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At least 37 records · Page 2

Cable Decoupling and Cable-Based Stiffening of Continuum Robots

Cable-driven continuum robots, which are robots with a continuously flexible backbone and no identifiable joints that are actuated by cables, have shown great potential for many applications in unstructured, uncertain environments. However, the standard design for a cable-driven continuum robot segment, which bends a continuous backbone along a circular arc, has many compliant modes of deformation which are uncontrolled, and which may result in buckling or other undesirable behaviors if not ameliorated. In this paper, we detail an approach for using additional cables to selectively stiffen planar cable-driven robots with-out substantial coupling to the actuating cables. A mechanics-based model based on the planar Cosserat equations is used to find the design conditions under which additional cables can be routed without coupling of the cable lengths for small deformations. Simulations show that even for relatively large deformations, coupling remains small. A prototype is evaluated, and it is demonstrated that the compliance of the robot is substantially modified relative to the same robot without stiffening cables. Additional stiffening cables are shown to increase the end-effector output stiffness by a factor of approximately 10 over a typical design with actuating cables.

Tendon/wire mechanism↗

Project Title: Demonstration High Temperature Superconducting NonPlanar Stellarator Magnet with Advanced Manufactured Assemblies

This is the final report for the project “Demonstration High Temperature Superconducting Non- Planar Stellarator Magnet with Advanced Manufactured Assemblies”, funded by DOE, and performed by Type One Energy from September, 2020, to March 2024 involving the Fusion Technology Institute at the University of Wisconsin–Madison, the Plasma Science and Fusion Center (PSFC) at the Massachusetts Institute of Technology (MIT) and Commonwealth Fusion Systems (CFS) to design and fabricate the first non-planar HTS (REBCO) coil for a high-field stellarator based on the SPARC tokamak’s VIPER cable concept. Stellarators at high fields make high-temperature superconducting magnets necessary for a compact fusion device. But the asymmetric and non-planar nature of its components, especially the magnets make it difficult for scalable producibility. To address these challenges, two promising technologies have emerged: advanced manufacturing (AM) for the supporting plates for forming the magnets, and high-temperature superconducting (HTS) cables inside the plates. AM has advanced enough to produce stellarator components with the necessary geometric complexity, size, and the precision, leading to potentially significant reductions in production time, cost, and waste. The cost of HTS tape has decreased dramatically, and progress in HTS planar magnet development has reached a point where it can be proposed for application to complex 3D non-planar magnets. The main objective of this project is to develop, demonstrate and pre-commercialize a novel, non-planar HTS coil shape that remains superconducting to achieve production scalable reductions in time and cost and performance. The proposed technology is based on the novel concept of a precision sub-scale HTS nonplanar coil assembly. This project focuses on the design, fabrication, material optimization of cable design, and validation and demonstration of the high current carrying capability of superconducting magnets and their support in a complex 3D shape needed for application to stellarator magnetic plasma confinement. The specific objectives of this research program include: (1) The successful application of metal AM to build a precision sub-scale HTS nonplanar coil, (2) An HTS cable and cross-section design that can conform to the required nonplanar coil shape (bend radii as tight as 10-cm) and remains superconducting at an engineering current density of 1.35 kA/cm 2 at 77 K and 1 tesla at the conductor (5 kA in the cable). To achieve the above challenging goals, we have formed a multidisciplinary research team consisting of members from Type One Energy and UW-Madison, MIT PSFC and CFS with complementary skills and strong facilities. The team worked collaboratively on fundamental and applied research on the following three major technical areas: (1) Design, fabrication, and optimization of non-planar HTS Cable The ultimate goal of the project is to determine if commercial REBCO tapes and additive manufacturing can be used to fabricate high field (≥ 10T) non-planar coils with tight bending radii (≃ 100mm) and with a degradation of the critical current (Ic) smaller than 20% with respect to the expected performance. We started with shorter length cable to evaluate the scalability of the production process and eventually reached multiple turns for higher magnetic fields. Our findings suggest that a stellarator coil system of a relevant size, characterized by its asymmetric and non-planar components, can be fabricated using a formed cable in plate method. This system can be simulated using a large-scale modeling approach. The use of hybrid modeling 3 techniques will be pivotal in reducing the complexity of the model and in assessing expected performance in designs. (2) Modeling and simulation of the non-planar HTS Cable Multiphysics simulations are performed using the commercial software and are carried out in self-field conditions, involving 2D and 3D models and twisted around one slot of twist-pitched VIPER cable. Multiphysics simulations are mainly focused on the coil for the critical current evaluation, the magnetic field map, self-Lorentz forces and mechanical, and magnetothermal behavior and the quench dynamics. The detailed model and prediction of the superconducting performance of a stellarator-relevant demonstration cable from numerical simulations supports the results from the actual testing backing the results. A detailed description and results are provided in the later sections. (3) Design, fabrication, and optimization of support for the non-planar HTS Cable The team developed an additive manufactured (AM) coil positioning plate that formed into the required non-planar geometry (with bend radii as tight as 10-cm) and to acceptable tolerances required for a stellarator magnet: (+0.25-mm from ideal on dimensions of coil positioning plates and up to +1-mm from ideal for position of wound coil). The plate materials is also included in this selection process from fabrication and 3D printing perspective and commensurate with eventual application to a fusion reactor. From the cost effectiveness point of view, the HTS coil and plate has the potential to cost less than that made in conventional methods with less waste (<75% waste) reducing time (<50%) and cost (<50%), especially as the AM field matures. The application of advanced manufacturing in the construction of the support plates will also lead to cost reduction, as the cables can be easily replaced, thereby making the assembly modular. With such high primary cost and time savings, high current densities and magnetic field, the funded R&D work has validated the designs, proven the feasibility, and characterized the performance of the HTS coil and plate assembly, paving the way for a relevant-size stellarator coil system.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

Short Circuit Detection and Voltage Sense for High Voltage Ionization Tube Power Supplies

Fermilab's PIP-II upgrade requires new rack-mounted power supplies for Beam Loss Monitor (BLM) ionization tubes compatible with the microTCA 4.1 standard, supporting high-side current measurement for short circuit detection, voltage sense telemetry, and low-side current measurement for beam loss readout. This work presents the design and preliminary schematic of such a supply. A resistive current sensing approach was chosen over inductive, optical, and Hall-effect alternatives for its independence from cable length and component availability. A 500 mΩ inline shunt steps the 2 kV common mode voltage down to roughly 70 V, producing a ~27 μV pulse during a short, which is amplified 500x, compared against a 14-bit DAC threshold, and latched to drive a fault line. Voltage sense steps the 2 kV output down at a 1V/1000V ratio, buffers it with a low bias current amplifier, and digitizes it via a 24-bit ADC over SPI. Onboard power is regulated from 12 V down to isolated 5 V and 3.3 V rails, with capacitive isolation on FPGA communication lines. Lumped parameter models were developed for the ionization tube (0.327 nF, 20 to 200 GΩ dynamic resistance) and the RG-58 coaxial cable to support the design. Component selection is complete and a preliminary schematic has been drawn in Altium Designer, forming the foundation for future prototyping and validation.

Yu, Kellen [Cornell U.]↗

Plug-in Plan Tool v3.0.3.1

The role of PLUTO (Plug-in Port UTilization Officer) and the growth of the International Space Station (ISS) have exceeded the capabilities of the current tool PiP (Plug-in Plan). Its users (crew and flight controllers) have expressed an interest in a new, easy-to-use tool with a higher level of interactivity and functionality that is not bound by the limitations of Excel. The PiP Tool assists crewmembers and ground controllers in making real-time decisions concerning the safety and compatibility of hardware plugged into the UOPs (Utility Outlet Panels) onboard the ISS. The PiP Tool also provides a reference to the current configuration of the hardware plugged in to the UOPs, and enables the PLUTO and crew to test Plug-in locations for constraint violations (such as cable connector mismatches or amp limit violations), to see the amps and volts for an end item, to see whether or not the end item uses 1553 data, and the cable length between the outlet and the end item. As new equipment is flown or returned, the database can be updated appropriately as needed. The current tool is a macroheavy Excel spreadsheet with its own database and reporting functionality. The new tool captures the capabilities of the original tool, ports them to new software, defines a new dataset, and compensates for ever-growing unique constraints associated with the Plug-in Plan. New constraints were designed into the tool, and updates to existing constraints were added to provide more flexibility and customizability. In addition, there is an option to associate a "Flag" with each device that will let the user know there is a unique constraint associated with it when they use it. This helps improve the safety and efficiency of real-time calls by limiting the amount of "corporate knowledge" overhead that has to be trained and learned through use. The tool helps save time by automating previous manual processes, such as calculating connector types and deciding which cables are required and in what order.

Andrea-Liner, Kathleen E.↗

Pop-up Langmuir probe diagnostic in the water cooled divertor of Wendelstein 7-X

The design, development, and successful implementation of pop-up Langmuir probes installed in the water-cooled divertor of W7-X are described. The probes are controlled by drive coils (actuators) installed behind the divertor plates. These drive coils make use of the magnetic field in W7-X to move the probe tips into and out of the plasma. The drive coils were installed in the vacuum vessel after extensively testing the durability of the coils and analyzing the criteria for safe operation. The probe design is carefully tailored for each of the 36 probe tips in order to be suitable for the different magnetic field configurations used in W7-X and ensure that the probes do not present leading edges to the magnetic flux tubes. An electronic bridge circuit is used for measurement to compensate for the effects of signal propagation time on the long cable lengths used. The diagnostic is integrated with the segment control of W7-X for automated operation and control of the diagnostic. The evaluation of the results from the plasma operation is presented after accounting for appropriate sheath expansion for negative bias voltage on the probes.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

Neutral gas analysis for JET DT operation

Neutral gas analysis, the measurement and evaluation of total and partial pressures, is a key technique to study the impact of neutral gas dynamics on retention, recycling and release processes of fuel or impurity species in fusion devices. At JET, the experiment closest to ITER in terms of operating parameters and size, various detectors and techniques for partial pressure and total pressure measurements are deployed together to characterise neutral gas dynamics during and after plasma operation on various toroidal and poloidal locations. An extensive modification of JET's sub-divertor neutral gas diagnostic system aims at retaining and extending established measurement capabilities in the forthcoming Deuterium-Tritium (DT) experiments (DTE2). To achieve DT compatibility, a separation of radiation-sensitive electronics from the sensor and adequate radiation shielding is required, as well as utilisation of a DT compatible differential pumping system with adjustable throughput to account for the strong pressure variation in the sub-divertor region. Finally, the sub-divertor neutral gas diagnostic will be equipped with multiple Residual Gas Analysers (RGAs), utilising quadrupole mass spectrometry and electrostatic ion-trap-principles, all operating with remote electronics located behind the biological radiation shield. These RGAs will record data in a fast selected discrete mass mode during plasma pulses (cycle ~2 s) and will automatically switch back to continuous data recording (cycle ~100 s) afterwards. They will be complemented by a newly improved Penning gauge spectroscopy configuration in particular supporting the He and D 2 separation relevant for DT operation. The distance between these devices and their associated control unit is typically 15m . A newly developed RGA with a cable length of 80 m, compatible with the ITER environment, will also be employed for the first time. Finally, this set-up and its operation in DTE2 will provide vital input to the development of the ITER divertor RGA in the most relevant environment currently available.

47 OTHER INSTRUMENTATION↗

3D Frequency Domain Reflectometry Digital Twin of an Electrical Cable: A First Glance

Electrical cables within nuclear power plants (NPPs) are critical components required for power, control, and instrumentation systems which may be exposed to stressors, such as elevated temperatures and gamma radiation. Such stressors can lead to a reduction in the remaining useful life of electrical cables, jeopardizing the safety of NPP systems. To evaluate the effect of stressors on the degradation of electrical cables, electrical reflectometry methods are commonly employed. Frequency domain reflectometry (FDR) is a non-destructive electrical reflectometry method that uses transmission line theory to detect degradation or impedance changes within electrical cables. However, in most cases FDR is only applied to de-energized cables, limiting the application in NPPs as the cable system must be taken offline. In this work, we explore the development of an FDR digital twin to predict the degradation of an electrical cable exposed to elevated temperature, which is expected to reduce the need for offline FDR. A 3-conductor low-voltage electrical cable was selected for evaluation of the digital twin. The fully three-dimensional digital twin was developed in COMSOL using the RF module. A cable length of 30-m and frequency bandwidth of 400 MHz was selected to mimic real-world application of FDR. Over a 1-m region, the permittivity of the insulation was varied by up to 20% to model thermal degradation. The results demonstrate accurate detection of the insulation damage region, supporting further investigation of the FDR digital twin using real-world data and machine learning for predictive damage estimation or remaining lifetime.

Spencer, Mychal P.↗

A Hydrokinetic Energy Conversion System using Underwater LLC-type Resonant Converter

The hydrokinetic energy of river and ocean currents is a valuable renewable energy resource. Conventional systems for harvesting hydrokinetic energy usually have bulky passive components, lengthy cables connecting the underwater turbine/generator with onshore power converters, and limited control over power generation. This paper presents a new hydrokinetic energy harvesting system using an LLC-type resonant converter that is placed underwater in close proximity to the generator. By using SiC devices and the soft switching characteristic of LLC resonant converter, the converter operates in 10s of kHz, significantly reducing the passive components. In addition, the LLC converter provides flexible power regulation of the system. Furthermore, the underwater placement of the power converter takes advantage of the cooling provided by the water and simplifies the system by reducing its connecting cable length.

Dai, Hang↗

The Global DAS Month of February 2023

During February 2023, a total of 32 individual distributed acoustic sensing (DAS) systems acted jointly as a global seismic monitoring network. The aim of this Global DAS Month campaign was to coordinate a diverse network of organizations, instruments, and file formats to gain knowledge and move toward the next generation of earthquake monitoring networks. During this campaign, 156 earthquakes of magnitude 5 or larger were reported by the U.S. Geological Survey and contributors shared data for 60 min after each event’s origin time. Participating systems represent a variety of manufacturers, a range of recording parameters, and varying cable emplacement settings (e.g., shallow burial, borehole, subaqueous, and dark fiber). Monitored cable lengths vary between 152 and 120,129 m, with channel spacing between 1 and 49 m. The data has a total size of 6.8 TB, and are available for free download. Finally, organizing and executing the Global DAS Month has produced a unique dataset for further exploration and highlighted areas of further development for the seismological community to address.

58 GEOSCIENCES↗

Survey, analysis and evaluation test on high voltage/current pulse transmission cables

A survey, analysis, and testing of available cable connector configurations were carried out in connection with transmission of high voltage/current to an exploding wire bridge. Transmission was desired at high efficiency with maximum cable flexibility, at minimum weight and size of the cable connector, with maximum cable length while maintaining applicable voltage/current pulse characteristics, and with due consideration to environmental parameters.

Dann, J. E.↗

Smoke Plume Analysis Using Fan-beam and Single-beam Radiometers

Smoke plume data were taken using the stacks of the Mills Road Steam Plant on Redstone Arsenal, Huntsville, Alabama. The fan-beam unit was placed approximately 235 meters east of the Mills Road Steam Plant, and the single-beam unit was placed approximately 80 meters north of the fan-beam unit. Results of the smoke plume measurements indicate that the smoke plume is a periodic process near the mouth of the smokestack. The usefulness of the system is limited because of inaccurate and cumbersome positioning methods and base line constraints due to cable length. It is recommended that the radiometers be mounted on pedestals which have both azimuth and elevation positions determined by digitally controlled stepper drive motors. It is also recommended that a time multiplex system be used to transmit data from the radiometers to the electronics van.

Dodd, J. L.↗

A solid-state converter for measurement of aircraft noise and sonic boom

A solid-state converter, used in a system of instrumentation for measuring aircraft noise and sonic boom, features a dual-gate FET mixer and an output stage designed for compatibility with a zero drive amplifier. With a half-inch condenser microphone the converter itself has an operating frequency range from dc-28 kHz (-3 dB), a dynamic range of 72 dB, and a noise floor of 50 dB in the band from 22.4 Hz to 22.4 kHz; the system requires no impedance matching networks and is insensitive to cable length up to at least 3000 ft.

Zuckerwar, A. J.↗

A remote operation quadrupole mass spectrometer using a custom radio-frequency link approach

A commercial quadrupole mass spectrometer (residual gas analyzer, RGA) system has been modified to operate at large separations of its electronics console and sensing head. The methods implemented have made practical applications, as well as operation, of such a system possible for the first time. This advance was stimulated by a need for placing sensors at remote (45 or 60 m) chamber locations for space simulation testing of orbital flight spacecraft. Emphasis is placed on instrument functional requirements and describing the hardware changes and adjustment techniques necessary to assure operation at the extended cable lengths.

Tashbar, P. W.↗

Impact dynamics research facility for full-scale aircraft crash testing

An impact dynamics research facility (IDRF) was developed to crash test full-scale general aviation aircraft under free-flight test conditions. The aircraft are crashed into the impact surface as free bodies; a pendulum swing method is used to obtain desired flight paths and velocities. Flight paths up to -60 deg and aircraft velocities along the flight paths up to about 27.0 m/s can be obtained with a combination of swing-cable lengths and release heights made available by a large gantry. Seven twin engine, 2721-kg aircraft were successfully crash tested at the facility, and all systems functioned properly. Acquisition of data from signals generated by accelerometers on board the aircraft and from external and onboard camera coverage was successful in spite of the amount of damage which occurred during each crash. Test parameters at the IDRF are controllable with flight path angles accurate within 8 percent, aircraft velocity accurate within 6 percent, pitch angles accurate to 4.25 deg, and roll and yaw angles acceptable under wind velocities up to 4.5 m/s.

Vaughan, V. L. J.↗

A unified acquisition system for acoustic data

A multichannel, acoustic AM carrier system was developed for a wide variety of applications, particularly for aircraft noise and sonic boom measurements. Each data acquisition channel consists of a condenser microphone, an acoustic signal converter, and a Zero Drive amplifier, along with peripheral supporting equipment. A control network insures continuous optimal tuning of the converter and permits remote calibration of the condenser microphone. With a 12.70-mm (1/2-in.) condenser microphone, the converter/Zero Drive amplifier combination has a frequency response from 0 Hz to 20 kHz (-3 db), a dynamic range exceeding 70 db, and a minimum noise floor of 50 db ref. 20 micro Pa) in the band 22.4 Hz to 22.4 kHz. The system requires no external impedance matching networks and is insensitive to cable length, at least up to 900 m (3,000 ft). System gain varies only + or - 1 db over the temperature range 4 to 54 C (40 to 130 F). Adapters are available to accommodate 23.77-mm (1-in.) and 6.35-mm (1/4-in.) microphones and to provide 30-db attenuation. A field test to obtain the acoustical time history of a helicopter flyover proved successful.

Zuckerwar, A. J.↗

A high-speed computer link for moderate distances and noisy environments

To satisfy the need for a fully duplex high-speed computer data link for the antenna automation project at DSS 13, a very simple and inexpensive scheme was employed. The link requires two coaxial cables over which is sent a unipolar digital frequency modulated signal in which a logical 1 has twice the frequency of a logical 0. Optical isolators and filters reduce ground loop effects and increase noise immunity. Tests conducted in various environments and over different cable lengths at JPL, DSS 14 and DSS 13 have indicated that the link is highly effective.

Sievers, M. W.↗

Automatic phase control in solar power satellite systems

Various approaches to the problem of generating, maintaining and distributing a coherent, reference phase signal over a large area are suggested, mathematically modeled and analyzed with respect to their ability to minimize: phase build-up, beam diffusion and beam steering phase jitter, cable length, and maximize power transfer efficiency. In addition, phase control configurations are suggested which alleviate the need for layout symmetry.

Lindsey, W. C.↗