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Tokamak plasma disruptions present a significant challenge to ITER as they can result in intense heat flux, large forces from halo and eddy currents, and potential first-wall damage from the generation of multi-MeV runaway electrons. Massive gas injection (MGI) of high Z material using fast acting valves is being explored on existing tokamaks and is planned for ITER as a method to evenly distribute...
This paper discusses the tracking algorithms and approach used to control the tracking fluoroscope system. It is a mobile platform equipped with an on-board fluoroscope system to perform real-time imaging of human joints in motion: ankles, knees and hips. In order to record the natural and uninterrupted joint motion, the person has to be able to walk freely while being followed by the robot. It requires...
Large multi-fingered end-effectors have promise to provide the added dexterity needed for manipulation while decreasing the amount of special fixturing required for tooling and object manipulation common to remote handling operations in hazardous and unstructured environments such as those in the nuclear domain. This paper presents the integration of a heavy-duty three-fingered articulated hand with...
Sensors such as cameras and range finders provide flexibility and safety to telerobotic manipulations. However, in order to use their supportive features, sensor-based telerobotic control requires that both the sensors and the robot arm be calibrated so that the manipulator can target and articulate objects in the environment easily and effectively. The scope of this paper is to define the sensor-manipulator...
Celem pracy było przedstawienie badań i oceny jakości wykonanej w ramach realizacji Projektu Celowego partii wyrobów w postaci prętów oraz odkuwek z wysokostopowych stali ferrytycznych, martenzytycznych i ferrytyczno-martenzytycznych. Celem uzyskania możliwie pełnej charakterystyki wykonanych wyrobów przeprowadzono badania obejmujące określenie własności mechanicznych w statycznej próbie rozciągania,...
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