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First-principle predictive tokamak plasma models based on flux averaged transport equations often yield complex expressions not suitable for real time control implementations. Addition of turbulent transport phenomena further encumbers these models with transport coefficients that must be determined experimentally and the interdependences between parameters must be accounted for with ad hoc assumptions...
The achievement of suitable toroidal-current-density profiles in tokamak plasmas plays an important role in enabling high fusion gain and noninductive sustainment of the plasma current for steady-state operation with improved magnetohydrodynamic stability. The evolution in time of the current profile is related to the evolution of the poloidal magnetic flux, which is modeled in normalized cylindrical...
This paper reports a motion planning scheme for a high performance robot aiming to realize the motion control skills exhibited by professional golfers. The robot has a dexterous mechanism with similar distribution of actuators' capability and a pair of mechanical joint stops like human beings. The proposed motion planning method combines target dynamics together with port-controlled Hamiltonian (PCH)...
In a magnetic fusion reactor, the achievement of a certain type of plasma current profiles, which are compatible with magnetohydrodynamic (MHD) stability at high plasma pressure, is key to enabling high fusion gain and noninductive sustainment of the plasma current for steady-state operation. The evolution in time of the current profile is related to the evolution of the spatial derivative of the...
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