WorldWideScience

Sample records for robots iter se

  1. Iterative Goal Refinement for Robotics

    Science.gov (United States)

    2014-06-01

    Researchers have used a variety of ways to represent such constraints (e.g., as a constraint satisfaction problem ( Scala , to appear), in PDDL (Vaquro...lifecycle to recent models of replanning (Talamadupala et al., 2013) and continual planning ( Scala , to appear). We described goal reasoning in...F., & Barreiro, J. (2013). Towards deliberative control in marine robotics. In Marine Robot Autonomy (pp. 91–175). Springer. Scala , E. (to appear

  2. The RiSE climbing robot: body and leg design

    Science.gov (United States)

    Saunders, A.; Goldman, D. I.; Full, R. J.; Buehler, M.

    2006-05-01

    The RiSE robot is a biologically inspired, six legged climbing robot, designed for general mobility in scansorial (vertical walls, horizontal ledges, ground level) environments. It exhibits ground reaction forces that are similar to animal climbers and does not rely on suction, magnets or other surface-dependent specializations to achieve adhesion and shear force. We describe RiSE's body and leg design as well as its electromechanical, communications and computational infrastructure. We review design iterations that enable RiSE to climb 90° carpeted, cork covered and (a growing range of) stucco surfaces in the quasi-static regime.

  3. Development of an ITER relevant inspection robot

    Energy Technology Data Exchange (ETDEWEB)

    Gargiulo, L.; Bayetti, P.; Cordier, J.J.; Grisolia, C.; Hatchressian, J.C. [Association Euratom-CEA, Cadarache (France). Dept. de Recherche sur la Fusion Controlee; Friconneau, J.P.; Keller, D.; Perrot, Y. [CEA-LIST Robotics and Interactive Systems Unit, Fontenay aux Roses (France)

    2007-07-01

    Robotic operations are one of the major maintenance challenges for ITER and future fusion reactors. In particular, in vessel inspection operations without loss of conditioning could be very useful. Within this framework, the aim of the project called AIA (Articulated Inspection Arm) is to demonstrate the feasibility of a multi-purpose in-vessel Remote Handling inspection system using a long reach, limited payload carrier (up to 10 kg). It is composed of 5 segments with 11 degrees of freedom and a total range of 8 m. The project is currently developed by the CEA within the European workprogramme. Its first in situ tests are planned this summer on the Tore Supra tokamak at Cadarache (France). They will validate chosen concepts for operations under ITER relevant vacuum and temperature conditions. After qualification, the arm will constitute a promising tool for generic application. Several processes are already considered for ITER maintenance and will be demonstrated on the AIA robot carrier: - The first embedded process is the viewing system. It is currently being manufactured and will allow for close visual inspection of the complex Plasma Facing Components (limiters, neutralisers, RF antennae, diagnostic windows, etc.). - In situ localisation of leakage based on helium sniffer is also studied to improve maintenance operations. - Finally the laser ablation system for PFC detritiation, also developed in CEA laboratories, is being fitted to be implanted into the robot and put into operation in Tore Supra. This paper deals with the integration of the robot in the Tore Supra tokamak and the advances in the development of the listed processes. It also introduces the current test campaign aiming to qualify the robot performance and reliability under vacuum and temperature conditions. (orig.)

  4. Development of an ITER relevant inspection robot

    Energy Technology Data Exchange (ETDEWEB)

    Gargiulo, Laurent [Association Euratom-CEA, Departement de Recherche sur la Fusion Controlee, CE Cadarache 13108 (France)], E-mail: laurent.gargiulo@cea.fr; Bayetti, Pascal; Bruno, Vincent; Cordier, Jean-Jacques [Association Euratom-CEA, Departement de Recherche sur la Fusion Controlee, CE Cadarache 13108 (France); Friconneau, Jean-Pierre [CEA-LIST Robotics and Interactive Systems Unit, CE Fontenay Aux Roses (France); Grisolia, Christian; Hatchressian, Jean-Claude; Houry, Michael [Association Euratom-CEA, Departement de Recherche sur la Fusion Controlee, CE Cadarache 13108 (France); Keller, Delphine; Perrot, Yann [CEA-LIST Robotics and Interactive Systems Unit, CE Fontenay Aux Roses (France)

    2008-12-15

    Robotic operations are one of the major maintenance challenges for ITER and future fusion reactors. In particular, in-vessel inspection operations without loss of conditioning will be mandatory. In this context, an Articulated Inspection Arm (AIA) is currently developed by the CEA within the European work programme framework, which aims at demonstrating the feasibility of a multi-purpose in-vessel Remote Handling inspection system using a long reach, limited payload carrier (up to 10 kg). It is composed of 5 segments with 8 degrees of freedom and a total range of 8 m. The first in situ tests will take place by the end of 2007 on the Tore Supra Tokamak at Cadarache (France). They will validate concepts for operations under ITER relevant vacuum and temperature conditions. After qualification, the arm will constitute a promising tool for various applications. Several processes are already considered for ITER maintenance and will be demonstrated on the AIA robot carrier: - The first embedded process is the viewing system. It is already manufactured and will allow close visual inspection of the complex Plasma Facing Components (PFC) (limiters, neutralisers, RF antenna, diagnostic windows, etc.). - In situ localisation of water leakage based on a helium sniffing system is also being studied to improve and facilitate maintenance operations. - Finally a laser ablation system for PFC detritiation, developed in CEA laboratories, is being fitted to be implemented on the robot for future operation in Tore Supra. This paper deals with the integration of the robot into Tore Supra and the progress in the development of the processes listed above. It also describes the current test campaign aiming to qualify the robot performance and reliability under vacuum and temperature conditions.

  5. Development of an ITER relevant inspection robot

    International Nuclear Information System (INIS)

    Gargiulo, L.; Bayetti, P.; Cordier, J.J.; Grisolia, C.; Hatchressian, J.C.

    2007-01-01

    Robotic operations are one of the major maintenance challenges for ITER and future fusion reactors. In particular, in vessel inspection operations without loss of conditioning could be very useful. Within this framework, the aim of the project called AIA (Articulated Inspection Arm) is to demonstrate the feasibility of a multi-purpose in-vessel Remote Handling inspection system using a long reach, limited payload carrier (up to 10 kg). It is composed of 5 segments with 11 degrees of freedom and a total range of 8 m. The project is currently developed by the CEA within the European workprogramme. Its first in situ tests are planned this summer on the Tore Supra tokamak at Cadarache (France). They will validate chosen concepts for operations under ITER relevant vacuum and temperature conditions. After qualification, the arm will constitute a promising tool for generic application. Several processes are already considered for ITER maintenance and will be demonstrated on the AIA robot carrier: - The first embedded process is the viewing system. It is currently being manufactured and will allow for close visual inspection of the complex Plasma Facing Components (limiters, neutralisers, RF antennae, diagnostic windows, etc.). - In situ localisation of leakage based on helium sniffer is also studied to improve maintenance operations. - Finally the laser ablation system for PFC detritiation, also developed in CEA laboratories, is being fitted to be implanted into the robot and put into operation in Tore Supra. This paper deals with the integration of the robot in the Tore Supra tokamak and the advances in the development of the listed processes. It also introduces the current test campaign aiming to qualify the robot performance and reliability under vacuum and temperature conditions. (orig.)

  6. Development of an ITER relevant inspection robot

    International Nuclear Information System (INIS)

    Gargiulo, Laurent; Bayetti, Pascal; Bruno, Vincent; Cordier, Jean-Jacques; Friconneau, Jean-Pierre; Grisolia, Christian; Hatchressian, Jean-Claude; Houry, Michael; Keller, Delphine; Perrot, Yann

    2008-01-01

    Robotic operations are one of the major maintenance challenges for ITER and future fusion reactors. In particular, in-vessel inspection operations without loss of conditioning will be mandatory. In this context, an Articulated Inspection Arm (AIA) is currently developed by the CEA within the European work programme framework, which aims at demonstrating the feasibility of a multi-purpose in-vessel Remote Handling inspection system using a long reach, limited payload carrier (up to 10 kg). It is composed of 5 segments with 8 degrees of freedom and a total range of 8 m. The first in situ tests will take place by the end of 2007 on the Tore Supra Tokamak at Cadarache (France). They will validate concepts for operations under ITER relevant vacuum and temperature conditions. After qualification, the arm will constitute a promising tool for various applications. Several processes are already considered for ITER maintenance and will be demonstrated on the AIA robot carrier: - The first embedded process is the viewing system. It is already manufactured and will allow close visual inspection of the complex Plasma Facing Components (PFC) (limiters, neutralisers, RF antenna, diagnostic windows, etc.). - In situ localisation of water leakage based on a helium sniffing system is also being studied to improve and facilitate maintenance operations. - Finally a laser ablation system for PFC detritiation, developed in CEA laboratories, is being fitted to be implemented on the robot for future operation in Tore Supra. This paper deals with the integration of the robot into Tore Supra and the progress in the development of the processes listed above. It also describes the current test campaign aiming to qualify the robot performance and reliability under vacuum and temperature conditions

  7. Iterative design process for robots with personality

    NARCIS (Netherlands)

    Meerbeek, B.W.; Saerbeck, M.; Bartneck, C.; Dautenhahn, K.

    2009-01-01

    Previous research has shown that autonomous robots tend to induce the perception of a personality through their behavior and appearance. It has therefore been suggested that the personality of a robot can be used as a design guideline. A welldefined and clearly communicated personality can serve as

  8. An iterative learning controller for nonholonomic mobile robots

    International Nuclear Information System (INIS)

    Oriolo, G.; Panzieri, S.; Ulivi, G.

    1998-01-01

    The authors present an iterative learning controller that applies to nonholonomic mobile robots, as well as other systems that can be put in chained form. The learning algorithm exploits the fact that chained-form. The learning algorithm exploits the fact that chained-form systems are linear under piecewise-constant inputs. The proposed control scheme requires the execution of a small number of experiments to drive the system to the desired state in finite time, with nice convergence and robustness properties with respect to modeling inaccuracies as well as disturbances. To avoid the necessity of exactly reinitializing the system at each iteration, the basic method is modified so as to obtain a cyclic controller, by which the system is cyclically steered through an arbitrary sequence of states. As a case study, a carlike mobile robot is considered. Both simulation and experimental results are reported to show the performance of the method

  9. Accuracy analysis of hybrid parallel robot for the assembling of ITER

    International Nuclear Information System (INIS)

    Wang Yongbo; Pessi, Pekka; Wu Huapeng; Handroos, Heikki

    2009-01-01

    This paper presents a novel mobile parallel robot, which is able to carry welding and machining processes from inside the international thermonuclear experimental reactor (ITER) vacuum vessel (VV). The kinematics design of the robot has been optimized for ITER access. To improve the accuracy of the parallel robot, the errors caused by the stiffness and manufacture process have to be compensated or limited to a minimum value. In this paper kinematics errors and stiffness modeling are given. The simulation results are presented.

  10. Accuracy analysis of hybrid parallel robot for the assembling of ITER

    Energy Technology Data Exchange (ETDEWEB)

    Wang Yongbo [Institute of Mechatronics and Virtual Engineering, Lappeenranta University of Technology, Skinnarilankatu 34, 53850 Lappeenranta (Finland); The State Key Laboratory of Mechanical Transmission, Chongqing University (China); Pessi, Pekka [Institute of Mechatronics and Virtual Engineering, Lappeenranta University of Technology, Skinnarilankatu 34, 53850 Lappeenranta (Finland); Wu Huapeng [Institute of Mechatronics and Virtual Engineering, Lappeenranta University of Technology, Skinnarilankatu 34, 53850 Lappeenranta (Finland)], E-mail: huapeng@lut.fi; Handroos, Heikki [Institute of Mechatronics and Virtual Engineering, Lappeenranta University of Technology, Skinnarilankatu 34, 53850 Lappeenranta (Finland)

    2009-06-15

    This paper presents a novel mobile parallel robot, which is able to carry welding and machining processes from inside the international thermonuclear experimental reactor (ITER) vacuum vessel (VV). The kinematics design of the robot has been optimized for ITER access. To improve the accuracy of the parallel robot, the errors caused by the stiffness and manufacture process have to be compensated or limited to a minimum value. In this paper kinematics errors and stiffness modeling are given. The simulation results are presented.

  11. A mobile robot with parallel kinematics to meet the requirements for assembling and machining the ITER vacuum vessel

    International Nuclear Information System (INIS)

    Pessi, Pekka; Wu, Huapeng; Handroos, Heikki; Jones, Lawrence

    2007-01-01

    The present paper introduces a mobile parallel robot developed for International Thermonuclear Experimental Reactor (ITER). The task of the robot is to carry out welding and machining processes inside the ITER vacuum vessel. The kinematic design of the robot has been optimized for the ITER access. The kinematic analysis is given in the paper. A virtual prototype of the parallel robot is built. A dynamic behavior of the whole robot is studied by the multi-body system simulation (MBS)

  12. A mobile robot with parallel kinematics to meet the requirements for assembling and machining the ITER vacuum vessel

    Energy Technology Data Exchange (ETDEWEB)

    Pessi, Pekka [Lappeenranta University of Technology, Lappeenranta (Finland)], E-mail: pessi@lut.fi; Wu, Huapeng; Handroos, Heikki [Lappeenranta University of Technology, Lappeenranta (Finland); Jones, Lawrence [EFDA Close Support Unit, Boltzmannstrasse 2, Garching D-85748 (Germany)

    2007-10-15

    The present paper introduces a mobile parallel robot developed for International Thermonuclear Experimental Reactor (ITER). The task of the robot is to carry out welding and machining processes inside the ITER vacuum vessel. The kinematic design of the robot has been optimized for the ITER access. The kinematic analysis is given in the paper. A virtual prototype of the parallel robot is built. A dynamic behavior of the whole robot is studied by the multi-body system simulation (MBS)

  13. Chatter suppression methods of a robot machine for ITER vacuum vessel assembly and maintenance

    International Nuclear Information System (INIS)

    Wu, Huapeng; Wang, Yongbo; Li, Ming; Al-Saedi, Mazin; Handroos, Heikki

    2014-01-01

    Highlights: •A redundant 10-DOF serial-parallel hybrid robot for ITER assembly and maintains is presented. •A dynamic model of the robot is developed. •A feedback and feedforward controller is presented to suppress machining vibration of the robot. -- Abstract: In the process of assembly and maintenance of ITER vacuum vessel (ITER VV), various machining tasks including threading, milling, welding-defects cutting and flexible hose boring are required to be performed from inside of ITER VV by on-site machining tools. Robot machine is a promising option for these tasks, but great chatter (machine vibration) would happen in the machining process. The chatter vibration will deteriorate the robot accuracy and surface quality, and even cause some damages on the end-effector tools and the robot structure itself. This paper introduces two vibration control methods, one is passive and another is active vibration control. For the passive vibration control, a parallel mechanism is presented to increase the stiffness of robot machine; for the active vibration control, a hybrid control method combining feedforward controller and nonlinear feedback controller is introduced for chatter suppression. A dynamic model and its chatter vibration phenomena of a hybrid robot is demonstrated. Simulation results are given based on the proposed hybrid robot machine which is developed for the ITER VV assembly and maintenance

  14. Chatter suppression methods of a robot machine for ITER vacuum vessel assembly and maintenance

    Energy Technology Data Exchange (ETDEWEB)

    Wu, Huapeng; Wang, Yongbo, E-mail: yongbo.wang@lut.fi; Li, Ming; Al-Saedi, Mazin; Handroos, Heikki

    2014-10-15

    Highlights: •A redundant 10-DOF serial-parallel hybrid robot for ITER assembly and maintains is presented. •A dynamic model of the robot is developed. •A feedback and feedforward controller is presented to suppress machining vibration of the robot. -- Abstract: In the process of assembly and maintenance of ITER vacuum vessel (ITER VV), various machining tasks including threading, milling, welding-defects cutting and flexible hose boring are required to be performed from inside of ITER VV by on-site machining tools. Robot machine is a promising option for these tasks, but great chatter (machine vibration) would happen in the machining process. The chatter vibration will deteriorate the robot accuracy and surface quality, and even cause some damages on the end-effector tools and the robot structure itself. This paper introduces two vibration control methods, one is passive and another is active vibration control. For the passive vibration control, a parallel mechanism is presented to increase the stiffness of robot machine; for the active vibration control, a hybrid control method combining feedforward controller and nonlinear feedback controller is introduced for chatter suppression. A dynamic model and its chatter vibration phenomena of a hybrid robot is demonstrated. Simulation results are given based on the proposed hybrid robot machine which is developed for the ITER VV assembly and maintenance.

  15. Design of parallel intersector weld/cut robot for machining processes in ITER vacuum vessel

    International Nuclear Information System (INIS)

    Wu Huapeng; Handroos, Heikki; Kovanen, Janne; Rouvinen, Asko; Hannukainen, Petri; Saira, Tanja; Jones, Lawrence

    2003-01-01

    This paper presents a new parallel robot Penta-WH, which has five degrees of freedom driven by hydraulic cylinders. The manipulator has a large, singularity-free workspace and high stiffness and it acts as a transport device for welding, machining and inspection end-effectors inside the ITER vacuum vessel. The presented kinematic structure of a parallel robot is particularly suitable for the ITER environment. Analysis of the machining process for ITER, such as the machining methods and forces are given, and the kinematic analyses, such as workspace and force capacity are discussed

  16. Research on Open-Closed-Loop Iterative Learning Control with Variable Forgetting Factor of Mobile Robots

    Directory of Open Access Journals (Sweden)

    Hongbin Wang

    2016-01-01

    Full Text Available We propose an iterative learning control algorithm (ILC that is developed using a variable forgetting factor to control a mobile robot. The proposed algorithm can be categorized as an open-closed-loop iterative learning control, which produces control instructions by using both previous and current data. However, introducing a variable forgetting factor can weaken the former control output and its variance in the control law while strengthening the robustness of the iterative learning control. If it is applied to the mobile robot, this will reduce position errors in robot trajectory tracking control effectively. In this work, we show that the proposed algorithm guarantees tracking error bound convergence to a small neighborhood of the origin under the condition of state disturbances, output measurement noises, and fluctuation of system dynamics. By using simulation, we demonstrate that the controller is effective in realizing the prefect tracking.

  17. Learning-based identification and iterative learning control of direct-drive robots

    NARCIS (Netherlands)

    Bukkems, B.H.M.; Kostic, D.; Jager, de A.G.; Steinbuch, M.

    2005-01-01

    A combination of model-based and Iterative Learning Control is proposed as a method to achieve high-quality motion control of direct-drive robots in repetitive motion tasks. We include both model-based and learning components in the total control law, as their individual properties influence the

  18. Accuracy improvement of a hybrid robot for ITER application using POE modeling method

    International Nuclear Information System (INIS)

    Wang, Yongbo; Wu, Huapeng; Handroos, Heikki

    2013-01-01

    Highlights: ► The product of exponential (POE) formula for error modeling of hybrid robot. ► Differential Evolution (DE) algorithm for parameter identification. ► Simulation results are given to verify the effectiveness of the method. -- Abstract: This paper focuses on the kinematic calibration of a 10 degree-of-freedom (DOF) redundant serial–parallel hybrid robot to improve its accuracy. The robot was designed to perform the assembling and repairing tasks of the vacuum vessel (VV) of the international thermonuclear experimental reactor (ITER). By employing the product of exponentials (POEs) formula, we extended the POE-based calibration method from serial robot to redundant serial–parallel hybrid robot. The proposed method combines the forward and inverse kinematics together to formulate a hybrid calibration method for serial–parallel hybrid robot. Because of the high nonlinear characteristics of the error model and too many error parameters need to be identified, the traditional iterative linear least-square algorithms cannot be used to identify the parameter errors. This paper employs a global optimization algorithm, Differential Evolution (DE), to identify parameter errors by solving the inverse kinematics of the hybrid robot. Furthermore, after the parameter errors were identified, the DE algorithm was adopted to numerically solve the forward kinematics of the hybrid robot to demonstrate the accuracy improvement of the end-effector. Numerical simulations were carried out by generating random parameter errors at the allowed tolerance limit and generating a number of configuration poses in the robot workspace. Simulation of the real experimental conditions shows that the accuracy of the end-effector can be improved to the same precision level of the given external measurement device

  19. Intelligent controller of a flexible hybrid robot machine for ITER assembly and maintenance

    International Nuclear Information System (INIS)

    Al-saedi, Mazin I.; Wu, Huapeng; Handroos, Heikki

    2014-01-01

    Highlights: • Studying flexible multibody dynamic of hybrid parallel robot. • Investigating fuzzy-PD controller to control a hybrid flexible hydraulically driven robot. • Investigating ANFIS-PD controller to control a hybrid flexible robot. Compare to traditional PID this method gives better performance. • Using the equilibrium of reaction forces between the parallel and serial parts of hybrid robot to control the serial part hydraulically driven. - Abstract: The assembly and maintenance of International Thermonuclear Experimental Reactor (ITER) vacuum vessel (VV) is highly challenging since the tasks performed by the robot involve welding, material handling, and machine cutting from inside the VV. To fulfill the tasks in ITER application, this paper presents a hybrid redundant manipulator with four DOFs provided by serial kinematic axes and six DOFs by parallel mechanism. Thus, in machining, to achieve greater end-effector trajectory tracking accuracy for surface quality, a robust control of the actuators for the flexible link has to be deduced. In this paper, the intelligent control of a hydraulically driven parallel robot part based on the dynamic model and two control schemes have been investigated: (1) fuzzy-PID self tuning controller composed of the conventional PID control and with fuzzy logic; (2) adaptive neuro-fuzzy inference system-PID (ANFIS-PID) self tuning of the gains of the PID controller, which are implemented independently to control each hydraulic cylinder of the parallel robot based on rod position predictions. The obtained results of the fuzzy-PID and ANFIS-PID self tuning controller can reduce more tracking errors than the conventional PID controller. Subsequently, the serial component of the hybrid robot can be analyzed using the equilibrium of reaction forces at the universal joint connections of the hexa-element. To achieve precise positional control of the end effector for maximum precision machining, the hydraulic cylinder should

  20. Intelligent controller of a flexible hybrid robot machine for ITER assembly and maintenance

    Energy Technology Data Exchange (ETDEWEB)

    Al-saedi, Mazin I., E-mail: mazin.al-saedi@lut.fi; Wu, Huapeng; Handroos, Heikki

    2014-10-15

    Highlights: • Studying flexible multibody dynamic of hybrid parallel robot. • Investigating fuzzy-PD controller to control a hybrid flexible hydraulically driven robot. • Investigating ANFIS-PD controller to control a hybrid flexible robot. Compare to traditional PID this method gives better performance. • Using the equilibrium of reaction forces between the parallel and serial parts of hybrid robot to control the serial part hydraulically driven. - Abstract: The assembly and maintenance of International Thermonuclear Experimental Reactor (ITER) vacuum vessel (VV) is highly challenging since the tasks performed by the robot involve welding, material handling, and machine cutting from inside the VV. To fulfill the tasks in ITER application, this paper presents a hybrid redundant manipulator with four DOFs provided by serial kinematic axes and six DOFs by parallel mechanism. Thus, in machining, to achieve greater end-effector trajectory tracking accuracy for surface quality, a robust control of the actuators for the flexible link has to be deduced. In this paper, the intelligent control of a hydraulically driven parallel robot part based on the dynamic model and two control schemes have been investigated: (1) fuzzy-PID self tuning controller composed of the conventional PID control and with fuzzy logic; (2) adaptive neuro-fuzzy inference system-PID (ANFIS-PID) self tuning of the gains of the PID controller, which are implemented independently to control each hydraulic cylinder of the parallel robot based on rod position predictions. The obtained results of the fuzzy-PID and ANFIS-PID self tuning controller can reduce more tracking errors than the conventional PID controller. Subsequently, the serial component of the hybrid robot can be analyzed using the equilibrium of reaction forces at the universal joint connections of the hexa-element. To achieve precise positional control of the end effector for maximum precision machining, the hydraulic cylinder should

  1. Accuracy improvement of a hybrid robot for ITER application using POE modeling method

    Energy Technology Data Exchange (ETDEWEB)

    Wang, Yongbo, E-mail: yongbo.wang@hotmail.com [Laboratory of Intelligent Machines, Lappeenranta University of Technology, FIN-53851 Lappeenranta (Finland); Wu, Huapeng; Handroos, Heikki [Laboratory of Intelligent Machines, Lappeenranta University of Technology, FIN-53851 Lappeenranta (Finland)

    2013-10-15

    Highlights: ► The product of exponential (POE) formula for error modeling of hybrid robot. ► Differential Evolution (DE) algorithm for parameter identification. ► Simulation results are given to verify the effectiveness of the method. -- Abstract: This paper focuses on the kinematic calibration of a 10 degree-of-freedom (DOF) redundant serial–parallel hybrid robot to improve its accuracy. The robot was designed to perform the assembling and repairing tasks of the vacuum vessel (VV) of the international thermonuclear experimental reactor (ITER). By employing the product of exponentials (POEs) formula, we extended the POE-based calibration method from serial robot to redundant serial–parallel hybrid robot. The proposed method combines the forward and inverse kinematics together to formulate a hybrid calibration method for serial–parallel hybrid robot. Because of the high nonlinear characteristics of the error model and too many error parameters need to be identified, the traditional iterative linear least-square algorithms cannot be used to identify the parameter errors. This paper employs a global optimization algorithm, Differential Evolution (DE), to identify parameter errors by solving the inverse kinematics of the hybrid robot. Furthermore, after the parameter errors were identified, the DE algorithm was adopted to numerically solve the forward kinematics of the hybrid robot to demonstrate the accuracy improvement of the end-effector. Numerical simulations were carried out by generating random parameter errors at the allowed tolerance limit and generating a number of configuration poses in the robot workspace. Simulation of the real experimental conditions shows that the accuracy of the end-effector can be improved to the same precision level of the given external measurement device.

  2. Iterative learning control with sampled-data feedback for robot manipulators

    Directory of Open Access Journals (Sweden)

    Delchev Kamen

    2014-09-01

    Full Text Available This paper deals with the improvement of the stability of sampled-data (SD feedback control for nonlinear multiple-input multiple-output time varying systems, such as robotic manipulators, by incorporating an off-line model based nonlinear iterative learning controller. The proposed scheme of nonlinear iterative learning control (NILC with SD feedback is applicable to a large class of robots because the sampled-data feedback is required for model based feedback controllers, especially for robotic manipulators with complicated dynamics (6 or 7 DOF, or more, while the feedforward control from the off-line iterative learning controller should be assumed as a continuous one. The robustness and convergence of the proposed NILC law with SD feedback is proven, and the derived sufficient condition for convergence is the same as the condition for a NILC with a continuous feedback control input. With respect to the presented NILC algorithm applied to a virtual PUMA 560 robot, simulation results are presented in order to verify convergence and applicability of the proposed learning controller with SD feedback controller attached

  3. Robot vision system R and D for ITER blanket remote-handling system

    International Nuclear Information System (INIS)

    Maruyama, Takahito; Aburadani, Atsushi; Takeda, Nobukazu; Kakudate, Satoshi; Nakahira, Masataka; Tesini, Alessandro

    2014-01-01

    For regular maintenance of the International Thermonuclear Experimental Reactor (ITER), a system called the ITER blanket remote-handling system is necessary to remotely handle the blanket modules because of the high levels of gamma radiation. Modules will be handled by robotic power manipulators and they must have a non-contact-sensing system for installing and grasping to avoid contact with other modules. A robot vision system that uses cameras was adopted for this non-contact-sensing system. Experiments for grasping modules were carried out in a dark room to simulate the environment inside the vacuum vessel and the robot vision system's measurement errors were studied. As a result, the accuracy of the manipulator's movements was within 2.01 mm and 0.31°, which satisfies the system requirements. Therefore, it was concluded that this robot vision system is suitable for the non-contact-sensing system of the ITER blanket remote-handling system

  4. Robot vision system R and D for ITER blanket remote-handling system

    Energy Technology Data Exchange (ETDEWEB)

    Maruyama, Takahito, E-mail: maruyama.takahito@jaea.go.jp [Japan Atomic Energy Agency, Fusion Research and Development Directorate, Naka, Ibaraki-ken 311-0193 (Japan); Aburadani, Atsushi; Takeda, Nobukazu; Kakudate, Satoshi; Nakahira, Masataka [Japan Atomic Energy Agency, Fusion Research and Development Directorate, Naka, Ibaraki-ken 311-0193 (Japan); Tesini, Alessandro [ITER Organization, Route de Vinon sur Verdon, 13115 St Paul Lez Durance (France)

    2014-10-15

    For regular maintenance of the International Thermonuclear Experimental Reactor (ITER), a system called the ITER blanket remote-handling system is necessary to remotely handle the blanket modules because of the high levels of gamma radiation. Modules will be handled by robotic power manipulators and they must have a non-contact-sensing system for installing and grasping to avoid contact with other modules. A robot vision system that uses cameras was adopted for this non-contact-sensing system. Experiments for grasping modules were carried out in a dark room to simulate the environment inside the vacuum vessel and the robot vision system's measurement errors were studied. As a result, the accuracy of the manipulator's movements was within 2.01 mm and 0.31°, which satisfies the system requirements. Therefore, it was concluded that this robot vision system is suitable for the non-contact-sensing system of the ITER blanket remote-handling system.

  5. Operation of an ITER relevant inspection robot on Tore Supra tokamak

    Energy Technology Data Exchange (ETDEWEB)

    Gargiulo, Laurent [CEA, IRFM, F-13108 Saint-Paul-lez-Durance (France)], E-mail: laurent.gargiulo@cea.fr; Bayetti, Pascal; Bruno, Vincent; Hatchressian, Jean-Claude; Hernandez, Caroline; Houry, Michael [CEA, IRFM, F-13108 Saint-Paul-lez-Durance (France); Keller, Delphine [CEA, LIST, Service de Robotique Interactive, F-92265 Fontenay aux Roses (France); Martins, Jean-Pierre [CEA, IRFM, F-13108 Saint-Paul-lez-Durance (France); Measson, Yvan; Perrot, Yann [CEA, LIST, Service de Robotique Interactive, F-92265 Fontenay aux Roses (France); Samaille, Frank [CEA, IRFM, F-13108 Saint-Paul-lez-Durance (France)

    2009-06-15

    Robotic operations are one of the major maintenance challenges for ITER and future fusion reactors. CEA has developed a multipurpose carrier able to realize deployments in the plasma vessel without breaking the Ultra High Vacuum (UHV) and temperature conditioning. A 6 years R and D programme was jointly conducted by CEA-LIST Interactive Robotics Unit and the Institute for Magnetic Fusion Research (IRFM) in order to demonstrate the feasibility and reliability of an in-vessel inspection robot relevant to ITER requirements. The Articulated Inspection Arm robot (AIA) is an 8-m long multilink carrier with a payload up to 10 kg operable between plasma under tokamak conditioning environment; its geometry allows a complete close inspection of Plasma Facing Components (PFCs) of the Tore Supra vessel. Different tools are being developed by CEA to be plugged at the front head of the carrier. The diagnostic presently in operation consists in a viewing system offering accurate visual inspection of PFCs. Leak detection of first wall based on helium sniffing and laser compact system for carbon co-deposited layers characterizations or treatments are also considered for demonstration. In April 2008, the AIA robot equipped with its vision diagnostic has realized a complete deployment into Tore Supra and the first closed inspection of the vessel under UHV conditions. During the upcoming experimental campaign, the same operation will be performed under relevant conditions (10{sup -6} Pa and 120 deg. C) after a conditioning phase at 200 deg. C to avoid outgassing pollution of the chamber. This paper describes the different steps of the project development, robot capabilities with the present operations conducted on Tore Supra and future requirements for making the robot a tool for tokamak routine operation.

  6. Alignment Condition-Based Robust Adaptive Iterative Learning Control of Uncertain Robot System

    Directory of Open Access Journals (Sweden)

    Guofeng Tong

    2014-04-01

    Full Text Available This paper proposes an adaptive iterative learning control strategy integrated with saturation-based robust control for uncertain robot system in presence of modelling uncertainties, unknown parameter, and external disturbance under alignment condition. An important merit is that it achieves adaptive switching of gain matrix both in conventional PD-type feedforward control and robust adaptive control in the iteration domain simultaneously. The analysis of convergence of proposed control law is based on Lyapunov's direct method under alignment initial condition. Simulation results demonstrate the faster learning rate and better robust performance with proposed algorithm by comparing with other existing robust controllers. The actual experiment on three-DOF robot manipulator shows its better practical effectiveness.

  7. Design and implementation of motion planning of inspection and maintenance robot for ITER-like vessel

    Energy Technology Data Exchange (ETDEWEB)

    Wang, Hesheng; Lai, Yinping [Department of Automation, Shanghai Jiao Tong University, Shanghai 200240 (China); Key Laboratory of System Control and Information Processing, Ministry of Education of China (China); Chen, Weidong, E-mail: wdchen@sjtu.edu.cn [Department of Automation, Shanghai Jiao Tong University, Shanghai 200240 (China); Key Laboratory of System Control and Information Processing, Ministry of Education of China (China); Cao, Qixin [Institute of Robotics, Shanghai Jiao Tong University, Shanghai 200240 (China)

    2015-12-15

    Robot motion planning is a fundamental problem to ensure the robot executing the task without clashes, fast and accurately in a special environment. In this paper, a motion planning of a 12 DOFs remote handling robot used for inspecting the working state of the ITER-like vessel and maintaining key device components is proposed and implemented. Firstly, the forward and inverse kinematics are given by analytic method. The work space and posture space of this manipulator are both considered. Then the motion planning is divided into three stages: coming out of the cassette mover, moving along the in-vessel center line, and inspecting the D-shape section. Lastly, the result of experiments verified the performance of the motion design method. In addition, the task of unscrewing/screwing the screw demonstrated the feasibility of system in function.

  8. Development and control towards a parallel water hydraulic weld/cut robot for machining processes in ITER vacuum vessel

    International Nuclear Information System (INIS)

    Wu Huapeng; Handroos, Heikki; Pessi, Pekka; Kilkki, Juha; Jones, Lawrence

    2005-01-01

    This paper presents a special robot, able to carry out welding and machining processes from inside the ITER vacuum vessel (VV), consisting of a five degree-of-freedom parallel mechanism, mounted on a carriage driven by two electric motors on a rack. The kinematic design of the robot has been optimised for ITER access and a hydraulically actuated pre-prototype built. A hybrid controller is designed for the robot, including position, speed and pressure feedback loops to achieve high accuracy and high dynamic performances. Finally, the experimental tests are given and discussed

  9. Software design of the hybrid robot machine for ITER vacuum vessel assembly and maintenance

    International Nuclear Information System (INIS)

    Li, Ming; Wu, Huapeng; Handroos, Heikki; Yang, Guangyou

    2013-01-01

    A specific software design is elaborated in this paper for the hybrid robot machine used for the ITER vacuum vessel (VV) assembly and maintenance. In order to provide the multi-machining-function as well as the complicated, flexible and customizable GUI designing satisfying the non-standardized VV assembly process in one hand, and in another hand guarantee the stringent machining precision in the real-time motion control of robot machine, a client–server-control software architecture is proposed, which separates the user interaction, data communication and robot control implementation into different software layers. Correspondingly, three particular application protocols upon the TCP/IP are designed to transmit the data, command and status between the client and the server so as to deal with the abundant data streaming in the software. In order not to be affected by the graphic user interface (GUI) modification process in the future experiment in VV assembly working field, the real-time control system is realized as a stand-alone module in the architecture to guarantee the controlling performance of the robot machine. After completing the software development, a milling operation is tested on the robot machine, and the result demonstrates that both the specific GUI operability and the real-time motion control performance could be guaranteed adequately in the software design

  10. Software design of the hybrid robot machine for ITER vacuum vessel assembly and maintenance

    Energy Technology Data Exchange (ETDEWEB)

    Li, Ming, E-mail: Ming.Li@lut.fi [Laboratory of Intelligent Machines, Lappeenranta University of Technology (Finland); Wu, Huapeng; Handroos, Heikki [Laboratory of Intelligent Machines, Lappeenranta University of Technology (Finland); Yang, Guangyou [School of Mechanical Engineering, Hubei University of Technology, Wuhan (China)

    2013-10-15

    A specific software design is elaborated in this paper for the hybrid robot machine used for the ITER vacuum vessel (VV) assembly and maintenance. In order to provide the multi-machining-function as well as the complicated, flexible and customizable GUI designing satisfying the non-standardized VV assembly process in one hand, and in another hand guarantee the stringent machining precision in the real-time motion control of robot machine, a client–server-control software architecture is proposed, which separates the user interaction, data communication and robot control implementation into different software layers. Correspondingly, three particular application protocols upon the TCP/IP are designed to transmit the data, command and status between the client and the server so as to deal with the abundant data streaming in the software. In order not to be affected by the graphic user interface (GUI) modification process in the future experiment in VV assembly working field, the real-time control system is realized as a stand-alone module in the architecture to guarantee the controlling performance of the robot machine. After completing the software development, a milling operation is tested on the robot machine, and the result demonstrates that both the specific GUI operability and the real-time motion control performance could be guaranteed adequately in the software design.

  11. Indirect iterative learning control for a discrete visual servo without a camera-robot model.

    Science.gov (United States)

    Jiang, Ping; Bamforth, Leon C A; Feng, Zuren; Baruch, John E F; Chen, YangQuan

    2007-08-01

    This paper presents a discrete learning controller for vision-guided robot trajectory imitation with no prior knowledge of the camera-robot model. A teacher demonstrates a desired movement in front of a camera, and then, the robot is tasked to replay it by repetitive tracking. The imitation procedure is considered as a discrete tracking control problem in the image plane, with an unknown and time-varying image Jacobian matrix. Instead of updating the control signal directly, as is usually done in iterative learning control (ILC), a series of neural networks are used to approximate the unknown Jacobian matrix around every sample point in the demonstrated trajectory, and the time-varying weights of local neural networks are identified through repetitive tracking, i.e., indirect ILC. This makes repetitive segmented training possible, and a segmented training strategy is presented to retain the training trajectories solely within the effective region for neural network approximation. However, a singularity problem may occur if an unmodified neural-network-based Jacobian estimation is used to calculate the robot end-effector velocity. A new weight modification algorithm is proposed which ensures invertibility of the estimation, thus circumventing the problem. Stability is further discussed, and the relationship between the approximation capability of the neural network and the tracking accuracy is obtained. Simulations and experiments are carried out to illustrate the validity of the proposed controller for trajectory imitation of robot manipulators with unknown time-varying Jacobian matrices.

  12. A mobile robot with parallel kinematics constructed under requirements for assembling and machining of the ITER vacuum vessel

    International Nuclear Information System (INIS)

    Pessi, P.; Huapeng Wu; Handroos, H.; Jones, L.

    2006-01-01

    ITER sectors require more stringent tolerances ± 5 mm than normally expected for the size of structure involved. The walls of ITER sectors are made of 60 mm thick stainless steel and are joined together by high efficiency structural and leak tight welds. In addition to the initial vacuum vessel assembly, sectors may have to be replaced for repair. Since commercially available machines are too heavy for the required machining operations and the lifting of a possible e-beam gun column system, and conventional robots lack the stiffness and accuracy in such machining condition, a new flexible, lightweight and mobile robotic machine is being considered. For the assembly of the ITER vacuum vessel sector, precise positioning of welding end-effectors, at some distance in a confined space from the available supports, will be required, which is not possible using conventional machines or robots. This paper presents a special robot, able to carry out welding and machining processes from inside the ITER vacuum vessel, consisting of a ten-degree-of-freedom parallel robot mounted on a carriage driven by electric motor/gearbox on a track. The robot consists of a Stewart platform based parallel mechanism. Water hydraulic cylinders are used as actuators to reach six degrees of freedom for parallel construction. Two linear and two rotational motions are used for enlargement the workspace of the manipulator. The robot carries both welding gun such as a TIG, hybrid laser or e-beam welding gun to weld the inner and outer walls of the ITER vacuum vessel sectors and machining tools to cut and milling the walls with necessary accuracy, it can also carry other tools and material to a required position inside the vacuum vessel . For assembling an on line six degrees of freedom seam finding algorithm has been developed, which enables the robot to find welding seam automatically in a very complex environment. In the machining multi flexible machining processes carried out automatically by

  13. Novel Robot Solutions for Carrying out Field Joint Welding and Machining in the Assembly of the Vacuum Vessel of ITER

    International Nuclear Information System (INIS)

    Pessi, P.

    2009-01-01

    It is necessary to use highly specialized robots in ITER (International Thermonuclear Experimental Reactor) both in the manufacturing and maintenance of the reactor due to a demanding environment. The sectors of the ITER vacuum vessel (VV) require more stringent tolerances than normally expected for the size of the structure involved. VV consists of nine sectors that are to be welded together. The vacuum vessel has a toroidal chamber structure. The task of the designed robot is to carry the welding apparatus along a path with a stringent tolerance during the assembly operation. In addition to the initial vacuum vessel assembly, after a limited running period, sectors need to be replaced for repair. Mechanisms with closed-loop kinematic chains are used in the design of robots in this work. One version is a purely parallel manipulator and another is a hybrid manipulator where the parallel and serial structures are combined. Traditional industrial robots that generally have the links actuated in series are inherently not very rigid and have poor dynamic performance in high speed and high dynamic loading conditions. Compared with open chain manipulators, parallel manipulators have high stiffness, high accuracy and a high force/torque capacity in a reduced workspace. Parallel manipulators have a mechanical architecture where all of the links are connected to the base and to the end-effector of the robot. The purpose of this thesis is to develop special parallel robots for the assembly, machining and repairing of the VV of the ITER. The process of the assembly and machining of the vacuum vessel needs a special robot. By studying the structure of the vacuum vessel, two novel parallel robots were designed and built; they have six and ten degrees of freedom driven by hydraulic cylinders and electrical servo motors. Kinematic models for the proposed robots were defined and two prototypes built. Experiments for machine cutting and laser welding with the 6-DOF robot were

  14. Novel Robot Solutions for Carrying out Field Joint Welding and Machining in the Assembly of the Vacuum Vessel of ITER

    Energy Technology Data Exchange (ETDEWEB)

    Pessi, P.

    2009-07-01

    It is necessary to use highly specialized robots in ITER (International Thermonuclear Experimental Reactor) both in the manufacturing and maintenance of the reactor due to a demanding environment. The sectors of the ITER vacuum vessel (VV) require more stringent tolerances than normally expected for the size of the structure involved. VV consists of nine sectors that are to be welded together. The vacuum vessel has a toroidal chamber structure. The task of the designed robot is to carry the welding apparatus along a path with a stringent tolerance during the assembly operation. In addition to the initial vacuum vessel assembly, after a limited running period, sectors need to be replaced for repair. Mechanisms with closed-loop kinematic chains are used in the design of robots in this work. One version is a purely parallel manipulator and another is a hybrid manipulator where the parallel and serial structures are combined. Traditional industrial robots that generally have the links actuated in series are inherently not very rigid and have poor dynamic performance in high speed and high dynamic loading conditions. Compared with open chain manipulators, parallel manipulators have high stiffness, high accuracy and a high force/torque capacity in a reduced workspace. Parallel manipulators have a mechanical architecture where all of the links are connected to the base and to the end-effector of the robot. The purpose of this thesis is to develop special parallel robots for the assembly, machining and repairing of the VV of the ITER. The process of the assembly and machining of the vacuum vessel needs a special robot. By studying the structure of the vacuum vessel, two novel parallel robots were designed and built; they have six and ten degrees of freedom driven by hydraulic cylinders and electrical servo motors. Kinematic models for the proposed robots were defined and two prototypes built. Experiments for machine cutting and laser welding with the 6-DOF robot were

  15. ITER Articulated Inspection Arm (AIA): Geometric calibration issues of a long-reach flexible robot

    International Nuclear Information System (INIS)

    Arhur, D.; Perrot, Y.; Bidard, C.; Friconneau, J.P.; Palmer, J.D.; Semeraro, L.

    2005-01-01

    This paper is part of the Remote Handling (RH) activities for the future fusion reactor ITER. Specifically it relates to the possibility to carry out close inspection tasks of the Vacuum Vessel first wall using a long reach robot called the 'Articulated Inspection Arm' (AIA). Early studies for this device identified the need of improving the accuracy of the end-effector position in such robot structures. Therefore, the aim of this R and D program performed under the European Fusion Development Agreement (EFDA) work program is to develop a flexible parametric model with localised compliances of an AIA-like system, in order to compensate for its flexibilities. The geometric calibration is performed using a non-linear multivariable optimisation technique, which minimizes the average error between the simulated and real robot position. The optimised set of parameters, tested on the first segment of the robot, enables to divide by 3 the error on the end-effector position, in comparison to a rigid model. We expect better prediction after mechanical improvements to reduce the serious backlash in the joints. The prediction model applied to the whole arm will enable errors to be reduced from more than 1 m, in some configurations, to a final accuracy of a few centimetres

  16. Towards operations on Tore Supra of an ITER relevant inspection robot and associated processes

    International Nuclear Information System (INIS)

    Gargiulo, L.; Cordier, J.J.; Friconneau, J.P.; Grisolia, C.; Palmer, J.D.; Perrot, Y.; Samaille, F.

    2007-01-01

    The aim of the project is to demonstrate on Tore Supra the reliability of a multi-purpose in-vessel remote handling inspection system using a long reach, limited payload carrier. The robot prototype is fully representative of the deployment carrier system that could be required on ITER. The demonstration on Tore Supra will help in the understanding of operation issues that could occur in the tokamak vacuum vessel equipped of actively cooled components. The viewing process that is currently under development will allow close inspection of the Tore Supra plasma facing components that are representative of the ITER divertor targets in terms of confined environment and identification of possible tiles failure of CFC carbon tiles. One of the other potential inspection processes that is foreseen to be tested using the AIA carrier in Tore Supra is the laser ablation system of the CFC armour. It could be fully relevant for the ITER wall detritiation issues. Such process can be simulated on Tore Supra through the deuterium inventory under long-time plasma discharges. The in situ leakage localisation of a damaged plasma facing component is also one of the major ITER maintenance challenges that could use remote handling inspection tools

  17. Towards operations on Tore Supra of an ITER relevant inspection robot and associated processes

    Energy Technology Data Exchange (ETDEWEB)

    Gargiulo, L. [Association Euratom-CEA, DSM/Departement de Recherche sur la Fusion Controlee, CEA/Cadarache, F-13108 Saint Paul Lez Durance Cedex (France)], E-mail: laurent.gargiulo@cea.fr; Cordier, J.J. [Association Euratom-CEA, DSM/Departement de Recherche sur la Fusion Controlee, CEA/Cadarache, F-13108 Saint Paul Lez Durance Cedex (France); Friconneau, J.P. [CEA-LIST Robotics and Interactive Systems Unit, BP6 F-92265 Fontenay aux Roses Cedex (France); Grisolia, C. [Association Euratom-CEA, DSM/Departement de Recherche sur la Fusion Controlee, CEA/Cadarache, F-13108 Saint Paul Lez Durance Cedex (France); Palmer, J.D. [EFDA CSU, Max-Planck-Institut fuer Plasma Physik Boltzmannstr. 2, D-85748 Garching (Germany); Perrot, Y. [CEA-LIST Robotics and Interactive Systems Unit, BP6 F-92265 Fontenay aux Roses Cedex (France); Samaille, F. [Association Euratom-CEA, DSM/Departement de Recherche sur la Fusion Controlee, CEA/Cadarache, F-13108 Saint Paul Lez Durance Cedex (France)

    2007-10-15

    The aim of the project is to demonstrate on Tore Supra the reliability of a multi-purpose in-vessel remote handling inspection system using a long reach, limited payload carrier. The robot prototype is fully representative of the deployment carrier system that could be required on ITER. The demonstration on Tore Supra will help in the understanding of operation issues that could occur in the tokamak vacuum vessel equipped of actively cooled components. The viewing process that is currently under development will allow close inspection of the Tore Supra plasma facing components that are representative of the ITER divertor targets in terms of confined environment and identification of possible tiles failure of CFC carbon tiles. One of the other potential inspection processes that is foreseen to be tested using the AIA carrier in Tore Supra is the laser ablation system of the CFC armour. It could be fully relevant for the ITER wall detritiation issues. Such process can be simulated on Tore Supra through the deuterium inventory under long-time plasma discharges. The in situ leakage localisation of a damaged plasma facing component is also one of the major ITER maintenance challenges that could use remote handling inspection tools.

  18. Towards operations on Tore Supra of an ITER relevant inspection robot and associated processes

    International Nuclear Information System (INIS)

    Laurent Gargiulo, L.; Cordier, J.-J.; Samaille, F.; Grisolia, Ch.; Perrot, Y.; Olivier, D.; Friconneau, J.-P.; Palmer, J.

    2006-01-01

    The aim of the project is to demonstrate on Tore Supra the reliability of a multi-purpose in-vessel Remote Handling inspection system using a long reach, limited payload carrier. This project called AIA (Articulated Inspection Arm) is currently being developed at CEA under a European EFDA work program. The paper describes the detailed design, the manufacturing processes and the results of the first module test campaign in the CEA Tore Supra ME60 facility, at representative vacuum, temperature and nominal loading conditions. The second part of this work that is reported in the paper, concerns the description of the whole integration of the device on the Tore Supra tokamak that is foreseen to be operated on Tore Supra early 2007. The deployer system and the 10 m long storage vacuum vessel are presented. The robot prototype is fully representative of the deployment carrier system that could be required on ITER. The demonstration on Tore Supra will help in the understanding of operation issues that could occur in the tokamak vacuum vessel equipped of actively cooled components. The viewing process that is currently under development is presented in the paper. It will allow close inspection of the Tore Supra Plasma Facing Components that are representative of the ITER divertor targets in terms of confined environment and identification of possible tiles failure of CFC carbon tiles. Such viewing process could be used on ITER during the early stage of operation under a limited radiation level. The AIA technology is also showing promising potential for generic application in alternative systems for ITER. The feasibility study for viewing inspection of the beam line components in the neutral beam test facility is presented. One of the other potential inspection processes that is foreseen to be tested using the AIA carrier in Tore Supra is the laser ablation system of the CFC armour. It could be fully relevant for the ITER wall detritiation issues. Such process can be

  19. Development of a Remote Handling Robot for the Maintenance of an ITER-Like D-Shaped Vessel

    Directory of Open Access Journals (Sweden)

    Peihua Chen

    2014-01-01

    Full Text Available Robotic operation is one of the major challenges in the remote maintenance of ITER vacuum vessel (VV and future fusion reactors as inner operations of Tokamak have to be done by robots due to the internal adverse conditions. This paper introduces a novel remote handling robot (RHR for the maintenance of ITER-like D-shaped vessel. The modular designed RHR, which is an important part of the remote handling system for ITER, consists of three parts: an omnidirectional transfer vehicle (OTV, a planar articulated arm (PAA, and an articulated teleoperated manipulator (ATM. The task of RHR is to carry processing tools, such as the viewing system, leakage detector, and electric screwdriver, to inspect and maintain the components installed inside the D-shaped vessel. The kinematics of the OTV, as well as the kinematic analyses of the PAA and ATM, is studied in this paper. Because of its special length and heavy payload, the dynamics of the PAA is also investigated through a dynamic simulation system based on robot technology middleware (RTM. The results of the path planning, workspace simulations, and dynamic simulation indicate that the RHR has good mobility together with satisfying kinematic and dynamic performances and can well accomplish its maintenance tasks in the ITER-like D-shaped vessel.

  20. Velocity Tracking Control of Wheeled Mobile Robots by Iterative Learning Control

    Directory of Open Access Journals (Sweden)

    Xiaochun Lu

    2016-05-01

    Full Text Available This paper presents an iterative learning control (ILC strategy to resolve the trajectory tracking problem of wheeled mobile robots (WMRs based on dynamic model. In the previous study of WMRs’ trajectory tracking, ILC was usually applied to the kinematical model of WMRs with the assumption that desired velocity can be tracked immediately. However, this assumption cannot be realized in the real world at all. The kinematic and dynamic models of WMRs are deduced in this chapter, and a novel combination of D-type ILC algorithm and dynamic model of WMR with random bounded disturbances are presented. To analyze the convergence of the algorithm, the method of contracting mapping, which shows that the designed controller can make the velocity tracking errors converge to zero completely when the iteration times tend to infinite, is adopted. Simulation results show the effectiveness of D-type ILC in the trajectory tracking problem of WMRs, demonstrating the effectiveness and robustness of the algorithm in the condition of random bounded disturbance. A comparative study conducted between D-type ILC and compound cosine function neural network (NN controller also demonstrates the effectiveness of the ILC strategy.

  1. Development of an inspection robot under iter relevant vacuum and temperature conditions

    Energy Technology Data Exchange (ETDEWEB)

    Hatchressian, J-C; Bruno, V; Gargiulo, L; Bayetti, P; Cordier, J-J; Samaille, F [Association Euratom-CEA, DSM/Departement de Recherche sur la Fusion Controlee, CEA Cadarache, F-13108 Saint Paul-Lez-Durance Cedex (France); Keller, D; Perrot, Y; Friconneau, J-P [CEA, LIST, Service de Robotique Interactive, 18 route du Panorama, BP6, Fontenay aux Roses F-92265 France (France); Palmer, J D [EFDA-CSU Max-Planck-Institut fuer Plasma Physik Boltzmannstr.2, D-85748 Garching Germany (Germany)

    2008-03-15

    Robotic operations are one of the major maintenance challenges for ITER and future fusion reactors. In vessel inspection operations without loss of conditioning could be very mandatory. Within this framework, the aim of the Articulated Inspection Arm (AIA) project is to demonstrate the feasibility of a multi-purpose in-vessel Remote Handling inspection system. It is a long reach, composed of 5 segments with in all 8 degrees of freedom, limited payload carrier (up to 10kg) and a total range of 8m. The project is currently developed by the CEA within the European work program. Some tests will validate chosen concepts for operations under ITER relevant vacuum and temperature conditions. The presence of magnetic fields, radiation and neutron beams will not be considered. This paper deals with the choices of the materials to minimize the out-gassing under vacuum and high temperature during conditioning, the implantation of the electronics which are enclosed in boxes with special gaskets, the design of the first embedded process which is a viewing system.

  2. Iter

    Science.gov (United States)

    Iotti, Robert

    2015-04-01

    ITER is an international experimental facility being built by seven Parties to demonstrate the long term potential of fusion energy. The ITER Joint Implementation Agreement (JIA) defines the structure and governance model of such cooperation. There are a number of necessary conditions for such international projects to be successful: a complete design, strong systems engineering working with an agreed set of requirements, an experienced organization with systems and plans in place to manage the project, a cost estimate backed by industry, and someone in charge. Unfortunately for ITER many of these conditions were not present. The paper discusses the priorities in the JIA which led to setting up the project with a Central Integrating Organization (IO) in Cadarache, France as the ITER HQ, and seven Domestic Agencies (DAs) located in the countries of the Parties, responsible for delivering 90%+ of the project hardware as Contributions-in-Kind and also financial contributions to the IO, as ``Contributions-in-Cash.'' Theoretically the Director General (DG) is responsible for everything. In practice the DG does not have the power to control the work of the DAs, and there is not an effective management structure enabling the IO and the DAs to arbitrate disputes, so the project is not really managed, but is a loose collaboration of competing interests. Any DA can effectively block a decision reached by the DG. Inefficiencies in completing design while setting up a competent organization from scratch contributed to the delays and cost increases during the initial few years. So did the fact that the original estimate was not developed from industry input. Unforeseen inflation and market demand on certain commodities/materials further exacerbated the cost increases. Since then, improvements are debatable. Does this mean that the governance model of ITER is a wrong model for international scientific cooperation? I do not believe so. Had the necessary conditions for success

  3. Non-iterative geometric approach for inverse kinematics of redundant lead-module in a radiosurgical snake-like robot.

    Science.gov (United States)

    Omisore, Olatunji Mumini; Han, Shipeng; Ren, Lingxue; Zhang, Nannan; Ivanov, Kamen; Elazab, Ahmed; Wang, Lei

    2017-08-01

    Snake-like robot is an emerging form of serial-link manipulator with the morphologic design of biological snakes. The redundant robot can be used to assist medical experts in accessing internal organs with minimal or no invasion. Several snake-like robotic designs have been proposed for minimal invasive surgery, however, the few that were developed are yet to be fully explored for clinical procedures. This is due to lack of capability for full-fledged spatial navigation. In rare cases where such snake-like designs are spatially flexible, there exists no inverse kinematics (IK) solution with both precise control and fast response. In this study, we proposed a non-iterative geometric method for solving IK of lead-module of a snake-like robot designed for therapy or ablation of abdominal tumors. The proposed method is aimed at providing accurate and fast IK solution for given target points in the robot's workspace. n-1 virtual points (VPs) were geometrically computed and set as coordinates of intermediary joints in an n-link module. Suitable joint angles that can place the end-effector at given target points were then computed by vectorizing coordinates of the VPs, in addition to coordinates of the base point, target point, and tip of the first link in its default pose. The proposed method is applied to solve IK of two-link and redundant four-link modules. Both two-link and four-link modules were simulated with Robotics Toolbox in Matlab 8.3 (R2014a). Implementation result shows that the proposed method can solve IK of the spatially flexible robot with minimal error values. Furthermore, analyses of results from both modules show that the geometric method can reach 99.21 and 88.61% of points in their workspaces, respectively, with an error threshold of 1 mm. The proposed method is non-iterative and has a maximum execution time of 0.009 s. This paper focuses on solving IK problem of a spatially flexible robot which is part of a developmental project for abdominal

  4. Hand-Eye LRF-Based Iterative Plane Detection Method for Autonomous Robotic Welding

    Directory of Open Access Journals (Sweden)

    Sungmin Lee

    2015-12-01

    Full Text Available This paper proposes a hand-eye LRF-based (laser range finder welding plane-detection method for autonomous robotic welding in the field of shipbuilding. The hand-eye LRF system consists of a 6 DOF manipulator and an LRF attached to the wrist of the manipulator. The welding plane is detected by the LRF with only the wrist's rotation to minimize a mechanical error caused by the manipulator's motion. A position on the plane is determined as an average position of the detected points on the plane, and a normal vector to the plane is determined by applying PCA (principal component analysis to the detected points. In this case, the accuracy of the detected plane is analysed by simulations with respect to the wrist's angle interval and the plane angle. As a result of the analysis, an iterative plane-detection method with the manipulator's alignment motion is proposed to improve the performance of plane detection. For verifying the feasibility and effectiveness of the proposed plane-detection method, experiments are carried out with a prototype of the hand-eye LRF-based system, which consists of a 1 DOF wrist's joint, an LRF system and a rotatable plane. In addition, the experimental results of the PCA-based plane detection method are compared with those of the two representative plane-detection methods, based on RANSAC (RANdom SAmple Consensus and the 3D Hough transform in both accuracy and computation time's points of view.

  5. Solving the robot-world, hand-eye(s) calibration problem with iterative methods

    Science.gov (United States)

    Robot-world, hand-eye calibration is the problem of determining the transformation between the robot end effector and a camera, as well as the transformation between the robot base and the world coordinate system. This relationship has been modeled as AX = ZB, where X and Z are unknown homogeneous ...

  6. Autonomous Integrated Navigation for Indoor Robots Utilizing On-Line Iterated Extended Rauch-Tung-Striebel Smoothing

    Directory of Open Access Journals (Sweden)

    Yuan Xu

    2013-11-01

    Full Text Available In order to reduce the estimated errors of the inertial navigation system (INS/Wireless sensor network (WSN-integrated navigation for mobile robots indoors, this work proposes an on-line iterated extended Rauch-Tung-Striebel smoothing (IERTSS utilizing inertial measuring units (IMUs and an ultrasonic positioning system. In this mode, an iterated Extended Kalman filter (IEKF is used in forward data processing of the Extended Rauch-Tung-Striebel smoothing (ERTSS to improve the accuracy of the filtering output for the smoother. Furthermore, in order to achieve the on-line smoothing, IERTSS is embedded into the average filter. For verification, a real indoor test has been done to assess the performance of the proposed method. The results show that the proposed method is effective in reducing the errors compared with the conventional schemes.

  7. Functional electrical stimulation mediated by iterative learning control and 3D robotics reduces motor impairment in chronic stroke

    Directory of Open Access Journals (Sweden)

    Meadmore Katie L

    2012-06-01

    Full Text Available Abstract Background Novel stroke rehabilitation techniques that employ electrical stimulation (ES and robotic technologies are effective in reducing upper limb impairments. ES is most effective when it is applied to support the patients’ voluntary effort; however, current systems fail to fully exploit this connection. This study builds on previous work using advanced ES controllers, and aims to investigate the feasibility of Stimulation Assistance through Iterative Learning (SAIL, a novel upper limb stroke rehabilitation system which utilises robotic support, ES, and voluntary effort. Methods Five hemiparetic, chronic stroke participants with impaired upper limb function attended 18, 1 hour intervention sessions. Participants completed virtual reality tracking tasks whereby they moved their impaired arm to follow a slowly moving sphere along a specified trajectory. To do this, the participants’ arm was supported by a robot. ES, mediated by advanced iterative learning control (ILC algorithms, was applied to the triceps and anterior deltoid muscles. Each movement was repeated 6 times and ILC adjusted the amount of stimulation applied on each trial to improve accuracy and maximise voluntary effort. Participants completed clinical assessments (Fugl-Meyer, Action Research Arm Test at baseline and post-intervention, as well as unassisted tracking tasks at the beginning and end of each intervention session. Data were analysed using t-tests and linear regression. Results From baseline to post-intervention, Fugl-Meyer scores improved, assisted and unassisted tracking performance improved, and the amount of ES required to assist tracking reduced. Conclusions The concept of minimising support from ES using ILC algorithms was demonstrated. The positive results are promising with respect to reducing upper limb impairments following stroke, however, a larger study is required to confirm this.

  8. Software protocol design: Communication and control in a multi-task robot machine for ITER vacuum vessel assembly and maintenance

    International Nuclear Information System (INIS)

    Li, Ming; Wu, Huapeng; Handroos, Heikki; Yang, Guangyou; Wang, Yongbo

    2015-01-01

    applying these protocols, the software for a multi-task robot machine that is used for ITER vacuum vessel assembly and maintenance has been developed and it is demonstrated that machining tasks of the robot machine, such as milling, drilling, welding etc., can be implemented in both an individual and composite way.

  9. Software protocol design: Communication and control in a multi-task robot machine for ITER vacuum vessel assembly and maintenance

    Energy Technology Data Exchange (ETDEWEB)

    Li, Ming, E-mail: ming.li@lut.fi [Laboratory of Intelligent Machines, Lappeenranta University of Technology (Finland); Wu, Huapeng; Handroos, Heikki [Laboratory of Intelligent Machines, Lappeenranta University of Technology (Finland); Yang, Guangyou [School of Mechanical Engineering, Hubei University of Technology, Wuhan (China); Wang, Yongbo [Laboratory of Intelligent Machines, Lappeenranta University of Technology (Finland)

    2015-10-15

    applying these protocols, the software for a multi-task robot machine that is used for ITER vacuum vessel assembly and maintenance has been developed and it is demonstrated that machining tasks of the robot machine, such as milling, drilling, welding etc., can be implemented in both an individual and composite way.

  10. Using Functional Electrical Stimulation Mediated by Iterative Learning Control and Robotics to Improve Arm Movement for People With Multiple Sclerosis.

    Science.gov (United States)

    Sampson, Patrica; Freeman, Chris; Coote, Susan; Demain, Sara; Feys, Peter; Meadmore, Katie; Hughes, Ann-Marie

    2016-02-01

    Few interventions address multiple sclerosis (MS) arm dysfunction but robotics and functional electrical stimulation (FES) appear promising. This paper investigates the feasibility of combining FES with passive robotic support during virtual reality (VR) training tasks to improve upper limb function in people with multiple sclerosis (pwMS). The system assists patients in following a specified trajectory path, employing an advanced model-based paradigm termed iterative learning control (ILC) to adjust the FES to improve accuracy and maximise voluntary effort. Reaching tasks were repeated six times with ILC learning the optimum control action from previous attempts. A convenience sample of five pwMS was recruited from local MS societies, and the intervention comprised 18 one-hour training sessions over 10 weeks. The accuracy of tracking performance without FES and the amount of FES delivered during training were analyzed using regression analysis. Clinical functioning of the arm was documented before and after treatment with standard tests. Statistically significant results following training included: improved accuracy of tracking performance both when assisted and unassisted by FES; reduction in maximum amount of FES needed to assist tracking; and less impairment in the proximal arm that was trained. The system was well tolerated by all participants with no increase in muscle fatigue reported. This study confirms the feasibility of FES combined with passive robot assistance as a potentially effective intervention to improve arm movement and control in pwMS and provides the basis for a follow-up study.

  11. INTELLIGENT FRACTIONAL ORDER ITERATIVE LEARNING CONTROL USING FEEDBACK LINEARIZATION FOR A SINGLE-LINK ROBOT

    Directory of Open Access Journals (Sweden)

    Iman Ghasemi

    2017-05-01

    Full Text Available In this paper, iterative learning control (ILC is combined with an optimal fractional order derivative (BBO-Da-type ILC and optimal fractional and proportional-derivative (BBO-PDa-type ILC. In the update law of Arimoto's derivative iterative learning control, a first order derivative of tracking error signal is used. In the proposed method, fractional order derivative of the error signal is stated in term of 'sa' where  to update iterative learning control law. Two types of fractional order iterative learning control namely PDa-type ILC and Da-type ILC are gained for different value of a. In order to improve the performance of closed-loop control system, coefficients of both  and  learning law i.e. proportional , derivative  and  are optimized using Biogeography-Based optimization algorithm (BBO. Outcome of the simulation results are compared with those of the conventional fractional order iterative learning control to verify effectiveness of BBO-Da-type ILC and BBO-PDa-type ILC

  12. A Multi-purpose Rescue Vehicle and a human–robot interface architecture for remote assistance in ITER

    International Nuclear Information System (INIS)

    Soares, João; Vale, Alberto; Ventura, Rodrigo

    2015-01-01

    Highlights: • Design of an omnidirectional vehicle equipped with cameras and laser range finders. • Two robotic manipulators that slide over the vehicle's body to perform independent tasks. • Architecture to connect the control system, communication, power, navigation and HMI. • An immersive interface HMI with augmented reality features with head mounted display. - Abstract: The remote handling (RH) plays an important role in nuclear test facilities, such as in ITER, for in-vessel and ex-vessel maintenance operations. Unexpected situations may occur when RH devices fail. Since no human being is allowed during the RH operations, a Multi-purpose Rescue Vehicle (MPRV) must be required for providing support in site. This paper proposes a design of a MPRV, i.e., a mobile platform equipped with different sensors and two manipulators with different sets of end-effectors. A human–machine interface is also proposed to remotely operate the MPRV and to carry out rescue and recovery operations.

  13. Robotics

    Science.gov (United States)

    Popov, E. P.; Iurevich, E. I.

    The history and the current status of robotics are reviewed, as are the design, operation, and principal applications of industrial robots. Attention is given to programmable robots, robots with adaptive control and elements of artificial intelligence, and remotely controlled robots. The applications of robots discussed include mechanical engineering, cargo handling during transportation and storage, mining, and metallurgy. The future prospects of robotics are briefly outlined.

  14. Adaptive Iterated Extended Kalman Filter and Its Application to Autonomous Integrated Navigation for Indoor Robot

    Directory of Open Access Journals (Sweden)

    Yuan Xu

    2014-01-01

    Full Text Available As the core of the integrated navigation system, the data fusion algorithm should be designed seriously. In order to improve the accuracy of data fusion, this work proposed an adaptive iterated extended Kalman (AIEKF which used the noise statistics estimator in the iterated extended Kalman (IEKF, and then AIEKF is used to deal with the nonlinear problem in the inertial navigation systems (INS/wireless sensors networks (WSNs-integrated navigation system. Practical test has been done to evaluate the performance of the proposed method. The results show that the proposed method is effective to reduce the mean root-mean-square error (RMSE of position by about 92.53%, 67.93%, 55.97%, and 30.09% compared with the INS only, WSN, EKF, and IEKF.

  15. A Multi-purpose Rescue Vehicle and a human–robot interface architecture for remote assistance in ITER

    Energy Technology Data Exchange (ETDEWEB)

    Soares, João [Instituto Superior Técnico, Universidade de Lisboa, Av. Rovisco Pais 1, 1049-001 Lisboa (Portugal); Vale, Alberto, E-mail: avale@ipfn.tecnico.ulisboa.pt [Instituto de Plasmas e Fusão Nuclear, Instituto SuperiorTécnico, Universidade de Lisboa, Av. Rovisco Pais 1, 1049-001 Lisboa (Portugal); Ventura, Rodrigo, E-mail: rodrigo.ventura@isr.tecnico.ulisboa.pt [Laboratório de Robótica e Sistemas em Engenharia eCiência, Instituto Superior Técnico, Universidade de Lisboa, Av. Rovisco Pais 1, 1049-001 Lisboa (Portugal)

    2015-10-15

    Highlights: • Design of an omnidirectional vehicle equipped with cameras and laser range finders. • Two robotic manipulators that slide over the vehicle's body to perform independent tasks. • Architecture to connect the control system, communication, power, navigation and HMI. • An immersive interface HMI with augmented reality features with head mounted display. - Abstract: The remote handling (RH) plays an important role in nuclear test facilities, such as in ITER, for in-vessel and ex-vessel maintenance operations. Unexpected situations may occur when RH devices fail. Since no human being is allowed during the RH operations, a Multi-purpose Rescue Vehicle (MPRV) must be required for providing support in site. This paper proposes a design of a MPRV, i.e., a mobile platform equipped with different sensors and two manipulators with different sets of end-effectors. A human–machine interface is also proposed to remotely operate the MPRV and to carry out rescue and recovery operations.

  16. Robotics

    International Nuclear Information System (INIS)

    Scheide, A.W.

    1983-01-01

    This article reviews some of the technical areas and history associated with robotics, provides information relative to the formation of a Robotics Industry Committee within the Industry Applications Society (IAS), and describes how all activities relating to robotics will be coordinated within the IEEE. Industrial robots are being used for material handling, processes such as coating and arc welding, and some mechanical and electronics assembly. An industrial robot is defined as a programmable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for a variety of tasks. The initial focus of the Robotics Industry Committee will be on the application of robotics systems to the various industries that are represented within the IAS

  17. Robotics

    Energy Technology Data Exchange (ETDEWEB)

    Lorino, P; Altwegg, J M

    1985-05-01

    This article, which is aimed at the general reader, examines latest developments in, and the role of, modern robotics. The 7 main sections are sub-divided into 27 papers presented by 30 authors. The sections are as follows: 1) The role of robotics, 2) Robotics in the business world and what it can offer, 3) Study and development, 4) Utilisation, 5) Wages, 6) Conditions for success, and 7) Technological dynamics.

  18. Robotics

    Indian Academy of Sciences (India)

    netic induction to detect an object. The development of ... end effector, inclination of object, magnetic and electric fields, etc. The sensors described ... In the case of a robot, the various actuators and motors have to be modelled. The major ...

  19. ITER...ation

    International Nuclear Information System (INIS)

    Troyon, F.

    1997-01-01

    Recurrent attacks against ITER, the new generation of tokamak are a mix of political and scientific arguments. This short article draws a historical review of the European fusion program. This program has allowed to build and manage several installations in the aim of getting experimental results necessary to lead the program forwards. ITER will bring together a fusion reactor core with technologies such as materials, superconductive coils, heating devices and instrumentation in order to validate and delimit the operating range. ITER will be a logical and decisive step towards the use of controlled fusion. (A.C.)

  20. Iterating skeletons

    DEFF Research Database (Denmark)

    Dieterle, Mischa; Horstmeyer, Thomas; Berthold, Jost

    2012-01-01

    a particular skeleton ad-hoc for repeated execution turns out to be considerably complicated, and raises general questions about introducing state into a stateless parallel computation. In addition, one would strongly prefer an approach which leaves the original skeleton intact, and only uses it as a building...... block inside a bigger structure. In this work, we present a general framework for skeleton iteration and discuss requirements and variations of iteration control and iteration body. Skeleton iteration is expressed by synchronising a parallel iteration body skeleton with a (likewise parallel) state......Skeleton-based programming is an area of increasing relevance with upcoming highly parallel hardware, since it substantially facilitates parallel programming and separates concerns. When parallel algorithms expressed by skeletons involve iterations – applying the same algorithm repeatedly...

  1. ITER safety

    International Nuclear Information System (INIS)

    Raeder, J.; Piet, S.; Buende, R.

    1991-01-01

    As part of the series of publications by the IAEA that summarize the results of the Conceptual Design Activities for the ITER project, this document describes the ITER safety analyses. It contains an assessment of normal operation effluents, accident scenarios, plasma chamber safety, tritium system safety, magnet system safety, external loss of coolant and coolant flow problems, and a waste management assessment, while it describes the implementation of the safety approach for ITER. The document ends with a list of major conclusions, a set of topical remarks on technical safety issues, and recommendations for the Engineering Design Activities, safety considerations for siting ITER, and recommendations with regard to the safety issues for the R and D for ITER. Refs, figs and tabs

  2. Robots de servicio

    Directory of Open Access Journals (Sweden)

    Rafael Aracil

    2008-04-01

    Full Text Available Resumen: El término Robots de Servicio apareció a finales de los años 80 como una necesidad de desarrollar máquinas y sistemas capaces de trabajar en entornos diferentes a los fabriles. Los Robots de Servicio tenían que poder trabajar en entornos noestructurados, en condiciones ambientales cambiantes y con una estrecha interacción con los humanos. En 1995 fue creado por la IEEE Robotics and Automation Society, el Technical Committee on Service Robots, y este comité definió en el año 2000 las áreas de aplicación de los Robots de Servicios, que se pueden dividir en dos grandes grupos: 1 sectores productivos no manufactureros tales como edificación, agricultura, naval, minería, medicina, etc. y 2 sectores de servicios propiamente dichos: asistencia personal, limpieza, vigilancia, educación, entretenimiento, etc. En este trabajo se hace una breve revisión de los principales conceptos y aplicaciones de los robots de servicio. Palabras clave: Robots de servicio, robots autónomos, robots de exteriores, robots de educación y entretenimiento, robots caminantes y escaladores, robots humanoides

  3. ITER overview

    International Nuclear Information System (INIS)

    Shimomura, Y.; Aymar, R.; Chuyanov, V.; Huguet, M.; Parker, R.R.

    2001-01-01

    This report summarizes technical works of six years done by the ITER Joint Central Team and Home Teams under terms of Agreement of the ITER Engineering Design Activities. The major products are as follows: complete and detailed engineering design with supporting assessments, industrial-based cost estimates and schedule, non-site specific comprehensive safety and environmental assessment, and technology R and D to validate and qualify design including proof of technologies and industrial manufacture and testing of full size or scalable models of key components. The ITER design is at an advanced stage of maturity and contains sufficient technical information for a construction decision. The operation of ITER will demonstrate the availability of a new energy source, fusion. (author)

  4. ITER Overview

    International Nuclear Information System (INIS)

    Shimomura, Y.; Aymar, R.; Chuyanov, V.; Huguet, M.; Parker, R.

    1999-01-01

    This report summarizes technical works of six years done by the ITER Joint Central Team and Home Teams under terms of Agreement of the ITER Engineering Design Activities. The major products are as follows: complete and detailed engineering design with supporting assessments, industrial-based cost estimates and schedule, non-site specific comprehensive safety and environmental assessment, and technology R and D to validate and qualify design including proof of technologies and industrial manufacture and testing of full size or scalable models of key components. The ITER design is at an advanced stage of maturity and contains sufficient technical information for a construction decision. The operation of ITER will demonstrate the availability of a new energy source, fusion. (author)

  5. Development and test of prototype components for ITER; Entwicklung und Test von Prototypkomponenten fuer ITER

    Energy Technology Data Exchange (ETDEWEB)

    Biel, Wolfgang; Behr, Wilfried; Castano-Bardawil, David; and others

    2015-08-15

    The scientific program of the project is divided into the following partial projects: (1.) ITER Diagnostic Port Plug for the charge-exchange spectroscopy (CXRS) with the subthemes: (a) Development of prototypes for critical mechanical components, (b) development of a roboter for the laser welding of vacuum seals and pipings at the Port Plug, (c) mirror studies, (d) CXRS prototype spectrometer, (2.) ITER tritium retention diagnostics (TR), (3.) ITER disruption mitigation ventile (DMV).

  6. Characterization Of Robot Work Cell

    Science.gov (United States)

    Anderson, Ronald R.; Paternoster, Vincent Y.; Guthmiller, Wayne A.

    1990-01-01

    Iterative process of measurement and computation used to characterize work cell of robot, increasing accuracy of mathematical model of work cell. Characterization needed because model used in off-line programming (OLP) to compute paths to control motion of robot. Increases accuracies of model and paths.

  7. Exploratorium: Robots.

    Science.gov (United States)

    Brand, Judith, Ed.

    2002-01-01

    This issue of Exploratorium Magazine focuses on the topic robotics. It explains how to make a vibrating robotic bug and features articles on robots. Contents include: (1) "Where Robot Mice and Robot Men Run Round in Robot Towns" (Ray Bradbury); (2) "Robots at Work" (Jake Widman); (3) "Make a Vibrating Robotic Bug" (Modesto Tamez); (4) "The Robot…

  8. ITER licensing

    International Nuclear Information System (INIS)

    Gordon, C.W.

    2005-01-01

    ITER was fortunate to have four countries interested in ITER siting to the point where licensing discussions were initiated. This experience uncovered the challenges of licensing a first of a kind, fusion machine under different licensing regimes and helped prepare the way for the site specific licensing process. These initial steps in licensing ITER have allowed for refining the safety case and provide confidence that the design and safety approach will be licensable. With site-specific licensing underway, the necessary regulatory submissions have been defined and are well on the way to being completed. Of course, there is still work to be done and details to be sorted out. However, the informal international discussions to bring both the proponent and regulatory authority up to a common level of understanding have laid the foundation for a licensing process that should proceed smoothly. This paper provides observations from the perspective of the International Team. (author)

  9. Robot Actors, Robot Dramaturgies

    DEFF Research Database (Denmark)

    Jochum, Elizabeth

    This paper considers the use of tele-operated robots in live performance. Robots and performance have long been linked, from the working androids and automata staged in popular exhibitions during the nineteenth century and the robots featured at Cybernetic Serendipity (1968) and the World Expo...

  10. Robotic architectures

    CSIR Research Space (South Africa)

    Mtshali, M

    2010-01-01

    Full Text Available In the development of mobile robotic systems, a robotic architecture plays a crucial role in interconnecting all the sub-systems and controlling the system. The design of robotic architectures for mobile autonomous robots is a challenging...

  11. Development and test of prototype components for ITER

    International Nuclear Information System (INIS)

    Biel, Wolfgang; Behr, Wilfried; Castano-Bardawil, David

    2015-08-01

    The scientific program of the project is divided into the following partial projects: (1.) ITER Diagnostic Port Plug for the charge-exchange spectroscopy (CXRS) with the subthemes: (a) Development of prototypes for critical mechanical components, (b) development of a roboter for the laser welding of vacuum seals and pipings at the Port Plug, (c) mirror studies, (d) CXRS prototype spectrometer, (2.) ITER tritium retention diagnostics (TR), (3.) ITER disruption mitigation ventile (DMV).

  12. Robot engineering

    International Nuclear Information System (INIS)

    Jung, Seul

    2006-02-01

    This book deals with robot engineering, giving descriptions of robot's history, current tendency of robot field, work and characteristic of industrial robot, essential merit and vector, application of matrix, analysis of basic vector, expression of Denavit-Hartenberg, robot kinematics such as forward kinematics, inverse kinematics, cases of MATLAB program, and motion kinematics, robot kinetics like moment of inertia, centrifugal force and coriolis power, and Euler-Lagrangian equation course plan, SIMULINK position control of robots.

  13. Robot engineering

    Energy Technology Data Exchange (ETDEWEB)

    Jung, Seul

    2006-02-15

    This book deals with robot engineering, giving descriptions of robot's history, current tendency of robot field, work and characteristic of industrial robot, essential merit and vector, application of matrix, analysis of basic vector, expression of Denavit-Hartenberg, robot kinematics such as forward kinematics, inverse kinematics, cases of MATLAB program, and motion kinematics, robot kinetics like moment of inertia, centrifugal force and coriolis power, and Euler-Lagrangian equation course plan, SIMULINK position control of robots.

  14. ITER council proceedings: 2001

    International Nuclear Information System (INIS)

    2001-01-01

    Continuing the ITER EDA, two further ITER Council Meetings were held since the publication of ITER EDA documentation series no, 20, namely the ITER Council Meeting on 27-28 February 2001 in Toronto, and the ITER Council Meeting on 18-19 July in Vienna. That Meeting was the last one during the ITER EDA. This volume contains records of these Meetings, including: Records of decisions; List of attendees; ITER EDA status report; ITER EDA technical activities report; MAC report and advice; Final report of ITER EDA; and Press release

  15. Robots and service innovation in health care.

    Science.gov (United States)

    Oborn, Eivor; Barrett, Michael; Darzi, Ara

    2011-01-01

    Robots have long captured our imagination and are being used increasingly in health care. In this paper we summarize, organize and criticize the health care robotics literature and highlight how the social and technical elements of robots iteratively influence and redefine each other. We suggest the need for increased emphasis on sociological dimensions of using robots, recognizing how social and work relations are restructured during changes in practice. Further, we propose the usefulness of a 'service logic' in providing insight as to how robots can influence health care innovation. The Royal Society of Medicine Press Ltd 2011.

  16. IWR-solution for the ITER vacuum vessel assembly

    Energy Technology Data Exchange (ETDEWEB)

    Wu, H., E-mail: huapeng@lut.fi [Laboratory of Intelligent Machines, Lappeenranta University of Technology (Finland); Handroos, H. [Laboratory of Intelligent Machines, Lappeenranta University of Technology (Finland); Pela, P. [Tekes (Finland); Wang, Y. [Laboratory of Intelligent Machines, Lappeenranta University of Technology (Finland)

    2011-10-15

    The assembly of ITER vacuum vessel (VV) is still a very big challenge as the process can only be done from inside the VV. The welding of the VV assembly is carried out using the dedicated robotic systems. The main functions of the robots are: (i) measuring the actual space between every two sectors, (ii) positioning of the 150 kg splice plates between the sector shells, (iii) welding the splice plates to the sector shells, (iv) NDT of the welds, (v) repairing, including machining of the welds, (vi) He-leak tests of the welds, and (vii) the non-planned functions that may turn out. This paper presents a reasonable method to assemble the ITER VV. In this article, one parallel mobile robot, running on the track rail fixed on the wall inside the VV, is designed and tested. The assembling process, carried out by the mobile robot together with the welding robot, is presented.

  17. Robot NAO cantante

    OpenAIRE

    Caballero Pamos, Adrián

    2016-01-01

    En los últimos años la robótica ha experimentado un crecimiento exponencial incorporando todo tipo de funcionalidades. Introducir el mundo musical en los robots es una de ellas. En este Trabajo Fin de Grado se presenta el desarrollo de un sistema que permite al robot NAO leer una partitura, analizarla y reproducirla a modo de canto. La finalidad del trabajo es que el robot actúe como un intérprete frente a una partitura musical tal y como lo haría un humano. Debe ser capaz de interpretar cual...

  18. ITER council proceedings: 1998

    International Nuclear Information System (INIS)

    1999-01-01

    This volume contains documents of the 13th and the 14th ITER council meeting as well as of the 1st extraordinary ITER council meeting. Documents of the ITER meetings held in Vienna and Yokohama during 1998 are also included. The contents include an outline of the ITER objectives, the ITER parameters and design overview as well as operating scenarios and plasma performance. Furthermore, design features, safety and environmental characteristics are given

  19. Evolutionary robotics

    Indian Academy of Sciences (India)

    In evolutionary robotics, a suitable robot control system is developed automatically through evolution due to the interactions between the robot and its environment. It is a complicated task, as the robot and the environment constitute a highly dynamical system. Several methods have been tried by various investigators to ...

  20. Robot Aesthetics

    DEFF Research Database (Denmark)

    Jochum, Elizabeth Ann; Putnam, Lance Jonathan

    This paper considers art-based research practice in robotics through a discussion of our course and relevant research projects in autonomous art. The undergraduate course integrates basic concepts of computer science, robotic art, live performance and aesthetic theory. Through practice...... in robotics research (such as aesthetics, culture and perception), we believe robot aesthetics is an important area for research in contemporary aesthetics....

  1. Filigree Robotics

    DEFF Research Database (Denmark)

    Tamke, Martin; Evers, Henrik Leander; Clausen Nørgaard, Esben

    2016-01-01

    Filigree Robotics experiments with the combination of traditional ceramic craft with robotic fabrication in order to generate a new narrative of fine three-dimensional ceramic ornament for architecture.......Filigree Robotics experiments with the combination of traditional ceramic craft with robotic fabrication in order to generate a new narrative of fine three-dimensional ceramic ornament for architecture....

  2. Robotic guarded motion system and method

    Science.gov (United States)

    Bruemmer, David J.

    2010-02-23

    A robot platform includes perceptors, locomotors, and a system controller. The system controller executes instructions for repeating, on each iteration through an event timing loop, the acts of defining an event horizon, detecting a range to obstacles around the robot, and testing for an event horizon intrusion. Defining the event horizon includes determining a distance from the robot that is proportional to a current velocity of the robot and testing for the event horizon intrusion includes determining if any range to the obstacles is within the event horizon. Finally, on each iteration through the event timing loop, the method includes reducing the current velocity of the robot in proportion to a loop period of the event timing loop if the event horizon intrusion occurs.

  3. Static stiffness modeling of a novel hybrid redundant robot machine

    International Nuclear Information System (INIS)

    Li Ming; Wu Huapeng; Handroos, Heikki

    2011-01-01

    This paper presents a modeling method to study the stiffness of a hybrid serial-parallel robot IWR (Intersector Welding Robot) for the assembly of ITER vacuum vessel. The stiffness matrix of the basic element in the robot is evaluated using matrix structural analysis (MSA); the stiffness of the parallel mechanism is investigated by taking account of the deformations of both hydraulic limbs and joints; the stiffness of the whole integrated robot is evaluated by employing the virtual joint method and the principle of virtual work. The obtained stiffness model of the hybrid robot is analytical and the deformation results of the robot workspace under certain external load are presented.

  4. ITER Council proceedings: 1993

    International Nuclear Information System (INIS)

    1994-01-01

    Records of the third ITER Council Meeting (IC-3), held on 21-22 April 1993, in Tokyo, Japan, and the fourth ITER Council Meeting (IC-4) held on 29 September - 1 October 1993 in San Diego, USA, are presented, giving essential information on the evolution of the ITER Engineering Design Activities (EDA), such as the text of the draft of Protocol 2 further elaborated in ''ITER EDA Agreement and Protocol 2'' (ITER EDA Documentation Series No. 5), recommendations on future work programmes: a description of technology R and D tasks; the establishment of a trust fund for the ITER EDA activities; arrangements for Visiting Home Team Personnel; the general framework for the involvement of other countries in the ITER EDA; conditions for the involvement of Canada in the Euratom Contribution to the ITER EDA; and other attachments as parts of the Records of Decision of the aforementioned ITER Council Meetings

  5. ITER council proceedings: 2000

    International Nuclear Information System (INIS)

    2001-01-01

    No ITER Council Meetings were held during 2000. However, two ITER EDA Meetings were held, one in Tokyo, January 19-20, and one in Moscow, June 29-30. The parties participating in these meetings were those that partake in the extended ITER EDA, namely the EU, the Russian Federation, and Japan. This document contains, a/o, the records of these meetings, the list of attendees, the agenda, the ITER EDA Status Reports issued during these meetings, the TAC (Technical Advisory Committee) reports and recommendations, the MAC Reports and Advice (also for the July 1999 Meeting), the ITER-FEAT Outline Design Report, the TAC Reports and Recommendations both meetings), Site requirements and Site Design Assumptions, the Tentative Sequence of technical Activities 2000-2001, Report of the ITER SWG-P2 on Joint Implementation of ITER, EU/ITER Canada Proposal for New ITER Identification

  6. ITER council proceedings: 1993

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1994-12-31

    Records of the third ITER Council Meeting (IC-3), held on 21-22 April 1993, in Tokyo, Japan, and the fourth ITER Council Meeting (IC-4) held on 29 September - 1 October 1993 in San Diego, USA, are presented, giving essential information on the evolution of the ITER Engineering Design Activities (EDA), such as the text of the draft of Protocol 2 further elaborated in ``ITER EDA Agreement and Protocol 2`` (ITER EDA Documentation Series No. 5), recommendations on future work programmes: a description of technology R and D tastes; the establishment of a trust fund for the ITER EDA activities; arrangements for Visiting Home Team Personnel; the general framework for the involvement of other countries in the ITER EDA; conditions for the involvement of Canada in the Euratom Contribution to the ITER EDA; and other attachments as parts of the Records of Decision of the aforementioned ITER Council Meetings.

  7. ITER council proceedings: 1995

    International Nuclear Information System (INIS)

    1996-01-01

    Records of the 8. ITER Council Meeting (IC-8), held on 26-27 July 1995, in San Diego, USA, and the 9. ITER Council Meeting (IC-9) held on 12-13 December 1995, in Garching, Germany, are presented, giving essential information on the evolution of the ITER Engineering Design Activities (EDA) and the ITER Interim Design Report Package and Relevant Documents. Figs, tabs

  8. ITER council proceedings: 1999

    International Nuclear Information System (INIS)

    1999-01-01

    In 1999 the ITER meeting in Cadarache (10-11 March 1999) and the Programme Directors Meeting in Grenoble (28-29 July 1999) took place. Both meetings were exclusively devoted to ITER engineering design activities and their agendas covered all issues important for the development of ITER. This volume presents the documents of these two important meetings

  9. ITER council proceedings: 1996

    International Nuclear Information System (INIS)

    1997-01-01

    Records of the 10. ITER Council Meeting (IC-10), held on 26-27 July 1996, in St. Petersburg, Russia, and the 11. ITER Council Meeting (IC-11) held on 17-18 December 1996, in Tokyo, Japan, are presented, giving essential information on the evolution of the ITER Engineering Design Activities (EDA) and the cost review and safety analysis. Figs, tabs

  10. ITER EDA technical activities

    International Nuclear Information System (INIS)

    Aymar, R.

    1998-01-01

    Six years of technical work under the ITER EDA Agreement have resulted in a design which constitutes a complete description of the ITER device and of its auxiliary systems and facilities. The ITER Council commented that the Final Design Report provides the first comprehensive design of a fusion reactor based on well established physics and technology

  11. ITER radio frequency systems

    International Nuclear Information System (INIS)

    Bosia, G.

    1998-01-01

    Neutral Beam Injection and RF heating are two of the methods for heating and current drive in ITER. The three ITER RF systems, which have been developed during the EDA, offer several complementary services and are able to fulfil ITER operational requirements

  12. inversiones en robots

    Directory of Open Access Journals (Sweden)

    Jorge Luis García Alcaraz

    2006-01-01

    Full Text Available En este artículo se presenta un análisis comparativo de los resultados de la aplicación de dos técnicas para evaluar robots industriales, una de las cuales ha sido reportada en la literatura y la otra es una evaluación mediante la técnica TOPSIS (Technique for Order Preference by Similarity to Ideal Solution. Se discuten los resultados obtenidos por las dos técnicas y se demuestra su solidez ante cambios en la evaluación. Finalmente, se hace una serie de recomendaciones y observaciones.

  13. Robotic environments

    NARCIS (Netherlands)

    Bier, H.H.

    2011-01-01

    Technological and conceptual advances in fields such as artificial intelligence, robotics, and material science have enabled robotic architectural environments to be implemented and tested in the last decade in virtual and physical prototypes. These prototypes are incorporating sensing-actuating

  14. ITER-FEAT safety

    International Nuclear Information System (INIS)

    Gordon, C.W.; Bartels, H.-W.; Honda, T.; Raeder, J.; Topilski, L.; Iseli, M.; Moshonas, K.; Taylor, N.; Gulden, W.; Kolbasov, B.; Inabe, T.; Tada, E.

    2001-01-01

    Safety has been an integral part of the design process for ITER since the Conceptual Design Activities of the project. The safety approach adopted in the ITER-FEAT design and the complementary assessments underway, to be documented in the Generic Site Safety Report (GSSR), are expected to help demonstrate the attractiveness of fusion and thereby set a good precedent for future fusion power reactors. The assessments address ITER's radiological hazards taking into account fusion's favourable safety characteristics. The expectation that ITER will need regulatory approval has influenced the entire safety design and assessment approach. This paper summarises the ITER-FEAT safety approach and assessments underway. (author)

  15. ITER council proceedings: 1997

    International Nuclear Information System (INIS)

    1997-01-01

    This volume of the ITER EDA Documentation Series presents records of the 12th ITER Council Meeting, IC-12, which took place on 23-24 July, 1997 in Tampere, Finland. The Council received from the Parties (EU, Japan, Russia, US) positive responses on the Detailed Design Report. The Parties stated their willingness to contribute to fulfil their obligations in contributing to the ITER EDA. The summary discussions among the Parties led to the consensus that in July 1998 the ITER activities should proceed for additional three years with a general intent to enable an efficient start of possible, future ITER construction

  16. Healthcare Robotics

    OpenAIRE

    Riek, Laurel D.

    2017-01-01

    Robots have the potential to be a game changer in healthcare: improving health and well-being, filling care gaps, supporting care givers, and aiding health care workers. However, before robots are able to be widely deployed, it is crucial that both the research and industrial communities work together to establish a strong evidence-base for healthcare robotics, and surmount likely adoption barriers. This article presents a broad contextualization of robots in healthcare by identifying key sta...

  17. Industrial Robots.

    Science.gov (United States)

    Reed, Dean; Harden, Thomas K.

    Robots are mechanical devices that can be programmed to perform some task of manipulation or locomotion under automatic control. This paper discusses: (1) early developments of the robotics industry in the United States; (2) the present structure of the industry; (3) noneconomic factors related to the use of robots; (4) labor considerations…

  18. ROBOTIC SURGERY: BIOETHICAL ASPECTS.

    Science.gov (United States)

    Siqueira-Batista, Rodrigo; Souza, Camila Ribeiro; Maia, Polyana Mendes; Siqueira, Sávio Lana

    2016-01-01

    The use of robots in surgery has been increasingly common today, allowing the emergence of numerous bioethical issues in this area. To present review of the ethical aspects of robot use in surgery. Search in Pubmed, SciELO and Lilacs crossing the headings "bioethics", "surgery", "ethics", "laparoscopy" and "robotic". Of the citations obtained, were selected 17 articles, which were used for the preparation of the article. It contains brief presentation on robotics, its inclusion in health and bioethical aspects, and the use of robots in surgery. Robotic surgery is a reality today in many hospitals, which makes essential bioethical reflection on the relationship between health professionals, automata and patients. A utilização de robôs em procedimentos cirúrgicos tem sido cada vez mais frequente na atualidade, o que permite a emergência de inúmeras questões bioéticas nesse âmbito. Apresentar revisão sobre os aspectos éticos dos usos de robôs em cirurgia. Realizou-se revisão nas bases de dados Pubmed, SciELO e Lilacs cruzando-se os descritores "bioética", "cirurgia", "ética", "laparoscopia" e "robótica". Do total de citações obtidas, selecionou-se 17 artigos, os quais foram utilizados para a elaboração do artigo. Ele contém breve apresentação sobre a robótica, sua inserção na saúde e os aspectos bioéticos da utilização dos robôs em procedimentos cirúrgicos. A cirurgia robótica é uma realidade, hoje, em muitas unidades hospitalares, o que torna essencial a reflexão bioética sobre as relações entre profissionais da saúde, autômatos e pacientes.

  19. Robot Mechanisms

    CERN Document Server

    Lenarcic, Jadran; Stanišić, Michael M

    2013-01-01

    This book provides a comprehensive introduction to the area of robot mechanisms, primarily considering industrial manipulators and humanoid arms. The book is intended for both teaching and self-study. Emphasis is given to the fundamentals of kinematic analysis and the design of robot mechanisms. The coverage of topics is untypical. The focus is on robot kinematics. The book creates a balance between theoretical and practical aspects in the development and application of robot mechanisms, and includes the latest achievements and trends in robot science and technology.

  20. Robot Futures

    DEFF Research Database (Denmark)

    Christoffersen, Anja; Grindsted Nielsen, Sally; Jochum, Elizabeth Ann

    Robots are increasingly used in health care settings, e.g., as homecare assistants and personal companions. One challenge for personal robots in the home is acceptance. We describe an innovative approach to influencing the acceptance of care robots using theatrical performance. Live performance...... is a useful testbed for developing and evaluating what makes robots expressive; it is also a useful platform for designing robot behaviors and dialogue that result in believable characters. Therefore theatre is a valuable testbed for studying human-robot interaction (HRI). We investigate how audiences...... perceive social robots interacting with humans in a future care scenario through a scripted performance. We discuss our methods and initial findings, and outline future work....

  1. Robotics education

    International Nuclear Information System (INIS)

    Benton, O.

    1984-01-01

    Robotics education courses are rapidly spreading throughout the nation's colleges and universities. Engineering schools are offering robotics courses as part of their mechanical or manufacturing engineering degree program. Two year colleges are developing an Associate Degree in robotics. In addition to regular courses, colleges are offering seminars in robotics and related fields. These seminars draw excellent participation at costs running up to $200 per day for each participant. The last one drew 275 people from Texas to Virginia. Seminars are also offered by trade associations, private consulting firms, and robot vendors. IBM, for example, has the Robotic Assembly Institute in Boca Raton and charges about $1,000 per week for course. This is basically for owners of IBM robots. Education (and training) can be as short as one day or as long as two years. Here is the educational pattern that is developing now

  2. Iteration and accelerator dynamics

    International Nuclear Information System (INIS)

    Peggs, S.

    1987-10-01

    Four examples of iteration in accelerator dynamics are studied in this paper. The first three show how iterations of the simplest maps reproduce most of the significant nonlinear behavior in real accelerators. Each of these examples can be easily reproduced by the reader, at the minimal cost of writing only 20 or 40 lines of code. The fourth example outlines a general way to iteratively solve nonlinear difference equations, analytically or numerically

  3. Future plan of ITER

    International Nuclear Information System (INIS)

    Kitsunezaki, Akio

    1998-01-01

    In cooperation of four countries, Japan, USA, EU and Russia, ITER plan has been proceeding as ''the conceptual design activities'' from 1988 to 1990 and ''the industrial design activities'' since 1992. To construct ITER, the legal and work side of ITER operation has been investigated by four countries. However, their economic conditions have been changed to be wrong. So that, construction of ITER can not begin after end of industrial design activities in 1998. Accordingly, they determined to continue the industrial design activities more three years in order to study low cost options and to test the superconductive model·coil. (S.Y.)

  4. ITER test programme

    International Nuclear Information System (INIS)

    Abdou, M.; Baker, C.; Casini, G.

    1991-01-01

    ITER has been designed to operate in two phases. The first phase which lasts for 6 years, is devoted to machine checkout and physics testing. The second phase lasts for 8 years and is devoted primarily to technology testing. This report describes the technology test program development for ITER, the ancillary equipment outside the torus necessary to support the test modules, the international collaboration aspects of conducting the test program on ITER, the requirements on the machine major parameters and the R and D program required to develop the test modules for testing in ITER. 15 refs, figs and tabs

  5. Robotic buildings(s)

    NARCIS (Netherlands)

    Bier, H.H.

    2014-01-01

    Technological and conceptual advances in fields such as artificial intelligence, robotics, and material science have enabled robotic building to be in the last decade prototypically implemented. In this context, robotic building implies both physically built robotic environments and robotically

  6. United States rejoin ITER

    International Nuclear Information System (INIS)

    Roberts, M.

    2003-01-01

    Upon pressure from the United States Congress, the US Department of Energy had to withdraw from further American participation in the ITER Engineering Design Activities after the end of its commitment to the EDA in July 1998. In the years since that time, changes have taken place in both the ITER activity and the US fusion community's position on burning plasma physics. Reflecting the interest in the United States in pursuing burning plasma physics, the DOE's Office of Science commissioned three studies as part of its examination of the option of entering the Negotiations on the Agreement on the Establishment of the International Fusion Energy Organization for the Joint Implementation of the ITER Project. These were a National Academy Review Panel Report supporting the burning plasma mission; a Fusion Energy Sciences Advisory Committee (FESAC) report confirming the role of ITER in achieving fusion power production, and The Lehman Review of the ITER project costing and project management processes (for the latter one, see ITER CTA Newsletter, no. 15, December 2002). All three studies have endorsed the US return to the ITER activities. This historical decision was announced by DOE Secretary Abraham during his remarks to employees of the Department's Princeton Plasma Physics Laboratory. The United States will be working with the other Participants in the ITER Negotiations on the Agreement and is preparing to participate in the ITA

  7. Soft Robotics.

    Science.gov (United States)

    Whitesides, George M

    2018-04-09

    This description of "soft robotics" is not intended to be a conventional review, in the sense of a comprehensive technical summary of a developing field. Rather, its objective is to describe soft robotics as a new field-one that offers opportunities to chemists and materials scientists who like to make "things" and to work with macroscopic objects that move and exert force. It will give one (personal) view of what soft actuators and robots are, and how this class of soft devices fits into the more highly developed field of conventional "hard" robotics. It will also suggest how and why soft robotics is more than simply a minor technical "tweak" on hard robotics and propose a unique role for chemistry, and materials science, in this field. Soft robotics is, at its core, intellectually and technologically different from hard robotics, both because it has different objectives and uses and because it relies on the properties of materials to assume many of the roles played by sensors, actuators, and controllers in hard robotics. © 2018 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

  8. Iterative learning control an optimization paradigm

    CERN Document Server

    Owens, David H

    2016-01-01

    This book develops a coherent theoretical approach to algorithm design for iterative learning control based on the use of optimization concepts. Concentrating initially on linear, discrete-time systems, the author gives the reader access to theories based on either signal or parameter optimization. Although the two approaches are shown to be related in a formal mathematical sense, the text presents them separately because their relevant algorithm design issues are distinct and give rise to different performance capabilities. Together with algorithm design, the text demonstrates that there are new algorithms that are capable of incorporating input and output constraints, enable the algorithm to reconfigure systematically in order to meet the requirements of different reference signals and also to support new algorithms for local convergence of nonlinear iterative control. Simulation and application studies are used to illustrate algorithm properties and performance in systems like gantry robots and other elect...

  9. ITER CTA newsletter. No. 3

    International Nuclear Information System (INIS)

    2001-11-01

    This ITER CTA newsletter comprises reports of Dr. P. Barnard, Iter Canada Chairman and CEO, about the progress of the first formal ITER negotiations and about the demonstration of details of Canada's bid on ITER workshops, and Dr. V. Vlasenkov, Project Board Secretary, about the meeting of the ITER CTA project board

  10. ITER at Cadarache; ITER a Cadarache

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2005-06-15

    This public information document presents the ITER project (International Thermonuclear Experimental Reactor), the definition of the fusion, the international cooperation and the advantages of the project. It presents also the site of Cadarache, an appropriate scientifical and economical environment. The last part of the documentation recalls the historical aspect of the project and the today mobilization of all partners. (A.L.B.)

  11. ITER council proceedings: 1992

    International Nuclear Information System (INIS)

    1994-01-01

    At the signing of the ITER EDA Agreement on July, 1992, each of the Parties presented to the Director General the names of their designated members of the ITER Council. Upon receiving those names, the Director General stated that the ITER Engineering Design Activities were ''ready to begin''. The next step in this process was the convening of the first meeting of the ITER Council. The first meeting of the Council, held in Vienna, was opened by Director General Hans Blix. The second meeting was held in Moscow, the formal seat of the Council. This volume presents records of these first two Council meetings and, together with the previous volumes on the text of the Agreement and Protocol 1 and the preparations for their signing respectively, represents essential information on the evolution of the ITER EDA

  12. SE PREVENINDO?

    Directory of Open Access Journals (Sweden)

    Ana Débora Assis Moura

    2010-01-01

    Full Text Available Este estudio tuvo como objetivo verificar el comportamiento de las prostitutas en relación a la prevención de enfermedades de transmisión sexual y del Síndrome de Inmunodeficiencia Adquirida-SIDA, así como investigar cómo se previenen de esas enfermedades. Se trata de una investigación exploratoria, con enfoque cualitativo, llevada a cabo en la Asociación de las Prostitutas en Ceará, Brazil, en septiembre de 2008, a través de una encuesta con 25 prostitutas. El análisis de los datos se hizo según el análisis de contenido, después de ser agrupados en cuatro categorías: conocimiento sobre las enfermedades de transmisión sexual/SIDA; convivencia con la(s enfermedad(es; prevención de la enfermedad de transmisión sexual/SIDA; y el uso de drogas. Se concluyó que las prostitutas no usan preservativos en todas las relaciones sexuales, por lo tanto, las enfermedades de transmisión sexual representan una realidad; la desinformación sobre la(s enfermedad(es es notable; el consumo de drogas lícitas e ilícitas es frecuente entre ellas, factor que las expone a situaciones más vulnerables con relación al VIH/SIDA.

  13. ITER towards the construction

    International Nuclear Information System (INIS)

    Shimomura, Y.

    2005-01-01

    The ITER Project has been significantly developed in the last few years in preparation for its construction. The ITER Participant's Negotiators have developed the Joint Implementation Agreement (JIA), ready for finalisation following selection of the construction site and nomination of the project's Director General. The ITER International Team and Participant Teams have continued technical and organisational preparations. Construction will be able to start immediately after the international ITER organisation is established, following signature of the JIA. The Project is strongly supported by the governments of the Participants as well as by the scientific community. The real negotiations, including siting and the final details of cost sharing, started in December 2003. The EU, with Cadarache, and Japan, with Rokkasho, have both promised large contributions to the project to strongly support their construction site proposals. Their wish to host ITER construction is too strong to allow convergence to a single site considering the ITER device in isolation. A broader collaboration among the Parties is therefore being contemplated, covering complementary activities to help accelerate fusion development towards a viable power source, and allow the Participants to reach a conclusion on ITER siting. This report reviews these preparations, and the status of negotiations

  14. Robotics 101

    Science.gov (United States)

    Sultan, Alan

    2011-01-01

    Robots are used in all kinds of industrial settings. They are used to rivet bolts to cars, to move items from one conveyor belt to another, to gather information from other planets, and even to perform some very delicate types of surgery. Anyone who has watched a robot perform its tasks cannot help but be impressed by how it works. This article…

  15. Vitruvian Robot

    DEFF Research Database (Denmark)

    Hasse, Cathrine

    2017-01-01

    future. A real version of Ava would not last long in a human world because she is basically a solipsist, who does not really care about humans. She cannot co-create the line humans walk along. The robots created as ‘perfect women’ (sex robots) today are very far from the ideal image of Ava...

  16. Robot Teachers

    DEFF Research Database (Denmark)

    Nørgård, Rikke Toft; Ess, Charles Melvin; Bhroin, Niamh Ni

    The world's first robot teacher, Saya, was introduced to a classroom in Japan in 2009. Saya, had the appearance of a young female teacher. She could express six basic emotions, take the register and shout orders like 'be quiet' (The Guardian, 2009). Since 2009, humanoid robot technologies have...... developed. It is now suggested that robot teachers may become regular features in educational settings, and may even 'take over' from human teachers in ten to fifteen years (cf. Amundsen, 2017 online; Gohd, 2017 online). Designed to look and act like a particular kind of human; robot teachers mediate human...... existence and roles, while also aiming to support education through sophisticated, automated, human-like interaction. Our paper explores the design and existential implications of ARTIE, a robot teacher at Oxford Brookes University (2017, online). Drawing on an initial empirical exploration we propose...

  17. Robot vision

    International Nuclear Information System (INIS)

    Hall, E.L.

    1984-01-01

    Almost all industrial robots use internal sensors such as shaft encoders which measure rotary position, or tachometers which measure velocity, to control their motions. Most controllers also provide interface capabilities so that signals from conveyors, machine tools, and the robot itself may be used to accomplish a task. However, advanced external sensors, such as visual sensors, can provide a much greater degree of adaptability for robot control as well as add automatic inspection capabilities to the industrial robot. Visual and other sensors are now being used in fundamental operations such as material processing with immediate inspection, material handling with adaption, arc welding, and complex assembly tasks. A new industry of robot vision has emerged. The application of these systems is an area of great potential

  18. Social Robots

    DEFF Research Database (Denmark)

    Social robotics is a cutting edge research area gathering researchers and stakeholders from various disciplines and organizations. The transformational potential that these machines, in the form of, for example, caregiving, entertainment or partner robots, pose to our societies and to us as indiv......Social robotics is a cutting edge research area gathering researchers and stakeholders from various disciplines and organizations. The transformational potential that these machines, in the form of, for example, caregiving, entertainment or partner robots, pose to our societies and to us...... as individuals seems to be limited by our technical limitations and phantasy alone. This collection contributes to the field of social robotics by exploring its boundaries from a philosophically informed standpoint. It constructively outlines central potentials and challenges and thereby also provides a stable...

  19. Robotic seeding

    DEFF Research Database (Denmark)

    Pedersen, Søren Marcus; Fountas, Spyros; Sørensen, Claus Aage Grøn

    2017-01-01

    Agricultural robotics has received attention for approximately 20 years, but today there are only a few examples of the application of robots in agricultural practice. The lack of uptake may be (at least partly) because in many cases there is either no compelling economic benefit......, or there is a benefit but it is not recognized. The aim of this chapter is to quantify the economic benefits from the application of agricultural robots under a specific condition where such a benefit is assumed to exist, namely the case of early seeding and re-seeding in sugar beet. With some predefined assumptions...... with regard to speed, capacity and seed mapping, we found that among these two technical systems both early seeding with a small robot and re-seeding using a robot for a smaller part of the field appear to be financially viable solutions in sugar beet production....

  20. Micro intelligence robot

    International Nuclear Information System (INIS)

    Jeon, Yon Ho

    1991-07-01

    This book gives descriptions of micro robot about conception of robots and micro robot, match rules of conference of micro robots, search methods of mazes, and future and prospect of robots. It also explains making and design of 8 beat robot like making technique, software, sensor board circuit, and stepping motor catalog, speedy 3, Mr. Black and Mr. White, making and design of 16 beat robot, such as micro robot artist, Jerry 2 and magic art of shortening distances algorithm of robot simulation.

  1. An Intelligent Robot Programing

    Energy Technology Data Exchange (ETDEWEB)

    Hong, Seong Yong

    2012-01-15

    This book introduces an intelligent robot programing with background of the begging, introduction of VPL, and SPL, building of environment for robot platform, starting of robot programing, design of simulation environment, robot autonomy drive control programing, simulation graphic. Such as SPL graphic programing graphical image and graphical shapes, and graphical method application, application of procedure for robot control, robot multiprogramming, robot bumper sensor programing, robot LRF sencor programing and robot color sensor programing.

  2. An Intelligent Robot Programing

    International Nuclear Information System (INIS)

    Hong, Seong Yong

    2012-01-01

    This book introduces an intelligent robot programing with background of the begging, introduction of VPL, and SPL, building of environment for robot platform, starting of robot programing, design of simulation environment, robot autonomy drive control programing, simulation graphic. Such as SPL graphic programing graphical image and graphical shapes, and graphical method application, application of procedure for robot control, robot multiprogramming, robot bumper sensor programing, robot LRF sencor programing and robot color sensor programing.

  3. Perl Modules for Constructing Iterators

    Science.gov (United States)

    Tilmes, Curt

    2009-01-01

    The Iterator Perl Module provides a general-purpose framework for constructing iterator objects within Perl, and a standard API for interacting with those objects. Iterators are an object-oriented design pattern where a description of a series of values is used in a constructor. Subsequent queries can request values in that series. These Perl modules build on the standard Iterator framework and provide iterators for some other types of values. Iterator::DateTime constructs iterators from DateTime objects or Date::Parse descriptions and ICal/RFC 2445 style re-currence descriptions. It supports a variety of input parameters, including a start to the sequence, an end to the sequence, an Ical/RFC 2445 recurrence describing the frequency of the values in the series, and a format description that can refine the presentation manner of the DateTime. Iterator::String constructs iterators from string representations. This module is useful in contexts where the API consists of supplying a string and getting back an iterator where the specific iteration desired is opaque to the caller. It is of particular value to the Iterator::Hash module which provides nested iterations. Iterator::Hash constructs iterators from Perl hashes that can include multiple iterators. The constructed iterators will return all the permutations of the iterations of the hash by nested iteration of embedded iterators. A hash simply includes a set of keys mapped to values. It is a very common data structure used throughout Perl programming. The Iterator:: Hash module allows a hash to include strings defining iterators (parsed and dispatched with Iterator::String) that are used to construct an overall series of hash values.

  4. ITER definition phase

    International Nuclear Information System (INIS)

    1989-01-01

    The International Thermonuclear Experimental Reactor (ITER) is envisioned as a fusion device which would demonstrate the scientific and technological feasibility of fusion power. As a first step towards achieving this goal, the European Community, Japan, the Soviet Union, and the United States of America have entered into joint conceptual design activities under the auspices of the International Atomic Energy Agency. A brief summary of the Definition Phase of ITER activities is contained in this report. Included in this report are the background, objectives, organization, definition phase activities, and research and development plan of this endeavor in international scientific collaboration. A more extended technical summary is contained in the two-volume report, ''ITER Concept Definition,'' IAEA/ITER/DS/3. 2 figs, 2 tabs

  5. Power converters for ITER

    CERN Document Server

    Benfatto, I

    2006-01-01

    The International Thermonuclear Experimental Reactor (ITER) is a thermonuclear fusion experiment designed to provide long deuterium– tritium burning plasma operation. After a short description of ITER objectives, the main design parameters and the construction schedule, the paper describes the electrical characteristics of the French 400 kV grid at Cadarache: the European site proposed for ITER. Moreover, the paper describes the main requirements and features of the power converters designed for the ITER coil and additional heating power supplies, characterized by a total installed power of about 1.8 GVA, modular design with basic units up to 90 MVA continuous duty, dc currents up to 68 kA, and voltages from 1 kV to 1 MV dc.

  6. ITER convertible blanket evaluation

    International Nuclear Information System (INIS)

    Wong, C.P.C.; Cheng, E.

    1995-01-01

    Proposed International Thermonuclear Experimental Reactor (ITER) convertible blankets were reviewed. Key design difficulties were identified. A new particle filter concept is introduced and key performance parameters estimated. Results show that this particle filter concept can satisfy all of the convertible blanket design requirements except the generic issue of Be blanket lifetime. If the convertible blanket is an acceptable approach for ITER operation, this particle filter option should be a strong candidate

  7. ITER EDA and technology

    International Nuclear Information System (INIS)

    Baker, C.C.

    2001-01-01

    The year 1998 was the culmination of the six-year Engineering Design Activities (EDA) of the International Thermonuclear Experimental Reactor (ITER) Project. The EDA results in design and validating technology R and D, plus the associated effort in voluntary physics research, is a significant achievement and major milestone in the history of magnetic fusion energy development. Consequently, the ITER EDA was a major theme at this Conference, contributing almost 40 papers

  8. Toward construction of ITER

    International Nuclear Information System (INIS)

    Shimomura, Yasuo

    2005-01-01

    The ITER Project has been significantly developed in the past years in preparation for its construction. The ITER Negotiators have developed a draft Joint Implementation Agreement (JIA), ready for completion following the nomination of the Project's Director General (DG). The ITER International Team and Participant Teams have continued technical and organizational preparations. The actual construction will be able to start immediately after the international ITER organization will be established, following signature of the JIA. The Project is now strongly supported by all the participants as well as by the scientific community with the final high-level negotiations, focused on siting and the concluding details of cost sharing, started in December 2003. The EU, with Cadarache, and Japan, with Rokkasho, have both promised large contributions to the project to strongly support their construction site proposals. The extent to which they both wish to host the ITER facility is such that large contributions to a broader collaboration among the Parties are also proposed by them. This covers complementary activities to help accelerate fusion development towards a viable power source, as well as may allow the Participants to reach a conclusion on ITER siting. (author)

  9. ITER Status and Plans

    Science.gov (United States)

    Greenfield, Charles M.

    2017-10-01

    The US Burning Plasma Organization is pleased to welcome Dr. Bernard Bigot, who will give an update on progress in the ITER Project. Dr. Bigot took over as Director General of the ITER Organization in early 2015 following a distinguished career that included serving as Chairman and CEO of the French Alternative Energies and Atomic Energy Commission and as High Commissioner for ITER in France. During his tenure at ITER the project has moved into high gear, with rapid progress evident on the construction site and preparation of a staged schedule and a research plan leading from where we are today through all the way to full DT operation. In an unprecedented international effort, seven partners ``China, the European Union, India, Japan, Korea, Russia and the United States'' have pooled their financial and scientific resources to build the biggest fusion reactor in history. ITER will open the way to the next step: a demonstration fusion power plant. All DPP attendees are welcome to attend this ITER town meeting.

  10. ITER CTA newsletter. No. 6

    International Nuclear Information System (INIS)

    2002-01-01

    This ITER CTA Newsletter issue comprises information about the following ITER Meetings: The second negotiation meeting on the joint implementation of ITER, held in Tokyo(Japan) on 22-23 January 2002, and an international ITER symposium on burning plasma science and technology, held the day later after the second negotiation meeting at the same place

  11. ITER CTA newsletter. No. 2

    International Nuclear Information System (INIS)

    2001-10-01

    This ITER CTA newsletter contains results of the ITER toroidal field model coil project presented by ITER EU Home Team (Garching) and an article in commemoration of the late Dr. Charles Maisonnier, one of the former leaders of ITER who made significant contributions to its development

  12. Space Robotics Challenge

    Data.gov (United States)

    National Aeronautics and Space Administration — The Space Robotics Challenge seeks to infuse robot autonomy from the best and brightest research groups in the robotics community into NASA robots for future...

  13. Robotic arm

    International Nuclear Information System (INIS)

    Kwech, H.

    1989-01-01

    A robotic arm positionable within a nuclear vessel by access through a small diameter opening and having a mounting tube supported within the vessel and mounting a plurality of arm sections for movement lengthwise of the mounting tube as well as for movement out of a window provided in the wall of the mounting tube is disclosed. An end effector, such as a grinding head or welding element, at an operating end of the robotic arm, can be located and operated within the nuclear vessel through movement derived from six different axes of motion provided by mounting and drive connections between arm sections of the robotic arm. The movements are achieved by operation of remotely-controllable servo motors, all of which are mounted at a control end of the robotic arm to be outside the nuclear vessel. 23 figs

  14. Robotic surgery

    Science.gov (United States)

    ... with this type of surgery give it some advantages over standard endoscopic techniques. The surgeon can make ... Elsevier Saunders; 2015:chap 87. Muller CL, Fried GM. Emerging technology in surgery: Informatics, electronics, robotics. In: ...

  15. Robotic parathyroidectomy.

    Science.gov (United States)

    Okoh, Alexis Kofi; Sound, Sara; Berber, Eren

    2015-09-01

    Robotic parathyroidectomy has recently been described. Although the procedure eliminates the neck scar, it is technically more demanding than the conventional approaches. This report is a review of the patients' selection criteria, technique, and outcomes. © 2015 Wiley Periodicals, Inc.

  16. Light Robotics

    DEFF Research Database (Denmark)

    Glückstad, Jesper; Palima, Darwin

    Light Robotics - Structure-Mediated Nanobiophotonics covers the latest means of sculpting of both light and matter for achieving bioprobing and manipulation at the smallest scales. The synergy between photonics, nanotechnology and biotechnology spans the rapidly growing field of nanobiophotonics...

  17. Robotic arm

    Science.gov (United States)

    Kwech, Horst

    1989-04-18

    A robotic arm positionable within a nuclear vessel by access through a small diameter opening and having a mounting tube supported within the vessel and mounting a plurality of arm sections for movement lengthwise of the mounting tube as well as for movement out of a window provided in the wall of the mounting tube. An end effector, such as a grinding head or welding element, at an operating end of the robotic arm, can be located and operated within the nuclear vessel through movement derived from six different axes of motion provided by mounting and drive connections between arm sections of the robotic arm. The movements are achieved by operation of remotely-controllable servo motors, all of which are mounted at a control end of the robotic arm to be outside the nuclear vessel.

  18. ITER tokamak device

    International Nuclear Information System (INIS)

    Doggett, J.; Salpietro, E.; Shatalov, G.

    1991-01-01

    The results of the Conceptual Design Activities for the International Thermonuclear Experimental Reactor (ITER) are summarized. These activities, carried out between April 1988 and December 1990, produced a consistent set of technical characteristics and preliminary plans for co-ordinated research and development support of ITER; and a conceptual design, a description of design requirements and a preliminary construction schedule and cost estimate. After a description of the design basis, an overview is given of the tokamak device, its auxiliary systems, facility and maintenance. The interrelation and integration of the various subsystems that form the ITER tokamak concept are discussed. The 16 ITER equatorial port allocations, used for nuclear testing, diagnostics, fuelling, maintenance, and heating and current drive, are given, as well as a layout of the reactor building. Finally, brief descriptions are given of the major ITER sub-systems, i.e., (i) magnet systems (toroidal and poloidal field coils and cryogenic systems), (ii) containment structures (vacuum and cryostat vessels, machine gravity supports, attaching locks, passive loops and active coils), (iii) first wall, (iv) divertor plate (design and materials, performance and lifetime, a.o.), (v) blanket/shield system, (vi) maintenance equipment, (vii) current drive and heating, (viii) fuel cycle system, and (ix) diagnostics. 11 refs, figs and tabs

  19. ITER-FEAT operation

    International Nuclear Information System (INIS)

    Shimomura, Y.; Huguet, M.; Mizoguchi, T.; Murakami, Y.; Polevoi, A.R.; Shimada, M.; Aymar, R.; Chuyanov, V.A.; Matsumoto, H.

    2001-01-01

    ITER is planned to be the first fusion experimental reactor in the world operating for research in physics and engineering. The first ten years of operation will be devoted primarily to physics issues at low neutron fluence and the following ten years of operation to engineering testing at higher fluence. ITER can accommodate various plasma configurations and plasma operation modes, such as inductive high Q modes, long pulse hybrid modes and non-inductive steady state modes, with large ranges of plasma current, density, beta and fusion power, and with various heating and current drive methods. This flexibility will provide an advantage for coping with uncertainties in the physics database, in studying burning plasmas, in introducing advanced features and in optimizing the plasma performance for the different programme objectives. Remote sites will be able to participate in the ITER experiment. This concept will provide an advantage not only in operating ITER for 24 hours a day but also in involving the worldwide fusion community and in promoting scientific competition among the ITER Parties. (author)

  20. Recent advances in robotics

    International Nuclear Information System (INIS)

    Beni, G.; Hackwood, S.

    1984-01-01

    Featuring 10 contributions, this volume offers a state-of-the-art report on robotic science and technology. It covers robots in modern industry, robotic control to help the disabled, kinematics and dynamics, six-legged walking robots, a vector analysis of robot manipulators, tactile sensing in robots, and more

  1. The ITER activity

    International Nuclear Information System (INIS)

    Glass, A.J.

    1991-01-01

    The International Thermonuclear Experimental Reactor (ITER) project is a collaboration among four parties, the United States, the Soviet Union, Japan, and the European Communities, to demonstrate the scientific and technological feasibility of fusion power for peaceful purposes. ITER will demonstrate this through the construction of a tokamak fusion reactor capable of generating 1000 megawatts of fusion power. The ITER project has three missions, as follows: (1) Physics mission -- to demonstrate ignition and controlled burn, with pulse durations from 200 to 1000 S; (2) Technology mission -- to demonstrate the technologies essential to a reactor in an integrated system, operating with high reliability and availability in pulsed operation, with steady-state operation as the ultimate goal; and (3) Testing mission -- to test nuclear and high-heat-flux components at flux levels for 1 mw/m 2 , and fluences of order 1 mw-yr/m 2

  2. Earthly sun called ITER

    International Nuclear Information System (INIS)

    Pozdeyev, Mikhail

    2002-01-01

    Full text: Participating in the film are Academicians Velikhov and Glukhikh, Mr. Filatof, ITER Director from Russia, Mr. Sannikov from Kurchatov Institute. The film tells about the starting point of the project (Mr. Lavrentyev), the pioneers of the project (Academicians Tamme, Sakharov, Artsimovich) and about the situation the project is standing now. Participating in [ITER now are the US, Russia, Japan and the European Union. There are two associated members as well - Kazakhstan and Canada. By now the engineering design phase has been finished. Computer animation used in the video gives us the idea how the first thermonuclear reactor based on famous Russian TOKOMAK works. (author)

  3. ITER plant systems

    International Nuclear Information System (INIS)

    Kolbasov, B.; Barnes, C.; Blevins, J.

    1991-01-01

    As part of a series of documents published by the IAEA that summarize the results of the Conceptual Design Activities for the ITER project, this publication describes the conceptual design of the ITER plant systems, in particular (i) the heat transport system, (ii) the electrical distribution system, (iii) the requirements for radioactive equipment handling, the hot cell, and waste management, (iv) the supply system for fluids and operational chemicals, (v) the qualitative analyses of failure scenarios and methods of burn stability control and emergency shutdown control, (vi) analyses of tokamak building functions and design requirements, (vii) a plant layout, and (viii) site requirements. Refs, figs and tabs

  4. Iterated multidimensional wave conversion

    International Nuclear Information System (INIS)

    Brizard, A. J.; Tracy, E. R.; Johnston, D.; Kaufman, A. N.; Richardson, A. S.; Zobin, N.

    2011-01-01

    Mode conversion can occur repeatedly in a two-dimensional cavity (e.g., the poloidal cross section of an axisymmetric tokamak). We report on two novel concepts that allow for a complete and global visualization of the ray evolution under iterated conversions. First, iterated conversion is discussed in terms of ray-induced maps from the two-dimensional conversion surface to itself (which can be visualized in terms of three-dimensional rooms). Second, the two-dimensional conversion surface is shown to possess a symplectic structure derived from Dirac constraints associated with the two dispersion surfaces of the interacting waves.

  5. Physics fundamentals for ITER

    International Nuclear Information System (INIS)

    Rosenbluth, M.N.

    1999-01-01

    The design of an experimental thermonuclear reactor requires both cutting-edge technology and physics predictions precise enough to carry forward the design. The past few years of worldwide physics studies have seen great progress in understanding, innovation and integration. We will discuss this progress and the remaining issues in several key physics areas. (1) Transport and plasma confinement. A worldwide database has led to an 'empirical scaling law' for tokamaks which predicts adequate confinement for the ITER fusion mission, albeit with considerable but acceptable uncertainty. The ongoing revolution in computer capabilities has given rise to new gyrofluid and gyrokinetic simulations of microphysics which may be expected in the near future to attain predictive accuracy. Important databases on H-mode characteristics and helium retention have also been assembled. (2) Divertors, heat removal and fuelling. A novel concept for heat removal - the radiative, baffled, partially detached divertor - has been designed for ITER. Extensive two-dimensional (2D) calculations have been performed and agree qualitatively with recent experiments. Preliminary studies of the interaction of this configuration with core confinement are encouraging and the success of inside pellet launch provides an attractive alternative fuelling method. (3) Macrostability. The ITER mission can be accomplished well within ideal magnetohydrodynamic (MHD) stability limits, except for internal kink modes. Comparisons with JET, as well as a theoretical model including kinetic effects, predict such sawteeth will be benign in ITER. Alternative scenarios involving delayed current penetration or off-axis current drive may be employed if required. The recent discovery of neoclassical beta limits well below ideal MHD limits poses a threat to performance. Extrapolation to reactor scale is as yet unclear. In theory such modes are controllable by current drive profile control or feedback and experiments should

  6. Physics research needs for ITER

    International Nuclear Information System (INIS)

    Sauthoff, N.R.

    1995-01-01

    Design of ITER entails the application of physics design tools that have been validated against the world-wide data base of fusion research. In many cases, these tools do not yet exist and must be developed as part of the ITER physics program. ITER's considerable increases in power and size demand significant extrapolations from the current data base; in several cases, new physical effects are projected to dominate the behavior of the ITER plasma. This paper focuses on those design tools and data that have been identified by the ITER team and are not yet available; these needs serve as the basis for the ITER Physics Research Needs, which have been developed jointly by the ITER Physics Expert Groups and the ITER design team. Development of the tools and the supporting data base is an on-going activity that constitutes a significant opportunity for contributions to the ITER program by fusion research programs world-wide

  7. Robotics in scansorial environments

    Science.gov (United States)

    Autumn, Kellar; Buehler, Martin; Cutkosky, Mark; Fearing, Ronald; Full, Robert J.; Goldman, Daniel; Groff, Richard; Provancher, William; Rizzi, Alfred A.; Saranli, Uluc; Saunders, Aaron; Koditschek, Daniel E.

    2005-05-01

    We review a large multidisciplinary effort to develop a family of autonomous robots capable of rapid, agile maneuvers in and around natural and artificial vertical terrains such as walls, cliffs, caves, trees and rubble. Our robot designs are inspired by (but not direct copies of) biological climbers such as cockroaches, geckos, and squirrels. We are incorporating advanced materials (e.g., synthetic gecko hairs) into these designs and fabricating them using state of the art rapid prototyping techniques (e.g., shape deposition manufacturing) that permit multiple iterations of design and testing with an effective integration path for the novel materials and components. We are developing novel motion control techniques to support dexterous climbing behaviors that are inspired by neuroethological studies of animals and descended from earlier frameworks that have proven analytically tractable and empirically sound. Our near term behavioral targets call for vertical climbing on soft (e.g., bark) or rough surfaces and for ascents on smooth, hard steep inclines (e.g., 60 degree slopes on metal or glass sheets) at one body length per second.

  8. Soft Robotics Week

    CERN Document Server

    Rossiter, Jonathan; Iida, Fumiya; Cianchetti, Matteo; Margheri, Laura

    2017-01-01

    This book offers a comprehensive, timely snapshot of current research, technologies and applications of soft robotics. The different chapters, written by international experts across multiple fields of soft robotics, cover innovative systems and technologies for soft robot legged locomotion, soft robot manipulation, underwater soft robotics, biomimetic soft robotic platforms, plant-inspired soft robots, flying soft robots, soft robotics in surgery, as well as methods for their modeling and control. Based on the results of the second edition of the Soft Robotics Week, held on April 25 – 30, 2016, in Livorno, Italy, the book reports on the major research lines and novel technologies presented and discussed during the event.

  9. Rehabilitation robotics.

    Science.gov (United States)

    Krebs, H I; Volpe, B T

    2013-01-01

    This chapter focuses on rehabilitation robotics which can be used to augment the clinician's toolbox in order to deliver meaningful restorative therapy for an aging population, as well as on advances in orthotics to augment an individual's functional abilities beyond neurorestoration potential. The interest in rehabilitation robotics and orthotics is increasing steadily with marked growth in the last 10 years. This growth is understandable in view of the increased demand for caregivers and rehabilitation services escalating apace with the graying of the population. We provide an overview on improving function in people with a weak limb due to a neurological disorder who cannot properly control it to interact with the environment (orthotics); we then focus on tools to assist the clinician in promoting rehabilitation of an individual so that s/he can interact with the environment unassisted (rehabilitation robotics). We present a few clinical results occurring immediately poststroke as well as during the chronic phase that demonstrate superior gains for the upper extremity when employing rehabilitation robotics instead of usual care. These include the landmark VA-ROBOTICS multisite, randomized clinical study which demonstrates clinical gains for chronic stroke that go beyond usual care at no additional cost. Copyright © 2013 Elsevier B.V. All rights reserved.

  10. Medical robotics.

    Science.gov (United States)

    Ferrigno, Giancarlo; Baroni, Guido; Casolo, Federico; De Momi, Elena; Gini, Giuseppina; Matteucci, Matteo; Pedrocchi, Alessandra

    2011-01-01

    Information and communication technology (ICT) and mechatronics play a basic role in medical robotics and computer-aided therapy. In the last three decades, in fact, ICT technology has strongly entered the health-care field, bringing in new techniques to support therapy and rehabilitation. In this frame, medical robotics is an expansion of the service and professional robotics as well as other technologies, as surgical navigation has been introduced especially in minimally invasive surgery. Localization systems also provide treatments in radiotherapy and radiosurgery with high precision. Virtual or augmented reality plays a role for both surgical training and planning and for safe rehabilitation in the first stage of the recovery from neurological diseases. Also, in the chronic phase of motor diseases, robotics helps with special assistive devices and prostheses. Although, in the past, the actual need and advantage of navigation, localization, and robotics in surgery and therapy has been in doubt, today, the availability of better hardware (e.g., microrobots) and more sophisticated algorithms(e.g., machine learning and other cognitive approaches)has largely increased the field of applications of these technologies,making it more likely that, in the near future, their presence will be dramatically increased, taking advantage of the generational change of the end users and the increasing request of quality in health-care delivery and management.

  11. Iterative List Decoding

    DEFF Research Database (Denmark)

    Justesen, Jørn; Høholdt, Tom; Hjaltason, Johan

    2005-01-01

    We analyze the relation between iterative decoding and the extended parity check matrix. By considering a modified version of bit flipping, which produces a list of decoded words, we derive several relations between decodable error patterns and the parameters of the code. By developing a tree...... of codewords at minimal distance from the received vector, we also obtain new information about the code....

  12. ITER power electrical networks

    International Nuclear Information System (INIS)

    Sejas Portela, S.

    2011-01-01

    The ITER project (International Thermonuclear Experimental Reactor) is an international effort to research and development to design, build and operate an experimental facility to demonstrate the scientific and technological possibility of obtaining useful energy from the physical phenomenon known as nuclear fusion.

  13. ITER conceptual design report

    International Nuclear Information System (INIS)

    1991-01-01

    Results of the International Thermonuclear Experimental Reactor (ITER) Conceptual Design Activity (CDA) are reported. This report covers the Terms of Reference for the project: defining the technical specifications, defining future research needs, define site requirements, and carrying out a coordinated research effort coincident with the CDA. Refs, figs and tabs

  14. Nuclear analysis for ITER

    International Nuclear Information System (INIS)

    Santoro, R.T.; Iida, H.; Khripunov, V.; Petrizzi, L.; Sato, S.; Sawan, M.; Shatalov, G.; Schipakin, O.

    2001-01-01

    This paper summarizes the main results of nuclear analysis calculations performed during the International Thermonuclear Experimental Reactor (ITER) Engineering Design Activity (EDA). Major efforts were devoted to fulfilling the General Design Requirements to minimize the nuclear heating rate in the superconducting magnets and ensuring that radiation conditions at the cryostat are suitable for hands-on-maintenance after reactor shut-down. (author)

  15. ITER at Cadarache

    International Nuclear Information System (INIS)

    2005-06-01

    This public information document presents the ITER project (International Thermonuclear Experimental Reactor), the definition of the fusion, the international cooperation and the advantages of the project. It presents also the site of Cadarache, an appropriate scientifical and economical environment. The last part of the documentation recalls the historical aspect of the project and the today mobilization of all partners. (A.L.B.)

  16. ITER conceptual design

    International Nuclear Information System (INIS)

    Tomabechi, K.; Gilleland, J.R.; Sokolov, Yu.A.; Toschi, R.

    1991-01-01

    The Conceptual Design Activities of the International Thermonuclear Experimental Reactor (ITER) were carried out jointly by the European Community, Japan, the Soviet Union and the United States of America, under the auspices of the International Atomic Energy Agency. The European Community provided the site for joint work sessions at the Max-Planck-Institut fuer Plasmaphysik in Garching, Germany. The Conceptual Design Activities began in the spring of 1988 and ended in December 1990. The objectives of the activities were to develop the design of ITER, to perform a safety and environmental analysis, to define the site requirements as well as the future research and development needs, to estimate the cost and manpower, and to prepare a schedule for detailed engineering design, construction and operation. On the basis of the investigation and analysis performed, a concept of ITER was developed which incorporated maximum flexibility of the performance of the device and allowed a variety of operating scenarios to be adopted. The heart of the machine is a tokamak having a plasma major radius of 6 m, a plasma minor radius of 2.15 m, a nominal plasma current of 22 MA and a nominal fusion power of 1 GW. The conceptual design can meet the technical objectives of the ITER programme. Because of the success of the Conceptual Design Activities, the Parties are now considering the implementation of the next phase, called the Engineering Design Activities. (author). Refs, figs and tabs

  17. ITER-FEAT operation

    International Nuclear Information System (INIS)

    Shimomura, Y.; Huget, M.; Mizoguchi, T.; Murakami, Y.; Polevoi, A.; Shimada, M.; Aymar, R.; Chuyanov, V.; Matsumoto, H.

    2001-01-01

    ITER is planned to be the first fusion experimental reactor in the world operating for research in physics and engineering. The first 10 years' operation will be devoted primarily to physics issues at low neutron fluence and the following 10 years' operation to engineering testing at higher fluence. ITER can accommodate various plasma configurations and plasma operation modes such as inductive high Q modes, long pulse hybrid modes, non-inductive steady-state modes, with large ranges of plasma current, density, beta and fusion power, and with various heating and current drive methods. This flexibility will provide an advantage for coping with uncertainties in the physics database, in studying burning plasmas, in introducing advanced features and in optimizing the plasma performance for the different programme objectives. Remote sites will be able to participate in the ITER experiment. This concept will provide an advantage not only in operating ITER for 24 hours per day but also in involving the world-wide fusion communities and in promoting scientific competition among the Parties. (author)

  18. US ITER Management Plan

    International Nuclear Information System (INIS)

    1991-12-01

    This US ITER Management Plan is the plan for conducting the Engineering Design Activities within the US. The plan applies to all design, analyses, and associated physics and technology research and development (R ampersand D) required to support the program. The plan defines the management considerations associated with these activities. The plan also defines the management controls that the project participants will follow to establish, implement, monitor, and report these activities. The activities are to be conducted by the project in accordance with this plan. The plan will be updated to reflect the then-current management approach required to meet the project objectives. The plan will be reviewed at least annually for possible revision. Section 2 presents the ITER objectives, a brief description of the ITER concept as developed during the Conceptual Design Activities, and comments on the Engineering Design Activities. Section 3 discusses the planned international organization for the Engineering Design Activities, from which the tasks will flow to the US Home Team. Section 4 describes the US ITER management organization and responsibilities during the Engineering Design Activities. Section 5 describes the project management and control to be used to perform the assigned tasks during the Engineering Design Activities. Section 6 presents the references. Several appendices are provided that contain detailed information related to the front material

  19. ITER fuel cycle

    International Nuclear Information System (INIS)

    Leger, D.; Dinner, P.; Yoshida, H.

    1991-01-01

    Resulting from the Conceptual Design Activities (1988-1990) by the parties involved in the International Thermonuclear Experimental Reactor (ITER) project, this document summarizes the design requirements and the Conceptual Design Descriptions for each of the principal subsystems and design options of the ITER Fuel Cycle conceptual design. The ITER Fuel Cycle system provides for the handling of all tritiated water and gas mixtures on ITER. The system is subdivided into subsystems for fuelling, primary (torus) vacuum pumping, fuel processing, blanket tritium recovery, and common processes (including isotopic separation, fuel management and storage, and processes for detritiation of solid, liquid, and gaseous wastes). After an introduction describing system function and conceptual design procedure, a summary of the design is presented including a discussion of scope and main parameters, and the fuel design options for fuelling, plasma chamber vacuum pumping, fuel cleanup, blanket tritium recovery, and auxiliary and common processes. Design requirements are defined and design descriptions are given for the various subsystems (fuelling, plasma vacuum pumping, fuel cleanup, blanket tritium recovery, and auxiliary/common processes). The document ends with sections on fuel cycle design integration, fuel cycle building layout, safety considerations, a summary of the research and development programme, costing, and conclusions. Refs, figs and tabs

  20. ITER blanket designs

    International Nuclear Information System (INIS)

    Gohar, Y.; Parker, R.; Rebut, P.H.

    1995-01-01

    The ITER first wall, blanket, and shield system is being designed to handle 1.5±0.3 GW of fusion power and 3 MWa m -2 average neutron fluence. In the basic performance phase of ITER operation, the shielding blanket uses austenitic steel structural material and water coolant. The first wall is made of bimetallic structure, austenitic steel and copper alloy, coated with beryllium and it is protected by beryllium bumper limiters. The choice of copper first wall is dictated by the surface heat flux values anticipated during ITER operation. The water coolant is used at low pressure and low temperature. A breeding blanket has been designed to satisfy the technical objectives of the Enhanced Performance Phase of ITER operation for the Test Program. The breeding blanket design is geometrically similar to the shielding blanket design except it is a self-cooled liquid lithium system with vanadium structural material. Self-healing electrical insulator (aluminum nitride) is used to reduce the MHD pressure drop in the system. Reactor relevancy, low tritium inventory, low activation material, low decay heat, and a tritium self-sufficiency goal are the main features of the breeding blanket design. (orig.)

  1. Advances in iterative methods

    International Nuclear Information System (INIS)

    Beauwens, B.; Arkuszewski, J.; Boryszewicz, M.

    1981-01-01

    Results obtained in the field of linear iterative methods within the Coordinated Research Program on Transport Theory and Advanced Reactor Calculations are summarized. The general convergence theory of linear iterative methods is essentially based on the properties of nonnegative operators on ordered normed spaces. The following aspects of this theory have been improved: new comparison theorems for regular splittings, generalization of the notions of M- and H-matrices, new interpretations of classical convergence theorems for positive-definite operators. The estimation of asymptotic convergence rates was developed with two purposes: the analysis of model problems and the optimization of relaxation parameters. In the framework of factorization iterative methods, model problem analysis is needed to investigate whether the increased computational complexity of higher-order methods does not offset their increased asymptotic convergence rates, as well as to appreciate the effect of standard relaxation techniques (polynomial relaxation). On the other hand, the optimal use of factorization iterative methods requires the development of adequate relaxation techniques and their optimization. The relative performances of a few possibilities have been explored for model problems. Presently, the best results have been obtained with optimal diagonal-Chebyshev relaxation

  2. ITER neutral beam system

    International Nuclear Information System (INIS)

    Mondino, P.L.; Di Pietro, E.; Bayetti, P.

    1999-01-01

    The Neutral Beam (NB) system for the International Thermonuclear Experimental Reactor (ITER) has reached a high degree of integration with the tokamak and with the rest of the plant. Operational requirements and maintainability have been considered in the design. The paper considers the integration with the tokamak, discusses design improvements which appear necessary and finally notes R and D progress in key areas. (author)

  3. Iterative software kernels

    Energy Technology Data Exchange (ETDEWEB)

    Duff, I.

    1994-12-31

    This workshop focuses on kernels for iterative software packages. Specifically, the three speakers discuss various aspects of sparse BLAS kernels. Their topics are: `Current status of user lever sparse BLAS`; Current status of the sparse BLAS toolkit`; and `Adding matrix-matrix and matrix-matrix-matrix multiply to the sparse BLAS toolkit`.

  4. ITER Safety and Licensing

    International Nuclear Information System (INIS)

    Girard, J-.P; Taylor, N.; Garin, P.; Uzan-Elbez, J.; GULDEN, W.; Rodriguez-Rodrigo, L.

    2006-01-01

    The site for the construction of ITER has been chosen in June 2005. The facility will be implemented in Europe, south of France close to Marseille. The generic safety scheme is now under revision to adapt the design to the host country regulation. Even though ITER will be an international organization, it will have to comply with the French requirements in the fields of public and occupational health and safety, nuclear safety, radiation protection, licensing, nuclear substances and environmental protection. The organization of the central team together with its partners organized in domestic agencies for the in-kind procurement of components is a key issue for the success of the experimentation. ITER is the first facility that will achieve sustained nuclear fusion. It is both important for the experimental one-of-a-kind device, ITER itself, and for the future of fusion power plants to well understand the key safety issues of this potential new source of energy production. The main safety concern is confinement of the tritium, activated dust in the vacuum vessel and activated corrosion products in the coolant of the plasma-facing components. This is achieved in the design through multiple confinement barriers to implement the defence in depth approach. It will be demonstrated in documents submitted to the French regulator that these barriers maintain their function in all postulated incident and accident conditions. The licensing process started by examination of the safety options. This step has been performed by Europe during the candidature phase in 2002. In parallel to the final design, and taking into account the local regulations, the Preliminary Safety Report (RPrS) will be drafted with support of the European partner and others in the framework of ITER Task Agreements. Together with the license application, the RPrS will be forwarded to the regulatory bodies, which will launch public hearings and a safety review. Both processes must succeed in order to

  5. ITER articulated inspection arm (AIA): R and d progress on vacuum and temperature technology for remote handling

    International Nuclear Information System (INIS)

    Perrot, Y.; Cordier, J.J.; Friconneau, J.P.; Gargiulo, L.; Martin, E.; Palmer, J.D.; Tesini, A.

    2005-01-01

    This paper is part of the remote handling (RH) activities for the future fusion reactor ITER. The aim of the R and D program performed under the European Fusion Development Agreement (EFDA) work program is to demonstrate the feasibility of close inspection tasks such as viewing or leak testing of the Divertor cassettes and the Vacuum Vessel (VV) first wall of ITER. It is assumed that a long reach, limited payload carrier penetrates the ITER chamber through the openings evenly distributed around the machine such as In-Vessel Viewing System (IVVS) access or through upper port plugs. To perform an intervention a short time after plasma shut down, the operation of the robot should be realised under ITER conditioning i.e. under high vacuum and temperature conditions (120 o C). The feasibility analysis drove the design of the so-called articulated inspection arm (AIA) which is a 8.2 m long robot made of five modules with a 11 actuated joints kinematics. A single module prototype was designed in detail and manufactured to be tested under ITER realistic conditions at CEA-Cadarache test facility. As well as demonstrating the potential for the application of an AIA type device in ITER, this program is also dedicated to explore the necessary robotic technologies required to ITER's IVVS deployment system. This paper presents the whole AIA robot concept, the first results of the test campaign on the prototype vacuum and temperature demonstrator module

  6. ITER articulated inspection arm (AIA): R and d progress on vacuum and temperature technology for remote handling

    Energy Technology Data Exchange (ETDEWEB)

    Perrot, Y. [Robotics and Interactive Systems Unit-CEA/LIST, BP6 F-92265 Fontenay aux Roses Cedex (France)]. E-mail: yann.perrot@cea.fr; Cordier, J.J. [DRFC-CEA Cadarache, 13108 Saint Paul Lez Durance Cedex (France); Friconneau, J.P. [Robotics and Interactive Systems Unit-CEA/LIST, BP6 F-92265 Fontenay aux Roses Cedex (France); Gargiulo, L. [DRFC-CEA Cadarache, 13108 Saint Paul Lez Durance Cedex (France); Martin, E. [ITER International Team, Boltzmannstrasse 2, 85748 Garching (Germany); Palmer, J.D. [EFDA CSU Garching, Boltzmannstrasse 2, 85748 Garching (Germany); Tesini, A. [ITER International Team, ITER Naka Joint Work Site, 801-1, Muouyama, Naka-machi, Naka-gun, Iberaki-ken 311-0193 (Japan)

    2005-11-15

    This paper is part of the remote handling (RH) activities for the future fusion reactor ITER. The aim of the R and D program performed under the European Fusion Development Agreement (EFDA) work program is to demonstrate the feasibility of close inspection tasks such as viewing or leak testing of the Divertor cassettes and the Vacuum Vessel (VV) first wall of ITER. It is assumed that a long reach, limited payload carrier penetrates the ITER chamber through the openings evenly distributed around the machine such as In-Vessel Viewing System (IVVS) access or through upper port plugs. To perform an intervention a short time after plasma shut down, the operation of the robot should be realised under ITER conditioning i.e. under high vacuum and temperature conditions (120 {sup o}C). The feasibility analysis drove the design of the so-called articulated inspection arm (AIA) which is a 8.2 m long robot made of five modules with a 11 actuated joints kinematics. A single module prototype was designed in detail and manufactured to be tested under ITER realistic conditions at CEA-Cadarache test facility. As well as demonstrating the potential for the application of an AIA type device in ITER, this program is also dedicated to explore the necessary robotic technologies required to ITER's IVVS deployment system. This paper presents the whole AIA robot concept, the first results of the test campaign on the prototype vacuum and temperature demonstrator module.

  7. Generic robot architecture

    Science.gov (United States)

    Bruemmer, David J [Idaho Falls, ID; Few, Douglas A [Idaho Falls, ID

    2010-09-21

    The present invention provides methods, computer readable media, and apparatuses for a generic robot architecture providing a framework that is easily portable to a variety of robot platforms and is configured to provide hardware abstractions, abstractions for generic robot attributes, environment abstractions, and robot behaviors. The generic robot architecture includes a hardware abstraction level and a robot abstraction level. The hardware abstraction level is configured for developing hardware abstractions that define, monitor, and control hardware modules available on a robot platform. The robot abstraction level is configured for defining robot attributes and provides a software framework for building robot behaviors from the robot attributes. Each of the robot attributes includes hardware information from at least one hardware abstraction. In addition, each robot attribute is configured to substantially isolate the robot behaviors from the at least one hardware abstraction.

  8. Status of ITER

    International Nuclear Information System (INIS)

    Aymar, R.

    2002-01-01

    At the end of engineering design activities (EDA) in July 2001, all the essential elements became available to make a decision on construction of ITER. A sufficiently detailed and integrated engineering design now exists for a generic site, has been assessed for feasibility, and costed, and essential physics and technology R and D has been carried out to underpin the design choices. Formal negotiations have now begun between the current participants--Canada, Euratom, Japan, and the Russian Federation--on a Joint Implementation Agreement for ITER which also establishes the legal entity to run ITER. These negotiations are supported on technical aspects by Coordinated Technical Activities (CTA), which maintain the integrity of the project, for the good of all participants, and concentrate on preparing for procurement by industry of the longest lead items, and for formal application for a construction license with the host country. This paper highlights the main features of the ITER design. With cryogenically-cooled magnets close to neutron-generating plasma, the design of shielding with adequate access via port plugs for auxiliaries such as heating and diagnostics, and of remote replacement and refurbishing systems for in-vessel components, are particularly interesting nuclear technology challenges. Making a safety case for ITER to satisfy potential regulators and to demonstrate, as far as possible at this stage, the environmental attractiveness of fusion as an energy source, is also important. The paper gives illustrative details on this work, and an update on the progress of technical preparations for construction, as well as the status of the above negotiations

  9. 'Filigree Robotics'

    DEFF Research Database (Denmark)

    2016-01-01

    -scale 3D printed ceramics accompanied by prints, videos and ceramic probes, which introduce the material and design processes of the project.'Filigree Robotics' experiments with a combination of the traditional ceramic technique of ‘Overforming’ with 3d Laserscan and Robotic extrusion technique...... application of reflectivity after an initial 3d print. The consideration and integration of this material practice into a digital workflow took place in an interdisciplinary collaboration of Ceramicist Flemming Tvede Hansen from KADK Superformlab and architectural researchers from CITA (Martin Tamke, Henrik...... to the creation of the form and invites for experimentation. In Filigree Robotics we combine the crafting of the mold with a parallel running generative algorithm, which is fed by a constant laserscan of the 3d surface. This algorithm, analyses the topology of the mold, identifies high and low points and uses...

  10. Cloud Robotics Platforms

    Directory of Open Access Journals (Sweden)

    Busra Koken

    2015-01-01

    Full Text Available Cloud robotics is a rapidly evolving field that allows robots to offload computation-intensive and storage-intensive jobs into the cloud. Robots are limited in terms of computational capacity, memory and storage. Cloud provides unlimited computation power, memory, storage and especially collaboration opportunity. Cloud-enabled robots are divided into two categories as standalone and networked robots. This article surveys cloud robotic platforms, standalone and networked robotic works such as grasping, simultaneous localization and mapping (SLAM and monitoring.

  11. Medical robotics

    CERN Document Server

    Troccaz, Jocelyne

    2013-01-01

    In this book, we present medical robotics, its evolution over the last 30 years in terms of architecture, design and control, and the main scientific and clinical contributions to the field. For more than two decades, robots have been part of hospitals and have progressively become a common tool for the clinician. Because this domain has now reached a certain level of maturity it seems important and useful to provide a state of the scientific, technological and clinical achievements and still open issues. This book describes the short history of the domain, its specificity and constraints, and

  12. Service Robots

    DEFF Research Database (Denmark)

    Clemmensen, Torkil; Nielsen, Jeppe Agger; Andersen, Kim Normann

    The position presented in this paper is that in order to understand how service robots shape, and are being shaped by, the physical and social contexts in which they are used, we need to consider both work/organizational analysis and interaction design. We illustrate this with qualitative data...... and personal experiences to generate discussion about how to link these two traditions. This paper presents selected results from a case study that investigated the implementation and use of robot vacuum cleaners in Danish eldercare. The study demonstrates interpretive flexibility with variation...

  13. Robot Choreography

    DEFF Research Database (Denmark)

    Jochum, Elizabeth Ann; Heath, Damith

    2016-01-01

    We propose a robust framework for combining performance paradigms with human robot interaction (HRI) research. Following an analysis of several case studies that combine the performing arts with HRI experiments, we propose a methodology and “best practices” for implementing choreography and other...... performance paradigms in HRI experiments. Case studies include experiments conducted in laboratory settings, “in the wild”, and live performance settings. We consider the technical and artistic challenges of designing and staging robots alongside humans in these various settings, and discuss how to combine...

  14. ITER EDA status

    International Nuclear Information System (INIS)

    Aymar, R.

    2001-01-01

    The Project has focused on drafting the Plant Description Document (PDD), which will be published as the Technical Basis for the ITER Final Design Report (FDR), and its related documentation in time for the ITER review process. The preparations have involved continued intensive detailed design work, analyses and assessments by the Home Teams and the Joint Central Team, who have co-operated closely and efficiently. The main technical document has been completed in time for circulation, as planned, to TAC members for their review at TAC-17 (19-22 February 2001). Some of the supporting documents, such as the Plant Design Specification (PDS), Design Requirements and Guidelines (DRG1 and DRG2), and the Plant Safety Requirement (PSR) are also available for reference in draft form. A summary paper of the PDD for the Council's information is available as a separate document. A new documentation structure for the Project has been established. This hierarchical structure for documentation facilitates the entire organization in a way that allows better change control and avoids duplications. The initiative was intended to make this documentation system valid for the construction and operation phases of ITER. As requested, the Director and the JCT have been assisting the Explorations to plan for future joint technical activities during the Negotiations, and to consider technical issues important for ITER construction and operation for their introduction in the draft of a future joint implementation agreement. As charged by the Explorers, the Director has held discussions with the Home Team Leaders in order to prepare for the staffing of the International Team and Participants Teams during the Negotiations (Co-ordinated Technical Activities, CTA) and also in view of informing all ITER staff about their future directions in a timely fashion. One important element of the work was the completion by the Parties' industries of costing studies of about 83 ''procurement packages

  15. Cultural Robotics: The Culture of Robotics and Robotics in Culture

    Directory of Open Access Journals (Sweden)

    Hooman Samani

    2013-12-01

    Full Text Available In this paper, we have investigated the concept of “Cultural Robotics” with regard to the evolution of social into cultural robots in the 21st Century. By defining the concept of culture, the potential development of a culture between humans and robots is explored. Based on the cultural values of the robotics developers, and the learning ability of current robots, cultural attributes in this regard are in the process of being formed, which would define the new concept of cultural robotics. According to the importance of the embodiment of robots in the sense of presence, the influence of robots in communication culture is anticipated. The sustainability of robotics culture based on diversity for cultural communities for various acceptance modalities is explored in order to anticipate the creation of different attributes of culture between robots and humans in the future.

  16. Robot vision for nuclear advanced robot

    International Nuclear Information System (INIS)

    Nakayama, Ryoichi; Okano, Hideharu; Kuno, Yoshinori; Miyazawa, Tatsuo; Shimada, Hideo; Okada, Satoshi; Kawamura, Astuo

    1991-01-01

    This paper describes Robot Vision and Operation System for Nuclear Advanced Robot. This Robot Vision consists of robot position detection, obstacle detection and object recognition. With these vision techniques, a mobile robot can make a path and move autonomously along the planned path. The authors implemented the above robot vision system on the 'Advanced Robot for Nuclear Power Plant' and tested in an environment mocked up as nuclear power plant facilities. Since the operation system for this robot consists of operator's console and a large stereo monitor, this system can be easily operated by one person. Experimental tests were made using the Advanced Robot (nuclear robot). Results indicate that the proposed operation system is very useful, and can be operate by only person. (author)

  17. CONTROL PREDICTIVO DE UN ROBOT TIPO SCARA PREDICTIVE CONTROL OF A SCARA ROBOT

    Directory of Open Access Journals (Sweden)

    Oscar Andrés Vivas Albán

    2006-08-01

    Full Text Available Este artículo presenta una aplicación eficiente de un control por modelo de referencia sobre un robot de tipo SCARA. El control estudiado es un control predictivo funcional, el que hace uso de un modelo dinámico simplificado del robot. Los ensayos simulados se realizan sobre un robot de cuatro grados de libertad, tipo SCARA. Con el fin de comparar diferentes estrategias de control, se diseña un controlador clásico tipo PID y dos controladores basados en el modelo de referencia. En este último caso el sistema se linealiza y se desacoplada por realimentación, lo que transforma el sistema a controlar en un simple par de integradores. Al sistema lineal y desacoplado resultante se le aplica el control por par calculado y el control predictivo funcional. Los tres controladores estudiados se simulan sobre el robot SCARA con valores numéricos reales. Las pruebas permiten valorar las respuestas de estos controladores en seguimiento de trayectoria, rechazo de perturbaciones y presencia de errores en el modelado con consignas complejas similares a las utilizadas en procesos de fabricación.This paper describes an efficient approach for model based control, applied on a SCARA robot. The studied control is the predictive functional control which uses a simplified dynamical model of the robot. The simulated tests are made on a SCARA type robot, with four DOF. To compare several control strategies, a classical PID control and two model based controllers are designed. In the last case, the model is first linearized and decoupled by feedback, transforming the system into a double set of integrators. Computed torque control and predictive functional control are applied to the linear and decoupled system. The three studied controllers are simulated on the SCARA robot with real numerical values. Tracking performance, disturbance rejection and model robot mismatch are enlightened, using complex machining tasks trajectories and error presence in the modelling

  18. ITER CTA newsletter. No. 4

    International Nuclear Information System (INIS)

    2001-12-01

    This ITER CTA Newsletter contains information about the organization of the ITER Co-ordinated Technical Activities (CTA) International Team as the follow-up of the ITER CTA project board meeting in Toronto on 7 November 2001. It also includes a summary on the start of the international tokamak physics activity by Dr. D. Campbell, Chair of the ITPA Co-ordinating Committee

  19. ITER CTA newsletter. No. 9

    International Nuclear Information System (INIS)

    2002-06-01

    This ITER CTA newsletter contains information about the Fourth Negotiations Meeting on the Joint Implementation of ITER held in Cadarache, France on 4-6 June 2002 and about the meeting of the ITER CTA Project Board which took place on the occasion of the N4 Meeting at Cadarache on 3-4 June 2002

  20. ITER management advisory committee meeting

    International Nuclear Information System (INIS)

    Yoshikawa, M.

    2001-01-01

    The ITER Management Advisory Committee (MAC) Meeting was held on 23 February in Garching, Germany. The main topics were: the consideration of the report by the Director on the ITER EDA Status, the review of the Work Programme, the review of the Joint Fund, the review of a schedule of ITER meetings, and the arrangements for termination and wind-up of the EDA

  1. ITER CTA newsletter. No. 1

    International Nuclear Information System (INIS)

    2001-01-01

    This ITER CTA newsletter comprises reports on ITER co-ordinated technical activities, information about the Meeting of the ITER CTA project board which took place in Vienna on 16 July 2001, and the Meeting of the expert group on MHD, disruptions and plasma control which was held on 25-26 June 2001 in Funchal, Madeira

  2. Status of the ITER EDA

    International Nuclear Information System (INIS)

    Aymar, R.

    2000-01-01

    This article summarizes progress made in the ITER Engineering Design Activities in the period between the ITER Meeting in Tokyo (January 2000) and June 2000. Topics: Termination of EDA, Joint Central Team and Support, Task Assignments, ITER Physics, Urgent and High Priority Physics Research Areas

  3. Robotic Surgery

    Science.gov (United States)

    Childress, Vincent W.

    2007-01-01

    The medical field has many uses for automated and remote-controlled technology. For example, if a tissue sample is only handled in the laboratory by a robotic handling system, then it will never come into contact with a human. Such a system not only helps to automate the medical testing process, but it also helps to reduce the chances of…

  4. Iterative supervirtual refraction interferometry

    KAUST Repository

    Al-Hagan, Ola

    2014-05-02

    In refraction tomography, the low signal-to-noise ratio (S/N) can be a major obstacle in picking the first-break arrivals at the far-offset receivers. To increase the S/N, we evaluated iterative supervirtual refraction interferometry (ISVI), which is an extension of the supervirtual refraction interferometry method. In this method, supervirtual traces are computed and then iteratively reused to generate supervirtual traces with a higher S/N. Our empirical results with both synthetic and field data revealed that ISVI can significantly boost up the S/N of far-offset traces. The drawback is that using refraction events from more than one refractor can introduce unacceptable artifacts into the final traveltime versus offset curve. This problem can be avoided by careful windowing of refraction events.

  5. ITER shielding blanket

    Energy Technology Data Exchange (ETDEWEB)

    Strebkov, Yu [ENTEK, Moscow (Russian Federation); Avsjannikov, A [ENTEK, Moscow (Russian Federation); Baryshev, M [NIAT, Moscow (Russian Federation); Blinov, Yu [ENTEK, Moscow (Russian Federation); Shatalov, G [KIAE, Moscow (Russian Federation); Vasiliev, N [KIAE, Moscow (Russian Federation); Vinnikov, A [ENTEK, Moscow (Russian Federation); Chernjagin, A [DYNAMICA, Moscow (Russian Federation)

    1995-03-01

    A reference non-breeding blanket is under development now for the ITER Basic Performance Phase for the purpose of high reliability during the first stage of ITER operation. More severe operation modes are expected in this stage with first wall (FW) local heat loads up to 100-300Wcm{sup -2}. Integration of a blanket design with protective and start limiters requires new solutions to achieve high reliability, and possible use of beryllium as a protective material leads to technologies. The rigid shielding blanket concept was developed in Russia to satisfy the above-mentioned requirements. The concept is based on a copper alloy FW, austenitic stainless steel blanket structure, water cooling. Beryllium protection is integrated in the FW design. Fabrication technology and assembly procedure are described in parallel with the equipment used. (orig.).

  6. Iterative supervirtual refraction interferometry

    KAUST Repository

    Al-Hagan, Ola; Hanafy, Sherif M.; Schuster, Gerard T.

    2014-01-01

    In refraction tomography, the low signal-to-noise ratio (S/N) can be a major obstacle in picking the first-break arrivals at the far-offset receivers. To increase the S/N, we evaluated iterative supervirtual refraction interferometry (ISVI), which is an extension of the supervirtual refraction interferometry method. In this method, supervirtual traces are computed and then iteratively reused to generate supervirtual traces with a higher S/N. Our empirical results with both synthetic and field data revealed that ISVI can significantly boost up the S/N of far-offset traces. The drawback is that using refraction events from more than one refractor can introduce unacceptable artifacts into the final traveltime versus offset curve. This problem can be avoided by careful windowing of refraction events.

  7. ITER technical basis

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2002-01-01

    Following on from the Final Report of the EDA(DS/21), and the summary of the ITER Final Design report(DS/22), the technical basis gives further details of the design of ITER. It is in two parts. The first, the Plant Design specification, summarises the main constraints on the plant design and operation from the viewpoint of engineering and physics assumptions, compliance with safety regulations, and siting requirements and assumptions. The second, the Plant Description Document, describes the physics performance and engineering characteristics of the plant design, illustrates the potential operational consequences foe the locality of a generic site, gives the construction, commissioning, exploitation and decommissioning schedule, and reports the estimated lifetime costing based on data from the industry of the EDA parties.

  8. ITER technical basis

    International Nuclear Information System (INIS)

    2002-01-01

    Following on from the Final Report of the EDA(DS/21), and the summary of the ITER Final Design report(DS/22), the technical basis gives further details of the design of ITER. It is in two parts. The first, the Plant Design specification, summarises the main constraints on the plant design and operation from the viewpoint of engineering and physics assumptions, compliance with safety regulations, and siting requirements and assumptions. The second, the Plant Description Document, describes the physics performance and engineering characteristics of the plant design, illustrates the potential operational consequences foe the locality of a generic site, gives the construction, commissioning, exploitation and decommissioning schedule, and reports the estimated lifetime costing based on data from the industry of the EDA parties

  9. Laws on Robots, Laws by Robots, Laws in Robots : Regulating Robot Behaviour by Design

    NARCIS (Netherlands)

    Leenes, R.E.; Lucivero, F.

    2015-01-01

    Speculation about robot morality is almost as old as the concept of a robot itself. Asimov’s three laws of robotics provide an early and well-discussed example of moral rules robots should observe. Despite the widespread influence of the three laws of robotics and their role in shaping visions of

  10. Conformable variational iteration method

    Directory of Open Access Journals (Sweden)

    Omer Acan

    2017-02-01

    Full Text Available In this study, we introduce the conformable variational iteration method based on new defined fractional derivative called conformable fractional derivative. This new method is applied two fractional order ordinary differential equations. To see how the solutions of this method, linear homogeneous and non-linear non-homogeneous fractional ordinary differential equations are selected. Obtained results are compared the exact solutions and their graphics are plotted to demonstrate efficiency and accuracy of the method.

  11. Iterated Leavitt Path Algebras

    International Nuclear Information System (INIS)

    Hazrat, R.

    2009-11-01

    Leavitt path algebras associate to directed graphs a Z-graded algebra and in their simplest form recover the Leavitt algebras L(1,k). In this note, we introduce iterated Leavitt path algebras associated to directed weighted graphs which have natural ± Z grading and in their simplest form recover the Leavitt algebras L(n,k). We also characterize Leavitt path algebras which are strongly graded. (author)

  12. ICP (ITER Collaborative Platform)

    Energy Technology Data Exchange (ETDEWEB)

    Capuano, C.; Carayon, F.; Patel, V. [ITER, 13 - St. Paul-Lez Durance (France)

    2009-07-01

    The ITER organization has the necessity to manage a massive amount of data and processes. Each team requires different process and databases often interconnected with those of others teams. ICP is the current central ITER repository of structured and unstructured data. All data in ICP is served and managed via a web interface that provides global accessibility with a common user friendly interface. This paper will explain the model used by ICP and how it serves the ITER project by providing a robust and agile platform. ICP is developed in ASP.NET using MSSQL Server for data storage. It currently houses 15 data driven applications, 150 different types of record, 500 k objects and 2.5 M references. During European working hours the system averages 150 concurrent users and 20 requests per second. ICP connects to external database applications to provide a single entry point to ITER data and a safe shared storage place to maintain this data long-term. The Core model provides an easy to extend framework to meet the future needs of the Organization. ICP follows a multi-tier architecture, providing logical separation of process. The standard three-tier architecture is expanded, with the data layer separated into data storage, data structure, and data access components. The business or applications logic layer is broken up into a common business functionality layer, a type specific logic layer, and a detached work-flow layer. Finally the presentation tier comprises a presentation adapter layer and an interface layer. Each layer is built up from small blocks which can be combined to create a wide range of more complex functionality. Each new object type developed gains access to a wealth of existing code functionality, while also free to adapt and extend this. The hardware structure is designed to provide complete redundancy, high availability and to handle high load. This document is composed of an abstract followed by the presentation transparencies. (authors)

  13. Metrology for ITER Assembly

    International Nuclear Information System (INIS)

    Bogusch, E.

    2006-01-01

    The overall dimensions of the ITER Tokamak and the particular assembly sequence preclude the use of conventional optical metrology, mechanical jigs and traditional dimensional control equipment, as used for the assembly of smaller, previous generation, fusion devices. This paper describes the state of the art of the capabilities of available metrology systems, with reference to the previous experience in Fusion engineering and in other industries. Two complementary procedures of transferring datum from the primary datum network on the bioshield to the secondary datum s inside the VV with the desired accuracy of about 0.1 mm is described, one method using the access directly through the ports and the other using transfer techniques, developed during the co-operation with ITER/EFDA. Another important task described is the development of a method for the rapid and easy measurement of the gaps between sectors, required for the production of the customised splice plates between them. The scope of the paper includes the evaluation of the composition and cost of the systems and team of technical staff required to meet the requirements of the assembly procedure. The results from a practical, full-scale demonstration of the methodologies used, using the proposed equipment, is described. This work has demonstrated the feasibility of achieving the necessary accuracies for the successful building of ITER. (author)

  14. The ITER tritium systems

    International Nuclear Information System (INIS)

    Glugla, M.; Antipenkov, A.; Beloglazov, S.; Caldwell-Nichols, C.; Cristescu, I.R.; Cristescu, I.; Day, C.; Doerr, L.; Girard, J.-P.; Tada, E.

    2007-01-01

    ITER is the first fusion machine fully designed for operation with equimolar deuterium-tritium mixtures. The tokamak vessel will be fuelled through gas puffing and pellet injection, and the Neutral Beam heating system will introduce deuterium into the machine. Employing deuterium and tritium as fusion fuel will cause alpha heating of the plasma and will eventually provide energy. Due to the small burn-up fraction in the vacuum vessel a closed deuterium-tritium loop is required, along with all the auxiliary systems necessary for the safe handling of tritium. The ITER inner fuel cycle systems are designed to process considerable and unprecedented deuterium-tritium flow rates with high flexibility and reliability. High decontamination factors for effluent and release streams and low tritium inventories in all systems are needed to minimize chronic and accidental emissions. A multiple barrier concept assures the confinement of tritium within its respective processing components; atmosphere and vent detritiation systems are essential elements in this concept. Not only the interfaces between the primary fuel cycle systems - being procured through different Participant Teams - but also those to confinement systems such as Atmosphere Detritiation or those to fuelling and pumping - again procured through different Participant Teams - and interfaces to buildings are calling for definition and for detailed analysis to assure proper design integration. Considering the complexity of the ITER Tritium Plant configuration management and interface control will be a challenging task

  15. Neutron cameras for ITER

    International Nuclear Information System (INIS)

    Johnson, L.C.; Barnes, C.W.; Batistoni, P.

    1998-01-01

    Neutron cameras with horizontal and vertical views have been designed for ITER, based on systems used on JET and TFTR. The cameras consist of fan-shaped arrays of collimated flight tubes, with suitably chosen detectors situated outside the biological shield. The sight lines view the ITER plasma through slots in the shield blanket and penetrate the vacuum vessel, cryostat, and biological shield through stainless steel windows. This paper analyzes the expected performance of several neutron camera arrangements for ITER. In addition to the reference designs, the authors examine proposed compact cameras, in which neutron fluxes are inferred from 16 N decay gammas in dedicated flowing water loops, and conventional cameras with fewer sight lines and more limited fields of view than in the reference designs. It is shown that the spatial sampling provided by the reference designs is sufficient to satisfy target measurement requirements and that some reduction in field of view may be permissible. The accuracy of measurements with 16 N-based compact cameras is not yet established, and they fail to satisfy requirements for parameter range and time resolution by large margins

  16. ITER concept definition. V.2

    International Nuclear Information System (INIS)

    1989-01-01

    Volume II of the two volumes describing the concept definition of the International Thermonuclear Experimental Reactor deals with the ITER concept in technical depth, and covers all areas of design of the ITER tokamak. Included are an assessment of the current database for design, scoping studies, rationale for concepts selection, performance flexibility, the ITER concept, the operations and experimental/testing program, ITER parameters and design phase schedule, and research and development specific to ITER. This latter includes a definition of specific research and development tasks, a division of tasks among members, specific milestones, required results, and schedules. Figs and tabs

  17. ITER CTA newsletter. No. 10

    International Nuclear Information System (INIS)

    2002-07-01

    This ITER CTA newsletter issue comprises the ITER backgrounder, which was approved as an official document by the participants in the Negotiations on the ITER Implementation agreement at their fourth meeting, held in Cadarache from 4-6 June 2002, and information about two ITER meetings: one is the third meeting of the ITER parties' designated Safety Representatives, which took place in Cadarache, France from 6-7 June 2002, and the other is the second meeting of the International Tokamak Physics Activity (ITPA) topical group on diagnostics, which was held at General Atomics, San Diego, USA, from 4-8 March 2002

  18. ITER EDA newsletter. V. 7, no. 7

    International Nuclear Information System (INIS)

    1998-07-01

    This newsletter contains the articles: 'Extraordinary ITER council meeting', 'ITER EDA final safety meeting' and 'Summary report of the 3rd combined workshop of the ITER confinement and transport and ITER confinement database and modeling expert groups'

  19. A Review of Mobile Robotic Telepresence

    Directory of Open Access Journals (Sweden)

    Annica Kristoffersson

    2013-01-01

    Full Text Available Mobile robotic telepresence (MRP systems incorporate video conferencing equipment onto mobile robot devices which can be steered from remote locations. These systems, which are primarily used in the context of promoting social interaction between people, are becoming increasingly popular within certain application domains such as health care environments, independent living for the elderly, and office environments. In this paper, an overview of the various systems, application areas, and challenges found in the literature concerning mobile robotic telepresence is provided. The survey also proposes a set terminology for the field as there is currently a lack of standard terms for the different concepts related to MRP systems. Further, this paper provides an outlook on the various research directions for developing and enhancing mobile robotic telepresence systems per se, as well as evaluating the interaction in laboratory and field settings. Finally, the survey outlines a number of design implications for the future of mobile robotic telepresence systems for social interaction.

  20. Spirit and prospects of ITER

    Energy Technology Data Exchange (ETDEWEB)

    Velikhov, E.P. [Kurchatov Institute of Atomic Energy, Moscow (Russian Federation)

    2002-10-01

    ITER is the unique and the most straightforward way to study the burning plasma science in the nearest future. ITER has a firm physics ground based on the results from the world tokamaks in terms of confinement, stability, heating, current drive, divertor, energetic particle confinement to an extend required in ITER. The flexibility of ITER will allow the exploration of broad operation space of fusion power, beta, pulse length and Q values in various operational scenarios. Success of the engineering R and D programs has demonstrated that all party has an enough capability to produce all the necessary equipment in agreement with the specifications of ITER. The acquired knowledge and technologies in ITER project allow us to demonstrate the scientific and technical feasibility of a fusion reactor. It can be concluded that ITER must be constructed in the nearest future. (author)

  1. Spirit and prospects of ITER

    International Nuclear Information System (INIS)

    Velikhov, E.P.

    2002-01-01

    ITER is the unique and the most straightforward way to study the burning plasma science in the nearest future. ITER has a firm physics ground based on the results from the world tokamaks in terms of confinement, stability, heating, current drive, divertor, energetic particle confinement to an extend required in ITER. The flexibility of ITER will allow the exploration of broad operation space of fusion power, beta, pulse length and Q values in various operational scenarios. Success of the engineering R and D programs has demonstrated that all party has an enough capability to produce all the necessary equipment in agreement with the specifications of ITER. The acquired knowledge and technologies in ITER project allow us to demonstrate the scientific and technical feasibility of a fusion reactor. It can be concluded that ITER must be constructed in the nearest future. (author)

  2. Desarrollo del Robot Paralelo Parallix LKF-240

    Directory of Open Access Journals (Sweden)

    Eduardo Castillo Castañeda

    2013-09-01

    Full Text Available En este trabajo se presenta al robot paralelo PARALLIX LKF-2040 desarrollado en la Instituto Politécnico Nacional y actualmente comercializado en Instituciones de Educación Superior para fortalecer la enseñanza de la mecatrónica. Este mecanismo posee una plataforma fija y otra móvil. Los actuadores están montados en la plataforma fija, reduciendo el cableado y manteniéndolo fuera del espacio de trabajo. La plataforma móvil es el elemento efector y puede ser posicionada en un amplio espacio de trabajo. La estructura del manipulador es ligera, simplificando la dinámica y minimizando el peso a desplazar. Lo anterior, permite utilizar el par generado por los motores sólo para el desplazamiento de la carga. El robot PARALLIX LKF-2040 tiene sus orígenes en la configuración del robot tipo Delta pero tiene articulaciones rotacionales en lugar de esféricas, proporcionando un espacio de trabajo más amplio. Primeramente, se presenta el concepto de robot paralelo y sus ventajas respecto a los robots convencionales tipo serial. Se muestra la estructura geométrica de un robot paralelo tipo 3RSS y se encuentra la solución de su cinemática inversa. También, se presentan los resultados obtenidos del análisis del espacio de trabajo y el diseño de una arquitectura de control de tres ejes para servomotores con encoder incremental en cuadratura. Además, se proponen técnicas novedosas basadas en análisis de imágenes para determinar la precisión y la repetibilidad del robot, así como la rigidez bajo diferentes condiciones de carga.

  3. Ping-Pong Robotics with High-Speed Vision System

    DEFF Research Database (Denmark)

    Li, Hailing; Wu, Haiyan; Lou, Lei

    2012-01-01

    The performance of vision-based control is usually limited by the low sampling rate of the visual feedback. We address Ping-Pong robotics as a widely studied example which requires high-speed vision for highly dynamic motion control. In order to detect a flying ball accurately and robustly...... of the manipulator are updated iteratively with decreasing error. Experiments are conducted on a 7 degrees of freedom humanoid robot arm. A successful Ping-Pong playing between the robot arm and human is achieved with a high successful rate of 88%....

  4. Micro Robotics Lab

    Data.gov (United States)

    Federal Laboratory Consortium — Our research is focused on the challenges of engineering robotic systems down to sub-millimeter size scales. We work both on small mobile robots (robotic insects for...

  5. Robots of the Future

    Indian Academy of Sciences (India)

    two main types of robots: industrial robots, and autonomous robots. .... position); it also has a virtual CPU with two stacks and three registers that hold 32-bit strings. Each item ..... just like we can aggregate images, text, and information from.

  6. Presentation robot Advee

    Czech Academy of Sciences Publication Activity Database

    Krejsa, Jiří; Věchet, Stanislav; Hrbáček, J.; Ripel, T.; Ondroušek, V.; Hrbáček, R.; Schreiber, P.

    2012-01-01

    Roč. 18, 5/6 (2012), s. 307-322 ISSN 1802-1484 Institutional research plan: CEZ:AV0Z20760514 Keywords : mobile robot * human - robot interface * localization Subject RIV: JD - Computer Applications, Robot ics

  7. Towards Sociable Robots

    DEFF Research Database (Denmark)

    Ngo, Trung Dung

    This thesis studies aspects of self-sufficient energy (energy autonomy) for truly autonomous robots and towards sociable robots. Over sixty years of history of robotics through three developmental ages containing single robot, multi-robot systems, and social (sociable) robots, the main objective...... of roboticists mostly focuses on how to make a robotic system function autonomously and further, socially. However, such approaches mostly emphasize behavioural autonomy, rather than energy autonomy which is the key factor for not only any living machine, but for life on the earth. Consequently, self......-sufficient energy is one of the challenges for not only single robot or multi-robot systems, but also social and sociable robots. This thesis is to deal with energy autonomy for multi-robot systems through energy sharing (trophallaxis) in which each robot is equipped with two capabilities: self-refueling energy...

  8. ITER EDA newsletter. V. 10, special issue

    International Nuclear Information System (INIS)

    2001-07-01

    This ITER EDA Newsletter includes summaries of the reports of ITER EDA JCT Physics unit about ITER physics R and D during the Engineering Design Activities (EDA), ITER EDA JCT Naka JWC ITER technology R and D during the EDA, and Safety, Environment and Health group of ITER EDA JCT, Garching JWS on EDA activities related to safety

  9. Cloud Robotics Model

    OpenAIRE

    Mester, Gyula

    2015-01-01

    Cloud Robotics was born from the merger of service robotics and cloud technologies. It allows robots to benefit from the powerful computational, storage, and communications resources of modern data centres. Cloud robotics allows robots to take advantage of the rapid increase in data transfer rates to offload tasks without hard real time requirements. Cloud Robotics has rapidly gained momentum with initiatives by companies such as Google, Willow Garage and Gostai as well as more than a dozen a...

  10. Robot Programming.

    Science.gov (United States)

    1982-12-01

    Paris, France, June, 1982, 519-530. Latoinbe, J. C. "Equipe Intelligence Artificielle et Robotique: Etat d’avancement des recherches," Laboratoire...8217AD-A127 233 ROBOT PROGRRMMING(U) MASSACHUSETTS INST OFGTECHi/ CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB T LOZANO-PEREZ UNCLASSIFIED DC8 AI-9 N884...NAME AND ADDRESS 10. PROGRAM ELEMENT. PROJECT. TASK Artificial Intelligence Laboratory AREA I WORK UNIT NUMBERS ,. 545 Technology Square Cambridge

  11. The ITER divertor concept

    International Nuclear Information System (INIS)

    Janeschitz, G.; Borrass, K.; Federici, G.; Igitkhanov, Y.; Kukushkin, A.; Pacher, H.D.; Pacher, G.W.; Sugihara, M.

    1995-01-01

    The ITER divertor must exhaust most of the alpha particle power and the He ash at acceptable erosion rates. The high recycling regime of the ITER-CDA for present parameters would yield high power loads and erosion rates on conventional targets. Improvement by radiation in the SOL at constant pressure is limited in principle. To permit a higher radiation fraction, the plasma pressure along the field must be reduced by more than a factor 10, reducing also the target ion flux. This pressure reduction can be obtained by strong plasma-neutral interaction below the X-point. Under these conditions T e in the divertor can be reduced to <5 eV along a flame like ionisation front by impurity radiation and CX losses. Downstream of the front, neutrals undergo more CX or i-n collisions than ionisation events, resulting in significant momentum loss via neutrals to the divertor chamber wall. The pressure reduction by this mechanism depends on the along-field length for neutral-plasma interaction, the parallel power flux, the neutral density, the ratio of neutral-neutral collision length to the plasma-wall distance and on the Mach number of ions and neutrals. A supersonic transition in the main plasma-neutral interaction region, expected to occur near the ionisation front, would be beneficial for momentum removal. The momentum transfer fraction to the side walls is calculated: low Knudsen number is beneficial. The impact of the different physics effects on the chosen geometry and on the ITER divertor design and the lifetime of the various divertor components are discussed. ((orig.))

  12. Iteration of adjoint equations

    International Nuclear Information System (INIS)

    Lewins, J.D.

    1994-01-01

    Adjoint functions are the basis of variational methods and now widely used for perturbation theory and its extension to higher order theory as used, for example, in modelling fuel burnup and optimization. In such models, the adjoint equation is to be solved in a critical system with an adjoint source distribution that is not zero but has special properties related to ratios of interest in critical systems. Consequently the methods of solving equations by iteration and accumulation are reviewed to show how conventional methods may be utilized in these circumstances with adequate accuracy. (author). 3 refs., 6 figs., 3 tabs

  13. Friendly network robotics; Friendly network robotics

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1997-03-01

    This paper summarizes the research results on the friendly network robotics in fiscal 1996. This research assumes an android robot as an ultimate robot and the future robot system utilizing computer network technology. The robot aiming at human daily work activities in factories or under extreme environments is required to work under usual human work environments. The human robot with similar size, shape and functions to human being is desirable. Such robot having a head with two eyes, two ears and mouth can hold a conversation with human being, can walk with two legs by autonomous adaptive control, and has a behavior intelligence. Remote operation of such robot is also possible through high-speed computer network. As a key technology to use this robot under coexistence with human being, establishment of human coexistent robotics was studied. As network based robotics, use of robots connected with computer networks was also studied. In addition, the R-cube (R{sup 3}) plan (realtime remote control robot technology) was proposed. 82 refs., 86 figs., 12 tabs.

  14. iterClust: a statistical framework for iterative clustering analysis.

    Science.gov (United States)

    Ding, Hongxu; Wang, Wanxin; Califano, Andrea

    2018-03-22

    In a scenario where populations A, B1 and B2 (subpopulations of B) exist, pronounced differences between A and B may mask subtle differences between B1 and B2. Here we present iterClust, an iterative clustering framework, which can separate more pronounced differences (e.g. A and B) in starting iterations, followed by relatively subtle differences (e.g. B1 and B2), providing a comprehensive clustering trajectory. iterClust is implemented as a Bioconductor R package. andrea.califano@columbia.edu, hd2326@columbia.edu. Supplementary information is available at Bioinformatics online.

  15. Biologically based neural network for mobile robot navigation

    Science.gov (United States)

    Torres Muniz, Raul E.

    1999-01-01

    The new tendency in mobile robots is to crete non-Cartesian system based on reactions to their environment. This emerging technology is known as Evolutionary Robotics, which is combined with the Biorobotic field. This new approach brings cost-effective solutions, flexibility, robustness, and dynamism into the design of mobile robots. It also provides fast reactions to the sensory inputs, and new interpretation of the environment or surroundings of the mobile robot. The Subsumption Architecture (SA) and the action selection dynamics developed by Brooks and Maes, respectively, have successfully obtained autonomous mobile robots initiating this new trend of the Evolutionary Robotics. Their design keeps the mobile robot control simple. This work present a biologically inspired modification of these schemes. The hippocampal-CA3-based neural network developed by Williams Levy is used to implement the SA, while the action selection dynamics emerge from iterations of the levels of competence implemented with the HCA3. This replacement by the HCA3 results in a closer biological model than the SA, combining the Behavior-based intelligence theory with neuroscience. The design is kept simple, and it is implemented in the Khepera Miniature Mobile Robot. The used control scheme obtains an autonomous mobile robot that can be used to execute a mail delivery system and surveillance task inside a building floor.

  16. Cultural Robotics: The Culture of Robotics and Robotics in Culture

    OpenAIRE

    Hooman Samani; Elham Saadatian; Natalie Pang; Doros Polydorou; Owen Noel Newton Fernando; Ryohei Nakatsu; Jeffrey Tzu Kwan Valino Koh

    2013-01-01

    In this paper, we have investigated the concept of “Cultural Robotics” with regard to the evolution of social into cultural robots in the 21st Century. By defining the concept of culture, the potential development of a culture between humans and robots is explored. Based on the cultural values of the robotics developers, and the learning ability of current robots, cultural attributes in this regard are in the process of being formed, which would define the new concept of cultural robotics. Ac...

  17. ITER assembly and maintenance

    International Nuclear Information System (INIS)

    Honda, T.; Davis, F.; Lousteau, D.

    1991-01-01

    This document is intended to describe the work conducted by the ITER Assembly and Maintenance (A and M) Design Unit and the supporting home teams during the ITER Conceptual Design Activities, carried out from 1988 through 1990. Its content consists of two main sections, i.e., Chapter III, which describes the identified tasks to be performed by the A and M system and a general description of the required equipment; and Chapter IV, which provides a more detailed description of the equipment proposed to perform the assigned tasks. A two-stage R and D program is now planned, i.e., (1) a prototype equipment functional tests using full scale mock-ups and (2) a full scale integration demonstration test facility with real components (vacuum vessel with ports, blanket modules, divertor modules, armor tiles, etc.). Crucial in-vessel and ex-vessel operations and the associated remote handling equipment, including handling of divertor plates and blanket modules will be demonstrated in the first phase, whereby the database needed to proceed with the engineering phase will be acquired. The second phase will demonstrate the ability of the overall system to execute the required maintenance procedures and evaluate the performance of the prototype equipment

  18. Calibration of Robot Reference Frames for Enhanced Robot Positioning Accuracy

    OpenAIRE

    Cheng, Frank Shaopeng

    2008-01-01

    This chapter discussed the importance and methods of conducting robot workcell calibration for enhancing the accuracy of the robot TCP positions in industrial robot applications. It shows that the robot frame transformations define the robot geometric parameters such as joint position variables, link dimensions, and joint offsets in an industrial robot system. The D-H representation allows the robot designer to model the robot motion geometry with the four standard D-H parameters. The robot k...

  19. Rokkasho: Japanese site for ITER

    International Nuclear Information System (INIS)

    Ohtake, S.; Yamaguchi, V.; Matsuda, S.; Kishimoto, H.

    2003-01-01

    The Atomic Energy Commission of Japan authorized ITER as the core machine of the Third Phase Basic Program of Fusion Energy Development. After a series of discussions in the Atomic Energy Commission and the Council of Science and Technology Policy, Japanese Government concluded formally with the Cabinet Agreement on 31 May 2002 that Japan should participate in the ITER Project and offer the Rokkasho-Mura site for construction of ITER to the Negotiations among Canada (CA), the European Union (EU), Japan (JA), and the Russian Federation (RF). The JA site proposal is now under the international assessment in the framework of the ITER Negotiations. (author)

  20. IAEA activities related to ITER

    International Nuclear Information System (INIS)

    Dolan, T.J.; Schneider, U.

    2001-01-01

    As agreed between the IAEA and the ITER Parties, special sessions are dedicated to ITER at the IAEA Fusion Energy Conferences. At the 18th IAEA Fusion Energy Conference, held on 4-10 October 2000 in Sorrento, Italy, in the Artsimovich-Kadomtsev Memorial opening session there were special lectures by Carlo Rubbia (President, ENEA, Italy), A. Arima (Japan), and E.P. Velikhov (Russia); an overview talk on ITER by R. Aymar (ITER Director); and a talk on the FTU experiment by F. Romanelli. In total, 573 participants from 34 countries presented 389 papers (including 11 post-deadline papers and the 4 summaries)

  1. ITER CTA newsletter. No. 13, October 2002

    International Nuclear Information System (INIS)

    2002-11-01

    This ITER CTA newsletter issue comprises concise information about an ITER related meeting concerning the joint implementation of ITER - the fifth ITER Negotiations Meeting - which was held in Toronto, Canada, 19-20 September, 2002, and information about assessment of the possible ITER site in Clarington, Ontario, Canada, which was the subject of the first official stage of the Joint Assessment of Specific Sites (JASS) for the ITER Project. This assessment was completed just before the Fifth ITER Negotiations Meeting

  2. Educational Robotics as Mindtools

    Science.gov (United States)

    Mikropoulos, Tassos A.; Bellou, Ioanna

    2013-01-01

    Although there are many studies on the constructionist use of educational robotics, they have certain limitations. Some of them refer to robotics education, rather than educational robotics. Others follow a constructionist approach, but give emphasis only to design skills, creativity and collaboration. Some studies use robotics as an educational…

  3. ROILA : RObot Interaction LAnguage

    NARCIS (Netherlands)

    Mubin, O.

    2011-01-01

    The number of robots in our society is increasing rapidly. The number of service robots that interact with everyday people already outnumbers industrial robots. The easiest way to communicate with these service robots, such as Roomba or Nao, would be natural speech. However, the limitations

  4. Robotic Hand

    Science.gov (United States)

    1993-01-01

    The Omni-Hand was developed by Ross-Hime Designs, Inc. for Marshall Space Flight Center (MSFC) under a Small Business Innovation Research (SBIR) contract. The multiple digit hand has an opposable thumb and a flexible wrist. Electric muscles called Minnacs power wrist joints and the interchangeable digits. Two hands have been delivered to NASA for evaluation for potential use on space missions and the unit is commercially available for applications like hazardous materials handling and manufacturing automation. Previous SBIR contracts resulted in the Omni-Wrist and Omni-Wrist II robotic systems, which are commercially available for spray painting, sealing, ultrasonic testing, as well as other uses.

  5. ITER waste management

    International Nuclear Information System (INIS)

    Rosanvallon, S.; Na, B.C.; Benchikhoune, M.; Uzan, J. Elbez; Gastaldi, O.; Taylor, N.; Rodriguez, L.

    2010-01-01

    ITER will produce solid radioactive waste during its operation (arising from the replacement of components and from process and housekeeping waste) and during decommissioning (de-activation phase and dismantling). The waste will be activated by neutrons of energies up to 14 MeV and potentially contaminated by activated corrosion products, activated dust and tritium. This paper describes the waste origin, the waste classification as a function of the French national agency for radioactive waste management (ANDRA), the optimization process put in place to reduce the waste radiotoxicity and volumes, the estimated waste amount based on the current design and maintenance procedure, and the overall strategy from component removal to final disposal anticipated at this stage of the project.

  6. Iterated crowdsourcing dilemma game

    Science.gov (United States)

    Oishi, Koji; Cebrian, Manuel; Abeliuk, Andres; Masuda, Naoki

    2014-02-01

    The Internet has enabled the emergence of collective problem solving, also known as crowdsourcing, as a viable option for solving complex tasks. However, the openness of crowdsourcing presents a challenge because solutions obtained by it can be sabotaged, stolen, and manipulated at a low cost for the attacker. We extend a previously proposed crowdsourcing dilemma game to an iterated game to address this question. We enumerate pure evolutionarily stable strategies within the class of so-called reactive strategies, i.e., those depending on the last action of the opponent. Among the 4096 possible reactive strategies, we find 16 strategies each of which is stable in some parameter regions. Repeated encounters of the players can improve social welfare when the damage inflicted by an attack and the cost of attack are both small. Under the current framework, repeated interactions do not really ameliorate the crowdsourcing dilemma in a majority of the parameter space.

  7. ITER cooling systems

    International Nuclear Information System (INIS)

    Natalizio, A.; Hollies, R.E.; Sochaski, R.O.; Stubley, P.H.

    1992-06-01

    The ITER reference system uses low-temperature water for heat removal and high-temperature helium for bake-out. As these systems share common equipment, bake-out cannot be performed until the cooling system is drained and dried, and the reactor cannot be started until the helium has been purged from the cooling system. This study examines the feasibility of using a single high-temperature fluid to perform both heat removal and bake-out. The high temperature required for bake-out would also be in the range for power production. The study examines cost, operational benefits, and impact on reactor safety of two options: a high-pressure water system, and a low-pressure organic system. It was concluded that the cost savings and operational benefits are significant; there are no significant adverse safety impacts from operating either the water system or the organic system; and the capital costs of both systems are comparable

  8. Divertor development for ITER

    International Nuclear Information System (INIS)

    Janeschitz, G.; Ando, T.; Antipenkov, A.; Barabash, V.; Chiocchio, S.; Federici, G.; Ibbott, C.; Jakeman, R.; Matera, R.; Martin, E.; Parker, R.; Tivey, R.; Pacher, H.D.

    1998-01-01

    The requirements for the ITER divertor design, i.e. power and He ash exhaust, neutral leakage control, lifetime, disruption load resistance and exchange by remote handling, are described in this paper. These requirements and the physics requirements for detached and semi-attached operation result in the vertical target configuration. This is realised by a concept incorporating 60 cassettes carrying the high heat flux components. The armour choice for these components is CFC monoblock in the strike zone near at the lower part of the vertical target, and a W brush elsewhere. Cooling is by swirl tubes or hypervapotrons depending on the component. The status of the heat sink and joining technology R and D is given. Finally, the resulting design of the high heat flux components is presented. (orig.)

  9. Mechanical Design of Odin, an Extendable Heterogeneous Deformable Modular Robot

    DEFF Research Database (Denmark)

    Lyder, Andreas; Garcia, Ricardo Franco Mendoza; Støy, Kasper

    2008-01-01

    Highly sophisticated animals consist of a set of heterogenous modules decided by nature so that they can survive in a complex environment. In this paper we present a new modular robot inspired by biology called Odin. The Odin robot is based on a deformable lattice and consists of an extendable se...

  10. ITER-FEAT - outline design report. Report by the ITER Director. ITER meeting, Tokyo, January 2000

    International Nuclear Information System (INIS)

    2001-01-01

    It is now possible to define the key elements of ITER-FEAT. This report provides the results, to date, of the joint work of the Special Working Group in the form of an Outline Design Report on the ITER-FEAT design which, subject to the views of ITER Council and of the Parties, will be the focus of further detailed design work and analysis in order to provide to the Parties a complete and fully integrated engineering design within the framework of the ITER EDA extension

  11. Social Set Visualizer (SoSeVi) II

    DEFF Research Database (Denmark)

    Flesch, Benjamin; Vatrapu, Ravi

    2016-01-01

    This paper reports the second iteration of the Social Set Visualizer (SoSeVi), a set theoretical visual analytics dashboard of big social data. In order to further demonstrate its usefulness in large-scale visual analytics tasks of individual and collective behavior of actors in social networks......, the current iteration of the Social Set Visualizer (SoSeVi) in version II builds on recent advancements in visualizing set intersections. The development of the SoSeVi dashboard involved cutting-edge open source visual analytics libraries (D3.js) and creation of new visualizations such as of actor mobility...

  12. Iterative learning control for electrical stimulation and stroke rehabilitation

    CERN Document Server

    Freeman, Chris T; Burridge, Jane H; Hughes, Ann-Marie; Meadmore, Katie L

    2015-01-01

    Iterative learning control (ILC) has its origins in the control of processes that perform a task repetitively with a view to improving accuracy from trial to trial by using information from previous executions of the task. This brief shows how a classic application of this technique – trajectory following in robots – can be extended to neurological rehabilitation after stroke. Regaining upper limb movement is an important step in a return to independence after stroke, but the prognosis for such recovery has remained poor. Rehabilitation robotics provides the opportunity for repetitive task-oriented movement practice reflecting the importance of such intense practice demonstrated by conventional therapeutic research and motor learning theory. Until now this technique has not allowed feedback from one practice repetition to influence the next, also implicated as an important factor in therapy. The authors demonstrate how ILC can be used to adjust external functional electrical stimulation of patients’ mus...

  13. Modular Robotic Wearable

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop; Pagliarini, Luigi

    2009-01-01

    In this concept paper we trace the contours and define a new approach to robotic systems, composed of interactive robotic modules which are somehow worn on the body. We label such a field as Modular Robotic Wearable (MRW). We describe how, by using modular robotics for creating wearable....... Finally, by focusing on the intersection of the combination modular robotic systems, wearability, and bodymind we attempt to explore the theoretical characteristics of such approach and exploit the possible playware application fields....

  14. ITER CTA newsletter. No. 8

    International Nuclear Information System (INIS)

    2002-05-01

    This ITER CTA newsletter contains information about the Third Negotiations Meeting on the Joint Implementation of ITER held in Moscow on 23-24 April 2002 and about the visit of Canadian officials and members of the Canadian delegation to RF research center 'Kurchatov Institute'

  15. ITER physics design guidelines: 1989

    International Nuclear Information System (INIS)

    Uckan, N.A.

    1990-01-01

    The physics basis for ITER has been developed from an assessment of the results of the last twenty-five years of tokamak research and from detailed analysis of important physics issues specifically for the ITER design. This assessment has been carried out with direct participation of members of the experimental teams of each of the major tokamaks in the world fusion program through participation in ITER workshops, contributions to the ITER Physics R and D Program, and by direct contacts between the ITER team and the cognizant experimentalists. Extrapolations to the present data base, where needed, are made in the most cautious way consistent with engineering constraints and performance goals of the ITER. In cases where a working assumptions had to be introduced, which is insufficiently supported by the present data base, is explicitly stated. While a strong emphasis has been placed on the physics credibility of the design, the guidelines also take into account that ITER should be designed to be able to take advantage of potential improvements in tokamak physics that may occur before and during the operation of ITER. (author). 33 refs

  16. ITER management advisory committee meeting

    International Nuclear Information System (INIS)

    Yoshikawa, M.

    2001-01-01

    The ITER Management Advisory Committee (MAC) Meeting was held in Vienna on 16 July 2001. It was the last MAC Meeting and the main topics were consideration of the report by the Director on the ITER EDA status, review of the Work Programme, review of the Joint Fund and arrangements for termination and wind-up of the EDA

  17. ITER CTA newsletter. No. 7

    International Nuclear Information System (INIS)

    2002-04-01

    This issue of ITER CTA newsletter contains information about the meeting of the ITER CTA project board, which took place in Moscow, Russian Federation on 22 April 2002 on the occasion of the Third Negotiators Meeting (N3), and about the meeting 'EU divertor celebration day' organized on 16 January 2002 at Plansee AG, Reutte, Austria

  18. Integración del brazo robot IRB120 en entorno ROS-MATLAB

    OpenAIRE

    Gómez Cuadrado, José Manuel

    2017-01-01

    Este proyecto usa el entorno ROS (Robot Operating System) para desarrollar el control del brazo robot IRB 120 y su implementación en el entorno de trabajo MATLAB. Se explicará la creación del modelo del robot, la planificación de trayectorias y la comunicación con dicho robot. This project uses the ROS (Robot Operating System) environment for developing the control of the IRB 120 robotic arm and its implementation in the MATLAB working environment. It will explain the creation of the...

  19. Hexapod Robot

    Science.gov (United States)

    Begody, Ericka

    2016-01-01

    The project I am working on at NASA-Johnson Space Center in Houston, TX is a hexapod robot. This project was started by various engineers at the Trick Lab. The goal of this project is to have the hexapod track a yellow ball or possibly another object from left to right and up/down. The purpose is to have it track an object like a real creature. The project will consist of using software and hardware. This project started with a hexapod robot which uses a senor bar to track a yellow ball but with a limited field of vision. The sensor bar acts as the robots "head." Two servos will be added to the hexapod to create flexion and extension of the head. The neck and head servos will have to be programmed to be added to the original memory map of the existing servos. I will be using preexisting code. The main programming language that will be used to add to the preexisting code is C++. The trick modeling and simulation software will also be used in the process to improve its tracking and movement. This project will use a trial and error approach, basically seeing what works and what does not. The first step is to initially understand how the hexapod works. To get a general understanding of how the hexapod maneuvers and plan on how to had a neck and head servo which works with the rest of the body. The second step would be configuring the head and neck servos with the leg servos. During this step, limits will be programmed specifically for the each servo. By doing this, the servo is limited to how far it can rotate both clockwise and counterclockwise and this is to prevent hardware damage. The hexapod will have two modes in which it works in. The first mode will be if the sensor bar does not detect an object. If the object it is programmed to look for is not in its view it will automatically scan from left to right 3 times then up and down once. The second mode will be if the sensor bar does detect the object. In this mode the hexapod will track the object from left to

  20. ITER EDA Newsletter. V. 3, no. 8

    International Nuclear Information System (INIS)

    1994-08-01

    This ITER EDA (Engineering Design Activities) Newsletter issue reports on the sixth ITER council meeting; introduces the newly appointed ITER director and reports on his address to the ITER council. The vacuum tank for the ITER model coil testing, installed at JAERI, Naka, Japan is also briefly described

  1. ITER ITA newsletter. No. 6, July 2003

    International Nuclear Information System (INIS)

    2003-09-01

    This issue of ITER ITA (ITER transitional Arrangements) newsletter contains concise information about ITER related activities. One of them was the farewell party for for Annick Lyraud and Robert Aymar, who will take up his position as Director-General of CERN in January 2004, another is information about Dr. Yasuo Shimomura, ITER interim project leader, and ITER technical work during the transitional arrangements

  2. ITER ITA newsletter. No. 8, September 2003

    International Nuclear Information System (INIS)

    2003-10-01

    This issue of ITER ITA (ITER transitional Arrangements) newsletter contains concise information about ITER related activities including Robert Aymar's leaving ITER for CERN, ITER related issues at the IAEA General Conference and status and prospects of thermonuclear power and activity during the ITA on materials foe vessel and in-vessel components

  3. ITER interim design report package documents

    International Nuclear Information System (INIS)

    1996-01-01

    This publication contains the Excerpt from the ITER Council (IC-8), the ITER Interim Design Report, Cost Review and Safety Analysis, ITER Site Requirements and ITER Site Design Assumptions and the Excerpt from the ITER Council (IC-9). 8 figs, 2 tabs

  4. Study on Parameter Identification of Assembly Robot based on Screw Theory

    Science.gov (United States)

    Yun, Shi; Xiaodong, Zhang

    2017-11-01

    The kinematic model of assembly robot is one of the most important factors affecting repetitive precision. In order to improve the accuracy of model positioning, this paper first establishes the exponential product model of ER16-1600 assembly robot on the basis of screw theory, and then based on iterative least squares method, using ER16-1600 model robot parameter identification. By comparing the experiment before and after the calibration, it is proved that the method has obvious improvement on the positioning accuracy of the assembly robot.

  5. 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)

  6. Plasma control concepts for ITER

    International Nuclear Information System (INIS)

    Lister, J.B.; Nieswand, C.

    1997-01-01

    This overview paper skims over a wide range of issues related to the control of ITER plasmas. Although operation of the ITER project will require extensive developmental work to achieve the degree of control required, there is no indication that any of the identified problems will present overwhelming difficulties compared with the operation of present tokamaks. However, the precision of control required and the degree of automation of the final ITER plasma control system will present a challenge which is somewhat greater than for present tokamaks. In order to operate ITER optimally, integrated use of a large amount of diagnostic information will be necessary, evaluated and interpreted automatically. This will challenge both the diagnostics themselves and their supporting interpretation codes. The intervening years will provide us with the opportunity to implement and evaluate most of the new features required for ITER on existing tokamaks, with the exception of the control of an ignited plasma. (author) 7 figs., 7 refs

  7. ITER technical advisory committee meeting

    International Nuclear Information System (INIS)

    Fujiwara, M.

    2001-01-01

    The 17th Meeting of the ITER Technical Advisory Committee (TAC-17) was held on February 19-22, the ITER Garching Work Site in Germany. The objective of the meeting was to review the Draft Final Design Report of ITER-FEAT and assess the ability of the self-consistent overall design both to satisfy the technical objectives previously defined and to meet the cost limitations. TAC-17 was also organized to confirm that the design and critical elements, with emphasis on the key recommendations made at previous TAC meetings, are such as to extend the confidence in starting ITER construction. It was also intended to provide the ITER Council, scheduled to meet on 27 and 28 February in Toronto, with a technical assessment and key recommendations of the above mentioned report

  8. Applying principles of Design For Assembly to ITER maintenance operations

    International Nuclear Information System (INIS)

    Heemskerk, Cock; de Baar, Marco; Elzendoorn, Ben; Koning, Jarich; Verhoeven, Toon; Vreede, Fred de

    2009-01-01

    In ITER, maintenance operations in the vessel and in the Hot Cell will be largely done by Remote Handling (RH). Remotely performed maintenance actions tend to be more time-costly than actions performed by direct human access. With a human operator in the control loop and adequate situational feedback, a two-armed master slave manipulator system can mimic direct access with dexterous manipulation, tactile feedback and vision. But even then, turnaround times are still very high. Adapting the design for simplified maintenance operations can yield significant time savings. One of the methods known to produce a simpler, more robust design, which is also better suited for handling with robots, is Design For Assembly (DFA). This paper discusses whether and how the principles of DFA can be applied to simplify maintenance operations for ITER. While DFA is normally used with series-production and ITER is a unique product, it is possible to apply the principles of DFA to ITER maintenance operations. Furthermore, DFA's principles can be applied at different abstraction levels. Combining principles of DFA with Virtual Reality leads to new insights and provides additional value.

  9. Development of radiation hardness components for ITER remote maintenance

    Energy Technology Data Exchange (ETDEWEB)

    Obara, Kenjiro; Kakudate, Satoshi; Oka, Kiyoshi; Ito, Akira [Japan Atomic Energy Research Inst., Tokai, Ibaraki (Japan). Tokai Research Establishment; Yagi, Toshiaki; Morita, Yousuke

    1998-04-01

    In the ITER, in-vessel remote handling is required to assemble and maintain in-vessel components in DT operations. Since in-vessel remote handling systems must operate under intense gamma ray radiation exceeding 30 kGy/h, their components must have sufficiently high radiation hardness to allow maintenance long enough in ITER in-vessel environments. Thus, extensive radiation tests and quality improvement, including optimization of material compositions, have been conducted through the ITER R and D program to develop radiation hardness components that meet radiation doses from 10 to 100 MGy at 10 kGy/h. This paper presents the latest on radiation hardness component development conducted by the Japan Home Team as a contribution to the ITER. The remote handling components tested are categorized for use in robotic or viewing systems, or as common components. Radiation tests have been conducted on commercially available products for screening, on modified products, and on new products to improve the radiation hardness. (author)

  10. Development of radiation hardness components for ITER remote maintenance

    International Nuclear Information System (INIS)

    Obara, Kenjiro; Kakudate, Satoshi; Oka, Kiyoshi; Ito, Akira; Yagi, Toshiaki; Morita, Yousuke

    1998-01-01

    In the ITER, in-vessel remote handling is required to assemble and maintain in-vessel components in DT operations. Since in-vessel remote handling systems must operate under intense gamma ray radiation exceeding 30 kGy/h, their components must have sufficiently high radiation hardness to allow maintenance long enough in ITER in-vessel environments. Thus, extensive radiation tests and quality improvement, including optimization of material compositions, have been conducted through the ITER R and D program to develop radiation hardness components that meet radiation doses from 10 to 100 MGy at 10 kGy/h. This paper presents the latest on radiation hardness component development conducted by the Japan Home Team as a contribution to the ITER. The remote handling components tested are categorized for use in robotic or viewing systems, or as common components. Radiation tests have been conducted on commercially available products for screening, on modified products, and on new products to improve the radiation hardness. (author)

  11. ITER management advisory committee meeting in NAKA

    International Nuclear Information System (INIS)

    Yoshikawa, M.

    1999-01-01

    The ITER Management Advisory Committee (MAC) Meeting was held on 17 December 1999 in Naka, Japan. The main topics were the ITER EDA Status, Task Status Summary and Work Program and a schedule of ITER meetings

  12. ITER EDA newsletter. V. 7, no. 6

    International Nuclear Information System (INIS)

    1998-06-01

    This newsletter contains the articles: 'ITER representation at the 11th Pacific Basin Nuclear Conference', 'Summary of discussion points and further deliberations in the special committee on the ITER project in the Atomic Energy Commission', and 'ITER radio frequency systems'

  13. ITER EDA newsletter. V. 9, no. 2

    International Nuclear Information System (INIS)

    2000-02-01

    This ITER EDA Newsletter reports on the seventh ITER technical meeting on safety and environment and contains the executive summary of the eleventh ITER scrape-off layer and divertor physics expert group meeting. Individual abstracts have been prepared

  14. SPARSE ELECTROMAGNETIC IMAGING USING NONLINEAR LANDWEBER ITERATIONS

    KAUST Repository

    Desmal, Abdulla; Bagci, Hakan

    2015-01-01

    minimization problem is solved using nonlinear Landweber iterations, where at each iteration a thresholding function is applied to enforce the sparseness-promoting L0/L1-norm constraint. The thresholded nonlinear Landweber iterations are applied to several two

  15. ITER lip seal welding and cutting developments

    International Nuclear Information System (INIS)

    Levesy, B.; Cordier, J.J.; Jokinen, T.; Kujanpää, V.; Karhu, M.; Le Barbier, R.; Määttä, T.; Martins, J.P.; Utin, Y.

    2015-01-01

    Highlights: • Different TIG and Laser welding techniques are tested. • Twin spot laser welding techniques is the best. • Limited heat input gives a stable weld pool in all positions. • Penetrations is achieved. • Lip seal welding and cutting with a robotic arm is successfully performed on a representative mock-up. - Abstract: The welded lip seals form part of the torus primary vacuum boundary in between the port plugs and the vacuum vessel, and are classified as Protection Important Component. In order to refurbish the port plugs or the in-vessel components, port plugs have to be removed from the machine. The lip seal design must enable up to ten opening of the vacuum vessel during the life time operation of the ITER machine. Therefore proven, remote reliable cutting and re-welding are essential, as these operations need to be performed in the port cells in a nuclear environment, where human presence will be restricted. Moreover, the combination of size of the components to be welded (∼10 m long vacuum compatible thin welds) and the congested environment close to the core of the machine constraint the type and size of tools to be used. This paper describes the lip seal cutting and welding development programme performed at the VTT Technical Research Centre, Finland. Potential cutting and welding techniques are analyzed and compared. The development of the cutting, TIG and laser welding techniques on samples are presented. Effects of lip seal misalignments and optimization of the 2 welding processes are discussed. Finally, the manufacturing and test of the two 1.2 m × 1 m representative mock-ups are presented. The set-up and use of a robotic arm for the mock-up cutting and welding operations are also described.

  16. ITER lip seal welding and cutting developments

    Energy Technology Data Exchange (ETDEWEB)

    Levesy, B.; Cordier, J.J.; Jokinen, T. [ITER Organization, Route de Vinon sur Verdon, 13115 Saint Paul Lez Durance (France); Kujanpää, V.; Karhu, M. [VTT Technical Research Centre of Finland (Finland); Le Barbier, R. [ITER Organization, Route de Vinon sur Verdon, 13115 Saint Paul Lez Durance (France); Määttä, T. [VTT Technical Research Centre of Finland (Finland); Martins, J.P.; Utin, Y. [ITER Organization, Route de Vinon sur Verdon, 13115 Saint Paul Lez Durance (France)

    2015-10-15

    Highlights: • Different TIG and Laser welding techniques are tested. • Twin spot laser welding techniques is the best. • Limited heat input gives a stable weld pool in all positions. • Penetrations is achieved. • Lip seal welding and cutting with a robotic arm is successfully performed on a representative mock-up. - Abstract: The welded lip seals form part of the torus primary vacuum boundary in between the port plugs and the vacuum vessel, and are classified as Protection Important Component. In order to refurbish the port plugs or the in-vessel components, port plugs have to be removed from the machine. The lip seal design must enable up to ten opening of the vacuum vessel during the life time operation of the ITER machine. Therefore proven, remote reliable cutting and re-welding are essential, as these operations need to be performed in the port cells in a nuclear environment, where human presence will be restricted. Moreover, the combination of size of the components to be welded (∼10 m long vacuum compatible thin welds) and the congested environment close to the core of the machine constraint the type and size of tools to be used. This paper describes the lip seal cutting and welding development programme performed at the VTT Technical Research Centre, Finland. Potential cutting and welding techniques are analyzed and compared. The development of the cutting, TIG and laser welding techniques on samples are presented. Effects of lip seal misalignments and optimization of the 2 welding processes are discussed. Finally, the manufacturing and test of the two 1.2 m × 1 m representative mock-ups are presented. The set-up and use of a robotic arm for the mock-up cutting and welding operations are also described.

  17. Next generation light robotic

    DEFF Research Database (Denmark)

    Villangca, Mark Jayson; Palima, Darwin; Banas, Andrew Rafael

    2017-01-01

    -assisted surgery imbibes surgeons with superhuman abilities and gives the expression “surgical precision” a whole new meaning. Still in its infancy, much remains to be done to improve human-robot collaboration both in realizing robots that can operate safely with humans and in training personnel that can work......Conventional robotics provides machines and robots that can replace and surpass human performance in repetitive, difficult, and even dangerous tasks at industrial assembly lines, hazardous environments, or even at remote planets. A new class of robotic systems no longer aims to replace humans...... with so-called automatons but, rather, to create robots that can work alongside human operators. These new robots are intended to collaborate with humans—extending their abilities—from assisting workers on the factory floor to rehabilitating patients in their homes. In medical robotics, robot...

  18. Distributed Robotics Education

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop; Pagliarini, Luigi

    2011-01-01

    Distributed robotics takes many forms, for instance, multirobots, modular robots, and self-reconfigurable robots. The understanding and development of such advanced robotic systems demand extensive knowledge in engineering and computer science. In this paper, we describe the concept of a distribu......Distributed robotics takes many forms, for instance, multirobots, modular robots, and self-reconfigurable robots. The understanding and development of such advanced robotic systems demand extensive knowledge in engineering and computer science. In this paper, we describe the concept...... to be changed, related to multirobot control and human-robot interaction control from virtual to physical representation. The proposed system is valuable for bringing a vast number of issues into education – such as parallel programming, distribution, communication protocols, master dependency, connectivity...

  19. An Adaptive Robot Game

    DEFF Research Database (Denmark)

    Hansen, Søren Tranberg; Svenstrup, Mikael; Dalgaard, Lars

    2010-01-01

    The goal of this paper is to describe an adaptive robot game, which motivates elderly people to do a regular amount of physical exercise while playing. One of the advantages of robot based games is that the initiative to play can be taken autonomously by the robot. In this case, the goal is to im......The goal of this paper is to describe an adaptive robot game, which motivates elderly people to do a regular amount of physical exercise while playing. One of the advantages of robot based games is that the initiative to play can be taken autonomously by the robot. In this case, the goal...... is to improve the mental and physical state of the user by playing a physical game with the robot. Ideally, a robot game should be simple to learn but difficult to master, providing an appropriate degree of challenge for players with different skills. In order to achieve that, the robot should be able to adapt...

  20. Robotic intelligence kernel

    Science.gov (United States)

    Bruemmer, David J [Idaho Falls, ID

    2009-11-17

    A robot platform includes perceptors, locomotors, and a system controller. The system controller executes a robot intelligence kernel (RIK) that includes a multi-level architecture and a dynamic autonomy structure. The multi-level architecture includes a robot behavior level for defining robot behaviors, that incorporate robot attributes and a cognitive level for defining conduct modules that blend an adaptive interaction between predefined decision functions and the robot behaviors. The dynamic autonomy structure is configured for modifying a transaction capacity between an operator intervention and a robot initiative and may include multiple levels with at least a teleoperation mode configured to maximize the operator intervention and minimize the robot initiative and an autonomous mode configured to minimize the operator intervention and maximize the robot initiative. Within the RIK at least the cognitive level includes the dynamic autonomy structure.

  1. ITER cooling system

    International Nuclear Information System (INIS)

    Kveton, O.K.

    1990-11-01

    The present specification of the ITER cooling system does not permit its operation with water above 150 C. However, the first wall needs to be heated to higher temperatures during conditioning at 250 C and bake-out at 350 C. In order to use the cooling water for these operations the cooling system would have to operate during conditioning at 37 Bar and during bake-out at 164 Bar. This is undesirable from the safety analysis point of view, and alternative heating methods are to be found. This review suggests that superheated steam or gas heating can be used for both baking and conditioning. The blanket design must consider the use of dual heat transfer media, allowing for change from one to another in both directions. Transfer from water to gas or steam is the most intricate and risky part of the entire heating process. Superheated steam conditioning appears unfavorable. The use of inert gas is recommended, although alternative heating fluids such as organic coolant should be investigated

  2. ITER plasma facing components

    International Nuclear Information System (INIS)

    Kuroda, T.; Vieider, G.; Akiba, M.

    1991-01-01

    This document summarizes results of the Conceptual Design Activities (1988-1990) for the International Thermonuclear Experimental Reactor (ITER) project, namely those that pertain to the plasma facing components of the reactor vessel, of which the main components are the first wall and the divertor plates. After an introduction and an executive summary, the principal functions of the plasma-facing components are delineated, i.e., (i) define the low-impurity region within which the plasma is produced, (ii) absorb the electromagnetic radiation and charged-particle flux from the plasma, and (iii) protect the blanket/shield components from the plasma. A list of critical design issues for the divertor plates and the first wall is given, followed by discussions of the divertor plate design (including the issues of material selection, erosion lifetime, design concepts, thermal and mechanical analysis, operating limits and overall lifetime, tritium inventory, baking and conditioning, safety analysis, manufacture and testing, and advanced divertor concepts) and the first wall design (armor material and design, erosion lifetime, overall design concepts, thermal and mechanical analysis, lifetime and operating limits, tritium inventory, baking and conditioning, safety analysis, manufacture and testing, an alternative first wall design, and the limiters used instead of the divertor plates during start-up). Refs, figs and tabs

  3. Robotic membranes

    DEFF Research Database (Denmark)

    Ramsgaard Thomsen, Mette

    2008-01-01

    The relationship between digital and analogue is often constructed as one of opposition. The perception that the world is permeated with underlying patterns of data, describing events and matter alike, suggests that information can be understood apart from the substance to which it is associated......, and that its encoded logic can be constructed and reconfigured as an isolated entity. This disembodiment of information from materiality implies that an event like a thunderstorm, or a material like a body, can be described equally by data, in other words it can be read or written. The following prototypes......, Vivisection and Strange Metabolisms, were developed at the Centre for Information Technology and Architecture (CITA) at the Royal Danish Academy of Fine Arts in Copenhagen as a means of engaging intangible digital data with tactile physical material. As robotic membranes, they are a dual examination...

  4. ITER safety challenges and opportunities

    International Nuclear Information System (INIS)

    Piet, S.J.

    1992-01-01

    This paper reports on results of the Conceptual Design Activity (CDA) for the International Thermonuclear Experimental Reactor (ITER) suggest challenges and opportunities. ITER is capable of meeting anticipated regulatory dose limits, but proof is difficult because of large radioactive inventories needing stringent radioactivity confinement. Much research and development (R ampersand D) and design analysis is needed to establish that ITER meets regulatory requirements. There is a further oportunity to do more to prove more of fusion's potential safety and environmental advantages and maximize the amount of ITER technology on the path toward fusion power plants. To fulfill these tasks, three programmatic challenges and three technical challenges must be overcome. The first step is to fund a comprehensive safety and environmental ITER R ampersand D plan. Second is to strengthen safety and environment work and personnel in the international team. Third is to establish an external consultant group to advise the ITER Joint Team on designing ITER to meet safety requirements for siting by any of the Parties. The first of three key technical challenges is plasma engineering - burn control, plasma shutdown, disruptions, tritium burn fraction, and steady state operation. The second is the divertor, including tritium inventory, activation hazards, chemical reactions, and coolant disturbances. The third technical challenge is optimization of design requirements considering safety risk, technical risk, and cost

  5. The ITER remote maintenance system

    International Nuclear Information System (INIS)

    Tesini, A.; Palmer, J.

    2008-01-01

    The aim of this paper is to summarize the ITER approach to machine components maintenance. A major objective of the ITER project is to demonstrate that a future power producing fusion device can be maintained effectively and offer practical levels of plant availability. During its operational lifetime, many systems of the ITER machine will require maintenance and modification; this can be achieved using remote handling methods. The need for timely, safe and effective remote operations on a machine as complex as ITER and within one of the world's most hostile remote handling environments represents a major challenge at every level of the ITER Project organization, engineering and technology. The basic principles of fusion reactor maintenance are presented. An updated description of the ITER remote maintenance system is provided. This includes the maintenance equipment used inside the vacuum vessel, inside the hot cell and the hot cell itself. The correlation between the functions of the remote handling equipment, of the hot cell and of the radwaste processing system is also described. The paper concludes that ITER has equipped itself with a good platform to tackle the challenges presented by its own maintenance and upgrade needs

  6. ITER EDA Newsletter. V. 10, no. 7

    International Nuclear Information System (INIS)

    2001-07-01

    This ITER EDA Newsletter presents an overview of meetings held at IAEA Headquarters in Vienna during the week 16-20 July 2001 related to the successful completion of the ITER Engineering Design Activities (EDA). Among them were the final meeting of the ITER Council, the closing ceremony to commemorate the EDA completion, the final meeting of the ITER Management Advisory Committee, a briefing of issues related to ITER developments, and discussions on the possible joint implementation of ITER

  7. Iterative nonlinear unfolding code: TWOGO

    International Nuclear Information System (INIS)

    Hajnal, F.

    1981-03-01

    a new iterative unfolding code, TWOGO, was developed to analyze Bonner sphere neutron measurements. The code includes two different unfolding schemes which alternate on successive iterations. The iterative process can be terminated either when the ratio of the coefficient of variations in terms of the measured and calculated responses is unity, or when the percentage difference between the measured and evaluated sphere responses is less than the average measurement error. The code was extensively tested with various known spectra and real multisphere neutron measurements which were performed inside the containments of pressurized water reactors

  8. ITER technical advisory committee meeting

    International Nuclear Information System (INIS)

    Fujiwara, M.

    1999-01-01

    The ITER Technical Advisory Committee (TAC) meeting took place on December 20-22, 1999 at the Naka Joint Work Site. The objective of this meeting was to review the document 'Technical Basis for ITER-FEAT Outline Design (ODR)' issued by the Director on December 10. It was also aimed at providing the ITER Meeting scheduled for January 19-20, 2000 in Tokyo with a technical assessment of ODR and recommendations for the optimization of the anticipated plasma performance and engineering design, based on the guidelines approved by the Council in June 1998 and recommendations of the last TAC meeting

  9. Remote maintenance development for ITER

    International Nuclear Information System (INIS)

    Tada, Eisuke; Shibanuma, Kiyoshi

    1998-01-01

    This paper describes the overall ITER remote maintenance design concept developed mainly for in-vessel components such as diverters and blankets, and outlines the ITER R and D program to develop remote handling equipment and radiation hard components. Reactor structures inside the ITER cryostat must be maintained remotely due to DT operation, making remote handling technology basic to reactor design. The overall maintenance scenario and design concepts have been developed, and maintenance design feasibility, including fabrication and testing of full-scale in-vessel remote maintenance handling equipment and tool, is being verified. (author)

  10. Remote maintenance development for ITER

    Energy Technology Data Exchange (ETDEWEB)

    Tada, Eisuke [Japan Atomic Energy Research Inst., Tokai, Ibaraki (Japan). Tokai Research Establishment; Shibanuma, Kiyoshi

    1998-04-01

    This paper describes the overall ITER remote maintenance design concept developed mainly for in-vessel components such as diverters and blankets, and outlines the ITER R and D program to develop remote handling equipment and radiation hard components. Reactor structures inside the ITER cryostat must be maintained remotely due to DT operation, making remote handling technology basic to reactor design. The overall maintenance scenario and design concepts have been developed, and maintenance design feasibility, including fabrication and testing of full-scale in-vessel remote maintenance handling equipment and tool, is being verified. (author)

  11. Robotics Potential Fields

    Directory of Open Access Journals (Sweden)

    Jordi Lucero

    2009-01-01

    Full Text Available This problem was to calculate the path a robot would take to navigate an obstacle field and get to its goal. Three obstacles were given as negative potential fields which the robot avoided, and a goal was given a positive potential field that attracted the robot. The robot decided each step based on its distance, angle, and influence from every object. After each step, the robot recalculated and determined its next step until it reached its goal. The robot's calculations and steps were simulated with Microsoft Excel.

  12. Designing Emotionally Expressive Robots

    DEFF Research Database (Denmark)

    Tsiourti, Christiana; Weiss, Astrid; Wac, Katarzyna

    2017-01-01

    Socially assistive agents, be it virtual avatars or robots, need to engage in social interactions with humans and express their internal emotional states, goals, and desires. In this work, we conducted a comparative study to investigate how humans perceive emotional cues expressed by humanoid...... robots through five communication modalities (face, head, body, voice, locomotion) and examined whether the degree of a robot's human-like embodiment affects this perception. In an online survey, we asked people to identify emotions communicated by Pepper -a highly human-like robot and Hobbit – a robot...... for robots....

  13. Mechanical Design of Odin, an Extendable Heterogeneous Deformable Modular Robot

    DEFF Research Database (Denmark)

    Lyder, Andreas; Garcia, Ricardo Franco Mendoza; Støy, Kasper

    2008-01-01

    Highly sophisticated animals consist of a set of heterogenous modules decided by nature so that they can survive in a complex environment. In this paper we present a new modular robot inspired by biology called Odin. The Odin robot is based on a deformable lattice and consists of an extendable se...... of heterogeneous modules. We present the design and implementation of a cubic closed-packed (CCP) joint module, a telescoping link, and a flexible connection mechanism. The developed robot is highly versatile and opens up for a wide range of new research in modular robotics.......Highly sophisticated animals consist of a set of heterogenous modules decided by nature so that they can survive in a complex environment. In this paper we present a new modular robot inspired by biology called Odin. The Odin robot is based on a deformable lattice and consists of an extendable set...

  14. Advanced mechanics in robotic systems

    CERN Document Server

    Nava Rodríguez, Nestor Eduardo

    2011-01-01

    Illustrates original and ambitious mechanical designs and techniques for the development of new robot prototypes Includes numerous figures, tables and flow charts Discusses relevant applications in robotics fields such as humanoid robots, robotic hands, mobile robots, parallel manipulators and human-centred robots

  15. Remote Handling behind port plug in ITER

    International Nuclear Information System (INIS)

    Bede, O.; Neuberger, H.

    2006-01-01

    Different Test Blanket Modules (TBM) will be used in succession in the same equatorial ports of ITER. The remote handling operations for connection/disconnection of an interface between the port plug of the EU-HCPB-TBM and the port cell equipment are investigated with the goal to reach a quick and simple TBM exchange procedure. This paper describes the operations and systems which are required for connection of the TBM to its supply lines at this interface. The interface is located inside the free space of the port plug flange between the port plug shield and the bioshield of the port cell behind. The approach of the operation place is only available through a narrow gate in the bioshield opened temporarily during maintenance periods. This gate limits the dimensions of the whole system and its tools. The current design of the EU-HCPB-TBM foresees up to 9 supply lines which have to be connected inside the free space of one half of the port plug flange. The connection operations require positioning and adjustment of the tools for each pipe separately. Despite the strict circumstances it is still possible to find such an industrial jointed-arm robot with sufficient payload, which can penetrate into the working area. A mechanical system is necessary to move the robot from its storing place in the hot cell to the port plug on 6 m distance. Each operation requires different end-of-arm tools. The most special one is a pipe positioner tool, which can position and pull the pipe ends to each other and align the tool before welding and hold them in proper position during the welding process. Weld seams can be made by orbital welding tool. The pipe positioner tool has to provide place for welding tool. Using of inbore tool is impossible because pipes have no open ends where the tool could leave it. Orbital tool must be modified to meet requirements of remote handling because it is designed for human handling. The coolant is helium, so for eliminating the leak of helium it is

  16. ITER containment structures

    International Nuclear Information System (INIS)

    Sadakov, S.; Fauser, F.; Nelson, B.

    1991-01-01

    This document describes the results and recommendations of the Containment Structures Design Unit (CSDU) on the containment structures for ITER, made in the context of the Conceptual Design Phase. The document describes the following subsystems: (1) the primary vacuum vessel (VV), (2) the attaching locks (AL) of the invessel components, (3) the plasma passive and active stabilizers, (4) the cryostat vessel, and (5) the machine gravity supports. Although for most components reference designs were selected, for some of these alternative design options were described, because unresolved problems necessitate further research and development. Conclusions and future needs are summarized for each of the above subsystems: (1) a reference VV design was selected, while most critical VV future needs are the feasibility studies of manufacturing, assembly, and the repair/disassembly/reassembly by remote handling. Alternative, thin-wall options appear attractive and should be studied further during the Engineering Design Activities; (2) no reference design solution was selected for the AL system, as AL design requirements are extremely difficult and internally contradictory, while there is no existing tokamak precedent, but instead, five different approaches will be further researched early in the Engineering Design Phase; (3) significant progress is reported on passive loops, for which the ''twin-loops'' concept is ready to be advanced into the Engineering Design Phase, and on active coils, where a new coil positioning prevents interference with the blanket removal paths, and the current joints are located in a secondary vacuum or in the atmosphere of the reactor hall, repairable by remote handling; (4) a full metallic welded cryostat design with increased toroidal resistance was chosen, but with a design based on concrete with a thin inner metallic liner as a back-up in case detailed nuclear shielding requirements would force the cryostat to act as biological shield; (5) out

  17. Robotics_MobileRobot Navigation, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — Robots and rovers exploring planets need to autonomously navigate to specified locations. Advanced Scientific Concepts, Inc. (ASC) and the University of Minnesota...

  18. Robots Social Embodiment in Autonomous Mobile Robotics

    Directory of Open Access Journals (Sweden)

    Brian Duffy

    2008-11-01

    Full Text Available This work aims at demonstrating the inherent advantages of embracing a strong notion of social embodiment in designing a real-world robot control architecture with explicit ?intelligent? social behaviour between a collective of robots. It develops the current thinking on embodiment beyond the physical by demonstrating the importance of social embodiment. A social framework develops the fundamental social attributes found when more than one robot co-inhabit a physical space. The social metaphors of identity, character, stereotypes and roles are presented and implemented within a real-world social robot paradigm in order to facilitate the realisation of explicit social goals.

  19. Updated safety analysis of ITER

    International Nuclear Information System (INIS)

    Taylor, Neill; Baker, Dennis; Ciattaglia, Sergio; Cortes, Pierre; Elbez-Uzan, Joelle; Iseli, Markus; Reyes, Susana; Rodriguez-Rodrigo, Lina; Rosanvallon, Sandrine; Topilski, Leonid

    2011-01-01

    An updated version of the ITER Preliminary Safety Report has been produced and submitted to the licensing authorities. It is revised and expanded in response to requests from the authorities after their review of an earlier version in 2008, to reflect enhancements in ITER safety provisions through design changes, to incorporate new and improved safety analyses and to take into account other ITER design evolution. The updated analyses show that changes to the Tokamak cooling water system design have enhanced confinement and reduced potential radiological releases as well as removing decay heat with very high reliability. New and updated accident scenario analyses, together with fire and explosion risk analyses, have shown that design provisions are sufficient to minimize the likelihood of accidents and reduce potential consequences to a very low level. Taken together, the improvements provided a stronger demonstration of the very good safety performance of the ITER design.

  20. Rollout sampling approximate policy iteration

    NARCIS (Netherlands)

    Dimitrakakis, C.; Lagoudakis, M.G.

    2008-01-01

    Several researchers have recently investigated the connection between reinforcement learning and classification. We are motivated by proposals of approximate policy iteration schemes without value functions, which focus on policy representation using classifiers and address policy learning as a

  1. Updated safety analysis of ITER

    Energy Technology Data Exchange (ETDEWEB)

    Taylor, Neill, E-mail: neill.taylor@iter.org [ITER Organization, CS 90 046, 13067 St Paul Lez Durance Cedex (France); Baker, Dennis; Ciattaglia, Sergio; Cortes, Pierre; Elbez-Uzan, Joelle; Iseli, Markus; Reyes, Susana; Rodriguez-Rodrigo, Lina; Rosanvallon, Sandrine; Topilski, Leonid [ITER Organization, CS 90 046, 13067 St Paul Lez Durance Cedex (France)

    2011-10-15

    An updated version of the ITER Preliminary Safety Report has been produced and submitted to the licensing authorities. It is revised and expanded in response to requests from the authorities after their review of an earlier version in 2008, to reflect enhancements in ITER safety provisions through design changes, to incorporate new and improved safety analyses and to take into account other ITER design evolution. The updated analyses show that changes to the Tokamak cooling water system design have enhanced confinement and reduced potential radiological releases as well as removing decay heat with very high reliability. New and updated accident scenario analyses, together with fire and explosion risk analyses, have shown that design provisions are sufficient to minimize the likelihood of accidents and reduce potential consequences to a very low level. Taken together, the improvements provided a stronger demonstration of the very good safety performance of the ITER design.

  2. ITER Conceptual design: Interim report

    International Nuclear Information System (INIS)

    1990-01-01

    This interim report describes the results of the International Thermonuclear Experimental Reactor (ITER) Conceptual Design Activities after the first year of design following the selection of the ITER concept in the autumn of 1988. Using the concept definition as the basis for conceptual design, the Design Phase has been underway since October 1988, and will be completed at the end of 1990, at which time a final report will be issued. This interim report includes an executive summary of ITER activities, a description of the ITER device and facility, an operation and research program summary, and a description of the physics and engineering design bases. Included are preliminary cost estimates and schedule for completion of the project

  3. Cooperation between CERN and ITER

    CERN Document Server

    2008-01-01

    CERN and the International Fusion Organisation ITER have just signed a first cooperation agreeement. Kaname Ikeda, the Director-General of the International Fusion Energy Organisation (ITER) (on the right) and Robert Aymar, Director-General of CERN, signing the agreement.The Director-General of the International Fusion Energy Organization, Mr Kaname Ikeda, and CERN Director-General, Robert Aymar, signed a cooperation agreement at a meeting on the Meyrin site on Thursday 6 March. One of the main purposes of this agreement is for CERN to give ITER the benefit of its experience in the field of technology as well as in administrative domains such as finance, procurement, human resources and informatics through the provision of consultancy services. Currently in its start-up phase at its Cadarache site, 70 km from Marseilles (France), ITER will focus its research on the scientific and technical feasibility of using fusion energy as a fu...

  4. ITER must make its case

    International Nuclear Information System (INIS)

    1998-01-01

    Last month, as expected, the four partners in the International Thermonuclear Experimental Reactor (ITER) project announced a three-year extension of the ITER engineering design activity. Detailed design work on the next-generation fusion-energy device started in 1992 and has cost about $1 bn so far. A decision to build the device, once scheduled to be taken this year, will now be made in 2001 at the earliest. The ITER council said that the extension would ''provide the framework for undertaking jointly site(s)-specific and other activities with the aim of enabling future decision on construction and operation of ITER''. What the project is really doing is buying time as it tries to find a cheaper option that the partners will find acceptable. The US is keen to cut the project's cost by two-thirds. (author)

  5. The ITER reduced cost design

    International Nuclear Information System (INIS)

    Aymar, R.

    2000-01-01

    Six years of joint work under the international thermonuclear experimental reactor (ITER) EDA agreement yielded a mature design for ITER which met the objectives set for it (ITER final design report (FDR)), together with a corpus of scientific and technological data, large/full scale models or prototypes of key components/systems and progress in understanding which both validated the specific design and are generally applicable to a next step, reactor-oriented tokamak on the road to the development of fusion as an energy source. In response to requests from the parties to explore the scope for addressing ITER's programmatic objective at reduced cost, the study of options for cost reduction has been the main feature of ITER work since summer 1998, using the advances in physics and technology databases, understandings, and tools arising out of the ITER collaboration to date. A joint concept improvement task force drawn from the joint central team and home teams has overseen and co-ordinated studies of the key issues in physics and technology which control the possibility of reducing the overall investment and simultaneously achieving the required objectives. The aim of this task force is to achieve common understandings of these issues and their consequences so as to inform and to influence the best cost-benefit choice, which will attract consensus between the ITER partners. A report to be submitted to the parties by the end of 1999 will present key elements of a specific design of minimum capital investment, with a target cost saving of about 50% the cost of the ITER FDR design, and a restricted number of design variants. Outline conclusions from the work of the task force are presented in terms of physics, operations, and design of the main tokamak systems. Possible implications for the way forward are discussed

  6. ITER diagnostic system: Vacuum interface

    International Nuclear Information System (INIS)

    Patel, K.M.; Udintsev, V.S.; Hughes, S.; Walker, C.I.; Andrew, P.; Barnsley, R.; Bertalot, L.; Drevon, J.M.; Encheva, A.; Kashchuk, Y.; Maquet, Ph.; Pearce, R.; Taylor, N.; Vayakis, G.; Walsh, M.J.

    2013-01-01

    Diagnostics play an essential role for the successful operation of the ITER tokamak. They provide the means to observe control and to measure plasma during the operation of ITER tokamak. The components of the diagnostic system in the ITER tokamak will be installed in the vacuum vessel, in the cryostat, in the upper, equatorial and divertor ports, in the divertor cassettes and racks, as well as in various buildings. Diagnostic components that are placed in a high radiation environment are expected to operate for the life of ITER. There are approx. 45 diagnostic systems located on ITER. Some diagnostics incorporate direct or independently pumped extensions to maintain their necessary vacuum conditions. They require a base pressure less than 10 −7 Pa, irrespective of plasma operation, and a leak rate of less than 10 −10 Pa m 3 s −1 . In all the cases it is essential to maintain the ITER closed fuel cycle. These directly coupled diagnostic systems are an integral part of the ITER vacuum containment and are therefore subject to the same design requirements for tritium and active gas confinement, for all normal and accidental conditions. All the diagnostics, whether or not pumped, incorporate penetration of the vacuum boundary (i.e. window assembly, vacuum feedthrough etc.) and demountable joints. Monitored guard volumes are provided for all elements of the vacuum boundary that are judged to be vulnerable by virtue of their construction, material, load specification etc. Standard arrangements are made for their construction and for the monitoring, evacuating and leak testing of these volumes. Diagnostic systems are incorporated at more than 20 ports on ITER. This paper will describe typical and particular arrangements of pumped diagnostic and monitored guard volume. The status of the diagnostic vacuum systems, which are at the start of their detailed design, will be outlined and the specific features of the vacuum systems in ports and extensions will be described

  7. ITER leader to head CERN

    CERN Document Server

    Feder, Toni

    2003-01-01

    After successfully chairing an external review committee for CERN last year, Robert Aymar will leave ITER to become director general of the European particle physics laboratory rom 2004. Before ITER he also successfully managed the startup or Tore Supra. He will attempt to ensure that the LHC begins operating in 2007 - two years late - and is paid for by 2010 and will also start the planning for life after the LHC (1 page)

  8. ITER diagnostic system: Vacuum interface

    Energy Technology Data Exchange (ETDEWEB)

    Patel, K.M., E-mail: Kaushal.Patel@iter.org [ITER Organization, Route de Vinon sur Verdon, 13115 St Paul-Lez-Durance (France); Udintsev, V.S.; Hughes, S.; Walker, C.I.; Andrew, P.; Barnsley, R.; Bertalot, L. [ITER Organization, Route de Vinon sur Verdon, 13115 St Paul-Lez-Durance (France); Drevon, J.M. [Bertin Technologies, BP 22, 13762 Aix-en Provence cedex 3 (France); Encheva, A. [ITER Organization, Route de Vinon sur Verdon, 13115 St Paul-Lez-Durance (France); Kashchuk, Y. [Institution “PROJECT CENTER ITER”, 1, Akademika Kurchatova pl., Moscow (Russian Federation); Maquet, Ph. [Bertin Technologies, BP 22, 13762 Aix-en Provence cedex 3 (France); Pearce, R.; Taylor, N.; Vayakis, G.; Walsh, M.J. [ITER Organization, Route de Vinon sur Verdon, 13115 St Paul-Lez-Durance (France)

    2013-10-15

    Diagnostics play an essential role for the successful operation of the ITER tokamak. They provide the means to observe control and to measure plasma during the operation of ITER tokamak. The components of the diagnostic system in the ITER tokamak will be installed in the vacuum vessel, in the cryostat, in the upper, equatorial and divertor ports, in the divertor cassettes and racks, as well as in various buildings. Diagnostic components that are placed in a high radiation environment are expected to operate for the life of ITER. There are approx. 45 diagnostic systems located on ITER. Some diagnostics incorporate direct or independently pumped extensions to maintain their necessary vacuum conditions. They require a base pressure less than 10{sup −7} Pa, irrespective of plasma operation, and a leak rate of less than 10{sup −10} Pa m{sup 3} s{sup −1}. In all the cases it is essential to maintain the ITER closed fuel cycle. These directly coupled diagnostic systems are an integral part of the ITER vacuum containment and are therefore subject to the same design requirements for tritium and active gas confinement, for all normal and accidental conditions. All the diagnostics, whether or not pumped, incorporate penetration of the vacuum boundary (i.e. window assembly, vacuum feedthrough etc.) and demountable joints. Monitored guard volumes are provided for all elements of the vacuum boundary that are judged to be vulnerable by virtue of their construction, material, load specification etc. Standard arrangements are made for their construction and for the monitoring, evacuating and leak testing of these volumes. Diagnostic systems are incorporated at more than 20 ports on ITER. This paper will describe typical and particular arrangements of pumped diagnostic and monitored guard volume. The status of the diagnostic vacuum systems, which are at the start of their detailed design, will be outlined and the specific features of the vacuum systems in ports and extensions

  9. ITER concept definition. V.1

    International Nuclear Information System (INIS)

    1989-01-01

    Under the auspices of the International Atomic Energy Agency (IAEA), an agreement among the four parties representing the world's major fusion programs resulted in a program for conceptual design of the next logical step in the fusion program, the International Thermonuclear Experimental Reactor (ITER). The definition phase, which ended in November, 1989, is summarized in two reports: a brief summary is contained in the ITER Definition Phase Report (IAEA/ITER/DS/2); the extended technical summary and technical details of ITER are contained in this two-volume report. The first volume of this report contains the Introduction and Summary, and the remainder will appear in Volume II. In the Conceptual Design Activities phase, ITER has been defined as being a tokamak device. The basic performance parameters of ITER are given in Volume I of this report. In addition, the rationale for selection of this concept, the performance flexibility, technical issues, operations, safety, reliability, cost, and research and development needed to proceed with the design are discussed. Figs and tabs

  10. ITER safety and operational scenario

    International Nuclear Information System (INIS)

    Shimomura, Y.; Saji, G.

    1998-01-01

    The safety and environmental characteristics of ITER and its operational scenario are described. Fusion has built-in safety characteristics without depending on layers of safety protection systems. Safety considerations are integrated in the design by making use of the intrinsic safety characteristics of fusion adequate to the moderate hazard inventories. In addition to this, a systematic nuclear safety approach has been applied to the design of ITER. The safety assessment of the design shows how ITER will safely accommodate uncertainties, flexibility of plasma operations, and experimental components, which is fundamental in ITER, the first experimental fusion reactor. The operation of ITER will progress step by step from hydrogen plasma operation with low plasma current, low magnetic field, short pulse and low duty factor without fusion power to deuterium-tritium plasma operation with full plasma current, full magnetic field, long pulse and high duty factor with full fusion power. In each step, characteristics of plasma and optimization of plasma operation will be studied which will significantly reduce uncertainties and frequency/severity of plasma transient events in the next step. This approach enhances reliability of ITER operation. (orig.)

  11. ITER primary cryopump test facility

    International Nuclear Information System (INIS)

    Petersohn, N.; Mack, A.; Boissin, J.C.; Murdoc, D.

    1998-01-01

    A cryopump as ITER primary vacuum pump is being developed at FZK under the European fusion technology programme. The ITER vacuum system comprises of 16 cryopumps operating in a cyclic mode which fulfills the vacuum requirements in all ITER operation modes. Prior to the construction of a prototype cryopump, the concept is tested on a reduced scale model pump. To test the model pump, the TIMO facility is being built at FZK in which the model pump operation under ITER environmental conditions, except for tritium exposure, neutron irradiation and magnetic fields, can be simulated. The TIMO facility mainly consists of a test vessel for ITER divertor duct simulation, a 600 W refrigerator system supplying helium in the 5 K stage and a 30 kW helium supply system for the 80 K stage. The model pump test programme will be performed with regard to the pumping performance and cryogenic operation of the pump. The results of the model pump testing will lead to the design of the full scale ITER cryopump. (orig.)

  12. The ITER remote maintenance system

    International Nuclear Information System (INIS)

    Tesini, A.; Palmer, J.

    2007-01-01

    ITER is a joint international research and development project that aims to demonstrate the scientific and technological feasibility of fusion power. As soon as the plasma operation begins using tritium, the replacement of the vacuum vessel internal components will need to be done with remote handling techniques. To accomplish these operations ITER has equipped itself with a Remote Maintenance System; this includes the Remote Handling equipment set and the Hot Cell facility. Both need to work in a cooperative way, with the aim of minimizing the machine shutdown periods and to maximize the machine availability. The ITER Remote Handling equipment set is required to be available, robust, reliable and retrievable. The machine components, to be remotely handle-able, are required to be designed simply so as to ease their maintenance. The baseline ITER Remote Handling equipment is described. The ITER Hot Cell Facility is required to provide a controlled and shielded area for the execution of repair operations (carried out using dedicated remote handling equipment) on those activated components which need to be returned to service, inside the vacuum vessel. The Hot Cell provides also the equipment and space for the processing and temporary storage of the operational and decommissioning radwaste. A conceptual ITER Hot Cell Facility is described. (orig.)

  13. Springer handbook of robotics

    CERN Document Server

    Khatib, Oussama

    2016-01-01

    The second edition of this handbook provides a state-of-the-art cover view on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives. The credible prospect of practical robots among humans is the result of the scientific endeavour of a half a century of robotic developments that established robotics as a modern scientific discipline. The ongoing vibrant expansion and strong growth of the field during the last decade has fueled this second edition of the Springer Handbook of Robotics. The first edition of the handbook soon became a landmark in robotics publishing and won the American Association of Publishers PROSE Award for Excellence in Physical Sciences & Mathematics as well as the organization’s Award for Engineering & Technology. The second edition o...

  14. Project ROBOTICS 2008

    DEFF Research Database (Denmark)

    Conrad, Finn

    Mathematical modelling of Alto Robot, direct- and inverse kinematic transformation,simulation and path control applying MATLAB/SIMULINK.......Mathematical modelling of Alto Robot, direct- and inverse kinematic transformation,simulation and path control applying MATLAB/SIMULINK....

  15. Project Tasks in Robotics

    DEFF Research Database (Denmark)

    Sørensen, Torben; Hansen, Poul Erik

    1998-01-01

    Description of the compulsary project tasks to be carried out as a part of DTU course 72238 Robotics......Description of the compulsary project tasks to be carried out as a part of DTU course 72238 Robotics...

  16. CMS cavern inspection robot

    CERN Document Server

    Ibrahim, Ibrahim

    2017-01-01

    Robots which are immune to the CMS cavern environment, wirelessly controlled: -One actuated by smart materials (Ionic Polymer-Metal Composites and Macro Fiber Composites) -One regular brushed DC rover -One servo-driven rover -Stair-climbing robot

  17. A new multiple robot path planning algorithm: dynamic distributed particle swarm optimization.

    Science.gov (United States)

    Ayari, Asma; Bouamama, Sadok

    2017-01-01

    Multiple robot systems have become a major study concern in the field of robotic research. Their control becomes unreliable and even infeasible if the number of robots increases. In this paper, a new dynamic distributed particle swarm optimization (D 2 PSO) algorithm is proposed for trajectory path planning of multiple robots in order to find collision-free optimal path for each robot in the environment. The proposed approach consists in calculating two local optima detectors, LOD pBest and LOD gBest . Particles which are unable to improve their personal best and global best for predefined number of successive iterations would be replaced with restructured ones. Stagnation and local optima problems would be avoided by adding diversity to the population, without losing the fast convergence characteristic of PSO. Experiments with multiple robots are provided and proved effectiveness of such approach compared with the distributed PSO.

  18. A Service-Oriented Framework for the Development of Home Robots

    Directory of Open Access Journals (Sweden)

    Tsung-Hsien Yang

    2013-02-01

    Full Text Available In recent years, researchers have been building home robots able to interact and work with people. Yet, because of the complicated and independent robot development environments, it is not always easy to share and reuse robot code created by different providers. In this work, we present an ontology-based framework that integrates service-oriented computing environments with the standard web interface to develop reusable robotic services. In addition to the service discovery, selection, and composition processes often performed by traditional web services, our work also includes an adaptive mechanism through which the user can iteratively modify composite robotic services to suit his or her needs. The proposed methodology has been implemented and evaluated, and the results show that our framework can be used to build robotic services successfully.

  19. RHOBOT: Radiation hardened robotics

    Energy Technology Data Exchange (ETDEWEB)

    Bennett, P.C.; Posey, L.D. [Sandia National Labs., Albuquerque, NM (United States)

    1997-10-01

    A survey of robotic applications in radioactive environments has been conducted, and analysis of robotic system components and their response to the varying types and strengths of radiation has been completed. Two specific robotic systems for accident recovery and nuclear fuel movement have been analyzed in detail for radiation hardness. Finally, a general design approach for radiation-hardened robotics systems has been developed and is presented. This report completes this project which was funded under the Laboratory Directed Research and Development program.

  20. Micro robot bible

    International Nuclear Information System (INIS)

    Yoon, Jin Yeong

    2000-08-01

    This book deals with micro robot, which tells of summary of robots like entertainment robots and definition of robots, introduction of micro mouse about history, composition and rules, summary of micro controller with its history, appearance and composition, introduction of stepping motor about types, structure, basic characteristics, and driving ways, summary of sensor section, power, understanding of 80C196KC micro controller, basic driving program searching a maze algorithm, smooth turn and making of tracer line.

  1. RHOBOT: Radiation hardened robotics

    International Nuclear Information System (INIS)

    Bennett, P.C.; Posey, L.D.

    1997-10-01

    A survey of robotic applications in radioactive environments has been conducted, and analysis of robotic system components and their response to the varying types and strengths of radiation has been completed. Two specific robotic systems for accident recovery and nuclear fuel movement have been analyzed in detail for radiation hardness. Finally, a general design approach for radiation-hardened robotics systems has been developed and is presented. This report completes this project which was funded under the Laboratory Directed Research and Development program

  2. Two Legged Walking Robot

    OpenAIRE

    Kraus, V.

    2015-01-01

    The aim of this work is to construct a two-legged wirelessly controlled walking robot. This paper describes the construction of the robot, its control electronics, and the solution of the wireless control. The article also includes a description of the application to control the robot. The control electronics of the walking robot are built using the development kit Arduino Mega, which is enhanced with WiFi module allowing the wireless control, a set of ultrasonic sensors for detecting obstacl...

  3. Micro robot bible

    Energy Technology Data Exchange (ETDEWEB)

    Yoon, Jin Yeong

    2000-08-15

    This book deals with micro robot, which tells of summary of robots like entertainment robots and definition of robots, introduction of micro mouse about history, composition and rules, summary of micro controller with its history, appearance and composition, introduction of stepping motor about types, structure, basic characteristics, and driving ways, summary of sensor section, power, understanding of 80C196KC micro controller, basic driving program searching a maze algorithm, smooth turn and making of tracer line.

  4. Robots at Work

    OpenAIRE

    Graetz, Georg; Michaels, Guy

    2015-01-01

    Despite ubiquitous discussions of robots' potential impact, there is almost no systematic empirical evidence on their economic effects. In this paper we analyze for the first time the economic impact of industrial robots, using new data on a panel of industries in 17 countries from 1993-2007. We find that industrial robots increased both labor productivity and value added. Our panel identification is robust to numerous controls, and we find similar results instrumenting increased robot use wi...

  5. Robots in the Roses

    OpenAIRE

    2014-01-01

    2014-04 Robots in the Roses A CRUSER Sponsored Event. The 4th Annual Robots in the Roses provides a venue for Faculty & NPS Students to showcase unmanned systems research (current or completed) and recruit NPS Students to join in researching on your project. Posters, robots, vehicles, videos, and even just plain humans welcome! Families are welcome to attend Robots in the Roses as we'll have a STEM activity for children to participate in.

  6. Modular robot

    International Nuclear Information System (INIS)

    Ferrante, T.A.

    1997-01-01

    A modular robot may comprise a main body having a structure defined by a plurality of stackable modules. The stackable modules may comprise a manifold, a valve module, and a control module. The manifold may comprise a top surface and a bottom surface having a plurality of fluid passages contained therein, at least one of the plurality of fluid passages terminating in a valve port located on the bottom surface of the manifold. The valve module is removably connected to the manifold and selectively fluidically connects the plurality of fluid passages contained in the manifold to a supply of pressurized fluid and to a vent. The control module is removably connected to the valve module and actuates the valve module to selectively control a flow of pressurized fluid through different ones of the plurality of fluid passages in the manifold. The manifold, valve module, and control module are mounted together in a sandwich-like manner and comprise a main body. A plurality of leg assemblies are removably connected to the main body and are removably fluidically connected to the fluid passages in the manifold so that each of the leg assemblies can be selectively actuated by the flow of pressurized fluid in different ones of the plurality of fluid passages in the manifold. 12 figs

  7. A human-oriented framework for developing assistive service robots.

    Science.gov (United States)

    McGinn, Conor; Cullinan, Michael F; Culleton, Mark; Kelly, Kevin

    2018-04-01

    Multipurpose robots that can perform a range of useful tasks have the potential to increase the quality of life for many people living with disabilities. Owing to factors such as high system complexity, as-yet unresolved research questions and current technology limitations, there is a need for effective strategies to coordinate the development process. Integrating established methodologies based on human-centred design and universal design, a framework was formulated to coordinate the robot design process over successive iterations of prototype development. An account is given of how the framework was practically applied to the problem of developing a personal service robot. Application of the framework led to the formation of several design goals which addressed a wide range of identified user needs. The resultant prototype solution, which consisted of several component elements, succeeded in demonstrating the performance stipulated by all of the proposed metrics. Application of the framework resulted in the development of a complex prototype that addressed many aspects of the functional and usability requirements of a personal service robot. Following the process led to several important insights which directly benefit the development of subsequent prototypes. Implications for Rehabilitation This research shows how universal design might be used to formulate usability requirements for assistive service robots. A framework is presented that guides the process of designing service robots in a human-centred way. Through practical application of the framework, a prototype robot system that addressed a range of identified user needs was developed.

  8. ITER Central Solenoid Module Fabrication

    Energy Technology Data Exchange (ETDEWEB)

    Smith, John [General Atomics, San Diego, CA (United States)

    2016-09-23

    The fabrication of the modules for the ITER Central Solenoid (CS) has started in a dedicated production facility located in Poway, California, USA. The necessary tools have been designed, built, installed, and tested in the facility to enable the start of production. The current schedule has first module fabrication completed in 2017, followed by testing and subsequent shipment to ITER. The Central Solenoid is a key component of the ITER tokamak providing the inductive voltage to initiate and sustain the plasma current and to position and shape the plasma. The design of the CS has been a collaborative effort between the US ITER Project Office (US ITER), the international ITER Organization (IO) and General Atomics (GA). GA’s responsibility includes: completing the fabrication design, developing and qualifying the fabrication processes and tools, and then completing the fabrication of the seven 110 tonne CS modules. The modules will be shipped separately to the ITER site, and then stacked and aligned in the Assembly Hall prior to insertion in the core of the ITER tokamak. A dedicated facility in Poway, California, USA has been established by GA to complete the fabrication of the seven modules. Infrastructure improvements included thick reinforced concrete floors, a diesel generator for backup power, along with, cranes for moving the tooling within the facility. The fabrication process for a single module requires approximately 22 months followed by five months of testing, which includes preliminary electrical testing followed by high current (48.5 kA) tests at 4.7K. The production of the seven modules is completed in a parallel fashion through ten process stations. The process stations have been designed and built with most stations having completed testing and qualification for carrying out the required fabrication processes. The final qualification step for each process station is achieved by the successful production of a prototype coil. Fabrication of the first

  9. Robot 2015 : Second Iberian Robotics Conference : Advances in Robotics

    CERN Document Server

    Moreira, António; Lima, Pedro; Montano, Luis; Muñoz-Martinez, Victor

    2016-01-01

    This book contains a selection of papers accepted for presentation and discussion at ROBOT 2015: Second Iberian Robotics Conference, held in Lisbon, Portugal, November 19th-21th, 2015. ROBOT 2015 is part of a series of conferences that are a joint organization of SPR – “Sociedade Portuguesa de Robótica/ Portuguese Society for Robotics”, SEIDROB – Sociedad Española para la Investigación y Desarrollo de la Robótica/ Spanish Society for Research and Development in Robotics and CEA-GTRob – Grupo Temático de Robótica/ Robotics Thematic Group. The conference organization had also the collaboration of several universities and research institutes, including: University of Minho, University of Porto, University of Lisbon, Polytechnic Institute of Porto, University of Aveiro, University of Zaragoza, University of Malaga, LIACC, INESC-TEC and LARSyS. Robot 2015 was focussed on the Robotics scientific and technological activities in the Iberian Peninsula, although open to research and delegates from other...

  10. Building a Better Robot

    Science.gov (United States)

    Navah, Jan

    2012-01-01

    Kids love to build robots, letting their imaginations run wild with thoughts of what they might look like and what they could be programmed to do. Yet when students use cereal boxes and found objects to make robots, often the projects look too similar and tend to fall apart. This alternative allows students to "build" robots in a different way,…

  11. Open middleware for robotics

    CSIR Research Space (South Africa)

    Namoshe, M

    2008-12-01

    Full Text Available and their technologies within the field of multi-robot systems to ease the difficulty of realizing robot applications. And lastly, an example of algorithm development for multi-robot co-operation using one of the discussed software architecture is presented...

  12. Learning robotics using Python

    CERN Document Server

    Joseph, Lentin

    2015-01-01

    If you are an engineer, a researcher, or a hobbyist, and you are interested in robotics and want to build your own robot, this book is for you. Readers are assumed to be new to robotics but should have experience with Python.

  13. Beyond Speculative Robot Ethics

    NARCIS (Netherlands)

    Smits, M.; Van der Plas, A.

    2010-01-01

    In this article we develop a dialogue model for robot technology experts and designated users to discuss visions on the future of robotics in long-term care. Our vision assessment study aims for more distinguished and more informed visions on future robots. Surprisingly, our experiment also lead to

  14. Robotic hand and fingers

    Science.gov (United States)

    Salisbury, Curt Michael; Dullea, Kevin J.

    2017-06-06

    Technologies pertaining to a robotic hand are described herein. The robotic hand includes one or more fingers releasably attached to a robotic hand frame. The fingers can abduct and adduct as well as flex and tense. The fingers are releasably attached to the frame by magnets that allow for the fingers to detach from the frame when excess force is applied to the fingers.

  15. Prepare the Future Robotics in Nuclear

    International Nuclear Information System (INIS)

    Sanchez de Leon, J. N.; Ferre Perez, M.

    2013-01-01

    The design and construction of ITER has shown the relevance of Robotics for optimal maintenance and operation of facilities. The Laboratory of Remote Handling included in the design has TechnoFusion given the opportunity to carry out a reflection on the strategy to promote robotics in the nuclear sector in Spain. And take advantage of the scientific and technological potential of Spanish research groups. This work of research and reflection has led to further international standardization activities in this field. Adopted ISO TC 85/SC 2/WG in the 24 development of a standard for Telerobotics. In Spain, to follow this work was created last January 73 inside the CTN AENOR Nuclear Industry a Working Group on Nuclear Remote Handling.

  16. ITER EDA Newsletter. V. 4, no. 5

    International Nuclear Information System (INIS)

    1995-05-01

    This issue of the ITER EDA (Engineering Design Activities) Newsletter contains comments on the ITER project by the Permanent Representative of the Russian Federation to the International Organizations in Vienna; a report on the ITER Magnet Technical Meeting held at the Joint Work Site at Naka, Japan, April 19-21, 1995; and a contribution entitled ''ITER spouses cross the cultures''

  17. ITER EDA newsletter. V. 10, no. 6

    International Nuclear Information System (INIS)

    2001-06-01

    This ITER EDA Newsletter issue includes information about the ITER Management Advisory Committee Meeting held in Vienna on 16 July 2001 and also a summary of the ninth ITER Technical Meeting on safety and environment held at the ITER Garching Joint Work site, 8 to 10 May, 2001

  18. ITER ITA newsletter. No. 27, January 2006

    International Nuclear Information System (INIS)

    2006-02-01

    This issue of ITER ITA (ITER transitional arrangements) newsletter contains concise information about two ITER related meetings including the twelfth ITER Negotiations Meeting and The Ninth Meeting of the ITPA Topical Group (TG) on Diagnostics was held at the National Fusion Research Centre (NFRC), Daejeon, Korea, from 10-14 October 2005

  19. ITER EDA newsletter. V. 8, no. 9

    International Nuclear Information System (INIS)

    1999-09-01

    This edition of the ITER EDA Newsletter contains a contribution by the ITER Director, R. Aymar, on the subject of developments in ITER Physics R and D report on the completion of the ITER central solenoid model coils installation by H. Tsuji, Head fo the Superconducting Magnet Laboratory at JAERI in Naka, Japan. Individual abstracts are prepared for each of the two articles

  20. ITER EDA Newsletter. V.3, no.3

    International Nuclear Information System (INIS)

    1994-03-01

    This ITER EDA Newsletter issue contains reports on (i) the completion of the ITER EDA Protocol 1, (ii) the signing of ITER EDA Protocol 2, (iii) a technical meeting on pumping and fuelling and (iv) a technical meeting on the ITER Tritium Plant

  1. ITER EDA newsletter. V. 4, no. 9

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1995-09-01

    This issue of the ITER EDA (Engineering Design Activities) Newsletter contains reports on the first meeting of the ITER Test Blanket Working Group held 19-21 July 1995 at the ITER Garching Joint Work Site, and on the second workshop of the ITER Expert Group on Confinement and Transport.

  2. ITER EDA newsletter. V. 4, no. 9

    International Nuclear Information System (INIS)

    1995-09-01

    This issue of the ITER EDA (Engineering Design Activities) Newsletter contains reports on the first meeting of the ITER Test Blanket Working Group held 19-21 July 1995 at the ITER Garching Joint Work Site, and on the second workshop of the ITER Expert Group on Confinement and Transport

  3. ITER ITA newsletter. No. 10, November 2003

    International Nuclear Information System (INIS)

    2003-12-01

    This issue of ITER ITA (ITER transitional Arrangements) newsletter contains concise information about an ITER related meeting, namely, the Ninth ITER Negotiations Meeting (N-9), which was held on 9-10 November 2003 at the Fragrant Hill Golden Resources Commerce Hotel in Beijing and information about research on magnetic confinement fusion (MCF) in China

  4. ITER EDA newsletter. V. 8, no. 12

    International Nuclear Information System (INIS)

    1999-12-01

    This ITER EDA Newsletter reports about the ITER Management Advisory Committee Meeting in Naka, the ITER Technical Advisory Committee Meeting in Naka and the meeting of the ITER SWG-P2 in Vienna. A separate abstract is prepared for each meeting

  5. ITER EDA newsletter. V. 5, no. 9

    International Nuclear Information System (INIS)

    1996-09-01

    This issue of the Newsletter on the Engineering Design Activities (EDA) for the ITER project contains an overview of one of the seven large ITER Research and Development Projects identified by the ITER Director, namely the Vacuum Vessel Sector, as well as an account of computer animation created for ITER

  6. ITER EDA newsletter. V. 7, no. 1

    International Nuclear Information System (INIS)

    1998-01-01

    This issue of the ITER Newsletter contains a summary report on the Thirteenth meeting of the ITER Management Advisory Committee (MAC), a report on ITER at the International Conference on Fusion Reactor Materials and a report of a Russian scientist working at ITER Garching JWS

  7. ITER ITA newsletter. No. 22, May 2005

    International Nuclear Information System (INIS)

    2005-06-01

    This issue of ITER ITA (ITER transitional Arrangements) newsletter contains concise information about Japanese Participant Team's recent activities in the ITER Transitional Arrangements(ITA) phase and ITER related meeting the Fourth IAEA Technical Meeting (IAEA-TM) on Negative Ion Based Neutral Beam Injectors which was held in Padova, Italy from 9-11 May 2005

  8. ITER safety challenges and opportunities

    International Nuclear Information System (INIS)

    Piet, S.J.

    1991-01-01

    Results of the Conceptual Design Activity (CDA) for the International Thermonuclear Experimental Reactor (ITER) suggest challenges and opportunities. ''ITER is capable of meeting anticipated regulatory dose limits,'' but proof is difficult because of large radioactive inventories needing stringent radioactivity confinement. We need much research and development (R ampersand D) and design analysis to establish that ITER meets regulatory requirements. We have a further opportunity to do more to prove more of fusion's potential safety and environmental advantages and maximize the amount of ITER technology on the path toward fusion power plants. To fulfill these tasks, we need to overcome three programmatic challenges and three technical challenges. The first programmatic challenge is to fund a comprehensive safety and environmental ITER R ampersand D plan. Second is to strengthen safety and environment work and personnel in the international team. Third is to establish an external consultant group to advise the ITER Joint Team on designing ITER to meet safety requirements for siting by any of the Parties. The first of the three key technical challenges is plasma engineering -- burn control, plasma shutdown, disruptions, tritium burn fraction, and steady state operation. The second is the divertor, including tritium inventory, activation hazards, chemical reactions, and coolant disturbances. The third technical challenge is optimization of design requirements considering safety risk, technical risk, and cost. Some design requirements are now too strict; some are too lax. Fuel cycle design requirements are presently too strict, mandating inappropriate T separation from H and D. Heat sink requirements are presently too lax; they should be strengthened to ensure that maximum loss of coolant accident temperatures drop

  9. ITER ITA newsletter No. 33, August-September-October 2006

    International Nuclear Information System (INIS)

    2006-11-01

    This issue of ITER ITA (ITER transitional arrangements) newsletter contains concise information about ITER related events such as public debate on ITER in Provence and fiftieth annual General Conference of the IAEA. Eight ITER related statements were made during Conference

  10. ITER Construction--Plant System Integration

    International Nuclear Information System (INIS)

    Tada, E.; Matsuda, S.

    2009-01-01

    This brief paper introduces how the ITER will be built in the international collaboration. The ITER Organization plays a central role in constructing ITER and leading it into operation. Since most of the ITER components are to be provided in-kind from the member countries, integral project management should be scoped in advance of real work. Those include design, procurement, system assembly, testing, licensing and commissioning of ITER.

  11. ITER ITA newsletter. No. 11, December 2003

    International Nuclear Information System (INIS)

    2003-12-01

    This issue of the ITER ITA (ITER transitional Arrangements) newsletter contains concise information about ITER including information from the editor about ITER update, about progress in ITER magnet design and preparation of procurement packages and about 25th anniversary of the First Steering Committee Meeting of the International Tokamak Reactor (INTOR) Workshop, organized under the auspices of the IAEA, took place at the IAEA Headquarters in Vienna

  12. ITER EDA newsletter. V. 4, no.12

    International Nuclear Information System (INIS)

    1995-12-01

    This issue of the ITER EDA (Engineering Design Activities) Newsletter contains a report on the ninth ITER council meeting held December 12 - 13, 1995 in Garching near Munich, Germany (by Dr. E. Canobbio), a report on the status of the ITER EDA (by Dr. R. Aymar, ITER Director) and a report on the ninth meeting of the ITER Technical Advisory Committee (by Professor P. Rutherford, TAC Chair) held 27 - 29 November 1995, in Garching near Munich, Germany

  13. ITER ITA newsletter. No. 4, May 2003

    International Nuclear Information System (INIS)

    2003-07-01

    This issue of ITER ITA (ITER transitional Arrangements) newsletter contains concise information about ITER related meetings, one of them the eighth meeting of the ITER negotiators' standing sub-group (NSSG-8) and a number of related meetings from 14 to 22 May 2003 at Garching, Germany, another was bilateral blanket meeting between ITER International Team (IT) and the Research and Development Institute of Power Engineering (ENTEK), which was held in Moscow, Russian Federation on 22 and 23 May, 2003

  14. ITER ITA newsletter. Special issue - December 2006

    International Nuclear Information System (INIS)

    2006-12-01

    This issue of ITER ITA (ITER transitional arrangements) newsletter contains information about signing ITER Agreement, which took place on 21 November 2006 in Paris, France. It was great day for fusion research as Ministers from the seven ITER Parties in the presence of President Jacques Chirac and President of European Commission Jose Barroso and some 400 invited guests signed the Agreement setting up the ITER International Fusion Energy Organization. This issues contains the speeches, statements and remarks of Presidents and Ministers

  15. ITER EDA newsletter. V. 5, no. 7

    International Nuclear Information System (INIS)

    1996-07-01

    This issue of the Newsletter on the Engineering Design Activities (EDA) for the ITER Tokamak project contains a report on the Tenth ITER Council Meeting, held July 24-25, 1996, in St. Petersburg, Russia; a description of the Status of the ITER EDA by the ITER Director, Dr. R. Aymar; and a report on the so-called Task Number One by the ITER Special Working Group (Basis for the Start of Explorations, presenting possible scenarios toward siting, licensing and host support)

  16. ITER ITA newsletter. No. 1, February 2003

    International Nuclear Information System (INIS)

    2003-04-01

    This first issue of ITER ITA (ITER transitional Arrangements) newsletter contains concise information about ITER related meetings including eighth ITER Negotiations meeting, held on 18-19 February, 2003 in St. Petersburg, Russia, first meeting of the ITER preparatory committee, held on 17 February, 2003 in St. Petersburg, Russia and the third meeting of the ITPA (International Tokamak Physics Activity) coordinating committee, held on 24-25 October 2002 at the Max-Planck-Institut fuer Plasmaphysik, Garching

  17. [Robotics in pediatric surgery].

    Science.gov (United States)

    Camps, J I

    2011-10-01

    Despite the extensive use of robotics in the adult population, the use of robotics in pediatrics has not been well accepted. There is still a lack of awareness from pediatric surgeons on how to use the robotic equipment, its advantages and indications. Benefit is still controversial. Dexterity and better visualization of the surgical field are one of the strong values. Conversely, cost and a lack of small instruments prevent the use of robotics in the smaller patients. The aim of this manuscript is to present the controversies about the use of robotics in pediatric surgery.

  18. Low cost submarine robot

    Directory of Open Access Journals (Sweden)

    Ponlachart Chotikarn

    2010-10-01

    Full Text Available A submarine robot is a semi-autonomous submarine robot used mainly for marine environmental research. We aim todevelop a low cost, semi-autonomous submarine robot which is able to travel underwater. The robot’s structure was designedand patented using a novel idea of the diving system employing a volume adjustment mechanism to vary the robot’s density.A light weight, flexibility and small structure provided by PVC can be used to construct the torpedo-liked shape robot.Hydraulic seal and O-ring rubbers are used to prevent water leaking. This robot is controlled by a wired communicationsystem.

  19. Advances in robot kinematics

    CERN Document Server

    Khatib, Oussama

    2014-01-01

    The topics addressed in this book cover the whole range of kinematic analysis, synthesis and design and consider robotic systems possessing serial, parallel and cable driven mechanisms. The robotic systems range from being less than fully mobile to kinematically redundant to overconstrained.  The fifty-six contributions report the latest results in robot kinematics with emphasis on emerging areas such as design and control of humanoids or humanoid subsystems. The book is of interest to researchers wanting to bring their knowledge up to date regarding modern topics in one of the basic disciplines in robotics, which relates to the essential property of robots, the motion of mechanisms.

  20. Fusion Power measurement at ITER

    Energy Technology Data Exchange (ETDEWEB)

    Bertalot, L.; Barnsley, R.; Krasilnikov, V.; Stott, P.; Suarez, A.; Vayakis, G.; Walsh, M. [ITER Organization, Route de Vinon-sur-Verdon, CS 90 046, 13067 St Paul Lez Durance Cedex (France)

    2015-07-01

    Nuclear fusion research aims to provide energy for the future in a sustainable way and the ITER project scope is to demonstrate the feasibility of nuclear fusion energy. ITER is a nuclear experimental reactor based on a large scale fusion plasma (tokamak type) device generating Deuterium - Tritium (DT) fusion reactions with emission of 14 MeV neutrons producing up to 700 MW fusion power. The measurement of fusion power, i.e. total neutron emissivity, will play an important role for achieving ITER goals, in particular the fusion gain factor Q related to the reactor performance. Particular attention is given also to the development of the neutron calibration strategy whose main scope is to achieve the required accuracy of 10% for the measurement of fusion power. Neutron Flux Monitors located in diagnostic ports and inside the vacuum vessel will measure ITER total neutron emissivity, expected to range from 1014 n/s in Deuterium - Deuterium (DD) plasmas up to almost 10{sup 21} n/s in DT plasmas. The neutron detection systems as well all other ITER diagnostics have to withstand high nuclear radiation and electromagnetic fields as well ultrahigh vacuum and thermal loads. (authors)

  1. ITER project and fusion technology

    International Nuclear Information System (INIS)

    Takatsu, H.

    2011-01-01

    In the sessions of ITR, FTP and SEE of the 23rd IAEA Fusion Energy Conference, 159 papers were presented in total, highlighted by the remarkable progress of the ITER project: ITER baseline has been established and procurement activities have been started as planned with a target of realizing the first plasma in 2019; ITER physics basis is sound and operation scenarios and operational issues have been extensively studied in close collaboration with the worldwide physics community; the test blanket module programme has been incorporated into the ITER programme and extensive R and D works are ongoing in the member countries with a view to delivering their own modules in a timely manner according to the ITER master schedule. Good progress was also reported in the areas of a variety of complementary activities to DEMO, including Broader Approach activities and long-term technology. This paper summarizes the highlights of the papers presented in the ITR, FTP and SEE sessions with a minimum set of background information.

  2. Development and design optimization of water hydraulic manipulator for ITER

    International Nuclear Information System (INIS)

    Kekaelaeinen, Teemu; Mattila, Jouni; Virvalo, Tapio

    2009-01-01

    This paper describes one of the research projects carried out in The Preparation of Remote Handling Engineers for ITER (PREFIT) program within the European Fusion Training Scheme (EFTS). This research project is focusing on the design and optimization of water hydraulic manipulators used to test several remote handling tasks of ITER at Divertor Test Platform 2 (DTP2), Tampere, Finland, and later in ITER. In this project, a water hydraulic manipulator designed and build by Department of Intelligent Hydraulics and Automation in Tampere University of Technology, Finland (TUT/IHA) is further optimized as a case study for a given manipulator requirement specification in order to illustrate and verify developed comprehensive design guidelines and performance metrics. Without meaningful manipulator performance parameters, the evaluation of alternative robot manipulators designs remains ad hoc at best. Therefore, more comprehensive design guidelines and performance metrics are needed for comparing and improving different existing manipulators versus task requirements or for comparing different digital prototypes at early design phase of manipulators. In this paper the description of the project, its background and developments are presented and discussed.

  3. Robots and lattice automata

    CERN Document Server

    Adamatzky, Andrew

    2015-01-01

    The book gives a comprehensive overview of the state-of-the-art research and engineering in theory and application of Lattice Automata in design and control of autonomous Robots. Automata and robots share the same notional meaning. Automata (originated from the latinization of the Greek word “αυτόματον”) as self-operating autonomous machines invented from ancient years can be easily considered the first steps of robotic-like efforts. Automata are mathematical models of Robots and also they are integral parts of robotic control systems. A Lattice Automaton is a regular array or a collective of finite state machines, or automata. The Automata update their states by the same rules depending on states of their immediate neighbours. In the context of this book, Lattice Automata are used in developing modular reconfigurable robotic systems, path planning and map exploration for robots, as robot controllers, synchronisation of robot collectives, robot vision, parallel robotic actuators. All chapters are...

  4. Marine Robot Autonomy

    CERN Document Server

    2013-01-01

    Autonomy for Marine Robots provides a timely and insightful overview of intelligent autonomy in marine robots. A brief history of this emerging field is provided, along with a discussion of the challenges unique to the underwater environment and their impact on the level of intelligent autonomy required.  Topics covered at length examine advanced frameworks, path-planning, fault tolerance, machine learning, and cooperation as relevant to marine robots that need intelligent autonomy.  This book also: Discusses and offers solutions for the unique challenges presented by more complex missions and the dynamic underwater environment when operating autonomous marine robots Includes case studies that demonstrate intelligent autonomy in marine robots to perform underwater simultaneous localization and mapping  Autonomy for Marine Robots is an ideal book for researchers and engineers interested in the field of marine robots.      

  5. Robot Saltador y Procedimiento para su Control

    OpenAIRE

    Akinfiev, Teodor; Armada, Manuel; Fernández, Roemi; Montes, Héctor

    2005-01-01

    Robot saltador para el movimiento en terrenos con obstáculos, que contiene al menos un resorte (4) con uno de sus extremos unido al cuerpo (1) del robot, y una cadena cinemática entre el motor (5) y el resorte (4) que comprende un cilindro (7) conectado con el eje del motor (5) y una cuerda (8), con uno de sus extremos conectado al cilindro (7) y con el segundo extremo conectado al pie (3). El procedimiento de control se caracteriza porque en el momento en el que el pie (3) pierde el contacto...

  6. The ITER project technological challenges

    CERN Multimedia

    CERN. Geneva; Lister, Joseph; Marquina, Miguel A; Todesco, Ezio

    2005-01-01

    The first lecture reminds us of the ITER challenges, presents hard engineering problems, typically due to mechanical forces and thermal loads and identifies where the physics uncertainties play a significant role in the engineering requirements. The second lecture presents soft engineering problems of measuring the plasma parameters, feedback control of the plasma and handling the physics data flow and slow controls data flow from a large experiment like ITER. The last three lectures focus on superconductors for fusion. The third lecture reviews the design criteria and manufacturing methods for 6 milestone-conductors of large fusion devices (T-7, T-15, Tore Supra, LHD, W-7X, ITER). The evolution of the designer approach and the available technologies are critically discussed. The fourth lecture is devoted to the issue of performance prediction, from a superconducting wire to a large size conductor. The role of scaling laws, self-field, current distribution, voltage-current characteristic and transposition are...

  7. Construction Safety Forecast for ITER

    Energy Technology Data Exchange (ETDEWEB)

    cadwallader, lee charles

    2006-11-01

    The International Thermonuclear Experimental Reactor (ITER) project is poised to begin its construction activity. This paper gives an estimate of construction safety as if the experiment was being built in the United States. This estimate of construction injuries and potential fatalities serves as a useful forecast of what can be expected for construction of such a major facility in any country. These data should be considered by the ITER International Team as it plans for safety during the construction phase. Based on average U.S. construction rates, ITER may expect a lost workday case rate of < 4.0 and a fatality count of 0.5 to 0.9 persons per year.

  8. US--ITER activation analysis

    International Nuclear Information System (INIS)

    Attaya, H.; Gohar, Y.; Smith, D.

    1990-09-01

    Activation analysis has been made for the US ITER design. The radioactivity and the decay heat have been calculated, during operation and after shutdown for the two ITER phases, the Physics Phase and the Technology Phase. The Physics Phase operates about 24 full power days (FPDs) at fusion power level of 1100 MW and the Technology Phase has 860 MW fusion power and operates for about 1360 FPDs. The point-wise gamma sources have been calculated everywhere in the reactor at several times after shutdown of the two phases and are then used to calculate the biological dose everywhere in the reactor. Activation calculations have been made also for ITER divertor. The results are presented for different continuous operation times and for only one pulse. The effect of the pulsed operation on the radioactivity is analyzed. 6 refs., 12 figs., 1 tab

  9. Establishment of ITER: Relevant documents

    International Nuclear Information System (INIS)

    1988-01-01

    At the Geneva Summit Meeting in November, 1985, a proposal was made by the Soviet Union to build a next-generation tokamak experiment on a collaborative basis involving the world's four major fusion blocks. In October, 1986, after consulting with Japan and the European Community, the United States responded with a proposal on how to implement such an activity. Ensuing diplomatic and technical discussions resulted in the establishment, under the auspices of the IAEA, of the International Thermonuclear Experimental Reactor Conceptual Design Activities. This tome represents a collection of all documents relating to the establishment of ITER, beginning with the initial meeting of the ITER Quadripartite Initiative Committee in Vienna on 15-16 March, 1987, through the meeting of the Provisional ITER Council, also in Vienna, on 8-9 February, 1988

  10. The danger of iteration methods

    International Nuclear Information System (INIS)

    Villain, J.; Semeria, B.

    1983-01-01

    When a Hamiltonian H depends on variables phisub(i), the values of these variables which minimize H satisfy the equations deltaH/deltaphisub(i) = O. If this set of equations is solved by iteration, there is no guarantee that the solution is the one which minimizes H. In the case of a harmonic system with a random potential periodic with respect to the phisub(i)'s, the fluctuations have been calculated by Efetov and Larkin by means of the iteration method. The result is wrong in the case of a strong disorder. Even in the weak disorder case, it is wrong for a one-dimensional system and for a finite system of 2 particles. It is argued that the results obtained by iteration are always wrong, and that between 2 and 4 dimensions, spin-pair correlation functions decay like powers of the distance, as found by Aharony and Pytte for another model

  11. Remote maintenance development for ITER

    International Nuclear Information System (INIS)

    Tada, Eisuke; Shibanuma, Kiyoshi

    1997-01-01

    This paper both describes the overall design concept of the ITER remote maintenance system, which has been developed mainly for use with in-vessel components such as divertor and blanket, and outlines of the ITER R and D program, which has been established to develop remote handling equipment/tools and radiation hard components. In ITER, the reactor structures inside cryostat have to be maintained remotely because of activation due to DT operation. Therefore, remote-handling technology is fundamental, and the reactor-structure design must be made consistent with remote maintainability. The overall maintenance scenario and design concepts of the required remote handling equipment/tools have been developed according to their maintenance classification. Technologies are also being developed to verify the feasibility of the maintenance design and include fabrication and testing of a fullscale remote-handling equipment/tools for in-vessel maintenance. (author)

  12. Automated measurement of bolometer line of sight alignment and characteristics for application in ITER

    Energy Technology Data Exchange (ETDEWEB)

    Penzel, Florian Olivier

    2015-07-01

    The line of sight (LOS) alignment and characteristic of a bolometer camera used in a fusion experiment is a crucial parameter for the measurement accuracy of the diagnostic. A robot based LOS measurement device has been developed which allows the fully automatic measurement of the two dimensional transmission function of a bolometer camera. It has been used to optimize camera prototypes for ITER and has been successfully operated in the fusion experiment ASDEX Upgrade in order to measure the LOS alignment.

  13. The ITER CODAC conceptual design

    International Nuclear Information System (INIS)

    Lister, J.B.; Farthing, J.W.; Greenwald, M.; Yonekawa, I.

    2007-01-01

    CODAC orchestrates the activity of 60-90 Plant Systems in normal ITER operation. Interlock Systems protect ITER from potentially damaging operating off-normal conditions. Safety Systems protect the personnel and the environment and will be subject to licensing. The principal challenges to be met in the design and implementation of CODAC include: complexity, reliability, transparent access respecting security, a high experiment data rate and data volume since ITER is an experimental reactor, scientific exploitation from multiple Participant Team Experiment Sites and the long 35-year period for construction and operation. Complexity is addressed by prescribing the communication interfaces to the Plant Systems and prescribing the technical implementation within the Plant Systems. Plant Systems export to CODAC all the information on their construction and operation as 'self-description'. Complexity is also addressed by automating the operation of ITER and of the plasma, using a structured data description of 'Operation Schedules' which encompass all non-manual control, including Plasma Control. Reliability is addressed by maximising code reuse and maximising the use of existing products thereby minimising in-house development. The design is hierarchical and modular in both hardware and software. The latter facilitates evolution of methods during the project lifetime. Guaranteeing security while maximising access is addressed by flow separation. Out-flowing data, including experimental signals and the status of ITER plant is risk-free. In-flowing commands and data originate from Experiment Sites. The Cadarache Experiment Site is equated with the Remote Experiment Sites and a rigorous 'Operation Request Gatekeeper' is provided. The high data rates and data volumes are handled with high performance networks. Global Area Networks allow Participant Teams to access all CODAC data and applications. Scientific exploitation of ITER will remain a human as well as technical

  14. ITER Operating Limits and Conditions

    International Nuclear Information System (INIS)

    Ciattaglia, S.; Barabaschi, P.; Carretero, J.A.

    2006-01-01

    The Operating Limits and Conditions (OLCs) are operating parameters and conditions, chosen among all system/components, which together define the domain of the safe operation of ITER in all foreseen ITER status (operation, maintenance, commissioning). At the same time they are selected to guarantee the required operation flexibility which is a critical factor for the success of an experimental machine such as ITER. System and components important for personnel or public safety (Safety Important Class, SIC) are identified from the overall plant safety analysis on functional importance to safety of the components. SIC classification has to be presented already inside the preliminary safety analysis report and approved by the licensing safety authority before the relevant construction. OLCs comprise the safety limits, i.e. that if exceeded could result in a potential safety hazard, the relevant settings that determine the intervention of SIC systems and the operational limits on equipment which warn from or stop a functional departure from a planned operational status that could challenge equipment and functions. The safety limits have to indicate clearly states that leave the nominal safety state of ITER; they are derived from the safety analysis of ITER. OLCs can represent in some cases few parameters grouping together. Some operational conditions, e.g. inventories, will be controlled through no real time measurements and procedures. Operating experience from present tokamaks, in particular JET, and from nuclear plants is considered at the maximum possible extent. This paper presents the guidelines to develop the ITER OLCs with particular reference to safety limits. A few examples are reported as well as open issues on some OLCs control and measurement and the relevant R-and-D planned to solve the issues. (author)

  15. Array architectures for iterative algorithms

    Science.gov (United States)

    Jagadish, Hosagrahar V.; Rao, Sailesh K.; Kailath, Thomas

    1987-01-01

    Regular mesh-connected arrays are shown to be isomorphic to a class of so-called regular iterative algorithms. For a wide variety of problems it is shown how to obtain appropriate iterative algorithms and then how to translate these algorithms into arrays in a systematic fashion. Several 'systolic' arrays presented in the literature are shown to be specific cases of the variety of architectures that can be derived by the techniques presented here. These include arrays for Fourier Transform, Matrix Multiplication, and Sorting.

  16. ITER oriented issues-2 (etc.)

    International Nuclear Information System (INIS)

    Goryayev, G.V.; Savchuk, V.V.; Shakhvorostov, Yu. V.

    2004-01-01

    The study analyzes the possibilities of utilization beryllium ingots produced at UMZ (Ulba Metallurgical Plant) for the purpose of ITER program. The results of comparative analysis of specification requirement to S-65 grade chemical compound and statistics data of UMZ beryllium ingots impurities content are presented. It has been demonstrated that beryllium industrial ingots produced at UMZ can be used for a production of powders and billets conforming the requirements of ITER specification. Beryllium ingots production flow chart, description of basic process equipment, the layout of metallurgical production upgrade, the results of such upgrade implementation are complimentary data to this study. The study illustrated with explanatory drawings. (author)

  17. ITER and world chaos; Iter ou le bouleversement du monde

    Energy Technology Data Exchange (ETDEWEB)

    Pourcel, Eric

    2012-02-15

    ITER is the International Thermonuclear Experimental Reactor: the author here develops three scenarios linked to the control of nuclear fusion as a method of producing electrical energy that could take over from fossil fuels in the twenty-First century. His expose shows the likely strategic disarray that might result

  18. Final report of the ITER EDA. Final report of the ITER Engineering Design Activities. Prepared by the ITER Council

    International Nuclear Information System (INIS)

    2001-01-01

    This is the Final Report by the ITER Council on work carried out by ITER participating countries on cooperation in the Engineering Design Activities (EDA) for the ITER. In this report the main ITER EDA technical objectives, the scope of ITER EDA, its organization and resources, engineering design of ITER tokamak and its main parameters are presented. This Report also includes safety and environmental assessments, site requirements and proposed schedule and estimates of manpower and cost as well as proposals on approaches to joint implementation of the project

  19. ITER ITA newsletter No. 31, June 2006

    International Nuclear Information System (INIS)

    2006-07-01

    This issue of ITER ITA (ITER transitional Arrangements) newsletter contains concise information about initialling the ITER Agreement and its related instruments by seven ITER parties, which too place in Brussels on 24 May 2006. The initialling constituted the final act of the ITER negotiations. It confirmed the Parties' common acceptance of the negotiated texts, ad referendum, and signalled their intentions to move forward towards the entry into force of the ITER Agreement as soon as possible. 'ITER - Uniting science today, global energy tomorrow' was the theme of a number of media events timed to accompany a remarkable day in the history of the ITER international venture, May 24th 2006, initialling of the ITER international agreement

  20. Non-manufacturing applications of robotics

    International Nuclear Information System (INIS)

    Dauchez, P.

    2000-12-01

    This book presents the different non-manufacturing sectors of activity where robotics can have useful or necessary applications: underwater robotics, agriculture robotics, road work robotics, nuclear robotics, medical-surgery robotics, aids to disabled people, entertainment robotics. Service robotics has been voluntarily excluded because this developing sector is not mature yet. (J.S.)

  1. Evolution of robotic arms.

    Science.gov (United States)

    Moran, Michael E

    2007-01-01

    The foundation of surgical robotics is in the development of the robotic arm. This is a thorough review of the literature on the nature and development of this device with emphasis on surgical applications. We have reviewed the published literature and classified robotic arms by their application: show, industrial application, medical application, etc. There is a definite trend in the manufacture of robotic arms toward more dextrous devices, more degrees-of-freedom, and capabilities beyond the human arm. da Vinci designed the first sophisticated robotic arm in 1495 with four degrees-of-freedom and an analog on-board controller supplying power and programmability. von Kemplen's chess-playing automaton left arm was quite sophisticated. Unimate introduced the first industrial robotic arm in 1961, it has subsequently evolved into the PUMA arm. In 1963 the Rancho arm was designed; Minsky's Tentacle arm appeared in 1968, Scheinman's Stanford arm in 1969, and MIT's Silver arm in 1974. Aird became the first cyborg human with a robotic arm in 1993. In 2000 Miguel Nicolalis redefined possible man-machine capacity in his work on cerebral implantation in owl-monkeys directly interfacing with robotic arms both locally and at a distance. The robotic arm is the end-effector of robotic systems and currently is the hallmark feature of the da Vinci Surgical System making its entrance into surgical application. But, despite the potential advantages of this computer-controlled master-slave system, robotic arms have definite limitations. Ongoing work in robotics has many potential solutions to the drawbacks of current robotic surgical systems.

  2. Is Ethics of Robotics about Robots? Philosophy of Robotics Beyond Realism and Individualilsm.

    NARCIS (Netherlands)

    Coeckelbergh, Mark

    2011-01-01

    If we are doing ethics of robotics, what exactly is the object of our inquiry? This paper challenges 'individualist' robot ontology and 'individualist' social philosophy of robots. It is argued that ethics of robotics should not study and evaluate robotics exclusively in terms of individual

  3. ITER EDA Newsletter. V. 4, no. 7

    International Nuclear Information System (INIS)

    1995-07-01

    This ITER EDA (Engineering Design Activities) Newsletter issue contains reports on (i) the 8th meeting of the ITER Technical Advisory Committee (TAC-8) held on June 29 - July 7, 1995 at the ITER San Diego Work Site, (ii) the 8th meeting of the ITER Management Advisory Committee (MAC-8) held at the ITER San Diego Work Site on July 9-10, 1995, (iii) the 33rd meeting of the International Fusion Research Council (FRC), held July 11, 1995 at the IAEA Headquarters in Vienna, Austria, and (iv) the ITER participation in the fifth topical meeting on Tritium Technology in Fission, Fusion and Isotopic Applications

  4. ITER ITA Newsletter. No. 29, March 2006

    International Nuclear Information System (INIS)

    2006-05-01

    This issue of ITER ITA (ITER transitional Arrangements) newsletter contains concise information about ITER related activities and meetings, namely, the ITER Director-General Nominee, Dr. Kaname Ikeda, took up his position as ITER Project Leader in Cadarache on 13 March, the consolidation of information technology infrastructure for ITER and about he Thirty-Fifth Meeting of the Fusion Power Co-ordinating Committee (FPCC), which was held on 28 February-1 March 2006 at the headquarters of the International Energy Agency (IEA) in Paris

  5. ITER Council tour of Clarington site

    International Nuclear Information System (INIS)

    Dautovich, D.

    2001-01-01

    The ITER Council meeting was recently held in Toronto on 27 and 28 February. ITER Canada provided local arrangements for the Council meeting on behalf of Europe as the Official host. Following the meeting, on 1 March, ITER Canada conducted a tour of the proposed ITER construction site at Charington, and the ITER Council members attended a luncheon followed by a speech by Dr. Peter Barnard, Chairman and CEO of ITER Canada, at the Empire Club of Canada. The official invitation to participate in these events came from Dr. Peter Harrison, Deputy Minister of Natural Resources Canada. This report provides a brief summary of the events on 1 March

  6. ITER operating limit definition criteria

    International Nuclear Information System (INIS)

    Ciattaglia, S.; Barabaschi, P.; Carretero, J.A.; Chiocchio, S.; Hureau, D.; Girard, J.Ph.; Gordon, C.; Portone, A.; Rodrigo, L. Rodriguez; Roldan, C.; Saibene, G.; Uzan-Elbez, J.

    2009-01-01

    The operating limits and conditions (OLCs) are operating parameters and conditions, chosen among all system/components, which, together, define the domain of the safe operation of ITER in all foreseen ITER states (operation, maintenance, commissioning). At the same time they are selected to guarantee the required operation flexibility which is a critical factor for the success of an experimental machine such as ITER. System and components that are important for personnel or public safety (safety important class, SIC) are identified considering their functional importance in the overall plant safety analysis. SIC classification has to be presented already in the preliminary safety analysis report and approved by the licensing authority before manufacturing and construction. OLCs comprise the safety limits that, if exceeded, could result in a potential safety hazard, the relevant settings that determine the intervention of SIC systems, and the operational limits on equipment which warn against or stop a functional deviation from a planned operational status that could challenge equipment and functions. Some operational conditions, e.g. in-Vacuum Vessel (VV) radioactive inventories, will be controlled through procedures. Operating experience from present tokamaks, in particular JET, and from nuclear plants, is considered to the maximum possible extent. This paper presents the guidelines for the development of the ITER OLCs with particular reference to safety limits.

  7. ITER Neutral Beam Injection System

    International Nuclear Information System (INIS)

    Ohara, Yoshihiro; Tanaka, Shigeru; Akiba, Masato

    1991-03-01

    A Japanese design proposal of the ITER Neutral Beam Injection System (NBS) which is consistent with the ITER common design requirements is described. The injection system is required to deliver a neutral deuterium beam of 75MW at 1.3MeV to the reactor plasma and utilized not only for plasma heating but also for current drive and current profile control. The injection system is composed of 9 modules, each of which is designed so as to inject a 1.3MeV, 10MW neutral beam. The most important point in the design is that the injection system is based on the utilization of a cesium-seeded volume negative ion source which can produce an intense negative ion beam with high current density at a low source operating pressure. The design value of the source is based on the experimental values achieved at JAERI. The utilization of the cesium-seeded volume source is essential to the design of an efficient and compact neutral beam injection system which satisfies the ITER common design requirements. The critical components to realize this design are the 1.3MeV, 17A electrostatic accelerator and the high voltage DC acceleration power supply, whose performances must be demonstrated prior to the construction of ITER NBI system. (author)

  8. Status of the ITER EDA

    International Nuclear Information System (INIS)

    Aymar, R.

    1999-01-01

    This article summarises progress made in the ITER Design Activities between October 1998 and February 1999. The three main focusses of the activity were on design work, on R and D work and on the physics basis. The consequences of diminishing financial funds and personnel are discussed and the state of the individual R and D projects is given briefly

  9. Japanese site for ITER: Rokkasho

    International Nuclear Information System (INIS)

    Kishimoto, Hiroshi

    2003-01-01

    This paper describes the status of Japanese efforts for hosting ITER in Japan. In May 2002, Japanese Government decided to propose an ITER site, Rokkasho in Aomori Prefecture, a Northern part of the main island, based on the comprehensive/intensive assessments by the Site Selection Committee established by Japanese Government. ITER is designed basically with a potential flexibility beyond the detailed technical objectives to have more clear scope for developing technical key elements in a future power plant. Various flexibilities in the construction, operation and decommissioning of ITER are totally assessed. Consequently the Japanese site has been chosen and it satisfies sufficiently not only the Site Requirements and the Site Design Assumptions but also the further extension and flexibilities. In particular the potential for more flexible construction schedule and operations is technically described as well as the fulfillment of the site requirements and its assumptions as the minimum requirements in this paper. The socio-cultural environment is also described briefly because of a key aspect for the scientists and engineers who will participate in the project

  10. New developments in iterated rounding

    NARCIS (Netherlands)

    Bansal, N.; Raman, V.; Suresh, S.P.

    2014-01-01

    Iterated rounding is a relatively recent technique in algorithm design, that despite its simplicity has led to several remarkable new results and also simpler proofs of many previous results. We will briefly survey some applications of the method, including some recent developments and giving a high

  11. Iterative method for Amado's model

    International Nuclear Information System (INIS)

    Tomio, L.

    1980-01-01

    A recently proposed iterative method for solving scattering integral equations is applied to the spin doublet and spin quartet neutron-deuteron scattering in the Amado model. The method is tested numerically in the calculation of scattering lengths and phase-shifts and results are found better than those obtained by using the conventional Pade technique. (Author) [pt

  12. Informal meeting on ITER developments

    International Nuclear Information System (INIS)

    Canobbio, E.

    2000-01-01

    The International Fusion Research Council (IFRC), advisory body of the IAEA, organized an informal meeting on the general status and outlook for ITER, held October 9 at Sorrento, Italy, in conjunction with the 18th IAEA Fusion Energy Conference. This article describes the main events at the meeting

  13. Humanlike Robots - The Upcoming Revolution in Robotics

    Science.gov (United States)

    Bar-Cohen, Yoseph

    2009-01-01

    Humans have always sought to imitate the human appearance, functions and intelligence. Human-like robots, which for many years have been a science fiction, are increasingly becoming an engineering reality resulting from the many advances in biologically inspired technologies. These biomimetic technologies include artificial intelligence, artificial vision and hearing as well as artificial muscles, also known as electroactive polymers (EAP). Robots, such as the vacuum cleaner Rumba and the robotic lawnmower, that don't have human shape, are already finding growing use in homes worldwide. As opposed to other human-made machines and devices, this technology raises also various questions and concerns and they need to be addressed as the technology advances. These include the need to prevent accidents, deliberate harm, or their use in crime. In this paper the state-of-the-art of the ultimate goal of biomimetics, the development of humanlike robots, the potentials and the challenges are reviewed.

  14. Humanlike robots: the upcoming revolution in robotics

    Science.gov (United States)

    Bar-Cohen, Yoseph

    2009-08-01

    Humans have always sought to imitate the human appearance, functions and intelligence. Human-like robots, which for many years have been a science fiction, are increasingly becoming an engineering reality resulting from the many advances in biologically inspired technologies. These biomimetic technologies include artificial intelligence, artificial vision and hearing as well as artificial muscles, also known as electroactive polymers (EAP). Robots, such as the vacuum cleaner Rumba and the robotic lawnmower, that don't have human shape, are already finding growing use in homes worldwide. As opposed to other human-made machines and devices, this technology raises also various questions and concerns and they need to be addressed as the technology advances. These include the need to prevent accidents, deliberate harm, or their use in crime. In this paper the state-of-the-art of the ultimate goal of biomimetics, the development of humanlike robots, the potentials and the challenges are reviewed.

  15. Robotic devices for nuclear plant

    Energy Technology Data Exchange (ETDEWEB)

    Abel, E

    1986-05-01

    The article surveys the background of nuclear remote handling and its associated technology, robotics. Manipulators, robots, robot applications, extending the range of applications, and future developments, are all discussed.

  16. Evolutionary robotics – A review

    Indian Academy of Sciences (India)

    R. Narasimhan (Krishtel eMaging) 1461 1996 Oct 15 13:05:22

    a need for a technique by which the robot is able to acquire new behaviours automatically .... Evolutionary robotics is a comparatively new field of robotics research, which seems to ..... Technical Report: PCIA-94-04, Institute of Psychology,.

  17. Analysis of a closed-kinematic chain robot manipulator

    Science.gov (United States)

    Nguyen, Charles C.; Pooran, Farhad J.

    1988-01-01

    Presented are the research results from the research grant entitled: Active Control of Robot Manipulators, sponsored by the Goddard Space Flight Center (NASA) under grant number NAG-780. This report considers a class of robot manipulators based on the closed-kinematic chain mechanism (CKCM). This type of robot manipulators mainly consists of two platforms, one is stationary and the other moving, and they are coupled together through a number of in-parallel actuators. Using spatial geometry and homogeneous transformation, a closed-form solution is derived for the inverse kinematic problem of the six-degree-of-freedom manipulator, built to study robotic assembly in space. Iterative Newton Raphson method is employed to solve the forward kinematic problem. Finally, the equations of motion of the above manipulators are obtained by employing the Lagrangian method. Study of the manipulator dynamics is performed using computer simulation whose results show that the robot actuating forces are strongly dependent on the mass and centroid locations of the robot links.

  18. A linear iterative unfolding method

    International Nuclear Information System (INIS)

    László, András

    2012-01-01

    A frequently faced task in experimental physics is to measure the probability distribution of some quantity. Often this quantity to be measured is smeared by a non-ideal detector response or by some physical process. The procedure of removing this smearing effect from the measured distribution is called unfolding, and is a delicate problem in signal processing, due to the well-known numerical ill behavior of this task. Various methods were invented which, given some assumptions on the initial probability distribution, try to regularize the unfolding problem. Most of these methods definitely introduce bias into the estimate of the initial probability distribution. We propose a linear iterative method (motivated by the Neumann series / Landweber iteration known in functional analysis), which has the advantage that no assumptions on the initial probability distribution is needed, and the only regularization parameter is the stopping order of the iteration, which can be used to choose the best compromise between the introduced bias and the propagated statistical and systematic errors. The method is consistent: 'binwise' convergence to the initial probability distribution is proved in absence of measurement errors under a quite general condition on the response function. This condition holds for practical applications such as convolutions, calorimeter response functions, momentum reconstruction response functions based on tracking in magnetic field etc. In presence of measurement errors, explicit formulae for the propagation of the three important error terms is provided: bias error (distance from the unknown to-be-reconstructed initial distribution at a finite iteration order), statistical error, and systematic error. A trade-off between these three error terms can be used to define an optimal iteration stopping criterion, and the errors can be estimated there. We provide a numerical C library for the implementation of the method, which incorporates automatic

  19. Grasping in Robotics

    CERN Document Server

    2013-01-01

    Grasping in Robotics contains original contributions in the field of grasping in robotics with a broad multidisciplinary approach. This gives the possibility of addressing all the major issues related to robotized grasping, including milestones in grasping through the centuries, mechanical design issues, control issues, modelling achievements and issues, formulations and software for simulation purposes, sensors and vision integration, applications in industrial field and non-conventional applications (including service robotics and agriculture).   The contributors to this book are experts in their own diverse and wide ranging fields. This multidisciplinary approach can help make Grasping in Robotics of interest to a very wide audience. In particular, it can be a useful reference book for researchers, students and users in the wide field of grasping in robotics from many different disciplines including mechanical design, hardware design, control design, user interfaces, modelling, simulation, sensors and hum...

  20. Robot Games for Elderly

    DEFF Research Database (Denmark)

    Hansen, Søren Tranberg

    2011-01-01

    improve a person’s overall health, and this thesis investigates how games based on an autonomous, mobile robot platform, can be used to motivate elderly to move physically while playing. The focus of the investigation is on the development of games for an autonomous, mobile robot based on algorithms using...... spatio-temporal information about player behaviour - more specifically, I investigate three types of games each using a different control strategy. The first game is based on basic robot control which allows the robot to detect and follow a person. A field study in a rehabilitation centre and a nursing....... The robot facilitates interaction, and the study suggests that robot based games potentially can be used for training balance and orientation. The second game consists in an adaptive game algorithm which gradually adjusts the game challenge to the mobility skills of the player based on spatio...

  1. Robot-laser system

    International Nuclear Information System (INIS)

    Akeel, H.A.

    1987-01-01

    A robot-laser system is described for providing a laser beam at a desired location, the system comprising: a laser beam source; a robot including a plurality of movable parts including a hollow robot arm having a central axis along which the laser source directs the laser beam; at least one mirror for reflecting the laser beam from the source to the desired location, the mirror being mounted within the robot arm to move therewith and relative thereto to about a transverse axis that extends angularly to the central axis of the robot arm; and an automatic programmable control system for automatically moving the mirror about the transverse axis relative to and in synchronization with movement of the robot arm to thereby direct the laser beam to the desired location as the arm is moved

  2. Survival of falling robots

    Science.gov (United States)

    Cameron, Jonathan M.; Arkin, Ronald C.

    1992-01-01

    As mobile robots are used in more uncertain and dangerous environments, it will become important to design them so that they can survive falls. In this paper, we examine a number of mechanisms and strategies that animals use to withstand these potentially catastrophic events and extend them to the design of robots. A brief survey of several aspects of how common cats survive falls provides an understanding of the issues involved in preventing traumatic injury during a falling event. After outlining situations in which robots might fall, a number of factors affecting their survival are described. From this background, several robot design guidelines are derived. These include recommendations for the physical structure of the robot as well as requirements for the robot control architecture. A control architecture is proposed based on reactive control techniques and action-oriented perception that is geared to support this form of survival behavior.

  3. Robotic surgery update.

    Science.gov (United States)

    Jacobsen, G; Elli, F; Horgan, S

    2004-08-01

    Minimally invasive surgical techniques have revolutionized the field of surgery. Telesurgical manipulators (robots) and new information technologies strive to improve upon currently available minimally invasive techniques and create new possibilities. A retrospective review of all robotic cases at a single academic medical center from August 2000 until November 2002 was conducted. A comprehensive literature evaluation on robotic surgical technology was also performed. Robotic technology is safely and effectively being applied at our institution. Robotic and information technologies have improved upon minimally invasive surgical techniques and created new opportunities not attainable in open surgery. Robotic technology offers many benefits over traditional minimal access techniques and has been proven safe and effective. Further research is needed to better define the optimal application of this technology. Credentialing and educational requirements also need to be delineated.

  4. Survival of falling robots

    Science.gov (United States)

    Cameron, Jonathan M.; Arkin, Ronald C.

    1992-02-01

    As mobile robots are used in more uncertain and dangerous environments, it will become important to design them so that they can survive falls. In this paper, we examine a number of mechanisms and strategies that animals use to withstand these potentially catastrophic events and extend them to the design of robots. A brief survey of several aspects of how common cats survive falls provides an understanding of the issues involved in preventing traumatic injury during a falling event. After outlining situations in which robots might fall, a number of factors affecting their survival are described. From this background, several robot design guidelines are derived. These include recommendations for the physical structure of the robot as well as requirements for the robot control architecture. A control architecture is proposed based on reactive control techniques and action-oriented perception that is geared to support this form of survival behavior.

  5. ITER EDA Newsletter. Vol. 1, No. 1

    International Nuclear Information System (INIS)

    1992-11-01

    After the ITER Engineering Design Activities (EDA) Agreement and Protocol 1 had been signed by the four ITER parties on July 21, 1992 and had entered into force, the ITER Council suggested at its first meeting (Vienna, September 10-11, 1992) that the publication of the ITER Newsletter be continued during the EDA with assistance of the International Atomic Energy Agency. This suggestion was supported by the Agency and subsequently the ITER office in Vienna assumed its responsibilities for planning and executing activities related to the publication of the Newsletter. The ITER EDA Newsletter is planned to be a monthly publication aimed at disseminating broad information and understanding, including the description of the personal and institutional involvements in the ITER project in addition to technical facts about it. The responsibility for the Newsletter rests with the ITER council. In this first issue the signing of the ITER EDA Activities and Protocol 1 is reported. The EDA organizational structure is described. This issue also reports on the first ITER EDA council meeting, the opening of the ITER EDA NAKA Co-Centre, the first meeting of the ITER Technical Advisory Committee, activities of special working groups, an ITER Technical Meeting, as well as ''News in Brief'' and ''Coming Events''

  6. Robot articulado de 5 GDL didáctico diseñado para fabricarse con impresora 3D.

    OpenAIRE

    TORRÓ LLUCH, PABLO

    2015-01-01

    [ES] El proyecto consta en diseñar un brazo articulado de 5 GDL. Se modelará toda la estructura del robot para ser impresa en 3D. Se fabricará el robot y se construirá el prototipo. Se desarrollará el sistema de control para mover los distintos ejes y se programará para ello. Torró Lluch, P. (2015). Robot articulado de 5 GDL didáctico diseñado para fabricarse con impresora 3D. http://hdl.handle.net/10251/54050. TFGM

  7. Fundamentals of soft robot locomotion

    OpenAIRE

    Calisti, M.; Picardi, G.; Laschi, C.

    2017-01-01

    Soft robotics and its related technologies enable robot abilities in several robotics domains including, but not exclusively related to, manipulation, manufacturing, human���robot interaction and locomotion. Although field applications have emerged for soft manipulation and human���robot interaction, mobile soft robots appear to remain in the research stage, involving the somehow conflictual goals of having a deformable body and exerting forces on the environment to achieve locomotion. This p...

  8. Modelo cinematico del mini robot movil Ricimaf

    Directory of Open Access Journals (Sweden)

    Abelardo del Pozo Quintero

    2012-12-01

    Full Text Available El presente trabajo describe el modelo dinámico del mini robot móvil construido en el Icimaf, cuya  tracción se logra mediante dos motores de paso acoplados a dos ruedas plásticas forradas con una capa de goma para facilitar su  movimiento y una pequeña rueda direccional. Se elabora la estructura jacobiana necesaria para el desarrollo del modelo dinámico. Se incluye el análisis de un rasgo especial de estos robots, que  es su naturaleza no holonómica, en contraste  con los robots manipuladores, lo que da lugar a un tipo de restricción del movimiento. La elaboración del modelo dinámico originó el empleo de los multiplicadores de Lagrange. Para la obtención de las ecuaciones dinámicas se emplea el método de Euler-Lagrange

  9. Robotic liver surgery

    Science.gov (United States)

    Leung, Universe

    2014-01-01

    Robotic surgery is an evolving technology that has been successfully applied to a number of surgical specialties, but its use in liver surgery has so far been limited. In this review article we discuss the challenges of minimally invasive liver surgery, the pros and cons of robotics, the evolution of medical robots, and the potentials in applying this technology to liver surgery. The current data in the literature are also presented. PMID:25392840

  10. Robotized transcranial magnetic stimulation

    CERN Document Server

    Richter, Lars

    2014-01-01

    Presents new, cutting-edge algorithms for robot/camera calibration, sensor fusion and sensor calibration Explores the main challenges for accurate coil positioning, such as head motion, and outlines how active robotic motion compensation can outperform hand-held solutions Analyzes how a robotized system in medicine can alleviate concerns with a patient's safety, and presents a novel fault-tolerant algorithm (FTA) sensor for system safety

  11. Raspberry Pi robotics projects

    CERN Document Server

    Grimmett, Richard

    2015-01-01

    This book is for enthusiasts who want to use the Raspberry Pi to build complex robotics projects. With the aid of the step-by-step instructions in this book, you can construct complex robotics projects that can move, talk, listen, see, swim, or fly. No previous Raspberry Pi robotics experience is assumed, but even experts will find unexpected and interesting information in this invaluable guide.

  12. Robots as Confederates

    DEFF Research Database (Denmark)

    Fischer, Kerstin

    2016-01-01

    This paper addresses the use of robots in experimental research for the study of human language, human interaction, and human nature. It is argued that robots make excellent confederates that can be completely controlled, yet which engage human participants in interactions that allow us to study...... numerous linguistic and psychological variables in isolation in an ecologically valid way. Robots thus combine the advantages of observational studies and of controlled experimentation....

  13. Robotics in General Surgery

    OpenAIRE

    Wall, James; Chandra, Venita; Krummel, Thomas

    2008-01-01

    In summary, robotics has made a significant contribution to General Surgery in the past 20 years. In its infancy, surgical robotics has seen a shift from early systems that assisted the surgeon to current teleoperator systems that can enhance surgical skills. Telepresence and augmented reality surgery are being realized, while research and development into miniaturization and automation is rapidly moving forward. The future of surgical robotics is bright. Researchers are working to address th...

  14. Markov Chain Monte Carlo (MCMC) methods for parameter estimation of a novel hybrid redundant robot

    International Nuclear Information System (INIS)

    Wang Yongbo; Wu Huapeng; Handroos, Heikki

    2011-01-01

    This paper presents a statistical method for the calibration of a redundantly actuated hybrid serial-parallel robot IWR (Intersector Welding Robot). The robot under study will be used to carry out welding, machining, and remote handing for the assembly of vacuum vessel of International Thermonuclear Experimental Reactor (ITER). The robot has ten degrees of freedom (DOF), among which six DOF are contributed by the parallel mechanism and the rest are from the serial mechanism. In this paper, a kinematic error model which involves 54 unknown geometrical error parameters is developed for the proposed robot. Based on this error model, the mean values of the unknown parameters are statistically analyzed and estimated by means of Markov Chain Monte Carlo (MCMC) approach. The computer simulation is conducted by introducing random geometric errors and measurement poses which represent the corresponding real physical behaviors. The simulation results of the marginal posterior distributions of the estimated model parameters indicate that our method is reliable and robust.

  15. Robotic hand project

    OpenAIRE

    Karaçizmeli, Cengiz; Çakır, Gökçe; Tükel, Dilek

    2014-01-01

    In this work, the mechatronic based robotic hand is controlled by the position data taken from the glove which has flex sensors mounted to capture finger bending of the human hand. The angular movement of human hand’s fingers are perceived and processed by a microcontroller, and the robotic hand is controlled by actuating servo motors. It has seen that robotic hand can simulate the movement of the human hand that put on the glove, during tests have done. This robotic hand can be used not only...

  16. Perspectives of construction robots

    Science.gov (United States)

    Stepanov, M. A.; Gridchin, A. M.

    2018-03-01

    This article is an overview of construction robots features, based on formulating the list of requirements for different types of construction robots in relation to different types of construction works.. It describes a variety of construction works and ways to construct new or to adapt existing robot designs for a construction process. Also, it shows the prospects of AI-controlled machines, implementation of automated control systems and networks on construction sites. In the end, different ways to develop and improve, including ecological aspect, the construction process through the wide robotization, creating of data communication networks and, in perspective, establishing of fully AI-controlled construction complex are formulated.

  17. Robots de servicio

    OpenAIRE

    Aracil, Rafael; Balaguer, Carlos; Armada, Manuel

    2008-01-01

    8 págs, 9 figs. El término Robots de Servicio apareció a finales de los años 80 como una necesidad de desarrollar máquinas y sistemas capaces de trabajar en entornos diferentes a los fabriles. Los Robots de Servicio tenían que poder trabajar en entornos noestructurados, en condiciones ambientales cambiantes y con una estrecha interacción con los humanos. En 1995 fue creado por la IEEE Robotics and Automation Society, el Technical Committee on Service Robots, y este comité definió en el año...

  18. Human-Robot Interaction

    Science.gov (United States)

    Sandor, Aniko; Cross, E. Vincent, II; Chang, Mai Lee

    2015-01-01

    Human-robot interaction (HRI) is a discipline investigating the factors affecting the interactions between humans and robots. It is important to evaluate how the design of interfaces affect the human's ability to perform tasks effectively and efficiently when working with a robot. By understanding the effects of interface design on human performance, workload, and situation awareness, interfaces can be developed to appropriately support the human in performing tasks with minimal errors and with appropriate interaction time and effort. Thus, the results of research on human-robot interfaces have direct implications for the design of robotic systems. For efficient and effective remote navigation of a rover, a human operator needs to be aware of the robot's environment. However, during teleoperation, operators may get information about the environment only through a robot's front-mounted camera causing a keyhole effect. The keyhole effect reduces situation awareness which may manifest in navigation issues such as higher number of collisions, missing critical aspects of the environment, or reduced speed. One way to compensate for the keyhole effect and the ambiguities operators experience when they teleoperate a robot is adding multiple cameras and including the robot chassis in the camera view. Augmented reality, such as overlays, can also enhance the way a person sees objects in the environment or in camera views by making them more visible. Scenes can be augmented with integrated telemetry, procedures, or map information. Furthermore, the addition of an exocentric (i.e., third-person) field of view from a camera placed in the robot's environment may provide operators with the additional information needed to gain spatial awareness of the robot. Two research studies investigated possible mitigation approaches to address the keyhole effect: 1) combining the inclusion of the robot chassis in the camera view with augmented reality overlays, and 2) modifying the camera

  19. Advanced robot locomotion.

    Energy Technology Data Exchange (ETDEWEB)

    Neely, Jason C.; Sturgis, Beverly Rainwater; Byrne, Raymond Harry; Feddema, John Todd; Spletzer, Barry Louis; Rose, Scott E.; Novick, David Keith; Wilson, David Gerald; Buerger, Stephen P.

    2007-01-01

    This report contains the results of a research effort on advanced robot locomotion. The majority of this work focuses on walking robots. Walking robot applications include delivery of special payloads to unique locations that require human locomotion to exo-skeleton human assistance applications. A walking robot could step over obstacles and move through narrow openings that a wheeled or tracked vehicle could not overcome. It could pick up and manipulate objects in ways that a standard robot gripper could not. Most importantly, a walking robot would be able to rapidly perform these tasks through an intuitive user interface that mimics natural human motion. The largest obstacle arises in emulating stability and balance control naturally present in humans but needed for bipedal locomotion in a robot. A tracked robot is bulky and limited, but a wide wheel base assures passive stability. Human bipedal motion is so common that it is taken for granted, but bipedal motion requires active balance and stability control for which the analysis is non-trivial. This report contains an extensive literature study on the state-of-the-art of legged robotics, and it additionally provides the analysis, simulation, and hardware verification of two variants of a proto-type leg design.

  20. Robotic assisted laparoscopic colectomy.

    LENUS (Irish Health Repository)

    Pandalai, S

    2010-06-01

    Robotic surgery has evolved over the last decade to compensate for limitations in human dexterity. It avoids the need for a trained assistant while decreasing error rates such as perforations. The nature of the robotic assistance varies from voice activated camera control to more elaborate telerobotic systems such as the Zeus and the Da Vinci where the surgeon controls the robotic arms using a console. Herein, we report the first series of robotic assisted colectomies in Ireland using a voice activated camera control system.

  1. Autonomous military robotics

    CERN Document Server

    Nath, Vishnu

    2014-01-01

    This SpringerBrief reveals the latest techniques in computer vision and machine learning on robots that are designed as accurate and efficient military snipers. Militaries around the world are investigating this technology to simplify the time, cost and safety measures necessary for training human snipers. These robots are developed by combining crucial aspects of computer science research areas including image processing, robotic kinematics and learning algorithms. The authors explain how a new humanoid robot, the iCub, uses high-speed cameras and computer vision algorithms to track the objec

  2. Soft-Material Robotics

    OpenAIRE

    Wang, L; Nurzaman, SG; Iida, Fumiya

    2017-01-01

    There has been a boost of research activities in robotics using soft materials in the past ten years. It is expected that the use and control of soft materials can help realize robotic systems that are safer, cheaper, and more adaptable than the level that the conventional rigid-material robots can achieve. Contrary to a number of existing review and position papers on soft-material robotics, which mostly present case studies and/or discuss trends and challenges, the review focuses on the fun...

  3. Robotics for nuclear facilities

    International Nuclear Information System (INIS)

    Abe, Akira; Nakayama, Ryoichi; Kubo, Katsumi

    1988-01-01

    It is highly desirable that automatic or remotely controlled machines perform inspection and maintenance tasks in nuclear facilities. Toshiba has been working to develop multi-functional robots, with one typical example being a master-slave manipulator for use in reprocessing facilities. At the same time, the company is also working on the development of multi-purpose intelligent robots. One such device, an automatic inspection robot, to be deployed along a monorail, performs inspection by means of image processing technology, while and advanced intelligent maintenance robot is equipped with a special wheel-locomotion mechanism and manipulator and is designed to perform maintenance tasks. (author)

  4. Increasing Robotic Science Applications

    Data.gov (United States)

    National Aeronautics and Space Administration — The principal objectives are to demonstrate robotic-based scientific investigations and resource prospecting, and develop and demonstrate modular science instrument...

  5. DSLs in robotics

    DEFF Research Database (Denmark)

    Schultz, Ulrik Pagh; Bordignon, Mirko; Stoy, Kasper

    2017-01-01

    Robotic systems blend hardware and software in a holistic way that intrinsically raises many crosscutting concerns such as concurrency, uncertainty, and time constraints. These concerns make programming robotic systems challenging as expertise from multiple domains needs to be integrated...... conceptually and technically. Programming languages play a central role in providing a higher level of abstraction. This briefing presents a case study on the evolution of domain-specific languages based on modular robotics. The case study on the evolution of domain-specific languages is based on a series...... of DSL prototypes developed over five years for the domain of modular, self-reconfigurable robots....

  6. ITER EDA newsletter. V. 5, no. 8

    International Nuclear Information System (INIS)

    1996-08-01

    This issue of the Newsletter on the Engineering Design Activities (EDA) for the ITER Tokamak project contains a report on the divertor remote handling development (and of a summer party at the ITER Joint Work Site in Garching, Germany)

  7. ITER EDA newsletter. V. 8, no. 3

    International Nuclear Information System (INIS)

    1999-03-01

    This newsletter contains reports on: 'The ITER management advisory committee (MAC) meeting in Cadarache' and on 'ITER technical advisory committee meeting at Garching'. It contains photos of the participants of both meetings

  8. ITER EDA newsletter. V. 5, no. 8

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1996-08-01

    This issue of the Newsletter on the Engineering Design Activities (EDA) for the ITER Tokamak project contains a report on the divertor remote handling development (and of a summer party at the ITER Joint Work Site in Garching, Germany).

  9. Iteration and Prototyping in Creating Technical Specifications.

    Science.gov (United States)

    Flynt, John P.

    1994-01-01

    Claims that the development process for computer software can be greatly aided by the writers of specifications if they employ basic iteration and prototyping techniques. Asserts that computer software configuration management practices provide ready models for iteration and prototyping. (HB)

  10. ITER EDA newsletter. V. 7, special issue

    International Nuclear Information System (INIS)

    1998-07-01

    In conjunction with the ITER Council Meeting, a ceremony was held at the IAEA Headquarters in Vienna on 22 July 1998 to celebrate the achievements of the ITER Engineering Design Activities during the period 1992-1998

  11. Iterative perceptual learning for social behavior synthesis

    NARCIS (Netherlands)

    de Kok, I.A.; Poppe, Ronald Walter; Heylen, Dirk K.J.

    We introduce Iterative Perceptual Learning (IPL), a novel approach to learn computational models for social behavior synthesis from corpora of human–human interactions. IPL combines perceptual evaluation with iterative model refinement. Human observers rate the appropriateness of synthesized

  12. Iterative Perceptual Learning for Social Behavior Synthesis

    NARCIS (Netherlands)

    de Kok, I.A.; Poppe, Ronald Walter; Heylen, Dirk K.J.

    We introduce Iterative Perceptual Learning (IPL), a novel approach for learning computational models for social behavior synthesis from corpora of human-human interactions. The IPL approach combines perceptual evaluation with iterative model refinement. Human observers rate the appropriateness of

  13. ITER EDA Newsletter. V.3, no.4

    International Nuclear Information System (INIS)

    1994-04-01

    This ITER EDA Newsletter issue contains a report on the fifth meeting of the ITER Management Advisory Committee and a summary of a magnet and safety technical meeting held at Naka, February 22-25, 1994

  14. ITER EDA newsletter. V. 8, no. 8

    International Nuclear Information System (INIS)

    1999-08-01

    This ITER EDA newsletter reports on the programme directors meeting of 28-29 July 1999, the Snowmass Fusion Summer Study Group workshop and the ITER Management Advisory Committee meeting in Garching. Individual abstracts are prepared for the 3 meetings

  15. ITER EDA newsletter. V. 8, no. 7

    International Nuclear Information System (INIS)

    1999-07-01

    This newsletter contains an article concerning the ITER divertor cassette project meeting in Bologna, Italy (May 26-28, 1999), and an emotional outburst, concerning the closure of the ITER site in San Diego, USA

  16. ITER EDA newsletter. V. 2, no. 11

    International Nuclear Information System (INIS)

    1993-11-01

    This issue of the ITER EDA (Engineering Design Activities) Newsletter contains an ITER EDA Status Report, and a report on the Fourth International Fusion Neutronics Workshop at the University of California, Los Angeles Campus, October 20-21, 1993

  17. ITER on display at Yokohama, Japan

    International Nuclear Information System (INIS)

    Green, B.

    1998-01-01

    During the 17th IAEA Fusion Energy Conference, held in Yokohama, Japan, from 19-24 October 1998, the ITER Project exhibited a display, primarily of the research and development which has taken place to support the design of ITER

  18. ITER EDA newsletter. V. 6, no. 12

    International Nuclear Information System (INIS)

    1997-12-01

    This issue of the ITER Newsletter contains summary reports (i) on the Sixth ITER Technical Meeting on Safety and Environment and (ii) on JAERI's Annual Public Seminar on Fusion Research and Development

  19. Meeting of the ITER Council

    International Nuclear Information System (INIS)

    Drew, M.

    2001-01-01

    Full text: A meeting of the ITER Council took place in Toronto, Canada, on 27-28 February 2001 (Canada participates in the ITER EDA as an associate of the EU Party). The delegations to the Council were led by Dr. U. Finzi, Principal Advisor in charge of Fusion R and D in the Directorate-General for Research of the European Commission, Mr. T. Sugawa, Deputy Director-General of the Research and Development Bureau of the Ministry of Education, Culture, Sport, Science and Technology of Japan, and Academician E. Velikhov, President of the RRC ''Kurchatov Institute''. The European delegation was joined by Canadian experts including a representative from the Canadian Department of Natural Resources. The Council heard presentations from Dr. H. Kishimoto on the successful completion of the Explorations concerning future joint implementation of ITER, and from Dr. J.-P. Rager on the ITER International Industry Liaison Meeting held in Toronto in November 2000. Having noted statements of Parties' status, in particular concerning the readiness to start negotiations and the progress toward site offers, the Council encouraged the Parties to pursue preparations toward future implementation of ITER along the general lines proposed in the Explorers' final report. The Council also noted the readiness the of the RF and EU Parties to instruct specified current JCT members to remain at their places of assignment after the end of the EDA, in preparation for a transition to the Co-ordinated Technical Activities foreseen as support to ITER negotiations. The Council was pleased to hear that meetings with the Director of the ITER Parties' Designated Safety Representatives had started, and commended the progress toward achieving timely licensing processes with a good common understanding. The Council noted with appreciation the Director's view that no difficulties of principle in the licensing approach had been identified during the informal discussions with the regulatory representatives and

  20. Contenha-se, se for capaz

    Directory of Open Access Journals (Sweden)

    Mirna Feitoza Pereira

    2008-11-01

    Full Text Available Em O Instinto da Linguagem, Steven Pinker discorre sobre sua célebre tese: a linguagem não é a mais prodigiosa invenção cultural humana. Ela é uma peça da constituição biológica do cérebro. A linguagem é uma habilidade complexa e especializada, que se desenvolve espontaneamente na criança, sem qualquer esforço consciente ou instrução formal, que se manifesta sem que se perceba sua lógica subjacente, que é qualitativamente a mesma em todo indiví­duo, e que difere de capacidades mais gerais de processamento de informações ou de comportamento inteligente. Para Pinker, a concepção de linguagem como um tipo de instinto transmite a idéia de que as pessoas sabem falar mais ou menos da mesma maneira que as aranhas sabem tecer suas teias. Ele apóia suas idéias em Darwin e Chomsky. Palavras-chave linguagem, gramática universal, evolução Abstract In Language Instinct, Steven Pinker argues about his famous thesis: language is not the most prodigious human cultural invention. It is a distinct piece of the biological constitution of the brain. Language is a complex, specialized skill, which develops spontaneously in the child, without conscious effort or formal instruction. It reveals itself without awareness of its underlying logic, which is qualitatively the same in every individual, and which is distinct from more general abilities of information processing of intelligent behavior. According to Pinker, the conception of language as a kind of instinct conveys the idea that people know how to talk in more or less the same way as spiders know how to spin webs. His thesis is founded in Darwin and Chomsky-s theories. Keywords language, universal grammar, evolution

  1. ITER CTA newsletter. No. 15, December 2002

    International Nuclear Information System (INIS)

    2003-03-01

    This ITER CTA newsletter issue contains brief information about several meetings related to ITER. One of them is the seventh ITER Negotiations Meetings that took place in Barcelona, Spain on 9-10 December 2002, another is the final ITER CTA Project Board Meeting, which took place in Barcelona, Spain on 8 December 2002 and the last one is the Third Meeting of the International Tokamak Physics Activity (ITPA) Topical Group on diagnostics held in Toki, Japan on 18-21 September 2002

  2. ITER EDA newsletter. V. 5, no. 10

    International Nuclear Information System (INIS)

    1996-10-01

    This issue of the newsletter on the Engineering Design Activities (EDA) for the ITER Tokamak project contains a report on the Fifth ITER Technical Meeting on Safety, Environment, and Regulatory Approval, held September 29 - October 7, 1996 at the ITER San Diego Joint Work Site; and a report on the Fifth ITER Diagnostics Expert Group Workshop and Technical Meeting on Diagnostics held in Montreal, Canada, 12-13 October 1996

  3. ITER EDA newsletter. V. 5, no. 5

    International Nuclear Information System (INIS)

    1996-05-01

    This issues of the ITER Engineering Design Activities Newsletter contains a report on the Tenth Meeting of the ITER Management Advisory Committee held at JAERI Headquarters, Tokyo, June 5-6, 1996; on the Fourth ITER Divertor Physics and Divertor Modelling and Database Expert Group Workshop, held at the San Diego ITER Joint Worksite, March 11-15, 1996, and on the Agenda for the 16th IAEA Fusion Energy Conference (7-11 October 1996)

  4. ITER EDA newsletter. V. 9, no. 11

    International Nuclear Information System (INIS)

    2000-11-01

    This issue of the ITER EDA Newsletter contains discussions of three meetings, i.e., (1) the Third ITER International Industry Liaison Meeting held in Toronto, Canada (November 7-9, 2000), (2) an informal meeting on ITER developments held in Sorrento, Italy (October 9, 2000), and (3) the Thirteenth Meeting of the ITER Physics Expert Group on Diagnostics held in Naka, Japan (September 21-22, 2000)

  5. ITER EDA newsletter. V. 9, no. 8

    International Nuclear Information System (INIS)

    2000-08-01

    This ITER EDA Newsletter reports on the ITER meeting on 29-30 June 2000 in Moscow, summarizes the status report on the ITER EDA by R. Aymar, the ITER Director, and gives overviews of the expert group workshop on transport and internal barrier physics, confinement database and modelling and edge and pedestal physics, and the IEA workshop on transport barriers at edge and core. Individual abstracts have been prepared

  6. Colorado Conference on iterative methods. Volume 1

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1994-12-31

    The conference provided a forum on many aspects of iterative methods. Volume I topics were:Session: domain decomposition, nonlinear problems, integral equations and inverse problems, eigenvalue problems, iterative software kernels. Volume II presents nonsymmetric solvers, parallel computation, theory of iterative methods, software and programming environment, ODE solvers, multigrid and multilevel methods, applications, robust iterative methods, preconditioners, Toeplitz and circulation solvers, and saddle point problems. Individual papers are indexed separately on the EDB.

  7. ITER technical advisory committee meeting at Garching

    International Nuclear Information System (INIS)

    Fujiwara, M.

    1999-01-01

    The ITER Technical Advisory Committee meeting took place on 24-27 February at the Garching Joint Work Site. According to the discussions at the ITER meeting in Yokohama in October 1998, the Technical Advisory Committee was requested to conduct a thorough review of the document 'Options for the reduced technical objectives / reduced cost ITER'

  8. ITER EDA newsletter. V. 9, no. 9

    International Nuclear Information System (INIS)

    2000-09-01

    This ITER EDA Newsletter contains the following 5 contributions: CSMC and CSIC charging tests successfully completed; The ITER divertor cassette project meeting; Blanket R and D and design task meeting; IAEA technical committee meeting on fusion safety; ITER L-6 large project ''blanket remote handling and maintenance''

  9. Final ITER CTA project board meeting

    International Nuclear Information System (INIS)

    Vlasenkov, V.

    2003-01-01

    The final ITER CTA Project Board Meeting (PB) took place in Barcelona, Spain on 8 December 2002. The PB took notes of the comments concerning the status of the International Team and the Participants Teams, including Dr. Aymar's report 'From ITER to a FUSION Power Reactor' and the assessment of the ITER project cost estimate

  10. ITER ITA newsletter. No. 21, April 2005

    International Nuclear Information System (INIS)

    2005-05-01

    This issue of ITER ITA (ITER transitional Arrangements) newsletter contains concise information about Russian federation Participant Team's activity in the area of preparation for ITER construction and information about International Fusion materials irradiation Facility(IRMIF) project and prospects for implementation

  11. ITER EDA newsletter. V. 7, no. 12

    International Nuclear Information System (INIS)

    1998-12-01

    This edition of the ITER EDA Newsletter is dedicated to celebrate the achievements of the ITER activities at the San Diego Joint Work Site. Articles by E. Velikhov, A. Davies and R. Aymar mark the final days of American participation in the ITER program

  12. ITER EDA newsletter. V. 7, no. 10

    International Nuclear Information System (INIS)

    1998-10-01

    This newsletter contains three articles, namely a report on an ITER meeting (October 20-21,1998) in Yokohama, Japan, a short note on the 17th IAEA Fusion Energy Conference (October 19-24, 1998) in Yokohama and a monograph by ITER Director R. Aymar on 'the Legacy of Artsimovitch and the lessons of ITER'

  13. ITER EDA newsletter. V. 6, no. 2

    International Nuclear Information System (INIS)

    1997-02-01

    This issue of the ITER EDA (Engineering Design Activities) Newsletter reports on the ITER divertor development project and its objectives; contains a report on the 16th Energy IAEA Fusion Conference (ITER and other Tokamak Issues) held in Montreal, Canada; 287 papers were selected by the Programme Committee for presentation and 178 posters were presented. 3 figs

  14. ITER EDA newsletter. V. 10, no. 3

    International Nuclear Information System (INIS)

    2001-03-01

    This issue contains a report on the meeting of the ITER Council (M. Drew), a report on the ITER EDA status (Dr. R. Aymar), a report on the ITER Council tour of the Clarington Site (Dr. D. Dautovich) . Abstracts of the indivdual reports have been included in the database

  15. ITER EDA newsletter. V. 7, No. 3

    International Nuclear Information System (INIS)

    1998-03-01

    This issue of the ITER Newsletter contains an article of the Status of the ITER EDA and the progress of the ITER activities and a report on the 5th Technical Meeting on Quality which was held in San Diego on 20-22 October 1997

  16. ITER EDA newsletter. V. 8, no. 11

    International Nuclear Information System (INIS)

    1999-11-01

    This ITER EDA Newsletter contains summary reports on the eleventh meeting of the ITER diagnostic expert group in Cadarache, France, on the ITER JCT presentation at the international conference on fusion reactor materials in Colorado Springs, USA and on the seventh workshop on plasma edge theory in fusion devices in Tajimi, Japan. Individual abstracts are prepared for the three contributions

  17. On One-Point Iterations and DIIS

    DEFF Research Database (Denmark)

    Østerby, Ole; Sørensen, Hans Henrik Brandenborg

    2009-01-01

    We analyze various iteration procedures in many dimensions inspired by the SCF iteration used in first principles electronic structure calculations. We show that the simple mixing of densities can turn a divergent (or slowly convergent) iteration into a (faster) convergent process provided all...

  18. ITER EDA Newsletter. V. 2, no. 1

    International Nuclear Information System (INIS)

    1993-01-01

    This ITER EDA (Engineering Design Activities) Newsletter issue is dedicated to the description of the ITER EDA Home Teams (European Community, Japan, Russian Federation, USA), in particular their composition, tasks, responsibilities, national support and activities, aimed to design the ITER tokamak

  19. ITER ITA newsletter. No. 2, March 2003

    International Nuclear Information System (INIS)

    2003-05-01

    This ITER ITA newsletter contains concise information about the JASS (Joint Assessment of Specific Sites) final report. The main conclusion is that all four sites are sound and fully capable to respond to all ITER Site Requirements and Design assumptions, as approved by the ITER Council in its January 2000 Meeting

  20. ITER EDA newsletter. V. 2, no. 12

    International Nuclear Information System (INIS)

    1993-12-01

    This issue of the ITER EDA (Engineering Design Activities) Newsletter contains a report of the Second ITER Technical Committee Meeting on Safety, Environment, and Regulatory Approval, San Diego, USA, November 3-12, 1993, and a summary report on an ITER Magnet Technical Meeting, Naka, Japan, October 5-8, 1993

  1. ITER EDA newsletter. V. 2, no. 9

    International Nuclear Information System (INIS)

    1993-09-01

    This ITER EDA (Engineering Design Activities) Newsletter issue contains a report on the third meeting of the ITER Technical Advisory Committee, a summary report for the ITER Magnetic Technical Meeting, a brief account of the International Workshop on Nuclear Data for Fusion Reactor Technology, and a description of approved arrangements for visiting home team personnel

  2. Estudio del uso de robots industriales como asistentes en operaciones de laparoscopia

    Directory of Open Access Journals (Sweden)

    Bernardo Efraín Garcés

    2009-01-01

    Full Text Available Este artículo presenta un estudio sobre el uso de los robots industriales como asistentes en operaciones de laparoscopia. Se presenta un resumen sobre la laparoscopia como método quirúrgico así como de esta intervención asistida por robots. Se aborda de manera particular el problema del paso por el orificio abdominal (trocar por donde se introducen los instrumentos quirúrgicos. Este problema es resuelto a través de un algoritmo de optimización que entrega las trayectorias que deben seguir las articulaciones del codo y la muñeca de un robot antropomórfico. Se estudian dos robots industriales (Puma de Unimation y PA10 de Mitsubishi y se evalúan en simulación sus respectivos desempeños como posibles asistentes en operaciones de este tipo.

  3. ITER-FEAT outline design report

    International Nuclear Information System (INIS)

    2001-01-01

    In July 1998 the ITER Parties were unable, for financial reasons, to proceed with construction of the ITER design proposed at that time, to meet the detailed technical objectives and target cost set in 1992. It was therefore decided to investigate options for the design of ITER with reduced technical objectives and with possibly decreased technical margins, whose target construction cost was one half that of the 1998 ITER design, while maintaining the overall programmatic objective. To identify designs that might meet the revised objectives, task forces involving the JCT and Home Teams met during 1998 and 1999 to analyse and compare a range of options for the design of such a device. This led at the end of 1999 to a single configuration for the ITER design with parameters considered to be the most credible consistent with technical limitations and the financial target, yet meeting fully the objectives with appropriate margins. This new design of ITER, called ''ITER-FEAT'', was submitted to the ITER Director to the ITER Parties as the ''ITER-FEAT Outline Design Report'' (ODR) in January 2000, at their meeting in Tokyo. The Parties subsequently conducted their domestic assessments of this report and fed the resulting comments back into the progressing design. The progress on the developing design was reported to the ITER Technical Advisory Committee (TAC) in June 2000 in the report ''Progress in Resolving Open Design Issues from the ODR'' alongside a report on Progress in Technology R and D for ITER. In addition, the progress in the ITER-FEAT Design and Validating R and D was reported to the ITER Parties. The ITER-FEAT design was subsequently approved by the governing body of ITER in Moscow in June 2000 as the basis for the preparation of the Final Design Report, recognising it as a single mature design for ITER consistent with its revised objectives. This volume contains the documents pertinent to the process described above. More detailed technical information

  4. Multi-robot control interface

    Science.gov (United States)

    Bruemmer, David J [Idaho Falls, ID; Walton, Miles C [Idaho Falls, ID

    2011-12-06

    Methods and systems for controlling a plurality of robots through a single user interface include at least one robot display window for each of the plurality of robots with the at least one robot display window illustrating one or more conditions of a respective one of the plurality of robots. The user interface further includes at least one robot control window for each of the plurality of robots with the at least one robot control window configured to receive one or more commands for sending to the respective one of the plurality of robots. The user interface further includes a multi-robot common window comprised of information received from each of the plurality of robots.

  5. The international thermonuclear reactor (ITER)

    International Nuclear Information System (INIS)

    Fowler, T.K.; Henning, C.D.

    1987-01-01

    Four governmental groups, representing Europe, Japan, USSR and U.S. met in March 1987 to consider a new international design of a magnetic fusion device for the 1990's. An interim group was appointed. The author gives a brief synopsis of what might be thought of as a draft charter. The starting point is the objective of the ITER device, which is summarized as demonstrating both scientific and technical feasibility of fusion. The paper presents an update on the current thinking and technical aspects for the International Thermonuclear Experimental Reactor (ITER). This covers not only what is happening in the U.S. but also some reports of preliminary thinking of the last technical work that occurred in Vienna

  6. The ITER poloidal field system

    Energy Technology Data Exchange (ETDEWEB)

    Wesley, J [General Atomics, San Diego, CA (USA); Beljakov, V; Kavin, A; Korshakov, V; Kostenko, A; Roshal, A; Zakharov, L [Kurchatov Inst. of Atomic Energy, Moscow (USSR); Bulmer, R; Kaiser, T; Miller, J R; Pearlstein, L D [Lawrence Livermore National Lab., CA (USA); Hogan, J [Oak Ridge National Lab., TN (USA); Kurihara, K; Shimomura, Y; Sugihara, M; Yoshino, R [Japan Atomic Energy Resea

    1990-12-15

    The ITER poloidal field (PF) system uses superconducting coils to provide the plasma equilibrium fields, slow equilibrium control and plasma flux linkage (V-s) needed for the ITER Operations and Research Program. Double-null (DN) divertor plasmas and operation scenarios for 22 MA Physics (high-Q/ignition) and 15 MA Technology (high-fluence testing) phases are provided. For 22 MA plasmas, total PF flux swing is 333 V-s. This provides inductive current drive (CD) for start-up with 66 V-s of resistive loss and 440-s (330-s minimum) sustained burn. The PF system also allows plasma start-up and shutdown scenarios, and can maintain the plasma configuration during burn over a range of current and pressure profiles. Other capabilities include increased plasma current (25 MA with inductive CD; 28 MA with non-inductive CD assist), divertor separatrix sweeping, and semi-DN and single-null plasmas.

  7. US ITER limiter module design

    International Nuclear Information System (INIS)

    Mattas, R.F.; Billone, M.; Hassanein, A.

    1996-08-01

    The recent U.S. effort on the ITER (International Thermonuclear Experimental Reactor) shield has been focused on the limiter module design. This is a multi-disciplinary effort that covers design layout, fabrication, thermal hydraulics, materials evaluation, thermo- mechanical response, and predicted response during off-normal events. The results of design analyses are presented. Conclusions and recommendations are also presented concerning, the capability of the limiter modules to meet performance goals and to be fabricated within design specifications using existing technology

  8. Tritium behavior in ITER beryllium

    International Nuclear Information System (INIS)

    Longhurst, G.R.

    1990-10-01

    The beryllium neutron multiplier in the ITER breeding blanket will generate tritium through transmutations. That tritium constitutes a safety hazard. Experiments evaluating tritium storage and release mechanisms have shown that most of the tritium comes out in a burst during thermal ramping. A small fraction of retained tritium is released by thermally activated processes. Analysis of recent experimental data shows that most of the tritium resides in helium bubbles. That tritium is released when the bubbles undergo swelling sufficient to develop porosity that connects with the surface. That appears to occur when swelling reaches about 10--15%. Other tritium appears to be stored chemically at oxide inclusions, probably as Be(OT) 2 . That component is released by thermal activation. There is considerable variation in published values for tritium diffusion through the beryllium and solubility in it. Data from experiments using highly irradiated beryllium from the Idaho National Engineering Laboratory showed diffusivity generally in line with the most commonly accepted values for fully dense material. Lower density material, planned for use in the ITER blanket may have very short diffusion times because of the open structure. The beryllium multiplier of the ITER breeding blanket was analyzed for tritium release characteristics using temperature and helium production figures at the midplane generated in support of the ITER Summer Workshop, 1990 in Garching. Ordinary operation, either in Physics or Technology phases, should not result in the release of tritium trapped in the helium bubbles. Temperature excursions above 600 degree C result in large-scale release of that tritium. 29 refs., 10 figs., 3 tabs

  9. Truncated States Obtained by Iteration

    International Nuclear Information System (INIS)

    Cardoso, W. B.; Almeida, N. G. de

    2008-01-01

    We introduce the concept of truncated states obtained via iterative processes (TSI) and study its statistical features, making an analogy with dynamical systems theory (DST). As a specific example, we have studied TSI for the doubling and the logistic functions, which are standard functions in studying chaos. TSI for both the doubling and logistic functions exhibit certain similar patterns when their statistical features are compared from the point of view of DST

  10. Advanced scenarios for ITER operation

    Energy Technology Data Exchange (ETDEWEB)

    Sips, A.C.C. [Max-Planck-Institut fuer Plasmaphysik, Garching (Germany)

    2004-07-01

    In thermonuclear fusion research using magnetic confinement, the tokamak is the leading candidate for achieving conditions required for a reactor. An international experiment, ITER is proposed as the next essential and critical step on the path to demonstrating the scientific and technological feasibility of fusion energy. ITER is to produce and study plasmas dominated by self heating. This would give unique opportunities to explore, in reactor relevant conditions, the physics of {alpha}-particle heating, plasma turbulence and turbulent transport, stability limits to the plasma pressure and exhaust of power and particles. Important new results obtained in experiments, theory and modelling, enable an improved understanding of the physical processes occurring in tokamak plasmas and give enhanced confidence in ITER achieving its goals. In particular, progress has been made in research to raise the performance of tokamaks, aimed to extend the discharge pulse length towards steady-state operation (advanced scenarios). Standard tokamak discharges have a current density increasing monotonically towards the centre of the plasma. Advanced scenarios on the other hand use a modified current density profile. Different advanced scenarios range from (i) plasmas that sustain a central region with a flat current density profile (zero magnetic shear), capable of operating stationary at high plasma pressure, to (ii) discharges with an off axis maximum of the current density profile (reversed magnetic shear in the core), able to form internal transport barriers, to increase the confinement of the plasma. The physics of advanced tokamak discharges is described, together with an overview of recent results from different tokamak experiments. International collaboration between experiments aims to provide a better understanding, control and optimisation of these plasmas. The ability to explore advanced scenarios in ITER is very desirable, in order to verify the result obtained in

  11. Infrared laser diagnostics for ITER

    International Nuclear Information System (INIS)

    Hutchinson, D.P.; Richards, R.K.; Ma, C.H.

    1995-01-01

    Two infrared laser-based diagnostics are under development at ORNL for measurements on burning plasmas such as ITER. The primary effort is the development of a CO 2 laser Thomson scattering diagnostic for the measurement of the velocity distribution of confined fusion-product alpha particles. Key components of the system include a high-power, single-mode CO 2 pulsed laser, an efficient optics system for beam transport and a multichannel low-noise infrared heterodyne receiver. A successful proof-of-principle experiment has been performed on the Advanced Toroidal Facility (ATF) stellerator at ORNL utilizing scattering from electron plasma frequency satellites. The diagnostic system is currently being installed on Alcator C-Mod at MIT for measurements of the fast ion tail produced by ICRH heating. A second diagnostic under development at ORNL is an infrared polarimeter for Faraday rotation measurements in future fusion experiments. A preliminary feasibility study of a CO 2 laser tangential viewing polarimeter for measuring electron density profiles in ITER has been completed. For ITER plasma parameters and a polarimeter wavelength of 10.6 microm, a Faraday rotation of up to 26 degree is predicted. An electro-optic polarization modulation technique has been developed at ORNL. Laboratory tests of this polarimeter demonstrated a sensitivity of ≤ 0.01 degree. Because of the similarity in the expected Faraday rotation in ITER and Alcator C-Mod, a collaboration between ORNL and the MIT Plasma Fusion Center has been undertaken to test this polarimeter system on Alcator C-Mod. A 10.6 microm polarimeter for this measurement has been constructed and integrated into the existing C-Mod multichannel two-color interferometer. With present experimental parameters for C-Mod, the predicted Faraday rotation was on the order of 0.1 degree. Significant output signals were observed during preliminary tests. Further experiment and detailed analyses are under way

  12. Matlab modeling of ITER CODAC

    International Nuclear Information System (INIS)

    Pangione, L.; Lister, J.B.

    2008-01-01

    The ITER CODAC (COntrol, Data Access and Communication) conceptual design resulted from 2 years of activity. One result was a proposed functional partitioning of CODAC into different CODAC Systems, each of them partitioned into other CODAC Systems. Considering the large size of this project, simple use of human language assisted by figures would certainly be ineffective in creating an unambiguous description of all interactions and all relations between these Systems. Moreover, the underlying design is resident in the mind of the designers, who must consider all possible situations that could happen to each system. There is therefore a need to model the whole of CODAC with a clear and preferably graphical method, which allows the designers to verify the correctness and the consistency of their project. The aim of this paper is to describe the work started on ITER CODAC modeling using Matlab/Simulink. The main feature of this tool is the possibility of having a simple, graphical, intuitive representation of a complex system and ultimately to run a numerical simulation of it. Using Matlab/Simulink, each CODAC System was represented in a graphical and intuitive form with its relations and interactions through the definition of a small number of simple rules. In a Simulink diagram, each system was represented as a 'black box', both containing, and connected to, a number of other systems. In this way it is possible to move vertically between systems on different levels, to show the relation of membership, or horizontally to analyse the information exchange between systems at the same level. This process can be iterated, starting from a global diagram, in which only CODAC appears with the Plant Systems and the external sites, and going deeper down to the mathematical model of each CODAC system. The Matlab/Simulink features for simulating the whole top diagram encourage us to develop the idea of completing the functionalities of all systems in order to finally have a full

  13. ITER merges energies in Provence

    International Nuclear Information System (INIS)

    Barla, J.Ch.

    2009-01-01

    The works around the Cadarache site where the experimental nuclear fusion reactor ITER is to be built have already generated about 366 million euros of contracts and provisions with French companies by September 30, 2009. The advance of the project should bring 3000 to 4000 persons more around the site but the Provence region suffers from the lack of a real projected management of employment and skills. (J.S.)

  14. Robots: l'embarras de richesses [:survey of robots available

    International Nuclear Information System (INIS)

    Meieran, H.; Brittain, K.; Sturkey, R.

    1989-01-01

    A survey of robots available for use in the nuclear industry is presented. Two new categories of mobile robots have been introduced since the last survey (April 1987): pipe crawlers and underwater robots. The number of robots available has risen to double what it was two years ago and four times what it was in 1986. (U.K.)

  15. Biomass feeds vegetarian robot; Biomassa voedt vegetarische robot

    Energy Technology Data Exchange (ETDEWEB)

    Van den Brandt, M. [Office for Science and Technology, Embassy of the Kingdom of the Netherlands, Washington (United States)

    2009-09-15

    This brief article addresses the EATR robot (Energetically Autonomous Tactical Robot) that was developed by Cyclone Power and uses biomass as primary source of energy for propulsion. [Dutch] Een kort artikel over de door Cyclone Power ontwikkelde EATR-robot (Energetically Autonomous Tactical Robot) die voor de voortdrijving biomassa gebruikt als primaire energiebron.

  16. VirtualBot, un entorn de programació de robots en format web

    OpenAIRE

    Moreu Reñé, Xavi

    2016-01-01

    VirtualBot és una web on es programen una sèrie de robots en un llenguatge virtual que es mouran per un entorn 3D. Es pot programar més d'un robot per poder experimentar cooperacions. El programa permet editar l'entorn com són els murs i balises, les quals un robot podrà agafar i desar a un interruptor. VirtualBox es una web donde se programan una serie de robots en un lenguaje virtual que se moverán por un entorno 3D. Se puede programar más de un robot para poder experimentar cooperacione...

  17. Can we trust robots?

    NARCIS (Netherlands)

    Coeckelbergh, Mark

    2011-01-01

    Can we trust robots? Responding to the literature on trust and e-trust, this paper asks if the question of trust is applicable to robots, discusses different approaches to trust, and analyses some preconditions for trust. In the course of the paper a phenomenological-social approach to trust is

  18. Robotics in endoscopy.

    Science.gov (United States)

    Klibansky, David; Rothstein, Richard I

    2012-09-01

    The increasing complexity of intralumenal and emerging translumenal endoscopic procedures has created an opportunity to apply robotics in endoscopy. Computer-assisted or direct-drive robotic technology allows the triangulation of flexible tools through telemanipulation. The creation of new flexible operative platforms, along with other emerging technology such as nanobots and steerable capsules, can be transformational for endoscopic procedures. In this review, we cover some background information on the use of robotics in surgery and endoscopy, and review the emerging literature on platforms, capsules, and mini-robotic units. The development of techniques in advanced intralumenal endoscopy (endoscopic mucosal resection and endoscopic submucosal dissection) and translumenal endoscopic procedures (NOTES) has generated a number of novel platforms, flexible tools, and devices that can apply robotic principles to endoscopy. The development of a fully flexible endoscopic surgical toolkit will enable increasingly advanced procedures to be performed through natural orifices. The application of platforms and new flexible tools to the areas of advanced endoscopy and NOTES heralds the opportunity to employ useful robotic technology. Following the examples of the utility of robotics from the field of laparoscopic surgery, we can anticipate the emerging role of robotic technology in endoscopy.

  19. Neuronal nets in robotics

    International Nuclear Information System (INIS)

    Jimenez Sanchez, Raul

    1999-01-01

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

  20. Modelling of Hydraulic Robot

    DEFF Research Database (Denmark)

    Madsen, Henrik; Zhou, Jianjun; Hansen, Lars Henrik

    1997-01-01

    This paper describes a case study of identifying the physical model (or the grey box model) of a hydraulic test robot. The obtained model is intended to provide a basis for model-based control of the robot. The physical model is formulated in continuous time and is derived by application...

  1. Robots that care

    NARCIS (Netherlands)

    Looije, R.; Arendsen, J.; Saldien, J.; Vanderborght, B.; Broekens, J.; Neerincx, M.

    2010-01-01

    Many countries face pressure on their health care systems. To alleviate this pressure, 'self care' and 'self monitoring' are often stimulated with the use of new assistive technologies. Social robotics is a research area where robotic technology is optimized for various social functions. One of

  2. Robotics and Industrial Arts.

    Science.gov (United States)

    Edmison, Glenn A.; And Others

    Robots are becoming increasingly common in American industry. By l990, they will revolutionize the way industry functions, replacing hundreds of workers and doing hot, dirty jobs better and more quickly than the workers could have done them. Robotics should be taught in high school industrial arts programs as a major curriculum component. The…

  3. Robotics in medicine

    Science.gov (United States)

    Kuznetsov, D. N.; Syryamkin, V. I.

    2015-11-01

    Modern technologies play a very important role in our lives. It is hard to imagine how people can get along without personal computers, and companies - without powerful computer centers. Nowadays, many devices make modern medicine more effective. Medicine is developing constantly, so introduction of robots in this sector is a very promising activity. Advances in technology have influenced medicine greatly. Robotic surgery is now actively developing worldwide. Scientists have been carrying out research and practical attempts to create robotic surgeons for more than 20 years, since the mid-80s of the last century. Robotic assistants play an important role in modern medicine. This industry is new enough and is at the early stage of development; despite this, some developments already have worldwide application; they function successfully and bring invaluable help to employees of medical institutions. Today, doctors can perform operations that seemed impossible a few years ago. Such progress in medicine is due to many factors. First, modern operating rooms are equipped with up-to-date equipment, allowing doctors to make operations more accurately and with less risk to the patient. Second, technology has enabled to improve the quality of doctors' training. Various types of robots exist now: assistants, military robots, space, household and medical, of course. Further, we should make a detailed analysis of existing types of robots and their application. The purpose of the article is to illustrate the most popular types of robots used in medicine.

  4. Multi-robot caravanning

    KAUST Repository

    Denny, Jory; Giese, Andrew; Mahadevan, Aditya; Marfaing, Arnaud; Glockenmeier, Rachel; Revia, Colton; Rodriguez, Samuel; Amato, Nancy M.

    2013-01-01

    of waypoints. At the heart of our algorithm is the use of leader election to efficiently exploit the unique environmental knowledge available to each robot in order to plan paths for the group, which makes it general enough to work with robots that have

  5. Going Green Robots

    Science.gov (United States)

    Nelson, Jacqueline M.

    2011-01-01

    In looking at the interesting shapes and sizes of old computer parts, creating robots quickly came to the author's mind. In this article, she describes how computer parts can be used creatively. Students will surely enjoy creating their very own robots while learning about the importance of recycling in the society. (Contains 1 online resource.)

  6. Reflection on robotic intelligence

    NARCIS (Netherlands)

    Bartneck, C.

    2006-01-01

    This paper reflects on the development or robots, both their physical shape as well as their intelligence. The later strongly depends on the progress made in the artificial intelligence (AI) community which does not yet provide the models and tools necessary to create intelligent robots. It is time

  7. Robots Cannot Lie

    DEFF Research Database (Denmark)

    Borggreen, Gunhild

    2014-01-01

    En analyse af den japanske robot-menneske teaterstykke Hataraku Watashi med fokus på Austins og Butlers begreb om performativitet.......En analyse af den japanske robot-menneske teaterstykke Hataraku Watashi med fokus på Austins og Butlers begreb om performativitet....

  8. Intelligent robot action planning

    Energy Technology Data Exchange (ETDEWEB)

    Vamos, T; Siegler, A

    1982-01-01

    Action planning methods used in intelligent robot control are discussed. Planning is accomplished through environment understanding, environment representation, task understanding and planning, motion analysis and man-machine communication. These fields are analysed in detail. The frames of an intelligent motion planning system are presented. Graphic simulation of the robot's environment and motion is used to support the planning. 14 references.

  9. Robot Vision Library

    Science.gov (United States)

    Howard, Andrew B.; Ansar, Adnan I.; Litwin, Todd E.; Goldberg, Steven B.

    2009-01-01

    The JPL Robot Vision Library (JPLV) provides real-time robot vision algorithms for developers who are not vision specialists. The package includes algorithms for stereo ranging, visual odometry and unsurveyed camera calibration, and has unique support for very wideangle lenses

  10. Innovations in robotic surgery.

    Science.gov (United States)

    Gettman, Matthew; Rivera, Marcelino

    2016-05-01

    Developments in robotic surgery have continued to advance care throughout the field of urology. The purpose of this review is to evaluate innovations in robotic surgery over the past 18 months. The release of the da Vinci Xi system heralded an improvement on the Si system with improved docking, the ability to further manipulate robotic arms without clashing, and an autofocus universal endoscope. Robotic simulation continues to evolve with improvements in simulation training design to include augmented reality in robotic surgical education. Robotic-assisted laparoendoscopic single-site surgery continues to evolve with improvements on technique that allow for tackling previously complex pathologic surgical anatomy including urologic oncology and reconstruction. Last, innovations of new surgical platforms with robotic systems to improve surgeon ergonomics and efficiency in ureteral and renal surgery are being applied in the clinical setting. Urologic surgery continues to be at the forefront of the revolution of robotic surgery with advancements in not only existing technology but also creation of entirely novel surgical systems.

  11. Alara applied to iter design and operation

    International Nuclear Information System (INIS)

    Uzan-Elbez, Joelle; Rodriguez-Rodrigo, Lina; Porfiri, Maria Teresa; Taylor, Neil; Gordon, Charles; Garin, Pascal; Girard, Jean-Philippe

    2005-01-01

    Based on the existing data on ITER and the safety options for licensing ITER in Cadarache, the present work assesses the application of the as-low-as-reasonably-achievable (ALARA) principle, as it has been implemented in the design of ITER and will be applied during ITER operation, as well as the compliance of the design with EUR/96-29 directive and regulation applicable in France. The preliminary occupational radiation exposure estimate gives a value of about 250 man mSv/a, which is half the annual target for ITER and comes essentially from maintenance activities. Some examples of the approach are presented

  12. ITER EDA newsletter. V. 3, no. 2

    International Nuclear Information System (INIS)

    1994-02-01

    This issue of the ITER EDA (Engineering Design Activities) Newsletter contains reports on the Fifth ITER Council Meeting held in Garching, Germany, 27-28 January 1994, a visit (28 January 1994) of an international group of Harvard Fellows to the San Diego Joint Work Site, the Inauguration Ceremony of the EC-hosted ITER joint work site in Garching (28 January 1994), on an ITER Technical Meeting on Assembly and Maintenance held in Garching, Germany, January 19-26, 1994, and a report on a Technical Committee Meeting on radiation effects on in-vessel components held in Garching, Germany, November 15-19, 1993, as well as an ITER Status Report

  13. ITER CTA newsletter. No. 16, January 2003

    International Nuclear Information System (INIS)

    2003-04-01

    This ITER CTA newsletter contains information about some ITER related activities including ITER transitional arrangements (ITA) which will start on 1 January 2003, the USA rejoining ITER and People's Republic of China joining ITER, the visit of Mr. J. Koizumi, Prime Minister of Japan, to Kurchatov Institute, Moscow, Russian Federation on 11 January 2003, and the most recent meeting of the Scrape-Off Layer (SOL) and Divertor Physics Group of the International Tokamak Physics Activity (ITPA), which was held in Lausanne, Switzerland, on October 21-23, 2002 at the CRPP/EFL laboratory

  14. Robot skills for manufacturing

    DEFF Research Database (Denmark)

    Pedersen, Mikkel Rath; Nalpantidis, Lazaros; Andersen, Rasmus Skovgaard

    2016-01-01

    -asserting robot skills for manufacturing. We show how a relatively small set of skills are derived from current factory worker instructions, and how these can be transferred to industrial mobile manipulators. General robot skills can not only be implemented on these robots, but also be intuitively concatenated...... products are introduced by manufacturers. In order to compete on global markets, the factories of tomorrow need complete production lines, including automation technologies that can effortlessly be reconfigured or repurposed, when the need arises. In this paper we present the concept of general, self...... in running production facilities at an industrial partner. It follows from these experiments that the use of robot skills, and associated task-level programming framework, is a viable solution to introducing robots that can intuitively and on the fly be programmed to perform new tasks by factory workers....

  15. Robotics at Savannah River

    International Nuclear Information System (INIS)

    Byrd, J.S.

    1983-01-01

    A Robotics Technology Group was organized at the Savannah River Laboratory in August 1982. Many potential applications have been identified that will improve personnel safety, reduce operating costs, and increase productivity using modern robotics and automation. Several active projects are under way to procure robots, to develop unique techniques and systems for the site's processes, and to install the systems in the actual work environments. The projects and development programs are involved in the following general application areas: (1) glove boxes and shielded cell facilities, (2) laboratory chemical processes, (3) fabrication processes for reactor fuel assemblies, (4) sampling processes for separation areas, (5) emergency response in reactor areas, (6) fuel handling in reactor areas, and (7) remote radiation monitoring systems. A Robotics Development Laboratory has been set up for experimental and development work and for demonstration of robotic systems

  16. Evidence for robots.

    Science.gov (United States)

    Shenoy, Ravikiran; Nathwani, Dinesh

    2017-01-01

    Robots have been successfully used in commercial industry and have enabled humans to perform tasks which are repetitive, dangerous and requiring extreme force. Their role has evolved and now includes many aspects of surgery to improve safety and precision. Orthopaedic surgery is largely performed on bones which are rigid immobile structures which can easily be performed by robots with great precision. Robots have been designed for use in orthopaedic surgery including joint arthroplasty and spine surgery. Experimental studies have been published evaluating the role of robots in arthroscopy and trauma surgery. In this article, we will review the incorporation of robots in orthopaedic surgery looking into the evidence in their use. © The Authors, published by EDP Sciences, 2017.

  17. Robotics: The next step?

    Science.gov (United States)

    Broeders, Ivo A M J

    2014-02-01

    Robotic systems were introduced 15 years ago to support complex endoscopic procedures. The technology is increasingly used in gastro-intestinal surgery. In this article, literature on experimental- and clinical research is reviewed and ergonomic issues are discussed. literature review was based on Medline search using a large variety of search terms, including e.g. robot(ic), randomized, rectal, oesophageal, ergonomics. Review articles on relevant topics are discussed with preference. There is abundant evidence of supremacy in performing complex endoscopic surgery tasks when using the robot in an experimental setting. There is little high-level evidence so far on translation of these merits to clinical practice. Robotic systems may appear helpful in complex gastro-intestinal surgery. Moreover, dedicated computer based technology integrated in telepresence systems opens the way to integration of planning, diagnostics and therapy. The first high tech add-ons such as near infrared technology are under clinical evaluation. Copyright © 2014 Elsevier Ltd. All rights reserved.

  18. Towards Versatile Robots Through Open Heterogeneous Modular Robots

    DEFF Research Database (Denmark)

    Lyder, Andreas

    arises, a new robot can be assembled rapidly from the existing modules, in contrast to conventional robots, which require a time consuming and expensive development process. In this thesis we define a modular robot to be a robot consisting of dynamically reconfigurable modules. The goal of this thesis......Robots are important tools in our everyday life. Both in industry and at the consumer level they serve the purpose of increasing our scope and extending our capabilities. Modular robots take the next step, allowing us to easily create and build various robots from a set of modules. If a problem...... is to increase the versatility and practical usability of modular robots by introducing new conceptual designs. Until now modular robots have been based on a pre-specified set of modules, and thus, their functionality is limited. We propose an open heterogeneous design concept, which allows a modular robot...

  19. ITER ITA newsletter No. 32, July 2006

    International Nuclear Information System (INIS)

    2006-07-01

    This issue of ITER ITA (ITER transitional Arrangements) newsletter contains concise information about ITER related activities. The ITER Parties, at their Ministerial Meeting in May 2006 in Brussels, initialled the draft text of the prospective Agreement on the Establishment of the ITER International Fusion Energy Organization for the Joint Implementation of the ITER Project as well as the draft text of the Agreement on the Privileges and Immunities of the ITER International Fusion Energy Organisation for the Joint Implementation of the ITER Project. The Parties have requested that the IAEA Director General serve as Depositary of the two aforementioned Agreements and that the IAEA establish a Trust Fund to Support Common Expenditures under the ITER Transitional Arrangements, pending entry into force of the prospective Agreement on the Establishment of the ITER International Fusion Energy Organization for the Joint Implementation of the ITER Project. At its June Meeting in Vienna, the IAEA Board of Governors approved these requests. There is also information about the Tenth Meeting of the International Tokamak Physics Activity (ITPA) Topical Group (TG) on Diagnostics was held at the Kurchatov Institute, Moscow, from 10-14 April 2006

  20. ITER EDA newsletter. V. 10, no. 1

    International Nuclear Information System (INIS)

    2001-01-01

    This article provides a summary of results of the ITER Physics Committee Meeting, which was held on 14 October 2000 at the ITER Garching Joint Work Site, Germany. The ITER Physics Committee is the body responsible for overseeing, through the seven specialized Expert Groups, the R and D activities contributed voluntarily by the ITER Parties. The Parties' Physics Designated Persons, the Chairs and Co-Chairs of ITER Physics Expert Groups and the JCT members involved attended the Meeting. As usual, the meeting was chaired by the ITER Director, Dr. R. Aymar, who reported on the status of the ITER EDA. Dr. Aymar described the steps being taken in preparing the ITER-FEAT Final Design Report (FDR), and further stated that the Report would be available in time to be of benefit to the Negotiations on the ITER Joint Implementation, expected to start around May 2001. All Parties recognize that the ITER Physics Expert Group structure has been useful in focusing the tokamak physics activity on the ITER-relevant issues and provides an efficient worldwide collaboration on confirming innovative solutions. The concept of an international workshop to be organized as a pre-meeting of each Expert Group meeting, in order to involve U.S. scientists in the discussion of generic tokamak physics issues, was introduced in 2000, with some success, and its goal should be pursued

  1. Future strategy of SE

    International Nuclear Information System (INIS)

    Arcelli, M.

    2006-01-01

    In this presentation author (General Director of Slovenske elektrarne, a. s.) presents structure and investment plans of SE. The feasibility study of construction of the blocks 3 and 4 of the Mochovce NPP is presented

  2. ITER EDA newsletter. V. 1, no. 2

    International Nuclear Information System (INIS)

    1992-12-01

    This second issue of the ITER Newsletter during the EDA (Engineering Design Activities) reports on (i) the second ITER Council Meeting held in the Russian Research Centre (RRC) ''Kurchatov Institute'', Moscow, Russia, December 15-16, 1992, (ii) the opening ceremony of the ITER Council Office at the RRC, (iii) the first meeting of the ITER Management Advisory Committee (MAC), (iv) the start-up of the ITER EDA at Garching, Germany, (v) descriptions of the ITER Co-Centres at Naka, Japan, and (vi) San Diego, USA, (vii) contact persons activities, (viii) the adoption by the ITER Council of the recommendations by the Special Working Group 1 (SWG-1), (ix) news in brief, and (x) coming events

  3. SE-VYZ

    International Nuclear Information System (INIS)

    Anon

    2004-01-01

    On this CD compact disc 6 video-films (A-1 NPP; Bituminization; Cementation; Pressing; The Interim spent fuel storage facility; Transport into the National radioactive waste repository Mochovce; Ignition; and Vitrification). In these films process of radioactive waste treatment in the Bohunice Radioactive Waste Processing Center (SE-VYZ) is presented. 2 presentations about radioactive wastes treatment in the SE-VYZ are included

  4. Optimization of Iter with Iter-89P scaling

    International Nuclear Information System (INIS)

    Johner, J.

    1991-10-01

    Ignition in the ITER baseline machine is studied in the frame of a 1/2-D model using the ITER-89P scaling of the energy confinement time. The required value of the enhancement factor f L with respect to the L-mode, allowing ignition with a total fusion power of 1100 MW, is found to be 1.9 at an optimum operating temperature of 11 keV. A sensitivity analysis shows that the critical f L =2 value can be exceeded with relatively small changes in the physical assumptions. It is concluded that the safety margin is not sufficient for this project. Optimization of a thermonuclear plasma in a tokamak is then performed with constraints of given maximum magnetic field B in the superconducting windings, given distance between the plasma and the maximum magnetic field point, imposed safety factor at the plasma edge, and given averaged neutron flux at the plasma surface. The minimum enhancement factor f L with respect to the L-mode, allowing ignition at a given value of the total fusion power P fus , is only a function of the torus aspect ratio A. Taking the ITER reference values for the above constraints, the required value of f L is practically independent of the aspect ratio but can be sensibly improved by increasing the total fusion power P fus . With P fus =1700 MW, a reasonable safety margin (f L ≅ 1.5) is obtained. Analytical expressions of the conditions resulting from the above optimization are also derived for an arbitrary monomial scaling of the energy confinement time, and shown to give excellent agreement with the numerical results

  5. Exploiting Child-Robot Aesthetic Interaction for a Social Robot

    OpenAIRE

    Lee, Jae-Joon; Kim, Dae-Won; Kang, Bo-Yeong

    2012-01-01

    A social robot interacts and communicates with humans by using the embodied knowledge gained from interactions with its social environment. In recent years, emotion has emerged as a popular concept for designing social robots. Several studies on social robots reported an increase in robot sociability through emotional imitative interactions between the robot and humans. In this paper conventional emotional interactions are extended by exploiting the aesthetic theories that the sociability of ...

  6. Towards Versatile Robots Through Open Heterogeneous Modular Robots

    OpenAIRE

    Lyder, Andreas

    2010-01-01

    Robots are important tools in our everyday life. Both in industry and at the consumer level they serve the purpose of increasing our scope and extending our capabilities. Modular robots take the next step, allowing us to easily create and build various robots from a set of modules. If a problem arises, a new robot can be assembled rapidly from the existing modules, in contrast to conventional robots, which require a time consuming and expensive development process. In this thesis we define a ...

  7. Interaction with Soft Robotic Tentacles

    DEFF Research Database (Denmark)

    Jørgensen, Jonas

    2018-01-01

    Soft robotics technology has been proposed for a number of applications that involve human-robot interaction. In this tabletop demonstration it is possible to interact with two soft robotic platforms that have been used in human-robot interaction experiments (also accepted to HRI'18 as a Late...

  8. Robots: An Impact on Education.

    Science.gov (United States)

    Blaesi, LaVon; Maness, Marion

    1984-01-01

    Provides background information on robotics and robots, considering impact of robots on the workplace and concerns of the work force. Discusses incorporating robotics into the educational system at all levels, exploring industry-education partnerships to fund introduction of new technology into the curriculum. New funding sources and funding…

  9. Remote controlled data collector robot

    Directory of Open Access Journals (Sweden)

    Jozsef Suto

    2012-06-01

    Full Text Available Today a general need for robots assisting different human activities rises. The goal of the present project is to develop a prototyping robot, which provides facilities for attaching and fitting different kinds of sensors and actuators. This robot provides an easy way to turn a general purpose robot into a special function one.

  10. Towards playful learning and computational thinking — Developing the educational robot BRICKO

    DEFF Research Database (Denmark)

    Pedersen, B. K. M. K.; Andersen, K. E.; J⊘rgensen, A.

    2018-01-01

    Educational Robotics has proven a feasible way of supporting and exemplifying Computational Thinking. With this paper, we describe the user-centered iterative and incremental development of a new educational robotic system, BRICKO, to support tangible, social and playful interaction while educating...... children in 1st–3rd grade in Computational Thinking. We develop the system through seven main iterations including a total of 108 participant pupils and their teachers. The methodology is a mixture of observation and interviews using Wizard of OZ testing with the early pilot prototypes as well as usability...... categories of command-bricks. We discuss the methodologies used for assuring a playful and social educational robotic system and conclude that we achieved a useful prototype for supporting education in Computational Thinking....

  11. ITER ITA newsletter. No. 20, February-March 2005

    International Nuclear Information System (INIS)

    2005-03-01

    This issue of ITER ITA (ITER transitional Arrangements) newsletter contains concise information about ITER related activities including interview on the occasion of Academician E.P. Velikhov' 70th birthday conducted by Dr. Lev Golubbchikov, former ITER Contact Person of the Russian Federation and a new document management system of ITER called IDM (ITER Document Management), which supersedes the old IDoMS

  12. Articulated inspection arm for ITER, a demonstration in the Tore Supra tokamak

    Energy Technology Data Exchange (ETDEWEB)

    Cordier, J.J.; Gargiulo, L.; Grisolia, C.; Samaille, F. [Association Euratom-CEA Cadarache, 13 - Saint-Paul-lez-Durance (France). Dept. de Recherches sur la Fusion Controlee; Friconneau, J.P.; Perrot, Y. [CEA Fontenay-aux-Roses, LIST Robotics and Interactive Systems Unit, 92 (France); Palmer, J.D. [Max-Planck-Institut fuer Plasmaphysik Boltzmannstr.2, Garching (Germany)

    2003-07-01

    The aim of this program is to demonstrate for ITER the feasibility of an in-vessel remote handling inspection using a long reach, limited payload carrier (1 to 10 kg) for penetration of the ITER chamber through the openings. This device is dedicated to close inspection of the Plasma Facing Components (PFC). An articulated demonstrator called articulated inspection arm (AIA) has been manufactured. A feasibility study of a full AIA operation in Tore Supra was performed, taking into account ITER reference requirements. A scale one demonstration of the AIA under ITER relevant condition is feasible on Tore Supra and would give significant improvement in research results for ITER remote Handling equipment. The test of the AIA demonstrator behaviour is foreseen in 2005 in real Tokamak conditions. The paper presents the full robot concept, the results of the first test campaign, the AIA new design and its integration on Tore Supra. Several potential uses of the AIA for the in vessel components inspection are being studied such as PFC visual inspection, water loop leak testing, laser ablation for wall detritiation and carbon dust and flakes removal are foreseen as utilities to be placed at the AIA head. These various systems are described in the paper.

  13. Articulated inspection arm for ITER, a demonstration in the Tore Supra tokamak

    International Nuclear Information System (INIS)

    Cordier, J.J.; Gargiulo, L.; Grisolia, C.; Samaille, F.; Palmer, J.D.

    2003-01-01

    The aim of this program is to demonstrate for ITER the feasibility of an in-vessel remote handling inspection using a long reach, limited payload carrier (1 to 10 kg) for penetration of the ITER chamber through the openings. This device is dedicated to close inspection of the Plasma Facing Components (PFC). An articulated demonstrator called articulated inspection arm (AIA) has been manufactured. A feasibility study of a full AIA operation in Tore Supra was performed, taking into account ITER reference requirements. A scale one demonstration of the AIA under ITER relevant condition is feasible on Tore Supra and would give significant improvement in research results for ITER remote Handling equipment. The test of the AIA demonstrator behaviour is foreseen in 2005 in real Tokamak conditions. The paper presents the full robot concept, the results of the first test campaign, the AIA new design and its integration on Tore Supra. Several potential uses of the AIA for the in vessel components inspection are being studied such as PFC visual inspection, water loop leak testing, laser ablation for wall detritiation and carbon dust and flakes removal are foreseen as utilities to be placed at the AIA head. These various systems are described in the paper

  14. Ishikawa iteration process for nonlinear Lipschitz strongly accretive mappings

    International Nuclear Information System (INIS)

    Chidume, C.E.; Osilike, M.O.

    1994-05-01

    Let E=L p , p≥2 and let T:E→ E be a Lipschitzian and strongly accretive mapping. Let S:E → E be defined by Sx=f-Tx+x. It is proved that under suitable conditions on the real sequences {α n } ∞ n=0 and {β n } ∞ n=0 , the iteration process, x 0 is an element of E, x n+1 =(1-α n ) x n +α n S[(1-β n ) x n +β n Sx n ], n≥0, converges strongly to the unique solution of Tx=f. A related result deals with the iterative approximation of fixed points for Lipschitz strongly pseudocontractive mappings in E. A consequence of our results gives an affirmative answer to a problem posed by one of the authors in 1990. (J. Math. Anal. Appl. 151, 2 (1990) p. 460). (author). 36 refs

  15. Robotics for nuclear power plants

    International Nuclear Information System (INIS)

    Shiraiwa, Takanori; Watanabe, Atsuo; Miyasawa, Tatsuo

    1984-01-01

    Demand for robots in nuclear power plants is increasing of late in order to reduce workers' exposure to radiations. Especially, owing to the progress of microelectronics and robotics, earnest desire is growing for the advent of intellecturized robots that perform indeterminate and complicated security work. Herein represented are the robots recently developed for nuclear power plants and the review of the present status of robotics. (author)

  16. Robotics for nuclear power plants

    Energy Technology Data Exchange (ETDEWEB)

    Shiraiwa, Takanori; Watanabe, Atsuo; Miyasawa, Tatsuo

    1984-10-01

    Demand for robots in nuclear power plants is increasing of late in order to reduce workers' exposure to radiations. Especially, owing to the progress of microelectronics and robotics, earnest desire is growing for the advent of intellecturized robots that perform indeterminate and complicated security work. Herein represented are the robots recently developed for nuclear power plants and the review of the present status of robotics.

  17. Cryogenic instrumentation for ITER magnets

    Science.gov (United States)

    Poncet, J.-M.; Manzagol, J.; Attard, A.; André, J.; Bizel-Bizellot, L.; Bonnay, P.; Ercolani, E.; Luchier, N.; Girard, A.; Clayton, N.; Devred, A.; Huygen, S.; Journeaux, J.-Y.

    2017-02-01

    Accurate measurements of the helium flowrate and of the temperature of the ITER magnets is of fundamental importance to make sure that the magnets operate under well controlled and reliable conditions, and to allow suitable helium flow distribution in the magnets through the helium piping. Therefore, the temperature and flow rate measurements shall be reliable and accurate. In this paper, we present the thermometric chains as well as the venturi flow meters installed in the ITER magnets and their helium piping. The presented thermometric block design is based on the design developed by CERN for the LHC, which has been further optimized via thermal simulations carried out by CEA. The electronic part of the thermometric chain was entirely developed by the CEA and will be presented in detail: it is based on a lock-in measurement and small signal amplification, and also provides a web interface and software to an industrial PLC. This measuring device provides a reliable, accurate, electromagnetically immune, and fast (up to 100 Hz bandwidth) system for resistive temperature sensors between a few ohms to 100 kΩ. The flowmeters (venturi type) which make up part of the helium mass flow measurement chain have been completely designed, and manufacturing is on-going. The behaviour of the helium gas has been studied in detailed thanks to ANSYS CFX software in order to obtain the same differential pressure for all types of flowmeters. Measurement uncertainties have been estimated and the influence of input parameters has been studied. Mechanical calculations have been performed to guarantee the mechanical strength of the venturis required for pressure equipment operating in nuclear environment. In order to complete the helium mass flow measurement chain, different technologies of absolute and differential pressure sensors have been tested in an applied magnetic field to identify equipment compatible with the ITER environment.

  18. Toward cognitive robotics

    Science.gov (United States)

    Laird, John E.

    2009-05-01

    Our long-term goal is to develop autonomous robotic systems that have the cognitive abilities of humans, including communication, coordination, adapting to novel situations, and learning through experience. Our approach rests on the recent integration of the Soar cognitive architecture with both virtual and physical robotic systems. Soar has been used to develop a wide variety of knowledge-rich agents for complex virtual environments, including distributed training environments and interactive computer games. For development and testing in robotic virtual environments, Soar interfaces to a variety of robotic simulators and a simple mobile robot. We have recently made significant extensions to Soar that add new memories and new non-symbolic reasoning to Soar's original symbolic processing, which should significantly improve Soar abilities for control of robots. These extensions include episodic memory, semantic memory, reinforcement learning, and mental imagery. Episodic memory and semantic memory support the learning and recalling of prior events and situations as well as facts about the world. Reinforcement learning provides the ability of the system to tune its procedural knowledge - knowledge about how to do things. Mental imagery supports the use of diagrammatic and visual representations that are critical to support spatial reasoning. We speculate on the future of unmanned systems and the need for cognitive robotics to support dynamic instruction and taskability.

  19. Future of robotic surgery.

    Science.gov (United States)

    Lendvay, Thomas Sean; Hannaford, Blake; Satava, Richard M

    2013-01-01

    In just over a decade, robotic surgery has penetrated almost every surgical subspecialty and has even replaced some of the most commonly performed open oncologic procedures. The initial reports on patient outcomes yielded mixed results, but as more medical centers develop high-volume robotics programs, outcomes appear comparable if not improved for some applications. There are limitations to the current commercially available system, and new robotic platforms, some designed to compete in the current market and some to address niche surgical considerations, are being developed that will change the robotic landscape in the next decade. Adoption of these new systems will be dependent on overcoming barriers to true telesurgery that range from legal to logistical. As additional surgical disciplines embrace robotics and open surgery continues to be replaced by robotic approaches, it will be imperative that adequate education and training keep pace with technology. Methods to enhance surgical performance in robotics through the use of simulation and telementoring promise to accelerate learning curves and perhaps even improve surgical readiness through brief virtual-reality warm-ups and presurgical rehearsal. All these advances will need to be carefully and rigorously validated through not only patient outcomes, but also cost efficiency.

  20. Remote handling maintenance of ITER

    International Nuclear Information System (INIS)

    Haange, R.

    1999-01-01

    The remote maintenance strategy and the associated component design of the International Thermonuclear Experimental Reactor (ITER) have reached a high degree of completeness, especially with respect to those components that are expected to require frequent or occasional remote maintenance. Large-scale test stands, to demonstrate the principle feasibility of the remote maintenance procedures and to develop the required equipment and tools, were operational at the end of the Engineering Design Activities (EDA) phase. The initial results are highly encouraging: major remote equipment deployment and component replacement operations have been successfully demonstrated. (author)