Venugopal Koikal Varma

The role of exploratory movement in visual servoing without calibration

Abstract The calibration requirements for visual servoing can make it difficult to apply in many real-world situations. One approach to image-based visual servoing without calibration is to dynamically estimate the image Jacobian and use it as the basis for control. However, with the normal motion of the robot towards the goal, the estimation of the image Jacobian deteriorates over time. We propose the use of additional “exploratory motion” in the direction in which it is most needed, thus considerably improving the estimation of the image Jacobian. We study the role such exploratory motion can play in a visual servoing task. Simulations and experiments with a 6-DOF robot are used to verify the practical feasibility of the approach.

Pre-Conceptual Design of a Fluoride-Salt-Cooled Small Modular Advanced High Temperature Reactor (SmAHTR)

This document presents the results of a study conducted at Oak Ridge National Laboratory during 2010 to explore the feasibility of small modular fluoride salt-cooled high temperature reactors (FHRs). A preliminary reactor system concept, SmATHR (for Small modular Advanced High Temperature Reactor) is described, along with an integrated high-temperature thermal energy storage or salt vault system. The SmAHTR is a 125 MWt, integral primary, liquid salt cooled, coated particle-graphite fueled, low-pressure system operating at 700 C. The system employs passive decay heat removal and two-out-of-three , 50% capacity, subsystem redundancy for critical functions. The reactor vessel is sufficiently small to be transportable on standard commercial tractor-trailer transport vehicles. Initial transient analyses indicated the transition from normal reactor operations to passive decay heat removal is accomplished in a manner that preserves robust safety margins at all times during the transient. Numerous trade studies and trade-space considerations are discussed, along with the resultant initial system concept. The current concept is not optimized. Work remains to more completely define the overall system with particular emphasis on refining the final fuel/core configuration, salt vault configuration, and integrated system dynamics and safety behavior.

The Development of the Material Plasma Exposure Experiment

The availability of future fusion devices, such as a fusion nuclear science facility or demonstration fusion power station, greatly depends on long operating lifetimes of plasma facing components in their divertors. ORNL is designing the Material Plasma Exposure eXperiment (MPEX), a superconducting magnet, steady-state device to address the plasma material interactions of fusion reactors. MPEX will utilize a new highintensity plasma source concept based on RF technology. This source concept will allow the experiment to cover the entire expected plasma conditions in the divertor of a future fusion reactor. It will be able to study erosion and redeposition for relevant geometries with relevant electric and magnetic fields in-front of the target. MPEX is being designed to allow for the exposure of a priori neutron-irradiated samples. The target exchange chamber has been designed to undock from the linear plasma generator such that it can be transferred to diagnostics stations for more detailed surface analysis. MPEX is being developed in a staged approach with successively increased capabilities. After the initial development step of the helicon source and electron cyclotron heating system, the source concept is being tested in the Proto-MPEX device. Proto-MPEX has achieved electron densities of more than 4×1019 m-3 with a large diameter (13 cm) helicon antenna at 100 kW power. First heating with microwaves resulted in a higher ionization represented by higher electron densities on axis, when compared with the helicon plasma only without microwave heating.

Characterization of gas pipeline flaws using wavelet analysis

As U.S. natural gas supply pipelines are aging, non-destructive inspection techniques are needed to maintain the integrity and reliability of the natural gas supply infrastructure. Ultrasonic waves are one promising method for non-destructive inspection of pipeline integrity. As the waves travel through the pipe wall, they are affected by the features they encounter. In order to build a practical inspection system that uses ultrasonic waves, an analysis method is needed that can distinguish between normal pipe wall features, such as welds, and potentially serious flaws, such as cracks and corrosion. Ideally, the determination between “flaw” and “no-flaw” must be made in real-time as the inspection system passes through the pipe. Because wavelet basis functions share some common traits with ultrasonic waves, wavelet analysis is particularly well-suited for this application. Using relatively simple features derived from the wavelet analysis of ultrasonic wave signatures traveling in a pipe wall, we have successfully demonstrated the ability to distinguish between the “flaw” and “no-flaw” classes of ultrasonic features.

A new representation for a robot grasping quality measure

When an object is held by a multi-fingered hand, the values of the contact forces can be multivalued. An objective function, when used in conjunction with the frictional and geometric constraints of the grasp, can however, give a unique set of finger force values. The selection of the objective function in determining the finger forces is dependent on the type of grasp required, the material properties of the object, and the limitations of the robot fingers. In this paper several optimization functions are studied and their merits highlighted. The paper introduces a graphical representation of the finger force values and the objective functions that enable one to select and compare various grasping configurations. The impending motion of the object at different torque and finger force values are determined by observing the normalized coefficient of friction plots

Core and Refueling Design Studies for the Advanced High Temperature Reactor

The Advanced High Temperature Reactor (AHTR) is a design concept for a central generating station type [3400 MW(t)] fluoride-salt-cooled high-temperature reactor (FHR). The overall goal of the AHTR development program is to demonstrate the technical feasibility of FHRs as low-cost, large-size power producers while maintaining full passive safety. This report presents the current status of ongoing design studies of the core, in-vessel structures, and refueling options for the AHTR. The AHTR design remains at the notional level of maturity as important material, structural, neutronic, and hydraulic issues remain to be addressed. The present design space exploration, however, indicates that reasonable options exist for the AHTR core, primary heat transport path, and fuel cycle provided that materials and systems technologies develop as anticipated. An illustration of the current AHTR core, reactor vessel, and nearby structures is shown in Fig. ES1. The AHTR core design concept is based upon 252 hexagonal, plate fuel assemblies configured to form a roughly cylindrical core. The core has a fueled height of 5.5 m with 25 cm of reflector above and below the core. The fuel assembly hexagons are {approx}45 cm across the flats. Each fuel assembly contains 18 plates that are 23.9 cm wide and 2.55 cm thick. The reactor vessel has an exterior diameter of 10.48 m and a height of 17.7 m. A row of replaceable graphite reflector prismatic blocks surrounds the core radially. A more complete reactor configuration description is provided in Section 2 of this report. The AHTR core design space exploration was performed under a set of constraints. Only low enrichment (<20%) uranium fuel was considered. The coated particle fuel and matrix materials were derived from those being developed and demonstrated under the Department of Energy Office of Nuclear Energy (DOE-NE) advanced gas reactor program. The coated particle volumetric packing fraction was restricted to at most 40%. The pressure drop across the core was restricted to no more than 1.5 atm during normal operation to minimize the upward force on the core. Also, the flow velocity in the core was restricted to 3 m/s to minimize erosion of the fuel plates. Section 3.1.1 of this report discusses the design restrictions in more detail.

The Material Plasma Exposure eXperiment MPEX: Pre-design, development and testing of source concept

The availability of future fusion devices such as a Fusion Nuclear Science Facility (FNSF) or DEMO greatly depends on long operating lifetimes of plasma facing components in their divertors. ORNL is designing the Material-Plasma Exposure eXperiment (MPEX), a superconducting magnet, steady-state device to address the plasma material interactions of fusion reactors. MPEX will utilize a new high-intensity plasma source concept based on RF technology. This source concept will allow the experiment to cover the entire expected plasma conditions in the divertor of a future fusion reactor. It will be able to study erosion and re-deposition for relevant geometries with relevant electric and magnetic fields in-front of the target. MPEX is being designed to allow for the exposure of a-priori neutron-irradiated samples. The target transfer cask has been designed to undock from the linear plasma generator such that it can be transferred to diagnostics stations for more detailed surface analysis. MPEX is being developed in a staged approach with successively increased capabilities. After the initial development step of the helicon source and ECH system the source concept is being tested in the Proto-MPEX device (100 kW helicon, 200 kW EBW, 30 kW ICRH). Proto-MPEX has achieved electron densities of more than 4×1019m-3 with a large diameter (13cm) helicon antenna at 100 kW power. First heating with microwaves resulted in a higher ionization represented by higher electron densities on axis, when compared to the helicon plasma only without microwave heating.

Vacuum System and Modeling for the Materials Plasma Exposure Experiment

Abstract Understanding the science of plasma-material interactions (PMI) is essential for the future development of fusion facilities. The design of divertors and first walls for the next generation of long-pulse fusion facilities, such as a Fusion Nuclear Science Facility (FNSF) or a DEMO, requires significant PMI research and development. In order to meet this need, a new linear plasma facility, the Materials Plasma Exposure Experiment (MPEX) is proposed, which will produce divertor relevant plasma conditions for these next generation facilities. The device will be capable of handling low activation irradiated samples and be able to remove and replace samples without breaking vacuum. A Target Exchange Chamber (TEC) which can be disconnected from the high field environment in order to perform in-situ diagnostics is planned for the facility as well. The vacuum system for MPEX must be carefully designed in order to meet the requirements of the different heating systems, and to provide conditions at the target similar to those expected in a divertor. An automated coupling-decoupling (“autocoupler”) system is designed to create a high vacuum seal, and will allow the TEC to be disconnected without breaking vacuum in either the TEC or the primary plasma materials interaction chamber. This autocoupler, which can be actuated remotely in the presence of the high magnetic fields, has been designed and prototyped, and shows robustness in a variety of conditions. The vacuum system has been modeled using a simplified finite element analysis, and indicates that the design goals for the pressures in key regions of the facility are achievable.

Guided waves for stress corrosion crack detection in pipelines—feature selection and classification

This paper describes a wavelet‐based analysis of electromagnetic acoustic transducer (EMAT) signals for in‐line inspection of flaws in natural gas pipeline. The main objective of the project has been to implement the use of EMATs for pipe flaw detection, specifically the ability to detect stress corrosion cracks (SCCs) that are undetectable by current techniques. In this approach, two EMATs are used; one is the transmitter, while the second one, located a few inches away from the first, is used to receive the induced signal. Using a four‐level wavelet decomposition, the EMAT data are filtered based on frequency. The features used to classify are derived from the coefficients representing each level of the four‐level decomposition of the signature. The objective of the project was to detect SCC with minimal false positive even if smaller SCCs (shallow) are not identified. Although many features could be used, selecting the right features that results in maximum separation between the classes (SCC flaw, oth...

Fernald Silo Remote Retrieval Tool Development

A long-reach tool was developed to remove discrete objects from the silos at the Fernald Environmental Management Project in Ohio. If they are not removed, these objects can potentially cause problems during the retrieval and transfer of waste from the silos. Most of the objects are on top of the Bentogrout cap inside the silos at or near the primary opening into the tank and will therefore require only vertical lifting. The objects are located about 20 ft from the top of the silo. Although most of the objects can be retrieved from 20 ft, the long-reach tool was designed to for a reach up to 40 ft in case objects roll towards the walls of the tank or need to be removed during heel retrieval operations. This report provides a detailed description of the tool that was developed, tested, and demonstrated at the Tanks Technology Cold Test Facility at Oak Ridge National Laboratory. Scaffolding was erected over two experimental cells to simulate the 40-ft maximum working depth anticipated in the silos at Fernald. Plastic bottles and plastic sheeting simulated the debris that could be encountered during waste retrieval operations.