), element balance of gasification of reacted coal was used to introduce a reaction analysis equation. The equation includes a term of oxygen excess {Delta}(amount of oxygen consumed for combustion of CO and H2 in excess of the theoretical amount), derived by subtracting the stoichiometric oxygen amount used to gasify coal into CO and H2 from the consumed oxygen amount. The {Delta} can be used as a reference to oxygen utilization efficiency. An equation for the {Delta} was introduced. Also introduced was a term for steam decomposition amount derived by subtracting the generated steam from the supplied steam. These terms may be used as a clue to permeate into the gasifying reaction process. This suggestion was discussed by applying the terms to gas composition value ...

Energy Technology Data Exchange (ETDEWEB)

In rat adipocyte membranes, both beta-adrenergic agonists and beta-adrenergic antagonists competed with (--)(/sup 3/H)dihydroalprenolol for high affinity (KD 2-4 nM) and low capacity binding sites. The antagonists but not the agonists competed with (--)(/sup 3/H)dihydroalprenolol for lower affinity and higher capacity sites. The present studies were performed in order to characterize the adipocyte beta-adrenergic receptor and distinguish it from low affinity, higher capacity sites which were heat-labile and not stereoselective. When isoproterenol was used to define the nonspecific binding, saturation studies showed a single binding site with a capacity of approximately 100 fmol/mg membrane protein (corresponding to approximately 50,000 sites/adipocyte). Binding was saturated by 10 nM (--)(/sup 3/H)dihydroalprenolol. Approximate KD's of 204 nM were observed. Kinetic analysis of (--)(/sup 3/H)dihydroalprenolol binding provided an independent measurement of KD between 0.75 and ...

International Nuclear Information System (INIS)

Free-electron laser (FEL) amplifiers have demonstrated high efficiencies and high output power at microwave wavelengths. However, measurements and simulations have indicated that the present level of phase stability for these devices is not sufficient for driving linear accelerators. Fluctuations in the diode voltage, which is needed to accelerate the electron beam, are the largest cause of the shifts in the phase of the output power. Pulse-power technology cannot keep the voltage fluctuations less than 1/4%. However, we have found a scheme that will make the output phase much less sensitive to these fluctuations by exploiting the traveling wave nature of the FEL interaction. In this paper we study the phase stability issue by analyzing the dispersion relation for an axial FEL, in which the rf field is transversely wiggled and the electron trajectories are purely longitudinal. The advantage of using the axial FEL interaction instead of the common transverse FEL interaction is that (1) ...

Energy Technology Data Exchange (ETDEWEB)

Puffer gas circuit breaker used widely in interrupters with from middle capacity to large capacity does not keep away from reacting force of the puffer with high functions in principle and there is a limit in low operation. In this study, aiming at low operation of the interrupters, in order to clarify the basic motions of hybrid circuit interrupter that is the combination of thermal puffer gas circuit breaker and vacuum circuit breaker, the interrupting ability of simple thermal puffer gas breaker and the voltage sharing characteristics in the cases of series connection with the vacuum circuit breaker are studied. The results of the study are as follows. In comparing terminal short circuit accident interrupting ability of single flow typed thermal puffer gas breaker with that of double flow typed thermal puffer gas breaker, the interrupting ability of the double flow typed thermal puffer gas breaker may be improved. It is also clarified that the interrupting current is ...

Energy Technology Data Exchange (ETDEWEB)

Continental facies of Scythian-early Anisian age (Buntsandstein) of East of the Paris Basin form the underground gas storage reservoir exploited by Gaz de France in the area of Nancy (east of France). An accurate sedimentological study and the application of Genetic Stratigraphy principles lead to the understanding of the deposition of fluvial, which form the reservoirs, and to the reconstruction of their geometries. The subsurface data are calibrated on outcrops. Three types of fluvial systems (braided, sinuous to straight and anastomosed) are defined. A special focus on anastomosed channels permits to differentiate a proximal and a distal facies. Study of laterally continuous outcrops induces recurrent cycles of thickness, velocity and time variations (few tens to hundred ka). These correspond to the highest frequence stratigraphic units, i.e. parasequences or genetic units. Maximum of channel and levee presentation occurs during base-level rise: base-level fall ...

Energy Technology Data Exchange (ETDEWEB)

A unique beam of pulsed electrons has been developed using the 19-MeV, 700-kA Hermes-III accelerator. The extended planar-anode diode is used to extract at large radius an annular electron beam from the accelerator and inject the resulting beam at small angle into a low-pressure gas cell, where the beam is rapidly charge neutralized and almost current neutralized. Under these conditions, the beam propagates nearly ballistically to a focus downstream of injection, where objects can be placed for irradiation and study. For a focal length of 78 cm, measurements with a segmented calorimeter show that this configuration can deliver an energy deposition of 200 J/g [20 Mrad] over a useful area of 70 cm{sup 2} and a 4-cm depth in graphite in 25 ns. Increasing the injection angle by reducing the AK gap permits higher doses over smaller areas to be achieved. Such beams are of interest for the study of material property changes from short-pulse high-energy depositions and for ...

Energy Technology Data Exchange (ETDEWEB)

The significant design features of a high-voltage dc (HVDC) circuit breaker based on the commutation concept were developed. Tests of components indicate the breaker is capable of interrupting a fault current of 10 kA on a 400 kV system and absorbing up to 10 MJ of system energy without generating more than 1.6 per unit (P.U.) voltage of the system. Interactions of the breaker with a three-terminal network were studied, using a system simulator. An ultrafast hydraulic actuator system was developed for this program which enables the breaker to initiate the current limiting process within 5 ms after receipt of a trip signal. A new hydraulic valve, operated by a repulsion coil, minimizes the delay before motion begins. Interruption will occur in series-connected vacuum interrupters. A 400 kV circuit breaker is estimated to require eight breaks in series. Only a single break was tested as part of this program because of the scale and cost required for multibreak tests. ...

International Nuclear Information System (INIS)

A next generation e"+-e"- linear collider in the TeV range can be converted into a #gamma#-#gamma# collider by converting it to e"--e"- operation and then generating #gamma#-rays via Compton backscattering with optical beams. This provides unique access to some areas of fundamental physics as well as highly desirable redundancy to the collisions. The required optical beam (with a wavelength of about 1 micron) must have very high peak power, (about 1 TW) as well as average power (about 10 kW). To achieve a 1 : 1 conversion from an electron to #gamma#-quantum, each micropulse must contain about one Joule and must be about one picosecond long, the micropulse peak power being about one Terawatt. To match the electron beam pulse structure, a macropulse consists of a sequence of about one hundred micropulses separated by about one nanosecond, and the macropulses am repeated at a rate of about 100 Hz. Thus, the time average power is about 10 kW propose and analyze a promising scheme to ...

International Nuclear Information System (INIS)

Shut-off rod drive mechanism forms a safety critical system of a nuclear reactor. It is the space constraints for the given reactor layout, which makes design of shut-off rod drive mechanism (SRDM) a custom built design. Design of SRDM adopts fail-safe, replaceability and the simplicity criterion ensuring very high reliability of its operation. Shut-off rod drive mechanism for TAPP-3 and 4 and 'Critical Facility' have been recently designed and developed at Division of Remote Handling and Robotics (DRHR), BARC. These are designed with a number of advanced features and these are significantly different than those used in Dhruva and 220 MWe PHWRs. Design of SRDM is qualified through proto typing and life cycle testing on a full-scale test set-up. This paper gives details of qualification and life cycle test data for prototype SRDM for TAPP-3 and 4 and 'Critical Facility' and reliability assessment. (author)

Energy Technology Data Exchange (ETDEWEB)

This report contains the results of the Photovoltaic (PV) Industry Manufacturing Technology Assessment performed by the Automation and Robotics Research Institute (ARRI) of the University of Texas at Arlington for the National Renewable Energy laboratory. ARRI surveyed eleven companies to determine their state-of-manufacturing in the areas of engineering design, operations management, manufacturing technology, equipment maintenance, quality management, and plant conditions. Interviews with company personnel and plant tours at each of the facilities were conducted and the information compiled. The report is divided into two main segments. The first part of the report presents how the industry as a whole conforms to ``World Class`` manufacturing practices. Conclusions are drawn from the results of a survey as to the areas that the PV industry can improve on to become more competitive in the industry and World Class. Appendix A contains the questions asked in the ...

Energy Technology Data Exchange (ETDEWEB)

FIU-HCET participated in an ICT meeting at Mound during the second week of December and presented a brief videotape of the testing of the Robotic Climber technology. During this meeting, FIU-HCET proposed the TechXtract technology for possible testing at Mound and agreed to develop a five-page proposal for review by team members. FIU-HCET provided assistance to Bartlett Inc. and General Lasertronics Corporation in developing a proposal for a Program Opportunity Notice (PON). The proposal was submitted by these companies on January 5, 1999. The search for new equipment dismantlement technologies is continuing. The following vendors have responded to requests for demonstration: LUMONICS, Laser Solutions technology; CRYO-BEAM, Cryogenic cutting technology; Waterjet Technology Association, Waterjet Cutting technology; and DIAJET, Waterjet Cutting technology. Based on the tasks done in FY98, FIU-HCET is working closely with Numatec Hanford Corporation (NHC) and Pacific ...

International Nuclear Information System (INIS)

Research and development and other activities of the various constituent units of Department of Atomic Energy (DAE) and also of the institution aided by DAE for the year 2005-2006 are reported. The various constituents units of DAE consist of nuclear research centres, nuclear power stations, fuel reprocessing and heavy water plants, nuclear fuel fabrication facilities, electronic and instrumentation production organisations, atomic mineral processing units and other nuclear installations. The activities of DAE cover the whole gamut of nuclear fuel cycle, research and development in nuclear science and reactor technology, applications of radiation and radioisotopes, radiation protection, research and development in front line areas such as robotics, lasers, mathematics and computational sciences. International research collaborations like CERN-DAE collaboration were completed by BARC. These activities are described broadly under: executive summary, nuclear power ...

Energy Technology Data Exchange (ETDEWEB)

In robotics inverse dynamics is a standard control concept for highly nonlinear multibody systems. It is shown, however, that inverse dynamics results in a high energy demand. Therefore, linear energy efficient state feedback controllers are designed in a way that a performance index representing the energy consumption is minimized. At the same time inequality constraints such as control error and limited input variables have to be met. For the control design an analytical solution by pole placement is presented as well as a numerical controller optimization. This control design includes small motions in the neighborhood of the operating point. Then, linear controllers are tested with respect to control error and energy consumption when undergoing large displacement motion. It is shown that linear state feedback can only save energy if large control errors are accepted. Therefore, nonlinear systems are optimized as a whole by implementation of springs as local ...

Energy Technology Data Exchange (ETDEWEB)

Promoting the exchange of information related to implementation of the As Low as Reasonably Achievable (ALARA) philosophy is a continuing objective for the Department of Energy (DOE). This report was prepared by the Brookhaven National Laboratory (BNL) ALARA Center for the DOE Office of Health. It contains the fifth in a series of bibliographies on dose reduction at DOE facilities. The BNL ALARA Center was originally established in 1983 under the sponsorship of the Nuclear Regulatory Commission to monitor dose-reduction research and ALARA activities at nuclear power plants. This effort was expanded in 1988 by the DOE`s Office of Environment, Safety and Health, to include DOE nuclear facilities. This bibliography contains abstracts relating to various aspects of ALARA program implementation and dose-reduction activities, with a specific focus on DOE facilities. Abstracts included in this bibliography were selected from proceedings of technical meetings, journals, research reports, ...

Energy Technology Data Exchange (ETDEWEB)

NASA and DOE plan a cooperative team effort with industry, government laboratories and universities to develop a near term, low cost, low power (100 watt electric class), low mass (<10 kg), advanced radioisotope space power source (ARPS) and in the process reduce the plutonium-related costs as well. The near term is focused on developing an advanced energy converter to use with the General Purpose Heat Source (GPHS). The GPHS was developed and used for the current radioisotope thermoelectric generators (RTGs). Advanced energy converter technologies are needed as a more efficient replacement for the existing thermoelectric converters so that the space radioisotope power source mass and cost can be reduced. a more advanced technology space radioisotope power system program is also planned that addresses a longer-term need. Twenty first century robotic scientific information missions to the outer planets and beyond are planned to be accomplished with ...

Science.gov (United States)

Large amounts of atmospheric dust are lifted from the North African deserts and are transported by the trade winds over the Caribbean region, especially during the summer months. How African dust particles influence the earth's radiative budget is not well understood because these particles are highly variable and their physical, optical, and chemical properties are poorly characterized, especially when they are atmospherically processed as are those that travel from Africa to the Caribbean region. Here we present results of aerosol measurements performed at Cape San Juan (CPR), a ground-based station located at the northeastern tip of the Caribbean island of Puerto Rico. We used a condensation particle counter to determine the particle number concentration, a sunphotometer (part of the AErosol RObotical NETwork, AERONET, aeronet.gsfc.nasa.gov) to determine volume size distributions and aerosol optical thickness, and a 3-wavelength nephelometer and ...

Energy Technology Data Exchange (ETDEWEB)

Full text of publication follows: Stable aqueous sulfur species are mainly sulfide (H{sub 2}S) and sulfate (SO{sub 4}{sup 2-}) ions. However, several sulfoxy-anions may be detected as metastable anions in natural environment, as typically thiosulfate (S{sub 2}O{sub 3}{sup 2-}) and sulfite (SO{sub 3}{sup 2-}) ions [1]. In natural systems, uranium speciation and migration are mainly governed by carbonate complexes in non reducing conditions. Whereas sulfate is already known as a complexing agent of actinides, data relating to U-SO{sub 3}{sup 2-} and U-S{sub 2}O{sub 3}{sup 2-} complexes have only been proposed for U(VI) [2], but are usually not included in thermodynamic databases [3]. Therefore, it appears to be relevant to determine complexation constants of actinides with sulfur ligands, for RN migration studies, concerning nuclear waste disposal as well as migration behaviour in the geosphere. In the present study, values have been estimated for the first complexing constants of U{sup ...