WorldWideScience

Sample records for hydraulic teleoperation system

  1. Hydraulically powered dissimilar teleoperated system controller design

    International Nuclear Information System (INIS)

    Jansen, J.F.; Kress, R.L.

    1996-01-01

    This paper will address two issues associated with the implementation of a hydraulically powered dissimilar master-slave teleoperated system. These issues are the overall system control architecture and the design of robust hydraulic servo controllers for the position control problem. Finally, a discussion of overall system performance on an actual teleoperated system will be presented

  2. Control issues for a hydraulically powered dissimilar teleoperated system

    International Nuclear Information System (INIS)

    Jansen, J.F.; Kress, R.L.

    1995-01-01

    This paper will address two issues associated with the implementation of a hydraulically powered dissimilar master-slave teleoperated system. These issues are the overall system control architecture and the design of robust hydraulic servo controllers for the position control problem. Finally, a discussion of overall system performance on an actual teleoperated system will be presented. (Schilling's Titan II hydraulic manipulators are the slave manipulators and the master manipulators are from the Oak Ridge National Laboratory-developed Advanced Servo Manipulator.)

  3. Framework for teleoperated microassembly systems

    Science.gov (United States)

    Reinhart, Gunther; Anton, Oliver; Ehrenstrasser, Michael; Patron, Christian; Petzold, Bernd

    2002-02-01

    Manual assembly of minute parts is currently done using simple devices such as tweezers or magnifying glasses. The operator therefore requires a great deal of concentration for successful assembly. Teleoperated micro-assembly systems are a promising method for overcoming the scaling barrier. However, most of today's telepresence systems are based on proprietary and one-of-a-kind solutions. Frameworks which supply the basic functions of a telepresence system, e.g. to establish flexible communication links that depend on bandwidth requirements or to synchronize distributed components, are not currently available. Large amounts of time and money have to be invested in order to create task-specific teleoperated micro-assembly systems from scratch. For this reason, an object-oriented framework for telepresence systems that is based on CORBA as a common middleware was developed at the Institute for Machine Tools and Industrial Management (iwb). The framework is based on a distributed architectural concept and is realized in C++. External hardware components such as haptic, video or sensor devices are coupled to the system by means of defined software interfaces. In this case, the special requirements of teleoperation systems have to be considered, e.g. dynamic parameter settings for sensors during operation. Consequently, an architectural concept based on logical sensors has been developed to achieve maximum flexibility and to enable a task-oriented integration of hardware components.

  4. Development of teleoperated cleanup system

    International Nuclear Information System (INIS)

    Kim, Ki Ho; Park, J. J.; Yang, M. S.; Kwon, H. J.

    2005-01-01

    This report describes the development of a teleoperated cleanup system for use in a highly radioactive environment of DFDF(DUPIC Fuel Demonstration Facility) at KAERI where direct human access to the in-cell is strictly limited. The teleoperated cleanup system was designed to remotely remove contaminants placed or fixed on the floor surface of the hot-cell by mopping them with wet cloth. This cleanup system consists of a mopping slave, a mopping master and a control console. The mopping slave located at the in-cell comprises a mopping tool with a mopping cloth and a mobile platform, which were constructed in modules to facilitate maintenance. The mopping master that is an input device to control the mopping slave has kinematic dissimilarity with the mopping slave. The control console provides a means of bilateral control flows and communications between the mopping master and the mopping slave. In operation, the human operator from the out-of-cell performs a series of decontamination tasks remotely by manipulating the mopping slave located in-cell via a mopping master, having a sense of real mopping. The environmental and mechanical design considerations, and control systems of the developed teleoperated cleanup system are also described

  5. System for intelligent teleoperation research

    International Nuclear Information System (INIS)

    Orlando, N.E.

    1983-01-01

    The Automation Technology Branch of NASA Langley Research Center is developing a research capability in the field of artificial intelligence, particularly as applicable in teleoperator/robotics development for remote space operations. As a testbed for experimentation in these areas, a system concept has been developed and is being implemented. This system, termed DAISIE (Distributed Artificially Intelligent System for Interacting with the Environment), interfaces the key processes of perception, reasoning, and manipulation by linking hardware sensors and manipulators to a modular artificial intelligence (AI) software system in a hierarchical control structure. Verification experiments have been performed: one experiment used a blocksworld database and planner embedded in the DAISIE system to intelligently manipulate a simple physical environment; the other experiment implemented a joint-space collision avoidance algorithm. Continued system development is planned

  6. Haptic teleoperation systems signal processing perspective

    CERN Document Server

    Lee, Jae-young

    2015-01-01

    This book examines the signal processing perspective in haptic teleoperation systems. This text covers the topics of prediction, estimation, architecture, data compression, and error correction that can be applied to haptic teleoperation systems. The authors begin with an overview of haptic teleoperation systems, then look at a Bayesian approach to haptic teleoperation systems. They move onto a discussion of haptic data compression, haptic data digitization and forward error correction.   ·         Presents haptic data prediction/estimation methods that compensate for unreliable networks   ·         Discusses haptic data compression that reduces haptic data size over limited network bandwidth and haptic data error correction that compensate for packet loss problem   ·         Provides signal processing techniques used with existing control architectures.

  7. Stabilization of Teleoperation Systems with Communication Delays: An IMC Approach

    Directory of Open Access Journals (Sweden)

    Yuling Li

    2018-01-01

    Full Text Available The presence of time delays in communication introduces a limitation to the stability of bilateral teleoperation systems. This paper considers internal model control (IMC design of linear teleoperation system with time delays, and the stability of the closed-loop system is analyzed. It is shown that the stability is guaranteed delay-independently. The passivity assumption for external forces is removed for the proposed design of teleoperation systems. The behavior of the resulting teleoperation system is illustrated by simulations.

  8. Semiautonomous teleoperation system with vision guidance

    Science.gov (United States)

    Yu, Wai; Pretlove, John R. G.

    1998-12-01

    This paper describes the ongoing research work on developing a telerobotic system in Mechatronic Systems and Robotics Research group at the University of Surrey. As human operators' manual control of remote robots always suffer from reduced performance and difficulties in perceiving information from the remote site, a system with a certain level of intelligence and autonomy will help to solve some of these problems. Thus, this system has been developed for this purpose. It also serves as an experimental platform to test the idea of using the combination of human and computer intelligence in teleoperation and finding out the optimum balance between them. The system consists of a Polhemus- based input device, a computer vision sub-system and a graphical user interface which communicates the operator with the remote robot. The system description is given in this paper as well as the preliminary experimental results of the system evaluation.

  9. Haptic Manipulation of Deformable Objects in Hybrid Bilateral Teleoperation System

    Directory of Open Access Journals (Sweden)

    Juan Manuel Ibarra-Zannatha

    2007-01-01

    Full Text Available The aim of this work is the integration of a virtual environment containing a deformable object, manipulated by an open kinematical chain virtual slave robot, to a bilateral teleoperation scheme based on a real haptic device. The virtual environment of this hybrid bilateral teleoperation system combines collision detection algorithms, dynamical, kinematical and geometrical models with a position–position and/or force–position bilateral control algorithm, to produce on the operator side the reflected forces corresponding to the virtual mechanical interactions, through a haptic device. Contact teleoperation task over the virtual environment with a flexible object is implemented and analysed.

  10. Improving the performance of DTP2 bilateral teleoperation control system with haptic augmentation

    International Nuclear Information System (INIS)

    Viinikainen, Mikko; Tuominen, Janne; Alho, Pekka; Mattila, Jouni

    2014-01-01

    Highlights: •An experimental haptic shared control system, called CAT developed at the DTP2. •We investigate how the system integrates with the ITER compliant DTP2 RHCS. •The effect of CAT experimentally assessed in an ITER relevant maintenance scenario. -- Abstract: The remote maintenance of the ITER divertor is largely dependent on the usage of haptically teleoperated manipulators and man-in-the-loop operations. These maintenance operations are very demanding for the manipulator operators, yet vital for the success of the whole ITER experiment. Haptic shared control of the maintenance manipulators offers a promising solution for assisting the teleoperators in the maintenance tasks. A shared control system assists the operator by generating artificial guiding force effects and overlaying them on top of the haptic feedback from the teleoperation environment. An experimental haptic shared control system, called the Computer Assisted Teleoperation (CAT) has been developed at the Divertor Test Platform 2 (DTP2). In this paper, we investigate the design of the system and how the system integrates with the ITER compliant DTP2 prototype Remote Handling Control System (RHCS). We also experimentally assess the effect of the guidance to the operator performance in an ITER-relevant maintenance scenario using the Water Hydraulic MANipulator (WHMAN), which is specially designed for the divertor maintenance. The result of the experiment gives suggestive indication that the CAT system improves the performance of the operators of the system

  11. Power and signal transmission for mobile teleoperated systems

    International Nuclear Information System (INIS)

    Morris, A.C. Jr.; Hamel, W.R.

    1986-01-01

    Appropriate means must be furnished for supplying power and for sending controlling commands to mobile teleoperated systems. This paper describes a number of umbilical, onboard, and wireless systems used in transmitting power that are available for mobile teleoperator services. The pros and cons of selecting appropriate methods from a list of possible communication systems (wired, fiber optic, and radio frequency) are also examined. Moreover, hybrid systems combining wireless power transmissions with command-information signals are also possible. 20 refs., 6 figs., 1 tab

  12. Assisted supervision of a computer aided tele-operation system

    Energy Technology Data Exchange (ETDEWEB)

    Le Bars, H; Gravez, P; Fournier, R

    1994-12-31

    This paper talks about Computer Aided Tele-operation (CAT) in dismantling and maintenance of nuclear plants. The current research orientations at CEA, basic concepts of the supervision assistance system and the realisation of a prototype are presented. (TEC). 3 refs., 4 figs.

  13. Assisted supervision of a computer aided tele-operation system

    International Nuclear Information System (INIS)

    Le Bars, H.; Gravez, P.; Fournier, R.

    1994-01-01

    This paper talks about Computer Aided Tele-operation (CAT) in dismantling and maintenance of nuclear plants. The current research orientations at CEA, basic concepts of the supervision assistance system and the realisation of a prototype are presented. (TEC). 3 refs., 4 figs

  14. Power and signal transmission for mobile teleoperated systems

    International Nuclear Information System (INIS)

    Morris, A.C. Jr.; Hamel, W.R.

    1985-01-01

    Appropriate means must be furnished for supplying power and for sending controlling commands to mobile teleoperated systems. Because a sizable number of possibilities are available for such applications, methods used in designing both the power and communications systems built into mobile vehicles that serve in radiological emergencies must be carefully selected. This paper describes a number of umbilical, on-board, and wireless systems used in tranmitting power that are available for mobile teleoperator services. The pros and cons of selecting appropriate methods from a list of possible communication systems (wired, fiber optic, and radio frequency) are also examined. Moreover, hybrid systems combining wireless power transmissions with command-information signals are also possible

  15. Trust between man and machine in a teleoperation system

    International Nuclear Information System (INIS)

    Dassonville, I.; Jolly, D.; Desodt, A.M.

    1996-01-01

    The work we present deals with the trust of man in a teleoperation system. Trust is important because it is linked to stress which modifies human reliability. We are trying to quantify trust. In this paper, we'll present the theory of trust in relationships, and its extension for a man-machine system. Then, we explain the links between trust and human reliability. Then, we introduce our experimental process and the first results concerning selfconfidence

  16. DESIGN AND CONSTRUCTION OF A FORCE-REFLECTING TELEOPERATION SYSTEM

    Energy Technology Data Exchange (ETDEWEB)

    M.A. Ebadian, Ph.D.

    1999-01-01

    For certain applications, such as space servicing, undersea operations, and hazardous material handling tasks in nuclear reactors, the environments can be uncertain, complex, and hazardous. Lives may be in danger if humans were to work under these conditions. As a result, a man-machine system--a teleoperator system--has been developed to work in these types of environments. In a typical teleoperator system, the actual system operates at a remote site; the operator located away from this system usually receives visual information from a video image and/or graphical animation on the computer screen. Additional feedback, such as aural and force information, can significantly enhance performance of the system. Force reflection is a type of feedback in which forces experienced by the remote manipulator are fed back to the manual controller. Various control methods have been proposed for implementation on a teleoperator system. In order to examine different control schemes, a one Degree-Of-Freedom (DOF) Force-Reflecting Manual Controller (FRMC) is constructed and integrated into a PC. The system parameters are identified and constructed as a mathematical model. The Proportional-Integral-Derivative (PID) and fuzzy logic controllers are developed and tested experimentally. Numerical simulation results obtained from the mathematical model are compared with those of experimental data for both types of controllers. In addition, the concept of a telesensation system is introduced. A telesensation system is an advanced teleoperator system that attempts to provide the operator with sensory feedback. In this context, a telesensation system integrates the use of a Virtual Reality (VR) unit, FRMC, and Graphical User Interface (GUI). The VR unit is used to provide the operator with a 3-D visual effect. Various commercial VR units are reviewed and features compared for use in a telesensation system. As for the FRMC, the conceptual design of a 3-DOF FRMC is developed in an effort to

  17. DESIGN AND CONSTRUCTION OF A FORCE-REFLECTING TELEOPERATION SYSTEM

    International Nuclear Information System (INIS)

    Ebadian, M.A.

    1999-01-01

    For certain applications, such as space servicing, undersea operations, and hazardous material handling tasks in nuclear reactors, the environments can be uncertain, complex, and hazardous. Lives may be in danger if humans were to work under these conditions. As a result, a man-machine system--a teleoperator system--has been developed to work in these types of environments. In a typical teleoperator system, the actual system operates at a remote site; the operator located away from this system usually receives visual information from a video image and/or graphical animation on the computer screen. Additional feedback, such as aural and force information, can significantly enhance performance of the system. Force reflection is a type of feedback in which forces experienced by the remote manipulator are fed back to the manual controller. Various control methods have been proposed for implementation on a teleoperator system. In order to examine different control schemes, a one Degree-Of-Freedom (DOF) Force-Reflecting Manual Controller (FRMC) is constructed and integrated into a PC. The system parameters are identified and constructed as a mathematical model. The Proportional-Integral-Derivative (PID) and fuzzy logic controllers are developed and tested experimentally. Numerical simulation results obtained from the mathematical model are compared with those of experimental data for both types of controllers. In addition, the concept of a telesensation system is introduced. A telesensation system is an advanced teleoperator system that attempts to provide the operator with sensory feedback. In this context, a telesensation system integrates the use of a Virtual Reality (VR) unit, FRMC, and Graphical User Interface (GUI). The VR unit is used to provide the operator with a 3-D visual effect. Various commercial VR units are reviewed and features compared for use in a telesensation system. As for the FRMC, the conceptual design of a 3-DOF FRMC is developed in an effort to

  18. An Intuitive Robot Teleoperation System for Nuclear Power Plant Decommissioning

    International Nuclear Information System (INIS)

    Lee, Chang-hyuk; Gu, Taehyeong; Lee, Kyung-min; Ye, Sung-Joon; Bang, Young-bong

    2017-01-01

    A robot teleoperation system consists of a master device and a slave robot. The master device senses human intention and delivers it to the salve robot. A haptic device and an exoskeletal robot are widely used as the master device. The slave robot carries out operations delivered by the master device. It should guarantee enough degree of freedom (DOF) to perform the instructed operation and mobility in the environment inside the nuclear plant, such as flat surfaces and stairs. A 7-DOF robotic arm is commonly used as the slave device. This paper proposed a robot teleoperation system for nuclear power plant decommissioning. It discussed an experiment that was performed to validate the system's usability. The operator wearing the exoskeletal master device at the master site controlled the slave robot enabling it to move on a flat surface, climb/descend stairs, and move obstacles. The proposed robot teleoperation system can also be used in hazardous working environments where the use of such robots would be beneficial to human health and safety. In the future, research studies on the protection against radiation that damages the slave robot should be conducted.

  19. Operation Modes and Control Schemes for Internet-Based Teleoperation System with Time Delay

    Institute of Scientific and Technical Information of China (English)

    曾庆军; 宋爱国

    2003-01-01

    Teleoperation system plays an important role in executing task under hazard environment. As the computer networks such as the Internet are being used as the communication channel of teleoperation system, varying time delay causes the overall system unstable and reduces the performance of transparency. This paper proposed twelve operation modes with different control schemes for teleoperation on the Internet with time delay. And an optimal operation mode with control scheme was specified for teleoperation with time delay, based on the tradeoff between passivity and transparency properties. It experimentally confirmed the validity of the proposed optimal mode and control scheme by using a simple one DOF master-slave manipulator system.

  20. Teleoperation and computer control of a backhoe/manipulator system

    International Nuclear Information System (INIS)

    Amazeen, C.A.; Bishop, S.S.

    1987-01-01

    Teleoperation of the U.S. Army's Small Emplacement Excavator (SEE) is now in the prototype stage of development. Initial work is directed towards remotely controlling the SEE backhoe attachment as well as a Belvoir Research, Development, and Engineering Center (BRDEC)-developed heavy-lift manipulator (HLM). The HLM is an alternate end effector for the backhoe. Primitive computer control of the backhoe, with a bucket as an end effector, has been achieved. This paper presents the current and planned system configurations and discusses system applications

  1. Teleoperation system using Asynchronous transfer mode, ATM network

    International Nuclear Information System (INIS)

    Mohd Dani Baba; A Nasoruddin Mohamad

    1999-01-01

    This paper examines the application of Asynchronous Transfer Mode (ATM) in a distributed industrial environment such as in teleoperation, which performs real time control manipulation from a remote location. In our study, two models of teleoperation are proposed; the first model is a point to point connection and the second model is through an ATM network. The performance results are analysed as to determine whether the two models can support the teleoperation traffics via simulation using commercial software design tool. (Author)

  2. A teleoperated system for remote site characterization

    International Nuclear Information System (INIS)

    Sandness, G.A.; Richardson, B.S.; Pence, J.

    1993-08-01

    The detection and characterization of buried objects and materials is an important first step in the restoration of burial sites containing chemical and radioactive waste materials at Department of Energy (DOE) and Department of Defense (DOD) facilities. To address the need to minimize the exposure of on-site personnel to the hazards associated with such sites, the DOE Office of Technology Development and the US Army Environmental Center have jointly supported the development of the Remote Characterization System (RCS). One of the main components of the RCS is a small remotely driven survey vehicle that can transport various combinations of geophysical and radiological sensors. Currently implemented sensors include ground-penetrating radar, magnetometers, an electromagnetic induction sensor, and a sodium iodide radiation detector. The survey vehicle was constructed predominantly of non-metallic materials to minimize its effect on the operation of its geophysical sensors. The system operator controls the vehicle from a remote, truck-mounted, base station. Video images are transmitted to the base station by an radio link to give the operator necessary visual information. Vehicle control commands, tracking information, and sensor data are transmitted between the survey vehicle and the base station by means of a radio ethernet link. Precise vehicle tracking coordinates are provided by a differential Global Positioning System (GPS). The sensors are environmentally protected, internally cooled, and interchangeable based on mission requirements. To date, the RCS has been successfully tested at the Oak Ridge National Laboratory and the Idaho National Engineering Laboratory

  3. Intelligent networked teleoperation control

    CERN Document Server

    Li, Zhijun; Su, Chun-Yi

    2015-01-01

    This book describes a unified framework for networked teleoperation systems involving multiple research fields: networked control systems for linear and nonlinear forms, bilateral teleoperation, trilateral teleoperation, multilateral teleoperation and cooperative teleoperation. It closely examines networked control as a field at the intersection of systems & control and robotics and presents a number of experimental case studies on testbeds for robotic systems, including networked haptic devices, robotic network systems and sensor network systems. The concepts and results outlined are easy to understand, even for readers fairly new to the subject. As such, the book offers a valuable reference work for researchers and engineers in the fields of systems & control and robotics.

  4. Internet Teleoperation of a Robot with Streaming Buffer System under Varying Time Delays

    Science.gov (United States)

    Park, Jahng-Hyon; Shin, Wanjae

    It is known that existence of irregular transmission time delay is a major bottleneck for application of advanced robot control schemes to internet telerobotic systems. In the internet teleoperation system, the irregular transmission time delay causes a critical problem, which includes instability and inaccuracy. This paper suggests a practical internet teleoperation system with streaming buffer system, which consists of a buffer, a buffer manager, and a control timer. The proposed system converts the irregular transmission time delay to a constant. So, the system effectively transmits the control input to a remote site to operate a robot stably and accurately. This feature enables short control input intervals. That means the entire system has a large control bandwidth. The validity of the proposed method is demonstrated by experiments of teleoperation from USC (University of Southern California in U. S.A.) to HYU (Hanyang Univ. in Korea) through the Internet. The proposed method is also demonstrated by experiments of teleoperation through the wireless internet.

  5. Haptic Data Processing for Teleoperation Systems: Prediction, Compression and Error Correction

    OpenAIRE

    Lee, Jae-young

    2013-01-01

    This thesis explores haptic data processing methods for teleoperation systems, including prediction, compression, and error correction. In the proposed haptic data prediction method, unreliable network conditions, such as time-varying delay and packet loss, are detected by a transport layer protocol. Given the information from the transport layer, a Bayesian approach is introduced to predict position and force data in haptic teleoperation systems. Stability of the proposed method within stoch...

  6. The evolution of teleoperated manipulators at ORNL

    International Nuclear Information System (INIS)

    Kress, R.L.; Jansen, J.F.; Noakes, M.W.; Herndon, J.N.

    1996-01-01

    ORNL has made significant contributions to teleoperator and telerobotics technology for two decades and continues with an aggressive program today. Examples of past projects are: (1) the M2 servomanipulator, which was the first digitally controlled teleoperator; (2) the Advanced Servomanipulator (ASM), which was the first remotely maintainable teleoperator; (3) the CESARm/Kraft dissimilar teleoperated system; and (4) the Laboratory Telerobotic Manipulator (LTM), a 7-Degree-of-Freedom (7-DOF) telerobot built as a prototype for work in space. More recently, ORNL has become heavily involved with Environmental Restoration and Waste Management (ERWM) robotics programs funded by the Department of Energy (DOE). The ERWM program requires high payloads and high dexterity. As a result, a hydraulically actuated, dual-arm system comprised of two 6-DOF arms mounted on a 5-DOF base has been constructed and is being used today for various research tasks and for decontamination and dismantlement activities. All of these teleoperated manipulator systems build upon the experiences gained throughout the almost two decades of development. Each system incorporates not only the latest technology in computers, sensors, and electronics, but each new . system also adds at least one new feature to the technologies already developed and demonstrated in the previous system(s). As a result of this process, a serious study of these manipulator systems is a study in the evolution of teleoperated manipulator the systems in general. This provides insight not only into the research and development paths chosen in the past, but also into the appropriate directions for future teleoperator and telerobotics research. This paper examines each of the teleoperated/telerobotic systems developed at ORNL, summarizes their features and capabilities, examines the state of the most current telerobotic system (the Dual Arm Work Module), PM provides direction for a Next Generation Telerobotic Manipulator system

  7. Hydraulic Yaw System

    DEFF Research Database (Denmark)

    Stubkier, Søren; Pedersen, Henrik C.; Mørkholt, M.

    a hydraulic soft yaw system, which is able to reduce the loads on the wind turbine significantly. A full scale hydraulic yaw test rig is available for experiments and tests. The test rig is presented as well as the system schematics of the hydraulic yaw system....... the HAWC2 aeroelastic code and an extended model of the NREL 5MW turbine combined with a simplified linear model of the turbine, the parameters of the soft yaw system are optimized to reduce loading in critical components. Results shows that a significant reduction in fatigue and extreme loads to the yaw...... system and rotor shaft when utilizing the soft yaw drive concept compared to the original stiff yaw system. The physical demands of the hydraulic yaw system are furthermore examined for a life time of 20 years. Based on the extrapolated loads, the duty cycles show that it is possible to construct...

  8. A Ground-Based Validation System of Teleoperation for a Space Robot

    Directory of Open Access Journals (Sweden)

    Xueqian Wang

    2012-10-01

    Full Text Available Teleoperation of space robots is very important for future on-orbit service. In order to assure the task is accomplished successfully, ground experiments are required to verify the function and validity of the teleoperation system before a space robot is launched. In this paper, a ground-based validation subsystem is developed as a part of a teleoperation system. The subsystem is mainly composed of four parts: the input verification module, the onboard verification module, the dynamic and image workstation, and the communication simulator. The input verification module, consisting of hardware and software of the master, is used to verify the input ability. The onboard verification module, consisting of the same hardware and software as the onboard processor, is used to verify the processor's computing ability and execution schedule. In addition, the dynamic and image workstation calculates the dynamic response of the space robot and target, and generates emulated camera images, including the hand-eye cameras, global-vision camera and rendezvous camera. The communication simulator provides fidelity communication conditions, i.e., time delays and communication bandwidth. Lastly, we integrated a teleoperation system and conducted many experiments on the system. Experiment results show that the ground system is very useful for verified teleoperation technology.

  9. Stability Control of Force-Reflected Nonlinear Multilateral Teleoperation System under Time-Varying Delays

    Directory of Open Access Journals (Sweden)

    Da Sun

    2016-01-01

    Full Text Available A novel control algorithm based on the modified wave-variable controllers is proposed to achieve accurate position synchronization and reasonable force tracking of the nonlinear single-master-multiple-slave teleoperation system and simultaneously guarantee overall system’s stability in the presence of large time-varying delays. The system stability in different scenarios of human and environment situations has been analyzed. The proposed method is validated through experimental work based on the 3-DOF trilateral teleoperation system consisting of three different manipulators. The experimental results clearly demonstrate the feasibility of the proposed algorithm to achieve high transparency and robust stability in nonlinear single-master-multiple-slave teleoperation system in the presence of time-varying delays.

  10. Design of teleoperated robot system for nozzle dam maintenance in steam generator

    International Nuclear Information System (INIS)

    Kim, Chang-Hoi; Hwang, Suk-Young; Lee, Young-Gwang; Kim, Byung-Soo; Kim, Seung-Ho; Lee, Jong-Min

    1994-01-01

    The recent development of teleoperated manipulator system in KAERI is presented. The manipulator system is composed of master-slave arm and control system with VME based hierarchical structure. Supervisory control part with graphic workstation provides affluent visual information to human operator. This robot can be operated either in the teleoperation mode with master-slave or in the program mode running by computer system itself to enable installation or removal of nozzle dam appropriately within a water chamber of steam generator. Evaluation and analysis have been carried out to get optimal parameters of the robot. (author)

  11. TAO-2/SPARTE, a language-enhanced computer aided teleoperation system

    International Nuclear Information System (INIS)

    Gravez, P.; Fournier, R.

    1991-01-01

    TAO-2 is a computer system designed by CEA/DTA/UR for the remote control of nuclear servicing servomanipulators. It results from several years of research which have led to the current availability of an industrial product featuring highly advanced performances. For undersea applications, a development has also been carried out with CYBERNETIX for controlling the new hydraulic arm built by this company. An integral element of TAO-2 is the SPARTE language which deals with off-line task programming and focuses on combined manual, automatic and mixed control modes. Additionally, it takes into account the on-line part of the human operator relative to adjustment, monitoring and incident recovery. Other promising features are hybrid control specification, mechanisms for the management of external events and 'learning by touching' capabilities. The present paper describes the basic principles of TAO-2. It first recalls the fundamentals of Computer Aided Teleoperation (CAT). The functional and hardware architectures which implement the TAO-2 CAT concepts are then outlined. The next parts emphasize the original characteristics of the SPARTE control and programming language. The paper ends with a brief presentation of our approach for CAT symbolic control

  12. Mobile robot teleoperation system for plant inspection based on collecting and utilizing environment data

    International Nuclear Information System (INIS)

    Kawabata, Kuniaki; Watanabe, Nobuyasu; Asama, Hajime; Kita, Nobuyuki; Yang, Hai-quan

    2004-01-01

    This paper describes about development of a mobile robot teleoperation system for plant inspection. In our system, the robot is an agent for collecting the environment data and is also teleoperated by the operator utilizing such accumulated environment data which is displayed on the operation interface. The robot equips many sensors for detecting the state of the robot and the environment. Such redundant sensory system can be also utilized to collect the working environment data on-site while the robot is patrolling. Here, proposed system introduces the framework of collecting and utilizing environment data for adaptive plant inspection using the teleoperated robot. A view simulator is primarily aiming to facilitate evaluation of the visual sensors and algorithms and is also extended as the Environment Server, which is the core technology of the digital maintenance field for the plant inspection. In order to construct detailed seamless digital maintenance field mobile robotic technology is utilized to supply environment data to the server. The sensory system on the robot collect the environment data on-site and such collected data is uploaded to the Environment Server for compiling accurate digital environment data base. The robot operator also can utilize accumulated environment data by referring to the Environment Server. In this paper, we explain the concept of our teleoperation system based on collecting and utilizing environment data. Using developed system, inspection patrol experiments were attempted in the plant mock-up. Experimental results are shown by using an omnidirectional mobile robot with sensory system and the Environment Server. (author)

  13. Advanced instrumentation and teleoperation

    International Nuclear Information System (INIS)

    Decreton, M.

    1998-01-01

    SCK-CEN's advanced instrumentation and teleoperation project aims at evaluating the potential of a telerobotic approach in a nuclear environment and, in particular, the use of remote-perception systems. Main achievements in 1997 in the areas of R and D on radiation tolerance for remote sensing, optical fibres and optical-fibre sensors, and computer-aided teleoperation are reported

  14. An Adaptive Regulator for Space Teleoperation System in Task Space

    Directory of Open Access Journals (Sweden)

    Chao Ge

    2014-01-01

    Full Text Available The problem of the gravity information which can not be obtained in advance for bilateral teleoperation is studied. In outer space exploration, the gravity term changes with the position changing of the slave manipulator. So it is necessary to design an adaptive regulator controller to compensate for the unknown gravity signal. Moreover, to get a more accurate position tracking performance, the controller is designed in the task space instead of the joint space. Additionally, the time delay considered in this paper is not only time varying but also unsymmetrical. Finally, simulations are presented to show the effectiveness of the proposed approach.

  15. A Generalized Visual Aid System for Teleoperation Applied to Satellite Servicing

    Directory of Open Access Journals (Sweden)

    Guoliang Zhang

    2014-02-01

    Full Text Available This paper presents the latest results of a newly developed visual aid system for direct teleoperation. This method is extended to visual control to make an efficient teleoperation system by combining direct teleoperation and automatic control. On the one hand, an operator can conduct direct teleoperation with 3D graphic prediction simulation established by the VR technique. In order to remove inconsistencies between the virtual and real environments, a practical model-matching method is investigated. On the other hand, to realize real-time visual servoing control, a particular object recognition and pose estimation algorithm based on polygonal approximation is investigated to ensure a low computational cost for image processing. To avoid undesired forces involved in contact operation, 3D visual servoing incorporating a compliant control based on impedance control is developed. Finally, in a representative laboratory environment, a typical satellite servicing experiment is carried out based on this combined system. Experimental results demonstrate the feasibility and the effectiveness of the proposed method.

  16. An assigned responsibility system for robotic teleoperation control.

    Science.gov (United States)

    Small, Nicolas; Lee, Kevin; Mann, Graham

    2018-01-01

    This paper proposes an architecture that explores a gap in the spectrum of existing strategies for robot control mode switching in adjustable autonomy. In situations where the environment is reasonably known and/or predictable, pre-planning these control changes could relieve robot operators of the additional task of deciding when and how to switch. Such a strategy provides a clear division of labour between the automation and the human operator(s) before the job even begins, allowing for individual responsibilities to be known ahead of time, limiting confusion and allowing rest breaks to be planned. Assigned Responsibility is a new form of adjustable autonomy-based teleoperation that allows the selective inclusion of automated control elements at key stages of a robot operation plan's execution. Progression through these stages is controlled by automatic goal accomplishment tracking. An implementation is evaluated through engineering tests and a usability study, demonstrating the viability of this approach and offering insight into its potential applications.

  17. The Development of radiation hardened tele-robot system - Development of teleoperating technology using a universal master

    Energy Technology Data Exchange (ETDEWEB)

    Choi, Yong Je; Yang, Hyun Suk [Yonsei University, Seoul (Korea)

    1999-04-01

    A force-reflecting universal master for a teleoperating system has been designed and constructed, which can be used as an effective command input device for teleoperated robots. This report presents a full detail of the mechanism design and experiments related to the development of the force-reflecting masters. A real time virtual graphics display system which can be used as a powerful tool to predict any potential dangers and also to prevent an accident in advance has been developed and interfaced with the master. In order to transmit the force information of the slave to the operator effectively, the force-reflecting algorithm has been suggested and tested on the teleoperating system. The various master-slave systems have been tested in order to develop an efficient control algorithm for a teleoperating system with a force-reflecting master. A compliant device with the force/torque sensor capability has been also developed, which can be used as a passive position/force hybrid control device and as a sensor acquiring valid contact information of a slave with an environment. Experimental results showed that the developed teleoperating technology can be applied to a teleoperator system which interacts with the real environment. 21 refs., 103 figs., 2 tabs. (Author)

  18. Compact teleoperated laparoendoscopic single-site robotic surgical system: Kinematics, control, and operation.

    Science.gov (United States)

    Isaac-Lowry, Oran Jacob; Okamoto, Steele; Pedram, Sahba Aghajani; Woo, Russell; Berkelman, Peter

    2017-12-01

    To date a variety of teleoperated surgical robotic systems have been developed to improve a surgeon's ability to perform demanding single-port procedures. However typical large systems are bulky, expensive, and afford limited angular motion, while smaller designs suffer complications arising from limited motion range, speed, and force generation. This work was to develop and validate a simple, compact, low cost single site teleoperated laparoendoscopic surgical robotic system, with demonstrated capability to carry out basic surgical procedures. This system builds upon previous work done at the University of Hawaii at Manoa and includes instrument and endoscope manipulators as well as compact articulated instruments designed to overcome single incision geometry complications. A robotic endoscope holder was used for the base, with an added support frame for teleoperated manipulators and instruments fabricated mostly from 3D printed parts. Kinematics and control methods were formulated for the novel manipulator configuration. Trajectory following results from an optical motion tracker and sample task performance results are presented. Results indicate that the system has successfully met the goal of basic surgical functionality while minimizing physical size, complexity, and cost. Copyright © 2017 John Wiley & Sons, Ltd.

  19. Development of a piezo-actuated micro-teleoperation system for cell manipulation.

    Science.gov (United States)

    Zareinejad, M; Rezaei, S M; Abdullah, A; Shiry Ghidary, S

    2009-03-01

    Intracytoplasmic sperm injection (ICSI) requires long training and has low success rates, primarily due to poor control over the injection force. Making force feedback available to the operator will improve the success rate of the injection task. A macro-micro-teleoperation system bridges the gap between the task performed at the micro-level and the macroscopic movements of the operator. The teleoperation slave manipulator should accurately position a needle to precisely penetrate a cell membrane. Piezoelectric actuators are widely used in micromanipulation applications; however, hysteresis non-linearity limits the accuracy of these actuators. This paper presents a novel approach for utilizing a piezoelectric nano-stage as slave manipulator of a teleoperation system. The Prandtl-Ishlinskii (PI) model is used to model actuator hysteresis in a feedforward scheme to cancel out this non-linearity. To deal with the influence of parametric uncertainties, unmodelled dynamics and PI identification error, a perturbation term is added to the slave model and applies a sliding mode-based impedance control with perturbation estimation. The stability of entire system is guaranteed by Llewellyn's absolute stability criterion. The performance of the proposed controller was investigated through experiments for cell membrane penetration. The experimental results verified the accurate position tracking in free motion and simultaneous position and force tracking in contact with a low stiffness environment.

  20. Water Hydraulic Systems

    DEFF Research Database (Denmark)

    Conrad, Finn

    2005-01-01

    The paper presents research results using IT-Tools for CAD and dynamic modelling, simulation, analysis, and design of water hydraulic actuators for motion control of machines, lifts, cranes and robots. Matlab/Simulink and CATIA are used as IT-Tools. The contributions include results from on......-going research projects on fluid power and mechatronics based on tap water hydraulic servovalves and linear servo actuators and rotary vane actuators for motion control and power transmission. Development and design a novel water hydraulic rotary vane actuator for robot manipulators. Proposed mathematical...... modelling, control and simulation of a water hydraulic rotary vane actuator applied to power and control a two-links manipulator and evaluate performance. The results include engineering design and test of the proposed simulation models compared with IHA Tampere University’s presentation of research...

  1. Performance benefits of telerobotics and teleoperation - enhancements for an arm-based tank waste retrieval system

    Energy Technology Data Exchange (ETDEWEB)

    Horschel, D.S. [Sandia National Labs., Albuquerque, NM (United States); Gibbons, P.W. [Westinghouse Hanford Co., Richland, WA (United States); Draper, J.V. [Oak Ridge National Lab., TN (United States)] [and others

    1995-06-01

    This report evaluates telerobotic and teleoperational arm-based retrieval systems that require advanced robotic controls. These systems will be deployed in waste retrieval activities in Hanford`s Single Shell Tanks (SSTs). The report assumes that arm-based, retrieval systems will combine a teleoperational arm and control system enhanced by a number of advanced and telerobotic controls. The report describes many possible enhancements, spanning the full range of the control spectrum with the potential for technical maturation. The enhancements considered present a variety of choices and factors including: the enhancements to be included in the actual control system, safety, detailed task analyses, human factors, cost-benefit ratios, and availability and maturity of technology. Because the actual system will be designed by an offsite vendor, the procurement specifications must have the flexibility to allow bidders to propose a broad range of ideas, yet build in enough restrictions to filter out infeasible and undesirable approaches. At the same time they must allow selection of a technically promising proposal. Based on a preliminary analysis of the waste retrieval task, and considering factors such as operator limitations and the current state of robotics technology, the authors recommend a set of enhancements that will (1) allow the system to complete its waste retrieval mission, and (2) enable future upgrades in response to changing mission needs and technological advances.

  2. Performance benefits of telerobotics and teleoperation - enhancements for an arm-based tank waste retrieval system

    International Nuclear Information System (INIS)

    Horschel, D.S.; Gibbons, P.W.; Draper, J.V.

    1995-06-01

    This report evaluates telerobotic and teleoperational arm-based retrieval systems that require advanced robotic controls. These systems will be deployed in waste retrieval activities in Hanford's Single Shell Tanks (SSTs). The report assumes that arm-based, retrieval systems will combine a teleoperational arm and control system enhanced by a number of advanced and telerobotic controls. The report describes many possible enhancements, spanning the full range of the control spectrum with the potential for technical maturation. The enhancements considered present a variety of choices and factors including: the enhancements to be included in the actual control system, safety, detailed task analyses, human factors, cost-benefit ratios, and availability and maturity of technology. Because the actual system will be designed by an offsite vendor, the procurement specifications must have the flexibility to allow bidders to propose a broad range of ideas, yet build in enough restrictions to filter out infeasible and undesirable approaches. At the same time they must allow selection of a technically promising proposal. Based on a preliminary analysis of the waste retrieval task, and considering factors such as operator limitations and the current state of robotics technology, the authors recommend a set of enhancements that will (1) allow the system to complete its waste retrieval mission, and (2) enable future upgrades in response to changing mission needs and technological advances

  3. Implementation and design of a teleoperation system based on a VMEBUS/68020 pipelined architecture

    Science.gov (United States)

    Lee, Thomas S.

    1989-01-01

    A pipelined control design and architecture for a force-feedback teleoperation system that is being implemented at the Jet Propulsion Laboratory and which will be integrated with the autonomous portion of the testbed to achieve share control is described. At the local site, the operator sees real-time force/torque displays and moves two 6-degree of freedom (dof) force-reflecting hand-controllers as his hands feel the contact force/torques generated at the remote site where the robots interact with the environment. He also uses a graphical user menu to monitor robot states and specify system options. The teleoperation software is written in the C language and runs on MC68020-based processor boards in the VME chassis, which utilizes a real-time operating system; the hardware is configured to realize a four-stage pipeline configuration. The environment is very flexible, such that the system can easily be configured as a stand-alone facility for performing independent research in human factors, force control, and time-delayed systems.

  4. Complete Low-Cost Implementation of a Teleoperated Control System for a Humanoid Robot

    Directory of Open Access Journals (Sweden)

    Rafael Barea

    2013-01-01

    Full Text Available Humanoid robotics is a field of a great research interest nowadays. This work implements a low-cost teleoperated system to control a humanoid robot, as a first step for further development and study of human motion and walking. A human suit is built, consisting of 8 sensors, 6 resistive linear potentiometers on the lower extremities and 2 digital accelerometers for the arms. The goal is to replicate the suit movements in a small humanoid robot. The data from the sensors is wirelessly transmitted via two ZigBee RF configurable modules installed on each device: the robot and the suit. Replicating the suit movements requires a robot stability control module to prevent falling down while executing different actions involving knees flexion. This is carried out via a feedback control system with an accelerometer placed on the robot’s back. The measurement from this sensor is filtered using Kalman. In addition, a two input fuzzy algorithm controlling five servo motors regulates the robot balance. The humanoid robot is controlled by a medium capacity processor and a low computational cost is achieved for executing the different algorithms. Both hardware and software of the system are based on open platforms. The successful experiments carried out validate the implementation of the proposed teleoperated system.

  5. Haptic feedback designs in teleoperation systems for minimal invasive surgery

    NARCIS (Netherlands)

    Font, I.; Weiland, S.; Franken, M.; Steinbuch, M.; Rovers, A.F.

    2004-01-01

    One of the major shortcomings of state-of-the-art robotic systems for minimal invasive surgery is the lack of haptic feedback for the surgeon. In order to provide haptic information, sensors and actuators have to be added to the master and slave device. A control system should process the data and

  6. Hydraulic System Design of Hydraulic Actuators for Large Butterfly Valves

    Directory of Open Access Journals (Sweden)

    Ye HUANG

    2014-09-01

    Full Text Available Hydraulic control systems of butterfly valves are presently valve-controlled and pump-controlled. Valve-controlled hydraulic systems have serious power loss and generate much heat during throttling. Pump-controlled hydraulic systems have no overflow or throttling losses but are limited in the speed adjustment of the variable-displacement pump, generate much noise, pollute the environment, and have motor power that does not match load requirements, resulting in low efficiency under light loads and wearing of the variable-displacement pump. To overcome these shortcomings, this article designs a closed hydraulic control system in which an AC servo motor drives a quantitative pump that controls a spiral swinging hydraulic cylinder, and analyzes and calculates the structure and parameters of a spiral swinging hydraulic cylinder. The hydraulic system adjusts the servo motor’s speed according to the requirements of the control system, and the motor power matches the power provided to components, thus eliminating the throttling loss of hydraulic circuits. The system is compact, produces a large output force, provides stable transmission, has a quick response, and is suitable as a hydraulic control system of a large butterfly valve.

  7. Mobile teleoperator remote sensing

    International Nuclear Information System (INIS)

    Hall, E.L.

    1986-01-01

    Sensing systems are an important element of mobile teleoperators and robots. This paper discusses certain problems and limitations of vision and other sensing systems with respect to operations in a radiological accident environment. Methods which appear promising for near-term improvements to sensor technology are described. 3 refs

  8. The Development of Radiation hardened tele-robot system - Development of artificial force reflection control for teleoperated mobile robots

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Ju Jang; Hong, Sun Gi; Kang, Young Hoon; Kim, Min Soeng [Korea Advanced Institute of Science and Technology, Taejon (Korea)

    1999-04-01

    One of the most important issues in teleoperation is to provide the sense of telepresence so as to conduct the task more reliably. In particular, teleoperated mobile robots are needed to have some kinds of backup system when the operator is blind for remote situation owing to the failure of vision system. In the first year, the idea of artificial force reflection was researched to enhance the reliability of operation when the mobile robot travels on the plain ground. In the second year, we extend previous results to help the teleoperator even when the robot climbs stairs. Finally, we apply the developed control algorithms to real experiments. The artificial force reflection method has two modes; traveling on the plain ground and climbing stairs. When traveling on the plain ground, the force information is artificially generated by using the range data from the environment while generating the impulse force when climbing stairs. To verify the validity of our algorithm, we develop the simulator which consists of the joystick and the visual display system. Through some experiments using this system, we confirm the validity and effectiveness of our new idea of artificial force reflection in the teleoperated mobile robot. 11 refs., 30 figs. (Author)

  9. Telepresence and teleoperation

    International Nuclear Information System (INIS)

    Parsons, H.M.

    1990-01-01

    Some developers of mobile teleoperators for remote systems have been emphasizing telepresence as an important design consideration. This paper discusses what that term means and what it implies for human/machine interfaces from a human factors viewpoint. In general, telepresence means designing a control station's equipment so an operator has a sense of presence at the remote manipulator or vehicle being controlled

  10. Operator dynamics for stability condition in haptic and teleoperation system: A survey.

    Science.gov (United States)

    Li, Hongbing; Zhang, Lei; Kawashima, Kenji

    2018-04-01

    Currently, haptic systems ignore the varying impedance of the human hand with its countless configurations and thus cannot recreate the complex haptic interactions. The literature does not reveal a comprehensive survey on the methods proposed and this study is an attempt to bridge this gap. The paper includes an extensive review of human arm impedance modeling and control deployed to address inherent stability and transparency issues in haptic interaction and teleoperation systems. Detailed classification and comparative study of various contributions in human arm modeling are presented and summarized in tables and diagrams. The main challenges in modeling human arm impedance for haptic robotic applications are identified. The possible future research directions are outlined based on the gaps identified in the survey. Copyright © 2018 John Wiley & Sons, Ltd.

  11. Teleoperation System with Hybrid Pneumatic-Piezoelectric Actuation for MRI-Guided Needle Insertion with Haptic Feedback

    OpenAIRE

    Shang, Weijian; Su, Hao; Li, Gang; Fischer, Gregory S.

    2013-01-01

    This paper presents a surgical master-slave tele-operation system for percutaneous interventional procedures under continuous magnetic resonance imaging (MRI) guidance. This system consists of a piezoelectrically actuated slave robot for needle placement with integrated fiber optic force sensor utilizing Fabry-Perot interferometry (FPI) sensing principle. The sensor flexure is optimized and embedded to the slave robot for measuring needle insertion force. A novel, compact opto-mechanical FPI ...

  12. Design and implementation of visual-haptic assistive control system for virtual rehabilitation exercise and teleoperation manipulation.

    Science.gov (United States)

    Veras, Eduardo J; De Laurentis, Kathryn J; Dubey, Rajiv

    2008-01-01

    This paper describes the design and implementation of a control system that integrates visual and haptic information to give assistive force feedback through a haptic controller (Omni Phantom) to the user. A sensor-based assistive function and velocity scaling program provides force feedback that helps the user complete trajectory following exercises for rehabilitation purposes. This system also incorporates a PUMA robot for teleoperation, which implements a camera and a laser range finder, controlled in real time by a PC, were implemented into the system to help the user to define the intended path to the selected target. The real-time force feedback from the remote robot to the haptic controller is made possible by using effective multithreading programming strategies in the control system design and by novel sensor integration. The sensor-based assistant function concept applied to teleoperation as well as shared control enhances the motion range and manipulation capabilities of the users executing rehabilitation exercises such as trajectory following along a sensor-based defined path. The system is modularly designed to allow for integration of different master devices and sensors. Furthermore, because this real-time system is versatile the haptic component can be used separately from the telerobotic component; in other words, one can use the haptic device for rehabilitation purposes for cases in which assistance is needed to perform tasks (e.g., stroke rehab) and also for teleoperation with force feedback and sensor assistance in either supervisory or automatic modes.

  13. How operator admittance affects the response of a teleoperation system to assistive forces – A model analytic study and simulation

    International Nuclear Information System (INIS)

    Wildenbeest, J.G.W.; Abbink, D.A.; Boessenkool, H.; Heemskerk, C.J.M.; Koning, J.F.

    2013-01-01

    Highlights: ► We developed a computational model of a human operator controlling a teleoperation system based on feedforward control, while performing a free-space motion. ► We studied how assistive forces affect the response of the combined system of telemanipulator and operator, when operator admittance changes due to task instruction or arm configuration. ► Inappropriate assistive forces can lead to assistive forces that are either not perceived, or deflect the combined system; assistive forces should be tailored to operator admittance. ► It is required to study, measure and quantitatively model operator behavior for teleoperated tasks in more detail. -- Abstract: Haptic shared control is a promising approach to increase the effectiveness of remote handling operations. While in haptic shared control the operator is continuously guided with assistive forces, the operator's response to forces is not fully understood. This study describes the development of a computational model of a human operator controlling a teleoperation system based on feedforward control. In a simulation, the operator's response to repulsive forces in free-space motions was modeled for two degrees of freedom, for two operator endpoint admittances (estimated by means of closed-loop identification techniques). The simulation results show that similar repulsive forces lead to substantial discrepancies in response when admittance settings mismatch; wrongly estimated operator admittances can lead to assistive forces that are either not perceived, or deflect the combined system of human operator and telemanipulator. It is concluded that assistive forces should be tailored to the arm configuration and the type of task performed. In order to utilize haptic shared control to its full potential, it is required to study, measure and quantitatively model operator behavior for teleoperated tasks in more detail

  14. How operator admittance affects the response of a teleoperation system to assistive forces – A model analytic study and simulation

    Energy Technology Data Exchange (ETDEWEB)

    Wildenbeest, J.G.W., E-mail: j.g.w.wildenbeest@tudelft.nl [Department of Biomechanical Engineering, Delft University of Technology, Mekelweg 2, 2626 CD Delft (Netherlands); Heemskerk Innovative Technology B.V., Jonckerweg 12, 2201 DZ Noordwijk (Netherlands); Abbink, D.A. [Department of Biomechanical Engineering, Delft University of Technology, Mekelweg 2, 2626 CD Delft (Netherlands); Boessenkool, H. [FOM Institute DIFFER (Dutch Institute of Fundamental Energy Research), Association EUROTOM-FOM, Partner in the Trilateral Eurogio Cluster, P.O. Box 1207, 3430 BE Nieuwegein (Netherlands); Heemskerk, C.J.M.; Koning, J.F. [Heemskerk Innovative Technology B.V., Jonckerweg 12, 2201 DZ Noordwijk (Netherlands); FOM Institute DIFFER (Dutch Institute of Fundamental Energy Research), Association EUROTOM-FOM, Partner in the Trilateral Eurogio Cluster, P.O. Box 1207, 3430 BE Nieuwegein (Netherlands)

    2013-10-15

    Highlights: ► We developed a computational model of a human operator controlling a teleoperation system based on feedforward control, while performing a free-space motion. ► We studied how assistive forces affect the response of the combined system of telemanipulator and operator, when operator admittance changes due to task instruction or arm configuration. ► Inappropriate assistive forces can lead to assistive forces that are either not perceived, or deflect the combined system; assistive forces should be tailored to operator admittance. ► It is required to study, measure and quantitatively model operator behavior for teleoperated tasks in more detail. -- Abstract: Haptic shared control is a promising approach to increase the effectiveness of remote handling operations. While in haptic shared control the operator is continuously guided with assistive forces, the operator's response to forces is not fully understood. This study describes the development of a computational model of a human operator controlling a teleoperation system based on feedforward control. In a simulation, the operator's response to repulsive forces in free-space motions was modeled for two degrees of freedom, for two operator endpoint admittances (estimated by means of closed-loop identification techniques). The simulation results show that similar repulsive forces lead to substantial discrepancies in response when admittance settings mismatch; wrongly estimated operator admittances can lead to assistive forces that are either not perceived, or deflect the combined system of human operator and telemanipulator. It is concluded that assistive forces should be tailored to the arm configuration and the type of task performed. In order to utilize haptic shared control to its full potential, it is required to study, measure and quantitatively model operator behavior for teleoperated tasks in more detail.

  15. The development of robotic system for the nuclear power plants - A study on the manipulation of teleoperation system using redundant robot

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Chung Oh; Cho, Hyung Seok; Jang, Pyung Hoon; Park, Ki Chul; Hyun, Jang Hwan; Kim, Joo Gon; Park, Young Joon; Hwang, Woong Tae; Jeon, Yong Soo; Lee, Joo Yeon; Ahn, Kyung Mo [Korea Advanced Institute of Science and Technology, Taejon (Korea, Republic of)

    1996-07-01

    In this project the following 4 sub- projects have been studied for use in nuclear power plants. 1) Development of precision control method for the hydraulic and pneumatic actuators: The fuzzy gain tuner for the pneumatic servo position control system with the state feedback controller was designed= by using the professional knowledge. Through the experimental study, this control method was verified to obtain the optimal fain automatically. 2) Development of an universal master arm and force reflecting teleoperation system: An autonomous telerobot system with a vision based force reflection capability was developed. To effectly implement visual force feedback, 3 different control methods were also developed. 3) A study on the analysis and control of the redundant robot manipulator: An optimal joint-path of 8-DOF redundant KAEROT for the nozzle dam task was generated and its effectiveness and safety was verified by using graphic/animation tool. The proposed dynamic control algorithm for the redundant robot was applied to the experiment of planar 3- DOF redundant robot, showing good performance. 4) A study on the robot/user interface design: A set of final design and its console table was developed, which has metaphorical identity and user-friendly interface and a study mock-up was also developed to identify the possibility in a clear form. 33 refs., 3 tabs., 11 figs. (author)

  16. Effect of biased feedback on motor imagery learning in BCI-teleoperation system

    Directory of Open Access Journals (Sweden)

    Maryam eAlimardani

    2014-04-01

    Full Text Available Feedback design is an important issue in motor imagery BCI systems. Regardless, to date it has not been reported how feedback presentation can optimize co-adaptation between a human brain and such systems. This paper assesses the effect of realistic visual feedback on users’ BC performance and motor imagery skills. We previously developed a tele-operation system for a pair of humanlike robotic hands and showed that BCI control of such hands along with first-person perspective visual feedback of movements can arouse a sense of embodiment in the operators. In the first stage of this study, we found that the intensity of this ownership illusion was associated with feedback presentation and subjects’ performance during BCI motion control. In the second stage, we probed the effect of positive and negative feedback bias on subjects’ BCI performance and motor imagery skills. Although the subject specific classifier, which was set up at the beginning of experiment, detected no significant change in the subjects’ online performance, evaluation of brain activity patterns revealed that subjects’ self-regulation of motor imagery features improved due to a positive bias of feedback and a possible occurrence of ownership illusion. Our findings suggest that in general training protocols for BCIs, manipulation of feedback can play an important role in the optimization of subjects’ motor imagery skills.

  17. Dual Arm Work Platform teleoperated robotics system. Innovative technology summary report

    International Nuclear Information System (INIS)

    1998-12-01

    The US Department of Energy (DOE) and the Federal Energy Technology Center (FETC) has developed a Large Scale Demonstration Project (LSDP) at the Chicago Pile-5 Research Reactor (CP-5) at Argonne National Laboratory-East (ANL). The objective of the LSDP is to demonstrate potentially beneficial Deactivation and Decommissioning (D and D) technologies in comparison with current baseline technologies. The Dual Arm Work Platform (DAWP) demonstration focused on the use of the DAWP to segment and dismantle the CP-5 reactor tank and surrounding bio-shield components (including the graphite block reflector, lead and boral sheeting) and performing some minor tasks best suited for the use of teleoperated robotics that were not evaluated in this demonstration. The DAWP system is not a commercially available product at this time. The CP-5 implementation was its first D and D application. The demonstration of the DAWP was to determine the areas on which improvements must be made to make this technology commercially viable. The results of the demonstration are included in this greenbook. It is the intention of the developers to incorporate lessons learned at this demonstration and current technological advancements in robotics into the next generation of the DAWP

  18. Design considerations for teleoperation systems operating in gas-tight argon cells

    Directory of Open Access Journals (Sweden)

    Seungnam Yu

    2017-12-01

    Full Text Available In the nuclear industry, mechanical engineers spend a significant portion of their time designing equipment such as manipulators, bogies, mechanical grippers, and so on. Some customized designs can be considered as standard mechanical equipment in this area, although it is not unusual to find that an existing design cannot simply be copied from one project to another. Varied performance requirements can dictate that redesign, often quite extensive redesign, is required. However, if something similar has been done before, engineers could use that as a starting point for the new project. In this regard, this study presents several guidelines inspired by previous design knowledge for similar development cases. Moreover, this study presents more detailed suggestions such as design guidelines for an argon-based hot cell atmosphere and design experience for a large-scale practical hot cell facility. Design considerations and case studies dealt with in this study are dedicated to teleoperation manipulators that are used at a large-scale argon cell facility for pyroprocess integrated inactive demonstration (PRIDE, at the Korea Atomic Energy Research Institute. In particular, for case studies to support the suggested recommendations, a fabricated telemanipulator system for PRIDE is introduced, and several kinds of experimental results associated with it are presented.

  19. Combined hydraulic and regenerative braking system

    Science.gov (United States)

    Venkataperumal, R.R.; Mericle, G.E.

    1979-08-09

    A combined hydraulic and regenerative braking system and method for an electric vehicle is disclosed. The braking system is responsive to the applied hydraulic pressure in a brake line to control the braking of the vehicle to be completely hydraulic up to a first level of brake line pressure, to be partially hydraulic at a constant braking force and partially regenerative at a linearly increasing braking force from the first level of applied brake line pressure to a higher second level of brake line pressure, to be partially hydraulic at a linearly increasing braking force and partially regenerative at a linearly decreasing braking force from the second level of applied line pressure to a third and higher level of applied line pressure, and to be completely hydraulic at a linearly increasing braking force from the third level to all higher applied levels of line pressure.

  20. Teleoperation System with Hybrid Pneumatic-Piezoelectric Actuation for MRI-Guided Needle Insertion with Haptic Feedback.

    Science.gov (United States)

    Shang, Weijian; Su, Hao; Li, Gang; Fischer, Gregory S

    2013-01-01

    This paper presents a surgical master-slave tele-operation system for percutaneous interventional procedures under continuous magnetic resonance imaging (MRI) guidance. This system consists of a piezoelectrically actuated slave robot for needle placement with integrated fiber optic force sensor utilizing Fabry-Perot interferometry (FPI) sensing principle. The sensor flexure is optimized and embedded to the slave robot for measuring needle insertion force. A novel, compact opto-mechanical FPI sensor interface is integrated into an MRI robot control system. By leveraging the complementary features of pneumatic and piezoelectric actuation, a pneumatically actuated haptic master robot is also developed to render force associated with needle placement interventions to the clinician. An aluminum load cell is implemented and calibrated to close the impedance control loop of the master robot. A force-position control algorithm is developed to control the hybrid actuated system. Teleoperated needle insertion is demonstrated under live MR imaging, where the slave robot resides in the scanner bore and the user manipulates the master beside the patient outside the bore. Force and position tracking results of the master-slave robot are demonstrated to validate the tracking performance of the integrated system. It has a position tracking error of 0.318mm and sine wave force tracking error of 2.227N.

  1. Teleoperation System with Hybrid Pneumatic-Piezoelectric Actuation for MRI-Guided Needle Insertion with Haptic Feedback

    Science.gov (United States)

    Shang, Weijian; Su, Hao; Li, Gang; Fischer, Gregory S.

    2014-01-01

    This paper presents a surgical master-slave tele-operation system for percutaneous interventional procedures under continuous magnetic resonance imaging (MRI) guidance. This system consists of a piezoelectrically actuated slave robot for needle placement with integrated fiber optic force sensor utilizing Fabry-Perot interferometry (FPI) sensing principle. The sensor flexure is optimized and embedded to the slave robot for measuring needle insertion force. A novel, compact opto-mechanical FPI sensor interface is integrated into an MRI robot control system. By leveraging the complementary features of pneumatic and piezoelectric actuation, a pneumatically actuated haptic master robot is also developed to render force associated with needle placement interventions to the clinician. An aluminum load cell is implemented and calibrated to close the impedance control loop of the master robot. A force-position control algorithm is developed to control the hybrid actuated system. Teleoperated needle insertion is demonstrated under live MR imaging, where the slave robot resides in the scanner bore and the user manipulates the master beside the patient outside the bore. Force and position tracking results of the master-slave robot are demonstrated to validate the tracking performance of the integrated system. It has a position tracking error of 0.318mm and sine wave force tracking error of 2.227N. PMID:25126446

  2. Mechanical accessories for mobile teleoperators

    International Nuclear Information System (INIS)

    Feldman, M.J.; Herndon, J.N.

    1985-01-01

    The choice of optimum mechanical accessories for mobile teleoperators involves matching the criteria for emergency response with the available technology. This paper presents a general background to teleoperations, a potpourri of the manipulator systems available, and an argument for force reflecting manipulation. The theme presented is that the accomplishment of humanlike endeavors in hostile environments will be most successful when man model capabilities are utilized. The application of recent electronic technology to manipulator development has made new tools available to be applied to emergency response activities. The development activities described are products of the Consolidated Fuel Reprocessing Program at the Oak Ridge National Laboratory. 13 refs., 7 figs

  3. Hydraulic loop: practices using open control systems

    International Nuclear Information System (INIS)

    Carrasco, J.A.; Alonso, L.; Sanchez, F.

    1998-01-01

    The Tecnatom Hydraulic Loop is a dynamic training platform. It has been designed with the purpose of improving the work in teams. With this system, the student can obtain a full scope vision of a system. The hydraulic Loop is a part of the Tecnatom Maintenance Centre. The first objective of the hydraulic Loop is the instruction in components, process and process control using open control system. All the personal of an electric power plant can be trained in the Hydraulic Loop with specific courses. The development of a dynamic tool for tests previous to plant installations has been an additional objective of the Hydraulic Loop. The use of this platform is complementary to the use of full-scope simulators in order to debug and to analyse advanced control strategies. (Author)

  4. Thermal-hydraulic unreliability of passive systems

    International Nuclear Information System (INIS)

    Tzanos, C.P.; Saltos, N.T.

    1995-01-01

    Advanced light water reactor designs like AP600 and the simplified boiling water reactor (SBWR) use passive safety systems for accident prevention and mitigation. Because these systems rely on natural forces for their operation, their unavailability due to hardware failures and human error is significantly smaller than that of active systems. However, the coolant flows predicted to be delivered by these systems can be subject to significant uncertainties, which in turn can lead to a significant uncertainty in the predicted thermal-hydraulic performance of the plant under accident conditions. Because of these uncertainties, there is a probability that an accident sequence for which a best estimate thermal-hydraulic analysis predicts no core damage (success sequence) may actually lead to core damage. For brevity, this probability will be called thermal-hydraulic unreliability. The assessment of this unreliability for all the success sequences requires very expensive computations. Moreover, the computational cost increases drastically as the required thermal-hydraulic reliability increases. The required computational effort can be greatly reduced if a bounding approach can be used that either eliminates the need to compute thermal-hydraulic unreliabilities, or it leads to the analysis of a few bounding sequences for which the required thermal-hydraulic reliability is relatively small. The objective of this paper is to present such an approach and determine the order of magnitude of the thermal-hydraulic unreliabilities that may have to be computed

  5. Hydraulic concrete composition and properties control system

    OpenAIRE

    PSHINKO O.M.; KRASNYUK A.V.; HROMOVA O.V.

    2015-01-01

    Purpose. Scientific work aims at the development and testing of information system to meet the challenges of concrete composition design and control (for railway structures and buildings) based on the physico-analytical method algorithm for hydraulic concrete composition calculation. Methodology. The proposed algorithm of hydraulic concrete composition calculation is based on the physicochemical mechanics and in particular on the rheology of elastic–viscous–plastic bodies. The system of canon...

  6. A Novel Switching-Based Control Framework for Improved Task Performance in Teleoperation System With Asymmetric Time-Varying Delays.

    Science.gov (United States)

    Zhai, Di-Hua; Xia, Yuanqing

    2018-02-01

    This paper addresses the adaptive control for task-space teleoperation systems with constrained predefined synchronization error, where a novel switched control framework is investigated. Based on multiple Lyapunov-Krasovskii functionals method, the stability of the resulting closed-loop system is established in the sense of state-independent input-to-output stability. Compared with previous work, the developed method can simultaneously handle the unknown kinematics/dynamics, asymmetric varying time delays, and prescribed performance control in a unified framework. It is shown that the developed controller can guarantee the prescribed transient-state and steady-state synchronization performances between the master and slave robots, which is demonstrated by the simulation study.

  7. A low order adaptive control scheme for hydraulic servo systems

    DEFF Research Database (Denmark)

    Andersen, Torben Ole; Pedersen, Henrik Clemmensen; Bech, Michael Møller

    2015-01-01

    This paper deals with high-performance position control of hydraulics servo systems in general. The hydraulic servo system used is a two link robotic manipulator actuated by two hydraulic servo cylinders. A non-linear model of the hydraulic system and a Newton-Euler based model of the mechanical...

  8. Design of a hydraulic ash transport system

    Energy Technology Data Exchange (ETDEWEB)

    Mirgorodskii, V.G.; Mova, M.E.; Korenev, V.E.; Grechikhin, Yu.A. (Donetskii Politekhnicheskii Institut (USSR))

    1990-04-01

    Discusses general design of a hydraulic ash removal system to be employed at the reconstructed six 225 MW blocks of the Mironov State Regional Power Plant in the USSR. The blocks burn low-grade solid fuel with an ash content of up to 40.5%. Large quantities of ash have to be moved from the plant (total ash production 60 t/h, using 570 t/h of water for cooling and moistening). An optimum hydraulic ash transportation system would include a two-section airlift pumping system, shown in a diagram. Technological advantages of using this airlift system are enumerated, including short pipes, reduction in required water quantity and the possibility of siting hydraulic pumps at zero level.

  9. The hydraulic capacity of deteriorating sewer systems.

    Science.gov (United States)

    Pollert, J; Ugarelli, R; Saegrov, S; Schilling, W; Di Federico, V

    2005-01-01

    Sewer and wastewater systems suffer from insufficient capacity, construction flaws and pipe deterioration. Consequences are structural failures, local floods, surface erosion and pollution of receiving waters bodies. European cities spend in the order of five billion Euro per year for wastewater network rehabilitation. This amount is estimated to increase due to network ageing. The project CARE-S (Computer Aided RE-habilitation of Sewer Networks) deals with sewer and storm water networks. The final project goal is to develop integrated software, which provides the most cost-efficient system of maintenance, repair and rehabilitation of sewer networks. Decisions on investments in rehabilitation often have to be made with uncertain information about the structural condition and the hydraulic performance of a sewer system. Because of this, decision-making involves considerable risks. This paper presents the results of research focused on the study of hydraulic effects caused by failures due to temporal decline of sewer systems. Hydraulic simulations are usually carried out by running commercial models that apply, as input, default values of parameters that strongly influence results. Using CCTV inspections information as dataset to catalogue principal types of failures affecting pipes, a 3D model was used to evaluate their hydraulic consequences. The translation of failures effects in parameters values producing the same hydraulic conditions caused by failures was carried out through the comparison of laboratory experiences and 3D simulations results. Those parameters could be the input of 1D commercial models instead of the default values commonly inserted.

  10. Hydraulic Modular Dosaging Systems for Machine Drives

    Directory of Open Access Journals (Sweden)

    A. J. Kotlobai

    2005-01-01

    Full Text Available The justified principle of making modular dosaging systems for positive-displacement multimotor hydraulic drives used in running gear and technological equipment of mobile construction, road and agricultural machines makes it possible to synchronize motion of running parts. The examples of the realization of modular dosaging systems and an algorithm of their operation are given in the paper.

  11. Hydraulic regenerative system for a light vehicle

    OpenAIRE

    Orpella Aceret, Jordi; Guinart Trayter, Xavier

    2009-01-01

    The thesis is based in a constructed light vehicle that must be improved by adding a hydraulic energy recovery system. This vehicle named as TrecoLiTH, participated in the Formula Electric and Hybrid competition (Formula EHI) 2009 in Italy -Rome- and won several awards. This system consists in two hydraulic motors hub mounted which are used to store fluid at high pressure in an accumulator when braking. Through a valve the pressure will flow from the high pressure accumulator to the low press...

  12. Highly reliable electro-hydraulic control system

    International Nuclear Information System (INIS)

    Mande, Morima; Hiyama, Hiroshi; Takahashi, Makoto

    1984-01-01

    The unscheduled shutdown of nuclear power stations disturbs power system, and exerts large influence on power generation cost due to the lowering of capacity ratio; therefore, high reliability is required for the control system of nuclear power stations. Toshiba Corp. has exerted effort to improve the reliability of the control system of power stations, and in this report, the electro-hydraulic control system for the turbines of nuclear power stations is described. The main functions of the electro-hydraulic control system are the control of main steam pressure with steam regulation valves and turbine bypass valves, the control of turbine speed and load, the prevention of turbine overspeed, the protection of turbines and so on. The system is composed of pressure sensors and a speed sensor, the control board containing the electronic circuits for control computation and protective sequence, the oil cylinders, servo valves and opening detectors of the valves for control, a high pressure oil hydraulic machine and piping, the operating panel and so on. The main features are the adoption of tripling intermediate value selection method, the multiplying of protection sensors and the adoption of 2 out of 3 trip logic, the multiplying of power sources, the improvement of the reliability of electronic circuit hardware and oil hydraulic system. (Kako, I.)

  13. Operation of a hydraulic elevator system

    Energy Technology Data Exchange (ETDEWEB)

    Lazarev, G.A.; Li, Yu.V.; Bezuglov, N.N.

    1983-03-01

    The paper describes the hydraulic elevator system in the im. 50-letiya Oktyabr'skoi Revolutsii mine in the Karaganda basin. The system removes water and coal from the sump of a skip mine shaft. Water influx rate per day to the sump does not exceed 120 m/sup 3/, weight of coal falling from the skip is about 5,000 kg per day. The sump, 85 m deep, is closed by a screen. The elevator system consists of two pumps (one is used as a reserve pump) with a capacity of 300 m/sup 3/h. When water level exceeds the maximum permissive limit the pump is activated by an automatic control system. The coal and water mixture pumped from the sump bottom is directed to a screen which separates coal from water. Coal is fed to a coal hopper and water is pumped to a water tank. The hydraulic elevator has a capacity of 80 m/sup 3/ of mixture per hour. The slurry is tranported by a pipe of 175 mm diameter. Specifications of the pumps and pipelines are given. A scheme of the hydraulic elevator system is also shown. Economic aspects of hydraulic elevator use for removal of water and coal from deep sumps of skip shafts in the Karaganda basin also are discussed.

  14. Hydraulic brake-system for a bicycle

    NARCIS (Netherlands)

    Van Frankenhuyzen, J.

    2007-01-01

    The invention relates to a hydraulic brake system for a bicycle which may or may not be provided with an auxiliary motor, comprising a brake disc and brake claws cooperating with the brake disc, as well as fluid-containing channels (4,6) that extend between an operating organ (1) and the brake

  15. Towards Autonomous Control of Hydraulic Actuator Systems

    DEFF Research Database (Denmark)

    Hansen, Poul Erik; Conrad, Finn

    1998-01-01

    Presentation of new developed control algorithms to increase autonomy and intelligence of hydraulic control systems. A refinement of relaytuning method is used to determine the control parameters of a lag/lead controller and a poleplacement controller. Further, a fail-safe function is developed...

  16. Hydraulic manipulator research at ORNL

    International Nuclear Information System (INIS)

    Kress, R.L.; Jansen, J.F.; Love, L.J.

    1997-01-01

    Recently, task requirements have dictated that manipulator payload capacity increase to accommodate greater payloads, greater manipulator length, and larger environmental interaction forces. General tasks such as waste storage tank cleanup and facility dismantlement and decommissioning require manipulator life capacities in the range of hundreds of pounds rather than tens of pounds. To meet the increased payload capacities demanded by present-day tasks, manipulator designers have turned once again to hydraulics as a means of actuation. In order to successfully design, build, and deploy a new hydraulic manipulator (or subsystem), sophisticated modeling, analysis, and control experiments are usually needed. Oak Ridge National Laboratory (ORNL) has a history of projects that incorporate hydraulics technology, including mobile robots, teleoperated manipulators, and full-scale construction equipment. In addition, to support the development and deployment of new hydraulic manipulators, ORNL has outfitted a significant experimental laboratory and has developed the software capability for research into hydraulic manipulators, hydraulic actuators, hydraulic systems, modeling of hydraulic systems, and hydraulic controls. The purpose of this article is to describe the past hydraulic manipulator developments and current hydraulic manipulator research capabilities at ORNL. Included are example experimental results from ORNL's flexible/prismatic test stand

  17. Hydraulic manipulator research at ORNL

    Energy Technology Data Exchange (ETDEWEB)

    Kress, R.L.; Jansen, J.F. [Oak Ridge National Lab., TN (United States); Love, L.J. [Oak Ridge Inst. for Science and Education, TN (United States)

    1997-03-01

    Recently, task requirements have dictated that manipulator payload capacity increase to accommodate greater payloads, greater manipulator length, and larger environmental interaction forces. General tasks such as waste storage tank cleanup and facility dismantlement and decommissioning require manipulator life capacities in the range of hundreds of pounds rather than tens of pounds. To meet the increased payload capacities demanded by present-day tasks, manipulator designers have turned once again to hydraulics as a means of actuation. In order to successfully design, build, and deploy a new hydraulic manipulator (or subsystem), sophisticated modeling, analysis, and control experiments are usually needed. Oak Ridge National Laboratory (ORNL) has a history of projects that incorporate hydraulics technology, including mobile robots, teleoperated manipulators, and full-scale construction equipment. In addition, to support the development and deployment of new hydraulic manipulators, ORNL has outfitted a significant experimental laboratory and has developed the software capability for research into hydraulic manipulators, hydraulic actuators, hydraulic systems, modeling of hydraulic systems, and hydraulic controls. The purpose of this article is to describe the past hydraulic manipulator developments and current hydraulic manipulator research capabilities at ORNL. Included are example experimental results from ORNL`s flexible/prismatic test stand.

  18. Hydraulic oil control system for transformer stations

    International Nuclear Information System (INIS)

    Truong, P.

    2002-01-01

    'Full text:' Electrical oil control systems are commonly used to contain large volumes of spilled oil in transformer stations. Specially calibrated floats, some of which are designed to float only in oil and others only in water, are used in combination with a pump to contain oil at the catch basin below a transformer station.This electrical control system requires frequent maintenance and inspections to ensure the electrical system is not affected by any electrical surges. Also the floats need to be inspected and cleaned frequently to prevent oil or grit build up that may affect the systems' ability to contain oil.Recognizing the limitations of electrical oil control systems, Hydro One is investigating alternative control systems. A hydraulic oil control system is being investigated as an alternative which can backup oil in a containment area while allowing any water entering the containment area to pass through. Figure 1 shows a schematic of a bench-top model tested at Ryerson University. Oil and water separation occurs within the double-piped column. Oil and water are allowed to enter the external pipe column but only water is allowed to exit the internal pipe column. The internal pipe column is designed to generate enough hydrostatic pressure to ensure the oil is contained in the external pipe column.The hydraulic oil control system provides a reliable control mechanism and requires less maintenance compared to that of the electrical control system. Since the hydraulic oil control system has no moving parts, nor would any parts that require electricity, it is not affected by electrical surges such as lightening.The maintenance requirements of the hydraulic oil control system are: the removal of any oil and grit from the catch basin, and the occasional visual inspection for any crack or clogs in the system. (author)

  19. The development of radiation hardened tele-robot system - Development of path-planning and control technology for tele-operated redundant manipulator

    Energy Technology Data Exchange (ETDEWEB)

    Chang, Pyung Hun; Park, Ki Cheol; Park, Suk Ho [Korea Advanced Institute of Science and Technology, Taejon (Korea)

    1999-04-01

    This project focuses on the development of the control system for a teleoperated redundant manipulator, which performs many tasks dexterously, while avoiding obstacles, instead of human workers in the extreme situations like nuclear power plants. To this end, four consecutive research works have been performed. First, two new methods for global path-planning have been developed to inspect the global behavior of the redundant manipulator. Second, characteristics of optimal solutions(COS) under inequality constraints have been analyzed and, using the COS, how to greatly enhance the conventional redundancy resolution methods in terms of performance and repeatability has also been proposed. Third, an effective control method for a redundant manipulator has been developed, which incorporates all kinds of physical limits into practical inequality constraints and is computationally efficient for real-time purposes. Finally, using this control method as the controller of the slave redundant manipulator and developing a master manipulator, the inertial torque and gravitation torque of which are negligible, a force-reflected teleoperation control system has been developed. Through the teleoperation control system, human operator can accurately control the position and the force of the end-effector of the slave manipulator while feeling the interaction force between the slave and the workpiece. In addition, the slave redundant manipulator autonomously can control the impedance and can optimize a given performance measure while avoiding physical limits such as joint angle limits and obstacles. 49 refs., 43 figs., 10 tabs. (Author)

  20. Concept Evaluation for Hydraulic Yaw System

    DEFF Research Database (Denmark)

    Stubkier, Søren; Pedersen, Henrik C.; Andersen, Torben Ole

    2013-01-01

    The yaw system is the subsystem on a wind turbine which ensures that the rotor plane of the turbine always is facing the wind direction. Studies from [1] show that a soft yaw system may be utilized to dampen the loads in the wind turbine structure. The soft yaw system operates much like...... investigation. Loads and yaw demands are based on the IEC 61400-1 standard for wind turbine design, and the loads for this examination are extrapolated from the HAWC2 aeroelastic design code. The concepts are based on a 5 MW off-shore turbine....... a suspension system on a car, leading the loads away from the turbine structure. However, to realize a soft hydraulic yaw system a new design concept must be found. As a part of the development of the new concept a preliminary concept evaluation has been conducted, evaluating seven different hydraulic yaw...

  1. Chapter 12. Pure Tap Water Hydraulic Systems and Applications

    DEFF Research Database (Denmark)

    Conrad, Finn; Adelstorp, Anders

    1997-01-01

    Presentation of developed a modern pure tap water hydraulic components (Nessie), systems and industrial applications.......Presentation of developed a modern pure tap water hydraulic components (Nessie), systems and industrial applications....

  2. Fire Resistant Aircraft Hydraulic System.

    Science.gov (United States)

    1982-07-01

    Chemical Division "Fluorinert" FC-48 - Fluorinated Hydrocarbon "Fluorinert" FC-70 - Fluorinated Hydrocarbon Montedison S. p. A. "Fomblin" Z-04...forming substances such as varnish which could seize a spool valve or other small-clearance sliding surfaces. The test setup is pictorially described in...breakdown products such as solid particles, gels, and sludge’can plug system filters and even small fluid passages, nozzles, and orifices. Varnish -like

  3. 14 CFR 33.72 - Hydraulic actuating systems.

    Science.gov (United States)

    2010-01-01

    ... AIRWORTHINESS STANDARDS: AIRCRAFT ENGINES Design and Construction; Turbine Aircraft Engines § 33.72 Hydraulic actuating systems. Each hydraulic actuating system must function properly under all conditions in which the... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Hydraulic actuating systems. 33.72 Section...

  4. TG 220 MW hydraulic control system diagnostics

    International Nuclear Information System (INIS)

    Svabcik, A.

    1996-01-01

    The TG power output control system comprises a hydraulic and an electronic part. TG speed, power output or the main steam header pressure (HPK) depend on the steam flow at the turbine inlet. The steam admission into the turbine is controlled by four control valves and one by-pass valve in case of the HP part and by four capture flap valves in case of the LP part. The task of the SKODA K-220 MW turbine protection and control systems is to provide both the turbine speed and power output control to the setpoint value. Diagnostic measurements were aimed at getting an overview of both technical and functional states of all power output control elements. Principally, it can be stated that some deficiencies of a design nature originating from the manufacturer's factory were revealed and some other deficiencies related to hydraulic control elements functionality were identified more closely by the new method. 5 figs

  5. TG 220 MW hydraulic control system diagnostics

    Energy Technology Data Exchange (ETDEWEB)

    Svabcik, A [Atomova Elektraren Bohunice, Jaslovske Bohunice (Slovakia)

    1997-12-31

    The TG power output control system comprises a hydraulic and an electronic part. TG speed, power output or the main steam header pressure (HPK) depend on the steam flow at the turbine inlet. The steam admission into the turbine is controlled by four control valves and one by-pass valve in case of the HP part and by four capture flap valves in case of the LP part. The task of the SKODA K-220 MW turbine protection and control systems is to provide both the turbine speed and power output control to the setpoint value. Diagnostic measurements were aimed at getting an overview of both technical and functional states of all power output control elements. Principally, it can be stated that some deficiencies of a design nature originating from the manufacturer`s factory were revealed and some other deficiencies related to hydraulic control elements functionality were identified more closely by the new method. 5 figs.

  6. Study on Characteristics of Hydraulic Servo System for Force Control of Hydraulic Robots

    International Nuclear Information System (INIS)

    Kim, Hyo-gon; Han, Changsoo; Lee, Jong-won; Park, Sangdeok

    2015-01-01

    Because a hydraulic actuator has high power and force densities, this allows the weight of the robot's limbs to be reduced. This allows for good dynamic characteristics and high energy efficiency. Thus, hydraulic actuators are used in some exoskeleton robots and quadrupedal robots that require high torque. Force control is useful for robot compliance with a user or environment. However, force control of a hydraulic robot is difficult because a hydraulic servo system is highly nonlinear from a control perspective. In this study, a nonlinear model was used to develop a simulation program for a hydraulic servo system consisting of a servo valve, transmission lines, and a cylinder. The problems and considerations with regard to the force control performance for a hydraulic servo system were investigated. A force control method using the nonlinear model was proposed, and its effect was evaluated with the simulation program

  7. Study on Characteristics of Hydraulic Servo System for Force Control of Hydraulic Robots

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Hyo-gon; Han, Changsoo [Hanyang University, Seoul (Korea, Republic of); Lee, Jong-won [Korea University of Science and Technology, Seoul (Korea, Republic of); Park, Sangdeok [Korea Institute of Industrial Technology, Seoul (Korea, Republic of)

    2015-02-15

    Because a hydraulic actuator has high power and force densities, this allows the weight of the robot's limbs to be reduced. This allows for good dynamic characteristics and high energy efficiency. Thus, hydraulic actuators are used in some exoskeleton robots and quadrupedal robots that require high torque. Force control is useful for robot compliance with a user or environment. However, force control of a hydraulic robot is difficult because a hydraulic servo system is highly nonlinear from a control perspective. In this study, a nonlinear model was used to develop a simulation program for a hydraulic servo system consisting of a servo valve, transmission lines, and a cylinder. The problems and considerations with regard to the force control performance for a hydraulic servo system were investigated. A force control method using the nonlinear model was proposed, and its effect was evaluated with the simulation program.

  8. Fluid Temperature of Aero Hydraulic Systems

    Directory of Open Access Journals (Sweden)

    I. S. Shumilov

    2016-01-01

    Full Text Available In modern supersonic aircrafts due to aerodynamic skin heating a temperature of hydraulics environment significantly exceeds that of permissible for fluids used. The same problem exists for subsonic passenger aircrafts, especially for Airbuses, which have hydraulics of high power where convective heat transfer with the environment is insufficient and there is no required temperature control of fluid. The most significant in terms of heat flow is the flow caused by the loss of power to the pump and when designing the hydraulic system (HS it is necessary to pay very serious attention to it. To use a constant capacity pump is absolutely unacceptable, since HS efficiency in this case is extremely low, and the most appropriate are variable-capacity pumps, cut-off pumps, dual-mode pumps. The HS fluid cooling system should provide high reliability, lightweight, simple design, and a specified heat transfer in all flight modes.A system cooling the fluid by the fuel of feeding lines of the aircraft engines is the most effective, and it is widely used in supersonic aircrafts, where power of cooling system is essential. Subsonic aircrafts widely use convective heat exchangers. In thermal design of the aircraft hydraulics, the focus is generally given to the maximum and minimum temperatures of the HS fluid, the choice of the type of heat exchanger (convective or flow-through, the place of its installation. In calculating the operating temperature of a hydraulic system and its cooling systems it is necessary to determine an increase of the working fluid temperature when throttling it. There are three possible formulas to calculate the fluid temperature in throttling, with the error of a calculated temperature drop from 30% to 4%.The article considers the HS stationary and noon-stationary operating conditions and their calculation, defines temperatures of fluid and methods to control its specified temperature. It also discusses various heat exchanger schemes

  9. A design framework for teleoperators with kinesthetic feedback

    Science.gov (United States)

    Hannaford, Blake

    1989-01-01

    The application of a hybrid two-port model to teleoperators with force and velocity sensing at the master and slave is presented. The interfaces between human operator and master, and between environment and slave, are ports through which the teleoperator is designed to exchange energy between the operator and the environment. By computing or measuring the input-output properties of this two-port network, the hybrid two-port model of an actual or simulated teleoperator system can be obtained. It is shown that the hybrid model (as opposed to other two-port forms) leads to an intuitive representation of ideal teleoperator performace and applies to several teleoperator architectures. Thus measured values of the h matrix or values computed from a simulation can be used to compare performance with th ideal. The frequency-dependent h matrix is computed from a detailed SPICE model of an actual system, and the method is applied to a proposed architecture.

  10. Manipulators in teleoperation

    International Nuclear Information System (INIS)

    Hamel, W.R.

    1985-01-01

    Teleoperated manipulators represent a mature technology which has evolved over nearly 40 years of applications experience. The wide range of manipulator concepts developed thus far reflect differing applications, priorities, and philosophies. The technology of teleoperated manipulators is in a rapid state of change (just as are industrial robotics) fueled by microelectronics and materials advances. Large strides in performance and dexterity are now practical and advantageous. Even though improved controls and sensory feedback will increase functionality, overall costs should be reduced as manipulator fabrication and assembly labor costs are reduced through improved manufacturing technology. As these advances begin to materialize, broader applications in nonnuclear areas should occur

  11. Mobile teleoperator research at Savannah River Laboratory

    International Nuclear Information System (INIS)

    Byrd, J.S.

    1985-01-01

    A Robotics Technology Group was organized at Savannah River Laboratory to employ modern automation and robotics for applications at the Savannah River site. Several industrial robots have been installed in plant processes. Other robotics systems are under development in the laboratories, including mobile teleoperators for general remote tasks and emergency response operations. This paper discusses present work on a low-cost wheeled mobile vehicle, a modular light duty manipulator arm, a large gantry telerobot system, and a high technology six-legged walking robot with a teleoperated arm

  12. Teleoperation over low bandwidth communication links

    International Nuclear Information System (INIS)

    Fryer, R.J.; Mair, G.M.; Clark, N.; Heng, J.

    1996-01-01

    Teleoperation is well established for many areas of hazardous environment working. Where such environments are well structured and contained, such as within a working plant, communications bandwidths need not be a constraining factor. However where the worksite is remote, large, poorly structured or damaged communications rapidly become a critical factor in the efficient deployment and use of teleoperation equipment. The paper justifies and describes means which we are exploring to reduce the required communications bandwidth for teleoperation whist retaining full functionality. Techniques involved include incorporation of local intelligence at the worksite, with bandwidth devoted to high-level up-link control signals and down-link feedback, and the use of highly compressed video feeding 'virtual reality type' HMDs to provide maximum system transparency for the operator. The work is drawing on previous experience with an 'anthropomorphic robot heat' for telepresence work, and proprietary algorithms capable of compressing full colour video to standard telephone modem data rates. (Author)

  13. Power Management in Mobile Hydraulic Applications - An Approach for Designing Hydraulic Power Supply Systems

    DEFF Research Database (Denmark)

    Pedersen, Henrik Clemmensen

    2004-01-01

    Throughout the last three decades energy consumption has become one of the primary design aspects in hydraulic systems, especially for mobile hydraulic systems, as power and cooling capacity here is at limited disposal. Considering the energy usage, this is dependent on component efficiency, but ...... the hydraulic power supply in the most energy efficient way, when considering a number of load situations. Finally an example of the approach is shown to prove its validity.}......Throughout the last three decades energy consumption has become one of the primary design aspects in hydraulic systems, especially for mobile hydraulic systems, as power and cooling capacity here is at limited disposal. Considering the energy usage, this is dependent on component efficiency...

  14. Hydraulic Yaw System for Wind Turbines with New Compact Hydraulic Motor Principle

    DEFF Research Database (Denmark)

    Sørensen, Rasmus Mørk; Hansen, Michael Rygaard; Mouritsen, Ole Ø.

    2011-01-01

    This paper presents a new hydraulic yaw system for wind turbines. The basic component is a new type of hydraulic motor characterized by an extraordinary high specific displacement yielding high output torque in a compact form. The focus in the paper is the volumetric efficiency of the motor, which...

  15. Researches regarding primary control in hydraulic systems

    OpenAIRE

    Tița Irina; Mardare Irina

    2017-01-01

    The technology in wind turbines has developed very rapidly but there are still a lot that can be improved also regarding new technologies. One example is wind turbine with hydraulic transmission. At the beginning low power wind turbines are in view. First of all the wind energy is meant to be used by isolated users for household and garden equipment or pumping water. Later, if results will be as expected, and wind potential satisfactory, such systems could be connected to electric grid. In ou...

  16. HYDRAULIC CONCRETE COMPOSITION AND PROPERTIES CONTROL SYSTEM

    Directory of Open Access Journals (Sweden)

    O. M. Pshinko

    2015-08-01

    Full Text Available Purpose. Scientific work aims at the development and testing of information system to meet the challenges of concrete composition design and control (for railway structures and buildings based on the physico-analytical method algorithm for hydraulic concrete composition calculation. Methodology. The proposed algorithm of hydraulic concrete composition calculation is based on the physicochemical mechanics and in particular on the rheology of elastic–viscous–plastic bodies. The system of canonical equations consists of the equations for concrete strength, absolute volume, concrete mix consistency as well as the equation for optimal concrete saturation with aggregates while minimizing cement content. The joint solution of these four equations related to composition allows determining for the materials the concrete composition of required strength, concrete workability with minimum cement content. The procedure for calculation of hydraulic concrete composition according to the physico-analytical method consists of two parts: 1 physical, which is laboratory testing of concrete mix components in different concrete compositions; 2 analytical, which represents the calculation algorithm for concrete compositions equivalent in concrete strength and workability that comply with the specific conditions of concrete placing. Findings. To solve the problem of designing the concrete composition with the desired properties for railway structures and buildings it was proposed to use the information technology in the form of a developed computer program whose algorithm includes the physico-analytical method for hydraulic concrete composition determination. Originality. The developed concrete composition design method takes into account the basic properties of raw materials, concrete mix and concrete, which are pre-determined. The distinctive feature of physico-analytical method is obtaining of a set of equivalent compositions with a certain concrete mix

  17. Robotic and nuclear safety for an automated/teleoperated glove box system

    International Nuclear Information System (INIS)

    Domning, E.E.; McMahon, T.T.; Sievers, R.H.

    1991-09-01

    Lawrence Livermore National Laboratory (LLNL) is developing a fully automated system to handle the processing of special nuclear materials (SNM). This work is performed in response to the new goals at the Department of Energy (DOE) for hazardous waste minimization and radiation dose reduction. This fully automated system, called the automated test bed (ATB), consists of an IBM gantry robot and automated processing equipment sealed within a glove box. While the ATB is a cold system, we are designing it as a prototype of the future hot system. We recognized that identification and application of safety requirements early in the design phase will lead to timely installation and approval of the hot system. This paper identifies these safety issues as well as the general safety requirements necessary for the safe operation of the ATB. 4 refs., 2 figs

  18. Underwater hydraulic shock shovel control system

    Science.gov (United States)

    Liu, He-Ping; Luo, A.-Ni; Xiao, Hai-Yan

    2008-06-01

    The control system determines the effectiveness of an underwater hydraulic shock shovel. This paper begins by analyzing the working principles of these shovels and explains the importance of their control systems. A new type of control system’s mathematical model was built and analyzed according to those principles. Since the initial control system’s response time could not fulfill the design requirements, a PID controller was added to the control system. System response time was still slower than required, so a neural network was added to nonlinearly regulate the proportional element, integral element and derivative element coefficients of the PID controller. After these improvements to the control system, system parameters fulfilled the design requirements. The working performance of electrically-controlled parts such as the rapidly moving high speed switch valve is largely determined by the control system. Normal control methods generally can’t satisfy a shovel’s requirements, so advanced and normal control methods were combined to improve the control system, bringing good results.

  19. Hydraulic braking system for loads subjected to impacts and vibrations

    International Nuclear Information System (INIS)

    1980-01-01

    This invention concerns a hydraulic braking system for loads subjected to impacts and vibrations. These double acting telescopic type hydraulic braking systems possess significant drawbacks linked to possibly important hydraulic leaks due to (a) the use of many dynamic seals in such appliances and (b) the effects of the environment of the system on these seals, particularly when employed in nuclear power stations where the seals reach significant temperatures and are subjected to radiation. Under this invention a remedy is suggested to such drawbacks by integrating means to offset automatically the leaks and the accumulation of hydraulic fluid expansions, as well as facilities to show if such leaks have occurred [fr

  20. Joining teleoperation with robotics for advanced manipulation in hostile environments

    International Nuclear Information System (INIS)

    Martin, H.L.; Hamel, W.R.

    1984-01-01

    Manipulators have been used for many years to perform remote handling tasks in hazardous environments. The development history of teleoperators is reviewed, and applications around the world are summarized. The effect of computer supervisory control is discussed, and similarities between robots and teleoperator research activities are delineated. With improved control strategies and system designs, combination of positive attributes of robots with teleoperators will lead to advanced machines capable of autonomy in unstructured environments. This concept of a telerobot is introduced as a goal for future activities

  1. Hydraulic pitch control system for wind turbines: Advanced modeling and verification of an hydraulic accumulator

    DEFF Research Database (Denmark)

    Irizar, Victor; Andreasen, Casper Schousboe

    2017-01-01

    Hydraulic pitch systems provide robust and reliable control of power and speed of modern wind turbines. During emergency stops, where the pitch of the blades has to be taken to a full stop position to avoid over speed situations, hydraulic accumulators play a crucial role. Their efficiency...... and capability of providing enough energy to rotate the blades is affected by thermal processes due to the compression and decompression of the gas chamber. This paper presents an in depth study of the thermodynamical processes involved in an hydraulic accumulator during operation, and how they affect the energy...

  2. Hydraulic manipulator design, analysis, and control at Oak Ridge National Laboratory

    Energy Technology Data Exchange (ETDEWEB)

    Kress, R.L.; Jansen, J.F. [Oak Ridge National Lab., TN (United States). Robotics and Process Systems Div.; Love, L.J. [Oak Ridge Inst. for Science and Education, TN (United States); Basher, A.M.H. [South Carolina State Univ., Orangeburg, SC (United States)

    1996-09-01

    To meet the increased payload capacities demanded by present-day tasks, manipulator designers have turned to hydraulics as a means of actuation. Hydraulics have always been the actuator of choice when designing heavy-life construction and mining equipment such as bulldozers, backhoes, and tunneling devices. In order to successfully design, build, and deploy a new hydraulic manipulator (or subsystem) sophisticated modeling, analysis, and control experiments are usually needed. To support the development and deployment of new hydraulic manipulators Oak Ridge National Laboratory (ORNL) has outfitted a significant experimental laboratory and has developed the software capability for research into hydraulic manipulators, hydraulic actuators, hydraulic systems, modeling of hydraulic systems, and hydraulic controls. The hydraulics laboratory at ORNL has three different manipulators. First is a 6-Degree-of-Freedom (6-DoF), multi-planer, teleoperated, flexible controls test bed used for the development of waste tank clean-up manipulator controls, thermal studies, system characterization, and manipulator tracking. Finally, is a human amplifier test bed used for the development of an entire new class of teleoperated systems. To compliment the hardware in the hydraulics laboratory, ORNL has developed a hydraulics simulation capability including a custom package to model the hydraulic systems and manipulators for performance studies and control development. This paper outlines the history of hydraulic manipulator developments at ORNL, describes the hydraulics laboratory, discusses the use of the equipment within the laboratory, and presents some of the initial results from experiments and modeling associated with these hydraulic manipulators. Included are some of the results from the development of the human amplifier/de-amplifier concepts, the characterization of the thermal sensitivity of hydraulic systems, and end-point tracking accuracy studies. Experimental and analytical

  3. Hydraulic manipulator design, analysis, and control at Oak Ridge National Laboratory

    International Nuclear Information System (INIS)

    Kress, R.L.; Jansen, J.F.; Basher, A.M.H.

    1996-09-01

    To meet the increased payload capacities demanded by present-day tasks, manipulator designers have turned to hydraulics as a means of actuation. Hydraulics have always been the actuator of choice when designing heavy-life construction and mining equipment such as bulldozers, backhoes, and tunneling devices. In order to successfully design, build, and deploy a new hydraulic manipulator (or subsystem) sophisticated modeling, analysis, and control experiments are usually needed. To support the development and deployment of new hydraulic manipulators Oak Ridge National Laboratory (ORNL) has outfitted a significant experimental laboratory and has developed the software capability for research into hydraulic manipulators, hydraulic actuators, hydraulic systems, modeling of hydraulic systems, and hydraulic controls. The hydraulics laboratory at ORNL has three different manipulators. First is a 6-Degree-of-Freedom (6-DoF), multi-planer, teleoperated, flexible controls test bed used for the development of waste tank clean-up manipulator controls, thermal studies, system characterization, and manipulator tracking. Finally, is a human amplifier test bed used for the development of an entire new class of teleoperated systems. To compliment the hardware in the hydraulics laboratory, ORNL has developed a hydraulics simulation capability including a custom package to model the hydraulic systems and manipulators for performance studies and control development. This paper outlines the history of hydraulic manipulator developments at ORNL, describes the hydraulics laboratory, discusses the use of the equipment within the laboratory, and presents some of the initial results from experiments and modeling associated with these hydraulic manipulators. Included are some of the results from the development of the human amplifier/de-amplifier concepts, the characterization of the thermal sensitivity of hydraulic systems, and end-point tracking accuracy studies. Experimental and analytical

  4. Update on radiation-hardened microcomputers for robotics and teleoperated systems

    International Nuclear Information System (INIS)

    Sias, F.R. Jr.; Tulenko, J.S.

    1993-01-01

    Since many programs sponsored by the Department of Defense are being canceled, it is important to select carefully radiation-hardened microprocessors for projects that will mature (or will require continued support) several years in the future. At the present time there are seven candidate 32-bit processors that should be considered for long-range planning for high-performance radiation-hardened computer systems. For Department of Energy applications it is also important to consider efforts at standardization that require the use of the VxWorks operating system and hardware based on the VMEbus. Of the seven processors, one has been delivered and is operating and other systems are scheduled to be delivered late in 1993 or early in 1994. At the present time the Honeywell-developed RH32, the Harris RH-3000 and the Harris RHC-3000 are leading contenders for meeting DOE requirements for a radiation-hardened advanced 32-bit microprocessor. These are all either compatible with or are derivatives of the MIPS R3000 Reduced Instruction Set Computer. It is anticipated that as few as two of the seven radiation-hardened processors will be supported by the space program in the long run

  5. Automated Hydraulic System Design and Power Management in Mobile Applications

    DEFF Research Database (Denmark)

    Pedersen, Henrik Clemmensen

    force, torque and power density. One of these areas is the mobile hydraulic area, which generally comprise all type of off-highway machinery, such as construction equipment, agricultural equipment etc. But where hydraulic systems earlier was designed with primary focus on cost, dynamic performance...... and accuracy, energy consumption is becoming an ever more important design parameter. At the same time as the first oil crisis the first hydraulic load sensing (LS) systems also emerged on the market, which, compared to the other systems of the time, offered significant energy saving potentials and which today...... are found on most medium and high-end mobile hydraulic machinery. Despite the energy saving potentials that these systems posses, compared to the other open-circuit hydraulic system topologies, LS-system may still be subject to very low system efficiencies if not designed correctly. This is typically...

  6. Design of Pumps for Water Hydraulic Systems

    DEFF Research Database (Denmark)

    Klit, Peder; Olsen, Stefan; Bech, Thomas Nørgaard

    1999-01-01

    This paper considers the development of two pumps for water hydraulic applications. The pumps are based on two different working principles: The Vane-type pump and the Gear-type pump. Emphasis is put on the considerations that should be made to account for water as the hydraulic fluid.......KEYWORDS: water, pump, design, vane, gear....

  7. Hydraulic power take-off for wave energy systems

    DEFF Research Database (Denmark)

    Christensen, Georg Kronborg

    2001-01-01

    Investigation and laboratory experiments with a hydraulic power conversion system for converting forces from a 2.5m diamter float to extract energy from seawaves. The test rig consists of a hydraulic wave simulator and a hydraulic point absorber. The absorber converts the incomming forces to a co...... to a continous rotation of an electric generator. The experiments document efficiencies and losses for the conversion process. The experiments are used for verification and update of a computer model.......Investigation and laboratory experiments with a hydraulic power conversion system for converting forces from a 2.5m diamter float to extract energy from seawaves. The test rig consists of a hydraulic wave simulator and a hydraulic point absorber. The absorber converts the incomming forces...

  8. Towards multi-platform software architecture for Collaborative Teleoperation

    Science.gov (United States)

    Domingues, Christophe; Otmane, Samir; Davesne, Frederic; Mallem, Malik

    2009-03-01

    Augmented Reality (AR) can provide to a Human Operator (HO) a real help in achieving complex tasks, such as remote control of robots and cooperative teleassistance. Using appropriate augmentations, the HO can interact faster, safer and easier with the remote real world. In this paper, we present an extension of an existing distributed software and network architecture for collaborative teleoperation based on networked human-scaled mixed reality and mobile platform. The first teleoperation system was composed by a VR application and a Web application. However the 2 systems cannot be used together and it is impossible to control a distant robot simultaneously. Our goal is to update the teleoperation system to permit a heterogeneous collaborative teleoperation between the 2 platforms. An important feature of this interface is based on the use of different Virtual Reality platforms and different Mobile platforms to control one or many robots.

  9. Towards multi-platform software architecture for Collaborative Teleoperation

    International Nuclear Information System (INIS)

    Domingues, Christophe; Otmane, Samir; Davesne, Frederic; Mallem, Malik

    2009-01-01

    Augmented Reality (AR) can provide to a Human Operator (HO) a real help in achieving complex tasks, such as remote control of robots and cooperative teleassistance. Using appropriate augmentations, the HO can interact faster, safer and easier with the remote real world. In this paper, we present an extension of an existing distributed software and network architecture for collaborative teleoperation based on networked human-scaled mixed reality and mobile platform. The first teleoperation system was composed by a VR application and a Web application. However the 2 systems cannot be used together and it is impossible to control a distant robot simultaneously. Our goal is to update the teleoperation system to permit a heterogeneous collaborative teleoperation between the 2 platforms. An important feature of this interface is based on the use of different Virtual Reality platforms and different Mobile platforms to control one or many robots.

  10. Decontamination effects of a simulated contaminated floor surface by a teleoperated mopping system

    International Nuclear Information System (INIS)

    Kim, Ki Ho; Kwon, Hyok Jo; Park, Jang Jin; Yang, Myung Seung

    2004-01-01

    A Tele Operated Mopping System (TOMS) was developed for use in the radioactive zone of the M6 hot-cell of the Irradiated Material Examination Facility (IMEF) at the Korea Atomic Energy Research Institute (KAERI). TOMS was designed to remove contaminated dry particulates, dust, and smears existing on the floor surface of the M6 hot-cell by mopping it in a remote manner. TOMS has three subsystems - a mobile mopping slave located inside the hot-cell, and a mopping master and a control console located outside the hot-cell. The mobile mopping slave consists of a tracked mobile platform, a mopping tool, and a wet mopping cloth, which were constructed in modules to facilitate a maintenance. This paper aims at describing the mopping capability of the developed TOMS - decontamination capability. In this work the decontamination capability is defined by the ratio of the removed contaminated area when the mopping cloth was passed over. The experiment was carried out by varying the speeds of the mopping slave and the roller, while the mopping force driven by the operator was constant. The roller of the mopping tool mounted on the mopping slave was designed to collect the mopping cloth used. The experimental results showed that the speeds of the mopping slave and the roller influence the extent of the decontamination

  11. Modified hydraulic braking system limits angular deceleration to safe values

    Science.gov (United States)

    Briggs, R. S.; Council, M.; Green, P. M.

    1966-01-01

    Conventional spring actuated, hydraulically released, fail-safe disk braking system is modified to control the angular deceleration of a massive antenna. The hydraulic system provides an immediate preset pressure to the spring-loaded brake shoes and holds it at this value to decelerate the antenna at the desired rate.

  12. Estimators for initial conditions for optimisation in learning hydraulic systems

    NARCIS (Netherlands)

    Post, W.J.A.E.M.; Burrows, C.R.; Edge, K.A.

    1998-01-01

    In Learning Hydraulic Systems (LHS1. developed at the Eindhoven University of Technology, a specialised optimisation routine is employed In order to reduce energy losses in hydraulic systems. Typical load situations which can be managed by LHS are variable cyclic loads, as can be observed In many

  13. Full-automatic Special Drill Hydraulic System and PLC Control

    Directory of Open Access Journals (Sweden)

    Tian Xue Jun

    2016-01-01

    Full Text Available A hydraulic-driven and PLC full-automatic special drill is introduced, working principle of the hydraulic system and PLC control system are analyzed and designed, this equipment has the advantages of high efficiency, superior quality and low cost etc.

  14. Advanced teleoperation in nuclear applications

    International Nuclear Information System (INIS)

    Hamel, W.R.; Feldman, M.J.; Martin, H.L.

    1984-01-01

    A new generation of integrated remote maintenance systems is being developed to meet the needs of future nuclear fuel reprocessing at the Oak Ridge National Laboratory. Development activities cover all aspects of an advanced teleoperated maintenance system with particular emphasis on a new force-reflecting servomanipulator concept. The new manipulator, called the advanced servomanipulator, is microprocessor controlled and is designed to achieve force-reflection performance near that of mechanical master/slave manipulators. The advanced servomanipulator uses a gear-drive transmission which permits modularization for remote maintainability (by other advanced servomanipulators) and increases reliability. Human factors analysis has been used to develop an improved man/machine interface concept based upon colorgraphic displays and menu-driven tough screens. Initial test and evaluation of two advanced servomanipulator slave arms and several other development components have begun. 9 references, 5 figures

  15. Acceptance Test Report for 241-SY Pump Cradle Hydraulic System

    International Nuclear Information System (INIS)

    Koons, B.M.

    1995-01-01

    The purpose of this ATP is to verify that hydraulic system/cylinder procured to replace the cable/winch system on the 101-SY Mitigation Pump cradle assembly fulfills its functional requirements for raising and lowering the cradle assembly between 70 and 90 degrees, both with and without pump. A system design review was performed on the 101-SY Cradle Hydraulic System by the vendor before shipping (See WHC-SD-WM-DRR-045, 241-SY-101 Cradle Hydraulic System Design Review). The scope of this plan focuses on verification of the systems ability to rotate the cradle assembly and any load through the required range of motion

  16. Building 65 Hydraulic Systems Handbook: Components, Systems, and Applications

    Science.gov (United States)

    2016-04-01

    Dump Buttons OVERVIEW Pump Dump Buttons...hydraulic system? There are different types of dump buttons that control a hierarchy of flow paths. Some dump buttons are used to shut down a pump ...that branch. The use of this dump button is preferred over the Pump Dump Button when possible. Test Site Dump

  17. Teleoperated robotic sorting system

    Science.gov (United States)

    Roos, Charles E.; Sommer, Edward J.; Parrish, Robert H.; Russell, James R.

    2000-01-01

    A method and apparatus are disclosed for classifying materials utilizing a computerized touch sensitive screen or other computerized pointing device for operator identification and electronic marking of spatial coordinates of materials to be extracted. An operator positioned at a computerized touch sensitive screen views electronic images of the mixture of materials to be sorted as they are conveyed past a sensor array which transmits sequences of images of the mixture either directly or through a computer to the touch sensitive display screen. The operator manually "touches" objects displayed on the screen to be extracted from the mixture thereby registering the spatial coordinates of the objects within the computer. The computer then tracks the registered objects as they are conveyed and directs automated devices including mechanical means such as air jets, robotic arms, or other mechanical diverters to extract the registered objects.

  18. Communications options for teleoperations

    International Nuclear Information System (INIS)

    Springthorpe, R.T.

    1991-08-01

    TELEMAN is a programme of research work on remote handling in hazardous or disordered nuclear environments, carried out for the European Atomic Agency Community by a number of participants, part funded by the CEC. The objective is to develop advanced tele-operated robots for users in the nuclear industry to contribute to safety and profitability. A study performed by AEA Technology in 1989 for the TELEMAN programme examined communications standards and made recommendations where possible. It was recognised that a control architecture needed to be defined before determining which communications standards are appropriate. Several developing areas were recommended for further study and the results of this study are reported here. (author)

  19. Human factors activities in teleoperator development at the Oak Ridge National Laboratory

    International Nuclear Information System (INIS)

    Draper, J.V.; Herndon, J.N.

    1986-01-01

    The Consolidated Fuel Reprocessing Program (CFRP) at the Oak Ridge National Laboratory is developing advanced teleoperator systems for maintenance of future nuclear reprocessing facilities. Remote maintenance systems developed by the CFRP emphasize man-in-the-loop teleoperation. Consequently, human factors issues which affect teleoperator performance must be addressed. This papers surveys research and development activities carried out by the human factors group within the Remote Control Engineering Task of the CFRP

  20. Social Inclusion of Senior Citizens by a Teleoperated Android

    DEFF Research Database (Denmark)

    Yamazaki, Ryuji; Nishio, Shuichi; Ishiguro, Hiroshi

    As populations continue to age, there is a growing need for assistive technologies that help senior citizens maintain their autonomy and enjoy their lives. We explore the potential of teleoperated androids, which are embodied telecommunication media with humanlike appearances. Our exploratory study...... focused on the social aspects of Telenoid, a teleoperated android designed as a minimalistic human, which might facilitate communica- tion between senior citizens and its operators. We con- ducted cross-cultural field trials in Japan and Denmark by introducing Telenoid into care facilities and the pri......- vate homes of seniors to observe how they responded to it. In Japan, we set up a teleoperation system in an elemen- tary school and investigated how it shaped communica- tion through the internet between the elderly in a care facility and the children who acted as teleoperators. In both countries...

  1. ANDROID BASED TELEOPERATION FOR THE FINCH ROBOT

    Directory of Open Access Journals (Sweden)

    Oliver Faust

    2016-09-01

    Full Text Available The act of creating a robot involves systems engineering and creative problem solutions. It is about using established components to create a system that works in the natural or at least in the human environment. The current project is no exception, we have used the Robot Operating System (ROS to create an android based teleoperator application for the Finch robot. A Raspberry Pi processing platform establishes the link between the android device and the Finch robot. The most creative task, during the system design, was to translate the commands from the teleoperator application into wheel movements of the Finch robot. The translation must take into account the physical setup of the robot, including unintended negative influences, such as drag. The command translation involved a nonlinear coordinate transformation. The ROS framework enabled us to focus on that nonstandard coordinate translation task by offering a high level of abstraction and the ability to create component functionalities independently.

  2. Hydraulic elements in reduction of vibrations in mechanical systems

    Science.gov (United States)

    Białas, K.; Buchacz, A.

    2017-08-01

    This work presents non-classical method of design of mechanic systems with subsystem reducing vibrations. The purpose of this paper is also introduces synthesis of mechanic system with reducing vibrations understand as design of this type of systems. The synthesis may be applied to modify the already existing systems in order to achieve a desired result. Elements which reduce vibrations can be constructed with passive, semi-active or active components. These considerations systems have selected active items. A hallmark of active elements it is possible to change the parameters on time of these elements and their power from an external source. The implementation of active elements is very broad. These elements can be implemented through the use of components of electrical, pneumatic, hydraulic, etc. The system was consisted from mechanical and hydraulic elements. Hydraulic elements were used as subsystem reducing unwanted vibration of mechanical system. Hydraulic elements can be realized in the form of hydraulic cylinder. In the case of an active vibration reduction in the form of hydraulic cylinder it is very important to find the corresponding values of hydraulic components. The values of these elements affect the frequency of vibrations of this sub-system which is related to the effective vibration reduction [7,11].

  3. Researches regarding primary control in hydraulic systems

    Directory of Open Access Journals (Sweden)

    Tița Irina

    2017-01-01

    Full Text Available The technology in wind turbines has developed very rapidly but there are still a lot that can be improved also regarding new technologies. One example is wind turbine with hydraulic transmission. At the beginning low power wind turbines are in view. First of all the wind energy is meant to be used by isolated users for household and garden equipment or pumping water. Later, if results will be as expected, and wind potential satisfactory, such systems could be connected to electric grid. In our research laboratory we must build an experimental setup. The simulation for wind turbine and fixed displacement pump coupled to it will be realized using a variable displacement piston pump. As the variable wind speed has as a result variations of the pump flow, the variable displacement pump from the test rig may reproduce a similar variation law. In this paper some aspects regarding the variable displacement pump are detailed. This study is necessary for the future development of the research.

  4. System Topology Optimization - An Approach to System Design of Electro-Hydraulic-Mechanical Systems

    DEFF Research Database (Denmark)

    Andersen, T. O.; Hansen, M. R.; Conrad, Finn

    2003-01-01

    The current paper presents an approach to system design of combined electro-hydraulic-mechanical systems. The approach is based on the concurrent handling of the topology as well as the design parameters of the mechanical, hydraulic and controller sub- systems, respectively. Based on an initial...... design the procedure attempts to find the optimal topology and the related parameters. The topology considerations comprise the type of hydraulic pump, the employment of knee linkages or not as well as the type of hydraulic actuators. The design variables also include the signals to the proportional...... valve in a number of predefined load cases as well as the hydraulic and mechanical parameters....

  5. Modular architecture for robotics and teleoperation

    Science.gov (United States)

    Anderson, Robert J.

    1996-12-03

    Systems and methods for modularization and discretization of real-time robot, telerobot and teleoperation systems using passive, network based control laws. Modules consist of network one-ports and two-ports. Wave variables and position information are passed between modules. The behavior of each module is decomposed into uncoupled linear-time-invariant, and coupled, nonlinear memoryless elements and then are separately discretized.

  6. INFORMATION-MEASURING TEST SYSTEM OF DIESEL LOCOMOTIVE HYDRAULIC TRANSMISSIONS

    Directory of Open Access Journals (Sweden)

    I. V. Zhukovytskyy

    2015-08-01

    Full Text Available Purpose. The article describes the process of developing the information-measuring test system of diesel locomotives hydraulic transmission, which gives the possibility to obtain baseline data to conduct further studies for the determination of the technical condition of diesel locomotives hydraulic transmission. The improvement of factory technology of post-repair tests of hydraulic transmissions by automating the existing hydraulic transmission test stands according to the specifications of the diesel locomotive repair enterprises was analyzed. It is achieved based on a detailed review of existing foreign information-measuring test systems for hydraulic transmission of diesel locomotives, BelAZ earthmover, aircraft tug, slag car, truck, BelAZ wheel dozer, some brands of tractors, etc. The problem for creation the information-measuring test systems for diesel locomotive hydraulic transmission is being solved, starting in the first place from the possibility of automation of the existing test stand of diesel locomotives hydraulic transmission at Dnipropetrovsk Diesel Locomotive Repair Plant "Promteplovoz". Methodology. In the work the researchers proposed the method to create a microprocessor automated system of diesel locomotives hydraulic transmission stand testing in the locomotive plant conditions. It acts by justifying the selection of the necessary sensors, as well as the application of the necessary hardware and software for information-measuring systems. Findings. Based on the conducted analysis there was grounded the necessity of improvement the plant hydraulic transmission stand testing by creating a microprocessor testing system, supported by the experience of developing such systems abroad. Further research should be aimed to improve the accuracy and frequency of data collection by adopting the more modern and reliable sensors in tandem with the use of filtering software for electromagnetic and other interference. Originality. The

  7. System Design and Performance Test of Hydraulic Intensifier

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Hyoung Eui; Lee, Gi Chun [Korea Institute of Machinery and Materials, Daejeon (Korea, Republic of); Kim, Jae Hoon [Chungnam National University, Daejeon (Korea, Republic of)

    2010-07-15

    Components such as pressure vessel, hydraulic hose assembly, accumulator, hydraulic cylinder, hydraulic valve, pipe, etc., are tested under the impulse-pressure conditions prescribed in ISO and SAE standards. The impulse pressure test machine needs to have a high pressure, a precise control system and a long life. It should satisfy the requirements for fabrication of the impulse tester to generate ultra high pressure in the hydraulic system. In the impulse tester, a servo-valve control system is adopted; although the control application is convenient, it is expensive owing to the cost of developing the system. The type of the control system determines the pressure wave, which affects the components that are tested. In this study, the manufacturing process and the intensifier system design related to the flow, pressure, and the increasing rate of pressure are investigated. The results indicate the ultra high pressure waves in the system.

  8. Development of A Hydraulic Drive for a novel Diesel-Hydraulic system for Large commercial Vehicles

    DEFF Research Database (Denmark)

    Stecki, J. S.; Conrad, Finn; Matheson, P.

    2002-01-01

    The objectives and results of the research project Hybrid Diesel-Hydraulic System for Large commercial vehicles, e.g. urban freight delivery, buses or garbage trucks. The paper presents and discusses the research and development of the system, modelling approach and results from preliminary...... performance tests on a 10 ton vehicle....

  9. Determining the Conditions for the Hydraulic Impacts Emergence at Hydraulic Systems

    Directory of Open Access Journals (Sweden)

    Mazurenko A.S.

    2017-08-01

    Full Text Available This research aim is to develop a method for modeling the conditions for the critical hydrau-lic impacts emergence on thermal and nuclear power plants’ pipeline systems pressure pumps depart-ing from the general provisions of the heat and hydrodynamic instability theory. On the developed method basis, the conditions giving rise to the reliability-critical hydraulic impacts emergence on pumps for the thermal and nuclear power plants’ typical pipeline system have been determined. With the flow characteristic minimum allowable (critical sensitivity, the flow velocity fluctuations ampli-tude reaches critical values at which the pumps working elements’ failure occurs. The critical hydrau-lic impacts emergence corresponds to the transition of the vibrational heat-hydrodynamic instability into an aperiodic one. As research revealed, a highly promising approach as to the preventing the criti-cal hydraulic impacts related to the foreground use of pumps having the most sensitive consumption (at supply network performance (while other technical characteristics corresponding to that parame-ter. The research novelty refers to the suggested method elaborated by the authors’ team, which, in contrast to traditional approaches, is efficient in determining the pump hydraulic impact occurrence conditions when the vibrational heat-hydrodynamic instability transition to the aperiodic instability.

  10. Hydraulic Soft Yaw System for Multi MW Wind Turbines

    DEFF Research Database (Denmark)

    Stubkier, Søren

    energy and an increase in the loading of the wind turbine structure and components. This dissertation examines the hypothesis that there are advantages of basing a yaw system on hydraulic components instead of normal electrical components. This is done through a state of the art analysis followed...... in the wind turbine yaw system along with minor reductions in the blades and main shaft. Optimization of the damping and stiffness of the hydraulic soft yaw system have been conducted and an optimum found for load reduction. Linear control algorithms for control of damping pressure peaks have been developed...... the full turbine code in FAST, and the mathematical model of the hydraulic yaw system in Matlab/Simulink and Amesim is developed in order to analyze a full scale model of the hydraulic yaw system in combination with the implemented friction model for the yaw system. These results are also promising...

  11. Modeling Human Steering Behavior During Path Following in Teleoperation of Unmanned Ground Vehicles.

    Science.gov (United States)

    Mirinejad, Hossein; Jayakumar, Paramsothy; Ersal, Tulga

    2018-04-01

    This paper presents a behavioral model representing the human steering performance in teleoperated unmanned ground vehicles (UGVs). Human steering performance in teleoperation is considerably different from the performance in regular onboard driving situations due to significant communication delays in teleoperation systems and limited information human teleoperators receive from the vehicle sensory system. Mathematical models capturing the teleoperation performance are a key to making the development and evaluation of teleoperated UGV technologies fully simulation based and thus more rapid and cost-effective. However, driver models developed for the typical onboard driving case do not readily address this need. To fill the gap, this paper adopts a cognitive model that was originally developed for a typical highway driving scenario and develops a tuning strategy that adjusts the model parameters in the absence of human data to reflect the effect of various latencies and UGV speeds on driver performance in a teleoperated path-following task. Based on data collected from a human subject test study, it is shown that the tuned model can predict both the trend of changes in driver performance for different driving conditions and the best steering performance of human subjects in all driving conditions considered. The proposed model with the tuning strategy has a satisfactory performance in predicting human steering behavior in the task of teleoperated path following of UGVs. The established model is a suited candidate to be used in place of human drivers for simulation-based studies of UGV mobility in teleoperation systems.

  12. Design of The Test Stand for Hydraulic Active Heave Compensation System

    Directory of Open Access Journals (Sweden)

    Jakubowski Arkadiusz

    2017-01-01

    Full Text Available The article presented here described the design of a test stand for hydraulic active heave compensation system. The simulation of sea waves is realized by the use of hydraulic cylinder. A hydraulic motor is used for sea waves compensation. The hydraulic cylinder and the hydraulic motor are controlled by electrohydraulic servo valves. For the measurements Authors used displacement sensor and incremental encoder. Control algorithm is implemented on the PLC. The performed tests included hydraulic actuator and hydraulic motor step responses.

  13. Design of a Hydraulic Motor System Driven by Compressed Air

    Directory of Open Access Journals (Sweden)

    Jyun-Jhe Yu

    2013-06-01

    Full Text Available This paper presents the design of a highly efficient pneumatic motor system. The air engine is currently the most generally used device to convert potential energy of compressed air into mechanical energy. However, the efficiency of the air engines is too low to provide sufficient operating range for the vehicle. In this study, the energy contained in compressed air/pressurized hydraulic oil is transformed by a hydraulic motor to mechanical energy to enhance the efficiency of using air power. To evaluate the theoretical efficiency, the principle of balance of energy is applied. The theoretical efficiency of converting air into hydraulic energy is found to be a function of pressure; thus, the maximum converting efficiency can be determined. To confirm the theoretical evaluation, a prototype of the pneumatic hydraulic system is built. The experiment verifies that the theoretical evaluation of the system efficiency is reasonable, and that the layout of the system is determined by the results of theoretical evaluation.

  14. Operator learning effects in teleoperated rendezvous & docking

    Science.gov (United States)

    Wilde, M.; Harder, J.; Purschke, R.

    Teleoperation of spacecraft proximity operations and docking requires delicate timing and coordination of spacecraft maneuvers. Experience has shown that human operators show large performance fluctuations in these areas, which are a major factor to be addressed in operator training. In order to allow the quantification of the impact of these human fluctuations on control system performance and the human perception of this performance, a learning curve study was conducted with teleoperated final approach and docking scenarios. Over a period of ten experiment days, three test participants were tasked with repeatedly completing a set of three training scenarios. The scenarios were designed to contain different combinations of the major elements of any final approach and docking situation, and to feature an increasing difficulty level. The individual difficulty levels for the three operators furthermore differed in the level of operator support functions available in their human-machine interfaces. Operator performance in the test scenarios were evaluated in the fields approach success and precision, docking safety, and approach efficiency by a combination of recorded maneuver data and questionnaires. The results show that operator experience and the associated learning curves increase operator performance substantially, regardless of the support system used. The paper also shows that the fluctuations in operator performance and self-perception are substantial between as well as within experiment days, and must be reckoned with in teleoperation system design and mission planning.

  15. Advanced Tele-operation

    International Nuclear Information System (INIS)

    Decreton, M.

    1998-01-01

    Maintenance, repair, and dismantling operations in nuclear facilities have to be performed remotely when high radiation doses exclude hands-on operation, but also to minimize contamination risks and occupational doses to the operators. Computer-aided and sensor-based tele-operation enhances safety, reliability, and performance by helping the operator in difficult tasks with poor remote environmental perception. The objectives of work in this domain are to increase the scientific knowledge of the studied phenomena, to improve the interpretation of data, to improve the piloting og experimental devices during irradiation, to reveal and to understand possible unexpected phenomena occurring during irradiation. This scientific report describes the achievements for 1997 in the area of radiation tolerance for of remote-sensing, optical fibres and optical fibre sensors

  16. Adaptive Non-linear Control of Hydraulic Actuator Systems

    DEFF Research Database (Denmark)

    Hansen, Poul Erik; Conrad, Finn

    1998-01-01

    Presentation of two new developed adaptive non-liner controllers for hydraulic actuator systems to give stable operation and improved performance.Results from the IMCIA project supported by the Danish Technical Research Council (STVF).......Presentation of two new developed adaptive non-liner controllers for hydraulic actuator systems to give stable operation and improved performance.Results from the IMCIA project supported by the Danish Technical Research Council (STVF)....

  17. Teleoperation for learning by demonstration

    DEFF Research Database (Denmark)

    Kukliński, Kamil; Fischer, Kerstin; Marhenke, Ilka

    2014-01-01

    Learning by demonstration is a useful technique to augment a robot's behavioral inventory, and teleoperation allows lay users to demonstrate novel behaviors intuitively to the robot. In this paper, we compare two modes of teleoperation of an industrial robot, the demonstration by means of a data...... glove and by means of a control object (peg). Experiments with 16 lay users, performing assembly task on the Cranfield benchmark objects, show that the control peg leads to more success, more efficient demonstration and fewer errors....

  18. Pseudo-Haptic Feedback in Teleoperation.

    Science.gov (United States)

    Neupert, Carsten; Matich, Sebastian; Scherping, Nick; Kupnik, Mario; Werthschutzky, Roland; Hatzfeld, Christian

    2016-01-01

    In this paper, we develop possible realizations of pseudo-haptic feedback in teleoperation systems based on existing works for pseudo-haptic feedback in virtual reality and the intended applications. We derive four potential factors affecting the performance of haptic feedback (calculation operator, maximum displacement, offset force, and scaling factor), which are analyzed in three compliance identification experiments. First, we analyze the principle usability of pseudo-haptic feedback by comparing information transfer measures for teleoperation and direct interaction. Pseudo-haptic interaction yields well above-chance performance, while direct interaction performs almost perfectly. In order to optimize pseudo-haptic feedback, in the second study we perform a full-factorial experimental design with 36 subjects performing 6,480 trials with 36 different treatments. Information transfer ranges from 0.68 bit to 1.72 bit in a task with a theoretical maximum of 2.6 bit, with a predominant effect of the calculation operator and a minor effect of the maximum displacement. In a third study, short- and long-term learning effects are analyzed. Learning effects regarding the performance of pseudo-haptic feedback cannot be observed for single-day experiments. Tests over 10 days show a maximum increase in information transfer of 0.8 bit. The results show the feasibility of pseudo-haptic feedback for teleoperation and can be used as design basis for task-specific systems.

  19. Hydraulic system for driving control rods

    International Nuclear Information System (INIS)

    Okuzumi, Naoaki.

    1982-01-01

    Purpose: To enable safety reactor shut down upon occurrence of an abnormal excess pressure in a hydraulic control unit. Constitution: The actuation pressure for a pressure switch that generates a scram signal is set lower than the release pressure set to a pressure release valve. Thus, if the pressure of nitrogen gas in a nitrogen container increases such as upon exposure of the hydraulic control unit to a high temperature, the pressure switch is actuated at first to generate the scram signal and a scram valve is opened to supply water at high pressure to control rod drives under the driving force of the nitrogen gas at high pressure to rapidly insert the control element into the reactor and shut down it. If the pressure of the nitrogen gas still increases after the scram, the pressure release valve is opened to release the nitrogen gas at high temperature to the atmosphere. Since the scram is attained before the actuation of the pressure release valve, safety reactor shut down can be attained and the hydraulic control unit can be protected. (Sekiya, K.)

  20. A 6-DOF vibration isolation system for hydraulic hybrid vehicles

    Science.gov (United States)

    Nguyen, The; Elahinia, Mohammad; Olson, Walter W.; Fontaine, Paul

    2006-03-01

    This paper presents the results of vibration isolation analysis for the pump/motor component of hydraulic hybrid vehicles (HHVs). The HHVs are designed to combine gasoline/diesel engine and hydraulic power in order to improve the fuel efficiency and reduce the pollution. Electric hybrid technology is being applied to passenger cars with small and medium engines to improve the fuel economy. However, for heavy duty vehicles such as large SUVs, trucks, and buses, which require more power, the hydraulic hybridization is a more efficient choice. In function, the hydraulic hybrid subsystem improves the fuel efficiency of the vehicle by recovering some of the energy that is otherwise wasted in friction brakes. Since the operation of the main component of HHVs involves with rotating parts and moving fluid, noise and vibration are an issue that affects both passengers (ride comfort) as well as surrounding people (drive-by noise). This study looks into the possibility of reducing the transmitted noise and vibration from the hydraulic subsystem to the vehicle's chassis by using magnetorheological (MR) fluid mounts. To this end, the hydraulic subsystem is modeled as a six degree of freedom (6-DOF) rigid body. A 6-DOF isolation system, consisting of five mounts connected to the pump/motor at five different locations, is modeled and simulated. The mounts are designed by combining regular elastomer components with MR fluids. In the simulation, the real loading and working conditions of the hydraulic subsystem are considered and the effects of both shock and vibration are analyzed. The transmissibility of the isolation system is monitored in a wide range of frequencies. The geometry of the isolation system is considered in order to sustain the weight of the hydraulic system without affecting the design of the chassis and the effectiveness of the vibration isolating ability. The simulation results shows reduction in the transmitted vibration force for different working cycles of

  1. Development of NTD Hydraulic Rotation System for Kijang Research Reactor

    International Nuclear Information System (INIS)

    Kang, Hanok; Park, Kijung; Park, Yongsoo; Kim, Seong Hoon; Park, Cheol

    2014-01-01

    The KJRR will be mainly utilized for isotope production, NTD (Neutron Transmutation Doping) production, and related research activities. During irradiation for the NTD process, the irradiation rigs containing the silicon ingot rotate at a constant speed to ensure precisely defined homogeneity of the irradiation. The NTDHRS requires only hydraulic piping conveniently routed to the rotating devices inside the reactor pool. The resulting layout leaves the pool area clear of obstructions which might obscure vision and hinder target handling for operators. Pump banks and control valves are located remotely in a dedicated plant room allowing easy access and online maintenance. The necessities and major characteristic of NTD hydraulic rotation system are described in this study. A new NTD hydraulic rotation system are being developed to rotate the irradiation rigs at a constant speed and supply cooling flow for the irradiation rigs and reflector assembly. The configuration of the NTD hydraulic rotation device is discussed and practical methods to improve the rotational performance are suggested

  2. Development of NTD Hydraulic Rotation System for Kijang Research Reactor

    Energy Technology Data Exchange (ETDEWEB)

    Kang, Hanok; Park, Kijung; Park, Yongsoo; Kim, Seong Hoon; Park, Cheol [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

    2014-05-15

    The KJRR will be mainly utilized for isotope production, NTD (Neutron Transmutation Doping) production, and related research activities. During irradiation for the NTD process, the irradiation rigs containing the silicon ingot rotate at a constant speed to ensure precisely defined homogeneity of the irradiation. The NTDHRS requires only hydraulic piping conveniently routed to the rotating devices inside the reactor pool. The resulting layout leaves the pool area clear of obstructions which might obscure vision and hinder target handling for operators. Pump banks and control valves are located remotely in a dedicated plant room allowing easy access and online maintenance. The necessities and major characteristic of NTD hydraulic rotation system are described in this study. A new NTD hydraulic rotation system are being developed to rotate the irradiation rigs at a constant speed and supply cooling flow for the irradiation rigs and reflector assembly. The configuration of the NTD hydraulic rotation device is discussed and practical methods to improve the rotational performance are suggested.

  3. SENSORS FAULT DIAGNOSIS ALGORITHM DESIGN OF A HYDRAULIC SYSTEM

    Directory of Open Access Journals (Sweden)

    Matej ORAVEC

    2017-06-01

    Full Text Available This article presents the sensors fault diagnosis system design for the hydraulic system, which is based on the group of the three fault estimation filters. These filters are used for estimation of the system states and sensors fault magnitude. Also, this article briefly stated the hydraulic system state control design with integrator, which is important assumption for the fault diagnosis system design. The sensors fault diagnosis system is implemented into the Matlab/Simulink environment and it is verified using the controlled hydraulic system simulation model. Verification of the designed fault diagnosis system is realized by series of experiments, which simulates sensors faults. The results of the experiments are briefly presented in the last part of this article.

  4. FOREWORD: 26th IAHR Symposium on Hydraulic Machinery and Systems

    Science.gov (United States)

    Wu, Yulin; Wang, Zhengwei; Liu, Shuhong; Yuan, Shouqi; Luo, Xingqi; Wang, Fujun

    2012-11-01

    The 26th IAHR Symposium on Hydraulic Machinery and Systems, will be held in Beijing, China, 19-23 August 2012. It is jointly organized by Tsinghua University, State Key Laboratory of Hydro Science and Hydraulic Engineering, China, Jiangsu University, Xi'an University of Technology, China Agricultural University, National Engineering Research Center of Hydropower Equipment and Dongfang Electric Machinery Co., Ltd. It is the second time that China hosts such a symposium. By the end of 2011, the China electrical power system had a total of 1 050 GW installed power, out of which 220 GW was in hydropower plants. The energy produced in hydropower facilities was 662.6 TWh from a total of 4,720 TWh electrical energy production in 2011. Moreover, in 2020, new hydropower capacities are going to be developed, with a total of 180 GW installed power and an estimated 708 TWh/year energy production. And in 2011, the installed power of pumped storage stations was about 25GW. In 2020, the data will be 70GW. At the same time, the number of pumps used in China is increasing rapidly. China produces about 29,000,000 pumps with more than 220 series per year. By the end of 2011, the Chinese pumping system has a total of 950 GW installed power. The energy consumed in pumping facilities was 530 TWh in 2011. The pump energy consumption accounted for about 12% of the national electrical energy production. Therefore, there is a large market in the field of hydraulic machinery including water turbines, pump turbines and a variety of pumps in China. There are also many research projects in this field. For example, we have conducted National Key Research Projects on 1000 MW hydraulic turbine, and on the pump turbines with high head, as well as on the large capacity pumps for water supply. Tsinghua University of Beijing is proud to host the 26th IAHR Symposium on Hydraulic Machinery and Systems. Tsinghua University was established in 1911, after the founding of the People's Republic of China. It

  5. Design of a Hydraulic Motor System Driven by Compressed Air

    OpenAIRE

    Shaw, Dein; Yu, Jyun-Jhe; Chieh, Cheng

    2013-01-01

    This paper presents the design of a highly efficient pneumatic motor system. The air engine is currently the most generally used device to convert potential energy of compressed air into mechanical energy. However, the efficiency of the air engines is too low to provide sufficient operating range for the vehicle. In this study, the energy contained in compressed air/pressurized hydraulic oil is transformed by a hydraulic motor to mechanical energy to enhance the efficiency of using air power....

  6. Hydraulic Soft Yaw System Load Reduction and Prototype Results

    DEFF Research Database (Denmark)

    Stubkier, Søren; Pedersen, Henrik C.; Markussen, Kristian

    2013-01-01

    Introducing a hydraulic soft yaw concept for wind turbines leads to significant load reductions in the wind turbine structure. The soft yaw system operates as a shock absorption system on a car, hence absorbing the loading from turbulent wind conditions instead of leading them into the stiff wind...... turbine structure. Results presented shows fatigue reductions of up to 40% and ultimate load reduction of up to 19%. The ultimate load reduction increases even more when the over load protection system in the hydraulic soft yaw system is introduced and results show how the exact extreme load cut off...... operates. Further it is analyzed how the soft yaw system influence the power production of the turbine. It is shown that the influence is minimal, but at larger yaw errors the effect is possitive. Due to the implemeted functions in the hydraulic soft yaw system such as even load distribution on the pinions...

  7. Effect of physical property of supporting media and variable hydraulic loading on hydraulic characteristics of advanced onsite wastewater treatment system.

    Science.gov (United States)

    Sharma, Meena Kumari; Kazmi, Absar Ahmad

    2015-01-01

    A laboratory-scale study was carried out to investigate the effects of physical properties of the supporting media and variable hydraulic shock loads on the hydraulic characteristics of an advanced onsite wastewater treatment system. The system consisted of two upflow anaerobic reactors (a septic tank and an anaerobic filter) accommodated within a single unit. The study was divided into three phases on the basis of three different supporting media (Aqwise carriers, corrugated ring and baked clay) used in the anaerobic filter. Hydraulic loadings were based on peak flow factor (PFF), varying from one to six, to simulate the actual conditions during onsite wastewater treatment. Hydraulic characteristics of the system were identified on the basis of residence time distribution analyses. The system showed a very good hydraulic efficiency, between 0.86 and 0.93, with the media of highest porosity at the hydraulic loading of PFF≤4. At the higher hydraulic loading of PFF 6 also, an appreciable hydraulic efficiency of 0.74 was observed. The system also showed good chemical oxygen demand and total suspended solids removal efficiency of 80.5% and 82.3%, respectively at the higher hydraulic loading of PFF 6. Plug-flow dispersion model was found to be the most appropriate one to describe the mixing pattern of the system, with different supporting media at variable loading, during the tracer study.

  8. Teleoperators: Man's Machine Partners

    Energy Technology Data Exchange (ETDEWEB)

    Corliss, William R.

    1972-01-01

    This booklet is about teleoperators, a class of machines that augment man rather than replace him. Teleoperators have the ability to add to man's strength, his reach, and his ability to work in hostile environments.

  9. Pressure control of hydraulic servo system using proportional control valve

    International Nuclear Information System (INIS)

    Yang, Kyong Uk; Oh, In Ho; Lee, Ill Yeong

    1999-01-01

    The purpose of this study is to develop a control scheme for the hydraulic servo system which can rapidly control the pressure in a hydraulic cylinder with very short stroke. Compared with the negligible stroke of the cylinder in the system, the flow gain of the proportional pressure control valve constituting the hydraulic servo system is relatively large and the time delay on the response of the valve is quite long. Therefore, the pressure control system, in this study tends to get unstable during operations. Considering the above mentioned characteristics of the system, a two-degree-of-freedom control scheme, composed of the I-PDD 2 ... feedback compensator and the feedforward controller, is proposed. The reference model scheme is used in deciding the parameters of the controllers. The validity of the proposed control scheme is confirmed through the experiments

  10. Nonlinear control for a class of hydraulic servo system.

    Science.gov (United States)

    Yu, Hong; Feng, Zheng-jin; Wang, Xu-yong

    2004-11-01

    The dynamics of hydraulic systems are highly nonlinear and the system may be subjected to non-smooth and discontinuous nonlinearities due to directional change of valve opening, friction, etc. Aside from the nonlinear nature of hydraulic dynamics, hydraulic servo systems also have large extent of model uncertainties. To address these challenging issues, a robust state-feedback controller is designed by employing backstepping design technique such that the system output tracks a given signal arbitrarily well, and all signals in the closed-loop system remain bounded. Moreover, a relevant disturbance attenuation inequality is satisfied by the closed-loop signals. Compared with previously proposed robust controllers, this paper's robust controller based on backstepping recursive design method is easier to design, and is more suitable for implementation.

  11. Tap Water Hydraulic Control Systems - Design and Industrial Applications. Chapter 7 in Advances in Hydraulic Control Systems

    DEFF Research Database (Denmark)

    Conrad, Finn

    Deals with development and design of modern tap water hydraulic components and systems, in particalar the Danfoss Nessie-family of components and systems working with pure tap water without any kind of additives. Typical industrial applications are presented and the perspectives of new industrial...... applications and the environmental benefits are in focus, in particular in the food processing industry and in fire-fighting systems.......Deals with development and design of modern tap water hydraulic components and systems, in particalar the Danfoss Nessie-family of components and systems working with pure tap water without any kind of additives. Typical industrial applications are presented and the perspectives of new industrial...

  12. Computerized hydraulic scanning system for quantitative non destructive examination

    International Nuclear Information System (INIS)

    Gundtoft, H.E.

    1982-01-01

    A hydraulic scanning system with five degrees of freedom is described. It is primarily designed as a universal system for fast and accurate ultrasonic inspection of materials for their internal variation in properties. The whole system is controlled by a minicomputer which also is used for evaluating and presenting of the results of the inspection. (author)

  13. Robot technology. Vol. 3B. Teleoperation and robotics: applications and technology

    Energy Technology Data Exchange (ETDEWEB)

    Vertut, J; Coiffet, P

    1985-01-01

    Teleoperation is concerned with the exploration and exploitation of of spaces which do not allow, because of their inaccessibility or hostility, direct access to man. This volume (Parts 2, 3 and 4) covers the contribution of computer science and automatic control to this technology. Part 2 includes a description of teleoperation systems followed by chapters on the operator substitution function by computer feedback to the operator. Part 3 has chapters on performance evaluation of teleoperation systems and the human operator in the teleoperation system. Part 4 is about applications of teleoperation in the nuclear industry, underwater, in space, in medicine, in industry and in security and civil protection. The nuclear applications include research and pilot facilities, reactor operation and maintenance, reactor decommissioning and dismantling and in emergencies, for example following a reactor accident. (U.K.).

  14. A high capability teleoperated vehicle for hazardous applications

    International Nuclear Information System (INIS)

    Dudar, A.M.; Witherspoon, R.L.

    1995-01-01

    The Robotics Development Group at the Savannah River Site is developing a high performance teleoperated vehicle for use in radioactive and hazardous environments. The three-wheeled vehicle incorporates a highly dexterous 6 degree-of-freedom (DOF), hydraulically-powered manipulator made by Schilling Development, Inc. The teleoperator is called Little MoRT (MObile Radio-controlled Teleoperator) and is a modified version of a commercially available, battery-powered, warehouse vehicle. Little MoRT is controlled remotely by a universal robot controller either through a radio frequency link or a tethered cable. Six video cameras and a microphone provide the operator with audio-visual feedback of the vehicle and its surrounding environment. The vehicle also incorporates a hydraulic power unit consisting of a propane-driven engine for powering the Schilling manipulator. Little MoRT is capable of operating in outdoor as well as indoor environments and is well suited for decontamination and decommissioning activities such as dismantling, sorting, and surveying of radioactive waste

  15. Design of Transputer Controllers for Hydraulic Actuator Systems

    DEFF Research Database (Denmark)

    Conrad, Finn

    1996-01-01

    The paper deals with how transputers can be applied for fast controllers for hydraulic actuator systems. A general transputer-based control systems including a data acquisition transputer subsystem is presented. An application case: development of a mechatronic test facility with a fast hydraulic...... test robot controlled by a transputer-basec controller is presented. Some experimental path-tracking results with adaptive control algorithms are presented and discussed. The results confirm that transputers have significant advantages for intelligent control of actuator systems and robots for high...

  16. Maestro: a tele-robotic system for decommissioning of nuclear plants

    International Nuclear Information System (INIS)

    Desbats, P.; Idasiak, J.M.

    2008-01-01

    Compared to electric manipulators, hydraulic manipulators can handle higher payloads with respect to their size and mass. However, due to their limited positioning resolution and dexterity, they are usually disqualified for precise tele-manipulation and high quality tele-operation. More over, experience feedback has shown that on-the-shelf hydraulic manipulators are not reliable when performing high demanding tasks in tele-operation for dismantling applications. In order to solve this problem, CEA (Commissariat l'Energie Atomique), in collaboration with Cybernetix company, has developed a computer-aided, high-precision remote handling system with force-feedback featuring the advanced hydraulic tele-robotic arm Maestro. (authors)

  17. Reactor Shutdown Mechanism by Top-mounted Hydraulic System

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Sang Haun; Cho, Yeong Garp; Choi, Myoung Hwan; Lee, Jin Haeng; Huh, Hyung; Kim, Jong In [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

    2012-05-15

    There are two types of reactor shutdown mechanisms in HANARO. One is the mechanism driven by a hydraulic system, and the other is driven by a stepping motor. In HANARO, there are four Control Rod Drive Mechanisms (CRDMs) with an individual step motor and four Shutoff (SO) Units with an individual hydraulic system located at the top of reactor pool. The absorber rods in SO units are poised at the top of the core by the hydraulic force during normal operation. The rods of SO units drop by gravity as the first reactor showdown mechanism when a trip is commended by the reactor protection system (RPS). The rods in CRDMs also drop by gravity together as a redundant shutdown mechanism. When a trip is commended by the reactor regulating system (RRS), the absorber rods of CRDM only drop; while the absorber rods of SO units stay at the top of the core by the hydraulic system. The reactivity control mechanisms of in JRTR, one of the new research reactor with plate type fuels, consist of four CRDMs driven by an individual step motor and two second shutdown drive mechanisms (SSDMs) driven by an individual hydraulic system as shown in Fig. 1. The CRDMs act as the first reactor shutdown mechanism and reactor regulating as well. The top-mounted SSDM driven by the hydraulic system for the JRTR is under design in KAERI. The SSDM provides an alternate and independent means of reactor shutdown. The second shutdown rods (SSRs) of the SSDM are poised at the top of the core by the hydraulic system during the normal operation and drop by gravity for the reactor trip. Based on the proven technology of the design, operation and maintenance for HANARO, the SSDM for the JRTR has been optimized by the design improvement from the experience and test. This paper aims for the introduction of the SSDM in the process of the basic design. The major differences of the shutdown mechanisms by the hydraulic system are compared between HANARO and JRTR, and the design features, system, structure and

  18. Fuzzy Logic Supervised Teleoperation Control for Mobile Robot

    Institute of Scientific and Technical Information of China (English)

    2008-01-01

    The supervised teleoperation control is presented for a mobile robot to implement the tasks by using fuzzy logic. The teleoperation control system includes joystick based user interaction mechanism, the high level instruction set and fuzzy logic behaviors integrated in a supervised autonomy teleoperation control system for indoor navigation. These behaviors include left wall following, right wall following, turn left, turn right, left obstacle avoidance, right obstacle avoidance and corridor following based on ultrasonic range finders data. The robot compares the instructive high level command from the operator and relays back a suggestive signal back to the operator in case of mismatch between environment and instructive command. This strategy relieves the operator's cognitive burden, handle unforeseen situations and uncertainties of environment autonomously. The effectiveness of the proposed method for navigation in an unstructured environment is verified by experiments conducted on a mobile robot equipped with only ultrasonic range finders for environment sensing.

  19. Experiments in teleoperator and autonomous control of space robotic vehicles

    Science.gov (United States)

    Alexander, Harold L.

    1991-01-01

    A program of research embracing teleoperator and automatic navigational control of freely flying satellite robots is presented. Current research goals include: (1) developing visual operator interfaces for improved vehicle teleoperation; (2) determining the effects of different visual interface system designs on operator performance; and (3) achieving autonomous vision-based vehicle navigation and control. This research program combines virtual-environment teleoperation studies and neutral-buoyancy experiments using a space-robot simulator vehicle currently under development. Visual-interface design options under investigation include monoscopic versus stereoscopic displays and cameras, helmet-mounted versus panel-mounted display monitors, head-tracking versus fixed or manually steerable remote cameras, and the provision of vehicle-fixed visual cues, or markers, in the remote scene for improved sensing of vehicle position, orientation, and motion.

  20. Control for delayed bilateral teleoperation of a quadrotor.

    Science.gov (United States)

    Slawiñski, E; Santiago, D; Mut, V

    2017-11-01

    This paper proposes a cascade control scheme for delayed bilateral teleoperation of a quadcopter. The strategy transforms a 6D real quadcopter to an easy-to-teleoperate 3D virtual quadcopter. The scheme is formed by a P+d plus PID controller for each dof. The analysis based on Lyapunov theory gets as result the way to set the control parameters depending on the magnitude of the asymmetric time delays (forward and backward delays). This technic aims to reach stability, simplicity and good performance in practice. Besides, experimental tests about delayed bilateral teleoperation of a quadcopter including the proposed control scheme are shown in order to evaluate the system performance. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  1. Charging valve of the full hydraulic braking system

    Directory of Open Access Journals (Sweden)

    Jinshi Chen

    2016-03-01

    Full Text Available It is known that the full hydraulic braking system has excellent braking performance. As the key component of the full hydraulic braking system, the parameters of the accumulator charging valve have a significant effect on the braking performance. In this article, the key parameters of the charging valve are analyzed through the static theoretical and an Advanced Modeling Environment for performing Simulation of engineering systems (AMESim simulation model of the dual-circuit accumulator charging valve is established based on the real structure parameters first. Second, according to the results of the dynamic simulation, the dynamic characteristics of the charging pressure, the flow rate, and the frequency of the charging valve are studied. The key parameters affecting the serial production are proposed and some technical advices for improving the performance of the full hydraulic system are provided. Finally, the theoretical analysis is validated by the simulation results. The comparison between the simulation results and the experimental results indicates that the simulated AMESim model of the charging valve is accurate and credible with the error rate inside 0.5% compared with the experimental result. Hence, the performance of the charging valve meets the request of the full hydraulic braking system exactly.

  2. Development and demonstration of a teleoperated modular open-quotes snakeclose quotes robot system. Final report, September 30, 1986--December 31, 1993

    International Nuclear Information System (INIS)

    Tesar, D.; Hooper, R.

    1995-01-01

    The U.S. 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 advanced robotic systems capable of performing tasks that generate significant occupational radiation exposure and/or whose execution times can be reduced if performed by an automated system. The goal was to develop advanced robotic systems capable of performing surveillance, maintenance, and repair tasks in nuclear facilities and other hazardous environments. The approach to achieving the program objective was a transition from teleoperation to the capability of autonomous operation within three successive generations of robotic systems. The robotic system will always have the capability to request human assistance. The development of general purpose robots to perform skilled labor tasks in restricted environments was shown to have extensive payback in areas of energy systems (nuclear and fossil units), chemical plants, fire fighting, space operations, underwater activities, defense, and other hazardous activities. The strategy that was used to achieve the program goals in an efficient and timely manner consisted in utilizing, and advancing where required, state-of-the-art robotics technology through close interaction between the universities and the manufacturers and operators of nuclear power plants. The research effort showed that a broad range of applications for the robotic systems existed for the improved operation of nuclear reactors and in other hazardous tasks. As a consequence, each institution was able to obtain additional support from other agencies, e.g., DoD and NASA. Areas of cooperation with other nations (e.g., Japan, France, Germany) were utilized

  3. Development and demonstration of a teleoperated modular {open_quotes}snake{close_quotes} robot system. Final report, September 30, 1986--December 31, 1993

    Energy Technology Data Exchange (ETDEWEB)

    Tesar, D.; Hooper, R.

    1995-04-12

    The U.S. 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 advanced robotic systems capable of performing tasks that generate significant occupational radiation exposure and/or whose execution times can be reduced if performed by an automated system. The goal was to develop advanced robotic systems capable of performing surveillance, maintenance, and repair tasks in nuclear facilities and other hazardous environments. The approach to achieving the program objective was a transition from teleoperation to the capability of autonomous operation within three successive generations of robotic systems. The robotic system will always have the capability to request human assistance. The development of general purpose robots to perform skilled labor tasks in restricted environments was shown to have extensive payback in areas of energy systems (nuclear and fossil units), chemical plants, fire fighting, space operations, underwater activities, defense, and other hazardous activities. The strategy that was used to achieve the program goals in an efficient and timely manner consisted in utilizing, and advancing where required, state-of-the-art robotics technology through close interaction between the universities and the manufacturers and operators of nuclear power plants. The research effort showed that a broad range of applications for the robotic systems existed for the improved operation of nuclear reactors and in other hazardous tasks. As a consequence, each institution was able to obtain additional support from other agencies, e.g., DoD and NASA. Areas of cooperation with other nations (e.g., Japan, France, Germany) were utilized.

  4. Nanocoatings for High-Efficiency Industrial Hydraulic and Tooling Systems

    Energy Technology Data Exchange (ETDEWEB)

    None

    2009-05-01

    This factsheet describes a research project whose goal is to develop degradation-resistant nano-coatings of AlMgB14 and AlMgB14– (titanium diboride) TiB2 that result in improved surface hardness and reduced friction for industrial hydraulic and tooling systems.

  5. Research on MEMS sensor in hydraulic system flow detection

    Science.gov (United States)

    Zhang, Hongpeng; Zhang, Yindong; Liu, Dong; Ji, Yulong; Jiang, Jihai; Sun, Yuqing

    2011-05-01

    With the development of mechatronics technology and fault diagnosis theory, people regard flow information much more than before. Cheap, fast and accurate flow sensors are urgently needed by hydraulic industry. So MEMS sensor, which is small, low cost, well performed and easy to integrate, will surely play an important role in this field. Based on the new method of flow measurement which was put forward by our research group, this paper completed the measurement of flow rate in hydraulic system by setting up the mathematical model, using numerical simulation method and doing physical experiment. Based on viscous fluid flow equations we deduced differential pressure-velocity model of this new sensor and did optimization on parameters. Then, we designed and manufactured the throttle and studied the velocity and pressure field inside the sensor by FLUENT. Also in simulation we get the differential pressure-velocity curve .The model machine was simulated too to direct experiment. In the static experiments we calibrated the MEMS sensing element and built some sample sensors. Then in a hydraulic testing system we compared the sensor signal with a turbine meter. It presented good linearity and could meet general hydraulic system use. Based on the CFD curves, we analyzed the error reasons and made some suggestion to improve. In the dynamic test, we confirmed this sensor can realize high frequency flow detection by a 7 piston-pump.

  6. Observer-Based Robust Control for Hydraulic Velocity Control System

    Directory of Open Access Journals (Sweden)

    Wei Shen

    2013-01-01

    Full Text Available This paper investigates the problems of robust stabilization and robust control for the secondary component speed control system with parameters uncertainty and load disturbance. The aim is to enhance the control performance of hydraulic system based on Common Pressure Rail (CPR. Firstly, a mathematical model is presented to describe the hydraulic control system. Then a novel observer is proposed, and an observed-based control strategy is designed such that the closed-loop system is asymptotically stable and satisfies the disturbance attenuation level. The condition for the existence of the developed controller can by efficiently solved by using the MATLAB software. Finally, simulation results are provided to demonstrate the effectiveness of the proposed method.

  7. A Hydraulic Stress Measurement System for Deep Borehole Investigations

    Science.gov (United States)

    Ask, Maria; Ask, Daniel; Cornet, Francois; Nilsson, Tommy

    2017-04-01

    Luleå University of Technology (LTU) is developing and building a wire-line system for hydraulic rock stress measurements, with funding from the Swedish Research Council and Luleå University of Technology. In this project, LTU is collaborating with University of Strasbourg and Geosigma AB. The stress state influences drilling and drillability, as well as rock mass stability and permeability. Therefore, knowledge about the state of in-situ stress (stress magnitudes, and orientations) and its spatial variation with depth is essential for many underground rock engineering projects, for example for underground storage of hazardous material (e.g. nuclear waste, carbon dioxide), deep geothermal exploration, and underground infrastructure (e.g. tunneling, hydropower dams). The system is designed to conduct hydraulic stress testing in slim boreholes. There are three types of test methods: (1) hydraulic fracturing, (2) sleeve fracturing and (3) hydraulic testing of pre-existing fractures. These are robust methods for determining in situ stresses from boreholes. Integration of the three methods allows determination of the three-dimensional stress tensor and its spatial variation with depth in a scientific unambiguously way. The stress system is composed of a downhole and a surface unit. The downhole unit consists of hydraulic fracturing equipment (straddle packers and downhole imaging tool) and their associated data acquisition systems. The testing system is state of the art in several aspects including: (1) Large depth range (3 km), (2) Ability to test three borehole dimensions (N=76 mm, H=96 mm, and P=122 mm), (3) Resistivity imager maps the orientation of tested fracture; (4) Highly stiff and resistive to corrosion downhole testing equipment; and (5) Very detailed control on the injection flow rate and cumulative volume is obtained by a hydraulic injection pump with variable piston rate, and a highly sensitive flow-meter. At EGU General Assembly 2017, we would like to

  8. Calculation of dynamic hydraulic forces in nuclear plant piping systems

    International Nuclear Information System (INIS)

    Choi, D.K.

    1982-01-01

    A computer code was developed as one of the tools needed for analysis of piping dynamic loading on nuclear power plant high energy piping systems, including reactor safety and relief value upstream and discharge piping systems. The code calculates the transient hydraulic data and dynamic forces within the one-dimensional system, caused by a pipe rupture or sudden value motion, using a fixed space and varying time grid-method of characteristics. Subcooled, superheated, homogeneous two-phase and transition flow regimes are considered. A non-equilibrium effect is also considered in computing the fluid specific volume and fluid local sonic velocity in the two-phase mixture. Various hydraulic components such as a spring loaded or power operated value, enlarger, orifice, pressurized tank, multiple pipe junction (tee), etc. are considered as boundary conditions. Comparisons of calculated results with available experimental data shows a good agreement. (Author)

  9. Fixed-Time Stability of the Hydraulic Turbine Governing System

    Directory of Open Access Journals (Sweden)

    Caoyuan Ma

    2018-01-01

    Full Text Available This paper studies the problem of fixed-time stability of hydraulic turbine governing system with the elastic water hammer nonlinear model. To control and improve the quality of hydraulic turbine governing system, a new fixed-time control strategy is proposed, which can stabilize the water turbine governing system within a fixed time. Compared with the finite-time control strategy where the convergence rate depends on the initial state, the settling time of the fixed-time control scheme can be adjusted to the required value regardless of the initial conditions. Finally, we numerically show that the fixed-time control is more effective than and superior to the finite-time control.

  10. Robotics and tele-operation technology for applications in nuclear fields

    International Nuclear Information System (INIS)

    Kosuge, Kazuhiro; Hirata, Yasuhisa; Takeo, Koji

    2002-01-01

    In this article, we introduce available robotics and tele-operation technology for applications in Nuclear Fields. First, robotics technology for manipulation of a large object is introduced which has been experimentally applied to ITER Maintenance Robot. Then, transportation technology of a large object by multiple mobile robots is reviewed. At last, recent tele-operation technologies and a prototype tele-operation system, referred to as VISIT (Visual Interface System for Interactive Task-execution), is introduced. Several experimental results are also introduced. (author)

  11. Analysis and selection of a system for hydraulic transport of slags in the Mironovskii power plant

    Energy Technology Data Exchange (ETDEWEB)

    Mirgorodskii, V.G.; Mova, M.E.; Korenev, V.E.; Grechikhin, Yu.A. (Donetskii Politekhnicheskii Institut (USSR))

    1991-01-01

    Discusses systems for hydraulic transport of ashes and slags from combustion of black coal (with an ash content of 40.5%) in the Mironovskii power plant. Three systems are comparatively evaluated: hydraulic transport under influence of gravity, hydraulic transport with a system of dredging pumps, or an airlift pump system. Design of each system, its operation and types of pumps or airlift systems are discussed. The evaluation concentrates on the hydraulic transport system with 1 to 3 airlift pumps each with a capacity ranging from 110 to 890 m{sup 3}/h. Optimum design of the airlift hydraulic system for slag and ash transport is described.

  12. Workload, flow, and telepresence during teleoperation

    Energy Technology Data Exchange (ETDEWEB)

    Draper, J.V. [Oak Ridge National Lab., TN (United States); Blair, L.M. [Human Machine Interfaces, Inc., Knoxville, TN (United States)

    1996-04-01

    There is much speculation about the relations among workload, flow, telepresence, and performance during teleoperation, but few data that provide evidence concerning them. This paper presents results an investigation conducted during completion of a pipe cutting task using a teleoperator at ORNL. Results show support for the hypothesis that telepresence is related to expenditure of attentional resources, and some support for the hypothesis that telepresence is related to flow. The discussion examines the results from an attentional resources perspective on teleoperation.

  13. Workload, flow, and telepresence during teleoperation

    International Nuclear Information System (INIS)

    Draper, J.V.; Blair, L.M.

    1996-01-01

    There is much speculation about the relations among workload, flow, telepresence, and performance during teleoperation, but few data that provide evidence concerning them. This paper presents results an investigation conducted during completion of a pipe cutting task using a teleoperator at ORNL. Results show support for the hypothesis that telepresence is related to expenditure of attentional resources, and some support for the hypothesis that telepresence is related to flow. The discussion examines the results from an attentional resources perspective on teleoperation

  14. Thermal-hydraulic tests for reactor safety system

    International Nuclear Information System (INIS)

    Chun, Se Young; Chung, Moon Ki; Baek, Won Pil

    2002-05-01

    Tests for the safety depressurization system, Sparger adopted for the Korean next generation reactor, APR1400 are carried out for several geometries with the B and C (Blowdown and Condensation) facility in the condition of high temperature and pressure and with a small test facility in the condition of atmospheric temperature and pressure. Tests for the critical heat flux are performed with the RCS(Reactor Coolant System) facility as well as with the Freon CHF Loop in the condition of high temperature and pressure. The atmospheric temperature and pressure facility is utilized for development of the high standard thermal hydraulic measurement technology. The optical method is developed to measure the local thermal-hydraulic behavior for the single and two-phase boiling phenomena

  15. Efficient numerical method for district heating system hydraulics

    International Nuclear Information System (INIS)

    Stevanovic, Vladimir D.; Prica, Sanja; Maslovaric, Blazenka; Zivkovic, Branislav; Nikodijevic, Srdjan

    2007-01-01

    An efficient method for numerical simulation and analyses of the steady state hydraulics of complex pipeline networks is presented. It is based on the loop model of the network and the method of square roots for solving the system of linear equations. The procedure is presented in the comprehensive mathematical form that could be straightforwardly programmed into a computer code. An application of the method to energy efficiency analyses of a real complex district heating system is demonstrated. The obtained results show a potential for electricity savings in pumps operation. It is shown that the method is considerably more effective than the standard Hardy Cross method still widely used in engineering practice. Because of the ease of implementation and high efficiency, the method presented in this paper is recommended for hydraulic steady state calculations of complex networks

  16. Research on intelligent algorithm of electro - hydraulic servo control system

    Science.gov (United States)

    Wang, Yannian; Zhao, Yuhui; Liu, Chengtao

    2017-09-01

    In order to adapt the nonlinear characteristics of the electro-hydraulic servo control system and the influence of complex interference in the industrial field, using a fuzzy PID switching learning algorithm is proposed and a fuzzy PID switching learning controller is designed and applied in the electro-hydraulic servo controller. The designed controller not only combines the advantages of the fuzzy control and PID control, but also introduces the learning algorithm into the switching function, which makes the learning of the three parameters in the switching function can avoid the instability of the system during the switching between the fuzzy control and PID control algorithms. It also makes the switch between these two control algorithm more smoother than that of the conventional fuzzy PID.

  17. Teleoperation of Robonaut Using Finger Tracking

    Science.gov (United States)

    Champoux, Rachel G.; Luo, Victor

    2012-01-01

    With the advent of new finger tracking systems, the idea of a more expressive and intuitive user interface is being explored and implemented. One practical application for this new kind of interface is that of teleoperating a robot. For humanoid robots, a finger tracking interface is required due to the level of complexity in a human-like hand, where a joystick isn't accurate. Moreover, for some tasks, using one's own hands allows the user to communicate their intentions more effectively than other input. The purpose of this project was to develop a natural user interface for someone to teleoperate a robot that is elsewhere. Specifically, this was designed to control Robonaut on the international space station to do tasks too dangerous and/or too trivial for human astronauts. This interface was developed by integrating and modifying 3Gear's software, which includes a library of gestures and the ability to track hands. The end result is an interface in which the user can manipulate objects in real time in the user interface. then, the information is relayed to a simulator, the stand in for Robonaut, at a slight delay.

  18. TMI-2 in-vessel hydraulic systems utilize high water and high boron content fluids

    International Nuclear Information System (INIS)

    Baston, V.F.; Hofstetter, K.J.; Hofman, L.A.; Gallagher, R.E.

    1987-01-01

    Choice of a hydraulic fluid for use in the Three Mile Island Unit 2 (TMI-2) reactor vessel defueling equipment required consideration of the following constraints for the hydraulic fluid given an accidental spill into the reactor coolant system (RCS). The TMI-2 RCS hydraulic fluid utilized in the hydraulic operations utilized a solution composition of 95 wt% water and 5 wt% of the above base fluid. The TMI-2 hydraulic system utilizes pressures up to 3500 psi. The selected hydraulic fluid has been in use since December 1986 with minimal operational difficulties

  19. The implications of force reflection for teleoperation in space

    International Nuclear Information System (INIS)

    Draper, J.V.; Herndon, J.N.; Moore, W.E.

    1987-01-01

    This paper reviews previous research on teleoperator force feedback and reports results of a testing program which assessed the impact of force reflection on teleoperator task performance. Force reflection is a type of force feedback in which the forces acting on the remote portion of the teleoperator are displayed to the operator by back-driving the master controller. The testing program compared three force reflection levels: 4 to 1 (four units of force on the slave produce one unit of force at the master controller), 1 to 1, and infinity to 1 (no force reflection). Time required to complete tasks, rate of occurrence of errors, the maximum force applied to tasks components, and variability in forces applied to components during completion of representative remote handling tasks were used as dependent variables. Operators exhibited lower error rates, lower peak forces, and more consistent application of forces using force reflection than they did without it. These data support the hypothesis that force reflection provides useful information for teleoperator users. The earlier literature and the results of the experiment are discussed in terms of their implications for space-based teleoperator systems. The discussion describes the impact of force reflection on task completion performance and task strategies, as suggested by the literature. It is important to understand the trade-offs involved in using telerobotic systems with and without force reflection. Force-reflecting systems are typically more expensive (in mass, volume, and price per unit), but they reduce mean time to repair and may be safer to use, compared to systems without force reflection

  20. Thermal hydraulic tests for reactor safety system -Research on the improvement of nuclear safety-

    International Nuclear Information System (INIS)

    Chung, Moon Ki; Park, Chun Kyeong; Yang, Seon Kyu; Chung, Chang Hwan; Chun, Shee Yeong; Song, Cheol Hwa; Chun, Hyeong Gil; Chang, Seok Kyu; Chung, Heung Joon; Won, Soon Yeon; Cho, Yeong Ro; Kim, Bok Deuk; Min, Kyeong Ho

    1994-07-01

    The present research aims at the development of the thermal hydraulic verification test technology for the reactor safety system of the conventional and advanced nuclear power plant and the development of the advanced thermal hydraulic measuring techniques. (Author)

  1. Development of control system of coating of rod hydraulic cylinders

    Science.gov (United States)

    Aizhambaeva, S. Zh; Maximova, A. V.

    2018-01-01

    In this article, requirements to materials of hydraulic cylinders and methods of eliminating the main factors affecting the quality of the applied coatings rod hydraulic cylinders. The chromium plating process - one of ways of increase of anti-friction properties of coatings rods, stability to the wear and corrosion. The article gives description of differences of the stand-speed chromium plating process from other types of chromium plating that determines a conclusion about cutting time of chromium plating process. Conducting the analysis of technological equipment suggested addressing the modernization of high-speed chromium plating processes by automation and mechanization. Control system developed by design of schematic block diagram of a modernized and stand-speed chromium plating process.

  2. Design and analysis of hydraulic ram water pumping system

    Science.gov (United States)

    Hussin, N. S. M.; Gamil, S. A.; Amin, N. A. M.; Safar, M. J. A.; Majid, M. S. A.; Kazim, M. N. F. M.; Nasir, N. F. M.

    2017-10-01

    The current pumping system (DC water pump) for agriculture is powered by household electricity, therefore, the cost of electricity will be increased due to the higher electricity consumption. In addition, the water needs to be supplied at different height of trees and different places that are far from the water source. The existing DC water pump can pump the water to 1.5 m height but it cost money for electrical source. The hydraulic ram is a mechanical water pump that suitable used for agriculture purpose. It can be a good substitute for DC water pump in agriculture use. The hydraulic ram water pumping system has ability to pump water using gravitational energy or the kinetic energy through flowing source of water. This project aims to analyze and develop the water ram pump in order to meet the desired delivery head up to 3 meter height with less operation cost. The hydraulic ram is designed using CATIA software. Simulation work has been done using ANSYS CFX software to validate the working concept. There are three design were tested in the experiment study. The best design reached target head of 3 m with 15% efficiency and flow rate of 11.82l/min. The results from this study show that the less diameter of pressure chamber and higher supply head will create higher pressure.

  3. Thermal-Hydraulic Experiments and Modelling for Advanced Nuclear Reactor Systems

    International Nuclear Information System (INIS)

    Song, C. H.; Baek, W. P.; Chung, M. K.

    2007-06-01

    The objectives of the project are to study thermal hydraulic characteristics of advanced nuclear reactor system for evaluating key thermal-hydraulic phenomena relevant to new safety concepts. To meet the research goal, several thermal hydraulic experiments were performed and related thermal hydraulic models were developed with the experimental data which were produced through the thermal hydraulic experiments. The Followings are main research topics: - Multi-dimensional Phenomena in a Reactor Vessel Downcomer - Condensation-induced Thermal Mixing in a Pool - Development of Thermal-Hydraulic Models for Two-Phase Flow - Construction of T-H Data Base

  4. Haptics for Virtual Reality and Teleoperation

    CERN Document Server

    Mihelj, Matjaž

    2012-01-01

    This book covers all topics relevant for the design of haptic interfaces and teleoperation systems. The book provides the basic knowledge required for understanding more complex approaches and more importantly it introduces all issues that must be considered for designing efficient and safe haptic interfaces. Topics covered in this book provide insight into all relevant components of a haptic system. The reader is guided from understanding the virtual reality concept to the final goal of being able to design haptic interfaces for specific tasks such as nanomanipulation.  The introduction chapter positions the haptic interfaces within the virtual reality context. In order to design haptic interfaces that will comply with human capabilities at least basic understanding of human sensors-motor system is required. An overview of this topic is provided in the chapter related to human haptics. The book does not try to introduce the state-of-the-art haptic interface solutions because these tend to change quickly. On...

  5. Role of system characteristics in evolution of pump hydraulic design

    International Nuclear Information System (INIS)

    Walia, Mohinder; Misri, Vijay; Sharma, A.K.; Bapat, C.N.

    1994-01-01

    Primary heat transport (PHT) main circuit provides the means for transferring the heat produced in the fuel by circulating heavy water in the main circuit loop by primary coolant pumps (PCPs). The procurement specification of PCPs for 500 MWe pressurised heavy water reactor (PHWR) was prepared based upon the first order hydraulic analysis of the primary heat transport system and accordingly duty point was fixed. With this specification the manufacturer carried out model testing to arrive at optimum size of the impeller followed by determination of pump characteristics curves using full scale impeller during type testing. The duty point thus obtained was higher than specified necessitating the trimming of impeller. However, in order to make use of available higher duty point from system considerations, the duty point was redefined for production of subsequent pumps within specified tolerances governed by manufacturing limitations. PHT main system sizing (piping and feeders) was carried out based upon pump (delivering maximum flow) characteristics curve. Pressure profiles of PHT system at various operating modes were drawn and corresponding power drawn by motor was calculated. The interfacing of reactor coolant main system with hydraulic characteristics of PCP plays a significant role in establishing the requisite capability and capacity of PHT system in performing its intended functions. Therefore the paper traces the evolution of design parameters for PCP and subsequent generation of pressure profiles commensurate with the changes made in power profile including their impact on feeder sizing. The paper also highlights the scope of interaction between process designer and pump manufacturer in formulating a mutually acceptable and efficient hydraulic performance for PCP. (author). 3 refs., 8 figs., 3 tabs

  6. Nanocoatings for High-Efficiency Industrial Hydraulic and Tooling Systems

    Energy Technology Data Exchange (ETDEWEB)

    Clifton B. Higdon III

    2011-01-07

    Industrial manufacturing in the U.S. accounts for roughly one third of the 98 quadrillion Btu total energy consumption. Motor system losses amount to 1.3 quadrillion Btu, which represents the largest proportional loss of any end-use category, while pumps alone represent over 574 trillion BTU (TBTU) of energy loss each year. The efficiency of machines with moving components is a function of the amount of energy lost to heat because of friction between contacting surfaces. The friction between these interfaces also contributes to downtime and the loss of productivity through component wear and subsequent repair. The production of new replacement parts requires additional energy. Among efforts to reduce energy losses, wear-resistant, low-friction coatings on rotating and sliding components offer a promising approach that is fully compatible with existing equipment and processes. In addition to lubrication, one of the most desirable solutions is to apply a protective coating or surface treatment to rotating or sliding components to reduce their friction coefficients, thereby leading to reduced wear. Historically, a number of materials such as diamond-like carbon (DLC), titanium nitride (TiN), titanium aluminum nitride (TiAlN), and tungsten carbide (WC) have been examined as tribological coatings. The primary objective of this project was the development of a variety of thin film nanocoatings, derived from the AlMgB14 system, with a focus on reducing wear and friction in both industrial hydraulics and cutting tool applications. Proof-of-concept studies leading up to this project had shown that the constituent phases, AlMgB14 and TiB2, were capable of producing low-friction coatings by pulsed laser deposition. These coatings combine high hardness with a low friction coefficient, and were shown to substantially reduce wear in laboratory tribology tests. Selection of the two applications was based largely on the concept of improved mechanical interface efficiencies for

  7. Seismic analysis of hydraulic control rod driving system

    International Nuclear Information System (INIS)

    Zheng, Yanhua; Bo, Hanliang; Dong, Duo

    2002-01-01

    A simplified mathematical model was developed for the Hydraulic Control Rod Driving System (HCRDS) of a 200 MW nuclear heating reactor, which incorporated the design of its chamfer-hole step cylinder, to analyze its seismic response characteristics. The control rod motion was analyzed for different sine-wave vibration loadings on platform vibrator. The vibration frequency domain and the minimum acceleration amplitude of the control rod needed to cause the control rod to step to its next setting were compared with the design acceleration amplitude spectrum. The system design was found to be safety within the calculated limits. The safety margin increased with increasing frequency. (author)

  8. A THERMAL-HYDRAULIC SYSTEM FOR THE CONVERSION AND THE STORAGE OF ENERGY

    Directory of Open Access Journals (Sweden)

    MITRAN Tudor

    2016-05-01

    Full Text Available The paper proposes the concept design of a thermal-hydraulic system that converts the thermal energy (from the geothermal water, from the cooling water of power equipment, from exhaust gasses, and so. in hydrostatic energy, that is stored in a hydraulic accumulator. The hydraulic energy can be converted into electrical energy when needed.

  9. Modelling and LPV control of an electro-hydraulic servo system

    NARCIS (Netherlands)

    Naus, G.J.L.; Wijnheijmer, F.P.; Post, W.J.A.E.M.; Steinbuch, M.; Teerhuis, A.P.

    2006-01-01

    This paper aims to show the modelling and control of an hydraulic servo system, targeting at frequency domain based controller design and the implementation of a LPV controller. The actual set-up consists of a mass, moved by a hydraulic cylinder and an electro-hydraulic servo valve. A nonlinear

  10. Automated System of Diagnostic Monitoring at Bureya HPP Hydraulic Engineering Installations: a New Level of Safety

    International Nuclear Information System (INIS)

    Musyurka, A. V.

    2016-01-01

    This article presents the design, hardware, and software solutions developed and placed in service for the automated system of diagnostic monitoring (ASDM) for hydraulic engineering installations at the Bureya HPP, and assuring a reliable process for monitoring hydraulic engineering installations. Project implementation represents a timely solution of problems addressed by the hydraulic engineering installation diagnostics section.

  11. Automated System of Diagnostic Monitoring at Bureya HPP Hydraulic Engineering Installations: a New Level of Safety

    Energy Technology Data Exchange (ETDEWEB)

    Musyurka, A. V., E-mail: musyurkaav@burges.rushydro.ru [Bureya HPP (a JSC RusGidro affiliate) (Russian Federation)

    2016-09-15

    This article presents the design, hardware, and software solutions developed and placed in service for the automated system of diagnostic monitoring (ASDM) for hydraulic engineering installations at the Bureya HPP, and assuring a reliable process for monitoring hydraulic engineering installations. Project implementation represents a timely solution of problems addressed by the hydraulic engineering installation diagnostics section.

  12. Thermal hydraulic analysis of BWR containment venting system

    International Nuclear Information System (INIS)

    Baburajan, P.K.; Sharma, Prashant; Paul, U.K.; Gaikwad, Avinash

    2015-01-01

    Installation of additional containment filtered venting system (CFVS) is necessary to depressurize the containment to maintain its mechanical integrity due to over pressurization during severe accident condition. A typical venting system for BWR is modelled using RELAP5 and analysed to investigate the effect of various thermal hydraulic parameters on the operational parameters of the venting system. The venting system consists of piping from the containment to the scrubber tank and exit line from the scrubber tank. The scrubber tank is partially filled with water to enable the scrubbing action to remove the particulate radionuclides from the incoming containment air. The pipe line from the containment is connected to the venturi inlet and the throat of the venturi is open to the scrubber tank water inventory at designed submergence level. The exit of the venturi is open to scrubber tank water. Filters are used in the upper air space of the scrubber tank as mist separator before venting out the air into the atmosphere through the exit vent line. The effect of thermal hydraulic parameters such as inlet fluid temperature, inlet steam content and venturi submergence in the scrubber tank on the venting flow rate, exit steam content, scrubber tank inventory, overflow line and siphon breaker flow rate is analysed. Results show that inlet steam content and the venturi nozzle submergence influence the venting system parameters. (author)

  13. Test Rig Design and Presentation for a Hydraulic Yaw System

    DEFF Research Database (Denmark)

    Stubkier, Søren; Pedersen, Henrik C.; Andersen, Torben Ole

    2013-01-01

    The design and development of a hydraulic yaw system for multi MWturbines is presented and the concept explained. As part of the development of the new concept a full scale test rig for a 5 MW wind turbine has been designed and constructed. The test rig is presented along with its unique design...... features. The design process is outlined to give insight in the design criteria driving the design. Loads and yaw demands are based on the IEC 61400-1 standard for wind turbine design, and the loads for this examination are extrapolated from the FAST aero elastic design software. The concepts are based...... on a 5 MW offshore turbine. After the system presentation, measurement results are presented to verify the behavior of the system. The loads to the system are applied by torque controlled electrical servo drives, which can add a load of up to 3 MNm to the system. This gives an exact picture of the system...

  14. Hydraulic characterisation of karst systems with man-made tracers

    International Nuclear Information System (INIS)

    Werner, A.

    1998-01-01

    Tracer experiments using man-made tracers are common in hydrogeological exploration of groundwater aquifers in karst systems. In the present investigation, a convection-dispersion model (multidispersion model with consideration of several flow paths) and a single-cleft model (consideration of the diffusion between the cleft and the surrounding rock matrix) were used for evaluating tracer experiments in the main hydrological system of the saturated zone of karst systems. In addition to these extended analytical solutions, a numerical transport model was developed for investigating the influence of the transient flow rate on the flow and transport parameters. Comparative evaluations of the model approaches for the evaluation of tracer experiments were made in four different karst systems: Danube-Aach, Paderborn, Slowenia and Lurbach, of which the Danube-Aach system was considered as the most important. The investigation also comprised three supplementary experiments in order to enable a complete hydraulic characterisation of the system. (orig./SR) [de

  15. Computer Simulation of Hydraulic Systems with Typical Nonlinear Characteristics

    Directory of Open Access Journals (Sweden)

    D. N. Popov

    2017-01-01

    Full Text Available The task was to synthesise an adjustable hydraulic system structure, the mathematical model of which takes into account its inherent nonlinearity. Its solution suggests using a successive computer simulations starting with a structure of the linearized stable hydraulic system, which is then complicated by including the essentially non-linear elements. The hydraulic system thus obtained may be unable to meet the Lyapunov stability criterion and be unstable. This can be eliminated through correcting elements. Control of correction results is provided according to the form of transition processes due to stepwise variation of the control signal.Computer simulation of a throttle-controlled electrohydraulic servo drive with the rotary output element illustrates the proposed method application. A constant pressure power source provides fluid feed for the drive under pressure.For drive simulation the following models were involved: the linear model, the model taking into consideration a non-linearity of the flow-dynamic characteristics of a spool-type valve, and the non-linear models that take into account the dry friction in the spool-type valve, the backlash in the steering angle sensor of the motor shaft.The paper shows possibility of damping oscillation caused by variable hydrodynamic forces through introducing a correction device.The list of references attached contains 16 sources, which were used to justify and explain certain factors of the automatic control theory and the fluid mechanics of unsteady flows.The article presents 6 block-diagrams of the electrohydraulic servo drive and their appropriate transition processes, which have been studied.

  16. Linear hydraulic drive system for a Stirling engine

    Science.gov (United States)

    Walsh, Michael M.

    1984-02-21

    A hydraulic drive system operating from the periodic pressure wave produced by a Stirling engine along a first axis thereof and effecting transfer of power from the Stirling engine to a load apparatus therefor and wherein the movable, or working member of the load apparatus is reciprocatingly driven along an axis substantially at right angles to the first axis to achieve an arrangement of a Stirling engine and load apparatus assembly which is much shorter and the components of the load apparatus more readily accessible.

  17. Thermal and hydraulic analyses of the System 81 cold traps

    Energy Technology Data Exchange (ETDEWEB)

    Kim, K.

    1977-06-15

    Thermal and hydraulic analyses of the System 81 Type I and II cold traps were completed except for thermal transients analysis. Results are evaluated, discussed, and reported. Analytical models were developed to determine the physical dimensions of the cold traps and to predict the performance. The FFTF cold trap crystallizer performances were simulated using the thermal model. This simulation shows that the analytical model developed predicts reasonably conservative temperatures. Pressure drop and sodium residence time calculations indicate that the present design will meet the requirements specified in the E-Specification. Steady state temperature data for the critical regions were generated to assess the magnitude of the thermal stress.

  18. Robot technology. Vol. 3A. Teleoperation and robotics: evolution and development

    Energy Technology Data Exchange (ETDEWEB)

    Vertut, J; Coiffet, P

    1985-01-01

    Teleoperation is concerned with the exploration and exploitation of spaces which do not allow, because of their inaccessibility or hostility, direct access to man. This volume (Part 1) covers the advances in mastering teleoperation, using only a knowledge of mechanics. The story is one of a gradual orderly succession of creative designs over many years. Diagrams and photographs illustrate the designs. This a comprehensive coverage of the subject. Following a chapter on the background to the subject the chapters cover the classification of teleoperation systems, mechanical master-slave telemanipulators for handling radioactive materials, motorized unilateral telemanipulators with open-loop control, bilateral servo manipulators, transporters and vehicles and, finally, one on the art of teleoperation at the time of the introduction of computer science. The book has been translated from French. (U.K.).

  19. Researching on YH100 Numerical Control Servo Press Hydraulic Control System and Control Algorithm

    Directory of Open Access Journals (Sweden)

    Kai LI

    2014-09-01

    Full Text Available In order to study the numerical control (NC servo press hydraulic control system and its control algorithm. The numerical control servo press performance and control principle of hydraulic control system are analyzed. According to the flow equation of the hydraulic control valve, hydraulic cylinder flow continuity equation and the force balance equation of the hydraulic cylinder with load press, the mathematical model of hydraulic control system is established. And the servo press hydraulic system transfer function is deduced. Introducing the suitable immune particle swarm control algorithm for servo press hydraulic system, and the control system block diagram is established. Immune algorithm is used to optimize new control parameters of the system and adopt the new optimization results to optimize the system simulation. The simulation result shows that the hydraulic system’s transition time controlled by the immune particle swarm algorithm is shorter than traditional ones, and the control performance is obviously improved. Finally it can be concluded that immune particle swarm PID control have these characteristics such as quickness, stability and accuracy. Applying this principle into application, the obtained YH100 numerical control servo press hydraulic control system meets the requirement.

  20. Scaling of Thermal-Hydraulic Phenomena and System Code Assessment

    International Nuclear Information System (INIS)

    Wolfert, K.

    2008-01-01

    In the last five decades large efforts have been undertaken to provide reliable thermal-hydraulic system codes for the analyses of transients and accidents in nuclear power plants. Many separate effects tests and integral system tests were carried out to establish a data base for code development and code validation. In this context the question has to be answered, to what extent the results of down-scaled test facilities represent the thermal-hydraulic behaviour expected in a full-scale nuclear reactor under accidental conditions. Scaling principles, developed by many scientists and engineers, present a scientific technical basis and give a valuable orientation for the design of test facilities. However, it is impossible for a down-scaled facility to reproduce all physical phenomena in the correct temporal sequence and in the kind and strength of their occurrence. The designer needs to optimize a down-scaled facility for the processes of primary interest. This leads compulsorily to scaling distortions of other processes with less importance. Taking into account these weak points, a goal oriented code validation strategy is required, based on the analyses of separate effects tests and integral system tests as well as transients occurred in full-scale nuclear reactors. The CSNI validation matrices are an excellent basis for the fulfilling of this task. Separate effects tests in full scale play here an important role.

  1. Modeling and Design of an Electro-Rheological Fluid Based Haptic System for Tele-Operation of Space Robots

    Science.gov (United States)

    Mavroidis, Constantinos; Pfeiffer, Charles; Paljic, Alex; Celestino, James; Lennon, Jamie; Bar-Cohen, Yoseph

    2000-01-01

    For many years, the robotic community sought to develop robots that can eventually operate autonomously and eliminate the need for human operators. However, there is an increasing realization that there are some tasks that human can perform significantly better but, due to associated hazards, distance, physical limitations and other causes, only robot can be employed to perform these tasks. Remotely performing these types of tasks requires operating robots as human surrogates. While current "hand master" haptic systems are able to reproduce the feeling of rigid objects, they present great difficulties in emulating the feeling of remote/virtual stiffness. In addition, they tend to be heavy, cumbersome and usually they only allow limited operator workspace. In this paper a novel haptic interface is presented to enable human-operators to "feel" and intuitively mirror the stiffness/forces at remote/virtual sites enabling control of robots as human-surrogates. This haptic interface is intended to provide human operators intuitive feeling of the stiffness and forces at remote or virtual sites in support of space robots performing dexterous manipulation tasks (such as operating a wrench or a drill). Remote applications are referred to the control of actual robots whereas virtual applications are referred to simulated operations. The developed haptic interface will be applicable to IVA operated robotic EVA tasks to enhance human performance, extend crew capability and assure crew safety. The electrically controlled stiffness is obtained using constrained ElectroRheological Fluids (ERF), which changes its viscosity under electrical stimulation. Forces applied at the robot end-effector due to a compliant environment will be reflected to the user using this ERF device where a change in the system viscosity will occur proportionally to the force to be transmitted. In this paper, we will present the results of our modeling, simulation, and initial testing of such an

  2. Electro-Pneumatic Control System with Hydraulically Positioning Actuator Motor

    Directory of Open Access Journals (Sweden)

    V. N. Pilgunov

    2016-01-01

    Full Text Available A compressibility of the actuating fluid of a pneumatic drive (compressed air leads to significant landing of the pneumatic cylinder piston at the time of stop and hold of the load, a constant component of which can fluctuate significantly for the holding period.There are a lot of factors, which have a significant impact on the landing value of piston. Those are: an initial position of the piston at its stop, which determines the volume of the an active area of the piston, a value of the constant load component at the time of stop and its variation for the holding period, a transfer coefficient of the position component of the load, an active area of the pneumatic cylinder piston, as well as reduction in atmospheric pressure, which can significantly affect the operation of the control systems of small aircrafts flying at high altitudes.To reduce the landing value of piston due to changing value of the constant load component for its holding period, it is proposed to use a hydraulic positioner, which comprises a hydraulic cylinder the rod of which is rigidly connected to the rod of the pneumatic cylinder through the traverse, a cross-feed valve of the hydro-cylinder cavities with discrete electro-magnetic control, and adjustable chokes.A programmable logic controller provides the hydraulic positioner control. At the moment the piston stops and the load is held the cross-feed valve overlaps the hydro-cylinder cavities thereby locking the pneumatic cylinder piston and preventing its landing. With available pneumatic cylinder-controlled signal the cross-feed valve connects the piston and rod cavities of the positioner hydro-cylinder, the pneumatic cylinder piston is released and becomes capable of moving.A numerical estimate of landing of the pneumatic cylinder piston and its positioning quality is of essential interest. For this purpose, a technique to calculate the landing of piston has been developed taking into consideration that different

  3. submitter Thermal, Hydraulic, and Electromagnetic Modeling of Superconducting Magnet Systems

    CERN Document Server

    Bottura, L

    2016-01-01

    Modeling techniques and tailored computational tools are becoming increasingly relevant to the design and analysis of large-scale superconducting magnet systems. Efficient and reliable tools are useful to provide an optimal forecast of the envelope of operating conditions and margins, which are difficult to test even when a prototype is available. This knowledge can be used to considerably reduce the design margins of the system, and thus the overall cost, or increase reliability during operation. An integrated analysis of a superconducting magnet system is, however, a complex matter, governed by very diverse physics. This paper reviews the wide spectrum of phenomena and provides an estimate of the time scales of thermal, hydraulic, and electromagnetic mechanisms affecting the performance of superconducting magnet systems. The analysis is useful to provide guidelines on how to divide the complex problem into building blocks that can be integrated in a design and analysis framework for a consistent multiphysic...

  4. Building a Relationship between Robot Characteristics and Teleoperation User Interfaces.

    Science.gov (United States)

    Mortimer, Michael; Horan, Ben; Seyedmahmoudian, Mehdi

    2017-03-14

    The Robot Operating System (ROS) provides roboticists with a standardized and distributed framework for real-time communication between robotic systems using a microkernel environment. This paper looks at how ROS metadata, Unified Robot Description Format (URDF), Semantic Robot Description Format (SRDF), and its message description language, can be used to identify key robot characteristics to inform User Interface (UI) design for the teleoperation of heterogeneous robot teams. Logical relationships between UI components and robot characteristics are defined by a set of relationship rules created using relevant and available information including developer expertise and ROS metadata. This provides a significant opportunity to move towards a rule-driven approach for generating the designs of teleoperation UIs; in particular the reduction of the number of different UI configurations required to teleoperate each individual robot within a heterogeneous robot team. This approach is based on using an underlying rule set identifying robots that can be teleoperated using the same UI configuration due to having the same or similar robot characteristics. Aside from reducing the number of different UI configurations an operator needs to be familiar with, this approach also supports consistency in UI configurations when a teleoperator is periodically switching between different robots. To achieve this aim, a Matlab toolbox is developed providing users with the ability to define rules specifying the relationship between robot characteristics and UI components. Once rules are defined, selections that best describe the characteristics of the robot type within a particular heterogeneous robot team can be made. A main advantage of this approach is that rather than specifying discrete robots comprising the team, the user can specify characteristics of the team more generally allowing the system to deal with slight variations that may occur in the future. In fact, by using the

  5. Building a Relationship between Robot Characteristics and Teleoperation User Interfaces

    Directory of Open Access Journals (Sweden)

    Michael Mortimer

    2017-03-01

    Full Text Available The Robot Operating System (ROS provides roboticists with a standardized and distributed framework for real-time communication between robotic systems using a microkernel environment. This paper looks at how ROS metadata, Unified Robot Description Format (URDF, Semantic Robot Description Format (SRDF, and its message description language, can be used to identify key robot characteristics to inform User Interface (UI design for the teleoperation of heterogeneous robot teams. Logical relationships between UI components and robot characteristics are defined by a set of relationship rules created using relevant and available information including developer expertise and ROS metadata. This provides a significant opportunity to move towards a rule-driven approach for generating the designs of teleoperation UIs; in particular the reduction of the number of different UI configurations required to teleoperate each individual robot within a heterogeneous robot team. This approach is based on using an underlying rule set identifying robots that can be teleoperated using the same UI configuration due to having the same or similar robot characteristics. Aside from reducing the number of different UI configurations an operator needs to be familiar with, this approach also supports consistency in UI configurations when a teleoperator is periodically switching between different robots. To achieve this aim, a Matlab toolbox is developed providing users with the ability to define rules specifying the relationship between robot characteristics and UI components. Once rules are defined, selections that best describe the characteristics of the robot type within a particular heterogeneous robot team can be made. A main advantage of this approach is that rather than specifying discrete robots comprising the team, the user can specify characteristics of the team more generally allowing the system to deal with slight variations that may occur in the future. In fact, by

  6. Virtual Design of a Controller for a Hydraulic Cam Phasing System

    Science.gov (United States)

    Schneider, Markus; Ulbrich, Heinz

    2010-09-01

    Hydraulic vane cam phasing systems are nowadays widely used for improving the performance of combustion engines. At stationary operation, these systems should achieve a constant phasing angle, which however is badly disturbed by the alternating torque generated by the valve actuation. As the hydraulic system shows a non-linear characteristic over the full operation range and the inductivity of the hydraulic pipes generates a significant time delay, a full model based control emerges very complex. Therefore a simple feed-forward controller is designed, bridging the time delay of the hydraulic system and improving the system behaviour significantly.

  7. Human Machine Interfaces for Teleoperators and Virtual Environments Conference

    Science.gov (United States)

    1990-01-01

    In a teleoperator system the human operator senses, moves within, and operates upon a remote or hazardous environment by means of a slave mechanism (a mechanism often referred to as a teleoperator). In a virtual environment system the interactive human machine interface is retained but the slave mechanism and its environment are replaced by a computer simulation. Video is replaced by computer graphics. The auditory and force sensations imparted to the human operator are similarly computer generated. In contrast to a teleoperator system, where the purpose is to extend the operator's sensorimotor system in a manner that facilitates exploration and manipulation of the physical environment, in a virtual environment system, the purpose is to train, inform, alter, or study the human operator to modify the state of the computer and the information environment. A major application in which the human operator is the target is that of flight simulation. Although flight simulators have been around for more than a decade, they had little impact outside aviation presumably because the application was so specialized and so expensive.

  8. Investigation and Development of the Thermal Preparation System of the Trailbuilder Machinery Hydraulic Actuator

    Science.gov (United States)

    Konev, V.; Polovnikov, E.; Krut, O.; Merdanov, Sh; Zakirzakov, G.

    2017-07-01

    It’s determined that the main part of trailbuilders operated in the North is the technology equipped by the hydraulic actuator. Further development of the northern territories will demand using of various means and ways machinery thermal preparation, and also the machinery of the northern fulfillment. On this basis problems in equipment operation are defined. One of the main is efficiency supplying of a hydraulic actuator. On the basis of the operating conditions’ analysis of trailbuilder hydraulic actuator operation it is determined, that under low negative temperatures the means of thermal preparation are necessary. The existing systems warm up only a hydraulic tank or warming up of the hydro equipment before the machinery operation is carried out under loading with intensive wears. Thus, with the purpose to raise the efficiency of thermal hydraulic actuator, operated far from stationary bases autonomous, energy saving, not expensive in creation and operation systems are necessary. In accordance with the analysis of means and ways of the thermal preparation of the hydraulic actuator and the thermal balance calculations of the (internal) combustion engine the system of the hydraulic actuator heating is offered and is being investigated. It contains a local hydraulic actuator warming up and the system of internal combustion engine heat utilization. Within research operation conditions of the local hydraulic actuator heating are viewed and determined, taking into account constructive changes to the local hydraulic actuator heating. Mathematical modelling of the heat technical process in the modernized hydraulic actuator is considered. As a result temperature changes of the heat-transfer and the hydraulic cylinder in time are determined. To check the theoretical researches and to define dependences on hydraulic actuator warming up, the experimental installation is made. It contains the measuring equipment, a small tank with the heat exchanger of the burnt gases

  9. A Fault Diagnosis Approach for the Hydraulic System by Artificial Neural Networks

    OpenAIRE

    Xiangyu He; Shanghong He

    2014-01-01

    Based on artificial neural networks, a fault diagnosis approach for the hydraulic system was proposed in this paper. Normal state samples were used as the training data to develop a dynamic general regression neural network (DGRNN) model. The trained DGRNN model then served as the fault determinant to diagnose test faults and the work condition of the hydraulic system was identified. Several typical faults of the hydraulic system were used to verify the fault diagnosis approach. Experiment re...

  10. Active control of multi-input hydraulic journal bearing system

    Science.gov (United States)

    Chuang, Jen-Chen; Chen, Chi-Yin; Tu, Jia-Ying

    2016-09-01

    Because of the advantages of high accuracy, high capacity, and low friction, the development of hydrostatic bearing for machine tool receives significant attention in the last decades. The mechanics and mechanical design of hydrostatic journal bearing with capillary restrictors has been discussed in literature. However, pragmatically, the undesired loading effects of cutting force tend to result in resonance and instability of the rotor and damage the shaft during operation. Therefore, multi-input, active flow control using state feedback design is proposed in this paper. To this purpose, the proportional pressure valves are added to the hydraulic system as active control devices, and the linearised models of the bearing and valve are discussed and identified. Simulation and experimental work is conducted to verify the proposed active control and parameter identification techniques. The results show that the unbalance responses of the rotor are reduced by the proposed state feedback controller, which is able to regulate the flow pressure effectively, thus enhancing the stability and accuracy of the hydraulic journal bearing.

  11. Thermal Hydraulic Analysis on Containment Filtered Venting System

    Energy Technology Data Exchange (ETDEWEB)

    Bang, Young Suk; Park, Tong Kyu; Lee, Doo Yong; Lee, Byung Chul [FNC Technology Co. Ltd., Yongin (Korea, Republic of); Lee, Sang Won; Kim, Hyeong Taek [KHNP-Central Research Institute, Daejeon (Korea, Republic of)

    2014-05-15

    In this study, the thermal hydraulic conditions (e. g. pressure and flow rate) at each component have been examined and the sensitivity analysis on CFVS design parameters (e. g. water inventory, volumetric flow rate). The purpose is to know the possible range of flow conditions at each component to determine the optimum size of filtration system. GOTHIC code has been used to simulate the thermal-hydraulic behavior inside of CFVS. The behavior of flows in the CFVS has been investigated. The vessel water level and the flow rates during the CFVS operation are examined. It was observed that the vessel water level would be changed significantly due to steam condensation/thermal expansion and steam evaporation. Therefore, the vessel size and the initial water inventory should be carefully determined to keep the minimum water level required for filtration components and not to flood the components in the upper side of the vessel. It has been also observed that the volumetric flow rate is maintained during the CFVS operation, which is beneficial for pool scrubbing units. However, regarding the significant variations at the orifice downstream, careful design would be necessary.

  12. Contaminant monitoring of hydraulic systems. The need for reliable data

    Energy Technology Data Exchange (ETDEWEB)

    Day, M.J. Rinkinen, J. [Pall Europe Ltd., Portsmouth (United Kingdom); Tampere University of Technology, Tampere (Finland)

    1998-12-31

    The need for both reliable operation of hydraulic and lubrication systems and long component lives has focused users to the benefits of controlling the contamination in the hydraulic fluid. Maximum operating (target) levels are being implemented as part of a condition based maintenance regime. If these are exceeded, maintenance effort is directed to correcting the rise in consummation level, and so make optimum use of resources as maintenance effort is only affected when it is necessary to do so. Fundamental to ibis aspect of condition based monitoring is the provision of accurate and reliable data in the shortest possible time. This way, corrective actions can be implemented immediately so minimising the damage to components. On-line monitoring devices are a way of achieving this and are seeing increased use, but some are affected by the condition of the fluid. Hence, there is a potential for giving incorrect data which will waste time and effort by initiating unnecessary corrective actions. A more disturbing aspect is the effect on the user of continual errors. The most likely effect would be a loss of confidence in the technique or even complete rejection of it and hence the potential benefits will be lost. This presentation explains how contaminant monitoring techniques are applied to ensure that the potential benefits of operating with clean fluids is realised. It examines the sources of error and shows how the user can interrogate the data and satisfy himself of its authenticity. (orig.) 14 refs.

  13. Contaminant monitoring of hydraulic systems. The need for reliable data

    Energy Technology Data Exchange (ETDEWEB)

    Day, M.J. [Pall Europe Ltd., Portsmouth (United Kingdom)] Rinkinen, J. [Tampere University of Technology, Tampere (Finland)

    1997-12-31

    The need for both reliable operation of hydraulic and lubrication systems and long component lives has focused users to the benefits of controlling the contamination in the hydraulic fluid. Maximum operating (target) levels are being implemented as part of a condition based maintenance regime. If these are exceeded, maintenance effort is directed to correcting the rise in consummation level, and so make optimum use of resources as maintenance effort is only affected when it is necessary to do so. Fundamental to ibis aspect of condition based monitoring is the provision of accurate and reliable data in the shortest possible time. This way, corrective actions can be implemented immediately so minimising the damage to components. On-line monitoring devices are a way of achieving this and are seeing increased use, but some are affected by the condition of the fluid. Hence, there is a potential for giving incorrect data which will waste time and effort by initiating unnecessary corrective actions. A more disturbing aspect is the effect on the user of continual errors. The most likely effect would be a loss of confidence in the technique or even complete rejection of it and hence the potential benefits will be lost. This presentation explains how contaminant monitoring techniques are applied to ensure that the potential benefits of operating with clean fluids is realised. It examines the sources of error and shows how the user can interrogate the data and satisfy himself of its authenticity. (orig.) 14 refs.

  14. Hydraulically-actuated operating system for an electric circuit breaker

    Science.gov (United States)

    Barkan, Philip; Imam, Imdad

    1978-01-01

    This hydraulically-actuated operating system comprises a cylinder, a piston movable therein in an opening direction to open a circuit breaker, and an accumulator for supplying pressurized liquid to a piston-actuating space within the cylinder. A normally-closed valve between the accumulator and the actuating space is openable to allow pressurized liquid from the accumulator to flow through the valve into the actuating space to drive the piston in an opening direction. A vent is located hydraulically between the actuating space and the valve for affording communication between said actuating space and a low pressure region. Flow control means is provided for restricting leakage through said vent to a rate that prevents said leakage from substantially detracting from the development of pressure within said actuatng space during the period from initial opening of the valve to the time when said piston has moved through most of its opening stroke. Following such period and while the valve is still open, said flow control means allows effective leakage through said vent. The accumulator has a limited capacity that results in the pressure within said actuating space decaying promptly to a low value as a result of effective leakage through said vent after the piston has moved through a circuit-breaker opening stroke and while the valve is in its open state. Means is provided for resetting the valve to its closed state in response to said pressure decay in the actuating space.

  15. Integration of Flex Nozzle System and Electro Hydraulic Actuators to Solid Rocket Motors

    Science.gov (United States)

    Nayani, Kishore Nath; Bajaj, Dinesh Kumar

    2017-10-01

    A rocket motor assembly comprised of solid rocket motor and flex nozzle system. Integration of flex nozzle system and hydraulic actuators to the solid rocket motors are done after transportation to the required place where integration occurred. The flex nozzle system is integrated to the rocket motor in horizontal condition and the electro hydraulic actuators are assembled to the flex nozzle systems. The electro hydraulic actuators are connected to the hydraulic power pack to operate the actuators. The nozzle-motor critical interface are insulation diametrical compression, inhibition resin-28, insulation facial compression, shaft seal `O' ring compression and face seal `O' ring compression.

  16. Cross-cutting european thermal-hydraulics research for innovative nuclear systems

    International Nuclear Information System (INIS)

    Roelofs, F.; Class, A.; Cheng, X.; Meloni, P.; Van Tichelen, K.; Boudier, P.; Prasser, M.

    2010-01-01

    Thermal-hydraulics is recognized as a key scientific subject in the development of different innovative nuclear reactor systems. From the thermal-hydraulic point of view, different innovative reactors are mainly characterized by their coolants (gas, water, liquid metals and molten salt). This results in different micro- and macroscopic behavior of flow and heat transfer and requires specific models and advanced analysis tools. However, many common thermal-hydraulic issues are identified among various innovative nuclear systems. In Europe, such cross-cutting thermal-hydraulic issues are the subject of the 7. framework programme THINS (Thermal-Hydraulics of Innovative Nuclear Systems) project which runs from 2010 until 2014. This paper will describe the activities in this project which address the main identified thermal hydraulics issues for innovative nuclear systems. (authors)

  17. Integration of advanced teleoperation technologies for control of space robots

    Science.gov (United States)

    Stagnaro, Michael J.

    1993-01-01

    Teleoperated robots require one or more humans to control actuators, mechanisms, and other robot equipment given feedback from onboard sensors. To accomplish this task, the human or humans require some form of control station. Desirable features of such a control station include operation by a single human, comfort, and natural human interfaces (visual, audio, motion, tactile, etc.). These interfaces should work to maximize performance of the human/robot system by streamlining the link between human brain and robot equipment. This paper describes development of a control station testbed with the characteristics described above. Initially, this testbed will be used to control two teleoperated robots. Features of the robots include anthropomorphic mechanisms, slaving to the testbed, and delivery of sensory feedback to the testbed. The testbed will make use of technologies such as helmet mounted displays, voice recognition, and exoskeleton masters. It will allow tor integration and testing of emerging telepresence technologies along with techniques for coping with control link time delays. Systems developed from this testbed could be applied to ground control of space based robots. During man-tended operations, the Space Station Freedom may benefit from ground control of IVA or EVA robots with science or maintenance tasks. Planetary exploration may also find advanced teleoperation systems to be very useful.

  18. Scaling in nuclear reactor system thermal-hydraulics

    International Nuclear Information System (INIS)

    D'Auria, F.; Galassi, G.M.

    2010-01-01

    Scaling is a reference 'key-word' in engineering and in physics. The relevance of scaling in the water cooled nuclear reactor technology constitutes the motivation for the present paper. The origin of the scaling-issue, i.e. the impossibility to get access to measured data in case of accident in nuclear reactors, is discussed at first. The so-called 'scaling-controversy' constitutes an outcome. Then, a critical survey (or 'scaling state-of-art';) is given of the attempts and of the approaches to provide a solution to the scaling-issue in the area of Nuclear Reactor System Thermal-Hydraulics (NRSTH): dimensionless design factors for Integral Test Facilities (ITF) are distinguished from scaling factors. The last part of the paper has a two-fold nature: (a) classifying the information about achievements in the area of thermal-hydraulics which are relevant to scaling: the concepts of 'scaling-pyramid' and the related 'scaling bridges' are introduced; (b) establishing a logical path across the scaling achievements (represented as a 'scaling puzzle'). In this context, the 'roadmap for scaling' is proposed: the objective is addressing the scaling issue when demonstrating the applicability of system codes in the licensing process of nuclear power plants. The code itself is referred hereafter as the 'key-to-scaling'. The database from the operation of properly scaled ITF and the availability of qualified system codes are identified as main achievements in NRSTH connected with scaling. The 'roadmap to scaling' constitutes a unified approach to scaling which aims at solving the 'scaling puzzle' created by researches performed during a half-a-century period.

  19. Scaling in nuclear reactor system thermal-hydraulics

    Energy Technology Data Exchange (ETDEWEB)

    D' Auria, F., E-mail: dauria@ing.unipi.i [Dipartimento di Ingegneria Meccanica, Nucleare e della Produzione, University of Pisa, Via Diotisalvi 2, 56126 Pisa (Italy); Galassi, G.M. [Dipartimento di Ingegneria Meccanica, Nucleare e della Produzione, University of Pisa, Via Diotisalvi 2, 56126 Pisa (Italy)

    2010-10-15

    Scaling is a reference 'key-word' in engineering and in physics. The relevance of scaling in the water cooled nuclear reactor technology constitutes the motivation for the present paper. The origin of the scaling-issue, i.e. the impossibility to get access to measured data in case of accident in nuclear reactors, is discussed at first. The so-called 'scaling-controversy' constitutes an outcome. Then, a critical survey (or 'scaling state-of-art';) is given of the attempts and of the approaches to provide a solution to the scaling-issue in the area of Nuclear Reactor System Thermal-Hydraulics (NRSTH): dimensionless design factors for Integral Test Facilities (ITF) are distinguished from scaling factors. The last part of the paper has a two-fold nature: (a) classifying the information about achievements in the area of thermal-hydraulics which are relevant to scaling: the concepts of 'scaling-pyramid' and the related 'scaling bridges' are introduced; (b) establishing a logical path across the scaling achievements (represented as a 'scaling puzzle'). In this context, the 'roadmap for scaling' is proposed: the objective is addressing the scaling issue when demonstrating the applicability of system codes in the licensing process of nuclear power plants. The code itself is referred hereafter as the 'key-to-scaling'. The database from the operation of properly scaled ITF and the availability of qualified system codes are identified as main achievements in NRSTH connected with scaling. The 'roadmap to scaling' constitutes a unified approach to scaling which aims at solving the 'scaling puzzle' created by researches performed during a half-a-century period.

  20. FONESYS: The FOrum and NEtwork of SYStem Thermal-Hydraulic Codes in Nuclear Reactor Thermal-Hydraulics

    Energy Technology Data Exchange (ETDEWEB)

    Ahn, S.H., E-mail: k175ash@kins.re.kr [Korea Institute of Nuclear Safety (KINS) (Korea, Republic of); Aksan, N., E-mail: nusr.aksan@gmail.com [University of Pisa San Piero a Grado Nuclear Research Group (GRNSPG) (Italy); Austregesilo, H., E-mail: henrique.austregesilo@grs.de [Gesellschaft für Anlagen- und Reaktorsicherheit (GRS) (Germany); Bestion, D., E-mail: dominique.bestion@cea.fr [Commissariat à l’énergie atomique et aux énergies alternatives (CEA) (France); Chung, B.D., E-mail: bdchung@kaeri.re.kr [Korea Atomic Energy Research Institute (KAERI) (Korea, Republic of); D’Auria, F., E-mail: f.dauria@ing.unipi.it [University of Pisa San Piero a Grado Nuclear Research Group (GRNSPG) (Italy); Emonot, P., E-mail: philippe.emonot@cea.fr [Commissariat à l’énergie atomique et aux énergies alternatives (CEA) (France); Gandrille, J.L., E-mail: jeanluc.gandrille@areva.com [AREVA NP (France); Hanninen, M., E-mail: markku.hanninen@vtt.fi [VTT Technical Research Centre of Finland (VTT) (Finland); Horvatović, I., E-mail: i.horvatovic@ing.unipi.it [University of Pisa San Piero a Grado Nuclear Research Group (GRNSPG) (Italy); Kim, K.D., E-mail: kdkim@kaeri.re.kr [Korea Atomic Energy Research Institute (KAERI) (Korea, Republic of); Kovtonyuk, A., E-mail: a.kovtonyuk@ing.unipi.it [University of Pisa San Piero a Grado Nuclear Research Group (GRNSPG) (Italy); Petruzzi, A., E-mail: a.petruzzi@ing.unipi.it [University of Pisa San Piero a Grado Nuclear Research Group (GRNSPG) (Italy)

    2015-01-15

    Highlights: • We briefly presented the project called Forum and Network of System Thermal-Hydraulics Codes in Nuclear Reactor Thermal-Hydraulics (FONESYS). • We presented FONESYS participants and their codes. • We explained FONESYS projects motivation, its main targets and working modalities. • We presented FONESYS position about projects topics and subtopics. - Abstract: The purpose of this article is to present briefly the project called Forum and Network of System Thermal-Hydraulics Codes in Nuclear Reactor Thermal-Hydraulics (FONESYS), its participants, the motivation for the project, its main targets and working modalities. System Thermal-Hydraulics (SYS-TH) codes, also as part of the Best Estimate Plus Uncertainty (BEPU) approaches, are expected to achieve a more-and-more relevant role in nuclear reactor technology, safety and design. Namely, the number of code-users can easily be predicted to increase in the countries where nuclear technology is exploited. Thus, the idea of establishing a forum and a network among the code developers and with possible extension to code users has started to have major importance and value. In this framework the FONESYS initiative has been created. The main targets of FONESYS are: • To promote the use of SYS-TH Codes and the application of the BEPU approaches. • To establish acceptable and recognized procedures and thresholds for Verification and Validation (V and V). • To create a common ground for discussing envisaged improvements in various areas, including user-interface, and the connection with other numerical tools, including Computational Fluid Dynamics (CFD) Codes.

  1. Optimisation of Working Areas in Discrete Hydraulic Power Take off-system for Wave Energy Converters

    DEFF Research Database (Denmark)

    Hansen, Anders Hedegaard; Hansen, Rico Hjerm; Pedersen, Henrik C.

    2012-01-01

    Fluid power is the leading technology in Power Take Off(PTO) systems in Wave Energy Converters(WEC’s), due to the capability of generating high force at low velocity. However, as hydraulic force controlling system may suffer from large energy losses the efficiency of the hydraulic PTO systems may...

  2. Tap Water Hydraulic Systems for Medium Power Applications

    DEFF Research Database (Denmark)

    Conrad, Finn; Adelstorp, Anders

    1998-01-01

    Presentation of new range of developed tap water hydraulic componets and applications for medium power up to 4 kW and 50 bar.......Presentation of new range of developed tap water hydraulic componets and applications for medium power up to 4 kW and 50 bar....

  3. Hydraulic Systems with Tap Water versus Bio-oils

    DEFF Research Database (Denmark)

    Conrad, Finn

    1997-01-01

    Deals with the advantages of using pure tap water hydraulics versus bio-oils for suiteable applications. Focus is in particular on food processing industry.......Deals with the advantages of using pure tap water hydraulics versus bio-oils for suiteable applications. Focus is in particular on food processing industry....

  4. A hydraulic hybrid propulsion method for automobiles with self-adaptive system

    International Nuclear Information System (INIS)

    Wu, Wei; Hu, Jibin; Yuan, Shihua; Di, Chongfeng

    2016-01-01

    A hydraulic hybrid vehicle with the self-adaptive system is proposed. The mode-switching between the driving mode and the hydraulic regenerative braking mode is realised by the pressure cross-feedback control. Extensive simulated and tested results are presented. The control parameters are reduced and the energy efficiency can be increased by the self-adaptive system. The mode-switching response is fast. The response time can be adjusted by changing the controlling spool diameter of the hydraulic operated check valve in the self-adaptive system. The closing of the valve becomes faster with a smaller controlling spool diameter. The hydraulic regenerative braking mode can be achieved by changing the hydraulic transformer controlled angle. Compared with the convention electric-hydraulic system, the self-adaptive system for the hydraulic hybrid vehicle mode-switching has a higher reliability and a lower cost. The efficiency of the hydraulic regenerative braking is also increased. - Highlights: • A new hybrid system with a self-adaptive system for automobiles is presented. • The mode-switching is realised by the pressure cross-feedback control. • The energy efficiency can be increased with the self-adaptive system. • The control parameters are reduced with the self-adaptive system.

  5. Usability study of a vineyard teleoperated compost spreader.

    Science.gov (United States)

    Ferrari, Ester; Cavallo, Eugenio

    2012-01-01

    Teleoperation has been widely applied in modern industry because of a variety of advantages, such as providing replaceable surrogates for humans in dangerous or difficult working environments over long distances. In this paper, a usability evaluation study of a teleoperation system for a compost spreader robotic machine is presented. The machine has been designed for the application of compost in small and stepping parcels of hilly vineyards. Driving and working tasks can be controlled remotely by a portable piloting unit, reducing the risk for the operator in the event of machine overturning. Participants of the study were asked to perform a series of tasks and sub-tasks and to vocalize their thoughts while working with the machine. The tasks were designed to simulate typical user experience. Once all the tasks were accomplished each participant was asked to fill a questionnaire. The evaluation considered aspects such as learnability, ease of use, understandability, controllability, frustration, mental effort, distraction, clarity of presentation, perceived usefulness, temporal efficiency and machine aesthetic. Results show that usability evaluation helped detecting design deficiencies in the teleoperated compost spreader machine.

  6. AUTOMOTIVE DIESEL MAINTENANCE 2. UNIT X, AUTOMATIC TRANSMISSIONS--HYDRAULIC SYSTEMS (PART II).

    Science.gov (United States)

    Human Engineering Inst., Cleveland, OH.

    THIS MODULE OF A 25-MODULE COURSE IS DESIGNED TO PROVIDE A SUMMARY OF MAINTENANCE PROCEDURES FOR AUTOMATIC TRANSMISSIONS USED ON DIESEL POWERED VEHICLES. TOPICS ARE (1) CHECKING THE HYDRAULIC SYSTEM, (2) SERVICING THE HYDRAULIC SYSTEM, (3) EXAMINING THE RANGE CONTROL VALVE, (4) EXAMINING THE LOCK-UP AND FLOW VALVE, (5) EXAMINING THE MAIN REGULATOR…

  7. Research on hydraulic system of KZC-5 type rear dump truck in underground mine

    International Nuclear Information System (INIS)

    Lei Zeyong

    2005-01-01

    KZC-5 type rear dump truck in underground mine is introduced in this paper. The determining principles and ways of two main hydraulic systems are discussed. It has been proved that the hydraulic systems are reasonable in the industrial scale test. (author)

  8. Contamination Control and Monitoring of Tap Water as Fluid in Industrial Tap Water Hydraulic Systems

    DEFF Research Database (Denmark)

    Conrad, Finn; Adelstorp, Anders

    1998-01-01

    Presentation of results and methods addressed to contamination control and monitoring of tap water as fluid in tap water hydraulic systems.......Presentation of results and methods addressed to contamination control and monitoring of tap water as fluid in tap water hydraulic systems....

  9. Proceedings of transient thermal-hydraulics and coupled vessel and piping system responses 1991

    International Nuclear Information System (INIS)

    Wang, G.Y.; Shin, Y.W.; Moody, F.J.

    1991-01-01

    This book reports on transient thermal-hydraulics and coupled vessel and piping system responses. Topics covered include: nuclear power plant containment designs; analysis of control rods; gate closure of hydraulic turbines; and shock wave solutions for steam water mixtures in piping systems

  10. Thermal Hydraulic Analysis of RPV Support Cooling System for HTGR

    International Nuclear Information System (INIS)

    Min Qi; Wu Xinxin; Li Xiaowei; Zhang Li; He Shuyan

    2014-01-01

    Passive safety is now of great interest for future generation reactors because of its reduction of human interaction and avoidance of failures of active components. reactor pressure vessel (RPV) support cooling system (SCS) for high temperature gas-cooled reactor (HTGR) is a passive safety system and is used to cool the concrete seats for the four RPV supports at its bottom. The SCS should have enough cooling capacity to ensure the temperature of the concrete seats for the supports not exceeding the limit temperature. The SCS system is composed of a natural circulation water loop and an air cooling tower. In the water loop, there is a heat exchanger embedded in the concrete seat, heat is transferred by thermal conduction and convection to the cooling water. Then the water is cooled by the air cooler mounted in the air cooling tower. The driving forces for water and air are offered by the density differences caused by the temperature differences. In this paper, the thermal hydraulic analysis for this system was presented. Methods for decoupling the natural circulation and heat transfer between the water loop and air flow were introduced. The operating parameters for different working conditions and environment temperatures were calculated. (author)

  11. Development of realistic thermal hydraulic system analysis code

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Won Jae; Chung, B. D; Kim, K. D. [and others

    2002-05-01

    The realistic safety analysis system is essential for nuclear safety research, advanced reactor development, safety analysis in nuclear industry and 'in-house' plant design capability development. In this project, we have developed a best-estimate multi-dimensional thermal-hydraulic system code, MARS, which is based on the integrated version of the RELAP5 and COBRA-TF codes. To improve the realistic analysis capability, we have improved the models for multi-dimensional two-phase flow phenomena and for advanced two-phase flow modeling. In addition, the GUI (Graphic User Interface) feature were developed to enhance the user's convenience. To develop the coupled analysis capability, the MARS code were linked with the three-dimensional reactor kinetics code (MASTER), the core thermal analysis code (COBRA-III/CP), and the best-estimate containment analysis code (CONTEMPT), resulting in MARS/MASTER/COBRA/CONTEMPT. Currently, the MARS code system has been distributed to 18 domestic organizations, including research, industrial, regulatory organizations and universities. The MARS has been being widely used for the safety research of existing PWRs, advanced PWR, CANDU and research reactor, the pre-test analysis of TH experiments, and others.

  12. Development of realistic thermal hydraulic system analysis code

    International Nuclear Information System (INIS)

    Lee, Won Jae; Chung, B. D; Kim, K. D.

    2002-05-01

    The realistic safety analysis system is essential for nuclear safety research, advanced reactor development, safety analysis in nuclear industry and 'in-house' plant design capability development. In this project, we have developed a best-estimate multi-dimensional thermal-hydraulic system code, MARS, which is based on the integrated version of the RELAP5 and COBRA-TF codes. To improve the realistic analysis capability, we have improved the models for multi-dimensional two-phase flow phenomena and for advanced two-phase flow modeling. In addition, the GUI (Graphic User Interface) feature were developed to enhance the user's convenience. To develop the coupled analysis capability, the MARS code were linked with the three-dimensional reactor kinetics code (MASTER), the core thermal analysis code (COBRA-III/CP), and the best-estimate containment analysis code (CONTEMPT), resulting in MARS/MASTER/COBRA/CONTEMPT. Currently, the MARS code system has been distributed to 18 domestic organizations, including research, industrial, regulatory organizations and universities. The MARS has been being widely used for the safety research of existing PWRs, advanced PWR, CANDU and research reactor, the pre-test analysis of TH experiments, and others

  13. Development of realistic thermal-hydraulic system analysis codes ; development of thermal hydraulic test requirements for multidimensional flow modeling

    Energy Technology Data Exchange (ETDEWEB)

    Suh, Kune Yull; Yoon, Sang Hyuk; Noh, Sang Woo; Lee, Il Suk [Seoul National University, Seoul (Korea)

    2002-03-01

    This study is concerned with developing a multidimensional flow model required for the system analysis code MARS to more mechanistically simulate a variety of thermal hydraulic phenomena in the nuclear stem supply system. The capability of the MARS code as a thermal hydraulic analysis tool for optimized system design can be expanded by improving the current calculational methods and adding new models. In this study the relevant literature was surveyed on the multidimensional flow models that may potentially be applied to the multidimensional analysis code. Research items were critically reviewed and suggested to better predict the multidimensional thermal hydraulic behavior and to identify test requirements. A small-scale preliminary test was performed in the downcomer formed by two vertical plates to analyze multidimensional flow pattern in a simple geometry. The experimental result may be applied to the code for analysis of the fluid impingement to the reactor downcomer wall. Also, data were collected to find out the controlling parameters for the one-dimensional and multidimensional flow behavior. 22 refs., 40 figs., 7 tabs. (Author)

  14. A Modular Telerobot Control System for Accident Response

    International Nuclear Information System (INIS)

    Anderson, Robert J.; Shirey, David L.

    1999-01-01

    The Accident Response Mobile Manipulator System (ARMMS) is a teleoperated emergency response vehicle that deploys two hydraulic manipulators, five cameras, and an array of sensors to the scene of an incident. It is operated from a remote base station that can be situated up to four kilometers away from the site. Recently, a modular telerobot control architecture called SMART (Sandia's Modular Architecture for Robotic and Teleoperation) was applied to ARMMS to improve the precision, safety, and operability of the manipulators on board. Using SMART, a prototype manipulator control system was developed in a couple of days, and an integrated working system was demonstrated within a couple of months. New capabilities such as camera teleoperation, autonomous tool changeout and dual manipulator control have been incorporated. The final system incorporates twenty-two separate modules and implements eight different behavior modes. This paper describes the integration of SMART into the ARMMS system

  15. Study on the application of energy storage system in offshore wind turbine with hydraulic transmission

    International Nuclear Information System (INIS)

    Fan, Yajun; Mu, Anle; Ma, Tao

    2016-01-01

    Highlights: • Hydraulic offshore wind turbine is capable of outputting near constant power. • Open loop hydraulic transmission uses seawater as the working fluid. • Linear control strategy distributes total flow according to demand and supply. • Constant pressure hydraulic accumulator stores/releases the surplus energy. • Simulations show the dynamic performance of the hybrid system. - Abstract: A novel offshore wind turbine comprising fluid power transmission and energy storage system is proposed. In this wind turbine, the conventional mechanical transmission is replaced by an open-loop hydraulic system, in which seawater is sucked through a variable displacement pump in nacelle connected directly with the rotor and utilized to drive a Pelton turbine installed on the floating platform. Aiming to smooth and stabilize the output power, an energy storage system with the capability of flexible charging and discharging is applied. The related mathematical model is developed, which contains some sub-models that are categorized as the wind turbine rotor, hydraulic pump, transmission pipeline, proportional valve, accumulator and hydraulic turbine. A linear control strategy is adopted to distribute the flow out of the proportional valve through comparing the demand power with captured wind energy by hydraulic pump. Ultimately, two time domain simulations demonstrate the operation of the hybrid system when the hydraulic accumulator is utilized and show how this system can be used for load leveling and stabilizing the output power.

  16. Robust Hinfinity position control synthesis of an electro-hydraulic servo system.

    Science.gov (United States)

    Milić, Vladimir; Situm, Zeljko; Essert, Mario

    2010-10-01

    This paper focuses on the use of the techniques based on linear matrix inequalities for robust H(infinity) position control synthesis of an electro-hydraulic servo system. A nonlinear dynamic model of the hydraulic cylindrical actuator with a proportional valve has been developed. For the purpose of the feedback control an uncertain linearized mathematical model of the system has been derived. The structured (parametric) perturbations in the electro-hydraulic coefficients are taken into account. H(infinity) controller extended with an integral action is proposed. To estimate internal states of the electro-hydraulic servo system an observer is designed. Developed control algorithms have been tested experimentally in the laboratory model of an electro-hydraulic servo system. Copyright © 2010 ISA. Published by Elsevier Ltd. All rights reserved.

  17. Teleoperation environment based on virtual reality. Application of two-planes method for position measurement

    International Nuclear Information System (INIS)

    Yoshikawa, Hidekazu; Tezuka, Tetsuo; Inoue, Ryuji

    1998-01-01

    A teleoperation system based on virtual environment (VE) is an emergent technology for operating a robot in remote or hazardous environment. We have developed a VE-based teleoperation system for robot-arm manipulation in a simplified real world. The VE for manipulating the robot arm is constructed by measuring the 3D positions of the objects around the robot arm by motion-stereo method. The 3D position is estimated by using two-(calibration) planes method based on images captured by the CCD camera on the robot-arm, since the two-planes method does not need pin-hole-model assumption to the camera system. The precision of this 3D-measurement is evaluated through experiments and then derived is the theoretical model to the error in the measurement. This measurement system is applied to VE-based teleoperation experiment for Peg-in-hole practice by the robot arm. (author)

  18. UIO-based Fault Diagnosis for Hydraulic Automatic Gauge Control System of Magnesium Sheet Mill

    Directory of Open Access Journals (Sweden)

    Li-Ping FAN

    2014-02-01

    Full Text Available Hydraulic automatic gauge control system of magnesium sheet mill is a complex integrated control system, which including mechanical, hydraulic and electrical comprehensive information. The failure rate of AGC system always is high, and its fault reasons are always complex. Based on analyzing the fault of main components of the automatic gauge control system, unknown input observer is used to realize fault diagnosis and isolation. Simulation results show that the fault diagnosis method based on the unknown input observer for the hydraulic automatic gauge control system of magnesium sheet mill is effective.

  19. Telerobotics: through-the-Internet teleoperation of the ABB IRB 2000 industrial robot

    Science.gov (United States)

    Alvares, Alberto J.; Caribe de Carvalho, Guilherme; Paulinyi, Luis F. d. A.; Alfaro, Sadek C. A.

    1999-11-01

    Robotic systems can be controlled remotely through the use of telerobotics. This work presents a through-the-internet teleoperation system for remotely operating the IRB2000 industrial robot. The IRB2000 controller allows external access through a RS232 serial communication link, which is based on a 42 function proprietary communication protocol. The proposed teleoperation system uses this communication capability by connecting it to a local area network based on TCP/IP (Transport Control Protocol/Internet Protocol). The system was implemented using a Client/Server architecture, having as server a UNIX (LINUX) platform.

  20. Adaptive Control System of Hydraulic Pressure Based on The Mathematical Modeling

    Science.gov (United States)

    Pilipenko, A. V.; Pilipenko, A. P.; Kanatnikov, N. V.

    2016-04-01

    In this paper, the authors highlight the problem of replacing an old heavy industrial equipment, and offer the replacement of obsolete control systems on the modern adaptive control system, which takes into account changes in the hydraulic system of the press and compensates them with a corrective action. The proposed system can reduce a water hammer and thereby increase the durability of the hydraulic system and tools.

  1. Evaluation of Linear and Non-Linear Control Schemes Applied to a Hydraulic Servo System

    DEFF Research Database (Denmark)

    Andersen, Torben Ole; Hansen, Michael Rygaard; Pedersen, Henrik Clemmensen

    2005-01-01

    Due to the innovation of low-cost electronics such as sensors, microcontrollers etc., the focus on highperformance motion control is increasing. This work focuses on position control of single-input single-output hydraulic servo-systems in general. A hydraulically actuated robotic manipulator...

  2. Engineered Barrier System Thermal-Hydraulic-Chemical Column Test Report

    International Nuclear Information System (INIS)

    W.E. Lowry

    2001-01-01

    The Engineered Barrier System (EBS) Thermal-Hydraulic-Chemical (THC) Column Tests provide data needed for model validation. The EBS Degradation, Flow, and Transport Process Modeling Report (PMR) will be based on supporting models for in-drift THC coupled processes, and the in-drift physical and chemical environment. These models describe the complex chemical interaction of EBS materials, including granular materials, with the thermal and hydrologic conditions that will be present in the repository emplacement drifts. Of particular interest are the coupled processes that result in mineral and salt dissolution/precipitation in the EBS environment. Test data are needed for thermal, hydrologic, and geochemical model validation and to support selection of introduced materials (CRWMS M and O 1999c). These column tests evaluated granular crushed tuff as potential invert ballast or backfill material, under accelerated thermal and hydrologic environments. The objectives of the THC column testing are to: (1) Characterize THC coupled processes that could affect performance of EBS components, particularly the magnitude of permeability reduction (increases or decreases), the nature of minerals produced, and chemical fractionation (i.e., concentrative separation of salts and minerals due to boiling-point elevation). (2) Generate data for validating THC predictive models that will support the EBS Degradation, Flow, and Transport PMR, Rev. 01

  3. Thermal hydraulics of accelerator driven system windowless targets

    Directory of Open Access Journals (Sweden)

    Bruno ePanella

    2015-07-01

    Full Text Available The study of the fluid dynamics of the windowless spallation target of an Accelerator Driven System (ADS is presented. Several target mockup configurations have been investigated: the first one was a symmetrical target, that was made by two concentric cylinders, the other configurations are not symmetrical. In the experiments water has been used as hydraulic equivalent to lead-bismuth eutectic fluid. The experiments have been carried out at room temperature and flow rate up to 24 kg/s. The fluid velocity components have been measured by an ultrasound technique. The velocity field of the liquid within the target region either for the approximately axial-symmetrical configuration or for the not symmetrical ones as a function of the flow rate and the initial liquid level is presented. A comparison of experimental data with the prediction of the finite volume FLUENT code is also presented. Moreover the results of a 2D-3D numerical analysis that investigates the effect on the steady state thermal and flow fields due to the insertion of guide vanes in the windowless target unit of the EFIT project ADS nuclear reactor are presented, by analysing both the cold flow case (absence of power generation and the hot flow case (nominal power generation inside the target unit.

  4. PD-like controller for delayed bilateral teleoperation of wheeled robots

    Science.gov (United States)

    Slawiñski, E.; Mut, V.; Santiago, D.

    2016-08-01

    This paper proposes a proportional derivative (PD)-like controller applied to the delayed bilateral teleoperation of wheeled robots with force feedback in face of asymmetric and varying-time delays. In contrast to bilateral teleoperation of manipulator robots, in these systems, there is a mismatch between the models of the master and slave (mobile robot), problem that is approached in this work, where the system stability is analysed. From this study, it is possible to infer the control parameters, depending on the time delay, necessary to assure stability. Finally, the performance of the delayed teleoperation system is evaluated through tests where a human operator drives a 3D simulator as well as a mobile robot for pushing objects.

  5. High bulk modulus of ionic liquid and effects on performance of hydraulic system.

    Science.gov (United States)

    Kambic, Milan; Kalb, Roland; Tasner, Tadej; Lovrec, Darko

    2014-01-01

    Over recent years ionic liquids have gained in importance, causing a growing number of scientists and engineers to investigate possible applications for these liquids because of their unique physical and chemical properties. Their outstanding advantages such as nonflammable liquid within a broad liquid range, high thermal, mechanical, and chemical stabilities, low solubility for gases, attractive tribological properties (lubrication), and very low compressibility, and so forth, make them more interesting for applications in mechanical engineering, offering great potential for new innovative processes, and also as a novel hydraulic fluid. This paper focuses on the outstanding compressibility properties of ionic liquid EMIM-EtSO4, a very important physical chemically property when IL is used as a hydraulic fluid. This very low compressibility (respectively, very high Bulk modulus), compared to the classical hydraulic mineral oils or the non-flammable HFDU type of hydraulic fluids, opens up new possibilities regarding its usage within hydraulic systems with increased dynamics, respectively, systems' dynamic responses.

  6. Usability of stereoscopic view in teleoperation

    Science.gov (United States)

    Boonsuk, Wutthigrai

    2015-03-01

    Recently, there are tremendous growths in the area of 3D stereoscopic visualization. The 3D stereoscopic visualization technology has been used in a growing number of consumer products such as the 3D televisions and the 3D glasses for gaming systems. This technology refers to the idea that human brain develops depth of perception by retrieving information from the two eyes. Our brain combines the left and right images on the retinas and extracts depth information. Therefore, viewing two video images taken at slightly distance apart as shown in Figure 1 can create illusion of depth [8]. Proponents of this technology argue that the stereo view of 3D visualization increases user immersion and performance as more information is gained through the 3D vision as compare to the 2D view. However, it is still uncertain if additional information gained from the 3D stereoscopic visualization can actually improve user performance in real world situations such as in the case of teleoperation.

  7. Discussion on Stochastic Analysis of Hydraulic Vibration in Pressurized Water Diversion and Hydropower Systems

    Directory of Open Access Journals (Sweden)

    Jianxu Zhou

    2018-03-01

    Full Text Available Hydraulic vibration exists in various water conveyance projects and has resulted in different operating problems, but its obvious effects on system’s pressure head and stable operation have not been definitively addressed in the issued codes for engineering design, especially considering the uncertainties of hydraulic vibration. After detailed analysis of the randomness in hydraulic vibration and the commonly used stochastic approaches, in the basic equations for hydraulic vibration analysis, the random parameters and the formed stochastic equations were discussed for further probabilistic characteristic analysis of the random variables. Furthermore, preliminary investigation of the stochastic analysis of hydraulic vibration in pressurized pipelines and possible self-excited vibration in pumped-storage systems was presented for further consideration. The detailed discussion indicates that it is necessary to conduct further and systematic stochastic analysis of hydraulic vibration. Further, with the obtained frequencies and amplitudes in the form of a probability statement, the stochastic characteristics of various hydraulic vibrations can be investigated in detail and these solutions will be more reasonable for practical applications. Eventually, the stochastic analysis of hydraulic vibration will provide a basic premise to introduce its effect into the engineering design of water diversion and hydropower systems.

  8. Parametric model of servo-hydraulic actuator coupled with a nonlinear system: Experimental validation

    Science.gov (United States)

    Maghareh, Amin; Silva, Christian E.; Dyke, Shirley J.

    2018-05-01

    Hydraulic actuators play a key role in experimental structural dynamics. In a previous study, a physics-based model for a servo-hydraulic actuator coupled with a nonlinear physical system was developed. Later, this dynamical model was transformed into controllable canonical form for position tracking control purposes. For this study, a nonlinear device is designed and fabricated to exhibit various nonlinear force-displacement profiles depending on the initial condition and the type of materials used as replaceable coupons. Using this nonlinear system, the controllable canonical dynamical model is experimentally validated for a servo-hydraulic actuator coupled with a nonlinear physical system.

  9. Development and industrial tests of the first LNG hydraulic turbine system in China

    Directory of Open Access Journals (Sweden)

    Jie Chen

    2016-10-01

    Full Text Available The cryogenic hydraulic turbine can be used to replace the conventional J–T valve for LNG or mixed refrigerant throttling and depressurization in a natural gas liquefaction plant. This advanced technology is not only to enhance the efficiency of the liquefaction plant, but to usher a new trend in the development of global liquefaction technologies. China has over 136 liquefaction plants, but the cryogenic hydraulic turbines have not been deployed in industrial utilization. In addition, these turbines cannot be manufactured domestically. In this circumstance, through working on the key technologies for LNG hydraulic turbine process & control system development, hydraulic model optimization design, structure design and manufacturing, the first domestic cryogenic hydraulic turbine with a flow rate of 40 m3/h was developed to recover the pressure energy from the LNG of cold box. The turbine was installed in the CNOOC Zhuhai Natural Gas Liquefaction Plant for industrial tests under multiple working conditions, including start-stop, variable flow rates and variable rotation speeds. Test results show that the domestic LNG cryogenic hydraulic turbine has satisfactory mechanical and operational performances at low temperatures as specified in design. In addition, the process & control system and frequency-conversion power-generation system of the turbine system are designed properly to automatically and smoothly replace the existing LNG J–T valve. As a result, the domestic LNG cryogenic hydraulic turbine system can improve LNG production by an average of 2% and generate power of 8.3 kW.

  10. Research issues in implementing remote presence in teleoperator control

    Science.gov (United States)

    Corker, K.; Mishkin, A. H.; Lyman, J.

    1981-01-01

    The concept of remote presence in telemanipulation is presented. A conceptual design of a prototype teleoperator system incorporating remote presence is described. The design is presented in functional terms, sensor, display, and control subsystem. An intermediate environment, in which the human operator is made to feel present, is explicated. The intermediate environment differs from the task environment due to the quantity and type of information presented to an operator and due to scaling factors protecting the operator from the hazards of the task environment. Potential benefits of remote presence systems, both for manipulation and for the study of human cognition and preception are discussed.

  11. Research on the improvement of nuclear safety -Thermal hydraulic tests for reactor safety system-

    Energy Technology Data Exchange (ETDEWEB)

    Jung, Moon Kee; Park, Choon Kyung; Yang, Sun Kyoo; Chun, Se Yung; Song, Chul Hwa; Jun, Hyung Kil; Jung, Heung Joon; Won, Soon Yun; Cho, Yung Roh; Min, Kyung Hoh; Jung, Jang Hwan; Jang, Suk Kyoo; Kim, Bok Deuk; Kim, Wooi Kyung; Huh, Jin; Kim, Sook Kwan; Moon, Sang Kee; Lee, Sang Il [Korea Atomic Energy Research Institute, Taejon (Korea, Republic of)

    1995-06-01

    The present research aims at the development of the thermal hydraulic verification test technology for the safety system of the conventional and advanced nuclear power plant and the development of the advanced thermal hydraulic measuring techniques. In this research, test facilities simulating the primary coolant system and safety system are being constructed for the design verification tests of the existing and advanced nuclear power plant. 97 figs, 14 tabs, 65 refs. (Author).

  12. Thermal-Hydraulic Experiments and Modelling for Advanced Nuclear Reactor Systems

    International Nuclear Information System (INIS)

    Song, C. H.; Chung, M. K.; Park, C. K. and others

    2005-04-01

    The objectives of the project are to study thermal hydraulic characteristics of reactor primary system for the verification of the reactor safety and to evaluate new safety concepts of new safety design features. To meet the research goal, several thermal hydraulic experiments were performed and related thermal hydraulic models were developed with the experimental data which were produced through the thermal hydraulic experiments. Followings are main research topics; - Multi-dimensional Phenomena in a Reactor Vessel Downcomer - Condensation Load and Thermal Mixing in the IRWST - Development of Thermal-Hydraulic Models for Two-Phase Flow - Development of Measurement Techniques for Two-Phase Flow - Supercritical Reactor T/H Characteristics Analysis From the above experimental and analytical studies, new safety design features of the advanced power reactors were verified and lots of the safety issues were also resolved

  13. Thermal-Hydraulic Experiments and Modelling for Advanced Nuclear Reactor Systems

    Energy Technology Data Exchange (ETDEWEB)

    Song, C. H.; Chung, M. K.; Park, C. K. and others

    2005-04-15

    The objectives of the project are to study thermal hydraulic characteristics of reactor primary system for the verification of the reactor safety and to evaluate new safety concepts of new safety design features. To meet the research goal, several thermal hydraulic experiments were performed and related thermal hydraulic models were developed with the experimental data which were produced through the thermal hydraulic experiments. Followings are main research topics; - Multi-dimensional Phenomena in a Reactor Vessel Downcomer - Condensation Load and Thermal Mixing in the IRWST - Development of Thermal-Hydraulic Models for Two-Phase Flow - Development of Measurement Techniques for Two-Phase Flow - Supercritical Reactor T/H Characteristics Analysis From the above experimental and analytical studies, new safety design features of the advanced power reactors were verified and lots of the safety issues were also resolved.

  14. Design of the Driving and Clamp Rotation Hydraulic Control System for the Heavy Load Forging Manipulator

    Directory of Open Access Journals (Sweden)

    Li Geqiang

    2015-01-01

    Full Text Available The manipulator was equipped with full hydraulic drive. We designed the hydraulic systems for the driving and clamping rotation. We used a fuzzy PID control strategy to design the electro-hydraulic proportional control system. We built a united simulation model based on the co-simulation of MATLAB/Simulink and AMEsim. A mathematical model of the system was also established. We did separate simulations of the system’s dynamic characteristics for fast forging and normal forging working conditions. The parameters were optimized. The field test shows that the steady-state error of the hydraulic system is small and the system response is fast. The system’s rapid response speed, high precision, and stability under heavy load were realized.

  15. A CORBA-Based Control Architecture for Real-Time Teleoperation Tasks in a Developmental Humanoid Robot

    Directory of Open Access Journals (Sweden)

    Hanafiah Yussof

    2011-06-01

    Full Text Available This paper presents the development of new Humanoid Robot Control Architecture (HRCA platform based on Common Object Request Broker Architecture (CORBA in a developmental biped humanoid robot for real-time teleoperation tasks. The objective is to make the control platform open for collaborative teleoperation research in humanoid robotics via the internet. Meanwhile, to generate optimal trajectory generation in bipedal walk, we proposed a real time generation of optimal gait by using Genetic Algorithms (GA to minimize the energy for humanoid robot gait. In addition, we proposed simplification of kinematical solutions to generate controlled trajectories of humanoid robot legs in teleoperation tasks. The proposed control systems and strategies was evaluated in teleoperation experiments between Australia and Japan using humanoid robot Bonten-Maru. Additionally, we have developed a user-friendly Virtual Reality (VR user interface that is composed of ultrasonic 3D mouse system and a Head Mounted Display (HMD for working coexistence of human and humanoid robot in teleoperation tasks. The teleoperation experiments show good performance of the proposed system and control, and also verified the good performance for working coexistence of human and humanoid robot.

  16. A CORBA-Based Control Architecture for Real-Time Teleoperation Tasks in a Developmental Humanoid Robot

    Directory of Open Access Journals (Sweden)

    Hanafiah Yussof

    2011-06-01

    Full Text Available This paper presents the development of new Humanoid Robot Control Architecture (HRCA platform based on Common Object Request Broker Architecture (CORBA in a developmental biped humanoid robot for real‐time teleoperation tasks. The objective is to make the control platform open for collaborative teleoperation research in humanoid robotics via the internet. Meanwhile, to generate optimal trajectory generation in bipedal walk, we proposed a real time generation of optimal gait by using Genetic Algorithms (GA to minimize the energy for humanoid robot gait. In addition, we proposed simplification of kinematical solutions to generate controlled trajectories of humanoid robot legs in teleoperation tasks. The proposed control systems and strategies was evaluated in teleoperation experiments between Australia and Japan using humanoid robot Bonten‐Maru. Additionally, we have developed a user‐ friendly Virtual Reality (VR user interface that is composed of ultrasonic 3D mouse system and a Head Mounted Display (HMD for working coexistence of human and humanoid robot in teleoperation tasks. The teleoperation experiments show good performance of the proposed system and control, and also verified the good performance for working coexistence of human and humanoid robot.

  17. Development of a control algorithm for teleoperation of DFDF(IMEF/M6 hot cell) maintenance equipment

    Energy Technology Data Exchange (ETDEWEB)

    Oh, Chae Youn; Kwon, Hyuk Jo; Kim, Hak Duck; Jun, Ji Myung; Oh, Hee Geun [Chonbuk National University, Chonju (Korea)

    2002-03-01

    Teleoperation has been used for separating operators from the working environment. Thus, it is usually used to perform a work in an inaccessible place such as space, deep sea, etc. Also, it is used to perform a work in an accessible but a very poor working environment such as explosive, poison gas, radioactive area, etc. It is one of the advanced technology-intensive research areas. It has potentially big economical and industrial value. There is a tendency to avoid working in a difficult, dirty or dangerous place, particularly, in a high radioactive area since there always exist a possibility to be in a very dangerous situation. Thus, developing and utilizing of a teleoperation system will minimize the possibility to be exposed in such a extreme situation directly. Recently, there has been many researches on reflecting force information occurring in teleoperation to the operator in addition to visual information. The reflected force information is used to control the teleoperation system bilaterally. It will contribute a lot to improve teleoperation's safety and working efficiency. This study developed a bilateral force reflecting control algorithm. It may be used as a key technology of a teleoperation system for maintaining, repairing and dismantling facilities exposed in a high radioactive. 42 refs., 71 figs., 12 tabs. (Author)

  18. Hydraulic turbines

    International Nuclear Information System (INIS)

    Meluk O, G.

    1998-01-01

    The hydraulic turbines are defined according to the specific speed, in impulse turbines and in reaction turbines. Currently, the Pelton turbines (of impulse) and the Francis and Kaplan turbines (of reaction), they are the most important machines in the hydroelectric generation. The hydraulic turbines are capable of generating in short times, large powers, from its loads zero until the total load and reject the load instantly without producing damages in the operation. When the hydraulic resources are important, the hydraulic turbines are converted in the axle of the electric system. Its combination with thermoelectric generation systems, it allow the continuing supply of the variations in demand of energy system. The available hydraulic resource in Colombia is of 93085 MW, of which solely 9% is exploited, become 79% of all the electrical country generation, 21% remaining is provided by means of the thermoelectric generation

  19. Wave impedance selection for passivity-based bilateral teleoperation

    Science.gov (United States)

    D'Amore, Nicholas John

    When a task must be executed in a remote or dangerous environment, teleoperation systems may be employed to extend the influence of the human operator. In the case of manipulation tasks, haptic feedback of the forces experienced by the remote (slave) system is often highly useful in improving an operator's ability to perform effectively. In many of these cases (especially teleoperation over the internet and ground-to-space teleoperation), substantial communication latency exists in the control loop and has the strong tendency to cause instability of the system. The first viable solution to this problem in the literature was based on a scattering/wave transformation from transmission line theory. This wave transformation requires the designer to select a wave impedance parameter appropriate to the teleoperation system. It is widely recognized that a small value of wave impedance is well suited to free motion and a large value is preferable for contact tasks. Beyond this basic observation, however, very little guidance exists in the literature regarding the selection of an appropriate value. Moreover, prior research on impedance selection generally fails to account for the fact that in any realistic contact task there will simultaneously exist contact considerations (perpendicular to the surface of contact) and quasi-free-motion considerations (parallel to the surface of contact). The primary contribution of the present work is to introduce an approximate linearized optimum for the choice of wave impedance and to apply this quasi-optimal choice to the Cartesian reality of such a contact task, in which it cannot be expected that a given joint will be either perfectly normal to or perfectly parallel to the motion constraint. The proposed scheme selects a wave impedance matrix that is appropriate to the conditions encountered by the manipulator. This choice may be implemented as a static wave impedance value or as a time-varying choice updated according to the

  20. Hydraulic simulation of the systems of a nuclear power plant for charges calculation in piping

    International Nuclear Information System (INIS)

    Masriera, N.

    1990-01-01

    This work presents a general description of the methodology used by the ENACE S.A. Fluids Working Group for hydraulics simulation of a nuclear power plant system for the calculation charges in piping. (Author) [es

  1. Social Acceptance of a Teleoperated Android

    DEFF Research Database (Denmark)

    Ryuji, Yamazaki; Nishio, Shuichi; Ishiguro, Hiroshi

    2012-01-01

    We explored the potential of teleoperated android robots, which are embodied telecommunication media with humanlike appearances, and how they affect people in the real world when they are employed to express a telepresence and a sense of ‘being there’. In Denmark, our exploratory study focused on...

  2. Tele-operated service robots : ROSE

    NARCIS (Netherlands)

    Osch, van M.P.W.J.; Bera, D.; Hee, van K.M.; Koks, Y.; Zeegers, H.

    2014-01-01

    Service robots are robots that are intended to perform tasks normally done by humans in an environment in which humans work as well. However, they are neither required to accomplish these tasks in the same way as humans nor need to look like a human being. A tele-operated robot is controlled from a

  3. Reasons for singularity in robot teleoperation

    DEFF Research Database (Denmark)

    Marhenke, Ilka; Fischer, Kerstin; Savarimuthu, Thiusius Rajeeth

    2014-01-01

    In this paper, the causes for singularity of a robot arm in teleoperation for robot learning from demonstration are analyzed. Singularity is the alignment of robot joints, which prevents the configuration of the inverse kinematics. Inspired by users' own hypotheses, we investigated speed and dela...

  4. On bilateral teleoperation of aerial robots

    NARCIS (Netherlands)

    Mersha, A.Y.; Stramigioli, Stefano; Carloni, Raffaella

    This paper presents a generic hierarchical passive teleoperation control architecture that effectively addresses the issues of workspace incompatibility and precision, as well as other classical and peculiar challenges. More specifically, the control scheme consists of a user-defined variable scale

  5. Teleoperation and beyond for assistive humanoid robots

    NARCIS (Netherlands)

    Goodrich, M.A.; Crandall, J.W.; Barakova, E.I.

    2013-01-01

    In this review, we explore how teleoperation could potentially be applied to the management of humanoid robots, with an emphasis on humanoid robots that are used in assistive roles, including clinical therapies. Since there are very few examples of the remote operation of a full humanoid, the review

  6. Multi-parameter monitoring system for hydraulic fluids; Multi-Parameter Monitoring System fuer Hydraulische Fluessigkeiten

    Energy Technology Data Exchange (ETDEWEB)

    Paul, Sumit; Legner, Wolfgang; Hackner, Angelika; Mueller, Gerhard [EADS Innovation Works, Muenchen (Germany). Bereich Sensors, Electronics and Systems Integration; Baumbach, Volker [Airbus Operations GmbH, Bremen (Germany). Bereich Hydraulic Performance and Integrity

    2011-07-01

    A miniaturised sensor system for aviation hydraulic fluids is presented. The system consists of an optochemical sensor and a particle sensor. The optochemical sensor detects the form of the O-H absorption feature around 3500 cm{sup -1} to reveal the water and acid contamination in the fluid. The particle sensor uses a light barrier principle to derive its particle contamination number. (orig.)

  7. On Energy Efficient Mobile Hydraulic Systems : with Focus on Linear Actuation

    OpenAIRE

    Heybroek, Kim

    2017-01-01

    In this dissertation, energy efficient hydraulic systems are studied. The research focuses on solutions for linear actuators in mobile applications, with emphasis on construction machines. Alongside the aspect of energy efficiency, the thesis deals with competing aspects in hydraulic system design found in the development of construction machines. Simulation models and controls for different concepts are developed, taking the whole machine into account. In line with this work, several proof o...

  8. Wind power plants. Hydraulic transmission with control systems for unrestricted number of revolutions

    Energy Technology Data Exchange (ETDEWEB)

    Andersson, R

    1976-09-01

    Basic ideas are presented for the design of a hydraulic transmission with its control system adapted to an electric generator operated by a wind turbine with unrestricted revolutions. The settlement of the principle is shown by means of commercially available parts. The relations of the installed effect, its cost and the length of operational life are discussed. The control system is directly integrated to the hydraulic circuits.

  9. Knowledge-based Adaptive Tracking Control of Electro-hydraulic Actuator Systems

    DEFF Research Database (Denmark)

    Hansen, Poul Erik

    1997-01-01

    The paper deal with intelligent motion control and electro-hydraulic actuator systems for multiaxis machynes and robots.The research results are from the IMCIA research Programme supported by the Danish Technical Research Council, STVF.......The paper deal with intelligent motion control and electro-hydraulic actuator systems for multiaxis machynes and robots.The research results are from the IMCIA research Programme supported by the Danish Technical Research Council, STVF....

  10. Visual and intelligent transients and accidents analyzer based on thermal-hydraulic system code

    International Nuclear Information System (INIS)

    Meng Lin; Rui Hu; Yun Su; Ronghua Zhang; Yanhua Yang

    2005-01-01

    Full text of publication follows: Many thermal-hydraulic system codes were developed in the past twenty years, such as RELAP5, RETRAN, ATHLET, etc. Because of their general and advanced features in thermal-hydraulic computation, they are widely used in the world to analyze transients and accidents. But there are following disadvantages for most of these original thermal-hydraulic system codes. Firstly, because models are built through input decks, so the input files are complex and non-figurative, and the style of input decks is various for different users and models. Secondly, results are shown in off-line data file form. It is not convenient for analysts who may pay more attention to dynamic parameters trend and changing. Thirdly, there are few interfaces with other program in these original thermal-hydraulic system codes. This restricts the codes expanding. The subject of this paper is to develop a powerful analyzer based on these thermal-hydraulic system codes to analyze transients and accidents more simply, accurately and fleetly. Firstly, modeling is visual and intelligent. Users build the thermalhydraulic system model using component objects according to their needs, and it is not necessary for them to face bald input decks. The style of input decks created automatically by the analyzer is unified and can be accepted easily by other people. Secondly, parameters concerned by analyst can be dynamically communicated to show or even change. Thirdly, the analyzer provide interface with other programs for the thermal-hydraulic system code. Thus parallel computation between thermal-hydraulic system code and other programs become possible. In conclusion, through visual and intelligent method, the analyzer based on general and advanced thermal-hydraulic system codes can be used to analysis transients and accidents more effectively. The main purpose of this paper is to present developmental activities, assessment and application results of the visual and intelligent

  11. Adaptive fuzzy PID control of hydraulic servo control system for large axial flow compressor

    Science.gov (United States)

    Wang, Yannian; Wu, Peizhi; Liu, Chengtao

    2017-09-01

    To improve the stability of the large axial compressor, an efficient and special intelligent hydraulic servo control system is designed and implemented. The adaptive fuzzy PID control algorithm is used to control the position of the hydraulic servo cylinder steadily, which overcomes the drawback that the PID parameters should be adjusted based on the different applications. The simulation and the test results show that the system has a better dynamic property and a stable state performance.

  12. Development of MARS for multi-dimensional and multi-purpose thermal-hydraulic system analysis

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Won Jae; Chung, Bub Dong; Kim, Kyung Doo; Hwang, Moon Kyu; Jeong, Jae Jun; Ha, Kwi Seok; Joo, Han Gyu [Korea Atomic Energy Research Institute, T/H Safety Research Team, Yusung, Daejeon (Korea)

    2000-10-01

    MARS (Multi-dimensional Analysis of Reactor Safety) code is being developed by KAERI for the realistic thermal-hydraulic simulation of light water reactor system transients. MARS 1.4 has been developed as a final version of basic code frame for the multi-dimensional analysis of system thermal-hydraulics. Since MARS 1.3, MARS 1.4 has been improved to have the enhanced code capability and user friendliness through the unification of input/output features, code models and code functions, and through the code modernization. Further improvements of thermal-hydraulic models, numerical method and user friendliness are being carried out for the enhanced code accuracy. As a multi-purpose safety analysis code system, a coupled analysis system, MARS/MASTER/CONTEMPT, has been developed using multiple DLL (Dynamic Link Library) techniques of Windows system. This code system enables the coupled, that is, more realistic analysis of multi-dimensional thermal-hydraulics (MARS 2.0), three-dimensional core kinetics (MASTER) and containment thermal-hydraulics (CONTEMPT). This paper discusses the MARS development program, and the developmental progress of the MARS 1.4 and the MARS/MASTER/CONTEMPT focusing on major features of the codes and their verification. It also discusses thermal hydraulic models and new code features under development. (author)

  13. Development of MARS for multi-dimensional and multi-purpose thermal-hydraulic system analysis

    International Nuclear Information System (INIS)

    Lee, Won Jae; Chung, Bub Dong; Kim, Kyung Doo; Hwang, Moon Kyu; Jeong, Jae Jun; Ha, Kwi Seok; Joo, Han Gyu

    2000-01-01

    MARS (Multi-dimensional Analysis of Reactor Safety) code is being developed by KAERI for the realistic thermal-hydraulic simulation of light water reactor system transients. MARS 1.4 has been developed as a final version of basic code frame for the multi-dimensional analysis of system thermal-hydraulics. Since MARS 1.3, MARS 1.4 has been improved to have the enhanced code capability and user friendliness through the unification of input/output features, code models and code functions, and through the code modernization. Further improvements of thermal-hydraulic models, numerical method and user friendliness are being carried out for the enhanced code accuracy. As a multi-purpose safety analysis code system, a coupled analysis system, MARS/MASTER/CONTEMPT, has been developed using multiple DLL (Dynamic Link Library) techniques of Windows system. This code system enables the coupled, that is, more realistic analysis of multi-dimensional thermal-hydraulics (MARS 2.0), three-dimensional core kinetics (MASTER) and containment thermal-hydraulics (CONTEMPT). This paper discusses the MARS development program, and the developmental progress of the MARS 1.4 and the MARS/MASTER/CONTEMPT focusing on major features of the codes and their verification. It also discusses thermal hydraulic models and new code features under development. (author)

  14. Hydraulic engine valve actuation system including independent feedback control

    Science.gov (United States)

    Marriott, Craig D

    2013-06-04

    A hydraulic valve actuation assembly may include a housing, a piston, a supply control valve, a closing control valve, and an opening control valve. The housing may define a first fluid chamber, a second fluid chamber, and a third fluid chamber. The piston may be axially secured to an engine valve and located within the first, second and third fluid chambers. The supply control valve may control a hydraulic fluid supply to the piston. The closing control valve may be located between the supply control valve and the second fluid chamber and may control fluid flow from the second fluid chamber to the supply control valve. The opening control valve may be located between the supply control valve and the second fluid chamber and may control fluid flow from the supply control valve to the second fluid chamber.

  15. Model-based nonlinear control of hydraulic servo systems: Challenges, developments and perspectives

    Science.gov (United States)

    Yao, Jianyong

    2018-06-01

    Hydraulic servo system plays a significant role in industries, and usually acts as a core point in control and power transmission. Although linear theory-based control methods have been well established, advanced controller design methods for hydraulic servo system to achieve high performance is still an unending pursuit along with the development of modern industry. Essential nonlinearity is a unique feature and makes model-based nonlinear control more attractive, due to benefit from prior knowledge of the servo valve controlled hydraulic system. In this paper, a discussion for challenges in model-based nonlinear control, latest developments and brief perspectives of hydraulic servo systems are presented: Modelling uncertainty in hydraulic system is a major challenge, which includes parametric uncertainty and time-varying disturbance; some specific requirements also arise ad hoc difficulties such as nonlinear friction during low velocity tracking, severe disturbance, periodic disturbance, etc.; to handle various challenges, nonlinear solutions including parameter adaptation, nonlinear robust control, state and disturbance observation, backstepping design and so on, are proposed and integrated, theoretical analysis and lots of applications reveal their powerful capability to solve pertinent problems; and at the end, some perspectives and associated research topics (measurement noise, constraints, inner valve dynamics, input nonlinearity, etc.) in nonlinear hydraulic servo control are briefly explored and discussed.

  16. Aircraft Hydraulic System Leakage Detection and Servicing Recommendations Method

    Science.gov (United States)

    2014-10-02

    ITA), Brazil. He is with Empresa Brasileira de Aeronáutica S.A (EMBRAER), São José dos Campos, SP, Brazil, since 2007. He works as a Development...degree in Control Engineering from Universidade Estadual de Campinas (Unicamp, 2004), Brazil, and a Master Degree in Aeronautical Engineering from...accumulators, filters, and consumers, that include all the actuators connected to the hydraulic power such as flight controls , brake and landing

  17. Theoretical aspects concerning working fluids in hydraulic systems

    Directory of Open Access Journals (Sweden)

    Tița Irina

    2017-01-01

    Full Text Available Among the properties of working fluid, viscosity is the most important as it regards especially to pumps. In order to study the behavior of hydrostatic transmission it is important to create a reliable research instrument for dynamic simulation. Our research expertise being in SimHydraulics consequently this instrument is the suitable block diagram. The purpose of this paper is to present the possible ways to customize the properties of the working fluid in the block diagram.

  18. Primary system thermal hydraulics of future Indian fast reactors

    Energy Technology Data Exchange (ETDEWEB)

    Velusamy, K., E-mail: kvelu@igcar.gov.in [Thermal Hydraulics Section, Indira Gandhi Centre for Atomic Research, Kalpakkam 603102 (India); Natesan, K.; Maity, Ram Kumar; Asokkumar, M.; Baskar, R. Arul; Rajendrakumar, M.; Sarathy, U. Partha; Selvaraj, P.; Chellapandi, P. [Thermal Hydraulics Section, Indira Gandhi Centre for Atomic Research, Kalpakkam 603102 (India); Kumar, G. Senthil; Jebaraj, C. [AU-FRG Centre for CAD/CAM, Anna University, Chennai 600 025 (India)

    2015-12-01

    Highlights: • We present innovative design options proposed for future Indian fast reactor. • These options have been validated by extensive CFD simulations. • Hotspot factors in fuel subassembly are predicted by parallel CFD simulations. • Significant safety improvement in the thermal hydraulic design is quantified. - Abstract: As a follow-up to PFBR (Indian prototype fast breeder reactor), many FBRs of 500 MWe capacity are planned. The focus of these future FBRs is improved economy and enhanced safety. They are envisaged to have a twin-unit concept. Design and construction experiences gained from PFBR project have provided motivation to achieve an optimized design for future FBRs with significant design changes for many critical components. Some of the design changes include, (i) provision of four primary pipes per primary sodium pump, (ii) inner vessel with single torus lower part, (iii) dome shape roof slab supported on reactor vault, (iv) machined thick plate rotating plugs, (v) reduced main vessel diameter with narrow-gap cooling baffles and (vi) safety vessel integrated with reactor vault. This paper covers thermal hydraulic design validation of the chosen options with respect to hot and cold pool thermal hydraulics, flow requirement for main vessel cooling, inner vessel temperature distribution, safety analysis of primary pipe rupture event, adequacy of decay heat removal capacity by natural convection cooling, cold pool transient thermal loads and thermal management of top shield and reactor vault.

  19. Estimating biozone hydraulic conductivity in wastewater soil-infiltration systems using inverse numerical modeling.

    Science.gov (United States)

    Bumgarner, Johnathan R; McCray, John E

    2007-06-01

    During operation of an onsite wastewater treatment system, a low-permeability biozone develops at the infiltrative surface (IS) during application of wastewater to soil. Inverse numerical-model simulations were used to estimate the biozone saturated hydraulic conductivity (K(biozone)) under variably saturated conditions for 29 wastewater infiltration test cells installed in a sandy loam field soil. Test cells employed two loading rates (4 and 8cm/day) and 3 IS designs: open chamber, gravel, and synthetic bundles. The ratio of K(biozone) to the saturated hydraulic conductivity of the natural soil (K(s)) was used to quantify the reductions in the IS hydraulic conductivity. A smaller value of K(biozone)/K(s,) reflects a greater reduction in hydraulic conductivity. The IS hydraulic conductivity was reduced by 1-3 orders of magnitude. The reduction in IS hydraulic conductivity was primarily influenced by wastewater loading rate and IS type and not by the K(s) of the native soil. The higher loading rate yielded greater reductions in IS hydraulic conductivity than the lower loading rate for bundle and gravel cells, but the difference was not statistically significant for chamber cells. Bundle and gravel cells exhibited a greater reduction in IS hydraulic conductivity than chamber cells at the higher loading rates, while the difference between gravel and bundle systems was not statistically significant. At the lower rate, bundle cells exhibited generally lower K(biozone)/K(s) values, but not at a statistically significant level, while gravel and chamber cells were statistically similar. Gravel cells exhibited the greatest variability in measured values, which may complicate design efforts based on K(biozone) evaluations for these systems. These results suggest that chamber systems may provide for a more robust design, particularly for high or variable wastewater infiltration rates.

  20. A hydraulic test stand for demonstrating the operation of Eaton’s energy recovery system (ERS)

    OpenAIRE

    Wang, Meng (Rachel); Danzl, Per; Mahulkar, Vishal; Piyabongkarn, Damrongrit (Neng); Brenner, Paul

    2016-01-01

    Fuel cost represents a significant operating expense for owners and fleet managers of hydraulic off-highway vehicles. Further, the upcoming Tier IV compliance for off-highway applications will create further expense for after-treatment and cooling. Solutions that help address these factors motivate fleet operators to consider and pursue more fuelefficient hydraulic energy recovery systems. Electrical hybridization schemes are typically complex, expensive, and often do not satisfy customer pay...

  1. Using virtual objects to aid underground storage tank teleoperation

    International Nuclear Information System (INIS)

    Anderson, R.J.; Davies, B.

    1994-01-01

    In this paper we describe an algorithm by which obstructions and surface features in an underground storage tank can be modeled and used to generate virtual barrier function for a real-time telerobotic system, which provides an aid to the operator for both real-time obstacle avoidance and for surface tracking. The algorithm requires that the slave's tool and every object in the waste storage tank be decomposed into convex polyhedral primitives, with the waste surface modeled by triangular prisms. Intrusion distance and extraction vectors are then derived at every time step by applying Gilbert's polyhedra distance algorithm, which has been adapted for the task. This information is then used to determine the compression and location of nonlinear virtual spring-dampers whose total force is summed and applied to the manipulator/teleoperator system. Experimental results using a PUMA 560 and a simulated waste surface validate the approach, showing that it is possible to compute the algorithm and generate smooth, realistic pseudo forces for the teleoperator system using standard VME bus hardware

  2. Does reintroducing large wood influence the hydraulic landscape of a lowland river system?

    Science.gov (United States)

    Matheson, Adrian; Thoms, Martin; Reid, Michael

    2017-09-01

    Our understanding of the effectiveness of reintroduced large wood for restoration is largely based on studies from high energy river systems. By contrast, few studies of the effectiveness of reintroducing large wood have been undertaken on large, low energy, lowland river systems: river systems where large wood is a significant physical feature on the in-channel environment. This study investigated the effect of reintroduced large wood on the hydraulic landscape of the Barwon-Darling River, Australia, at low flows. To achieve this, the study compared three hydraulic landscapes of replicated reference (naturally wooded), control (unwooded,) and managed (wood reintroduced) treatments on three low flow periods. These time periods were prior to the reintroduction of large wood to managed reaches; several months after the reintroduction of large wood into the managed reaches; and then more than four years after wood reintroduction following several large flood events. Hydraulic landscapes of reaches were characterised using a range of spatial measures calculated from velocity measurements taken with a boat-mounted Acoustic Doppler Profiler. We hypothesised that reintroduced large wood would increase the diversity of the hydraulic landscape at low flows and that managed reaches would be more similar to the reference reaches. Our results suggest that the reintroduction of large wood did not significantly change the character of the hydraulic landscape at the reach scale after several months (p = 0.16) or several years (p = 0.29). Overall, the character of the hydraulic landscape in the managed reaches was more similar to the hydraulic landscape of the control reaches than the hydraulic landscape of the reference reaches, at low flows. Some variability in the hydraulic landscapes was detected over time, and this may reflect reworking of riverbed sediments and sensitivity to variation in discharge. The lack of a response in the low flow hydraulic landscape to the

  3. FOREWORD: The XXV IAHR Symposium on Hydraulic Machinery and Systems marks half a century tradition

    Science.gov (United States)

    Susan-Resiga, Romeo

    2010-05-01

    IAHR75_logoUPT90_logoARFT_logo International Association of Hydro-Environment Engineering and Research'Politehnica' University of TimisoaraRomanian Academy - Timisoara Branch The 25th edition of the IAHR Symposium on Hydraulic Machinery and Systems, held in Timisoara, Romania, 20-24 September 2010, jointly organized by the 'Politehnica' University of Timisoara and the Romanian Academy - Timisoara Branch, marks a half century tradition of these prestigious symposia. However, it is the first time that Romania hosts such a symposium, and for good reasons. The Romanian electrical power system has a total of 20,630 MW installed power, out of which 6,422 MW in hydropower plants. The energy produced in hydropower facilities was in 2008 of 17,105 GWh from a total of 64,772 GWh electrical energy production. Moreover, for the period 2009-2015, new hydropower capacities are going to be developed, with a total of 2,157 MW installed power and an estimated 5,770 GWh/year energy production. Within the same period of time, the refurbishment, modernization and repair programs will increase the actual hydropower production with an estimated 349 GWh/year. The 'Politehnica' University of Timisoara is proud to host the 25th IAHR Symposium on Hydraulic Machinery and Systems, in the year of its 90th anniversary. The 'Politehnica' University of Timisoara is one of the largest and most well-known technical universities from Central and Eastern Europe. It was founded in 1920, a short time after the union into one state of all the Romanian territories, following the end of the First World War, in order to respond to the need engineers felt by the Romanian society at that time, within the economical development framework. During its 90 years of existence, 'Politehnica' University of Timisoara educated over 100,000 engineers, greatly appreciated both in Romania and abroad, for their competence and seriousness. King Ferdinand I of Romania said while visiting the recently established

  4. An electro-hydraulic servo control system research for CFETR blanket RH

    Energy Technology Data Exchange (ETDEWEB)

    Chen, Changqi [Hefei University of Technology, Hefei 230009, Anhui (China); Tang, Hongjun, E-mail: taurustang@126.com [Hefei University of Technology, Hefei 230009, Anhui (China); Qi, Songsong [Hefei University of Technology, Hefei 230009, Anhui (China); Cheng, Yong; Feng, Hansheng; Peng, Xuebing; Song, Yuntao [Institute of Plasma Physics Chinese Academy of Sciences, Hefei 230031, Anhui (China)

    2014-11-15

    Highlights: • We discussed the conceptual design of CFETR blanket RH maintenance system. • The mathematical model of electro-hydraulic servo system was calculated. • A fuzzy adaptive PD controller was designed based on control theory and experience. • The co-simulation models of the system were established with AMESim/Simulink. • The fuzzy adaptive PD algorithm was designed as the core strategy of the system. - Abstract: Based on the technical design requirements of China Fusion Engineering Test Reactor (CFETR) blanket remote handling (RH) maintenance, this paper focus on the control method of achieving high synchronization accuracy of electro-hydraulic servo system. Based on fuzzy control theory and practical experience, a fuzzy adaptive proportional-derivative (PD) controller was designed. Then a more precise co-simulation model was established with AMESim/Simulink. Through the analysis of simulation results, a fuzzy adaptive PD control algorithm was designed as the core strategy of electro-hydraulic servo control system.

  5. An electro-hydraulic servo control system research for CFETR blanket RH

    International Nuclear Information System (INIS)

    Chen, Changqi; Tang, Hongjun; Qi, Songsong; Cheng, Yong; Feng, Hansheng; Peng, Xuebing; Song, Yuntao

    2014-01-01

    Highlights: • We discussed the conceptual design of CFETR blanket RH maintenance system. • The mathematical model of electro-hydraulic servo system was calculated. • A fuzzy adaptive PD controller was designed based on control theory and experience. • The co-simulation models of the system were established with AMESim/Simulink. • The fuzzy adaptive PD algorithm was designed as the core strategy of the system. - Abstract: Based on the technical design requirements of China Fusion Engineering Test Reactor (CFETR) blanket remote handling (RH) maintenance, this paper focus on the control method of achieving high synchronization accuracy of electro-hydraulic servo system. Based on fuzzy control theory and practical experience, a fuzzy adaptive proportional-derivative (PD) controller was designed. Then a more precise co-simulation model was established with AMESim/Simulink. Through the analysis of simulation results, a fuzzy adaptive PD control algorithm was designed as the core strategy of electro-hydraulic servo control system

  6. Summary and evaluation of available hydraulic property data for the Hanford Site unconfined aquifer system

    International Nuclear Information System (INIS)

    Thorne, P.D.; Newcomer, D.R.

    1992-11-01

    Improving the hydrologic characterization of the Hanford Site unconfined aquifer system is one of the objectives of the Hanford Site Ground-Water Surveillance Project. To help meet this objective, hydraulic property data available for the aquifer have been compiled, mainly from reports published over the past 40 years. Most of the available hydraulic property estimates are based on constant-rate pumping tests of wells. Slug tests have also been conducted at some wells and analyzed to determine hydraulic properties. Other methods that have been used to estimate hydraulic properties of the unconfined aquifer are observations of water-level changes in response to river stage, analysis of ground-water mound formation, tracer tests, and inverse groundwater flow models

  7. Experimental study of the pressure discharge process for the hydraulic control rod drive system stepped cylinder

    International Nuclear Information System (INIS)

    Wang, Jinhua; Bo, Hanliang; Zheng, Wenxiang

    2002-01-01

    The pressure discharge process from the stepped cylinder of the Hydraulic Control Rod Drive System (HCRDS) was studied experimentally in the HCRDS experimental loop for the 200 MW Nuclear Heating Reactor (NHR-200). The results showed that the differential pressure between the outside and the inside of the stepped cylinder increased rapidly to the desired value so that the force induced by the differential pressure which pushes the out tube of stepped cylinder was large enough. Therefore, if the hydraulic control rod were jammed, the pressure could push the hydraulic control rod to overcome the frictional resistance to insert the control rod into the reactor core. The experimental results verified that this design would solve the problem of hydraulic control rod jamming during an accident. (author)

  8. Control issues related to bilateral teleoperation of long-reach, flexible manipulators

    International Nuclear Information System (INIS)

    Love, L.J.

    1997-01-01

    A challenging problem presently being addressed by the Department of Energy (DOE) is the extraction of large volumes of hazardous waste from underground waste storage facilities. The nature of the material requires the use of robotic and teleoperated systems. Furthermore, the constraints of the storage tanks require the use of long reach manipulators. These robots are characterized by their large workspace and reduced mass. Unfortunately, this reduction in mass increases structural compliance, making these robots susceptible to vibration. Until recently, no attempt has been made to provide the operator any type of force reflection due to the compliance of the slave robot. This paper addresses the control of bilateral teleoperation systems that use long-reach, flexible manipulators. Analysis and experiments show that the compliance of the slave robot directly affects the stability of the teleoperation system. This study suggests that this may be controlled by increasing the damping on the master robot. However, this increase in target damping increases the energy an operator must exert during the execution of a task. A new teleoperation strategy adapts the target impedance of the master robot to variations in the identified impedance of the remote environment coupled to the slave robot. Experiments show increased performance due to a decrease in the energy the operator must provide during task execution

  9. Nonlinear, Adaptive and Fault-tolerant Control for Electro-hydraulic Servo Systems

    DEFF Research Database (Denmark)

    Choux, Martin

    is designed and implemented on the test bed that successfully diagnoses internal or external leakages, friction variations in the actuator or fault related to pressure sensors. The presented algorithm uses the position and pressure measurements to detect and isolate faults, avoiding missed detection and false...... numerous attractive properties, hydraulic systems are always subject to potential leakages in their components, friction variation in their hydraulic actuators and deciency in their sensors. These violations of normal behaviour reduce the system performances and can lead to system failure...... if they are not detected early and handled. Moreover, the task of controlling electro hydraulic systems for high performance operations is challenging due to the highly nonlinear behaviour of such systems and the large amount of uncertainties present in their models. This thesis focuses on nonlinear adaptive fault...

  10. Research Based on AMESim of Electro-hydraulic Servo Loading System

    Science.gov (United States)

    Li, Jinlong; Hu, Zhiyong

    2017-09-01

    Electro-hydraulic servo loading system is a subject studied by many scholars in the field of simulation and control at home and abroad. The electro-hydraulic servo loading system is a loading device simulation of stress objects by aerodynamic moment and other force in the process of movement, its function is all kinds of gas in the lab condition to analyze stress under dynamic load of objects. The purpose of this paper is the design of AMESim electro-hydraulic servo system, PID control technology is used to configure the parameters of the control system, complete the loading process under different conditions, the optimal design parameters, optimization of dynamic performance of the loading system.

  11. Hierarchical high-pressure hydraulic system for a continuously variable transmission; Mudan hensokuki no kaisoshiki koyuatsu system no kaihatsu

    Energy Technology Data Exchange (ETDEWEB)

    Tominaga, M; Wakahara, T; Hiraoka, Y; Ishimori, Y [Nissan Motor Co. Ltd., Tokyo (Japan)

    1997-10-01

    A belt CVT system requires a large oil flow during shifts compared with a conventional automatic transmission. And the hydraulic pressure is higher for high-powered engines. As a result the oil pump is bigger and efficiency is lower(fuel consumption is higher). This system develops high pressure in three stages first reducing the hydraulic control system so that a small oil pump is attained. 8 figs.

  12. Robotic design analysis based on teleoperated manipulator data collection

    International Nuclear Information System (INIS)

    Stoughton, R.S.; Martin, H.L.

    1985-01-01

    Extensive data collection was performed on a servomanipulator system (TeleOperator Systems SM-229) to determine the motion range and mechanical power usage of the manipulator under direct human control. More than 50 hours of various manipulation operations were performed while joint positions and motor currents were recorded. Reduction of these data yielded histograms of the manipulator usage patterns revealing areas where future manipulator motion ranges and drive systems could be optimized. This report develops a graphical representation of mechanical power usage that relates torque and velocity to the total usage time. Methods of interpreting this representation are discussed and generalized for use in analyzing robotic systems. The resulting technique will allow designers to reevaluate an operating system and determine how to improve that system's design

  13. Final design of a free-piston hydraulic advanced Stirling conversion system

    Science.gov (United States)

    Wallace, D. A.; Noble, J. E.; Emigh, S. G.; Ross, B. A.; Lehmann, G. A.

    1991-01-01

    Under the US Department of Energy's (DOEs) Solar Thermal Technology Program, Sandia National Laboratories is evaluating heat engines for solar distributed receiver systems. The final design is described of an engineering prototype advanced Stirling conversion system (ASCS) with a free-piston hydraulic engine output capable of delivering about 25 kW of electric power to a utility grid. The free-piston Stirling engine has the potential for a highly reliable engine with long life because it has only a few moving parts, has noncontacting bearings, and can be hermetically sealed. The ASCS is designed to deliver maximum power per year over a range of solar input with a design life of 30 years (60,000 h). The system includes a liquid Nak pool boiler heat transport system and a free-piston Stirling engine with high-pressure hydraulic output, coupled with a bent axis variable displacement hydraulic motor and a rotary induction generator.

  14. Final design of a free-piston hydraulic advanced Stirling conversion system

    Science.gov (United States)

    Wallace, D. A.; Noble, J. E.; Emigh, S. G.; Ross, B. A.; Lehmann, G. A.

    Under the US Department of Energy's (DOEs) Solar Thermal Technology Program, Sandia National Laboratories is evaluating heat engines for solar distributed receiver systems. The final design is described of an engineering prototype advanced Stirling conversion system (ASCS) with a free-piston hydraulic engine output capable of delivering about 25 kW of electric power to a utility grid. The free-piston Stirling engine has the potential for a highly reliable engine with long life because it has only a few moving parts, has noncontacting bearings, and can be hermetically sealed. The ASCS is designed to deliver maximum power per year over a range of solar input with a design life of 30 years (60,000 h). The system includes a liquid Nak pool boiler heat transport system and a free-piston Stirling engine with high-pressure hydraulic output, coupled with a bent axis variable displacement hydraulic motor and a rotary induction generator.

  15. Hydraulic system for the drive of control rod

    International Nuclear Information System (INIS)

    Niwano, Masao.

    1978-01-01

    Purpose: To remove thermal stress and improve safety by utilizing water discharged a driving device as a part of cooling water for the device upon driving of control rods. Constitution: A water drain valve is wholly closed and a flow stabilization valve is supplied with an amount of water necessary for driving control rods. Upon driving one control rod, an amount of water required for the driving is caused to flow to the relivant hydraulic control unit and the flow rate in the stabilization valve is reduced by an amount required for the driving to keep the flow rate constant in the flow control valve. Since Excess water conventionally returned to the pressure vessel is utilized as cooling water for the driving device of control rods, the pressure vessel nozzle can be saved. Accordingly, the thermal stress in the nozzle portion can be removed to significantly improve the safety. (Seki, T.)

  16. Research and development on the hydraulic design system of the guide vanes of multistage centrifugal pumps

    International Nuclear Information System (INIS)

    Zhang, Q H; Xu, Y; Shi, W D; Lu, W G

    2012-01-01

    To improve the hydraulic design accuracy and efficiency of the guide vanes of the multistage centrifugal pumps, four different-structured guide vanes are investigated, and the design processes of those systems are established. The secondary development platforms of the ObjectArx2000 and the UG/NX OPEN are utilized to develop the hydraulic design systems of the guide vanes. The error triangle method is adopted to calculate the coordinates of the vanes, the profiles of the vanes are constructed by Bezier curves, and then the curves of the flow areas along the flow-path are calculated. Two-dimensional and three-dimensional hydraulic models can be developed by this system.

  17. Shared control on lunar spacecraft teleoperation rendezvous operations with large time delay

    Science.gov (United States)

    Ya-kun, Zhang; Hai-yang, Li; Rui-xue, Huang; Jiang-hui, Liu

    2017-08-01

    Teleoperation could be used in space on-orbit serving missions, such as object deorbits, spacecraft approaches, and automatic rendezvous and docking back-up systems. Teleoperation rendezvous and docking in lunar orbit may encounter bottlenecks for the inherent time delay in the communication link and the limited measurement accuracy of sensors. Moreover, human intervention is unsuitable in view of the partial communication coverage problem. To solve these problems, a shared control strategy for teleoperation rendezvous and docking is detailed. The control authority in lunar orbital maneuvers that involves two spacecraft as rendezvous and docking in the final phase was discussed in this paper. The predictive display model based on the relative dynamic equations is established to overcome the influence of the large time delay in communication link. We discuss and attempt to prove via consistent, ground-based simulations the relative merits of fully autonomous control mode (i.e., onboard computer-based), fully manual control (i.e., human-driven at the ground station) and shared control mode. The simulation experiments were conducted on the nine-degrees-of-freedom teleoperation rendezvous and docking simulation platform. Simulation results indicated that the shared control methods can overcome the influence of time delay effects. In addition, the docking success probability of shared control method was enhanced compared with automatic and manual modes.

  18. Improving UGV teleoperation performance using novel visualization techniques and manual interfaces

    Science.gov (United States)

    Vozar, Steven; Tilbury, Dawn M.

    2012-06-01

    Unmanned ground vehicles (UGVs) are well-suited to a variety of tasks that are dangerous or repetitive for humans to perform. Despite recent advances, UGVs still suffer from reliability issues, and human operation failures have been identified as one root cause of UGV system failure. However, most literature relevant to UGV reliability does not address the effects of human errors or the user interface. Our previous work investigated the issue of user situational awareness and sense of presence in the robot workspace by implementing a Mixed Reality interface featuring a first-person video feed with an Augmented Reality overlay and a third-person Virtual Reality display. The interface was evaluated in a series of user tests in which users manually controlled a UGV with a manipulator arm using traditional input modalities including a computer mouse, keyboard and gamepad. In this study, we learned that users found it challenging to mentally map commands from the manual inputs to the robot arm behavior. Also, switching between control modalities seemed to add to the cognitive load during teleoperation tasks. A master-slave style manual controller can provide an intuitive one-to-one mapping from user input to robot pose, and has the potential to improve both operator situational awareness for teleoperation tasks and decrease mission completion time. This paper describes the design and implementation of a teleoperated UGV with a Mixed Reality visualization interface and a master-slave controller that is suitable for teleoperated mobile manipulation tasks.

  19. The 25 kWe solar thermal Stirling hydraulic engine system: Conceptual design

    Science.gov (United States)

    White, Maurice; Emigh, Grant; Noble, Jack; Riggle, Peter; Sorenson, Torvald

    1988-01-01

    The conceptual design and analysis of a solar thermal free-piston Stirling hydraulic engine system designed to deliver 25 kWe when coupled to a 11 meter test bed concentrator is documented. A manufacturing cost assessment for 10,000 units per year was made. The design meets all program objectives including a 60,000 hr design life, dynamic balancing, fully automated control, more than 33.3 percent overall system efficiency, properly conditioned power, maximum utilization of annualized insolation, and projected production costs. The system incorporates a simple, rugged, reliable pool boiler reflux heat pipe to transfer heat from the solar receiver to the Stirling engine. The free-piston engine produces high pressure hydraulic flow which powers a commercial hydraulic motor that, in turn, drives a commercial rotary induction generator. The Stirling hydraulic engine uses hermetic bellows seals to separate helium working gas from hydraulic fluid which provides hydrodynamic lubrication to all moving parts. Maximum utilization of highly refined, field proven commercial components for electric power generation minimizes development cost and risk.

  20. Motion control of multi-actuator hydraulic systems for mobile machineries: Recent advancements and future trends

    Science.gov (United States)

    Xu, Bing; Cheng, Min

    2018-06-01

    This paper presents a survey of recent advancements and upcoming trends in motion control technologies employed in designing multi-actuator hydraulic systems for mobile machineries. Hydraulic systems have been extensively used in mobile machineries due to their superior power density and robustness. However, motion control technologies of multi-actuator hydraulic systems have faced increasing challenges due to stringent emission regulations. In this study, an overview of the evolution of existing throttling control technologies is presented, including open-center and load sensing controls. Recent advancements in energy-saving hydraulic technologies, such as individual metering, displacement, and hybrid controls, are briefly summarized. The impact of energy-saving hydraulic technologies on dynamic performance and control solutions are also discussed. Then, the advanced operation methods of multi-actuator mobile machineries are reviewed, including coordinated and haptic controls. Finally, challenges and opportunities of advanced motion control technologies are presented by providing an overall consideration of energy efficiency, controllability, cost, reliability, and other aspects.

  1. Adaptive Neural Network Control for Nonlinear Hydraulic Servo-System with Time-Varying State Constraints

    Directory of Open Access Journals (Sweden)

    Shu-Min Lu

    2017-01-01

    Full Text Available An adaptive neural network control problem is addressed for a class of nonlinear hydraulic servo-systems with time-varying state constraints. In view of the low precision problem of the traditional hydraulic servo-system which is caused by the tracking errors surpassing appropriate bound, the previous works have shown that the constraint for the system is a good way to solve the low precision problem. Meanwhile, compared with constant constraints, the time-varying state constraints are more general in the actual systems. Therefore, when the states of the system are forced to obey bounded time-varying constraint conditions, the high precision tracking performance of the system can be easily realized. In order to achieve this goal, the time-varying barrier Lyapunov function (TVBLF is used to prevent the states from violating time-varying constraints. By the backstepping design, the adaptive controller will be obtained. A radial basis function neural network (RBFNN is used to estimate the uncertainties. Based on analyzing the stability of the hydraulic servo-system, we show that the error signals are bounded in the compacts sets; the time-varying state constrains are never violated and all singles of the hydraulic servo-system are bounded. The simulation and experimental results show that the tracking accuracy of system is improved and the controller has fast tracking ability and strong robustness.

  2. Parametric Assessment of Perchloroethylene Hydraulic Behaviour in a Two-Phase System

    International Nuclear Information System (INIS)

    Chatrenour, M.; Homaee, M.; Asadi Kapourchal, S.; Mahmoodian Shoshtari, M.

    2016-01-01

    Quantitative description of soil hydraulic properties is crucial for preventing organic contamination entering into the soil and groundwater. In order to assess the hydraulic behaviour of Perchloroethylene as a toxic chlorinated contaminant in soil, the retention curves for Perchloroethylene and water were determined. The Saturated hydraulic conductivity of both fluids examined was determined by the constant head method. The Perchloroethylene and water hydraulic conductivities obtained were 492.84 and 450.27 cm day-1, respectively. The porous medium retention parameters were obtained based on the van Genuchten, Brooks-Corey and Kosugi retention models. Further, the unsaturated hydraulic conductivity for both fluids was obtained based on the Mualem-Brooks-Corey, Mualem-van Genuchten and Mualem-Kosugi models. The accuracy performance of the models was assessed using some statistics including ME, RMSE, EF, CD and CRM. Results indicated that the van Genuchten model provided better estimations than other models when the fluid studied was Perchloroethylene. The results further indicated that the magnitudes of the pore-size distribution parameters and the bubbling pressure parameters are reduced more in a water-air system compared to a Perchloroethylene-air system. This can be attributed to the high viscosity of water and its considerable resistance against flow. This implies that more suction is needed to drain water out from a porous medium than Perchloroethylene. Consequently, a porous medium provides less retention for Perchloroethylene at a given quantity of fluid than water. Owing to lower Perchloroethylene viscosity, the saturated and unsaturated porous medium hydraulic conductivity of Perchloroethylene was greater than that of water. Since Perchloroethylene has lower retention and larger hydraulic conductivity than water, its infiltration into a porous medium would lead to its faster movement towards groundwater.

  3. Design strategy for improving the energy efficiency in series hydraulic/electric synergy system

    International Nuclear Information System (INIS)

    Ramakrishnan, R.; Hiremath, Somashekhar S.; Singaperumal, M.

    2014-01-01

    Battery is a vital subsystem in an electric vehicle with regenerative braking system. The energy efficiency of an electric vehicle is improved by storing the regenerated energy in an electric battery, during braking, and reusing it during subsequent acceleration. Battery possesses a relatively poor power density and slow charging of regenerated energy, when compared to hydro-pneumatic accumulators. A series hydraulic/electric synergy system – an energy efficient mechatronics system is proposed to overcome the drawbacks in the conventional electric vehicle with regenerative braking. Even though, electric battery provides higher energy density than the accumulator system, optimal sizing of the hydro-pneumatic accumulator and other process parameters in the system to provide better energy density and efficiency. However, a trade-off prevails between the system energy delivered and energy consumed. This gives rise to a multiple objective problem. The proposed multi-objective design optimization procedure based on an evolutionary strategy algorithm maximizes the energy efficiency of the system. The system simulation results after optimization show that, the optimal system parameters increase the energy efficiency by 3% and hydraulic regeneration efficiency by 17.3%. The suggested design methodology provides a basis for the design of a series hydraulic/electric synergy system as energy efficient and zero emission system. - Highlights: • Dynamic analysis of SHESS to investigate energy efficiency. • Optimization of system parameters based on multi-objective design strategy. • Evaluation of improvements in system energy efficiency and hydraulic regeneration energy. • Identification of conditions at which hydraulic regenerative efficiency is maximized for minimum energy consumption. • Results confirm advantages of using SHESS

  4. Analysis of the steady state hydraulic behaviour of the ITER blanket cooling system

    Energy Technology Data Exchange (ETDEWEB)

    Di Maio, P.A., E-mail: pietroalessandro.dimaio@unipa.it [Dipartimento di Energia, Ingegneria dell’Informazione e Modelli Matematici, Università di Palermo, Viale delle Scienze, 90128 Palermo (Italy); Dell’Orco, G.; Furmanek, A. [ITER Organization, Route de Vinon-sur-Verdon, CS 90 046, 13067 St Paul Lez Durance Cedex (France); Garitta, S. [Dipartimento di Energia, Ingegneria dell’Informazione e Modelli Matematici, Università di Palermo, Viale delle Scienze, 90128 Palermo (Italy); Merola, M.; Mitteau, R.; Raffray, R. [ITER Organization, Route de Vinon-sur-Verdon, CS 90 046, 13067 St Paul Lez Durance Cedex (France); Spagnuolo, G.A.; Vallone, E. [Dipartimento di Energia, Ingegneria dell’Informazione e Modelli Matematici, Università di Palermo, Viale delle Scienze, 90128 Palermo (Italy)

    2015-10-15

    Highlights: • Nominal steady state hydraulic behaviour of ITER blanket standard sector cooling system has been investigated. • Numerical simulations have been run adopting a qualified thermal-hydraulic system code. • Hydraulic characteristic functions and coolant mass flow rates, velocities and pressure drops have been assessed. • Most of the considered circuits are able to effectively cool blanket modules, meeting ITER requirements. - Abstract: The blanket system is the ITER reactor component devoted to providing a physical boundary for plasma transients and contributing to thermal and nuclear shielding of vacuum vessel, magnets and external components. It is expected to be subjected to significant heat loads under nominal conditions and its cooling system has to ensure an adequate cooling, preventing any risk of critical heat flux occurrence while complying with pressure drop limits. At the University of Palermo a study has been performed, in cooperation with the ITER Organization, to investigate the steady state hydraulic behaviour of the ITER blanket standard sector cooling system. A theoretical–computational approach based on the finite volume method has been followed, adopting the RELAP5 system code. Finite volume models of the most critical blanket cooling circuits have been set-up, realistically simulating the coolant flow domain. The steady state hydraulic behaviour of each cooling circuit has been investigated, determining its hydraulic characteristic function and assessing the spatial distribution of coolant mass flow rates, velocities and pressure drops under reference nominal conditions. Results obtained have indicated that the investigated cooling circuits are able to provide an effective cooling to blanket modules, generally meeting ITER requirements in term of pressure drop and velocity distribution, except for a couple of circuits that are being revised.

  5. Investigation of Self Yaw and its Potential using a Hydraulic Soft Yaw System for 5 MW Wind Turbine

    DEFF Research Database (Denmark)

    Stubkier, Søren; Pedersen, Henrik C.

    2013-01-01

    The focus of the current paper is on a hydraulic soft yaw system, designed to reduce the loading of the turbine structure, by absorbing wind guest via the hydraulic system, but which also enables the system to be used as a self-aligning yaw system. The system is analyzed with basis in the NREL 5-MW...... turbine, modeled in FAST, in which a new robust method for implementing Coulomb friction is utilized. Based on this model and a model of the hydraulic system, the influence of friction and wind speed is investigated in relation to the possibility to use the system as a self-aligning yaw system. Similarly...... the behavior of the hydraulic system is analyzed and it is concluded that the hydraulic yaw system allows selfyaw under normal operating conditions for the turbine. Self-yaw control is possible in wind speeds above 12 m/s when yaw friction is kept below 1 MNm....

  6. High speed hydraulically-actuated operating system for an electric circuit breaker

    Science.gov (United States)

    Iman, Imdad

    1983-06-07

    This hydraulically-actuated operating system comprises a cylinder, a piston movable therein in an opening direction to open a circuit breaker, and an accumulator for supplying pressurized liquid to a breaker-opening piston-actuating space within the cylinder. A normally-closed valve between the accumulator and the actuating space is openable to allow pressurized liquid from the accumulator to flow through the valve into the actuating space to drive the piston in an opening direction. A dashpotting mechanism operating separately from the hydraulic actuating system is provided, thereby reducing flow restriction interference with breaker opening.

  7. FRF based position controller design through system identification for A hydraulic cylinder

    Energy Technology Data Exchange (ETDEWEB)

    Seo, Hyoung Kyu; Kim, Dong Hwan [Dept. of Mechanical Design and Robot Engineering, Seoul National University of Science and Technology, Seoul (Korea, Republic of); Park, Jong Won [Reliability Assessment Center, Korea Institute of Machinery and Materials, Daejeon (Korea, Republic of)

    2015-11-15

    In this study, we have focused on the design of a controller and an operating program for the operation of the hydraulic actuators used in a shaker. To control the motion of the shaker accurately, the position of each hydraulic cylinder should be controlled precisely even under an uncertain environment. For this purpose, we have suggested a control algorithm using an FRF (frequency response function) based control which senses the behavior of the actuator in advance, calculates a transfer function through the system identification method, and provides the final control input. The experimental results on the performance of this system were compared with that of a simple PID control algorithm.

  8. Fault Diagnosis for Nonlinear Hydraulic-Mechanical Drilling Pipe Handling System

    DEFF Research Database (Denmark)

    Choux, Martin; Blanke, Mogens

    2011-01-01

    Leakage and increased friction are common faults in hydraulic cylinders that can have serious consequences if they are not detected at early stage. In this paper, the design of a fault detector for a nonlinear hydraulic mechanical system is presented. By considering the system in steady state, two...... residual signals are generated and analysed with a composite hypothesis test which accommodates for unknown parameters. The resulting detector is able to detect abrupt changes in leakage or friction given the noisy pressure and position measurements. Test rig measurements validate the properties...

  9. Evaluation of teleoperated surgical robots in an enclosed undersea environment.

    Science.gov (United States)

    Doarn, Charles R; Anvari, Mehran; Low, Thomas; Broderick, Timothy J

    2009-05-01

    The ability to support surgical care in an extreme environment is a significant issue for both military medicine and space medicine. Telemanipulation systems, those that can be remotely operated from a distant site, have been used extensively by the National Aeronautics and Space Administration (NASA) for a number of years. These systems, often called telerobots, have successfully been applied to surgical interventions. A further extension is to operate these robotic systems over data communication networks where robotic slave and master are separated by a great distance. NASA utilizes the National Oceanographic and Atmospheric Administration (NOAA) Aquarius underwater habitat as an analog environment for research and technology evaluation missions, known as NASA Extreme Environment Mission Operations (NEEMO). Three NEEMO missions have provided an opportunity to evaluate teleoperated surgical robotics by astronauts and surgeons. Three robotic systems were deployed to the habitat for evaluation during NEEMO 7, 9, and 12. These systems were linked via a telecommunications link to various sites for remote manipulation. Researchers in the habitat conducted a variety of tests to evaluate performance and applicability in extreme environments. Over three different NEEMO missions, components of the Automated Endoscopic System for Optimal Positioning (AESOP), the M7 Surgical System, and the RAVEN were deployed and evaluated. A number of factors were evaluated, including communication latency and semiautonomous functions. The M7 was modified to permit a remote surgeon the ability to insert a needle into simulated tissue with ultrasound guidance, resulting in the world's first semi-autonomous supervisory-controlled medical task. The deployment and operation of teleoperated surgical systems and semi-autonomous, supervisory-controlled tasks were successfully conducted.

  10. Diffusive Imaging of Hydraulically Induced and Natural Fracture Systems

    Science.gov (United States)

    Eftekhari, B.; Marder, M. P.; Patzek, T. W.

    2017-12-01

    Hydraulic fracturing of tight shales continues to provide the US with a major source of energy. Efficiency of gas recovery in shales depends upon the geometry of the resulting network of fractures, the details of which are not yet fully understood. The present research explores how much of the underlying geometry can be deduced from the time dependence of the flow of gas out of the reservoir. We consider both ideal and real gas. In the case of real gas, we calculate production rate for parallel planar hydrofractures embedded in an infinite reservoir. Transport is governed by a nonlinear diffusion equation, which we solve exactly with a scaling curve. The scaling curve production rate declines initially as 1 over square root time, then as an exponential, and finally as 1 over square root of time again at late time. We show that for a given hydraulically fractured well, the onsets of transition between different decline regimes provides a direct estimate of a characteristic spacing of the underlying fracture network. We show that the scaling solution accurately fits the production history of more than 15,000 wells in the Barnett Shale. Almost all of the wells either have not yet transitioned into the late time decline or have been refractured while in exponential decline. However, there are 36 wells which show the late time transition. These allow us to calculate the characteristic spacing, which turns out to have a mode at about 10 m, a minimum at 1.6 m and a maximum at 13.3 m. We estimate that over 30 years these wells will produce on average about 45% more gas because of diffusion from the infinite external reservoir than they would if this contribution is neglected. Finally, we compute the rate at which ideal gas diffuses within an infinite region of rock into a specific absorbing fractal fracture network, which we model using geological constraints and percolation theory. Our solution employs a Brownian walk and the first passage kinetic Monte Carlo algorithm

  11. Application of simple adaptive control to water hydraulic servo cylinder system

    Science.gov (United States)

    Ito, Kazuhisa; Yamada, Tsuyoshi; Ikeo, Shigeru; Takahashi, Koji

    2012-09-01

    Although conventional model reference adaptive control (MRAC) achieves good tracking performance for cylinder control, the controller structure is much more complicated and has less robustness to disturbance in real applications. This paper discusses the use of simple adaptive control (SAC) for positioning a water hydraulic servo cylinder system. Compared with MRAC, SAC has a simpler and lower order structure, i.e., higher feasibility. The control performance of SAC is examined and evaluated on a water hydraulic servo cylinder system. With the recent increased concerns over global environmental problems, the water hydraulic technique using pure tap water as a pressure medium has become a new drive source comparable to electric, oil hydraulic, and pneumatic drive systems. This technique is also preferred because of its high power density, high safety against fire hazards in production plants, and easy availability. However, the main problems for precise control in a water hydraulic system are steady state errors and overshoot due to its large friction torque and considerable leakage flow. MRAC has been already applied to compensate for these effects, and better control performances have been obtained. However, there have been no reports on the application of SAC for water hydraulics. To make clear the merits of SAC, the tracking control performance and robustness are discussed based on experimental results. SAC is confirmed to give better tracking performance compared with PI control, and a control precision comparable to MRAC (within 10 μm of the reference position) and higher robustness to parameter change, despite the simple controller. The research results ensure a wider application of simple adaptive control in real mechanical systems.

  12. Analytical and experimental investigation of chlorine decay in water supply systems under unsteady hydraulic conditions

    DEFF Research Database (Denmark)

    Aisopou, Angeliki; Stoianov, Ivan; Graham, Nigel

    2013-01-01

    This paper investigates the impact of the dynamic hydraulic conditions on the kinetics of chlorine decay in water supply systems. A simulation framework has been developed for the scale-adaptive hydraulic and chlorine decay modelling under steady- and unsteady-state flows. An unsteady decay coeff...... of experimental data provides new insights for the near real-time modelling and management of water quality as well as highlighting the uncertainty and challenges of accurately modelling the loss of disinfectant in water supply networks.......This paper investigates the impact of the dynamic hydraulic conditions on the kinetics of chlorine decay in water supply systems. A simulation framework has been developed for the scale-adaptive hydraulic and chlorine decay modelling under steady- and unsteady-state flows. An unsteady decay...... coefficient is defined which depends upon the absolute value of shear stress and the rate of change of shear stress for quasi-unsteady and unsteady-state flows. By coupling novel instrumentation technologies for continuous hydraulic monitoring and water quality sensors for in-pipe water quality sensing...

  13. Investigations into the use of water glycol as the hydraulic fluid in a servo system

    International Nuclear Information System (INIS)

    Cole, G.V.

    1984-07-01

    The effects of water glycol on the performance of a hydraulic system and on the life of the system components have been investigated and a guide to the design of systems using water glycol is given. The dynamic performance of the system using water-glycol was compared with that using mineral oil, then the system was endurance tested to determine its service life. (author)

  14. European activities on crosscutting thermal-hydraulic phenomena for innovative nuclear systems

    Energy Technology Data Exchange (ETDEWEB)

    Cheng, X., E-mail: xu.cheng@kit.edu [Karlsruhe Institute of Technology (KIT) (Germany); Batta, A. [Karlsruhe Institute of Technology (KIT) (Germany); Bandini, G. [Italian National Agency for New Technologies, Energy and Sustainable Economic Development (ENEA) (Italy); Roelofs, F. [Nuclear Research and Consultancy Group (NRG) (Netherlands); Van Tichelen, K. [Studiecentrum voor Kernenergie – Centre d’étude de l’Energie Nucléaire (SCK-CEN) (Belgium); Gerschenfeld, A. [Commissariat à l’Energie Atomique (CEA) (France); Prasser, M. [Paul Scherrer Institute (PSI) (Switzerland); Papukchiev, A. [Gesellschaft für Anlagen- und Reaktorsicherheit mbH (GRS) (Germany); Hampel, U. [Helmholtz-Zentrum Dresden-Rossendorf e.V. (HZDR) (Germany); Ma, W.M. [Kungliga Tekniska Högskolan (KTH) (Sweden)

    2015-08-15

    Highlights: • This paper serves as a guidance of the special issue. • The technical tasks and methodologies applied to achieve the objectives have been described. • Main results achieved so far are summarized. - Abstract: Thermal-hydraulics is recognized as a key scientific subject in the development of innovative reactor systems. In Europe, a consortium is established consisting of 24 institutions of universities, research centers and nuclear industries with the main objectives to identify and to perform research activities on important crosscutting thermal-hydraulic issues encountered in various innovative nuclear systems. For this purpose the large-scale integrated research project THINS (Thermal-Hydraulics of Innovative Nuclear Systems) is launched in the 7th Framework Programme FP7 of European Union. The main topics considered in the THINS project are (a) advanced reactor core thermal-hydraulics, (b) single phase mixed convection, (c) single phase turbulence, (d) multiphase flow, and (e) numerical code coupling and qualification. The main objectives of the project are: • Generation of a data base for the development and validation of new models and codes describing the selected crosscutting thermal-hydraulic phenomena. • Development of new physical models and modeling approaches for more accurate description of the crosscutting thermal-hydraulic phenomena. • Improvement of the numerical engineering tools for the design analysis of the innovative nuclear systems. This paper describes the technical tasks and methodologies applied to achieve the objectives. Main results achieved so far are summarized. This paper serves also as a guidance of this special issue.

  15. Bilateral teleoperation for force sensorless 1-dof robots

    NARCIS (Netherlands)

    Lichiardopol, S.; Wouw, van de N.; Nijmeijer, H.; Filipe, J.; Cetto, J.A.; Ferrier, J.-L.

    2010-01-01

    It is well known that for bilateral teleoperation, force feedback information is needed. In this paper, we propose a control approach for bilateral teleoperation with uncertainties in the model of the slave robot and which does not use force sensors for haptic feedback. The controller design is

  16. Bilateral teleoperation for linear force sensorless 3D robots

    NARCIS (Netherlands)

    Lichiardopol, S.; Wouw, van de N.; Nijmeijer, H.; Andrade Cetto, J.; Ferrier, J.; Filipe, J.

    2011-01-01

    It is well known that for bilateral teleoperation, force feedback information is needed. In this paper, we propose a control approach for bilateral teleoperation with uncertainties in the model of the slave robot and which does not use force sensors for haptic feedback. The controller design is

  17. Contaminant removal and hydraulic conductivity of laboratory rain garden systems for stormwater treatment.

    Science.gov (United States)

    Good, J F; O'Sullivan, A D; Wicke, D; Cochrane, T A

    2012-01-01

    In order to evaluate the influence of substrate composition on stormwater treatment and hydraulic effectiveness, mesocosm-scale (180 L, 0.17 m(2)) laboratory rain gardens were established. Saturated (constant head) hydraulic conductivity was determined before and after contaminant (Cu, Zn, Pb and nutrients) removal experiments on three rain garden systems with various proportions of organic topsoil. The system with only topsoil had the lowest saturated hydraulic conductivity (160-164 mm/h) and poorest metal removal efficiency (Cu ≤ 69.0% and Zn ≤ 71.4%). Systems with sand and a sand-topsoil mix demonstrated good metal removal (Cu up to 83.3%, Zn up to 94.5%, Pb up to 97.3%) with adequate hydraulic conductivity (sand: 800-805 mm/h, sand-topsoil: 290-302 mm/h). Total metal amounts in the effluent were pH was elevated (up to 7.38) provided by the calcareous sand in two of the systems, whereas the topsoil-only system lacked an alkaline source. Organic topsoil, a typical component in rain garden systems, influenced pH, resulting in poorer treatment due to higher dissolved metal fractions.

  18. Multivariate stability of force-reflecting teleoperation: Structures of finite and infinite zeros

    International Nuclear Information System (INIS)

    Daniel, R.W.; McAree, P.R.

    2000-01-01

    This paper presents a stability analysis of force-position teleoperation under general end-effector contact. The analysis is based on the finite and infinite zero structure of the multivariable root-locus resulting from modulation of the environment stiffness. The starting point is an analysis of the stability of robot force control, motivated by the observation that the human-operator in a force reflection loop acts as a force servo, generating position commands in response to reflected force. Asymptotic root loci properties are used to establish passivity conditions on force feedback to give root locus interpretations of the well-known results that (1) feedback via the inverse joint Jacobian can lead to (kinematic) instability and that (2) passivity is preserved by kinematically proper force feedback through the transpose of the joint angle Jacobian. It is demonstrated that a fully constrained force-position teleoperation loop has an identical infinite zero structure to that of a slave manipulation under kinematically proper force control and that the dominant vibration modes of a force-position loop are fully described by a multivariable analogue of the single-input single-output pseudo-system investigated in a study by Daniel and McAree. Extension of the analysis to cover partial end-effector constraint provides a design tool for teleoperation control and serves to aid selection of teleoperation slate-arms. The paper concludes by giving a passivity condition for multiple-input multiple-output force-position teleoperation for stable contact against all environments

  19. Novel electro-hydraulic position control system for primary mirror supporting system

    Directory of Open Access Journals (Sweden)

    Xiongbin Peng

    2016-05-01

    Full Text Available In the field of modern large-scale telescope, primary mirror supporting system technology faces the difficulties of theoretically uniform output force request and bias compensation. Therefore, a novel position control system combining hydraulic system with servo motor system is introduced. The novel system ensures uniform output force on supporting points without complicating the mechanical structure. The structures of both primary mirror supporting system and novel position system are described. Then, the mathematical model of novel position control system is derived for controller selection. A proportional–derivative controller is adopted for simulations and experiments of step response and triangle path tracking. The results show that proportional–derivative controller guarantees the system with micrometer-level positioning ability. A modified proportional–derivative controller is utilized to promote system behavior with faster response overshoot. The novel position control system is then applied on primary mirror supporting system. Coupling effect is observed among actuator partitions, and relocation of virtual pivot supporting point is chosen as the decoupling measurement. The position keeping ability of the primary mirror supporting system is verified by rotating the mirror cell at a considerably high rate. The experiment results show that the decoupled system performs better with smaller bias and shorter recovery time.

  20. A study on the optimal hydraulic loading rate and plant ratios in recirculation aquaponic system.

    Science.gov (United States)

    Endut, Azizah; Jusoh, A; Ali, N; Wan Nik, W B; Hassan, A

    2010-03-01

    The growths of the African catfish (Clarias gariepinus) and water spinach (Ipomoea aquatica) were evaluated in recirculation aquaponic system (RAS). Fish production performance, plant growth and nutrient removal were measured and their dependence on hydraulic loading rate (HLR) was assessed. Fish production did not differ significantly between hydraulic loading rates. In contrast to the fish production, the water spinach yield was significantly higher in the lower hydraulic loading rate. Fish production, plant growth and percentage nutrient removal were highest at hydraulic loading rate of 1.28 m/day. The ratio of fish to plant production has been calculated to balance nutrient generation from fish with nutrient removal by plants and the optimum ratio was 15-42 gram of fish feed/m(2) of plant growing area. Each unit in RAS was evaluated in terms of oxygen demand. Using specified feeding regime, mass balance equations were applied to quantify the waste discharges from rearing tanks and treatment units. The waste discharged was found to be strongly dependent on hydraulic loading rate. 2009 Elsevier Ltd. All rights reserved.

  1. High Bulk Modulus of Ionic Liquid and Effects on Performance of Hydraulic System

    Directory of Open Access Journals (Sweden)

    Milan Kambic

    2014-01-01

    Full Text Available Over recent years ionic liquids have gained in importance, causing a growing number of scientists and engineers to investigate possible applications for these liquids because of their unique physical and chemical properties. Their outstanding advantages such as nonflammable liquid within a broad liquid range, high thermal, mechanical, and chemical stabilities, low solubility for gases, attractive tribological properties (lubrication, and very low compressibility, and so forth, make them more interesting for applications in mechanical engineering, offering great potential for new innovative processes, and also as a novel hydraulic fluid. This paper focuses on the outstanding compressibility properties of ionic liquid EMIM-EtSO4, a very important physical chemically property when IL is used as a hydraulic fluid. This very low compressibility (respectively, very high Bulk modulus, compared to the classical hydraulic mineral oils or the non-flammable HFDU type of hydraulic fluids, opens up new possibilities regarding its usage within hydraulic systems with increased dynamics, respectively, systems’ dynamic responses.

  2. Effect of Hydraulic Accumulator on Pressure Surge of a Hydrostatic Transmission System

    Science.gov (United States)

    Kumar, Ajit; Das, Jayanta; Dasgupta, Kabir; Barnwal, Manish Kumar

    2018-04-01

    Hydraulic power system is generally used in off-road vehicles for power transmission such as Heavy Earth Moving Machineries (HEMM). Their energy efficiency and unsubstantial failure becomes an extensive subject of analysis. Various arrangements in the system are compassed along with the utilization of some appropriate components. Application of a hydraulic accumulator is one among them. Benefits of accumulator is its multi-purpose usages like energy saving and pressure surge damping. This paper deals with the control of pressure surges in the hydraulic system and energy saving from the surges by using accumulator. For this purpose, the simulation of the hydraulic system is done in MATLAB/SimulinkR environment and an external disturbance is introduced to generate the pressure surge. The surge absorptivity of the accumulator is studied for different sizes at different pre-charged conditions of the accumulator. The discharge characteristics of different sized accumulators are also analyzed in this paper. It is observed that the ability to absorb the surge and stabilize the system is high in the smaller capacity accumulator. However the energy delivery time of larger sized accumulator is high.

  3. Robot Teleoperation and Perception Assistance with a Virtual Holographic Display

    Science.gov (United States)

    Goddard, Charles O.

    2012-01-01

    Teleoperation of robots in space from Earth has historically been dfficult. Speed of light delays make direct joystick-type control infeasible, so it is desirable to command a robot in a very high-level fashion. However, in order to provide such an interface, knowledge of what objects are in the robot's environment and how they can be interacted with is required. In addition, many tasks that would be desirable to perform are highly spatial, requiring some form of six degree of freedom input. These two issues can be combined, allowing the user to assist the robot's perception by identifying the locations of objects in the scene. The zSpace system, a virtual holographic environment, provides a virtual three-dimensional space superimposed over real space and a stylus tracking position and rotation inside of it. Using this system, a possible interface for this sort of robot control is proposed.

  4. Advanced teleoperation in nuclear applications: consolidated fuel reprocessing program

    International Nuclear Information System (INIS)

    Hamel, W.R.; Feldman, M.J.; Martin, H.L.

    1984-01-01

    A new generation of integrated remote maintenance systems is being developed to meet the needs of future nuclear fuel reprocessing at the Oak Ridge National Laboratory. Development activities cover all aspects of an advanced teleoperated maintenance system with particular emphasis on a new force-reflecting servomanipulator concept. The new manipulator, called the advanced servomanipulator, is microprocessor controlled and is designed to achieve force-reflection performance near that of mechanical master/slave manipulators. The advanced servomanipulator uses a gear-drive transmission which permits modularization for remote maintainability (by other advanced servomanipulators) and increases reliability. Human factors analysis has been used to develop an improved man/machine interface concept based upon colographic displays and menu-driven touch screens. Initial test and evaluation of two advanced servomanipulator slave arms and several other development components have begun. 9 references, 5 figures

  5. Integrated Validation System for a Thermal-hydraulic System Code, TASS/SMR-S

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Hee-Kyung; Kim, Hyungjun; Kim, Soo Hyoung; Hwang, Young-Dong [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of); Kim, Hyeon-Soo [Chungnam National University, Daejeon (Korea, Republic of)

    2015-10-15

    Development including enhancement and modification of thermal-hydraulic system computer code is indispensable to a new reactor, SMART. Usually, a thermal-hydraulic system code validation is achieved by a comparison with the results of corresponding physical effect tests. In the reactor safety field, a similar concept, referred to as separate effect tests has been used for a long time. But there are so many test data for comparison because a lot of separate effect tests and integral effect tests are required for a code validation. It is not easy to a code developer to validate a computer code whenever a code modification is occurred. IVS produces graphs which shown the comparison the code calculation results with the corresponding test results automatically. IVS was developed for a validation of TASS/SMR-S code. The code validation could be achieved by a comparison code calculation results with corresponding test results. This comparison was represented as a graph for convenience. IVS is useful before release a new code version. The code developer can validate code result easily using IVS. Even during code development, IVS could be used for validation of code modification. The code developer could gain a confidence about his code modification easily and fast and could be free from tedious and long validation work. The popular software introduced in IVS supplies better usability and portability.

  6. The hydraulic lifting system for the main magnets of CYCIAE-30 cyclotron

    CERN Document Server

    Zhao Zhen Lu; Chen Rong Fan; Chu Cheng Jie

    2002-01-01

    The oil-line structure, control system and their working principles of the hydraulic lifting system for the main magnets of CYCIAE-30 cyclotron are introduced. The six years practice proves that the specification of the system matches the requirements: the oil cylinder maximum stroke of 850 mm, the eight slot positioning dowels repositioning accuracy of +-0.01 mm, the two oil cylinders moving in step accuracy of 5-10 mm. The system is safe, reliable and easy to be operated

  7. HYDRAULIC UNITS FOR DRIVING SYSTEMS OF RUNNING EQUIPMENT IN ROAD CONSTRUCTION MACHINERY

    Directory of Open Access Journals (Sweden)

    A. Ja. Kotlobai

    2016-01-01

    Full Text Available Operational efficiency of multi-functional road construction machines depends on number of working bodies which are simultaneously performing technological operations. Systems for propulsion pto to the running equipment drive and active working bodies of road construction machines are developing in the way of using three-axis hydraulic drives. When designing a hydraulic system for road construction machinery dividing of power flow from propulsion to the running equipment drive and active working bodies is considered as rather essential problem. Leading companies do not pay attention to the development of flow divider designs, preferring to produce more expensive multi-flow pumps. One of the ways to increase efficiency of multi-functional road construction machinery is an implementation of running equipment hydraulic driving system based on a mono-aggregate pump unit which consists of a pump and a volumetric divider of power fluid flow. A principle of volumetric division and summing-up of power fluid flows, technical realization and methodology for calculation of key parameters of discrete flow distributors has been developed on the basis of discrete hydraulics regulations. The paper presents results of mathematical modeling of hydraulic systems equipped with the discrete flow distributor. Analysis of a dual-motor hydraulic drive operation has shown the following results: a discrete flow distributor ensures independent load mode of the current consumer circuit operation from the load mode of the second consumer circuit within a wide range of loads; rational value of working fluid flow discretization parameter is the following value interval k = 4–6, maximum value of parameter efficiency is reached when an angular velocity of a distributor rotor coincides with the angular velocity of a pump shaft; discrete flow distributor provides a possibility to change parameters of hydraulic flow feeding in consumers’ pressure lines within a wide range

  8. Comparison for the interfacial and wall friction models in thermal-hydraulic system analysis codes

    International Nuclear Information System (INIS)

    Hwang, Moon Kyu; Park, Jee Won; Chung, Bub Dong; Kim, Soo Hyung; Kim, See Dal

    2007-07-01

    The average equations employed in the current thermal hydraulic analysis codes need to be closed with the appropriate models and correlations to specify the interphase phenomena along with fluid/structure interactions. This includes both thermal and mechanical interactions. Among the closure laws, an interfacial and wall frictions, which are included in the momentum equations, not only affect pressure drops along the fluid flow, but also have great effects for the numerical stability of the codes. In this study, the interfacial and wall frictions are reviewed for the commonly applied thermal-hydraulic system analysis codes, i.e. RELAP5-3D, MARS-3D, TRAC-M, and CATHARE

  9. Transient flow analysis of the single cylinder for the control rod hydraulic driving system

    International Nuclear Information System (INIS)

    Sun, Xinming; Qin, Benke; Bo, Hanliang

    2017-01-01

    Highlights: • The control rod hydraulic driving system(CRHDS) is a new type of built-in control rod drive technology. The hydraulic cylinder is the main component of the CRHDS. • Transient flow phenomenon in the CRHDS is studied by experiments under different working conditions. • The working mechanism of the hydraulic cylinder step motion and the key characteristic parameters are analyzed based on the experimental results. - Abstract: The control rod hydraulic driving system (CRHDS) is a new type of built-in control rod drive technology. In the CRHDS the pulse flow from the pump into the hydraulic cylinder of the control rod hydraulic drive mechanism (CRHDM) is regulated by the integrated valve to perform the step motion of the reactor control rod. Transient flow occurs in the CRHDS during control rod step motion process which is studied by experiments. The time-history curves of flow rate, pressure and inner cylinder displacement were analyzed, and the results show that the water hammer pressure peak during the step-up motion is high, while there are no obvious pressure fluctuations in the corresponding step-down motion. In the step-up process, the pressure fluctuation amplitude increases with the increase of CRHDS driving pressure. The step-up time and the pressure increasing time before step-up decreases with the driving pressure. The step-up pressure increases with the driving pressure. In the step-down process, the step-down time, the step-down pressure and the pressure decreasing time before step-down do not change with the increase of the driving pressure. The experimental results lay the base for the working principle and vibration reduction analysis of the CRHDS and it’s also helpful for improvement of the working performance of the key facilities and instruments of the CRHDS loop.

  10. Aircraft Fuel, Hydraulic and Pneumatic Systems (Course Outlines), Aviation Mechanics 3 (Air Frame): 9067.01.

    Science.gov (United States)

    Dade County Public Schools, Miami, FL.

    This document presents an outline for a 135-hour course designed to familiarize the student with the operation, inspection, and repair of aircraft fuel, hydraulic, and pneumatic systems. It is designed to help the trainee master the knowledge and skills necessary to become an aviation airframe mechanic. The aviation airframe maintenance technician…

  11. Discussion on sealing performance required in disposal system. Hydraulic analysis of tunnel intersections

    International Nuclear Information System (INIS)

    Sugita, Yutaka; Takahashi, Yoshiaki; Uragami, Manabu; Kitayama, Kazumi; Fujita, Tomoo; Kawakami, Susumu; Yui, Mikazu; Umeki, Hiroyuki; Miyamoto, Yoichi

    2005-09-01

    The sealing performance of a repository must be considered in the safety assessment of the geological disposal system of the high-level radioactive waste. NUMO and JNC established 'Technical Commission on Sealing Technology of Repository' based on the cooperation agreement. The objectives of this commission are to present the concept on the sealing performance required in the disposal system and to develop the direction for future R and D programme for design requirements of closure components (backfilling material, clay plug, etc.) in the presented concept. In the first phase of this commission, the current status of domestic and international sealing technologies were reviewed; and repository components and repository environments were summarized subsequently, the hydraulic analysis of tunnel intersections, where a main tunnel and a disposal tunnel in a disposal panel meet, were performed, considering components in and around the engineered barrier system (EBS). Since all tunnels are connected in the underground facility, understanding the hydraulic behaviour of tunnel intersections is an important issue to estimate migration of radionuclides from the EBS and to evaluate the required sealing performance in the disposal system. In the analytical results, it was found that the direction of hydraulic gradient, hydraulic conductivities of concrete and backfilling materials and the position of clay plug had impact on flow condition around the EBS. (author)

  12. Space teleoperation research. American Nuclear Society Executive conference: Remote operations and robotics in the nuclear industry; remote maintenance in other hostile environments

    Science.gov (United States)

    Meintel, A. J., Jr.; Will, R. W.

    1985-01-01

    This presentation consists of four sections. The first section is a brief introduction to the NASA Space Program. The second portion summarized the results of a congressionally mandated study of automation and robotics for space station. The third portion presents a number of concepts for space teleoperator systems. The remainder of the presentation describes Langley Research Center's teleoperator/robotic research to support remote space operations.

  13. A Hydraulic Stress Measurement System for Investigations at Depth in Slim Boreholes

    Science.gov (United States)

    Ask, M. V. S.; Ask, D.; Cornet, F. H.; Nilsson, T.; Talib, M.; Sundberg, J.

    2017-12-01

    Knowledge of the state of stress is essential to most underground work in rock mechanics as it provides means to analyze the mechanical behavior of a rock mass, serve as boundary condition in rock engineering problems, and help understand rock mass stability and groundwater flow. Luleå University of Technology (LTU) has developed and built a wire-line system for hydraulic rock stress measurements in slim boreholes together with the University of Strasbourg and Geosigma AB. The system consists of a downhole- and a surface unit. The downhole unit consists of hydraulic fracturing equipment (straddle packers and downhole imaging tool) and their associated data acquisition systems. The surface unit comprises of a 40-foot container permanently mounted on a trailer, which is equipped with a tripod, wire-line winches, water hydraulics, and a generator. The surface unit serves as a climate-independent on-site operations center, as well as a self-supporting transport vessel for the entire system. Three hydraulic stress testing methods can be applied: hydraulic fracturing, sleeve fracturing and hydraulic testing of pre-existing fractures. The three-dimensional stress tensor and its variation with depth within a continuous rock mass can be determined in a scientific unambiguously way by integrating results from the three test methods. The testing system is state of the art in several aspects including: (1) Large depth range (3 km), (2) Ability to test three borehole dimensions, (3) Resistivity imager maps the orientation of tested fracture (which is highlighted); (4) Highly stiff and resistive to corrosion downhole testing equipment; and (5) Very detailed control on the injection flow rate and cumulative volume is obtained by a hydraulic injection pump with variable piston rate, and a highly sensitive flow-meter. These aspects highly reduce measurement-related uncertainties of stress determination. Commissioning testing and initial field tests are scheduled to occur in a 1200

  14. Thermal-hydraulic effects of transition to improved System 80TM fuel

    International Nuclear Information System (INIS)

    Rodack, T.; Joffre, P.F.; Kapoor, R.K.

    2004-01-01

    ABB CE's improved System 80 TM PWR fuel design includes GUARDIAN debris-resistant features and laser-welded Zircaloy grids. The GUARDIAN features include an Inconel grid with debris-filtering features located just above the Lower End Fitting, and a solid fuel rod bottom end cap that extends above the filtering features. Tests and analyses were done to establish the impact of these design improvements on fuel assembly hydraulic performance. Further analysis was done to determine the mixed core thermal-hydraulic performance as the transition is made over two fuel cycles to a full core of the improved System 80 TM fuel. Results confirm that the Thermal-Hydraulic (T-H) effects of the reduction in hydraulic resistance between the improved and resident fuel due to the laser-welded Zircaloy grids offsets the effects of the increased resistance GUARDIAN grid. Therefore, the mechanically improved System 80 TM fuel can be implemented with no net impact on Departure from Nucleate Boiling (DNB) margin in transition cores. (author)

  15. Dynamic Self-Adaptive Reliability Control for Electric-Hydraulic Systems

    Directory of Open Access Journals (Sweden)

    Yi Wan

    2015-02-01

    Full Text Available The high-speed electric-hydraulic proportional control is a new development of the hydraulic control technique with high reliability, low cost, efficient energy, and easy maintenance; it is widely used in industrial manufacturing and production. However, there are still some unresolved challenges, the most notable being the requirements of high stability and real-time by the classical control algorithm due to its high nonlinear characteristics. We propose a dynamic self-adaptive mixed control method based on the least squares support vector machine (LSSVM and the genetic algorithm for high-speed electric-hydraulic proportional control systems in this paper; LSSVM is used to identify and adjust online a nonlinear electric-hydraulic proportional system, and the genetic algorithm is used to optimize the control law of the controlled system and dynamic self-adaptive internal model control and predictive control are implemented by using the mixed intelligent method. The internal model and the inverse control model are online adjusted together. At the same time, a time-dependent Hankel matrix is constructed based on sample data; thus finite dimensional solution can be optimized on finite dimensional space. The results of simulation experiments show that the dynamic characteristics are greatly improved by the mixed intelligent control strategy, and good tracking and high stability are met in condition of high frequency response.

  16. Thermal-hydraulics Analysis of a Radioisotope-powered Mars Hopper Propulsion System

    International Nuclear Information System (INIS)

    O'Brien, Robert C.; Klein, Andrew C.; Taitano, William T.; Gibson, Justice; Myers, Brian; Howe, Steven D.

    2011-01-01

    Thermal-hydraulics analyses results produced using a combined suite of computational design and analysis codes are presented for the preliminary design of a concept Radioisotope Thermal Rocket (RTR) propulsion system. Modeling of the transient heating and steady state temperatures of the system is presented. Simulation results for propellant blow down during impulsive operation are also presented. The results from this study validate the feasibility of a practical thermally capacitive RTR propulsion system.

  17. Reliability of thermal-hydraulic passive safety systems

    International Nuclear Information System (INIS)

    D'Auria, F.; Araneo, D.; Pierro, F.; Galassi, G.

    2014-01-01

    The scholar will be informed of reliability concepts applied to passive system adopted for nuclear reactors. Namely, for classical components and systems the failure concept is associated with malfunction of breaking of hardware. In the case of passive systems the failure is associated with phenomena. A method for studying the reliability of passive systems is discussed and is applied. The paper deals with the description of the REPAS (Reliability Evaluation of Passive Safety System) methodology developed by University of Pisa (UNIPI) and with results from its application. The general objective of the REPAS methodology is to characterize the performance of a passive system in order to increase the confidence toward its operation and to compare the performances of active and passive systems and the performances of different passive systems

  18. Chapter 13. Industrial Application of Tap Water Hydraulic Systems

    DEFF Research Database (Denmark)

    Conrad, Finn; Adelstorp, Anders

    1997-01-01

    Design and application of modern pure tap water components and systems in industries, in particular food processing industry.......Design and application of modern pure tap water components and systems in industries, in particular food processing industry....

  19. Safe teleoperation based on flexible intraoperative planning for robot-assisted laser microsurgery.

    Science.gov (United States)

    Mattos, Leonardo S; Caldwell, Darwin G

    2012-01-01

    This paper describes a new intraoperative planning system created to improve precision and safety in teleoperated laser microsurgeries. It addresses major safety issues related to real-time control of a surgical laser during teleoperated procedures, which are related to the reliability and robustness of the telecommunication channels. Here, a safe solution is presented, consisting in a new planning system architecture that maintains the flexibility and benefits of real-time teleoperation and keeps the surgeon in control of all surgical actions. The developed system is based on our virtual scalpel system for robot-assisted laser microsurgery, and allows the intuitive use of stylus to create surgical plans directly over live video of the surgical field. In this case, surgical plans are defined as graphic objects overlaid on the live video, which can be easily modified or replaced as needed, and which are transmitted to the main surgical system controller for subsequent safe execution. In the process of improving safety, this new planning system also resulted in improved laser aiming precision and improved capability for higher quality laser procedures, both due to the new surgical plan execution module, which allows very fast and precise laser aiming control. Experimental results presented herein show that, in addition to the safety improvements, the new planning system resulted in a 48% improvement in laser aiming precision when compared to the previous virtual scalpel system.

  20. Virtual Winch Prototyping-Design, Modeling, Simulation and Testing of A Marine Hydraulic Winch System with Active Heave Compensation.

    OpenAIRE

    He, Dahai

    2016-01-01

    This thesis is to develop a standard virtual prototyping system for hydraulic winch system including developing a library of standard sub-models of hydraulic system, mechanical system and control system (AHC), and visualizing the simulation and operation of the virtual winch prototyping system. To be more specific: Chapter 1. Motivation and background of winch prototyping is introduced so as to break down the problems and formulate the objectives of this projects. Chapter 2. Theoretical...

  1. A Hydraulic Motor-Alternator System for Ocean-Submersible Vehicles

    Science.gov (United States)

    Aintablian, Harry O.; Valdez, Thomas I.; Jones, Jack A.

    2012-01-01

    An ocean-submersible vehicle has been developed at JPL that moves back and forth between sea level and a depth of a few hundred meters. A liquid volumetric change at a pressure of 70 bars is created by means of thermal phase change. During vehicle ascent, the phase-change material (PCM) is melted by the circulation of warm water and thus pressure is increased. During vehicle descent, the PCM is cooled resulting in reduced pressure. This pressure change is used to generate electric power by means of a hydraulic pump that drives a permanent magnet (PM) alternator. The output energy of the alternator is stored in a rechargeable battery that powers an on-board computer, instrumentation and other peripherals.The focus of this paper is the performance evaluation of a specific hydraulic motor-alternator system. Experimental and theoretical efficiency data of the hydraulic motor and the alternator are presented. The results are used to evaluate the optimization of the hydraulic motor-alternator system. The integrated submersible vehicle was successfully operated in the Pacific Ocean near Hawaii. A brief overview of the actual test results is presented.

  2. Design, Optimization and Analysis of Hydraulic Soft Yaw System for 5 MW Wind Turbine

    DEFF Research Database (Denmark)

    Stubkier, Søren; Pedersen, Henrik C.

    2011-01-01

    As wind turbines increase in size and the demands for lifetime also increases, new methods of load reduction needs to be examined. One method is to make the yaw system of the turbine soft/flexible and hence dampen the loads to the system, which is the focus of the current paper. The paper first p...... on the extrapolated loads, show that it is possible to construct a hydraulic soft yaw system, which is able to reduce the loads on the wind turbine significantly....... presents work previous done on this subject with focus on hydraulic yaw systems. By utilizing the HAWC2 aeroelastic code and an extended model of the NREL 5MW turbine combined with a simplified linear model of the turbine, the parameters of the soft yaw system are optimized. Results show that a significant...... reduction in fatigue and extreme loads to the yaw system and rotor shaft are possible, when utilizing the soft yaw drive concept compared to the original stiff yaw system. The physical demands of the hydraulic yaw system are furthermore examined for a life time of 20 years. The duty cycles, based...

  3. Piezoelectric-hydraulic pump based band brake actuation system for automotive transmission control

    Science.gov (United States)

    Kim, Gi-Woo; Wang, K. W.

    2007-04-01

    The actuation system of friction elements (such as band brakes) is essential for high quality operations in modern automotive automatic transmissions (in short, ATs). The current band brake actuation system consists of several hydraulic components, including the oil pump, the regulating valve and the control valves. In general, it has been recognized that the current AT band brake actuation system has many limitations. For example, the oil pump and valve body are relatively heavy and complex. Also, the oil pumps induce inherently large drag torque, which affects fuel economy. This research is to overcome these problems of the current system by exploring the utilization of a hybrid type piezo-hydraulic pump device for AT band brake control. This new actuating system integrates a piezo-hydraulic pump to the input of the band brake. Compared with the current systems, this new actuator features much simpler structure, smaller size, and lower weight. This paper describes the development, design and fabrication of the new stand-alone prototype actuator for AT band brake control. An analytical model is developed and validated using experimental data. Performance tests on the hardware and system simulations utilizing the validated model are performed to characterize the new prototype actuator. It is predicted that with increasing of accumulator pressure and driving frequency, the proposed prototype actuating system will satisfy the band brake requirement for AT shift control.

  4. Experimental Study of Hydraulic Control Rod Drive Mechanism for Passive IN-core Cooling System of Nuclear Power Plant

    Energy Technology Data Exchange (ETDEWEB)

    Kim, In Guk; Kim, Kyung Mo; Jeong, Yeong Shin; Bang, In Cheol [KAERI, Daejeon (Korea, Republic of)

    2016-05-15

    CAREM 25 (27 MWe safety systems using hydraulic control rod drives (CRD) studied critical issues that were rod drops with interrupted flow [3]. Hydraulic control rod drive suggested fast shutdown condition using a large gap between piston and cylinder in order to fast drop of neutron absorbing rods. A Passive IN-core Cooling system (PINCs) was suggested for safety enhancement of pressurized water reactors (PWR), small modular reactor (SMR), sodium fast reactor (SFR) in UNIST. PINCs consist of hydraulic control rod drive mechanism (Hydraulic CRDM) and hybrid control rod assembly with heat pipe combined with control rod. The schematic diagram of the hydraulic CRDM for PINCs is shown in Fig. 1. The experimental results show the steady state and transient behavior of the upper cylinder at a low pressure and low temperature. The influence of the working fluid temperature and cylinder mass are investigated. Finally, the heat removal between evaporator section and condenser section is compared with or without the hybrid control rod. Heat removal test of the hybrid heat pipe with hydraulic CRDM system showed the heat transfer coefficient of the bundle hybrid control rod and its effect on evaporator pool. The preliminary test both hydraulic CRDM and heat removal system was conducted, which showed the possibility of the in-core hydraulic drive system for application of PINCs.

  5. Analysis of load monitoring system in hydraulic mobile cranes

    Science.gov (United States)

    Kalairassan, G.; Boopathi, M.; Mohan, Rijo Mathew

    2017-11-01

    Load moment limiters or safe load control systems or are very important in crane safety. The system detects the moment of lifting load and compares this actual moment with the rated moment. The system uses multiple sensors such as boom angle sensor, boom length sensor for telescopic booms, pressure transducers for measuring the load, anti-two block switch and roller switches. The system works both on rubber and on outriggers. The sensors measure the boom extension, boom angle and load to give as inputs to the central processing, which calculate the safe working load range for that particular configuration of the crane and compare it with the predetermined safe load. If the load exceeds the safe load, actions will be taken which will reduce the load moment, which is boom telescopic retraction and boom lifting. Anti-two block switch is used to prevent the two blocking condition. The system is calibrated and load tested for at most precision.

  6. Parameter Design for the Energy Regeneration System of Series Hydraulic Hybrid Bus

    Directory of Open Access Journals (Sweden)

    Song Yunpu

    2014-02-01

    Full Text Available This paper simplifies the energy recovery process in the series hydraulic hybrid bus’ energy regeneration system into a process in which the main axle’s moment of inertia drives the secondary element variable delivery pump/motor and brings hydraulic oil from the oil tank to the accumulator. This process enables braking of the vehicle and also allows recovery of energy to the accumulator. Based on the flow equation for the secondary element variable delivery pump/motor and the torque equilibrium equation for its axle, the force equilibrium equation for vehicle braking and the pressure variation and flow continuity equations for the accumulator, simulation studies are conducted to analyze the effects of various system parameters, such as accumulator capacity, displacement of the secondary element variable delivery pump/motor, initial operating pressure of the system, etc. on system performance during regenerative braking.

  7. RAMONA-3B/MINET composite representation of BWR thermal-hydraulic systems

    International Nuclear Information System (INIS)

    Van Tuyle, G.J.; Slovik, G.; Cazzoli, E.G.; Nepsee, T.C.; Guppy, J.G.

    1985-01-01

    The modification and interfacing of two computer codes, RAMONA-3B and MINET, for the thermal hydraulic transient analysis of a Boiling Water Reactor nuclear steam supply system, is described. The RAMONA-3B code provides for multi-channel thermal hydraulics and three-dimensional (or one-dimensional) neutron kinetics analysis of a boiling water reactor core. The RAMONA-3B system representation terminates at the end of the steam line and at the junction of the feedwater line at the vessel inlet. By interfacing RAMONA-3B with MINET, a generic balance-of-plant systems analysis code, a complete BWR systems code with detailed core modeling was obtained. The result is a code of particular importance to the analysis of transients such as ATWS. A comparison between the 3-D and 1-D neutronics representation is provided, along with a test case utilizing the composite RAMONA-3B/MINET code

  8. Nonlinear stability research on the hydraulic system of double-side rolling shear

    Science.gov (United States)

    Wang, Jun; Huang, Qingxue; An, Gaocheng; Qi, Qisong; Sun, Binyu

    2015-10-01

    This paper researches the stability of the nonlinear system taking the hydraulic system of double-side rolling shear as an example. The hydraulic system of double-side rolling shear uses unsymmetrical electro-hydraulic proportional servo valve to control the cylinder with single piston rod, which can make best use of the space and reduce reversing shock. It is a typical nonlinear structure. The nonlinear state-space equations of the unsymmetrical valve controlling cylinder system are built first, and the second Lyapunov method is used to evaluate its stability. Second, the software AMEsim is applied to simulate the nonlinear system, and the results indicate that the system is stable. At last, the experimental results show that the system unsymmetrical valve controlling the cylinder with single piston rod is stable and conforms to what is deduced by theoretical analysis and simulation. The construction and application of Lyapunov function not only provide the theoretical basis for using of unsymmetrical valve controlling cylinder with single piston rod but also develop a new thought for nonlinear stability evaluation.

  9. Modeling and simulation of hydrostatic transmission system with energy regeneration using hydraulic accumulator

    International Nuclear Information System (INIS)

    Ho, Triet Hung; Ahn, Kyoung Kwan

    2010-01-01

    A new hydraulic closed-loop hydrostatic transmission (HST) energy-saving system is proposed in this paper. The system improves the efficiency of the primary power source. Furthermore, the system is energy regenerative, highly efficient even under partial load conditions. It can work in either a flow or pressure coupling configuration, allowing it to avoid the disadvantages of each configuration. A hydraulic accumulator, the key component of the energy regenerative modality, can be decoupled from or coupled to the HST circuit to improve the efficiency of the system in low-speed, high-torque situations. The accumulator is used in a novel way to recover the kinetic energy without reversion of fluid flow. Both variable displacement hydraulic pump /motors are used when the system operates in the flow coupling configuration so as to enable it to meet the difficult requirements of some industrial and mobile applications. Modeling and a simulation were undertaken with regard to testing the primary energy sources in the two configurations and recovering the energy potential of the system. The results indicated that the low efficiency of traditional HSTs under partial load conditions can be improved by utilizing the pressure coupling configuration. The round-trip efficiency of the system in the energy recovery testing varied from 32% to 66% when the losses of the load were taken into account

  10. Handbook of hydraulic fluid technology

    CERN Document Server

    Totten, George E

    2011-01-01

    ""The Handbook of Hydraulic Fluid Technology"" serves as the foremost resource for designing hydraulic systems and for selecting hydraulic fluids used in engineering applications. Featuring new illustrations, data tables, as well as practical examples, this second edition is updated with essential information on the latest hydraulic fluids and testing methods. The detailed text facilitates unparalleled understanding of the total hydraulic system, including important hardware, fluid properties, and hydraulic lubricants. Written by worldwide experts, the book also offers a rigorous overview of h

  11. Method for achieving hydraulic balance in typical Chinese building heating systems by managing differential pressure and flow

    DEFF Research Database (Denmark)

    Zhang, Lipeng; Xia, Jianjun; Thorsen, Jan Eric

    2017-01-01

    to a lack of pressure and flow control. This study investigated using pre-set radiator valves combined with differential pressure (DP) controllers to achieve hydraulic balance in building distribution systems, and consequently save energy and reduce the emissions. We considered a multi-storey building......Hydraulic unbalance is a common problem in Chinese district heating (DH) systems. Hydraulic unbalance has resulted in poor flow distribution among heating branches and overheating of apartments. Studies show that nearly 30% of the total heat supply is being wasted in Chinese DH systems due...... modelled in the IDA-ICE software, along with a self-developed mathematical hydraulic model to simulate its heat performance and hydraulic performance with various control scenarios. In contrast to the situation with no pressure or flow control, this solution achieves the required flow distribution...

  12. Thermal-Hydraulic System Codes in Nulcear Reactor Safety and Qualification Procedures

    Directory of Open Access Journals (Sweden)

    Alessandro Petruzzi

    2008-01-01

    Full Text Available In the last four decades, large efforts have been undertaken to provide reliable thermal-hydraulic system codes for the analyses of transients and accidents in nuclear power plants. Whereas the first system codes, developed at the beginning of the 1970s, utilized the homogenous equilibrium model with three balance equations to describe the two-phase flow, nowadays the more advanced system codes are based on the so-called “two-fluid model” with separation of the water and vapor phases, resulting in systems with at least six balance equations. The wide experimental campaign, constituted by the integral and separate effect tests, conducted under the umbrella of the OECD/CSNI was at the basis of the development and validation of the thermal-hydraulic system codes by which they have reached the present high degree of maturity. However, notwithstanding the huge amounts of financial and human resources invested, the results predicted by the code are still affected by errors whose origins can be attributed to several reasons as model deficiencies, approximations in the numerical solution, nodalization effects, and imperfect knowledge of boundary and initial conditions. In this context, the existence of qualified procedures for a consistent application of qualified thermal-hydraulic system code is necessary and implies the drawing up of specific criteria through which the code-user, the nodalization, and finally the transient results are qualified.

  13. Neutronic and thermal hydraulic of dry cask storage systems

    International Nuclear Information System (INIS)

    Yavuz, U.

    2000-01-01

    Interim spent fuel storage systems must provide for the safe receipt, handling, retrieval and storage of spent nuclear fuel before reprocessing or disposal. In the context of achieving these objectives, the following features of the design are to be taken into consideration: to maintain fuel subcritical, to remove spent fuel residualheat, and to provide for radiation protection. These features in the design of a dry cask storage system were analyzed for normal operating conditions by employing COBRA-SFS, SCALE4.4 (ORIGEN, XSDOSE, CSAS6) codes. For a metal-shielded type storage system, appropriate designs, in accordance with safety assurance limits of IAEA, were obtained for spent fuel burned to 33000, 45000 and 55000 MW d/t and cooled for 5 and 10 years

  14. Multilateral haptics-based immersive teleoperation for improvised explosive device disposal

    Science.gov (United States)

    Erickson, David; Lacheray, Hervé; Daly, John

    2013-05-01

    Of great interest to police and military organizations is the development of effective improvised explosive device (IED) disposal (IEDD) technology to aid in activities such as mine field clearing, and bomb disposal. At the same time minimizing risk to personnel. This paper presents new results in the research and development of a next generation mobile immersive teleoperated explosive ordnance disposal system. This system incorporates elements of 3D vision, multilateral teleoperation for high transparency haptic feedback, immersive augmented reality operator control interfaces, and a realistic hardware-in-the-loop (HIL) 3D simulation environment incorporating vehicle and manipulator dynamics for both operator training and algorithm development. In the past year, new algorithms have been developed to facilitate incorporating commercial off-the-shelf (COTS) robotic hardware into the teleoperation system. In particular, a real-time numerical inverse position kinematics algorithm that can be applied to a wide range of manipulators has been implemented, an inertial measurement unit (IMU) attitude stabilization system for manipulators has been developed and experimentally validated, and a voice­operated manipulator control system has been developed and integrated into the operator control station. The integration of these components into a vehicle simulation environment with half-car vehicle dynamics has also been successfully carried out. A physical half-car plant is currently being constructed for HIL integration with the simulation environment.

  15. Performance of a hydraulic air compressor for use in compressed air energy storage power systems

    Energy Technology Data Exchange (ETDEWEB)

    Berghmans, J. A.; Ahrens, F. W.

    1978-01-01

    A fluid mechanical analysis of a hydraulic air compression system for Compressed Air Energy Storage (CAES) application is presented. With this compression concept, air is charged into an underground reservoir, for later use in power generation, by entraining bubbles into a downward flow of water from a surface reservoir. Upon releasing the air in the underground reservoir, the water is pumped back to the surface. The analytical model delineated is used to predict the hydraulic compressor performance characteristics (pumping power, pump head, compression efficiency) as a function of water flow rate and system geometrical parameters. The results indicate that, although large water pumps are needed, efficiencies as high as 90% (relative to ideal isothermal compression) can be expected. This should result in lower compression power than for conventional compressor systems, while eliminating the need for the usual intercoolers and aftercooler.

  16. A new hydraulic regulation method on district heating system with distributed variable-speed pumps

    International Nuclear Information System (INIS)

    Wang, Hai; Wang, Haiying; Zhu, Tong

    2017-01-01

    Highlights: • A hydraulic regulation method was presented for district heating with distributed variable speed pumps. • Information and automation technologies were utilized to support the proposed method. • A new hydraulic model was developed for distributed variable speed pumps. • A new optimization model was developed based on genetic algorithm. • Two scenarios of a multi-source looped system was illustrated to validate the method. - Abstract: Compared with the hydraulic configuration based on the conventional central circulating pump, a district heating system with distributed variable-speed-pumps configuration can often save 30–50% power consumption on circulating pumps with frequency inverters. However, the hydraulic regulations on distributed variable-speed-pumps configuration could be more complicated than ever while all distributed pumps need to be adjusted to their designated flow rates. Especially in a multi-source looped structure heating network where the distributed pumps have strongly coupled and severe non-linear hydraulic connections with each other, it would be rather difficult to maintain the hydraulic balance during the regulations. In this paper, with the help of the advanced automation and information technologies, a new hydraulic regulation method was proposed to achieve on-site hydraulic balance for the district heating systems with distributed variable-speed-pumps configuration. The proposed method was comprised of a new hydraulic model, which was developed to adapt the distributed variable-speed-pumps configuration, and a calibration model with genetic algorithm. By carrying out the proposed method step by step, the flow rates of all distributed pumps can be progressively adjusted to their designated values. A hypothetic district heating system with 2 heat sources and 10 substations was taken as a case study to illustrate the feasibility of the proposed method. Two scenarios were investigated respectively. In Scenario I, the

  17. New method to improve dynamic stiffness of electro-hydraulic servo systems

    Science.gov (United States)

    Bai, Yanhong; Quan, Long

    2013-09-01

    Most current researches working on improving stiffness focus on the application of control theories. But controller in closed-loop hydraulic control system takes effect only after the controlled position is deviated, so the control action is lagged. Thus dynamic performance against force disturbance and dynamic load stiffness can’t be improved evidently by advanced control algorithms. In this paper, the elementary principle of maintaining piston position unchanged under sudden external force load change by charging additional oil is analyzed. On this basis, the conception of raising dynamic stiffness of electro hydraulic position servo system by flow feedforward compensation is put forward. And a scheme using double servo valves to realize flow feedforward compensation is presented, in which another fast response servo valve is added to the regular electro hydraulic servo system and specially utilized to compensate the compressed oil volume caused by load impact in time. The two valves are arranged in parallel to control the cylinder jointly. Furthermore, the model of flow compensation is derived, by which the product of the amplitude and width of the valve’s pulse command signal can be calculated. And determination rules of the amplitude and width of pulse signal are concluded by analysis and simulations. Using the proposed scheme, simulations and experiments at different positions with different force changes are conducted. The simulation and experimental results show that the system dynamic performance against load force impact is largely improved with decreased maximal dynamic position deviation and shortened settling time. That is, system dynamic load stiffness is evidently raised. This paper proposes a new method which can effectively improve the dynamic stiffness of electro-hydraulic servo systems.

  18. Hydraulic and hydrological aspects of an evapotranspiration-constructed wetland combined system for household greywater treatment.

    Science.gov (United States)

    Filho, Fernando Jorge C Magalhães; Sobrinho, Teodorico Alves; Steffen, Jorge L; Arias, Carlos A; Paulo, Paula L

    2018-05-12

    Constructed wetlands systems demand preliminary and primary treatment to remove solids present in greywater (GW) to avoid or reduce clogging processes. The current paper aims to assess hydraulic and hydrological behavior in an improved constructed wetland system, which has a built-in anaerobic digestion chamber (AnC), GW is distributed to the evapotranspiration and treatment tank (CEvaT), combined with a subsurface horizontal flow constructed wetland (SSHF-CW). The results show that both the plants present in the units and the AnC improve hydraulic and volumetric efficiency, decrease short-circuiting and improve mixing conditions in the system. Moreover, the hydraulic conductivity measured on-site indicates that the presence of plants in the system and the flow distribution pattern provided by the AnC might reduce clogging in the SSHF-CW. It is observed that rainfall enables salt elimination, thus increasing evapotranspiration (ET), which promotes effluent reduction and enables the system to have zero discharge when reuse is unfeasible.

  19. Optimal Design and Hybrid Control for the Electro-Hydraulic Dual-Shaking Table System

    Directory of Open Access Journals (Sweden)

    Lianpeng Zhang

    2016-08-01

    Full Text Available This paper is to develop an optimal electro-hydraulic dual-shaking table system with high waveform replication precision. The parameters of hydraulic cylinders, servo valves, hydraulic supply power and gravity balance system are designed and optimized in detail. To improve synchronization and tracking control precision, a hybrid control strategy is proposed. The cross-coupled control using a novel based on sliding mode control based on adaptive reaching law (ASMC, which can adaptively tune the parameters of sliding mode control (SMC, is proposed to reduce the synchronization error. To improve the tracking performance, the observer-based inverse control scheme combining the feed-forward inverse model controller and disturbance observer is proposed. The system model is identified applying the recursive least squares (RLS algorithm and then the feed-forward inverse controller is designed based on zero phase error tracking controller (ZPETC technique. To compensate disturbance and model errors, disturbance observer is used cooperating with the designed inverse controller. The combination of the novel ASMC cross-coupled controller and proposed observer-based inverse controller can improve the control precision noticeably. The dual-shaking table experiment system is built and various experiments are performed. The experimental results indicate that the developed system with the proposed hybrid control strategy is feasible and efficient and can reduce the tracking errors to 25% and synchronization error to 16% compared with traditional control schemes.

  20. Staged cost optimization of urban storm drainage systems based on hydraulic performance in a changing environment

    Directory of Open Access Journals (Sweden)

    M. Maharjan

    2009-04-01

    Full Text Available Urban flooding causes large economic losses, property damage and loss of lives. The impact of environmental changes, mainly urbanization and climatic change, leads to increased runoff and peak flows which the drainage system must be able to cope with to reduce potential damage and inconvenience. Allowing for detention storage to compliment the conveyance capacity of the drainage system network is one of the approaches to reduce urban floods. Contemporary practice is to design systems against stationary environmental forcings – including design rainfall, landuse, etc. Due to the rapid change in the climate- and the urban environment, this approach is no longer appropriate, and explicit consideration of gradual changes during the life-time of the drainage system is warranted. In this paper, a staged cost optimization tool based on the hydraulic performance of the drainage system is presented. A one dimensional hydraulic model is used for hydraulic evaluation of the network together with a genetic algorithm based optimization tool to determine optimal intervention timings and responses over the analysis period. The model was applied in a case study area in the city of Porto Alegre, Brazil. It was concluded that considerable financial savings and/or additional level of flood-safety can be achieved by approaching the design problem as a staged plan rather than one-off scheme.

  1. Fault Diagnosis for Hydraulic Servo System Using Compressed Random Subspace Based ReliefF

    Directory of Open Access Journals (Sweden)

    Yu Ding

    2018-01-01

    Full Text Available Playing an important role in electromechanical systems, hydraulic servo system is crucial to mechanical systems like engineering machinery, metallurgical machinery, ships, and other equipment. Fault diagnosis based on monitoring and sensory signals plays an important role in avoiding catastrophic accidents and enormous economic losses. This study presents a fault diagnosis scheme for hydraulic servo system using compressed random subspace based ReliefF (CRSR method. From the point of view of feature selection, the scheme utilizes CRSR method to determine the most stable feature combination that contains the most adequate information simultaneously. Based on the feature selection structure of ReliefF, CRSR employs feature integration rules in the compressed domain. Meanwhile, CRSR substitutes information entropy and fuzzy membership for traditional distance measurement index. The proposed CRSR method is able to enhance the robustness of the feature information against interference while selecting the feature combination with balanced information expressing ability. To demonstrate the effectiveness of the proposed CRSR method, a hydraulic servo system joint simulation model is constructed by HyPneu and Simulink, and three fault modes are injected to generate the validation data.

  2. Status of the Advanced Teleoperation Project in the French A.R.A. program

    International Nuclear Information System (INIS)

    Andre, G.; Fournier, R.

    1987-01-01

    This paper reports the research and development work carried out in the French advanced teleoperation project. The successful achievement of significant progress, in recent years, allows to considerably advance the state of the art so that it objectively constitutes the foundation of a new generation of remote systems. After briefly recalling the organization of this project, the authors outline the basic concepts related to the evolution of teleoperation with regard to the notions of flexibility, adaptivity, autonomy, transparency. The authors present the overall architecture of the computer aided teleoperation system. The following sections deal with fundamental studies which have been realized and key subsystems which have been developed. The authors emphasize on the computer control system which includes: generalized bilateral control and supervisory control. Secondly, they underline the role of sophisticated technologies: sensory system, computer graphics. . ., for generating adaptive control functions and for providing new interfaces. Thirdly, they describe the integrated experimental site and, a set of generic experiments in nuclear applications. The paper ends with future perspectives

  3. Modular telerobot control system for accident response

    Science.gov (United States)

    Anderson, Richard J. M.; Shirey, David L.

    1999-08-01

    The Accident Response Mobile Manipulator System (ARMMS) is a teleoperated emergency response vehicle that deploys two hydraulic manipulators, five cameras, and an array of sensors to the scene of an incident. It is operated from a remote base station that can be situated up to four kilometers away from the site. Recently, a modular telerobot control architecture called SMART was applied to ARMMS to improve the precision, safety, and operability of the manipulators on board. Using SMART, a prototype manipulator control system was developed in a couple of days, and an integrated working system was demonstrated within a couple of months. New capabilities such as camera-frame teleoperation, autonomous tool changeout and dual manipulator control have been incorporated. The final system incorporates twenty-two separate modules and implements seven different behavior modes. This paper describes the integration of SMART into the ARMMS system.

  4. The safety feature of hydraulic driving system of control rod for 200 MW nuclear heating reactor

    International Nuclear Information System (INIS)

    Chi Zongbo; Wu Yuanqiang

    1997-01-01

    The hydraulic driving system of control rod is used as control rod drive mechanism in 200 MW nuclear heating reactor. Design of this system is based on passive system, integrating drive and guide of control rod. The author analyzes the inherent safety and the design safety of this system, with mechanism of control rod not ejecting when the pressure of pressure vessel is lost, and calculating result of core not exposing when the amount of coolant is drained by broken pipe. The results indicate that this system has good safety feature, and assures reactor safety under any accident conditions, providing important technology support for 200 MW nuclear heating reactor with inherent safety feature

  5. Challenges in thermal and hydraulic analysis of ADS target systems

    International Nuclear Information System (INIS)

    Groetzbach, G.; Batta, A.; Lefhalm, C.-H.; Otic, I.

    2004-01-01

    The liquid metal cooled spallation targets of Accelerator Driven nuclear reactor Systems obey high thermal loads; in addition some flow and cooling conditions are of a prototypical character; in contrast the operating conditions for the engaged materials are narrow; thus, the target development requires a very careful analysis by experimental and numerical means. Especially the cooling of the steel window, which is heated by the proton beam, needs special care. Some of the main goals of the experimental and numerical analyses of the thermal dynamics of those systems are discusses. The prediction of locally detached flows and of flows with larger recirculation areas suffers from insufficient turbulence modeling; this has to be compensated by using prototypical model experiments, e.g. with water, to select the adequate models and numerical schemes. The well known problems with the Reynolds analogy in predicting the heat transfer in liquid metals requires always prototypic liquid metal experiments to select and adapt the turbulent heat flux models. The uncertainties in liquid metal experiments cannot be neglected; so it is necessary to perform CFD calculations and experiments always hand in hand and to develop improve turbulent heat flux models. One contribution to an improved 3 or 4-equation model is deduced from recent Direct Numerical Simulation (DNS) data. (author)

  6. Design of Intelligent Hydraulic Excavator Control System Based on PID Method

    Science.gov (United States)

    Zhang, Jun; Jiao, Shengjie; Liao, Xiaoming; Yin, Penglong; Wang, Yulin; Si, Kuimao; Zhang, Yi; Gu, Hairong

    Most of the domestic designed hydraulic excavators adopt the constant power design method and set 85%~90% of engine power as the hydraulic system adoption power, it causes high energy loss due to mismatching of power between the engine and the pump. While the variation of the rotational speed of engine could sense the power shift of the load, it provides a new method to adjust the power matching between engine and pump through engine speed. Based on negative flux hydraulic system, an intelligent hydraulic excavator control system was designed based on rotational speed sensing method to improve energy efficiency. The control system was consisted of engine control module, pump power adjusted module, engine idle module and system fault diagnosis module. Special PLC with CAN bus was used to acquired the sensors and adjusts the pump absorption power according to load variation. Four energy saving control strategies with constant power method were employed to improve the fuel utilization. Three power modes (H, S and L mode) were designed to meet different working status; Auto idle function was employed to save energy through two work status detected pressure switches, 1300rpm was setting as the idle speed according to the engine consumption fuel curve. Transient overload function was designed for deep digging within short time without spending extra fuel. An increasing PID method was employed to realize power matching between engine and pump, the rotational speed's variation was taken as the PID algorithm's input; the current of proportional valve of variable displacement pump was the PID's output. The result indicated that the auto idle could decrease fuel consumption by 33.33% compared to work in maximum speed of H mode, the PID control method could take full use of maximum engine power at each power mode and keep the engine speed at stable range. Application of rotational speed sensing method provides a reliable method to improve the excavator's energy efficiency and

  7. Thermal hydraulics of accelerator driven system: validation and analysis

    International Nuclear Information System (INIS)

    Kumari, I.; Khanna, A.

    2014-01-01

    This paper presents validation of RELAP5/Mod4.0 code modified to incorporate Lead Bismuth Eutectic (LBE)fluid properties for simulation of Accelerator Driven System (ADS) against Barone's NACIE facility.Results of mass flow rates (MFR), Reynolds number, heat transfer coefficients, temperatures and temperature difference for three powers (10.8, 21.7 and 32.5 kW) under natural circulation of LBE match with Barone's values within 7%,18%,37%, 5% and 8% of relative error respectively. After this validation Indian ADS for thermal power of 15 kW has been simulated. Simulated profiles of temperature, MFR and pressure drop LBE and air are reported. Air and LBE temperatures of present work match with literature design values within 5% of relative error. (author)

  8. Cascade Controller Including Back-stepping for Hydraulic-Mechanical Systems

    DEFF Research Database (Denmark)

    Choux, Martin; Hovland, Geir; Blanke, Mogens

    2012-01-01

    Development of a cascade controller structure including adaptive backstepping for a nonlinear hydraulic-mechanical system is considered in this paper where a dynamic friction (LuGre) model is included to obtain the necessary accuracy. The paper compares the performance of two variants of an adapt......Development of a cascade controller structure including adaptive backstepping for a nonlinear hydraulic-mechanical system is considered in this paper where a dynamic friction (LuGre) model is included to obtain the necessary accuracy. The paper compares the performance of two variants...... of an adaptive backstepping tracking controller with earlier results. The new control architecture is analysed and enhanced tracking performance is demonstrated when including the extended friction model. The complexity of the backstepping procedure is significantly reduced due to the cascade structure. Hence...

  9. A new linearized equation for servo valve in hydraulic control systems

    International Nuclear Information System (INIS)

    Kim, Tae Hyung; Lee, Ill Yeong

    2002-01-01

    In the procedure of the hydraulic control system analysis, a linearized approximate equation described by the first order term of Taylor's series has been widely used. Such a linearized equation is effective just near the operating point. And, as of now, there are no general standards on how to determine the operating point of a servo valve in the process of applying the linearized equation. So, in this study, a new linearized equation for valve characteristics is proposed as a modified form of the existing linearized equation. And, a method for selecting an optimal operating point is proposed for the new linearized equation. The effectiveness of the new linearized equation is confirmed through numerical simulations and experiments for a model hydraulic control system

  10. ITHNA.SYS: An Integrated Thermal Hydraulic and Neutronic Analyzer SYStem for NUR research reactor

    Energy Technology Data Exchange (ETDEWEB)

    Mazidi, S., E-mail: samirmazidi@gmail.com [Division Physique et Applications Nucléaires, Centre de Recherche Nucléaire de Draria (CRND), BP 43 Sebala, Draria, Alger (Algeria); Meftah, B., E-mail: b_meftah@yahoo.com [Division Physique et Applications Nucléaires, Centre de Recherche Nucléaire de Draria (CRND), BP 43 Sebala, Draria, Alger (Algeria); Belgaid, M., E-mail: belgaidm@yahoo.com [Faculté de Physique, Université Houari Boumediene, USTHB, BP 31, Bab Ezzouar, Alger (Algeria); Letaim, F., E-mail: fletaim@yahoo.fr [Faculté des Sciences et Technologies, Université d’El-oued, PO Box 789, El-oued (Algeria); Halilou, A., E-mail: hal_rane@yahoo.fr [Division Réacteur NUR, Centre de Recherche Nucléaire de Draria, BP 43 Sebala, Draria, Alger (Algeria)

    2015-08-15

    Highlights: • We develop a neutronic and thermal hydraulic MTR reactor analyzer. • The analyzer allows a rapid determination of the reactor core parameters. • Some NUR reactor parameters have been analyzed. - Abstract: This paper introduces the Integrated Thermal Hydraulic and Neutronic Analyzer SYStem (ITHNA.SYS) that has been developed for the Algerian research reactor NUR. It is used both as an operating aid tool and as a core physics engineering analysis tool. The system embeds three modules of the MTR-PC software package developed by INVAP SE: the cell calculation code WIMSD, the core calculation code CITVAP and the program TERMIC for thermal hydraulic analysis of a material testing reactor (MTR) core in forced convection. ITHNA.SYS operates both in on-line and off-line modes. In the on-line mode, the system is linked, via the computer parallel port, to the data acquisition console of the reactor control room and allows a real time monitoring of major physical and safety parameters of the NUR core. PC-based ITHNA.SYS provides a viable and convenient way of using an accumulated and often complex reactor physics stock of knowledge and frees the user from the intricacy of adequate reactor core modeling. This guaranties an accurate, though rapid, determination of a variety of neutronic and thermal hydraulic parameters of importance for the operation and safety analysis of the NUR research reactor. Instead of the several hours usually required, the processing time for the determination of such parameters is now reduced to few seconds. Validation of the system was performed with respect to experimental measurements and to calculations using reference codes. ITHNA.SYS can be easily adapted to accommodate other kinds of MTR reactors.

  11. System and method for controlling engine knock using electro-hydraulic valve actuation

    Science.gov (United States)

    Brennan, Daniel G

    2013-12-10

    A control system for an engine includes a knock control module and a valve control module. The knock control module adjusts a period that one or more of an intake valve and an exhaust valve of a cylinder are open based on engine knock corresponding to the cylinder. The valve control module, based on the adjusted period, controls the one or more of the intake valve and the exhaust valve using one or more hydraulic actuators.

  12. Field investigation on consumer behavior and hydraulic performance of a district heating system in Tianjin, China

    Energy Technology Data Exchange (ETDEWEB)

    Xu, Baoping; Fu, Lin; Di, Hongfa [Department of Building Science, Tsinghua University, Beijing 100084 (China)

    2009-02-15

    With the implementation of heat reforms in China, the application of thermostatic radiator valves (TRVs) has been gaining popularity in the new-style district heating systems (DHSs). The objective of this study was to investigate consumer behavior (including regulation of TRVs and opening of windows) and its influences on the hydraulic performance and energy consumption of individuals and the whole system. The concurrence rate of individual behaviors and hydraulic interactions between individuals were analyzed. This study should be helpful to gain a comprehensive understanding of the new DHSs in China and consider a proper design/control strategy for these systems. Questionnaires and field observations of consumer behavior, tests of hydraulic performance, and surveys of energy consumption were carried out in a DHS in Tianjin, which was one of the heat metering and billing demonstration projects in China. The main results of the tests were as follows: water flow performance in apartment-level heating systems were diverse because consumers' behavior was varied and unpredictable, and the hydraulic interaction between consumers living along the line of a vertical pipe was obvious, and was stronger for terminal consumers with their TRVs set to higher values; however, flow variations in the whole DHS, which included 910 households, were relatively constant. A probability analysis was carried out to explain this phenomenon, and the conclusion was drawn that when there were more than 200 consumers, the stochastic consumer regulation behavior would bring less than 10% of total flow variations. Finally, the power consumption of the circulation pump, heat consumption and energy-saving potential of this type of DHS were discussed and some suggestions for TRV regulation and pump operation were made. (author)

  13. Hydraulically-activated operating system for an electric circuit breaker

    Science.gov (United States)

    Imam, Imdad; Barkan, Philip

    1979-01-01

    This operating system comprises a fluid motor having a piston, a breaker-opening space at one side of the piston, and a breaker-closing space at its opposite side. An accumulator freely communicates with the breaker-opening space for supplying pressurized fluid thereto during a circuit-breaker opening operation. A normally-closed valve located on the breaker-closing-side of the piston is openable to release liquid from the breaker-closing space so that pressurized liquid in the breaker-opening space can drive the piston in an opening direction. Means is provided for restoring the valve to its closed position following the circuit-breaker opening operation. An impeded passage affords communication between the accumulator and the breaker-closing space to allow pressurized liquid to flow from the accumulator to the breaker-closing space and develop a pressure therein substantially equal to accumulator pressure when the valve is restored to closed position following breaker-opening. This passage is so impeded that the flow therethrough from the accumulator into the breaker-closing space is sufficiently low during initial opening motion of the piston through a substantial portion of its opening stroke as to avoid interference with said initial opening motion of the piston.

  14. Digital electro-hydraulic control system for nuclear turbine

    International Nuclear Information System (INIS)

    Yokota, Yutaka; Tone, Youichi; Ozono, Jiro

    1985-01-01

    The unit capacity of steam turbines for nuclear power generation is very large, accordingly their unexpected stop disturbs power system, and the lowering of their capacity ratio exerts large influence on power generation cost. Therefore, very high reliability is required for turbine EHC controllers which directly control the turbines for nuclear power generation. In order to meet such requirement, Toshiba Corp. has developed high reliability type analog tripled turbine EHC controllers, and delivered them to No. 3 plant in the Fukushima No. 2 Nuclear Power Station and No. 1 plant in the Kashiwazaki Kariwa Nuclear Power Station, Tokyo Electric Power Co., Inc. At present, the trial operation is under way. The development of digital EHC controllers was begun in 1976, and through the digital EHC for a test turbine and that for a small turbine, the digital EHC controllers for the turbines for nuclear power generation were developed. In this paper, the function, constitution, features and maintenance of the digital tripled EHC controllers for the turbines for nuclear power generation, the application of new technology to them, and the confirmation of the control function by simulation are reported. (Kako, I.)

  15. Thermal-hydraulic analysis of spent fuel storage systems

    International Nuclear Information System (INIS)

    Rector, D.R.; Wheeler, C.L.; Lombardo, N.J.

    1987-01-01

    This paper describes the COBRA-SFS (Spent Fuel Storage) computer code, which is designed to predict flow and temperature distributions in spent nuclear fuel storage and transportation systems. The decay heat generated by spent fuel in a dry storage cask is removed through a combination of conduction, natural convection, and thermal radiation. One major advantage of COBRA-SFS is that fluid recirculation within the cask is computed directly by solving the mass and momentum conservation equations. In addition, thermal radiation heat transfer is modeled using detailed radiation exchange factors based on quarter-rod segments. The equations governing mass, momentum, and energy conservation for incompressible flows are presented, and the semi-implicit solution method is described. COBRA-SFS predictions are compared to temperature data from a spent fuel storage cask test and the effect of different fill media on the cladding temperature distribution is discussed. The effect of spent fuel consolidation on cask thermal performance is also investigated. 16 refs., 6 figs., 2 tabs

  16. Effects of turbine's selection on hydraulic transients in the long pressurized water conveyance system

    International Nuclear Information System (INIS)

    Zhou, J X; Hu, M; Cai, F L; Huang, X T

    2014-01-01

    For a hydropower station with longer water conveyance system, an optimum turbine's selection will be beneficial to its reliable and stable operation. Different optional turbines will result in possible differences of the hydraulic characteristics in the hydromechanical system, and have different effects on the hydraulic transients' analysis and control. Therefore, the premise for turbine's selection is to fully understand the properties of the optional turbines and their effects on the hydraulic transients. After a brief introduction of the simulation models for hydraulic transients' computation and stability analysis, the effects of hydraulic turbine's characteristics at different operating points on the hydro-mechanical system's free vibration analysis were theoretically investigated with the hydraulic impedance analysis of the hydraulic turbine. For a hydropower station with long water conveyance system, based on the detailed hydraulic transients' computation respectively for two different optional turbines, the effects of the turbine's selection on hydraulic transients were analyzed. Furthermore, considering different operating conditions for each turbine and the similar operating conditions for these two turbines, free vibration analysis was comprehensively carried out to reveal the effects of turbine's impedance on system's vibration characteristics. The results indicate that, respectively with two different turbines, most of the controlling parameters under the worst cases have marginal difference, and few shows obvious differences; the turbine's impedances under different operating conditions have less effect on the natural angular frequencies; different turbine's characteristics and different operating points have obvious effects on system's vibration stability; for the similar operating conditions of these two turbines, system's vibration characteristics are basically consistent with

  17. Design, analysis and control of hydraulic soft yaw system for 5MW wind turbine

    DEFF Research Database (Denmark)

    Stubkier, Søren; Pedersen, Henrik C.; Andersen, Torben Ole

    2012-01-01

    by active control of a hydraulic yaw system. The control is based on a non-linear and linear model derived based on a concept yaw system for the NREL 5MW wind turbine. The control strategies show a reduction in pressure pulsations under load and it is concluded that the strategie including high......As wind turbines increase in size and the demands for lifetime also increases, new methods of load reduction needs to be examined. One method is to make the yaw system of the turbine soft/flexible and wereby dampen the loads to the system. This paper presents work done on dampening of these loads...

  18. Human Machine Interfaces for Teleoperators and Virtual Environments

    Science.gov (United States)

    Durlach, Nathaniel I. (Compiler); Sheridan, Thomas B. (Compiler); Ellis, Stephen R. (Compiler)

    1991-01-01

    In Mar. 1990, a meeting organized around the general theme of teleoperation research into virtual environment display technology was conducted. This is a collection of conference-related fragments that will give a glimpse of the potential of the following fields and how they interplay: sensorimotor performance; human-machine interfaces; teleoperation; virtual environments; performance measurement and evaluation methods; and design principles and predictive models.

  19. Neutronics and thermal hydraulics coupling scheme for design improvement of liquid metal fast systems

    International Nuclear Information System (INIS)

    Sanchez-Espinoza, V.H.; Jaeger, W.; Travleev, A.; Monti, L.; Doern, R.

    2009-01-01

    Many advanced reactor concepts are nowadays under investigations within the Generation IV international initiative as well as in European research programs including subcritical and critical fast reactor systems cooled by liquid metal, gas and supercritical water. The Institute of Neutron Physics and Reactor Technology (INR) at the Forschungszentrum Karlsruhe GmbH is involved in different European projects like IP EUROTRANS, ELSY, ESFR. The main goal of these projects is, among others, to assess the technical feasibility of proposed concepts regarding safety, economics and transmutation requirements. In view of increased computer capabilities, improved computational schemes, where the neutronic and the thermal hydraulic solution is iteratively coupled, become practicable. The codes ERANOS2.1 and TRACE are being coupled to analyze fuel assembly or core designs of lead-cooled fast reactors (LFR). The neutronic solution obtained with the coupled system for a LFR fuel assembly was compared with the MCNP5 solution. It was shown that the coupled system is predicting physically sound results. The iterative coupling scheme was realized using Perlscripts and auxiliary Fortran programs to ensure that the mapping between the neutronic and the thermal hydraulic part is consistent. The coupled scheme is very flexible and appropriate for the neutron physical and thermal hydraulic investigation of fuel assemblies and of cores of lead cooled fast reactors. The developed methods and the obtained results will be presented and discussed. (author)

  20. Hydraulic Performance of Lined Permeable Pavement Systems in the Built Environment

    Directory of Open Access Journals (Sweden)

    Jan Støvring

    2018-05-01

    Full Text Available The hydraulic performance of permeable pavement (PP systems has been well demonstrated when based on full or partial on-site infiltration, while there is only limited research on lined PP systems built to provide detention and volume reduction by evaporation only. In this study, we tested the performance of commercially available PP components when constructed as lined PP systems with un-throttled discharge to explore basic hydraulic function in a real-life-setting. Four types of PP surface products and three types of sub-base aggregates were tested in six unique combinations, built as side-by-side parking lots into an existing parking area, each stall having a size of 25 m2 and 0.5 m of depth with individual lining. Based on 12 months of monitoring precipitation and discharge from each stall, total volume reduction ranged from 3% to 37%. Analysis of up to 22 single events, representing return periods of up to two years, revealed marked detention capacities, expressed as median volume reduction of 40%, spanning 27–69% and median lag time of 1:38 h, spanning 0:39–3:16 h, across all stalls. The considerable range in hydraulic properties can be ascribed to both surface and sub-base properties.

  1. On the Value of Estimating Human Arm Stiffness during Virtual Teleoperation with Robotic Manipulators.

    Science.gov (United States)

    Buzzi, Jacopo; Ferrigno, Giancarlo; Jansma, Joost M; De Momi, Elena

    2017-01-01

    Teleoperated robotic systems are widely spreading in multiple different fields, from hazardous environments exploration to surgery. In teleoperation, users directly manipulate a master device to achieve task execution at the slave robot side; this interaction is fundamental to guarantee both system stability and task execution performance. In this work, we propose a non-disruptive method to study the arm endpoint stiffness. We evaluate how users exploit the kinetic redundancy of the arm to achieve stability and precision during the execution of different tasks with different master devices. Four users were asked to perform two planar trajectories following virtual tasks using both a serial and a parallel link master device. Users' arm kinematics and muscular activation were acquired and combined with a user-specific musculoskeletal model to estimate the joint stiffness. Using the arm kinematic Jacobian, the arm end-point stiffness was derived. The proposed non-disruptive method is capable of estimating the arm endpoint stiffness during the execution of virtual teleoperated tasks. The obtained results are in accordance with the existing literature in human motor control and show, throughout the tested trajectory, a modulation of the arm endpoint stiffness that is affected by task characteristics and hand speed and acceleration.

  2. On the Value of Estimating Human Arm Stiffness during Virtual Teleoperation with Robotic Manipulators

    Directory of Open Access Journals (Sweden)

    Jacopo Buzzi

    2017-09-01

    Full Text Available Teleoperated robotic systems are widely spreading in multiple different fields, from hazardous environments exploration to surgery. In teleoperation, users directly manipulate a master device to achieve task execution at the slave robot side; this interaction is fundamental to guarantee both system stability and task execution performance. In this work, we propose a non-disruptive method to study the arm endpoint stiffness. We evaluate how users exploit the kinetic redundancy of the arm to achieve stability and precision during the execution of different tasks with different master devices. Four users were asked to perform two planar trajectories following virtual tasks using both a serial and a parallel link master device. Users' arm kinematics and muscular activation were acquired and combined with a user-specific musculoskeletal model to estimate the joint stiffness. Using the arm kinematic Jacobian, the arm end-point stiffness was derived. The proposed non-disruptive method is capable of estimating the arm endpoint stiffness during the execution of virtual teleoperated tasks. The obtained results are in accordance with the existing literature in human motor control and show, throughout the tested trajectory, a modulation of the arm endpoint stiffness that is affected by task characteristics and hand speed and acceleration.

  3. Thermal-hydraulic design concept of the solid-target system of spallation neutron source

    International Nuclear Information System (INIS)

    Tanaka, F.; Hibiki, T.; Saito, Y.; Takeda, T.; Mishima, K.

    2001-01-01

    In relation to thermal-hydraulic design of the N-Arena solid-target system of the JHF project, heat transfer experiments were performed to obtain experimental data systematically on heat transfer coefficient and CHF for vertical upward and horizontal flows in a thin rectangular channel simulating a coolant channel of the proposed spallation neutron source. Thermal-hydraulic correlations which can be used for design calculations were proposed based on the obtained data. Finally tentative results of feasibility study on maximum beam power which could be attained with a solid target were presented. The result indicated that the condition for the onset of nucleate boiling is the most significant limiting factor to the maximum beam power. (author)

  4. Determination of minimum sample size for fault diagnosis of automobile hydraulic brake system using power analysis

    Directory of Open Access Journals (Sweden)

    V. Indira

    2015-03-01

    Full Text Available Hydraulic brake in automobile engineering is considered to be one of the important components. Condition monitoring and fault diagnosis of such a component is very essential for safety of passengers, vehicles and to minimize the unexpected maintenance time. Vibration based machine learning approach for condition monitoring of hydraulic brake system is gaining momentum. Training and testing the classifier are two important activities in the process of feature classification. This study proposes a systematic statistical method called power analysis to find the minimum number of samples required to train the classifier with statistical stability so as to get good classification accuracy. Descriptive statistical features have been used and the more contributing features have been selected by using C4.5 decision tree algorithm. The results of power analysis have also been verified using a decision tree algorithm namely, C4.5.

  5. Displacement characteristics of a piezoactuator-based prototype microactuator with a hydraulic displacement amplification system

    International Nuclear Information System (INIS)

    Muralidhara; Rao, Rathnamala

    2015-01-01

    In this study, a new piezoactuator-based prototype microactuator is proposed with a hydraulic displacement amplification system. A piezoactuator is used to deflect a diaphragm which displaces a certain volume of hydraulic fluid into a smaller-diameter piston chamber, thereby amplifying the displacement at the other end of the piston. An electro-mechanical model is implemented to estimate the displacement of a multilayer piezoelectric actuator for the applied input voltage considering the hysteresis behavior. The displacement characteristics of the proposed microactuator are studied for triangular actuation voltage signal. Results of the experiments and simulation of the displacement behavior of the stacked piezoactuator and the amplified displacement of the prototype actuator were compared. Experimental results suggest that the mathematical model developed for the new piezoactuator-based prototype actuator is capable of estimating its displacement behavior accurately, within an error of 1.2%.

  6. Displacement characteristics of a piezoactuator-based prototype microactuator with a hydraulic displacement amplification system

    Energy Technology Data Exchange (ETDEWEB)

    Muralidhara [NMAMIT, Nitte (India); Rao, Rathnamala [NITK, Surathkal (India)

    2015-11-15

    In this study, a new piezoactuator-based prototype microactuator is proposed with a hydraulic displacement amplification system. A piezoactuator is used to deflect a diaphragm which displaces a certain volume of hydraulic fluid into a smaller-diameter piston chamber, thereby amplifying the displacement at the other end of the piston. An electro-mechanical model is implemented to estimate the displacement of a multilayer piezoelectric actuator for the applied input voltage considering the hysteresis behavior. The displacement characteristics of the proposed microactuator are studied for triangular actuation voltage signal. Results of the experiments and simulation of the displacement behavior of the stacked piezoactuator and the amplified displacement of the prototype actuator were compared. Experimental results suggest that the mathematical model developed for the new piezoactuator-based prototype actuator is capable of estimating its displacement behavior accurately, within an error of 1.2%.

  7. Influence of geometrical and thermal hydraulic parameters on the short term containment system response

    International Nuclear Information System (INIS)

    Krishna Chandran, R.; Ali, Seik Mansoor; Balasubramaniyan, V.

    2014-01-01

    This paper discusses the effect of a number of geometrical and thermal hydraulic parameters on the containment peak pressure following a simulated LOCA. The numerical studies are carried out using an inhouse containment thermal hydraulics program called 'THYCON' with focus only on the short term transient response. In order to highlight the effect of above variables, a geometrically scaled (1:270) model of a typical 220 MWe Indian PHWR containment is considered. The discussions in this paper are limited to explaining the influence of individual parameters by comparing with a base case value. It is essential to mention that the results presented here are not general and should be taken as indicative only. Nevertheless, these numerical studies give insight into short term containment response that would be useful to both the system designer as well as the regulator. (author)

  8. Metallic particles into mechanical and hydraulic systems in agricultural and construction machines

    Energy Technology Data Exchange (ETDEWEB)

    Silva, Jair Rosas da; Silva, Deise Paula da [Instituto Agronomico de Campinas (IAC), Campinas, SP (Brazil). Centro de Engenharia Agricola; Bormio, Marcos Roberto [Universidade Estadual Paulista (UNESP), Bauru, SP (Brazil). Fac. de Engenharia

    2008-07-01

    The lubricant oil analysis are an indicator of the conditions how the lubricant is, may to allow the prevision of damages that occurred into machine due to the internal abrasion of hydraulic and mechanical components of the machines. The present study had the objective to determine the kind and quantity of the metallic particles that occurred into the lubricant oil of the mechanical and hydraulic compartments of the energy transmission systems of three kinds of machines: a tracked-tractor, a sugarcane harvester and a group of power-shovels. The metallic particles presents into these compartments were determined under laboratory tests and concerning to the following elements: iron, copper, chromium, lead, nickel, aluminum, silex, tin and molybdenum. About to the tracked-tractor, the metallic contaminators into to the oil charges surpasses the tolerate levels, considering the technical standards adopted in this evaluation. In the sugarcane harvester only a metallic element in excess was identified and, in a power-shovel group it was showed the need to correct air false entrances in the hydraulic or mechanical systems due the high presence of silex element. (author)

  9. The International Experimental Thermal Hydraulic Systems database – TIETHYS: A new NEA validation tool

    Energy Technology Data Exchange (ETDEWEB)

    Rohatgi, Upendra S.

    2018-07-22

    Nuclear reactor codes require validation with appropriate data representing the plant for specific scenarios. The thermal-hydraulic data is scattered in different locations and in different formats. Some of the data is in danger of being lost. A relational database is being developed to organize the international thermal hydraulic test data for various reactor concepts and different scenarios. At the reactor system level, that data is organized to include separate effect tests and integral effect tests for specific scenarios and corresponding phenomena. The database relies on the phenomena identification sections of expert developed PIRTs. The database will provide a summary of appropriate data, review of facility information, test description, instrumentation, references for the experimental data and some examples of application of the data for validation. The current database platform includes scenarios for PWR, BWR, VVER, and specific benchmarks for CFD modelling data and is to be expanded to include references for molten salt reactors. There are place holders for high temperature gas cooled reactors, CANDU and liquid metal reactors. This relational database is called The International Experimental Thermal Hydraulic Systems (TIETHYS) database and currently resides at Nuclear Energy Agency (NEA) of the OECD and is freely open to public access. Going forward the database will be extended to include additional links and data as they become available. https://www.oecd-nea.org/tiethysweb/

  10. Software Tool for Automated Failure Modes and Effects Analysis (FMEA) of Hydraulic Systems

    DEFF Research Database (Denmark)

    Stecki, J. S.; Conrad, Finn; Oh, B.

    2002-01-01

    Offshore, marine,aircraft and other complex engineering systems operate in harsh environmental and operational conditions and must meet stringent requirements of reliability, safety and maintability. To reduce the hight costs of development of new systems in these fields improved the design...... management techniques and a vast array of computer aided techniques are applied during design and testing stages. The paper present and discusses the research and development of a software tool for automated failure mode and effects analysis - FMEA - of hydraulic systems. The paper explains the underlying...

  11. Application of Fuzzy Clustering in Modeling of a Water Hydraulics System

    DEFF Research Database (Denmark)

    Zhou, Jianjun; Kroszynski, Uri

    2000-01-01

    This article presents a case study of applying fuzzy modeling techniques for a water hydraulics system. The obtained model is intended to provide a basis for model-based control of the system. Fuzzy clustering is used for classifying measured input-output data points into partitions. The fuzzy...... model is extracted from the obtained partitions. The identified model has been evaluated by comparing measurements with simulation results. The evaluation shows that the identified model is capable of describing the system dynamics over a reasonably wide frequency range....

  12. Transmission of High Frequency Vibrations in Rotating Systems. Application to Cavitation Detection in Hydraulic Turbines

    Directory of Open Access Journals (Sweden)

    David Valentín

    2018-03-01

    Full Text Available One of the main causes of damage in hydraulic turbines is cavitation. While not all cavitation appearing in a turbine is of a destructive type, erosive cavitation can severely affect the structure, thus increasing maintenance costs and reducing the remaining useful life of the machine. Of all types of cavitation, the maximum erosion occurs when clouds of bubbles collapse on the runner surface (cloud cavitation. When this occurs it is associated with a substantial increase in noise, and vibrations that are propagated everywhere throughout the machine. The generation of these cavitation clouds may occur naturally or it may be the response to a periodic pressure fluctuation, like the rotor/stator interaction in a hydraulic turbine. Erosive bubble cavitation generates high-frequency vibrations that are modulated by the shedding frequency. Therefore, the methods for the detection of erosive cavitation in hydraulic turbines are based on the measurement and demodulation of high-frequency vibrations. In this paper, the feasibility of detecting erosive cavitation in hydraulic turbines is investigated experimentally in a rotating disk system, which represents a simplified hydraulic turbine structure. The test rig used consists of a rotating disk submerged in a tank of water and confined with nearby axial and radial rigid surfaces. The excitation patterns produced by cloud cavitation are reproduced with a PZT (piezoelectric patch located on the disk. These patterns include pseudo-random excitations of different frequency bands modulated by one low carrier frequency, which model the erosive cavitation characteristics. Different types of sensors have been placed in the stationary and in the rotating parts (accelerometers, acoustic emission (AE, and a microphone in order to detect the excitation pattern. The results obtained for all the sensors tested have been compared in detail for the different excitation patterns applied to the disk. With this information

  13. Resolution of thermal-hydraulic safety and licensing issues for the system 80+trademark design

    International Nuclear Information System (INIS)

    Carpentino, S.E.; Ritterbusch, S.E.; Schneider, R.E.

    1995-01-01

    The System 80+ trademark Standard Design is an evolutionary Advanced Light Water Reactor (ALWR) with a generating capacity of 3931 MWt (1350 MWe). The Final Design Approval (FDA) for this design was issued by the Nuclear Regulatory Commission (NRC) in July 1994. The design certification by the NRC is anticipated by the end of 1995 or early 1996. NRC review of the System 80+ design has involved several new safety issues never before addressed in a regulatory atmosphere. In addition, conformance with the Electric Power Research Institute (EPRI) ALWR Utility Requirements Document (URD) required that the System 80+ plant address nuclear industry concerns with regard to design, construction, operation and maintenance of nuclear power plants. A large number of these issues/concerns deals with previously unresolved generic thermal-hydraulic safety issues and severe accident prevention and mitigation. This paper discusses the thermal-hydraulic analyses and evaluations performed for the System 80+ design to resolve safety and licensing issues relevant to both the Nuclear Stream Supply System (NSSS) and containment designs. For the NSSS design, the Safety Depressurization System mitigation capability and resolution of the boron dilution concern are described. Examples of containment design issues dealing with containment shell strength, robustness of the reactor cavity walls and hydrogen mixing under severe accident conditions are also provided. Finally, the overall approach used in the application of NRC's new (NUREG-1465) radiological source term for System 80+ evaluation is described. The robustness of the System 80+ containment design to withstand severe accident consequences was demonstrated through detailed thermal-hydraulic analyses and evaluations. This advanced design to shown to meet NRC severe accident policy goals and ALWR URD requirements without any special design features and unnecessary costs

  14. Resolution of thermal-hydraulic safety and licensing issues for the system 80+{sup {trademark}} design

    Energy Technology Data Exchange (ETDEWEB)

    Carpentino, S.E.; Ritterbusch, S.E.; Schneider, R.E. [ABB-Combustion Engineering, Windsor, CT (United States)] [and others

    1995-09-01

    The System 80+{sup {trademark}} Standard Design is an evolutionary Advanced Light Water Reactor (ALWR) with a generating capacity of 3931 MWt (1350 MWe). The Final Design Approval (FDA) for this design was issued by the Nuclear Regulatory Commission (NRC) in July 1994. The design certification by the NRC is anticipated by the end of 1995 or early 1996. NRC review of the System 80+ design has involved several new safety issues never before addressed in a regulatory atmosphere. In addition, conformance with the Electric Power Research Institute (EPRI) ALWR Utility Requirements Document (URD) required that the System 80+ plant address nuclear industry concerns with regard to design, construction, operation and maintenance of nuclear power plants. A large number of these issues/concerns deals with previously unresolved generic thermal-hydraulic safety issues and severe accident prevention and mitigation. This paper discusses the thermal-hydraulic analyses and evaluations performed for the System 80+ design to resolve safety and licensing issues relevant to both the Nuclear Stream Supply System (NSSS) and containment designs. For the NSSS design, the Safety Depressurization System mitigation capability and resolution of the boron dilution concern are described. Examples of containment design issues dealing with containment shell strength, robustness of the reactor cavity walls and hydrogen mixing under severe accident conditions are also provided. Finally, the overall approach used in the application of NRC`s new (NUREG-1465) radiological source term for System 80+ evaluation is described. The robustness of the System 80+ containment design to withstand severe accident consequences was demonstrated through detailed thermal-hydraulic analyses and evaluations. This advanced design to shown to meet NRC severe accident policy goals and ALWR URD requirements without any special design features and unnecessary costs.

  15. Assistant Personal Robot (APR: Conception and Application of a Tele-Operated Assisted Living Robot

    Directory of Open Access Journals (Sweden)

    Eduard Clotet

    2016-04-01

    Full Text Available This paper presents the technical description, mechanical design, electronic components, software implementation and possible applications of a tele-operated mobile robot designed as an assisted living tool. This robotic concept has been named Assistant Personal Robot (or APR for short and has been designed as a remotely telecontrolled robotic platform built to provide social and assistive services to elderly people and those with impaired mobility. The APR features a fast high-mobility motion system adapted for tele-operation in plain indoor areas, which incorporates a high-priority collision avoidance procedure. This paper presents the mechanical architecture, electrical fundaments and software implementation required in order to develop the main functionalities of an assistive robot. The APR uses a tablet in order to implement the basic peer-to-peer videoconference and tele-operation control combined with a tactile graphic user interface. The paper also presents the development of some applications proposed in the framework of an assisted living robot.

  16. Development of numerical simulation system for thermal-hydraulic analysis in fuel assembly of sodium-cooled fast reactor

    Energy Technology Data Exchange (ETDEWEB)

    Ohshima, Hiroyuki; Uwaba, Tomoyuki [Japan Atomic Energy Agency (4002 Narita, O-arai, Ibaraki 311-1393, Japan) (Japan); Hashimoto, Akihiko; Imai, Yasutomo [NDD Corporation (1-1-6 Jounan, Mito, Ibaraki 310-0803, Japan) (Japan); Ito, Masahiro [NESI Inc. (4002 Narita, O-arai, Ibaraki 311-1393, Japan) (Japan)

    2015-12-31

    A numerical simulation system, which consists of a deformation analysis program and three kinds of thermal-hydraulics analysis programs, is being developed in Japan Atomic Energy Agency in order to offer methodologies to clarify thermal-hydraulic phenomena in fuel assemblies of sodium-cooled fast reactors under various operating conditions. This paper gives the outline of the system and its applications to fuel assembly analyses as a validation study.

  17. Interaction between thermal/hydraulics, human factors and system analysis for assessing feed and bleed risk benefits

    International Nuclear Information System (INIS)

    Lanore, J.M.; Caron, J.L.

    1987-11-01

    For probabilistic analysis of accident sequences, thermal/hydraulics, human factors and systems operation problems are frequently closely interrelated. This presentation will discuss a typical example which illustrates this interrelation: total loss of feedwater flow. It will present thermal/hydraulic analysises performed, how the T/H analysises are related to human factors and systems operation, and how, based on this, the failure probability of the feed and bleed cooling mode was evaluated

  18. Lead coolant test facility systems design, thermal hydraulic analysis and cost estimate

    Energy Technology Data Exchange (ETDEWEB)

    Khericha, Soli, E-mail: slk2@inel.gov [Battelle Energy Alliance, LLC, Idaho National Laboratory, Idaho Falls, ID 83415 (United States); Harvego, Edwin; Svoboda, John; Evans, Robert [Battelle Energy Alliance, LLC, Idaho National Laboratory, Idaho Falls, ID 83415 (United States); Dalling, Ryan [ExxonMobil Gas and Power Marketing, Houston, TX 77069 (United States)

    2012-01-15

    The Idaho National Laboratory prepared a preliminary technical and functional requirements (T and FR), thermal hydraulic design and cost estimate for a lead coolant test facility. The purpose of this small scale facility is to simulate lead coolant fast reactor (LFR) coolant flow in an open lattice geometry core using seven electrical rods and liquid lead or lead-bismuth eutectic coolant. Based on review of current world lead or lead-bismuth test facilities and research needs listed in the Generation IV Roadmap, five broad areas of requirements were identified as listed below: Bullet Develop and demonstrate feasibility of submerged heat exchanger. Bullet Develop and demonstrate open-lattice flow in electrically heated core. Bullet Develop and demonstrate chemistry control. Bullet Demonstrate safe operation. Bullet Provision for future testing. This paper discusses the preliminary design of systems, thermal hydraulic analysis, and simplified cost estimated. The facility thermal hydraulic design is based on the maximum simulated core power using seven electrical heater rods of 420 kW; average linear heat generation rate of 300 W/cm. The core inlet temperature for liquid lead or Pb/Bi eutectic is 4200 Degree-Sign C. The design includes approximately seventy-five data measurements such as pressure, temperature, and flow rates. The preliminary estimated cost of construction of the facility is $3.7M (in 2006 $). It is also estimated that the facility will require two years to be constructed and ready for operation.

  19. Development of core thermal-hydraulics module for intelligent reactor design system (IRDS)

    International Nuclear Information System (INIS)

    Kugo, Teruhiko; Nakagawa, Masayuki; Fujii, Sadao.

    1994-08-01

    We have developed an innovative reactor core thermal-hydraulics module where a designer can easily and efficiently evaluate his design concept of a new type reactor in the thermal-hydraulics field. The main purpose of this module is to decide a feasible range of basic design parameters of a reactor core in a conceptual design stage of a new type reactor. The module is to be implemented in Intelligent Reactor Design System (IRDS). The module has the following characteristics; 1) to deal with several reactor types, 2) four thermal hydraulics and fuel behavior analysis codes are installed to treat different type of reactors and design detail, 3) to follow flexibly modification of a reactor concept, 4) to provide analysis results in an understandable way so that a designer can easily evaluate feasibility of his concept, and so on. The module runs on an engineering workstation (EWS) and has a user-friendly man-machine interface on a pre- and post-processing. And it is equipped with a function to search a feasible range called as Design Window, for two design parameters by artificial intelligence (AI) technique and knowledge engineering. In this report, structure, guidance for users of an usage of the module and instruction of input data for analysis modules are presented. (author)

  20. Stabilization of soil hydraulic properties under a long term no-till system

    Directory of Open Access Journals (Sweden)

    Luis Alberto Lozano

    2014-08-01

    Full Text Available The area under the no-tillage system (NT has been increasing over the last few years. Some authors indicate that stabilization of soil physical properties is reached after some years under NT while other authors debate this. The objective of this study was to determine the effect of the last crop in the rotation sequence (1st year: maize, 2nd year: soybean, 3rd year: wheat/soybean on soil pore configuration and hydraulic properties in two different soils (site 1: loam, site 2: sandy loam from the Argentinean Pampas region under long-term NT treatments in order to determine if stabilization of soil physical properties is reached apart from a specific time in the crop sequence. In addition, we compared two procedures for evaluating water-conducting macroporosities, and evaluated the efficiency of the pedotransfer function ROSETTA in estimating the parameters of the van Genuchten-Mualem (VGM model in these soils. Soil pore configuration and hydraulic properties were not stable and changed according to the crop sequence and the last crop grown in both sites. For both sites, saturated hydraulic conductivity, K0, water-conducting macroporosity, εma, and flow-weighted mean pore radius, R0ma, increased from the 1st to the 2nd year of the crop sequence, and this was attributed to the creation of water-conducting macropores by the maize roots. The VGM model adequately described the water retention curve (WRC for these soils, but not the hydraulic conductivity (K vs tension (h curve. The ROSETTA function failed in the estimation of these parameters. In summary, mean values of K0 ranged from 0.74 to 3.88 cm h-1. In studies on NT effects on soil physical properties, the crop effect must be considered.

  1. Reduced-order model based active disturbance rejection control of hydraulic servo system with singular value perturbation theory.

    Science.gov (United States)

    Wang, Chengwen; Quan, Long; Zhang, Shijie; Meng, Hongjun; Lan, Yuan

    2017-03-01

    Hydraulic servomechanism is the typical mechanical/hydraulic double-dynamics coupling system with the high stiffness control and mismatched uncertainties input problems, which hinder direct applications of many advanced control approaches in the hydraulic servo fields. In this paper, by introducing the singular value perturbation theory, the original double-dynamics coupling model of the hydraulic servomechanism was reduced to a integral chain system. So that, the popular ADRC (active disturbance rejection control) technology could be directly applied to the reduced system. In addition, the high stiffness control and mismatched uncertainties input problems are avoided. The validity of the simplified model is analyzed and proven theoretically. The standard linear ADRC algorithm is then developed based on the obtained reduced-order model. Extensive comparative co-simulations and experiments are carried out to illustrate the effectiveness of the proposed method. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  2. Integration of a hydraulic production plant in a weak power system on a long radial line

    Energy Technology Data Exchange (ETDEWEB)

    Lariviere, P. [Hydro-Quebec TransEnergie, 5655 de Marseille, Montreal, Quebec (Canada); Racine, M. [Hydro-Quebec TransEnergie, C.P. 10 000, Montreal, Quebec (Canada)

    2009-03-15

    Integrating power plants on long lines and weak power systems requires some care. To this effect, a study was conducted to determine if severe disturbances could result when a hydraulic production plant is integrated along a very long radial transmission line. Frequency responses were evaluated to identify possible resonant system operating conditions. Many events such as faults, transformer energyzing and line opening were investigated. All power plant synchronous machines were represented including exciter and governor regulators. Impact of dynamic modeling of the load was examined. The study demonstrates that the overall protective strategy implemented will limit worst overvoltage constraints imposed to equipment and load within an acceptable level. (author)

  3. Using Feedback Error Learning for Control of Electro Hydraulic Servo System by Laguerre

    Directory of Open Access Journals (Sweden)

    Amir Reza Zare Bidaki

    2014-01-01

    Full Text Available In this paper, a new Laguerre controller is proposed to control the electro hydraulic servo system. The proposed controller uses feedback error learning method and leads to significantly improve performance in terms of settling time and amplitude of control signal rather than other controllers. All derived results are validated by simulation of nonlinear mathematical model of the system. The simulation results show the advantages of the proposed method for improved control in terms of both settling time and amplitude of control signal.

  4. NONLINEAR FORCE PROFILE USED TO INCREASE THE PERFORMANCE OF A HAPTIC USER INTERFACE FOR TELEOPERATING A ROBOTIC HAND

    Energy Technology Data Exchange (ETDEWEB)

    Anthony L. Crawford

    2012-07-01

    MODIFIED PAPER TITLE AND ABSTRACT DUE TO SLIGHTLY MODIFIED SCOPE: TITLE: Nonlinear Force Profile Used to Increase the Performance of a Haptic User Interface for Teleoperating a Robotic Hand Natural movements and force feedback are important elements in using teleoperated equipment if complex and speedy manipulation tasks are to be accomplished in hazardous environments, such as hot cells, glove boxes, decommissioning, explosives disarmament, and space. The research associated with this paper hypothesizes that a user interface and complementary radiation compatible robotic hand that integrates the human hand’s anthropometric properties, speed capability, nonlinear strength profile, reduction of active degrees of freedom during the transition from manipulation to grasping, and just noticeable difference force sensation characteristics will enhance a user’s teleoperation performance. The main contribution of this research is in that a system that concisely integrates all these factors has yet to be developed and furthermore has yet to be applied to a hazardous environment as those referenced above. In fact, the most prominent slave manipulator teleoperation technology in use today is based on a design patented in 1945 (Patent 2632574) [1]. The robotic hand/user interface systems of similar function as the one being developed in this research limit their design input requirements in the best case to only complementing the hand’s anthropometric properties, speed capability, and linearly scaled force application relationship (e.g. robotic force is a constant, 4 times that of the user). In this paper a nonlinear relationship between the force experienced between the user interface and the robotic hand was devised based on property differences of manipulation and grasping activities as they pertain to the human hand. The results show that such a relationship when subjected to a manipulation task and grasping task produces increased performance compared to the

  5. Intelligent Materials Used in Hydraulic, Fuel, and Rudder Control Systems of Aircrafts

    Directory of Open Access Journals (Sweden)

    D. B. Chernov

    2017-01-01

    Full Text Available The device is really intelligent, only if it is capable to respond to changing external conditions. The devices, which "feel" the external environment and can change their characteristics, have many advantages compared to the conventional devices: they are more efficient, wear out more slowly, and have lower operating costs.The scope of smart products is truly infinite. Alloys with memory effect also apply to intellectual content. Natural piezoelectric crystals such as silicon dioxide (intellectual material have been known for over a hundred years. They have greater stiffness and can be used at high operating frequencies. Due to the direct piezoelectric effect, they have been successfully used as a strain gage. Later came artificial ceramic piezoelectric materials; they are used as mechanical transducers. Thus, an inverse piezoelectric effect is usually used. It consists in the change of dimensions when an electric field is applied. Control of intellectual structure can be provided by heat fluxes, electromagnetic, hydraulic or piezoelectric forces and through application of electro-rheological, and magneto-rheological fluids. The article examines the intellectual materials and technologies that are already in place or will find its application in aviation hydraulic and fuel systems and control systems of rudders (CSR of aircrafts in the near future.The paper considers in detail the shape memory effect alloys (SMEA as "intelligent" materials. Actuators made from SMEA have a number of advantages: high working power; large recoverable deformation; different types of strain (tensile, compressive, bending and torsional; most specific value of the work per unit mass. All the SMEA advantages may be well used for the so-called thermo-mechanical connections (TMС of pipelines where SMEA drawbacks in this application, practically, do not affect the quality of TMC. In aircraft engineering the TMC were first used in hydraulic systems of the aircraft TU204

  6. Numerical Hydraulic Study on Seawater Cooling System of Combined Cycle Power Plant

    Science.gov (United States)

    Kim, J. Y.; Park, S. M.; Kim, J. H.; Kim, S. W.

    2010-06-01

    As the rated flow and pressure increase in pumping facilities, a proper design against surges and severe cavitations in the pipeline system is required. Pressure surge due to start-up, shut-down process and operation failure causes the water hammer in upstream of the closing valve and the cavitational hammer in downstream of the valve. Typical cause of water hammer is the urgent closure of valves by breakdown of power supply and unexpected failure of pumps. The abrupt changes in the flow rate of the liquid results in high pressure surges in upstream of the valves, thus kinetic energy is transformed into potential energy which leads to the sudden increase of the pressure that is called as water hammer. Also, by the inertia, the liquid continues to flow downstream of the valve with initial speed. Accordingly, the pressure decreases and an expanding vapor bubble known as column separation are formed near the valve. In this research, the hydraulic study on the closed cooling water heat exchanger line, which is the one part of the power plant, is introduced. The whole power plant consists of 1,200 MW combined power plant and 220,000 m3/day desalination facility. Cooling water for the plant is supplied by sea water circulating system with a capacity of 29 m3/s. The primary focus is to verify the steady state hydraulic capacity of the system. The secondary is to quantify transient issues and solutions in the system. The circuit was modeled using a commercial software. The stable piping network was designed through the hydraulic studies using the simulation for the various scenarios.

  7. T-Rex system for operation in TRU, LLW, and hazardous zones

    International Nuclear Information System (INIS)

    Kline, H.M.; Andreychek, T.P.; Beeson, B.K.

    1993-01-01

    There are a large number of sites around the world containing TRU (transuranic) waste, low level waste (LLW), and hazardous areas that require teleoperated, heavy lift manipulators with long reach and high precision to handle the materials stored there. Teleoperation of the equipment is required to reduce the risk to operating personnel to as-low-as-reasonably-achievable (ALARA) levels. The Transuranic Storage Area Remote Excavator system (T-Rex) is designed to fill this requirement at low cost through the integration of a production front shovel excavator with a control system, local and remote operator control stations, a closed-circuit television system (CCTV), multiple end effectors and a quick-change system. This paper describes the conversion of an off-the-shelf excavator with a hydraulic control system, the integration of an onboard remote control system, vision system, and the design of a remote control station

  8. Design and Experimental Validation of Hydraulic Yaw System for Multi MW Wind Turbine

    DEFF Research Database (Denmark)

    Stubkier, Søren; Pedersen, Henrik C.; Andersen, Torben Ole

    2013-01-01

    market. A hydraulic yaw system is such a new technology, and so a mathematical model of the full scale system and test rig system is derived and compared to measurements from the system. This is done in order to have a validated model, which wind turbine manufacturers may use for test in their simulation......To comply with the increasing demands for life time and reliability of wind turbines as these grow in size, new measures needs to be taken in the design of wind turbines and components hereof. One critical point is the initial testing of the components and systems before they are implemented...... in an actual turbine. Full scale hardware testing is both extremely expensive and time consuming, and so the wind turbine industry moves more towards simulations when testing. In order to meet these demands it is necessary with valid models of systems in order to introduce new technologies to the wind turbine...

  9. Creation of an Enhanced Geothermal System through Hydraulic and Thermal Stimulation

    Energy Technology Data Exchange (ETDEWEB)

    Rose, Peter Eugene [Energy and Geoscience Institute at the University of Utah

    2013-04-15

    This report describes a 10-year DOE-funded project to design, characterize and create an Engineered Geothermal System (EGS) through a combination of hydraulic, thermal and chemical stimulation techniques. Volume 1 describes a four-year Phase 1 campaign, which focused on the east compartment of the Coso geothermal field. It includes a description of the geomechanical, geophysical, hydraulic, and geochemical studies that were conducted to characterize the reservoir in anticipation of the hydraulic stimulation experiment. Phase 1 ended prematurely when the drill bit intersected a very permeable fault zone during the redrilling of target stimulation well 34-9RD2. A hydraulic stimulation was inadvertently achieved, however, since the flow of drill mud from the well into the formation created an earthquake swarm near the wellbore that was recorded, located, analyzed and interpreted by project seismologists. Upon completion of Phase 1, the project shifted focus to a new target well, which was located within the southwest compartment of the Coso geothermal field. Volume 2 describes the Phase 2 studies on the geomechanical, geophysical, hydraulic, and geochemical aspects of the reservoir in and around target-stimulation well 46A-19RD, which is the deepest and hottest well ever drilled at Coso. Its total measured depth exceeding 12,000 ft. It spite of its great depth, this well is largely impermeable below a depth of about 9,000 ft, thus providing an excellent target for stimulation. In order to prepare 46A-19RD for stimulation, however, it was necessary to pull the slotted liner. This proved to be unachievable under the budget allocated by the Coso Operating Company partners, and this aspect of the project was abandoned, ending the program at Coso. The program then shifted to the EGS project at Desert Peak, which had a goal similar to the one at Coso of creating an EGS on the periphery of an existing geothermal reservoir. Volume 3 describes the activities that the Coso team

  10. Thermal-hydraulic calculation and water hammer analysis on CEFR loop system

    International Nuclear Information System (INIS)

    Hao Pengfei; Zhang Xiwen; Cai Weidong; Wang Xuefang

    1997-01-01

    China Experimental Fast Reactor (CEFR) is one of the '863' High-technical Projects. It is necessary to study the hydraulic and thermal Characteristic of CEFR loop system in order to guarantee the safety of operation. The results of the thermal-hydraulic calculation have been given. The main points are as follows: 1. The simplified model is built according to the loop system of CEFR, and the calculation method which is called 'NODE'-'BRANCH' is applied. This method includes two aspects, one is the theoretical analysis that is based on fluid mechanics and heat transfer theory. The other is the engineering calculation. These two aspects are connected in the computation. On the basis of the work mentioned above, the stable state computation is presented. In order to prevent serious damage caused by power failure accident, the courses of surplus reactor heat removing through two different systems have been simulated in the computation. 2. By using the fluid dynamics theory, the simplified model and the equipment boundary conditions of loop system are given. The water hammer computation is processed during the valve closing and pump stopping accidents. Some pictures of water hammer wave are presented, and the most dangerous state in the accident is also given

  11. ARCADIAR - A New Generation of Coupled Neutronics / Core Thermal- Hydraulics Code System at AREVA NP

    International Nuclear Information System (INIS)

    Curca-Tivig, Florin; Merk, Stephan; Pautz, Andreas; Thareau, Sebastien

    2007-01-01

    Anticipating future needs of our customers and willing to concentrate synergies and competences existing in the company for the benefit of our customers, AREVA NP decided in 2002 to develop the next generation of coupled neutronics/ core thermal-hydraulic (TH) code systems for fuel assembly and core design calculations for both, PWR and BWR applications. The global CONVERGENCE project was born: after a feasibility study of one year (2002) and a conceptual phase of another year (2003), development was started at the beginning of 2004. The present paper introduces the CONVERGENCE project, presents the main feature of the new code system ARCADIA R and concludes on customer benefits. ARCADIA R is designed to meet AREVA NP market and customers' requirements worldwide. Besides state-of-the-art physical modeling, numerical performance and industrial functionality, the ARCADIA R system is featuring state-of-the-art software engineering. The new code system will bring a series of benefits for our customers: e.g. improved accuracy for heterogeneous cores (MOX/ UOX, Gd...), better description of nuclide chains, and access to local neutronics/ thermal-hydraulics and possibly thermal-mechanical information (3D pin by pin full core modeling). ARCADIA is a registered trademark of AREVA NP. (authors)

  12. Monitoring system of hydraulic lifting device based on the fiber optic sensors

    Science.gov (United States)

    Fajkus, Marcel; Nedoma, Jan; Novak, Martin; Martinek, Radek; Vanus, Jan; Mec, Pavel; Vasinek, Vladimir

    2017-10-01

    This article deals with the description of the monitoring system of hydraulic lifting device based on the fiber-optic sensors. For minimize the financial costs of the proposed monitoring system, the power evaluation of measured signal has been chosen. The solution is based on an evaluation of the signal obtained using the single point optic fiber sensors with overlapping reflective spectra. For encapsulation of the sensors was used polydimethylsiloxane (PDMS) polymer. To obtain a information of loading is uses the action of deformation of the lifting device on the pair single point optic fiber sensors mounted on the lifting device of the tested car. According to the proposed algorithm is determined information of pressure with an accuracy of +/- 5 %. Verification of the proposed system was realized on the various types of the tested car with different loading. The original contribution of the paper is to verify the new low-cost system for monitoring the hydraulic lifting device based on the fiber-optic sensors.

  13. Formation and hydraulic effects of deposits in high temperature sodium coolant systems

    International Nuclear Information System (INIS)

    Yunker, W.

    1976-01-01

    Deposition of sodium impurities in the high temperature (600 0 C), high flow (Reynolds Number approximately equal to 8 x 10 4 ) regions of a sodium coolant circuit is being studied to determine its possible hydraulic effects. Increases in flow impedance (pressure drop/volume flow 2 ) of up to 30 percent have been detected in an annular flow sensor. The apparatus and preliminary results of these tests are presented. Continuing tests are to specifically identify the materials involved and the system conditions under which the formations occur

  14. Flood Hazard Mapping by Using Geographic Information System and Hydraulic Model: Mert River, Samsun, Turkey

    Directory of Open Access Journals (Sweden)

    Vahdettin Demir

    2016-01-01

    Full Text Available In this study, flood hazard maps were prepared for the Mert River Basin, Samsun, Turkey, by using GIS and Hydrologic Engineering Centers River Analysis System (HEC-RAS. In this river basin, human life losses and a significant amount of property damages were experienced in 2012 flood. The preparation of flood risk maps employed in the study includes the following steps: (1 digitization of topographical data and preparation of digital elevation model using ArcGIS, (2 simulation of flood lows of different return periods using a hydraulic model (HEC-RAS, and (3 preparation of flood risk maps by integrating the results of (1 and (2.

  15. Using hydraulic modeling to simulate human interactions with water resources in an Omani irrigation system

    Science.gov (United States)

    Xanthopoulou, Themis; Ertsen, Maurits; Düring, Bleda; Kolen, Jan

    2017-04-01

    In the dry Southern Oman, more than a thousand years ago, a large water system that connected the mountain mass with the coastal region was constructed. Its length (up to 30 km) and the fact that the coastal region has a rich groundwater aquifer create confusion as to why the system was initially built. Nonetheless, it was abandoned a couple of centuries later only to be partially revived by small farming communities in the 17th to 18th century. The focus of our research is one of the irrigation systems that used the water conveyed from the large water system. Not much is known about these small irrigation systems functioning in the Wadi Al Jizzi of the greater Sohar region. There are no written records and we can only make guesses about the way the systems were managed based on ethnographical studies and the traditional Omani techniques. On the other hand, the good preservation state of the canals offers a great opportunity for hydraulic reconstruction of irrigation events. More than that, the material remains suggest and at the same time limit the ways in which humans interacted with the system and the water resources of the region. All irrigation activities and some daily activities had to be realized through the canal system and only if the canal system permits it these actions would have been feasible. We created a conceptual model of irrigation that includes the human agent and feedback mechanisms through hydraulics and then we simulated irrigation events using the Sobek software. Scenarios and sensibility analysis were used to address the unknown aspects of the system. Our research yielded insights about the way the farming community interacted with the larger water system, the levels of co-ordination and co-operation required for successful irrigation and the predisposition of conflict and power relations.

  16. Thermal-hydraulics for space power, propulsion, and thermal management system design

    International Nuclear Information System (INIS)

    Krotiuk, W.J.

    1990-01-01

    The present volume discusses thermal-hydraulic aspects of current space projects, Space Station thermal management systems, the thermal design of the Space Station Free-Flying Platforms, the SP-100 Space Reactor Power System, advanced multi-MW space nuclear power concepts, chemical and electric propulsion systems, and such aspects of the Space Station two-phase thermal management system as its mechanical pumped loop and its capillary pumped loop's supporting technology. Also discussed are the startup thaw concept for the SP-100 Space Reactor Power System, calculational methods and experimental data for microgravity conditions, an isothermal gas-liquid flow at reduced gravity, low-gravity flow boiling, computations of Space Shuttle high pressure cryogenic turbopump ball bearing two-phase coolant flow, and reduced-gravity condensation

  17. Nonlinear Dynamical Analysis of Hydraulic Turbine Governing Systems with Nonelastic Water Hammer Effect

    Directory of Open Access Journals (Sweden)

    Junyi Li

    2014-01-01

    Full Text Available A nonlinear mathematical model for hydroturbine governing system (HTGS has been proposed. All essential components of HTGS, that is, conduit system, turbine, generator, and hydraulic servo system, are considered in the model. Using the proposed model, the existence and stability of Hopf bifurcation of an example HTGS are investigated. In addition, chaotic characteristics of the system with different system parameters are studied extensively and presented in the form of bifurcation diagrams, time waveforms, phase space trajectories, Lyapunov exponent, chaotic attractors, and Poincare maps. Good correlation can be found between the model predictions and theoretical analysis. The simulation results provide a reasonable explanation for the sustained oscillation phenomenon commonly seen in operation of hydroelectric generating set.

  18. Comparison of vertical hydraulic conductivity in a streambed-point bar system of a gaining stream

    Science.gov (United States)

    Dong, Weihong; Chen, Xunhong; Wang, Zhaowei; Ou, Gengxin; Liu, Can

    2012-07-01

    SummaryVertical hydraulic conductivities (Kv) of both streambed and point bars can influence water and solute exchange between streams and surrounding groundwater systems. The sediments in point bars are relatively young compared to the older sediments in the adjacent aquifers but slightly older compared to submerged streambeds. Thus, the permeability in point bar sediments can be different not only from regional aquifer but also from modern streambed. However, there is a lack of detailed studies that document spatial variability of vertical hydraulic conductivity in point bars of meandering streams. In this study, the authors proposed an in situ permeameter test method to measure vertical hydraulic conductivity of the two point bars in Clear Creek, Nebraska, USA. We compared the Kv values in streambed and adjacent point bars through 45 test locations in the two point bars and 51 test locations in the streambed. The Kv values in the point bars were lower than those in the streambed. Kruskal-Wallis test confirmed that the Kv values from the point bars and from the channel came from two statistically different populations. Within a point bar, the Kv values were higher along the point bar edges than those from inner point bars. Grain size analysis indicated that slightly more silt and clay particles existed in sediments from inner point bars, compared to that from streambed and from locations near the point bar edges. While point bars are the deposits of the adjacent channel, the comparison of two groups of Kv values suggests that post-depositional processes had an effect on the evolution of Kv from channel to point bars in fluvial deposits. We believed that the transport of fine particles and the gas ebullition in this gaining stream had significant effects on the distribution of Kv values in a streambed-point bar system. With the ageing of deposition in a floodplain, the permeability of point bar sediments can likely decrease due to reduced effects of the upward

  19. Thermal-hydraulic simulation and analysis of Research Reactor Cooling Systems

    International Nuclear Information System (INIS)

    EL Khatib, H.H.A.

    2013-01-01

    The objective of the present study is to formulate a model to simulate the thermal hydraulic behavior of integrated cooling system in a typical material testing reactor (MTR) under loss of ultimate heat sink, the model involves three interactively coupled sub-models for reactor core, heat exchanger and cooling tower. The developed model predicts the temperature profiles in addition it predicts inlet and outlet temperatures of the hot and cold stream as well as the heat exchangers and cooling tower. The model is validated against PARET code for steady-state operation and also verified by the reactor operational records, and then the model is used to simulate the thermal-hydraulic behavior of the reactor under a loss of ultimate heat sink. The simulation is performed for two operational regimes named regime I of (11 MW) thermal power and three operated cooling tower cells and regime II of (22 MW) thermal power and six operated cooling tower cells. In regime I, the simulation is performed for 1, 2 and 3 cooling tower failed cells while in regime II, it is performed for 1, 2, 3, 4, 5 and 6 cooling tower failed cells. The safety action is conducted by the reactor protection system (RPS) named power reduction safety action, it is triggered to decrease the reactor power by amount of 20% of the present power when the water inlet temperature to the core reaches 43 degree C and a scram (emergency shutdown) is triggered in case of the inlet temperature reaches 44 degree C. The model results are analyzed and discussed. The temperature profiles of fuel, clad and coolant are predicted during transient where its maximum values are far from thermal hydraulic limits.

  20. An improved thermal-hydraulic modeling of the Jules Horowitz Reactor using the CATHARE2 system code

    Energy Technology Data Exchange (ETDEWEB)

    Pegonen, R., E-mail: pegonen@kth.se [KTH Royal Institute of Technology, Roslagstullsbacken 21, SE-10691 Stockholm (Sweden); Bourdon, S.; Gonnier, C. [CEA, DEN, DER, SRJH, CEA Cadarache, 13108 Saint-Paul-lez-Durance Cedex (France); Anglart, H. [KTH Royal Institute of Technology, Roslagstullsbacken 21, SE-10691 Stockholm (Sweden)

    2017-01-15

    Highlights: • An improved thermal-hydraulic modeling of the JHR reactor is described. • Thermal-hydraulics of the JHR is analyzed during loss of flow accident. • The heat exchanger approach gives more realistic and less conservative results. - Abstract: The newest European high performance material testing reactor, the Jules Horowitz Reactor, will support current and future nuclear reactor designs. The reactor is under construction at the CEA Cadarache research center in southern France and is expected to achieve first criticality at the end of this decade. This paper presents an improved thermal-hydraulic modeling of the reactor using solely CATHARE2 system code. Up to now, the CATHARE2 code was simulating the full reactor with a simplified approach for the core and the boundary conditions were transferred into the three-dimensional FLICA4 core simulation. A new more realistic methodology is utilized to analyze the thermal-hydraulic simulation of the reactor during a loss of flow accident.

  1. Fluid dynamics of acoustic and hydrodynamic cavitation in hydraulic power systems

    Science.gov (United States)

    Ferrari, A.

    2017-03-01

    Cavitation is the transition from a liquid to a vapour phase, due to a drop in pressure to the level of the vapour tension of the fluid. Two kinds of cavitation have been reviewed here: acoustic cavitation and hydrodynamic cavitation. As acoustic cavitation in engineering systems is related to the propagation of waves through a region subjected to liquid vaporization, the available expressions of the sound speed are discussed. One of the main effects of hydrodynamic cavitation in the nozzles and orifices of hydraulic power systems is a reduction in flow permeability. Different discharge coefficient formulae are analysed in this paper: the Reynolds number and the cavitation number result to be the key fluid dynamical parameters for liquid and cavitating flows, respectively. The latest advances in the characterization of different cavitation regimes in a nozzle, as the cavitation number reduces, are presented. The physical cause of choked flows is explained, and an analogy between cavitation and supersonic aerodynamic flows is proposed. The main approaches to cavitation modelling in hydraulic power systems are also reviewed: these are divided into homogeneous-mixture and two-phase models. The homogeneous-mixture models are further subdivided into barotropic and baroclinic models. The advantages and disadvantages of an implementation of the complete Rayleigh-Plesset equation are examined.

  2. Experimental Study of a Small Scale Hydraulic System for Mechanical Wind Energy Conversion into Heat

    Directory of Open Access Journals (Sweden)

    Tadas Zdankus

    2016-07-01

    Full Text Available Significant potential for reducing thermal energy consumption in buildings of moderate and cold climate countries lies within wind energy utilisation. Unlike solar irradiation, character of wind speeds in Central and Northern Europe correspond to the actual thermal energy demand in buildings. However, mechanical wind energy undergoes transformation into electrical energy before being actually used as thermal energy in most wind energy applications. The study presented in this paper deals with hydraulic systems, designed for small-scale applications to eliminate the intermediate energy transformation as it converts mechanical wind energy into heat directly. The prototype unit containing a pump, flow control valve, oil tank and piping was developed and tested under laboratory conditions. Results of the experiments showed that the prototype system is highly efficient and adjustable to a broad wind velocity range by modifying the definite hydraulic system resistance. Development of such small-scale replicable units has the potential to promote “bottom-up” solutions for the transition to a zero carbon society.

  3. Development of brake assist system. Summary of hydraulic brake assist system; Brake assist system no kaihatsu. Ekiatsushiki brake assist system no gaiyo

    Energy Technology Data Exchange (ETDEWEB)

    Hara, M; Ota, M; Shimizu, S [Toyota, Motor Corp., Aichi (Japan)

    1997-10-01

    We have already developed vacuum-booster-type Brake Assist System that supplies additional braking power when panic braking is recognized. We are convinced that the expansion of Brake Assist System will become more important issue in the future. Therefore we have developed hydraulic Brake Assist System with increasing its controllability and reducing its discomfort. This system have a brake pressure sensor to detect emergency braking operation and an antilock device to supply additional braking power. 8 refs., 11 figs.

  4. Feasibility study for objective oriented design of system thermal hydraulic analysis program

    International Nuclear Information System (INIS)

    Chung, Bub Dong; Jeong, Jae Jun; Hwang, Moon Kyu

    2008-01-01

    The system safety analysis code, such as RELAP5, TRAC, CATHARE etc. have been developed based on Fortran language during the past few decades. Refactoring of conventional codes has been also performed to improve code readability and maintenance. However the programming paradigm in software technology has been changed to use objects oriented programming (OOP), which is based on several techniques, including encapsulation, modularity, polymorphism, and inheritance. In this work, objective oriented program for system safety analysis code has been tried utilizing modernized C language. The analysis, design, implementation and verification steps for OOP system code development are described with some implementation examples. The system code SYSTF based on three-fluid thermal hydraulic solver has been developed by OOP design. The verifications of feasibility are performed with simple fundamental problems and plant models. (author)

  5. Coupling the severe accident code SCDAP with the system thermal hydraulic code MARS

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Young Jin; Chung, Bub Dong [Korea Atomic Energy Research Institute, Taejon (Korea, Republic of)

    2004-07-01

    MARS is a best-estimate system thermal hydraulics code with multi-dimensional modeling capability. One of the aims in MARS code development is to make it a multi-functional code system with the analysis capability to cover the entire accident spectrum. For this purpose, MARS code has been coupled with a number of other specialized codes such as CONTEMPT for containment analysis, and MASTER for 3-dimensional kinetics. And in this study, the SCDAP code has been coupled with MARS to endow the MARS code system with severe accident analysis capability. With the SCDAP, MARS code system now has acquired the capability to simulate such severe accident related phenomena as cladding oxidation, melting and slumping of fuel and reactor structures.

  6. Coupling the severe accident code SCDAP with the system thermal hydraulic code MARS

    International Nuclear Information System (INIS)

    Lee, Young Jin; Chung, Bub Dong

    2004-01-01

    MARS is a best-estimate system thermal hydraulics code with multi-dimensional modeling capability. One of the aims in MARS code development is to make it a multi-functional code system with the analysis capability to cover the entire accident spectrum. For this purpose, MARS code has been coupled with a number of other specialized codes such as CONTEMPT for containment analysis, and MASTER for 3-dimensional kinetics. And in this study, the SCDAP code has been coupled with MARS to endow the MARS code system with severe accident analysis capability. With the SCDAP, MARS code system now has acquired the capability to simulate such severe accident related phenomena as cladding oxidation, melting and slumping of fuel and reactor structures

  7. Hydraulic control of tuna fins: A role for the lymphatic system in vertebrate locomotion.

    Science.gov (United States)

    Pavlov, Vadim; Rosental, Benyamin; Hansen, Nathaniel F; Beers, Jody M; Parish, George; Rowbotham, Ian; Block, Barbara A

    2017-07-21

    The lymphatic system in teleost fish has genetic and developmental origins similar to those of the mammalian lymphatic system, which is involved in immune response and fluid homeostasis. Here, we show that the lymphatic system of tunas functions in swimming hydrodynamics. Specifically, a musculo-vascular complex, consisting of fin muscles, bones, and lymphatic vessels, is involved in the hydraulic control of median fins. This specialization of the lymphatic system is associated with fish in the family Scombridae and may have evolved in response to the demand for swimming and maneuvering control in these high-performance species. Copyright © 2017 The Authors, some rights reserved; exclusive licensee American Association for the Advancement of Science. No claim to original U.S. Government Works.

  8. High heat flux thermal-hydraulic analysis of ITER divertor and blanket systems

    International Nuclear Information System (INIS)

    Raffray, A.R.; Chiocchio, S.; Ioki, K.; Tivey, R.; Krassovski, D.; Kubik, D.

    1998-01-01

    Three separate cooling systems are used for the divertor and blanket components, based mainly on flow routing access and on grouping together components with the highest heat load levels and uncertainties: divertor, limiter/outboard baffle, and primary first wall/inboard baffle. The coolant parameters for these systems are set to accommodate peak heat load conditions with a reasonable critical heat flux (CHF) margin. Material temperature constraints and heat transport system space and cost requirements are also taken into consideration. This paper summarises the three cooling system designs and highlights the high heat flux thermal-hydraulic analysis carried out in converging on the design values for the coolant operating parameters. Application of results from on-going high heat flux R and D and a brief description of future R and D effort to address remaining issues are also included. (orig.)

  9. A switched energy saving position controller for variable-pressure electro-hydraulic servo systems.

    Science.gov (United States)

    Tivay, Ali; Zareinejad, Mohammad; Rezaei, S Mehdi; Baghestan, Keivan

    2014-07-01

    The electro-hydraulic servo system (EHSS) demonstrates a relatively low level of efficiency compared to other available actuation methods. The objective of this paper is to increase this efficiency by introducing a variable supply pressure into the system and controlling this pressure during the task of position tracking. For this purpose, an EHSS structure with controllable supply pressure is proposed and its dynamic model is derived from the basic laws of physics. A switching control structure is then proposed to control both the supply pressure and the cylinder position at the same time, in a way that reduces the overall energy consumption of the system. The stability of the proposed switching control system is guaranteed by proof, and its performance is verified by experimental testing. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  10. Passive Transparency Compensation for Bilateral Teleoperators with Communication Delays

    Directory of Open Access Journals (Sweden)

    Erick J. Rodríguez-Seda

    2015-01-01

    Full Text Available One of the main challenges in the realization of time-delayed bilateral teleoperators is the stable adaptation of transparency when the remote environmental dynamics are time-varying. In this paper, we propose a bilateral control strategy that passively adjusts the transparency of the system when the slave robot transitions between two different environments. The proposed controller exploits the effect that the wave impedance (a design parameter of the passivity-based scattering transformation has on transparency without comprising closed-loop stability, regardless of time-varying communication delays. To properly adjust transparency, the control scheme smoothly switches the wave impedance parameter between a low value, ideal for free motion, and a sufficiently large value, suited for hard-contact tasks. We show that, by adopting this strategy, the transmitted impedance to the operator approximates more closely the environmental impedance value. Furthermore, we theoretically prove master-slave position coordination and force tracking under different scenarios. Simulation results illustrate the effectiveness of the proposed control strategy.

  11. Development of a thermal–hydraulic system code, TAPINS, for 10 MW regional energy reactor

    International Nuclear Information System (INIS)

    Lee, Yeon-Gun; Kim, Jong-Won; Park, Goon-Cherl

    2012-01-01

    Highlights: ► A thermal–hydraulic system code named TAPINS is developed for simulations of an integral reactor. ► The TAPINS is based on the one-dimensional momentum integral model. ► A dynamic model for the steam–gas pressurizer with non-condensable gas present is proposed. ► A series of pressurizer insurge test and natural circulation test are simulated by the TAPINS. ► It is proved that the TAPINS can provide reliable prediction of an integral reactor system on natural circulation. - Abstract: Small modular reactors (SMRs) with integral system layout have been drawing a great deal of attention as alternative options to branch out the utilization of nuclear energy as well as to offer the inherent safety features. Serving to confirm the design basis and analyze the transient behavior of an integral reactor such as REX-10, a thermal–hydraulic system code named TAPINS (Thermal–hydraulic Analysis Program for INtegral reactor System) is developed in this study. The TAPINS supports the simple pre-processing to build up the frameworks of node diagram for the typical integral reactor configuration. The TAPINS basically consists of mathematical models for the reactor coolant system, the core, the once-through helical-coil steam generator, and the built-in steam–gas pressurizer. The hydrodynamic model of the TAPINS is formulated using the one-dimensional momentum integral model, which is based on the analytical integration of the momentum equation around the closed loop in the system. As a key contribution of the study, a dynamic model for the steam–gas pressurizer with non-condensable gas present is newly proposed and incorporated into the code. The TAPINS is validated by comparing against the experimental data from the pressurizer insurge tests conducted at MIT (Massachusetts Institute of Technology) and natural circulation tests in the RTF (REX-10 Test Facility) at RERI (Regional Energy Reactor Institute). From the comparison results, it is

  12. Optimal hydraulic design of new-type shaft tubular pumping system

    International Nuclear Information System (INIS)

    Zhu, H G; Zhang, R T; Zhou, J R

    2012-01-01

    Based on the characteristics of large flow rate, low-head, short annual operation time and high reliability of city flood-control pumping stations, a new-type shaft tubular pumping system featuring shaft suction box, siphon-type discharge passage with vacuum breaker as cutoff device was put forward, which possesses such advantages as simpler structure, reliable cutoff and higher energy performance. According to the design parameters of a city flood control pumping station, a numerical computation model was set up including shaft-type suction box, siphon-type discharge passage, pump impeller and guide vanes. By using commercial CFD software Fluent, RNG κ-ε turbulence model was adopted to close the three-dimensional time-averaged incompressible N-S equations. After completing optimal hydraulic design of shaft-type suction box, and keeping the parameters of total length, maximum width and outlet section unchanged, siphon-type discharge passages of three hump locations and three hump heights were designed and numerical analysis on the 9 hydraulic design schemes of pumping system were proceeded. The computational results show that the changing of hump locations and hump heights directly affects the internal flow patterns of discharge passages and hydraulic performances of the system, and when hump is located 3.66D from the inlet section and hump height is about 0.65D (D is the diameter of pump impeller), the new-type shaft tubular pumping system achieves better energy performances. A pumping system model test of the optimal designed scheme was carried out. The result shows that the highest pumping system efficiency reaches 75.96%, and when at design head of 1.15m the flow rate and system efficiency were 0.304m 3 /s and 63.10%, respectively. Thus, the validity of optimal design method was verified by the model test, and a solid foundation was laid for the application and extension of the new-type shaft tubular pumping system.

  13. Growth model for large branched three-dimensional hydraulic crack system in gas or oil shale

    Science.gov (United States)

    Chau, Viet T.

    2016-01-01

    Recent analysis of gas outflow histories at wellheads shows that the hydraulic crack spacing must be of the order of 0.1 m (rather than 1 m or 10 m). Consequently, the existing models, limited to one or several cracks, are unrealistic. The reality is 105–106 almost vertical hydraulic cracks per fracking stage. Here, we study the growth of two intersecting near-orthogonal systems of parallel hydraulic cracks spaced at 0.1 m, preferably following pre-existing rock joints. One key idea is that, to model lateral cracks branching from a primary crack wall, crack pressurization, by viscous Poiseuille-type flow, of compressible (proppant-laden) frac water must be complemented with the pressurization of a sufficient volume of micropores and microcracks by Darcy-type water diffusion into the shale, to generate tension along existing crack walls, overcoming the strength limit of the cohesive-crack or crack-band model. A second key idea is that enforcing the equilibrium of stresses in cracks, pores and water, with the generation of tension in the solid phase, requires a new three-phase medium concept, which is transitional between Biot’s two-phase medium and Terzaghi’s effective stress and introduces the loading of the solid by pressure gradients of diffusing pore water. A computer program, combining finite elements for deformation and fracture with volume elements for water flow, is developed to validate the new model. This article is part of the themed issue ‘Energy and the subsurface’. PMID:27597791

  14. Performance-oriented asymptotic tracking control of hydraulic systems with radial basis function network disturbance observer

    Directory of Open Access Journals (Sweden)

    Jian Hu

    2016-05-01

    Full Text Available Uncertainties, including parametric uncertainties and uncertain nonlinearities, always exist in positioning servo systems driven by a hydraulic actuator, which would degrade their tracking accuracy. In this article, an integrated control scheme, which combines adaptive robust control together with radial basis function neural network–based disturbance observer, is proposed for high-accuracy motion control of hydraulic systems. Not only parametric uncertainties but also uncertain nonlinearities (i.e. nonlinear friction, external disturbances, and/or unmodeled dynamics are taken into consideration in the proposed controller. The above uncertainties are compensated, respectively, by adaptive control and radial basis function neural network, which are ultimately integrated together by applying feedforward compensation technique, in which the global stabilization of the controller is ensured via a robust feedback path. A new kind of parameter and weight adaptation law is designed on the basis of Lyapunov stability theory. Furthermore, the proposed controller obtains an expected steady performance even if modeling uncertainties exist, and extensive simulation results in various working conditions have proven the high performance of the proposed control scheme.

  15. Thermal-Hydraulic Sensitivity Study of Intermediate Loop Parameters for Nuclear Hydrogen Production System

    Energy Technology Data Exchange (ETDEWEB)

    Jeong, Jong Hwa; Lee, Heung Nae; Park, Jea Ho [KONES Corp., Seoul (Korea, Republic of); Lee, Won Jae [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of); Lee, Sang Il; Yoo, Yeon Jae [Hyundai Engineering Co., Seoul (Korea, Republic of)

    2016-10-15

    The heat generated from the VHTR is transferred to the intermediate loop through Intermediate Heat Exchanger (IHX). It is further passed on to the Sulfur-Iodine (SI) hydrogen production system (HPS) through Process Heat Exchanger (PHX). The IL provides the safety distance between the VHTR and HPS. Since the IL performance affects the overall nuclear HPS efficiency, it is required to optimize its design and operation parameters. In this study, the thermal-hydraulic sensitivity of IL parameters with various coolant options has been examined by using MARS-GCR code, which was already applied for the case of steam generator. Sensitivity study of the IL and PHX parameters has been carried out based on their thermal-hydraulic performance. Several parameters for design and operation, such as the pipe diameter, safety distance and surface area, are considered for different coolant options, He, CO{sub 2} and He-CO{sub 2} (2:8). It was found that the circulator work is the major factor affecting on the overall nuclear hydrogen production system efficiency. Circulator work increases with the safety distance, and decreases with the operation pressure and loop pipe diameter. Sensitivity results obtained from this study will contribute to the optimization of the IL design and operation parameters and the optimal coolant selection.

  16. Dynamic strain measurement of hydraulic system pipeline using fibre Bragg grating sensors

    Directory of Open Access Journals (Sweden)

    Qiang Wang

    2016-04-01

    Full Text Available Fatigue failure is a serious problem in hydraulic piping systems installed in the machinery and equipment working in harsh operational conditions. To alleviate this problem, health monitoring of pipes can be conducted by measuring and analysing vibration-induced strain. Fibre Bragg grating is considered as a promising sensing approach for dynamic load monitoring. In this article, dynamic strain measurements based on fibre Bragg grating sensors for small-bore metal pipes have been investigated. The quasi-distributed strain sensing of fibre Bragg grating sensors is introduced. Two comparison experiments were carried out under vibration and impact loads among the methods of electrical strain gauge, piezoelectric accelerometer and fibre Bragg grating sensor. Experimental results indicate that fibre Bragg grating sensor possesses an outstanding ability to resist electromagnetic interference compared with strain gauge. The natural frequency measurement results, captured by fibre Bragg grating sensor, agree well with the modal analysis results obtained from finite element analysis. In addition, the attached fibre Bragg grating sensor brings a smaller impact on the dynamic characteristics of the measured pipe than the accelerometer due to its small size and lightweight. Fibre Bragg grating sensors have great potential for the quasi-distributed measurement of dynamic strain for the dynamic characteristic research and health monitoring of hydraulic system pipeline.

  17. DESIGNING HYDRAULIC AIR CHAMBER IN WATER TRANSMISSION SYSTEMS USING GENETIC ALGORITHM

    Directory of Open Access Journals (Sweden)

    Abdorahim Jamal

    2016-09-01

    Full Text Available Transient flow control in Water Transmission Systems (WTS is one of the requirements of designing these systems. Hence, among control equipment, air chambers offer the best solution to control transient flow effects, i.e. both prevents water column separation and absorbs pressure increase. It is essential to carry out an accurate and optimized design of air chambers, not only due to high costs of their manufacturing but also their important protective role. Accordingly, hydraulic design parameters comprise tank volume, diameter of nozzle and coefficients of inflow and outflow of nozzle. In this paper, it is intended to optimize these parameters in order to minimize manufacturing costs. On the other hand, maximum and minimum pressures in main pipeline are considered as constraints which shall fall in allowed range. Therefore, a model has been developed which is a combination of a hydraulic simulation model of WTS and an optimization model based on genetic algorithm. This model is first applied to WTS of Dehgolan-Ghorveh plain as a case study. Results of this research demonstrate that based on suggested model, negative wave creation and pressure increase in pipeline is prevented as well as decrease in manufacturing costs of air chamber.

  18. Preliminary thermal-hydraulic and safety analysis of China DFLL-TBM system

    Energy Technology Data Exchange (ETDEWEB)

    Li, Wei [School of Nuclear Science and Technology, Xi’an Jiaotong University, No. 28, Xianning West Road, Xi’an, Shanxi 710049 (China); Tian, Wenxi, E-mail: wxtian@mail.xjtu.edu.cn [School of Nuclear Science and Technology, Xi’an Jiaotong University, No. 28, Xianning West Road, Xi’an, Shanxi 710049 (China); Qiu, Suizheng; Su, Guanghui; Jiao, Hong [School of Nuclear Science and Technology, Xi’an Jiaotong University, No. 28, Xianning West Road, Xi’an, Shanxi 710049 (China); Bai, Yunqing; Chen, Hongli [Institute of Nuclear Energy Safety Technology, Chinese Academy of Sciences, Hefei, Anhui 230031 (China); Wu, Yican, E-mail: yican.Wu@Fds.Org.Cn [Institute of Nuclear Energy Safety Technology, Chinese Academy of Sciences, Hefei, Anhui 230031 (China)

    2013-06-15

    Highlights: • Thermal-hydraulic and safety analysis on DFLL-TBM system is performed. • The TBM FW maximum temperature is 541 °C under steady state condition. • The TBM FW maximum temperature does not exceed the melt point of CLAM steel 1500 °C. • Neither the VV pressurization nor vault pressure build-up goes beyond 0.2 MPa. -- Abstract: China has proposed the dual-functional lithium-lead (DFLL) tritium breeding blanket concept for testing in ITER as a test blanket module (TBM), to demonstrate the technologies of tritium self-sufficiency, high-grade heat extraction and efficient electricity production which are needed for DEMO and fusion power plant. Safety assessment of the TBM and its auxiliary system should be conducted to deal with ITER safety issues directly caused by the TBM system failure during the design process. In this work, three potential initial events (PIEs) – in-vessel loss of helium (He) coolant and ex-vessel loss of He coolant and loss of flow without scram (LOFWS) – were analyzed for the TBM system with a modified version of the RELAP5/MOD3 code containing liquid lithium-lead eutectic (LiPb). The code also comprised an empirical expression for MHD pressure drop relevant to three-dimensional (3D) effect, the Lubarsky–Kaufman convective heat transfer correlation for LiPb flow and the Gnielinski convective heat transfer correlation for He flow. Since both LiPb and He serve as TBM coolants, the LiPb and He ancillary cooling systems were modeled to investigate the thermal-hydraulic characteristic of the TBM system and its influence on ITER safety under those accident conditions. The TBM components and the coolants flow within the TBM were simulated with one-dimensional heat structures and their associated hydrodynamic components. ITER enclosures including vacuum vessel (VV), port cell and TCWS vault were also covered in the model for accident analyses. Through this best estimate approach, the calculation indicated that the current

  19. Operation of hydraulic elevator systems in the Mikhailovsk mine of PO Karagandaugol'

    Energy Technology Data Exchange (ETDEWEB)

    Gorchakov, A.Ya.; Bezuglov, N.N.; Taushkin, G.T.

    1982-03-01

    This paper evaluates a system for sump cleaning which has been used in the Mikhailovsk mine in the Karaganda basin for 15 years. The sump of a skip shaft is closed by a steel screen with 6 mm mesh. The screen is inclined at an angle of 50 degrees. Sump walls and the screen form a coal hopper. It is unloaded periodically. Coal with grain size exceeding 6 mm is hauled by mine cars moving in an inclined roadway. Coal grains with size less than 6 mm and which fall through screen meshes into the sump bottom are removed hydraulically by a pump system. Coal slurry from the sump is pumped into settling tanks. Settling tanks are constructed in two 70 m long workings. When one settling tank is filled with coal the slurry is directed into another tank. After moisture content in dewatered coal slurry decreases to 10%, coal is removed by a loader. A scheme of the system is shown.

  20. Use of sensitivity-information for the adaptive simulation of thermo-hydraulic system codes

    International Nuclear Information System (INIS)

    Kerner, Alexander M.

    2011-01-01

    Within the scope of this thesis the development of methods for online-adaptation of dynamical plant simulations of a thermal-hydraulic system code to measurement data is depicted. The described approaches are mainly based on the use of sensitivity-information in different areas: statistical sensitivity measures are used for the identification of the parameters to be adapted and online-sensitivities for the parameter adjustment itself. For the parameter adjustment the method of a ''system-adapted heuristic adaptation with partial separation'' (SAHAT) was developed, which combines certain variants of parameter estimation and control with supporting procedures to solve the basic problems. The applicability of the methods is shown by adaptive simulations of a PKL-III experiment and by selected transients in a nuclear power plant. Finally the main perspectives for the application of a tracking simulator on a system code are identified.

  1. Design of in-situ reactive wall systems - a combined hydraulical-geochemical-economical simulation study

    International Nuclear Information System (INIS)

    Teutsch, G.; Tolksdorff, J.; Schad, H.

    1997-01-01

    The paper presents a coupled hydraulical-geochemical-economical simulation model for the design of in-situ reactive wall systems. More specific, the model is used for cost-optimization and sensitivity analysis of a funnel-and-gate system with an in-situ sorption reactor. The groundwater flow and advective transport are simulated under steady-state conditions using a finite-difference numerical model. This model is coupled to an analytical solution describing the sorption kinetics of hydrophobic organic compounds within the reactor (gate). The third part of the model system is an economical model which calculates (a) the investment costs for the funnel-and-gate construction and (b) the operation cost based on the number of reactor refills, which depends on the breakthrough time for a given contaminant and the anticipated total operation time. For practical applications a simplified approximation of the cost-function is derived and tested

  2. Control of a hydraulic system by means of a fuzzy approach

    Directory of Open Access Journals (Sweden)

    Mohamed Ksantini

    2013-07-01

    Full Text Available Non linear models can be represented conveniently by Takagi-Sugeno fuzzy models when nonlinearities are bounded. This approach uses a collection of linear models which are interpolated by non linear functions. Then the global control law is the interpolation by the same functions of each feedback associated to each linear model. A Lyapunov approach enables to compute these feedback gains. The number of linear models depends directly on the number of nonlinearities the system has. The more models there are, the more difficult it is to guarantee the stability of the closed loop. This paper proposes a method to reduce the number of linear models by assuming a number of nonlinearities considered as uncertainties and to guarantee the global exponential stability of the system. This method is applied on a hydraulic system.

  3. A model selection support system for numerical simulations of nuclear thermal-hydraulics

    International Nuclear Information System (INIS)

    Gofuku, Akio; Shimizu, Kenji; Sugano, Keiji; Yoshikawa, Hidekazu; Wakabayashi, Jiro

    1990-01-01

    In order to execute efficiently a dynamic simulation of a large-scaled engineering system such as a nuclear power plant, it is necessary to develop intelligent simulation support system for all phases of the simulation. This study is concerned with the intelligent support for the program development phase and is engaged in the adequate model selection support method by applying AI (Artificial Intelligence) techniques to execute a simulation consistent with its purpose and conditions. A proto-type expert system to support the model selection for numerical simulations of nuclear thermal-hydraulics in the case of cold leg small break loss-of-coolant accident of PWR plant is now under development on a personal computer. The steps to support the selection of both fluid model and constitutive equations for the drift flux model have been developed. Several cases of model selection were carried out and reasonable model selection results were obtained. (author)

  4. Immersive vision assisted remote teleoperation using head mounted displays

    International Nuclear Information System (INIS)

    Vakkapatla, Veerendrababu; Singh, Ashutosh Pratap; Rakesh, V.; Rajagopalan, C.; Murugan, S.; Sai Baba, M.

    2016-01-01

    Handling and inspection of irradiated material is inevitable in nuclear industry. Hot cells are shielded radiation containment chambers equipped with master slave manipulators that facilitates remote handling. The existing methods using viewing windows and cameras for viewing the contents of hot cell to manipulate the radioactive elements have problems such as optical distortion, limited distance teleoperation, limited field of view that lead to inefficient operation. This paper presents a method of achieving immersive teleoperation to operate the master slave manipulator in hot cells by exploiting the advanced tracking and display capabilities of head mounted display devices. (author)

  5. Transient performance analysis of the master cylinder hydraulic system of a 6.3 MN fineblanking press

    Science.gov (United States)

    Yi, Guodong; Li, Jin

    2018-03-01

    The master cylinder hydraulic system is the core component of the fineblanking press that seriously affects the machine performance. A key issue in the design of the master cylinder hydraulic system is dealing with the heavy shock loads in the fineblanking process. In this paper, an equivalent model of the master cylinder hydraulic system is established based on typical process parameters for practical fineblanking; then, the response characteristics of the master cylinder slider to the step changes in the load and control current are analyzed, and lastly, control strategies for the proportional valve are studied based on the impact of the control parameters on the kinetic stability of the slider. The results show that the kinetic stability of the slider is significantly affected by the step change of the control current, while it is slightly affected by the step change of the system load, which can be improved by adjusting the flow rate and opening time of the proportional valve.

  6. MAESTRO, a hydraulic manipulator for maintenance and decommissioning applications

    International Nuclear Information System (INIS)

    Olivier David; Yvan Measson; Catherine Bidard; Christine Libersa

    2006-01-01

    Compared to electric technology payload of hydraulic manipulators is very high with respect to their volume and mass. However, due to their force control limitations they were usually disqualified for precise manipulation. CEA, in collaboration with CYBERNETIX developed a complete remote handling system around the advanced hydraulic robotic arm MAESTRO. Requirements and specifications of the system were defined according to the needs of decommissioning activities in existing nuclear facilities and maintenance scenarios of the next step fusion reactor ITER. Using TAO2000 CEA controller, CEA developed specific force control loops to improve the performances of the manipulator and reach a level where the MAESTRO can be used like a traditional tele-operation master/slave system with force feedback. The complete system is composed of a 2 m long 100 kg payload 6 degrees of freedom slave hydraulic manipulator. The manipulator is mounted on an embedded unit made of a 210 bars hydraulic power pack and a 10 kGy rad hardened slave controller. The master station is made of the new generation Virtuose V6D-40-40 master arm with its TAO2000 controller. The graphical supervisor Magritte gives the operator an additional interface to manage and monitor the system. Repetitive tasks like tool picking can therefore be left to the system while the operator keeps his concentration on the main task. Thanks to the collision detection algorithm, Magritte warns the operator when the tool or any part of the Maestro arm comes too close to a delicate unit. Operational experience gained through test campaigns was gathered in an upgrade study to propose a new version of the manipulator that successfully ran through a 1000 hour endurance test. Rad-hardened components were selected and tested in nuclear facilities. Attention was paid to provide a design in which contamination is easily removed and to ease the maintenance when performed by an operator in suit. To be quickly adapted to new tasks, the

  7. Preliminary analysis of K-DEMO thermal hydraulic system using MELCOR; Parametric study of hydrogen explosion

    Energy Technology Data Exchange (ETDEWEB)

    Moon, Sung Bo; Lim, Soo Min; Bang, In Cheol [UNIST, Ulsan (Korea, Republic of)

    2016-10-15

    K-DEMO (Korean fusion demonstration reactor) is future reactor for the commercializing the fusion power generation. The Design of K-DEMO is similar to that of ITER but the fusion energy generation is much bigger because ITER is experimental reactor. For this reason, K-DEMO uses more fusion reaction with bigger amount of tritium. Higher fusion power means more neutron generation that can irradiate the structure around fusion plasma. Fusion reactor can produce many kinds of radioactive material in the accident. Because of this hazard, preliminary safety analysis is mandatory before its construction. Concern for safety problem of accident of fusion/fission reactor has been growing after Fukushima accident which is severe accident from unexpected disaster. To model the primary heat transfer system, in this study, MARS-KS thermal hydraulic analysis is referred. Lee et al. and Kim et al. conducted thermal hydraulic analysis using MARS-KS and multiple module simulation to deal with the phenomena of first wall corrosion for each plasma pulse. This study shows the relationship between vacuum vessel rupture area and source term leakage after hydrogen explosion. For the conservative study, first wall heating is not terminated because the heating inside the vacuum vessel increase the pressure inside VV. Pressurizer, steam generator and turbine is not damaged. 6.69 kg of tritiated water (HTO) and 1 ton of dust is modeled which is ITER guideline. The entire system of K-DEMO is smaller than that of ITER. For this reason, lots of aerosol is release into environment although the safety system like DS is maintained. This result shows that the safety system of K-DEMO should use much more safety system.

  8. FEQinput—An editor for the full equations (FEQ) hydraulic modeling system

    Science.gov (United States)

    Ancalle, David S.; Ancalle, Pablo J.; Domanski, Marian M.

    2017-10-30

    IntroductionThe Full Equations Model (FEQ) is a computer program that solves the full, dynamic equations of motion for one-dimensional unsteady hydraulic flow in open channels and through control structures. As a result, hydrologists have used FEQ to design and operate flood-control structures, delineate inundation maps, and analyze peak-flow impacts. To aid in fighting floods, hydrologists are using the software to develop a system that uses flood-plain models to simulate real-time streamflow.Input files for FEQ are composed of text files that contain large amounts of parameters, data, and instructions that are written in a format exclusive to FEQ. Although documentation exists that can aid in the creation and editing of these input files, new users face a steep learning curve in order to understand the specific format and language of the files.FEQinput provides a set of tools to help a new user overcome the steep learning curve associated with creating and modifying input files for the FEQ hydraulic model and the related utility tool, Full Equations Utilities (FEQUTL).

  9. Thermal-hydraulic behaviour of the ITER TF system during a quench development

    International Nuclear Information System (INIS)

    Nicollet, S.; Lacroix, B.; Bessette, D.; Copetti, R.; Duchateau, J.L.; Coatanea-Gouachet, M.; Rodriguez-Mateos, F.

    2011-01-01

    In order to ensure the safety of the ITER TF magnets, a primary quench detection system has been foreseen, based on voltage detection. In addition, a secondary quench detection could rely on signals of thermo-hydraulic nature. As a matter of fact, the development of a quench in a CICC leads to significant variations of pressure and mass flow at the quenched pancake extremities. Analyses of the quench development have thus been performed using the coupled GANDALF and FLOWER codes. This tool allows to simulate the thermo-hydraulic behaviour of one CICC with a model of the external cryogenic circuit. The study has focused on the first seconds of the quench development, supposing that the quench has not been detected earlier by the primary detector. It is shown that signals regarding pressure, mass flow and temperature reach significant high values especially in the connecting feeder associated with the helium inlet. More detailed studies will be needed to select a secondary detector in this region.

  10. Fault diagnosis of automobile hydraulic brake system using statistical features and support vector machines

    Science.gov (United States)

    Jegadeeshwaran, R.; Sugumaran, V.

    2015-02-01

    Hydraulic brakes in automobiles are important components for the safety of passengers; therefore, the brakes are a good subject for condition monitoring. The condition of the brake components can be monitored by using the vibration characteristics. On-line condition monitoring by using machine learning approach is proposed in this paper as a possible solution to such problems. The vibration signals for both good as well as faulty conditions of brakes were acquired from a hydraulic brake test setup with the help of a piezoelectric transducer and a data acquisition system. Descriptive statistical features were extracted from the acquired vibration signals and the feature selection was carried out using the C4.5 decision tree algorithm. There is no specific method to find the right number of features required for classification for a given problem. Hence an extensive study is needed to find the optimum number of features. The effect of the number of features was also studied, by using the decision tree as well as Support Vector Machines (SVM). The selected features were classified using the C-SVM and Nu-SVM with different kernel functions. The results are discussed and the conclusion of the study is presented.

  11. Tissue perfusion during normovolemic hemodilution investigated by a hydraulic model of the cardiovascular system.

    Science.gov (United States)

    Mirhashemi, S; Messmer, K; Intaglietta, M

    1987-01-01

    Normovolemic hemodilution on a whole body basis is studied by means of a steady flow, hydraulic analogue simulation of the cardiovascular system, based on the Casson's model and current hemodynamic and rheological data. The vasculature is divided into serially connected compartments whose hydraulic resistance is characterized by the average diameter, length, number of vessels, and the corresponding rheological properties of blood formulated by Dintenfass (1971) and Lipowsky et al. (1980). This model computes the pressure distributions in all compartments, where the calculated venous pressure modulates the cardiac function according to the Starling mechanism for cardiac performance. The alterations of flow induced by the action of the heart are added to the effects due to changes in peripheral vascular resistance as a result of hematocrit variation. This model shows that when the response of heart to the changes of venous pressure is impaired, the maximum oxygen carrying capacity occurs at 40% hematocrit (H) where it is 1% higher than normal hematocrit (H = 44%). The normal cardiac response to the changes of venous pressure, causes the maximum oxygen carrying capacity to occur at 32% H where it is 12% greater than that at normal hematocrit. Mean arteriolar pressure and capillary pressure increase while venular pressure is slightly reduced during normovolemic hemodilution.

  12. Control system developments for a range of kinematically redundant hydraulic manipulators

    International Nuclear Information System (INIS)

    Smith, A.L.; Rice, P.S.; Thiruarooran, C.

    2000-01-01

    This paper describes a range of control system improvements developed and implemented for in-reactor use during the last three years. Novel control techniques have been developed to provide accurate closed-loop velocity control of pumped hydraulic manipulator joints under a wide range of operating conditions. As a result the supervisory computer system can provide accurate trajectory following, even when more than ten joints are required to move simultaneously. Accurately coordinated motion has given rise to some spectacular gains in in-reactor performance in terms of deployment time, safety and accessibility. The same low-level control improvements have made it feasible to integrate and use the 'geometric controller' to provide accurate resolved motion control of a kinematically redundant manipulator. Examples of recent in-reactor use of all these techniques are given. (author)

  13. Parameters identification of hydraulic turbine governing system using improved gravitational search algorithm

    Energy Technology Data Exchange (ETDEWEB)

    Chaoshun Li; Jianzhong Zhou [College of Hydroelectric Digitization Engineering, Huazhong University of Science and Technology, Wuhan 430074 (China)

    2011-01-15

    Parameter identification of hydraulic turbine governing system (HTGS) is crucial in precise modeling of hydropower plant and provides support for the analysis of stability of power system. In this paper, a newly developed optimization algorithm, called gravitational search algorithm (GSA), is introduced and applied in parameter identification of HTGS, and the GSA is improved by combination of the search strategy of particle swarm optimization. Furthermore, a new weighted objective function is proposed in the identification frame. The improved gravitational search algorithm (IGSA), together with genetic algorithm, particle swarm optimization and GSA, is employed in parameter identification experiments and the procedure is validated by comparing experimental and simulated results. Consequently, IGSA is shown to locate more precise parameter values than the compared methods with higher efficiency. (author)

  14. Simulation of the electro-hydraulic control system of a BWR-5

    International Nuclear Information System (INIS)

    Acosta, M.; Montoya, J.; Chavez, H.

    1986-01-01

    The methodology used to develop the mathematical models for the simulation of the principal turbine electro-hydraulic control of the Laguna Verde Nuclear Plant (LVNP) is presented in this report. The development of the systems mathematical model is based on the response curves of each of its elements. Therefore, little error is expected with respect to real results. On the other hand, due to the fact that the greater part of the systems dynamics is governed by first order differential equations the explicit solution method is used allowing to solve the equations algebraically. The model is validated by comparing real valves and the ones obtained through our model. The analogical and logical parts will be tested considering transitory and steady state situations. The results are presented as computer graphs

  15. Parameters identification of hydraulic turbine governing system using improved gravitational search algorithm

    International Nuclear Information System (INIS)

    Li Chaoshun; Zhou Jianzhong

    2011-01-01

    Parameter identification of hydraulic turbine governing system (HTGS) is crucial in precise modeling of hydropower plant and provides support for the analysis of stability of power system. In this paper, a newly developed optimization algorithm, called gravitational search algorithm (GSA), is introduced and applied in parameter identification of HTGS, and the GSA is improved by combination of the search strategy of particle swarm optimization. Furthermore, a new weighted objective function is proposed in the identification frame. The improved gravitational search algorithm (IGSA), together with genetic algorithm, particle swarm optimization and GSA, is employed in parameter identification experiments and the procedure is validated by comparing experimental and simulated results. Consequently, IGSA is shown to locate more precise parameter values than the compared methods with higher efficiency.

  16. Improving the Hydraulic Performance of Stormwater Infiltration Systems in Clay Tills

    DEFF Research Database (Denmark)

    Bockhorn, Britta

    investigations on two typical Danish clay till sites, and one modeling study with the integrated surface water and groundwater model HydroGeoSphere. The saturated hydraulic conductivity (Ksat) is the most critical soil physical parameter when it comes to sizing stormwater infiltration systems. In the first study......, different field methods for Ksat estimation, the double ring infiltrometer, the Guelph permeameter and falling head infiltration tests in a small excavation, were compared and evaluated for their capability to return realistic Ksat values in tills. The double ring infiltrometer and the Guelph permeameter...... represent suitable methods for sizing stormwater infiltration systems if measurements are combined with geological knowledge from maps of near-surface deposits and borehole descriptions. If space allows, the more invasive infiltration tests in a small excavation are recommended, because measurements...

  17. Thermal hydraulics of the impurity control system for FED/INTOR

    International Nuclear Information System (INIS)

    Cha, Y.S.; Mattas, R.F.; Abdou, M.A.; Haines, J.R.

    1983-01-01

    This paper addresses two important aspects of thermal hydraulics related to the design of the impurity control system (limiter and divertor) of the Fusion Engineering Device (FED) and the International Tokamak Reactor (INTOR). The first part of the paper is devoted to the determination of temperature distributions in various combinations of the coating/structural materials proposed for the limiter/divertor of FED and INTOR. The second part of the paper describes the analysis of the tangential motion of the melt layer under the influence of magnetic force during plasma disruption. The results of both analysis provide inputs to the determination of the life time of the limiter (or divertor) which is the most critical problem for the impurity control system as far as engineering and materials consideration is concerned

  18. Status and subjects of thermal-hydraulic analysis for next-generation LWRs with passive safety systems

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1998-03-01

    The present status and subjects on thermal-hydraulic analysis for next-generation light water reactors (LWRs) with passive safety systems were summarized based on survey results and discussion by subcommittee on improvement of reactor thermal-hydraulic analysis codes under nuclear code committee in Japan Atomic Energy Research Institute. This survey was performed to promote the research of improvement of reactor thermal-hydraulic analysis codes in future. In the first part of this report, the status and subjects on system analysis and those on evaluation of passive safety system performance are summarized for various types of reactor proposed before. In the second part, the status and subjects on multidimensional two-phase flow analysis are reviewed, since the multidimensional analysis was recognized as one of most important subjects through the investigation in the first part. Besides, databases for bubbly flow and annular dispersed flow were explored, those are needed to assess and verify each multidimensional analytical method. The contents in this report are the forefront of thermal-hydraulic analysis for LWRs and those include current findings for the development of multidimensional two-phase flow analytical method. Thus, we expect that the contents can offer various useful information against the improvement of reactor thermal-hydraulic analysis codes in future. (author)

  19. EFFECT OF HYDRAULIC AND GEOMETRICAL PROPERTIES ON STEPPED CASCADE AERATION SYSTEM

    Directory of Open Access Journals (Sweden)

    VEDHACHALAM RATHINAKUMAR

    2017-03-01

    Full Text Available Stepped cascade aeration system is commonly used to aerate the water and wastewater to increase the dissolved oxygen during pre and post treatment process. In the present research, experiments were conducted to evaluate the performance of a rectangular Cascade Aeration System with varying flow rates, risers and tread by maintaining constant width of the channel using water collected from reverse osmosis plant. The experiments were carried out with four different risers such as 0.15 m, 0.18 m, 0.225 m and 0.30 m. Each rise was investigated with five different tread of 0.60 m, 0.55 m, 0.50 m, 0.45 m and 0.40 m. Comprehensive experimental investigations were carried out for different hydraulic loading rates of 0.005 to 0.035 m3/s/m2. Results obtained from the experiments reveals that increasing dimensionless discharges promotes more aeration, attains a maximum up to dimensionless discharge= 2.22 and beyond this there was a significant decrease in aeration. In addition, the increased in number of steps significantly enhances air entertainment and surface fall rate in the Stepped Cascade Aeration System. A regression equation was derived by keeping aeration efficiency as response with dimensionless discharge and oxygen saturation concentration as influencing parameters. The dimension less discharge is a function of critical depth of the rectangular channel and step height, whereas oxygen saturation concentration represents the ratio of oxygen deficit and oxygen saturation concentration. Based on the experimental results, the optimum design and/or results such as number of steps (12 numbers and hydraulic loading rate (0.025 m3/s/m2 with fixed tread width of 0.6 m were identified to achieve maximum aeration rate (0.5-0.60 in Aeration system.

  20. Discrete Displacement Hydraulic Power Take-Off System for the Wavestar Wave Energy Converter

    Directory of Open Access Journals (Sweden)

    Enrique Vidal

    2013-08-01

    Full Text Available The Wavestar Wave Energy Converter (WEC is a multiple absorber concept, consisting of 20 hemisphere shaped floats attached to a single platform. The heart of the Wavestar WEC is the Power Take-Off (PTO system, converting the wave induced motion of the floats into a steady power output to the grid. In the present work, a PTO based on a novel discrete displacement fluid power technology is explored for the Wavestar WEC. Absorption of power from the floats is performed by hydraulic cylinders, supplying power to a common fixed pressure system with accumulators for energy smoothing. The stored pressure energy is converted into electricity at a steady pace by hydraulic motors and generators. The storage, thereby, decouples the complicated process of wave power absorption from power generation. The core for enabling this PTO technology is implementing a near loss-free force control of the energy absorbing cylinders. This is achieved by using special multi-chambered cylinders, where the different chambers may be connected to the available system pressures using fast on/off valves. Resultantly, a Discrete Displacement Cylinder (DDC is created, allowing near loss free discrete force control. This paper presents a complete PTO system for a 20 float Wavestar based on the DDC. The WEC and PTO is rigorously modeled from incident waves to the electric output to the grid. The resulting model of +600 states is simulated in different irregular seas, showing that power conversion efficiencies above 70% from input power to electrical power is achievable for all relevant sea conditions.

  1. Development of system analysis code for thermal-hydraulic simulation of integral reactor, Rex-10

    International Nuclear Information System (INIS)

    Lee, Y. G.; Kim, J. W.; Yoon, S. J.; Park, G. C.

    2010-10-01

    Rex-10 is an environment-friendly and economical small-scale nuclear reactor to provide the energy for district heating as well as the electric power in micro-grid. This integral reactor comprises several innovative concepts supported by advanced primary circuit components, low coolant parameters and natural circulation cooling. To evaluate the system performance and thermal-hydraulic behavior of the reactor, a system analysis code is being developed so that the new designs and technologies adopted in Rex-10 can be reflected. The research efforts are absorbed in programming the simple and fast-running thermal-hydraulic analysis software. The details of hydrodynamic governing equations component models and numerical solution scheme used in this code are presented in this paper. On the basis of one-dimensional momentum integral model, the models of point reactor neutron kinetics for thorium-fueled core, physical processes in the steam-gas pressurizer, and heat transfers in helically coiled steam generator are implemented to the system code. Implicit numerical scheme is employed to momentum and energy equations to assure the numerical stability. The accuracy of simulation is validated by applying the solution method to the Rex-10 test facility. Calculated natural circulation flow rate and coolant temperature at steady-state are compared to the experimental data. The validation is also carried out for the transients in which the sudden reduction in the core power or the feedwater flow takes place. The code's capability to predict the steady-state flow by natural convection and the qualitative behaviour of the primary system in the transients is confirmed. (Author)

  2. Development of system analysis code for thermal-hydraulic simulation of integral reactor, Rex-10

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2010-10-15

    Rex-10 is an environment-friendly and economical small-scale nuclear reactor to provide the energy for district heating as well as the electric power in micro-grid. This integral reactor comprises several innovative concepts supported by advanced primary circuit components, low coolant parameters and natural circulation cooling. To evaluate the system performance and thermal-hydraulic behavior of the reactor, a system analysis code is being developed so that the new designs and technologies adopted in Rex-10 can be reflected. The research efforts are absorbed in programming the simple and fast-running thermal-hydraulic analysis software. The details of hydrodynamic governing equations component models and numerical solution scheme used in this code are presented in this paper. On the basis of one-dimensional momentum integral model, the models of point reactor neutron kinetics for thorium-fueled core, physical processes in the steam-gas pressurizer, and heat transfers in helically coiled steam generator are implemented to the system code. Implicit numerical scheme is employed to momentum and energy equations to assure the numerical stability. The accuracy of simulation is validated by applying the solution method to the Rex-10 test facility. Calculated natural circulation flow rate and coolant temperature at steady-state are compared to the experimental data. The validation is also carried out for the transients in which the sudden reduction in the core power or the feedwater flow takes place. The code's capability to predict the steady-state flow by natural convection and the qualitative behaviour of the primary system in the transients is confirmed. (Author)

  3. Electric and hydraulic hybrid actuator. Competing and complementary systems?; Elektrische und hydraulische Hybridantriebe. Konkurrierende oder komplementaere Systeme?

    Energy Technology Data Exchange (ETDEWEB)

    Dehnert, Klaus [Eaton Corporation, Rastatt (Germany)

    2011-07-01

    Hybrid drives for commercial vehicles and for mobile processing machines are evolving rapidly to a future-oriented technology. Hybrid drives significantly affect issues such as fuel efficiency, emissions, productivity and life cycle cost. For recovery and storage of kinetic energy, different technologies are used. Under this aspect, the author of the contribution under consideration reports on the key distinguishing features of some currently available hybrid concepts and their appropriate application. In the selection of suitable hydraulic hybrid drive systems, the essential features of different hybrid systems have to be considered.

  4. Passive hybrid force-position control for tele-operation based on real-time simulation of a virtual mechanism

    International Nuclear Information System (INIS)

    Joly, L.; Andriot, C.

    1995-01-01

    Hybrid force-position control aims at controlling position and force in separate directions. It is particularly useful to perform certain robotic tasks. In tele-operation context, passivity is important because it ensures stability when the system interacts with any passive environment. In this paper, we propose an original approach to hybrid force-position control of a force reflecting tele-robot system. It is based on real-time simulation of a virtual mechanism corresponding to the task. the resulting control law is passive. Experiments on a 6 degrees of freedom tele-operation system consisting in following a bent pipe under several control modes validate the approach. (authors). 12 refs., 6 figs

  5. Finite mixture models for sensitivity analysis of thermal hydraulic codes for passive safety systems analysis

    Energy Technology Data Exchange (ETDEWEB)

    Di Maio, Francesco, E-mail: francesco.dimaio@polimi.it [Energy Department, Politecnico di Milano, Via La Masa 34, 20156 Milano (Italy); Nicola, Giancarlo [Energy Department, Politecnico di Milano, Via La Masa 34, 20156 Milano (Italy); Zio, Enrico [Energy Department, Politecnico di Milano, Via La Masa 34, 20156 Milano (Italy); Chair on System Science and Energetic Challenge Fondation EDF, Ecole Centrale Paris and Supelec, Paris (France); Yu, Yu [School of Nuclear Science and Engineering, North China Electric Power University, 102206 Beijing (China)

    2015-08-15

    Highlights: • Uncertainties of TH codes affect the system failure probability quantification. • We present Finite Mixture Models (FMMs) for sensitivity analysis of TH codes. • FMMs approximate the pdf of the output of a TH code with a limited number of simulations. • The approach is tested on a Passive Containment Cooling System of an AP1000 reactor. • The novel approach overcomes the results of a standard variance decomposition method. - Abstract: For safety analysis of Nuclear Power Plants (NPPs), Best Estimate (BE) Thermal Hydraulic (TH) codes are used to predict system response in normal and accidental conditions. The assessment of the uncertainties of TH codes is a critical issue for system failure probability quantification. In this paper, we consider passive safety systems of advanced NPPs and present a novel approach of Sensitivity Analysis (SA). The approach is based on Finite Mixture Models (FMMs) to approximate the probability density function (i.e., the uncertainty) of the output of the passive safety system TH code with a limited number of simulations. We propose a novel Sensitivity Analysis (SA) method for keeping the computational cost low: an Expectation Maximization (EM) algorithm is used to calculate the saliency of the TH code input variables for identifying those that most affect the system functional failure. The novel approach is compared with a standard variance decomposition method on a case study considering a Passive Containment Cooling System (PCCS) of an Advanced Pressurized reactor AP1000.

  6. Experimental studies of thermo-hydraulic processes during passive safety systems operation in new WWER NPP projects

    International Nuclear Information System (INIS)

    Morozov, A.V.; Remizov, O.V.; Kalyakin, D.S.

    2014-01-01

    The results of experimental study of thermal-hydraulic processes during operation of the passive safety systems of WWER reactors of new generation are given. The interaction processes of counter flows of saturated steam and cold water in vertical steam-line of the auxiliary passive core reflood system from secondary hydraulic accumulator are studied. The peculiarities of undeveloped boiling on single horizontal tube heating by steam and steam-gas mixture, which is character for WWER steam generator condensing mode, are investigated [ru

  7. Hydraulic considerations in deigning an oil spill control system for stormwater outfall

    Energy Technology Data Exchange (ETDEWEB)

    Li, J.; Chui, J. [Ryerson University, Dept. of Civil Engineering, Toronto, ON (Canada)

    2004-09-01

    An oil spill control system, consisting of an on-line triangular lateral diversion channel and an off-line tilted-plate oil-water separator, installed in the Humber Creek sub-watershed in Toronto, Ontario, is described. The area, which rims the shore of Lake Ontario from the Niagara Peninsula to Oshawa, is heavily industrialized, and is home to some 5.6 million people. During the 1990s an estimated average of 1050 litre/day of petroleum products have escaped into the environment; soil contamination occurred in 55 per cent of the cases, and water-course pollution in 31 per cent. A physical model study was conducted at the National Water Research Institute's Hydraulic Laboratory in Burlington, Ontario, to investigate the hydraulic behaviour of the spill control system under different flow conditions. Results of the investigation confirmed the design conveyance capacity of the lateral diversion channel; it also confirmed that floating objects and settleable solids could be trapped inside the oil-water separator under various flow conditions. Because the angled diversion channel was observed to cause a vortex action inside the first and second chambers of the separator and increase the potential for trapped oil to be flushed out, it is recommended that the final design of the spill control system pay special attention to the vortex problem. One potential solution for this problem may be the installation of baffles at the second chamber of the oil-water separator. It was further recommended that the design should also address the flushing of trapped oil during wet weather conditions. 23 refs., 2 tabs., 10 figs.

  8. Switching robust control synthesis for teleoperation via dwell time conditions

    NARCIS (Netherlands)

    López Martínez, C.A.; van de Molengraft, M.J.G.; Steinbuch, M.; Auvray, M.; Duriez, C.

    2014-01-01

    Control design for bilateral teleoperation is still an open problem, given that it is desirable to meet a proper balance in the inherent trade-off between transparency and stability. We propose the use of switching robust control, in which smooth switching among controllers is achieved by the

  9. Recent advances in remote coal mining machine sensing, guidance, and teleoperation

    Energy Technology Data Exchange (ETDEWEB)

    Ralston, J C; Hainsworth, D W; Reid, D C; Anderson, D L; McPhee, R J [CSIRO Exploration & Minerals, Kenmore, Qld. (Australia)

    2001-10-01

    Some recent applications of sensing, guidance and telerobotic technology in the coal mining industry are presented. Of special interest is the development of semi or fully autonomous systems to provide remote guidance and communications for coal mining equipment. The use of radar and inertial based sensors are considered in an attempt to solve the horizontal and lateral guidance problems associated with mining equipment automation. Also described is a novel teleoperated robot vehicle with unique communications capabilities, called the Numbat, which is used in underground mine safety and reconnaissance missions.

  10. Determination of travel time capsules hydraulic rabbit system channel 2 (JBB 02) at the G.A. Siwabessy reactor

    International Nuclear Information System (INIS)

    Sutrisno; Sunarko; Elisabeth Ratnawati

    2014-01-01

    Rabbit System is an irradiation facilities used for research on neutron activation. There are two types of Rabbit Systems including 4 pieces Rabbit Hydraulic Systems (JBB01 - JBB04) and Rabbit Pneumatic Systems (JBB05). Irradiation facility of hydraulic rabbit system is irradiation facility with media delivery in the form of capsules. Travel time delivery and the return capsule in hydraulic rabbit system facility depends on the magnitude of the observed flow rate on flow measurement instruments for water circulation. To determine the travel time should be observed flow rates varied by opening the valve (JBB02 AA007), so the delivery time and the return capsule in the rabbit facility hydraulic system can be known. Observations made from the results obtained travel time capsule delivery poly ethylene (PE) of the isotope cell to irradiation position appropriate to the graph Y=57,67 e -0,139.x , for capsules Aluminum (Al) appropriate graph Y= 68,178 e -0,189.x , while the travel time of the return capsule poly ethylene (PE) from the irradiation position to the isotope cell appropriate graph Y=56,459 e -13.x , for capsules Al appropriate graph Y= 65,51 e -183.x this result can be used as a reference for determining the travel time desired by the operator. (author)

  11. Mine drivage in hydraulic mines

    Energy Technology Data Exchange (ETDEWEB)

    Ehkber, B Ya

    1983-09-01

    From 20 to 25% of labor cost in hydraulic coal mines falls on mine drivage. Range of mine drivage is high due to the large number of shortwalls mined by hydraulic monitors. Reducing mining cost in hydraulic mines depends on lowering drivage cost by use of new drivage systems or by increasing efficiency of drivage systems used at present. The following drivage methods used in hydraulic mines are compared: heading machines with hydraulic haulage of cut rocks and coal, hydraulic monitors with hydraulic haulage, drilling and blasting with hydraulic haulage of blasted rocks. Mining and geologic conditions which influence selection of the optimum mine drivage system are analyzed. Standardized cross sections of mine roadways driven by the 3 methods are shown in schemes. Support systems used in mine roadways are compared: timber supports, roof bolts, roof bolts with steel elements, and roadways driven in rocks without a support system. Heading machines (K-56MG, GPKG, 4PU, PK-3M) and hydraulic monitors (GMDTs-3M, 12GD-2) used for mine drivage are described. Data on mine drivage in hydraulic coal mines in the Kuzbass are discussed. From 40 to 46% of roadways are driven by heading machines with hydraulic haulage and from 12 to 15% by hydraulic monitors with hydraulic haulage.

  12. Experiments in augmented teleoperation for mobile robots: I

    Science.gov (United States)

    Witus, Gary; Hunt, Shawn; Ellis, R. Darrin

    2007-04-01

    Teleoperated mobile robots are beginning to be used for a variety of tasks that require movement in close quarters in the vicinity of moving and parked vehicles, buildings and other man-made structures, and the target object for inspection or manipulation. The robots must be close enough to deploy short-range sensors and manipulators, and must be able to maneuver without potentially damaging collisions. Teleoperation is fatiguing and stressful even without the requirement for close positioning. In cooperation with the TARDEC Robotic Mobility Laboratory (TRML), we are investigating approaches to reduce workload and improve performance through augmented teleoperation. Human-robot interfaces for teleoperation commonly provide two degrees-of-freedom (DoF) motion control with visual feedback from an on-board egocentric camera and no supplemental distance or orientation cueing. This paper reports on the results of preliminary experiments to assess the effects on man-machine task performance of several options for augmented teleoperation: (a) 3 DoF motion control (rotation and omni-directional translation) versus 2 DoF control (rotation and forward/reverse motion), (b) on-board egocentric camera versus fixed-position overwatch camera versus dual egocentric-and-overwatch cameras, and (c) presence or absence of distance and orientation visual cueing. We examined three dimensions of performance: completion time, spatial accuracy, and workspace area. We investigated effects on the expected completion time and on the variance in completion time. Spatial accuracy had three components: orientation, aimpoint, and distance. We collected performance under different task conditions: (a) three position-and-orientation tolerance or accuracy objectives, and (b) four travel distances between successive inspection points. We collected data from three subjects. We analyzed the main effects and conditional interaction effects among the teleoperation options and task conditions. We were

  13. Model predictive control-based dynamic coordinate strategy for hydraulic hub-motor auxiliary system of a heavy commercial vehicle

    Science.gov (United States)

    Zeng, Xiaohua; Li, Guanghan; Yin, Guodong; Song, Dafeng; Li, Sheng; Yang, Nannan

    2018-02-01

    Equipping a hydraulic hub-motor auxiliary system (HHMAS), which mainly consists of a hydraulic variable pump, a hydraulic hub-motor, a hydraulic valve block and hydraulic accumulators, with part-time all-wheel-drive functions improves the power performance and fuel economy of heavy commercial vehicles. The coordinated control problem that occurs when HHMAS operates in the auxiliary drive mode is addressed in this paper; the solution to this problem is the key to the maximization of HHMAS. To achieve a reasonable distribution of the engine power between mechanical and hydraulic paths, a nonlinear control scheme based on model predictive control (MPC) is investigated. First, a nonlinear model of HHMAS with vehicle dynamics and tire slip characteristics is built, and a controller-design-oriented model is simplified. Then, a steady-state feedforward + dynamic MPC feedback controller (FMPC) is designed to calculate the control input sequence of engine torque and hydraulic variable pump displacement. Finally, the controller is tested in the MATLAB/Simulink and AMESim co-simulation platform and the hardware-in-the-loop experiment platform, and its performance is compared with that of the existing proportional-integral-derivative controller and the feedforward controller under the same conditions. Simulation results show that the designed FMPC has the best performance, and control performance can be guaranteed in a real-time environment. Compared with the tracking control error of the feedforward controller, that of the designed FMPC is decreased by 85% and the traction efficiency performance is improved by 23% under a low-friction-surface condition. Moreover, under common road conditions for heavy commercial vehicles, the traction force can increase up to 13.4-15.6%.

  14. Shallow water effects on wave energy converters with hydraulic power take-off system

    Directory of Open Access Journals (Sweden)

    Ashank Sinha

    2016-12-01

    Full Text Available The effect of water depth on the power absorption by a single heaving point absorber wave energy converter, attached to a hydraulic power take-off system, is simulated and analysed. The wave energy flux for changing water depths is presented and the study is carried out at a location in the north-west Portuguese coast, favourable for wave power generation. This analysis is based on a procedure to modify the wave spectrum as the water depth reduces, namely, the TMA spectrum (Transformation spectrum. The present study deals with the effect of water depth on the spectral shape and significant wave heights. The reactive control strategy, which includes an external damping coefficient and a negative spring term, is used to maximize power absorption by the wave energy converter. The presented work can be used for making decisions regarding the best water depth for the installation of point absorber wave energy converters in the Portuguese nearshore.

  15. Control strategy of hydraulic/electric synergy system in heavy hybrid vehicles

    International Nuclear Information System (INIS)

    Sun Hui; Yang Lifu; Jing Junqing; Luo Yanling

    2011-01-01

    Energy consumption and exhaust emissions of hybrid vehicles strongly depend on the energy storage source and the applied control strategy. Heavy vehicles have the characteristics of frequent starts/stops and significant amounts of braking energy, which needs to find a more efficient way to store and use the high power flow. A novel parallel hybrid vehicles configuration consisting of hydraulic/electric synergy system is proposed to overcome the existing drawbacks of single energy storage source in heavy hybrid vehicles. A control strategy combining a logic threshold approach and key parameters optimization algorithm is developed to achieve acceptable vehicle performance while simultaneously maximizing engine fuel economy and maintaining the battery state of charge in its rational operation range at all times. The experimental and simulation results illustrate the potential of the proposed control strategy in terms of fuel economy and in keeping the deviations of SOC at high efficiency range.

  16. Special Pattern of Hydraulic Dissipation System used for Isolation of Bridges against Earthquakes

    Directory of Open Access Journals (Sweden)

    Fanel Dorel Scheaua

    2017-11-01

    Full Text Available The construction sector experienced a constant evolution over time, so that today structures can be made to withstand earthquakes of considerable magnitude. This can be achieved by using various methods to counteract the direct earthquake destructive action on the construction. The methods consist of using insulation systems or earthquake energy dissipation devices that have occurred in time, being in constant development and improvement. In this paper it is presented a model of a hydraulic dissipation device as an assembly of a linear motor with fluid, which can be mounted to the structural frame of a bridge, in order to take some of the earthquake energy when it occurs, so that the bridge superstructure is protected against from high magnitude damages

  17. Control strategy of hydraulic/electric synergy system in heavy hybrid vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Sun Hui; Yang Lifu; Junqing Jing; Yanling Luo [Jiangsu Xuzhou Construction Machinery Research Institute, Jiangsu (China)

    2011-01-15

    Energy consumption and exhaust emissions of hybrid vehicles strongly depend on the energy storage source and the applied control strategy. Heavy vehicles have the characteristics of frequent starts/stops and significant amounts of braking energy, which needs to find a more efficient way to store and use the high power flow. A novel parallel hybrid vehicles configuration consisting of hydraulic/electric synergy system is proposed to overcome the existing drawbacks of single energy storage source in heavy hybrid vehicles. A control strategy combining a logic threshold approach and key parameters optimization algorithm is developed to achieve acceptable vehicle performance while simultaneously maximizing engine fuel economy and maintaining the battery state of charge in its rational operation range at all times. The experimental and simulation results illustrate the potential of the proposed control strategy in terms of fuel economy and in keeping the deviations of SOC at high efficiency range. (author)

  18. Transient thermal-hydraulic characteristics analysis software for PWR nuclear power systems

    International Nuclear Information System (INIS)

    Wu Yingwei; Zhuang Chengjun; Su Guanghui; Qiu Suizheng

    2010-01-01

    A point reactor neutron kinetics model, a two-phase drift-flow U-tube steam generator model, an advanced non-equilibrium three regions pressurizer model, and a passive emergency core decay heat-removed system model are adopted in the paper to develop the computerized analysis code for PWR transient thermal-hydraulic characteristics, by Compaq Visual Fortran 6.0 language. Visual input, real-time processing and dynamic visualization output are achieved by Microsoft Visual Studio. NET language. The reliability verification of the soft has been conducted by RELAP 5, and the verification results show that the software is with high calculation precision, high calculation speed, modern interface, luxuriant functions and strong operability. The software was applied to calculate the transient accident conditions for QSNP, and the analysis results are significant to the practical engineering applications. (authors)

  19. Crosshole investigations - details of the construction and operation of the hydraulic testing system

    International Nuclear Information System (INIS)

    Holmes, D.; Sehlstedt, M.

    1986-05-01

    The Crosshole Programme, part of the international Stripa Project is designed to evaluate the effectiveness of various remote-sensing techniques in characterising a rock mass around a repository. A multidisciplinary approach has been adopted in which various geophysical, mapping and hydrogeological methods are used to determine the location and characteristics of significant features in the rock. The Programme utilises six boreholes drilled in a fan array from the 360 metre level in the Stripa Mine, Sweden. The hydrogeological component of the work uses single and crosshole testing methods, including sinusoidal pressure testing, to locate fractures and characterise groundwater movement within them. Crosshole methods use packers to isolate portions of two boreholes which both intersect a significant feature in the rock mass. Hydraulic signals are generated in one isolated section and received in the other borehole. This report describes the design and operation of the computer-controlled system which automatically performs the hydrogeological tests. (author) 3 refs., 13 figs

  20. Crosshole investigations - Details of the construction and operation of the hydraulic testing system

    International Nuclear Information System (INIS)

    Holmes, D.; Sehlstedt, M.

    1986-05-01

    The Crosshole Programme, part of the international Stripa Project is designed to evaluate the effectiveness of various remote-sensing techniques in characterizing a rock mass around a repository. A multidisciplinary approach has been adopted in which various geophysical, mapping and hydrogeological methods are used to determine the location and characteristics of significant features in the rock. The Programme utilises six boreholes drilled in a fan array from the 360 metre level in the Stripa Mine, Sweden. The hydrogeological component of the work uses single and crosshole testing methods, including sinusoidal pressure testing, to locate fractures and characterize groundwater movement within them. Crosshole methods use packers to isolate portions of two boreholes which both intersect a significant feature in the rock mass. Hydraulic signals are generated in one isolated section and received in the other borehole. This report describes the design and operation of the computer-controlled system which automatically performs the hydrogeological tests. (authors)

  1. Development of Chelating Agent-Based Polymeric Gel System for Hydraulic Fracturing

    Directory of Open Access Journals (Sweden)

    Muhammad Shahzad Kamal

    2018-06-01

    Full Text Available Hydraulic Fracturing is considered to be one of the most important stimulation methods. Hydraulic Fracturing is carried out by inducing fractures in the formation to create conductive pathways for the flow of hydrocarbon. The pathways are kept open either by using proppant or by etching the fracture surface using acids. A typical fracturing fluid usually consists of a gelling agent (polymers, cross-linkers, buffers, clay stabilizers, gel stabilizers, biocide, surfactants, and breakers mixed with fresh water. The numerous additives are used to prevent damage resulting from such operations, or better yet, enhancing it beyond just the aim of a fracturing operation. This study introduces a new smart fracturing fluid system that can be either used for proppant fracturing (high pH or acid fracturing (low pH operations in sandstone formations. The fluid system consists of glutamic acid diacetic acid (GLDA that can replace several additives, such as cross-linker, breaker, biocide, and clay stabilizer. GLDA is also a surface-active fluid that will reduce the interfacial tension eliminating the water-blockage effect. GLDA is compatible and stable with sea water, which is advantageous over the typical fracturing fluid. It is also stable in high temperature reservoirs (up to 300 °F and it is also environmentally friendly and readily biodegradable. The new fracturing fluid formulation can withstand up to 300 °F of formation temperature and is stable for about 6 h under high shearing rates (511 s−1. The new fracturing fluid formulation breaks on its own and the delay time or the breaking time can be controlled with the concentrations of the constituents of the fluid (GLDA or polymer. Coreflooding experiments were conducted using Scioto and Berea sandstone cores to evaluate the effectiveness of the developed fluid. The flooding experiments were in reasonable conformance with the rheological properties of the developed fluid regarding the thickening and

  2. Digital switched hydraulics

    Science.gov (United States)

    Pan, Min; Plummer, Andrew

    2018-06-01

    This paper reviews recent developments in digital switched hydraulics particularly the switched inertance hydraulic systems (SIHSs). The performance of SIHSs is presented in brief with a discussion of several possible configurations and control strategies. The soft switching technology and high-speed switching valve design techniques are discussed. Challenges and recommendations are given based on the current research achievements.

  3. Vibration of hydraulic machinery

    CERN Document Server

    Wu, Yulin; Liu, Shuhong; Dou, Hua-Shu; Qian, Zhongdong

    2013-01-01

    Vibration of Hydraulic Machinery deals with the vibration problem which has significant influence on the safety and reliable operation of hydraulic machinery. It provides new achievements and the latest developments in these areas, even in the basic areas of this subject. The present book covers the fundamentals of mechanical vibration and rotordynamics as well as their main numerical models and analysis methods for the vibration prediction. The mechanical and hydraulic excitations to the vibration are analyzed, and the pressure fluctuations induced by the unsteady turbulent flow is predicted in order to obtain the unsteady loads. This book also discusses the loads, constraint conditions and the elastic and damping characters of the mechanical system, the structure dynamic analysis, the rotor dynamic analysis and the system instability of hydraulic machines, including the illustration of monitoring system for the instability and the vibration in hydraulic units. All the problems are necessary for vibration pr...

  4. Cradle modification for hydraulic ram

    International Nuclear Information System (INIS)

    Koons, B.M.

    1995-01-01

    The analysis of the cradle hydraulic system considers stress, weld strength, and hydraulic forces required to lift and support the cradle/pump assembly. The stress and weld strength of the cradle modifications is evaluated to ensure that they meet the requirements of the American Institute for Steel Construction (AISC 1989). The hydraulic forces are evaluated to ensure that the hydraulic system is capable of rotating the cradle and pump assembly to the vertical position (between 70 degrees and 90 degrees)

  5. Problems of the Starting and Operating of Hydraulic Components and Systems in Low Ambient Temperature (Part IV

    Directory of Open Access Journals (Sweden)

    Jasiński Ryszard

    2017-09-01

    Full Text Available Designers of hydraulically driven machines and devices are obliged to ensure during design process their high service life with taking into account their operational conditions. Some of the machines may be started in low ambient temperature and even in thermal shock conditions (due to delivering hot working medium to cold components. In order to put such devices into operation appropriate investigations, including experimental ones - usually very expensive and time-consuming, are carried out. For this reason numerical calculations can be used to determine serviceability of a hydraulic component or system operating in thermal shock conditions. Application of numerical calculation methods is much less expensive in comparison to experimental ones. This paper presents a numerical calculation method which makes it possible to solve issues of heat exchange in elements of investigated hydraulic components by using finite elements method. For performing the simulations the following data are necessary: ambient temperature, oil temperature, heat transfer coefficient between oil and surfaces of elements, as well as areas of surfaces being in contact with oil. By means of computer simulation method values of clearance between cooperating elements as well as ranges of parameters of correct and incorrect operation of hydraulic components have been determined. In this paper results of computer simulation of some experimentally tested hydraulic components such as axial piston pump and proportional spool valve, are presented. The computer simulation results were compared with the experimental ones and high conformity was obtained.

  6. Vibration characteristics of a hydraulic generator unit rotor system with parallel misalignment and rub-impact

    Energy Technology Data Exchange (ETDEWEB)

    Huang, Zhiwei; Zhou, Jianzhong; Yang, Mengqi; Zhang, Yongchuan [Huazhong University of Science and Technology, College of Hydraulic and Digitalization Engineering, Wuhan, Hubei Province (China)

    2011-07-15

    The object of this research aims at the hydraulic generator unit rotor system. According to fault problems of the generator rotor local rubbing caused by the parallel misalignment and mass eccentricity, a dynamic model for the rotor system coupled with misalignment and rub-impact is established. The dynamic behaviors of this system are investigated using numerical integral method, as the parallel misalignment, mass eccentricity and bearing stiffness vary. The nonlinear dynamic responses of the generator rotor and turbine rotor with coupling faults are analyzed by means of bifurcation diagrams, Poincare maps, axis orbits, time histories and amplitude spectrum diagrams. Various nonlinear phenomena in the system, such as periodic, three-periodic and quasi-periodic motions, are studied with the change of the parallel misalignment. The results reveal that vibration characteristics of the rotor system with coupling faults are extremely complex and there are some low frequencies with large amplitude in the 0.3-0.4 x components. As the increase in mass eccentricity, the interval of nonperiodic motions will be continuously moved forward. It suggests that the reduction in mass eccentricity or increase in bearing stiffness could preclude nonlinear vibration. These might provide some important theory references for safety operating and exact identification of the faults in rotating machinery. (orig.)

  7. Conceptual design of small-sized HTGR system (3). Core thermal and hydraulic design

    International Nuclear Information System (INIS)

    Inaba, Yoshitomo; Sato, Hiroyuki; Goto, Minoru; Ohashi, Hirofumi; Tachibana, Yukio

    2012-06-01

    The Japan Atomic Energy Agency has started the conceptual designs of small-sized High Temperature Gas-cooled Reactor (HTGR) systems, aiming for the 2030s deployment into developing countries. The small-sized HTGR systems can provide power generation by steam turbine, high temperature steam for industry process and/or low temperature steam for district heating. As one of the conceptual designs in the first stage, the core thermal and hydraulic design of the power generation and steam supply small-sized HTGR system with a thermal power of 50 MW (HTR50S), which was a reference reactor system positioned as a first commercial or demonstration reactor system, was carried out. HTR50S in the first stage has the same coated particle fuel as HTTR. The purpose of the design is to make sure that the maximum fuel temperature in normal operation doesn't exceed the design target. Following the design, safety analysis assuming a depressurization accident was carried out. The fuel temperature in the normal operation and the fuel and reactor pressure vessel temperatures in the depressurization accident were evaluated. As a result, it was cleared that the thermal integrity of the fuel and the reactor coolant pressure boundary is not damaged. (author)

  8. Soil Systems for Upscaling Saturated Hydraulic Conductivity (Ksat) for Hydrological Modeling in the Critical Zone

    Science.gov (United States)

    Successful hydrological model predictions depend on appropriate framing of scale and the spatial-temporal accuracy of input parameters describing soil hydraulic properties. Saturated soil hydraulic conductivity (Ksat) is one of the most important properties influencing water movement through soil un...

  9. Teleoperation of steerable flexible needles by combining kinesthetic and vibratory feedback.

    Science.gov (United States)

    Pacchierotti, Claudio; Abayazid, Momen; Misra, Sarthak; Prattichizzo, Domenico

    2014-01-01

    Needle insertion in soft-tissue is a minimally invasive surgical procedure that demands high accuracy. In this respect, robotic systems with autonomous control algorithms have been exploited as the main tool to achieve high accuracy and reliability. However, for reasons of safety and responsibility, autonomous robotic control is often not desirable. Therefore, it is necessary to focus also on techniques enabling clinicians to directly control the motion of the surgical tools. In this work, we address that challenge and present a novel teleoperated robotic system able to steer flexible needles. The proposed system tracks the position of the needle using an ultrasound imaging system and computes needle's ideal position and orientation to reach a given target. The master haptic interface then provides the clinician with mixed kinesthetic-vibratory navigation cues to guide the needle toward the computed ideal position and orientation. Twenty participants carried out an experiment of teleoperated needle insertion into a soft-tissue phantom, considering four different experimental conditions. Participants were provided with either mixed kinesthetic-vibratory feedback or mixed kinesthetic-visual feedback. Moreover, we considered two different ways of computing ideal position and orientation of the needle: with or without set-points. Vibratory feedback was found more effective than visual feedback in conveying navigation cues, with a mean targeting error of 0.72 mm when using set-points, and of 1.10 mm without set-points.

  10. Study of the performance of four repairing material systems for hydraulic structures of concrete dams

    Directory of Open Access Journals (Sweden)

    Kormann A. C. M.

    2003-01-01

    Full Text Available Four types of repairing materials are studied as function of either a conventional concrete or a reference-concrete (RefC, these are: polymer-modified cement mortar (PMor, steel fiber concrete (SFco, epoxy mortar (EMor and silica fume mortar (SFmo, to be applied in hydraulic structures surfaces subjected to a high velocity water flow. Besides the mechanical requests and wearing resistance of hydraulic concrete dam structures, especially the spillway surfaces, the high solar radiation, the environmental temperature and wet and dry cycles, contribute significantly to the reduction of their lifespan. RefC and the SFco were developed based on a usual concrete mixture used in slabs of spillways. The average RefC mixture used was 1: 1.61: 2.99: 0.376, with Pozzolan-modified Portland cement consumption of 425 kg/m³. EMor and PMor mixtures followed the information given by the manufacturers and lab experience. Tests on concrete samples were carried out in laboratory simulating normally found environmental situations in order to control the mechanical resistance and the aging imposed conditions, such as solar radiation and humidity. Also, physicochemical characterizing tests were made for all used materials. From the analyzed results, two of them presented a higher performance: the EMor and SFmo. SFco presented good adherence to the RefC and good mechanical performance. However, it also presented apparent metal corrosion in humidity tests, being indicated for use, with caution, as an intermediate layer in underwater repairs. In a general classification, considering all tests, including their field applications, the better performance material systems were EMor- SFmo> SFco> PMor.

  11. Development of whole core thermal-hydraulic analysis program ACT. 3. Coupling core module with primary heat transport system module

    International Nuclear Information System (INIS)

    Ohtaka, Masahiko; Ohshima, Hiroyuki

    1998-10-01

    A whole core thermal-hydraulic analysis program ACT is being developed for the purpose of evaluating detailed in-core thermal hydraulic phenomena of fast reactors including inter-wrapper flow under various reactor operation conditions. In this work, the core module as a main part of the ACT developed last year, which simulates thermal-hydraulics in the subassemblies and the inter-subassembly gaps, was coupled with an one dimensional plant system thermal-hydraulic analysis code LEDHER to simulate transients in the primary heat transport system and to give appropriate boundary conditions to the core model. The effective algorithm to couple these two calculation modules was developed, which required minimum modification of them. In order to couple these two calculation modules on the computing system, parallel computing technique using PVM (Parallel Virtual Machine) programming environment was applied. The code system was applied to analyze an out-of-pile sodium experiment simulating core with 7 subassemblies under transient condition for code verification. It was confirmed that the analytical results show a similar tendency of experimental results. (author)

  12. Thermal and hydraulic analyses of TFTR cooling water system and magnetic field coils

    International Nuclear Information System (INIS)

    Lee, A.Y.

    1975-10-01

    The TFTR toroidal field coils, ohmic heating, hybrid and equilibrium field coils are cooled by water from the machine area cooling water system. The system has the following major equipment and capacities: flow rate of 3600 gpm; ballast tank volume of 5500 gal; pumps of 70.4 m head; chiller refrigeration rating of 3300 tons and connecting pipe of 45.7 cm I.D. The performance of the closed loop system was analyzed and found to be adequate for the thermal loads. The field coils were analyzed with detailed thermal and hydraulic models, including a simulation of the complete water cooling loop. Under the nominal operating mode of one second of toroidal field flat top time and 300 seconds of pulse cycle time, the maximum temperature for the TF coils is 53 0 C; for the OH coils 46 0 C and for the EF coils 39 0 C, which are well below the coil design limit of 120 0 C. The maximum TF coil coolant temperature is 33 0 C which is below the coolant design limit of 100 0 C. The overall pressure loss of the system is below 6.89 x 10 5 Pa (100 psi). With the given chiller refrigeration capacity, the TF coils can be operated to yield up to 4 seconds of flat top time. The TF coils can be operated on a steady state basis at up to 20% of the pulsed duty design current rating of 7.32 kA/coil

  13. A versatile hydraulically operated respiratory servo system for ventilation and lung function testing.

    Science.gov (United States)

    Meyer, M; Slama, H

    1983-09-01

    A description is given of the design and performance of a microcomputer-controlled respiratory servo system that incorporates the characteristics of a mechanical ventilator and also allows the performance of a multitude of test procedures required for assessment of pulmonary function in paralyzed animals. The device consists of a hydraulically operated cylinder-piston assembly and solenoid valves that direct inspiratory and expiratory gas flow and also enable switching to different test gas sources. The system operates as a volume-flow-preset ventilator but may be switched to other operational cycling modes. Gas flow rates may be constant or variable. The system operates as an assister-controller and, combined with a gas analyzer, can function as a "demand" ventilator allowing for set-point control of end-tidal PCO2 and PO2. Complex breathing maneuvers for a variety of single- and multiple-breath lung function tests are automatically performed. Because of the flexibility in selection and timing of respiratory parameters, the system is particularly suitable for respiratory gas studies.

  14. Hydraulic analysis of emergency core cooling system of reactor RP-10

    International Nuclear Information System (INIS)

    Gallardo Padilla, Alberto; Moreyra, Geraldo Lazaro; Nieto Malpartida, Manuel

    2002-01-01

    For design of the Emergency Core Cooling System (ECCS) of reactor RP-10 from Peru is very important the hydraulic analysis of this system. In this paper, based on a basic design of the ECCS are showed the conservation equations, the parabolic movement, being deduced from them the equations to evaluate regarding the time the variables to consider in the design: level of the emergency water in the reserve tank, flow, reaches of sprinkle, etc. In this analysis is considered a quasi-stationary flow for simplify the calculation. The developed model was implemented in a computer program denominated ECCSRP10, in language Fortran 77, whose results are shown in form graph. From analysis of results we can conclude that for the system of pipe of the ECCS the appropriate diameter is of 2 , and that the maximum flow possible to give is of 5 m 3 /h for to assure a minimum time of refrigeration of 150000 seconds. Experimental tests were made in a prototype of the pipe system being demonstrated that the obtained results of the simplified calculation agree with the values registered with a global approach of 10%. (author)

  15. An energy-saving nonlinear position control strategy for electro-hydraulic servo systems.

    Science.gov (United States)

    Baghestan, Keivan; Rezaei, Seyed Mehdi; Talebi, Heidar Ali; Zareinejad, Mohammad

    2015-11-01

    The electro-hydraulic servo system (EHSS) demonstrates numerous advantages in size and performance compared to other actuation methods. Oftentimes, its utilization in industrial and machinery settings is limited by its inferior efficiency. In this paper, a nonlinear backstepping control algorithm with an energy-saving approach is proposed for position control in the EHSS. To achieve improved efficiency, two control valves including a proportional directional valve (PDV) and a proportional relief valve (PRV) are used to achieve the control objectives. To design the control algorithm, the state space model equations of the system are transformed to their normal form and the control law through the PDV is designed using a backstepping approach for position tracking. Then, another nonlinear set of laws is derived to achieve energy-saving through the PRV input. This control design method, based on the normal form representation, imposes internal dynamics on the closed-loop system. The stability of the internal dynamics is analyzed in special cases of operation. Experimental results verify that both tracking and energy-saving objectives are satisfied for the closed-loop system. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  16. Validation of the thermal-hydraulic system code ATHLET based on selected pressure drop and void fraction BFBT tests

    Energy Technology Data Exchange (ETDEWEB)

    Di Marcello, Valentino, E-mail: valentino.marcello@kit.edu; Escalante, Javier Jimenez; Espinoza, Victor Sanchez

    2015-07-15

    Highlights: • Simulation of BFBT-BWR steady-state and transient tests with ATHLET. • Validation of thermal-hydraulic models based on pressure drops and void fraction measurements. • TRACE system code is used for the comparative study. • Predictions result in a good agreement with the experiments. • Discrepancies are smaller or comparable with respect to the measurements uncertainty. - Abstract: Validation and qualification of thermal-hydraulic system codes based on separate effect tests are essential for the reliability of numerical tools when applied to nuclear power plant analyses. To this purpose, the Institute for Neutron Physics and Reactor Technology (INR) at the Karlsruhe Institute of Technology (KIT) is involved in various validation and qualification activities of different CFD, sub-channel and system codes. In this paper, the capabilities of the thermal-hydraulic code ATHLET are assessed based on the experimental results provided within the NUPEC BFBT benchmark related to key Boiling Water Reactors (BWR) phenomena. Void fraction and pressure drops measurements in the BFBT bundle performed under steady-state and transient conditions which are representative for e.g. turbine trip and recirculation pump trip events, are compared with the numerical results of ATHLET. The comparison of code predictions with the BFBT data has shown good agreement given the experimental uncertainty and the results are consistent with the trends obtained with similar thermal-hydraulic codes.

  17. Hydraulic Geometry, GIS and Remote Sensing, Techniques against Rainfall-Runoff Models for Estimating Flood Magnitude in Ephemeral Fluvial Systems

    Directory of Open Access Journals (Sweden)

    Rafael Garcia-Lorenzo

    2010-11-01

    Full Text Available This paper shows the combined use of remotely sensed data and hydraulic geometry methods as an alternative to rainfall-runoff models. Hydraulic geometric data and boolean images of water sheets obtained from satellite images after storm events were integrated in a Geographical Information System. Channel cross-sections were extracted from a high resolution Digital Terrain Model (DTM and superimposed on the image cover to estimate the peak flow using HEC-RAS. The proposed methodology has been tested in ephemeral channels (ramblas on the coastal zone in south-eastern Spain. These fluvial systems constitute an important natural hazard due to their high discharges and sediment loads. In particular, different areas affected by floods during the period 1997 to 2009 were delimited through HEC-GeoRAs from hydraulic geometry data and Landsat images of these floods (Landsat‑TM5 and Landsat-ETM+7. Such an approach has been validated against rainfall-surface runoff models (SCS Dimensionless Unit Hydrograph, SCSD, Témez gamma HU Tγ and the Modified Rational method, MRM comparing their results with flood hydrographs of the Automatic Hydrologic Information System (AHIS in several ephemeral channels in the Murcia Region. The results obtained from the method providing a better fit were used to calculate different hydraulic geometry parameters, especially in residual flood areas.

  18. Hydraulic structures

    CERN Document Server

    Chen, Sheng-Hong

    2015-01-01

    This book discusses in detail the planning, design, construction and management of hydraulic structures, covering dams, spillways, tunnels, cut slopes, sluices, water intake and measuring works, ship locks and lifts, as well as fish ways. Particular attention is paid to considerations concerning the environment, hydrology, geology and materials etc. in the planning and design of hydraulic projects. It also considers the type selection, profile configuration, stress/stability calibration and engineering countermeasures, flood releasing arrangements and scouring protection, operation and maintenance etc. for a variety of specific hydraulic structures. The book is primarily intended for engineers, undergraduate and graduate students in the field of civil and hydraulic engineering who are faced with the challenges of extending our understanding of hydraulic structures ranging from traditional to groundbreaking, as well as designing, constructing and managing safe, durable hydraulic structures that are economical ...

  19. Passive impedance-based second-order sliding mode control for non-linear teleoperators

    Directory of Open Access Journals (Sweden)

    Luis G García-Valdovinos

    2017-02-01

    Full Text Available Bilateral teleoperation systems have attracted significant attention in the last decade mainly because of technological advancements in both the communication channel and computers performance. In addition, non-linear multi-degree-of-freedom bilateral teleoperators along with state observers have become an open research area. In this article, a model-free exact differentiator is used to estimate the full state along with a chattering-free second-order sliding mode controller to guarantee a robust impedance tracking under both constant and an unknown time delay of non-linear multi-degree-of-freedom robots. The robustness of the proposed controller is improved by introducing a change of coordinates in terms of a new nominal reference similar to that used in adaptive control theory. Experimental results that validate the predicted behaviour are presented and discussed using a Phantom Premium 1.0 as the master robot and a Catalyst-5 virtual model as the slave robot. The dynamics of the Catalyst-5 system is solved online.

  20. Suppression of Squeal Noise Excited by the Pressure Pulsation from the Flapper-Nozzle Valve inside a Hydraulic Energy System

    Directory of Open Access Journals (Sweden)

    Meng Chen

    2018-04-01

    Full Text Available Squeal noise often occurs in a two-stage electrohydraulic servo-valve, which is an unfavorable issue of modern hydraulic energy systems. The root causes of such noise from the servo-valve are still unclear. The objective of this paper is to explore the noise mechanism in a servo-valve excited by the pressure pulsations from the hydraulic energy system perspective. The suppressing capability of squeal noise energy is investigated by changing the pressure pulsation frequency and natural frequency of the flapper-armature assembly. The frequencies of the pressure pulsations are adjusted by setting different speeds of the hydraulic pump varying from 10,400–14,400 rpm, and two flapper-armature assemblies with different armature lengths are used in the tested hydraulic energy system. The first eight vibration mode shapes and natural frequencies of the flapper-armature assembly are obtained by numerical modal analysis using two different armature lengths. The characteristics of pressure pulsations at the pump outlet and in the chamber of the flapper-nozzle valve, armature vibration and noise are tested and compared with the natural frequencies of the flapper-armature assembly. The results reveal that the flapper-armature assembly vibrates and makes the noise with the same frequencies as the pressure pulsations inside the hydraulic energy system. Resonance appears when the frequency of the pressure pulsations coincides with the natural frequency of the flapper-armature assembly. Therefore, it can be concluded that the pressure pulsation energy from the power supply may excite the vibration of the flapper-armature assembly, which may consequently cause the squeal noise inside the servo-valve. It is verified by the numerical simulations and experiments that setting the pressure pulsation frequencies different from the natural frequencies of the flapper-armature assembly can suppress the resonance and squeal noise.