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At least 19 records

Microfluidic pressure amplifier circuits and electrostatic gates for pneumatic microsystems

An electrostatic actuator is provide that can include a fluidic line, a first electrode, and a second electrode such that a gate chamber portion of the fluidic line is sandwiched between the first electrode and the second electrode. The electrostatic actuator can also include a pressure-balancing channel in fluid communication with the gate chamber portion where the first electrode is sandwiched between the pressure-balancing channel and the gate chamber portion. A pneumatic valve system is provided which includes an electrostatic gate and a fluidic channel fluidly separate from a fluidic control line. A pneumatic valve portion of the fluidic control line can be positioned relative to a portion of the fluidic channel such that expansion of the pneumatic valve portion restricts fluid flow through the fluidic channel. Methods of using an electrostatic actuator and a pneumatic valve system are also provided.

42 ENGINEERING↗

Methane Mitigation Thermoelectric Generator (MMTEG) (Final Scientific/ Technical Report)

Gas Technology Institute (GTI) has completed a $1.815M (plus $500K cost share), 54-month Co-operative agreement with the Department of Energy’s National Energy Technology Laboratory to develop a Methane Mitigation Thermoelectric Generator (MMTEG) system for gas field applications. This novel system uses fugitive gas to produce electrical power and consists of Thermoelectric Generators (TEG) driven by a linear burner, an air compressor, an accumulator, valves, batteries, and power electronics. The electrical power generated by the system is used to compress air and, in turn, the air is used to operate the pneumatic valves at the well site instead of using natural gas (NG) which would then be vented. The team completed the project objectives which included (1) Design, fabricate and test an integrated 6We nominal MMTEG prototype system, (2) Design a “retrofit kit” MMTEG system capable of being field tested at a gas well production site, and (3) build and test the field MMTEG system in a laboratory environment. Multiple system options were developed prior to selecting a “Passive” system which meets cost, NG savings, and greenhouse gas (GHG) reduction targets although not as efficient as initially planned. The MMTEG system is built primarily from commercial off-the-shelf parts (in some cases re-purposed) including the heat exchanger, heat rejection, electronic components, and also the TEGs. The team developed and implemented a novel system including the control system developed by Morrison Applied Sciences (MAS). The team completed incremental demonstrations of the hardware prior to the MMTEG system demonstration. A one-year simulation of the air delivery and battery charging subsystems was completed prior to the integration into the MMTEG system. In addition, the team simulated two-years of thermal cycles for integrated Burner/TEG/heat rejection subsystem. Finally, the entire MMTEG system was assembled, and troubleshooting was completed over a two-week period. Next, the MMTEG system was tested to simulate over 15 weeks of entire system operation over approximately four weeks in an accelerated test fashion with minimal intervention (such as changing fuel tanks). The MMTEG system met the key goals of a unit cost of under $1500 while saving 97% of NG expended today (including leakage) on average by pneumatic systems venting to the atmosphere. The MMTEG system reduced GHG emissions by 1000X (using the methane intensification factor of 28 relative to CO2). GTI is currently pursuing a field test of the MMTEG system. Interfacing with producers has provided additional insight into system improvements. Planned improvements include additional weather protection and control system improvements including the implementation of a long- range radio capability to notify operators if there is a fault.

03 NATURAL GAS↗

Data associated with "Methane emissions from gathering and boosting compressor stations in the U.S. Supporting volume 1: Multi-day measurements of pneumatic controller emissions"

This study was part of a larger study (the Gathering Emission Factor, or "GEF") study [1] to develop activity and methane emission factors for EPA's Greenhouse Gas Inventory (EPA GHGI) using direct emission measurements at the device level on all classes of equipment found on gathering compressor stations. To accomplish this, Colorado State University (CSU) partnered with the engineering firm AECOM to assist with planning, logistics, field work and analysis. Nine midstream natural gas companies – Anadarko Petroleum, Equinor, DCP Midstream, Kinder Morgan, MarkWest Energy Partners, Pioneer Natural Resources, Southwestern Energy, Williams Companies Inc., and XTO Energy Inc. – acted as partners in the study, provided site access for measurements, and provided representatives to advisory committees. At all times, and with the encouragement of industry partners, CSU maintained control the sampling plan, analysis and reporting. This study documents one part of the larger study - emissions from pneumatic actuated valve controllers (PC).

03 NATURAL GAS↗

The novel Mechanical Ventilator Milano for the COVID-19 pandemic

This paper presents the Mechanical Ventilator Milano (MVM), a novel intensive therapy mechanical ventilator designed for rapid, large-scale, low-cost production for the COVID-19 pandemic. Free of moving mechanical parts and requiring only a source of compressed oxygen and medical air to operate, the MVM is designed to support the long-term invasive ventilation often required for COVID-19 patients and operates in pressure-regulated ventilation modes, which minimize the risk of furthering lung trauma. The MVM was extensively tested against ISO standards in the laboratory using a breathing simulator, with good agreement between input and measured breathing parameters and performing correctly in response to fault conditions and stability tests. The MVM has obtained Emergency Use Authorization by U.S. Food and Drug Administration (FDA) for use in healthcare settings during the COVID-19 pandemic and Health Canada Medical Device Authorization for Importation or Sale, under Interim Order for Use in Relation to COVID-19. Furthermore, following these certifications, mass production is ongoing and distribution is under way in several countries. The MVM was designed, tested, prepared for certification, and mass produced in the space of a few months by a unique collaboration of respiratory healthcare professionals and experimental physicists, working with industrial partners, and is an excellent ventilator candidate for this pandemic anywhere in the world

60 APPLIED LIFE SCIENCES↗

Design of a Continuous Pellet Fueling System for Wendelstein 7-X

A continuous pellet fueling system (CPFS) is currently being designed at the Oak Ridge National Laboratory (ORNL) for the long pulse operation of the Wendelstein 7-X (W7-X) stellarator. The purpose of the CPFS is to provide deep continuous fueling for feedback-controlled high-density operation and mitigation of predicted hollow density profiles. As described here, the system will provide the capability to inject cylindrical pellets of solid hydrogen or deuterium into the plasma core, with flexibility to vary the pellet size, velocity, and injection frequency. Pellets are nominally of 3 mm in diameter and have a length between 1 and 4 mm. The heart of the CPFS is a vertically oriented, twin-screw extruder, cooled by three Gifford-McMahon cryocoolers in parallel, designed to form a continuous filament of hydrogen or deuterium. The filament width, which determines the pellet length, can be adjusted by means of a variable nozzle driven by a linear actuator at the base of the extruder. Coupled to the nozzle is a solenoid-operated gas gun and cutter assembly. A pneumatic propellant valve pulses a burst of ~60 bar helium to accelerate the cut pellet into W7-X. Three gaps in the guide tubes provide pumping locations to remove the helium propellant before it reaches the plasma. The maximum velocity of the pellet is limited by its ability to survive navigating the guide tube trajectory intact. A microwave cavity located within the guide tube provides the capability to measure the pellet size and velocity. The mechanical and thermal designs of the W7-X extruder, adjustable nozzle, and gun and cutter assembly design are described. A guide tube design and experimental pellet survivability test results are presented.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

A buckling-sheet ring oscillator for electronics-free, multimodal locomotion

Locomotion of soft robots typically relies on control of multiple inflatable actuators by electronic computers and hard valves. Soft pneumatic oscillators can reduce the demand on controllers by generating complex movements required for locomotion from a single, constant input pressure, but either have been constrained to low rates of flow of air or have required complex fabrication processes. Here, we describe a pneumatic oscillator fabricated from flexible, but inextensible, sheets that provides high rates of airflow for practical locomotion by combining three instabilities: out-of-plane buckling of the sheets, kinking of tubing attached to the sheets, and a system-level instability resulting from connection of an odd number of pneumatic inverters made from these sheets in a loop. This device, which we call a “buckling-sheet ring oscillator” (BRO), directly generates movement from its own interaction with its surroundings and consists only of readily available materials assembled in a simple process—specifically, stacking acetate sheets, nylon film, and double-sided tape, and attaching an elastomeric tube. A device incorporating a BRO is capable of both translational and rotational motion over varied terrain (even without a tether) and can climb upward against gravity and downward against the buoyant force encountered under water.

Robotics↗

Enterprise: a reduced-scale, flexible fuel, single-cylinder crosshead marine diesel research engine

A custom-built 1/10 scale, flexible-fuel, single-cylinder crosshead marine diesel research engine, dubbed the Enterprise, was designed and built as a platform for conducting marine lubricant research. The engine design was focused on maintaining lubricant boundary conditions similar those of full-scale engines. The Enterprise has a rated speed of 625 rpm to match the linear mean piston speed of full-scale marine engines with the reduced stroke and is capable of 18 bar brake mean effective pressure (BMEP). A high-swirl, uniflow-scavenged, two-stroke combustion system was designed to operate on either distillate diesel or heavy fuel oil (HFO). A hydraulic electronic unit injector (HEUI) fuel injection system with two injectors having customized three-hole nozzles provides fueling and is driven by the MAHLE Flexible ECU (MFE). Intake air boost is provided using a variable speed industrial air compressor along with closed-loop electronically controlled pressure regulation. Exhaust backpressure is also controlled electronically using an electro-pneumatic butterfly valve. A customized, miniaturized Hans Jensen Lubetronic cylinder lubrication system, which is capable of delivering 0.88 mg of cylinder oil per lubricator per injection to the ring pack at up to the maximum engine overspeed rating of 656 rpm, was commissioned for the Enterprise. Four independently temperature-controlled cooling zones are used to provide control of the liner temperature profile. The four coolant zones as well as the system oil and cylinder oil supplies are all controlled within 1°C for consistent thermal boundary conditions. The engine is instrumented with an in-cylinder pressure transducer as well as an inline torque transducer and numerous process temperature and pressure measurements to allow for detailed thermodynamic efficiency analysis, and experimental facilities allow for precise measurement of liner wear and characterization of deposits on the piston and rings. A radio telemetry system from IR Telemetrics is used to measure piston crown temperatures during engine operation. Engine design considerations and experimental facilities are described in detail, along with the results of a study investigating the impact of both system oil and cylinder oil viscosity on friction and efficiency. A test matrix was designed to compare base stock chemistries and viscosities for both system and cylinder oils. Experiments were completed using a fuel economy test protocol that was defined, consisting of repeating six speed/load operating conditions. An automated dynamometer control system was implemented to ensure repeatability of the test procedure. Preliminary testing indicated that the coolant, oil, and exhaust temperatures reach a steady state within 5 minutes of changing operating conditions. The system oil viscosity was found to have a significant impact on friction, with a reduction in viscosity from SAE 30 to SAE 20 resulting in over 6% reduction in friction mean effective pressure (FMEP) and over a 2% reduction in brake-specific fuel consumption (BSFC). Chemistry effects were also evident in the system and cylinder oils. Repeatability comparisons between the individual repetitions of each operating condition were used to ensure that results are statistically valid. For the initial cylinder oil viscosity experiments, observed changes were within the established/normal repeatability; ongoing experiments will determine whether improvements in boundary condition control will enable cylinder friction changes of this magnitude to be measured on this engine platform.

Kaul, Brian↗

Thermal Integration of DETAIL Systems

A thermal connection between the Microreactor AGile Non-nuclear Experimental Testbed (MAGNET) and the thermal energy distribution system (TEDS) has been a key part of the Dynamic Energy Transport and Integration Laboratory (DETAIL) plan since the development of the Integrated Energy Systems Roadmap in 2020. This connection provides an expanding demonstration capability for integrated system operations. The thermal connection between MAGNET and TEDS required the selection of a heat exchanger and valves to isolate flow. Research staff within the NEET Crosscutting Technology Development program selected equipment after receiving proposals from multiple vendors. A helical coil heat exchanger from Graham Corporation was selected for its small volume relative to its heat transfer surface area to fit in the limited space available. Triple offset butterfly valves with pneumatic actuators from Flowserve were selected to isolate and/or control flow of the hot gas through the heat exchanger. Staff from Idaho National Laboratory’s (INL) Facilities and Site Services Engineering department designed the piping and structural support. A mechanical construction firm was contracted to install the system. This report documents the design and construction of this thermal connection.

25 ENERGY STORAGE↗

Digital logic for soft devices

Although soft devices (grippers, actuators, and elementary robots) are rapidly becoming an integral part of the broad field of robotics, autonomy for completely soft devices has only begun to be developed. Adaptation of conventional systems of control to soft devices requires hard valves and electronic controls. This paper describes completely soft pneumatic digital logic gates having a physical scale appropriate for use with current (macroscopic) soft actuators. Each digital logic gate utilizes a single bistable valve—the pneumatic equivalent of a Schmitt trigger—which relies on the snap-through instability of a hemispherical membrane to kink internal tubes and operates with binary high/low input and output pressures. Soft, pneumatic NOT, AND, and OR digital logic gates—which generate known pneumatic outputs as a function of one, or multiple, pneumatic inputs—allow fabrication of digital logic circuits for a set–reset latch, two-bit shift register, leading-edge detector, digital-to-analog converter (DAC), and toggle switch. The DAC and toggle switch, in turn, can control and power a soft actuator (demonstrated using a pneu-net gripper). We note ehese macroscale soft digital logic gates are scalable to high volumes of airflow, do not consume power at steady state, and can be reconfigured to achieve multiple functionalities from a single design (including configurations that receive inputs from the environment and from human users). This work represents a step toward a strategy to develop autonomous control—one not involving an electronic interface or hard components—for soft devices.

36 MATERIALS SCIENCE↗

Metal Bellows Valve Reliability Testing

Swagelok B ® series metal bellows-sealed valves were tested for their cycle performance longevity to evaluate their use in tritium service. The valves selected differed in the size of their pneumatic actuator and the stem tip material. Valves tested had one of three actuator sizes (1C, 3C, or 5C) and one of two stem tip materials: a cobalt-based metal, Stellite™, and a polyimide material, Vespel ® . An automated valve manifold was constructed, allowing for the simultaneous cycling of a total of 10 valves. Automation controls allowed for user inputs, controlling the number of valve cycles per test and the number of tests per experiment. Valves installed on the valve testing manifold to be cycled following a valve frequency test plan. After a defined number cycles, the valves would undergo leak testing using an inline leak detector. The inline helium leak detector provided qualitative detection of any failing or failed valves. If a valve had failed, a leak rate greater than at 1.0 x 10 -7 std cc He/sec, the valve would be removed from the manifold and quantitative leak rate measurements made. After specific cycling milestones were reached, quantitative valve leak rate measurements were performed to assess the adequacy of the qualitative measurement method. Valve evaluation began with initial leak tests: valve inlet/outlet seat rates and total body leak rate. The as received 1C valves, with PTFE stem tips, passed initial leak tests; however, stem tips replacements with either metal or polyimide stem tips essentially created valves which failed subsequent leak tests and were not subject to valve cycling. The 3C actuated valves had been cycled 150,000 times, resulting in 60% of the Stellite™ and Vespel ® tipped valves still passing the leak rate criteria. Failure analysis on the other 40% has yet to be conducted. Eight of the 5C valves had reached 150,000 cycles with 80% of the valves passing the leak rate criteria: two Vespel ® tipped 5C valves failed leak rate testing after 120,000 cycles.

36 MATERIALS SCIENCE↗

Programmable soft valves for digital and analog control

In soft devices, complex actuation sequences and precise force control typically require hard electronic valves and microcontrollers. Existing designs for entirely soft pneumatic control systems are capable of either digital or analog operation, but not both, and are limited by speed of actuation, range of pressure, time required for fabrication, or loss of power through pull-down resistors. Using the nonlinear mechanics intrinsic to structures composed of soft materials—in this case, by leveraging membrane inversion and tube kinking—two modular soft components are developed: a piston actuator and a bistable pneumatic switch. These two components combine to create valves capable of analog pressure regulation, simplified digital logic, controlled oscillation, nonvolatile memory storage, linear actuation, and interfacing with human users in both digital and analog formats. Three demonstrations showcase the capabilities of systems constructed from these valves: 1) a wearable glove capable of analog control of a soft artificial robotic hand based on input from a human user’s fingers, 2) a human-controlled cushion matrix designed for use in medical care, and 3) an untethered robot which travels a distance dynamically programmed at the time of operation to retrieve an object. This work illustrates pathways for complementary digital and analog control of soft robots using a unified valve design.

42 ENGINEERING↗

Particle Handling in Particle-Based Pumped Thermal Energy Storage

A particle-based pumped thermal electricity storage system stores high-temperature heat (~1000 degrees C) in low-cost silica sand and generates power through an efficient power cycle. Central to this system is a counterflow direct-contact gas/particle fluidized-bed heat exchanger, which can significantly improve the heat exchange process due to the large heat transfer surface area of particles. To showcase a lab-scale 10- to 20-kWe heat exchange process with particles heating up to 300 degrees C, a comprehensive hydrodynamic analysis of the fluidization condition inside the heat exchanger was conducted. The heat exchanger was designed to target for heat exchange process of 10-20 kW and accommodate an air mass flow rate of 0.3-0.7 kg/s. The fluidization condition was set to maintain stable bubbling fluidization, thereby maximizing the particle-to-air heat transfer. An air distributor was designed to equally distribute air over the bed, which can avoid defluidized zones in the heat exchanger. Additionally, particle handling systems including L-valves, screw conveyors, and pneumatic conveyors were developed for the prototype heat exchanger, efficiently conveying high-temperature particles at 0.2-0.5 kg/s. This work lays the foundation for scaling up the system and integrating it into larger energy storage applications, demonstrating its potential for efficient, high-temperature thermal energy storage and power generation.

25 ENERGY STORAGE↗

Reversible pump-turbine installation

The present invention is a reversible pump-turbine installation positioned in a vertical borehole instead of in a conventional underground powerhouse or deep concrete powerhouse. The required plant cavitation coefficient may be achieved by simply boring a vertical borehole to the required depth rather than routing the water flow to and from a deeply buried powerhouse. A pneumatically controlled pressure relief valve may be incorporated into this invention.

Obermeyer, Henry K.↗

A soft ring oscillator

Periodic actuation of multiple soft, pneumatic actuators requires coordinated function of multiple, separate components. This work demonstrates a soft, pneumatic ring oscillator that induces temporally coordinated periodic motion in soft actuators using a single, constant-pressure source, without hard valves or electronic controls. The fundamental unit of this ring oscillator is a soft, pneumatic inverter (an inverting Schmitt trigger) that switches between its two states (“on” and “off”) using two instabilities in elastomeric structures: buckling of internal tubing and snap-through of a hemispherical membrane. An odd number of these inverters connected in a loop produces the same number of periodically oscillating outputs, resulting from a third, system-level instability; the frequency of oscillation depends on three system parameters that can be adjusted. These oscillatory output pressures enable several applications, including undulating and rolling motions in soft robots, size-based particle separation, pneumatic mechanotherapy, and metering of fluids. The soft ring oscillator eliminates the need for hard valves and electronic controls in these applications.

Robotics↗

Integrated Component-Specific Measurements to Develop Emission Factors for Compressors and Gas Gathering Lines

The Department of Energy (DOE) National Energy Technology Laboratory (NETL) and other critical stakeholders (e.g., U.S. Environmental Protection Agency (USEPA), state regulators, and industry) seek to more accurately characterize and quantify methane emissions from compressors and gathering lines within the Gathering and Boosting (G&B) segment of the natural gas system network. These efforts will reduce uncertainties in emissions estimates in USEPA’s current Green House Gas Inventory (GHGI) under their Greenhouse Gas Reporting Program (GHGRP). For this study, four G&B stations in the Gulf Coast Area were visited four times over the course of one year. Components were classified according to equipment and component type and emissions from select components were measured using multiple measurement technologies. The following major equipment types were considered: i) compressors, ii) separators, iii) dehydrators, iv) coalescers, v) slug catchers, vi) yard piping, vii) tanks, and viii) gathering lines. Individual components on each equipment type were further divided into the following main categories: i) connectors, ii) valves, iii) pressure relief valves (PRV), iv) meters, v) gauges, vi) regulators, vii) pneumatic device vents, and viii) compressor vents (e.g., distance piece vents [DPVs] and rod packing vents [RPVs]). Components were screened for the presence of leaks and venting emissions with an optical gas imaging (OGI) camera, and methane emission rates were measured using a microdilution high volume sampler. Downwind emissions were measured using an Open Path Fourier Transform Infrared (OP-FTIR) Spectrometer. Data were evaluated to assess correlation with site, equipment, time, and operational variables. Key findings and recommendations from the study include: A) Different counting methodologies can result in vastly different component counts, thus influencing total emissions calculations using Subpart W population EFs. A standard methodology should be adopted for classifying and counting components in order to minimize inconsistencies across studies and instruct stakeholders responsible for GHGI reporting. B) Results support current component subcategories listed in USEPA Subpart W, including the subdivision of connectors (flanged and “other”) and pneumatic device vents (intermittent, continuous low bleed, and continuous high bleed). C) Emission rates vary across sites and a relationship between higher emissions and compressor age was observed for some components. D) Component emission rates varied between field campaigns. The type of components contributing to overall measured emissions also varied among field campaigns. However, the emission rate variability was larger between different components (of the same category) than the variability in one component over the four field campaigns. Therefore, when calculating emission factors, it is not necessary to take repeat measurements to capture component variability. E) Measuring the emission rate of a sample for an extended period of time is not necessary to capture the average component emission rate. F) For reporting purposes, excluding liquid lines from site-wide screening may have a negligible effect on component-related emissions. However, from a site management perspective, malfunctioning components were not uncommon on liquid lines and contributed substantially to fugitive emissions at some sites. G) Population EFs, whether including or excluding liquid lines, were a conservative estimate of fugitive emissions. Leaker EFs consistently underestimated emissions at the field sites. Measurements at more sites, particularity sites in other areas of the country, need to be completed before determining the accuracy of EFs.

03 NATURAL GAS↗

Salt Vessel-Sample Generator Interface

The goal of the salt sampling program at Argonne is to develop and deploy automated molten salt sampling approaches for interfacing relevant unit operations with salt analysis to improve the timeliness and accuracy of sampling-based accountancy measurements. One technology under development is a vacuum sampler loop module. In this system, molten salt is drawn from a process vessel through a heated sampling line and into a charge vessel. Next, one or more samples are split from the volume in the charge vessel and the remaining salt is returned to the process. The vacuum sampler loop module is being developed to interface with other sample processing and analysis modules to enable rapid at-line sample characterization. The main purpose of the vacuum sampling loop module is to enable the collection of samples that are more representative of the bulk salt by replacing traditional point samplers (i.e., dip probes) with a sampling approach that captures a larger cross section of salt. Additionally, the vacuum sampling approach eliminates the risk of dross contamination of samples and avoids the use of moving parts in the salt. Two methods of interfacing the vacuum sampling loop with a precision pneumatic sample generator were investigated in FY21. This report covers the testing of fluidic coupling between the two modules. Two iterations of the fluidically coupled modules were tested. The first iteration system coupled the two modules using a freeze valve to seal the vacuum sampler during filling and to control flow into the pneumatic sample generator. While this integrated system functioned as intended, some changes were implemented to make the system more robust and better suited to remote deployment. Specifically, the system was made to be more modular and active control of the vacuum filling operation was replaced with a passive control mechanism. For passive filling, the salt charge vessel was vented to a small gas tank that was at negative pressure, causing salt to be drawn into the vessel until the force of the fluid head was in equilibrium with the gas pressure. The passive control system performed well and will be used in future iterations. Another change in the second system was a newly configured pneumatic sample generator in which sample ejection occurred through a hole in the reservoir’s stainless-steel side wall instead of through a non-wetted sapphire orifice on the bottom. This alternate configuration may be better suited for near-process deployment because it enables on-line orifice maintenance and an orifice bypass drain back to the process. A third change in the second iteration system was the transition to a two-chamber charge vessel which split off a fraction of the sampled salt as a liquid aliquot. The goal was to create a buffer mechanism that would allow reproducible aliquoting of samples, independently of variability in the charge vessel fill height. While the two-chamber design was functional, the sample size reproducibility was below target values. To improve reproducibility and overcome many of the impediments to remote deployment of the vacuum sampling loop module, separate work was conducted to replace the two-chamber liquid aliquoting mechanism with aliquoting into single-use sample tubes. Solid salt transfer in the sample tubes will replace fluidic coupling for integrating the vacuum sampler with downstream modules. Because the proposed operations can all be executed with simple overhead actuation mechanisms or other existing hot-cell technology, there will be no need for large investments in novel hot cell sample handling technologies using this alternate approach. As such, near-term deployment of the vacuum sampling technology will be achievable. This new approach for automated coupling of sample tubes with down-stream modules is covered in a separate FY21 report, and a remotely operated version of the vacuum sampler loop module with the tube aliquoting feature is planned for FY22.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗

Portable self-contained pressure testing manifold and associated methods

A portable, case-enclosed pressure test manifold, configured to support both pneumatic and hydrostatic pressure testing, and comprising a downstream fluid path (e.g., a system test gauge, a ball valve, a system test port, a system relief valve, and other components/piping) and an upstream fluid path (e.g., a low-pressure gauge, a high-pressure gauge, and other components/piping). A regulator and/or the ball valve selectively operate the downstream fluid path, defining a hydrostatic pressure testing path, to receive a liquid; and the upstream fluid path in combination with the downstream fluid path, defining a pneumatic pressure testing path, to receive a gas. Manifold components are pressure rated based on use and are ASME Code B31.3 compliant. A flexible hose connects with either of the pneumatic pressure testing path and the hydrostatic pressure testing path of the manifold. The case includes parking receptables and a carrying handle configured to stow the hose during transport.

Milholland, Roger A.↗

Resilient, untethered soft robot

A pneumatically powered, fully untethered mobile soft robot is described. Composites consisting of silicone elastomer, polyaramid fabric, and hollow glass microspheres were used to fabricate a sufficiently large soft robot to carry the miniature air compressors, battery, valves, and controller needed for autonomous operation. Fabrication techniques were developed to mold a 0.65 meter long soft body with modified Pneumatic network actuators capable of operating at the elevated pressures (up to 138 kPa) required to actuate the legs of the robot and hold payloads of up to 8 kg. The soft robot is safe to handle, and its silicone body is innately resilient to a variety of adverse environmental conditions including snow, puddles of water, direct (albeit limited) exposure to flames, and the crushing force of being run over by an automobile.

42 ENGINEERING↗