Design of Underwater Welding Robot Used in Nuclear Plant

2014 ◽  
Vol 620 ◽  
pp. 484-489 ◽  
Author(s):  
Xi Min Lv ◽  
Yu Fei Liu ◽  
Hai Bo Gao ◽  
Liang Ding ◽  
Jian Guo Tao ◽  
...  
Keyword(s):  
Operating System ◽  
Nuclear Power ◽  
3D Model ◽  
Special Functions ◽  
Welding Robot ◽  
Underwater Welding ◽  
System Composition ◽  
System Components ◽  
Center Position ◽  
Simulation Results

Through the analysis of operational requirements and environmental characteristics of nuclear power plant pool, we propose the design of underwater welding robot and establish the 3D model. Then, we introduce special functions and system composition of the robot in detail. After that, we propose the cooperation of the moving system and operating system, for the reason that the center position of gravity and buoyancy change when the operating system moves. Finally, we simply introduce control system components, control strategy and simulation results of the robot.

Fault Tree Analysis for a Modern Communication System

2017 ◽  
Vol 7 (1) ◽  
Author(s):  
Kamal Hamid ◽  
Nadim Chahine
Keyword(s):  
Communication System ◽  
Communication Systems ◽  
Fault Tree ◽  
Fault Tree Analysis ◽  
Theory And Practice ◽  
Tree Analysis ◽  
Satisfactory Performance ◽  
System Components ◽  
Link Budget ◽  
Simulation Results

Wireless communications became one of the most widespread means for transferring information. Speed and reliability in transferring the piece of information are considered one of the most important requirements in communication systems in general. Moreover, Quality and reliability in any system are considered the most important criterion of the efficiency of this system in doing the task it is designed to do and its ability for satisfactory performance for a certain period of time, Therefore, we need fault tree analysis in these systems in order to determine how to detect an error or defect when happening in communication system and what are the possibilities that make this error happens. This research deals with studying TETRA system components, studying the physical layer in theory and practice, as well as studying fault tree analysis in this system, and later benefit from this study in proposing improvements to the structure of the system, which led to improve gain in Link Budget. A simulation and test have been done using MATLAB, where simulation results have shown that the built fault tree is able to detect the system’s work by 82.4%.

Voltage Sag Evaluation Method of a Real Distribution System Based on a Connection Number Model

2013 ◽  
Vol 341-342 ◽  
pp. 1363-1366
Author(s):  
Lang Bai ◽  
Le Yu
Keyword(s):  
Distribution System ◽  
Evaluation Method ◽  
Assessment Model ◽  
Voltage Sag ◽  
Voltage Sags ◽  
Connection Number ◽  
Reliability Parameters ◽  
Real Distribution ◽  
System Components ◽  
Simulation Results

The evaluation results of power system are greatly influenced by the reliability parameters and uncertainty of system components. The connection number assessment model and an approach have been presented to assess the occurrence frequency due to voltage sags. The proposed method had been applied to a real distribution system. Compared with the interval number method, the simulation results have shown that this method is simple and flexible.

The Impact Analysis of Revolute Pair Clearance to the End Pose Accuracy of Welding Robot

2015 ◽  
Vol 778 ◽  
pp. 259-263
Author(s):  
Fa Jun Zhang ◽  
Lin Zi Li ◽  
Hui Lin ◽  
Yin Lin Pu ◽  
Zhu Xin
Keyword(s):  
Mathematical Model ◽  
Impact Analysis ◽  
Joint Clearance ◽  
Welding Robot ◽  
Movement Characteristic ◽  
Movement Stability ◽  
Simulation Results ◽  
The Impact ◽  
The Mathematical Model ◽  
Welding Position

Various uncertain factors affect the movement of the welding robot, thus welding gun tend to deviate from the theory of welding position which reduces the welding accuracy, of which the revolute pair clearance have an greater effect on the movement of the welding robot. In order to study the influence of revolute pair clearance to the end pose accuracy of welding robot, the mathematical model of revolute pair clearance was established, and the software SolidWorks was used for establishing the welding robot model, making simulations of the mechanical arm with joint clearance and no joint clearance. At last, the movement characteristic of the hinge shaft is attained. The simulation results showed that the shaft velocity and displacement of mechanical arm with joint clearance has a certain degree of fluctuation, which affecting the end pose accuracy of welding robot , and reducing the movement stability and the welding accuracy of welding robot.

scholarly journals 3D model of a Monolithic Honeycomb Adsorber for Electric Swing Adsorption for Carbon Dioxide Capture

2020 ◽  
Vol 12 (1) ◽  
Author(s):  
Ivaná Đukic ◽  
Marija Ječmenica Dučić ◽  
Nikola Nikačević ◽  
Menka Petkovska
Keyword(s):  
Carbon Dioxide ◽  
Physical Properties ◽  
Power Plants ◽  
3D Model ◽  
Carbon Dioxide Capture ◽  
Comsol Multiphysics ◽  
Simulation And Optimization ◽  
Electrothermal Desorption ◽  
1D Model ◽  
Simulation Results

The goal of this work was to develop a 3D model of Electric Swing Adsorption pro- cess for carbon dioxide capture from effluent gasses from power plants. Detailed 3D model of the composite honeycomb monolithic adsorber was developed for a sin- gle monolith channel and can be used to simulate and represent different physical properties: velocity, concentration and temperature. The advantage of this model is the fact that all physical properties and results can be presented visually in the 3D domain. COMSOL Multiphysics software was used for solving partial differential equations and simulations of adsorption and electrothermal desorption processes. Some simulation results are presented in this work. The results obtained from 3D simulations will be used for the adsorber model reduction to the 1D model which will be used for modeling and optimization of the whole ESA cycle due to its sim- plicity and computational demands. Simulation and optimization runs based on the 1D model will be performed in g-Proms software.

Simulation of a Differential-Drive Wheeled Mobile Lego Robot Mindstorms NXT

2015 ◽  
Vol 776 ◽  
pp. 319-324
Author(s):  
I. Wayan Widhiada ◽  
C.G. Indra Partha ◽  
Yuda A.P. Wayan Reza
Keyword(s):  
Mobile Robot ◽  
3D Model ◽  
Hardware Implementation ◽  
Movement Control ◽  
Common Environment ◽  
Matlab Simulink ◽  
Differential Drive ◽  
Simulation Results ◽  
Mechanical Elements ◽  
Drive Model

The aim of this paper is to model and simulate kinematics motion using the differential drive model of a mobile Lego robot Mindstorm NXT. The author’s use integrated two software as a method to solve the simulation of mobile lego robot mindstorms NXT using Matlab/Simulink and Solidworks software. These softwares are enable easier 3D model creation for both simulation and hardware implementation. A fundamental of this work is the use of Matlab/Simulink Toolboxes to support the simulation and understanding of the various kinematics systems and in particular how the SimMechanics toolbox is used to interface seamlessly with ordinary Simulink block diagrams to enable the mechanical elements and its associated control system elements to be investigated in one common environment. The result of simulation shows the mobile robot movement control based on decentralized point algorithm to follow the precision x and y references that has been specified. The design of the mobile robot is validated in simulation results as proof that this design can achieve the good performance.

Design of Robust Approach for Failure Detection in Dynamic Control Systems

2013 ◽  
pp. 237-259
Author(s):  
Gomaa Zaki El-Far
Keyword(s):  
Nuclear Power ◽  
Dynamic Control ◽  
Control Process ◽  
Failure Detection ◽  
Global Optimum ◽  
Sampling Time ◽  
Nuclear Power Reactor ◽  
Control Actions ◽  
On Line ◽  
Simulation Results

This paper presents a robust instrument fault detection (IFD) scheme based on modified immune mechanism based evolutionary algorithm (MIMEA) that determines on line the optimal control actions, detects faults quickly in the control process, and reconfigures the controller structure. To ensure the capability of the proposed MIMEA, repeating cycles of crossover, mutation, and clonally selection are included through the sampling time. This increases the ability of the proposed algorithm to reach the global optimum performance and optimize the controller parameters through a few generations. A fault diagnosis logic system is created based on the proposed algorithm, nonlinear decision functions, and its derivatives with respect to time. Threshold limits are implied to improve the system dynamics and sensitivity of the IFD scheme to the faults. The proposed algorithm is able to reconfigure the control law safely in all the situations. The presented false alarm rates are also clearly indicated. To illustrate the performance of the proposed MIMEA, it is applied successfully to tune and optimize the controller parameters of the nonlinear nuclear power reactor such that a robust behavior is obtained. Simulation results show the effectiveness of the proposed IFD scheme based MIMEA in detecting and isolating the dynamic system faults.

Numerical Investigation of Melt Jet Breakup With Different Shapes in Water Pool

2017 ◽  
Author(s):  
Hui Cheng ◽  
Jiyun Zhao
Keyword(s):  
Surface Area ◽  
Steam Explosion ◽  
Nuclear Power ◽  
3D Model ◽  
Severe Accident ◽  
Interface Surface ◽  
Jet Breakup ◽  
Different Shapes ◽  
Interface Surface Area ◽  
2D Model

During a severe accident in nuclear power plant, core damage may occur due to decay heat and molten fuel can pour into and interact with water resulting in steam explosion. The energetics of steam explosion strongly depends on the initial premixing stage during which the molten fuel undergoes a coarse fragmentation process, which determines the surface area for fuel-coolant contact and heat transfer. Extensive research has been done to understand the premixing stage, however, most of the studies are focused on the cylindrical jet interaction with water. In fact, during core melt, the molten fuel may pour near the edge of core, so the shapes and size of melt jet may differ significantly based on specific conditions. In this paper, numerically study on the melt jet breakup with different shapes in pool water are conducted, such as elliptical shape with VOF method. Firstly, the deformation of molten jet under the same conditions in 2D model is compared with 3D model and shows that the breakup of 3D model is quite different from 2D model, the integration of 3D model is maintained much better than 2D model. Then the characteristics of breakup of elliptic cylindrical melt jet are analyzed and compared with cylindrical melt jet. The results shows that the interface surface area of elliptic cylindrical jet is nearly twice the cylindrical jet.

Perceptually Optimized UDP-Lite Protocol for 3D Model Streaming among Lossy Network

2010 ◽  
Vol 143-144 ◽  
pp. 533-537
Author(s):  
Bai Lin Yang
Keyword(s):  
Wireless Network ◽  
3D Model ◽  
Important Data ◽  
End To End Delay ◽  
Simulation Results ◽  
End To End

This paper proposes a perceptually optimized UDP-lite protocol for streaming the 3D model over lossy wireless network. Before the transmission, the model is divided into perceptually important data and less perceptually important data and constructed into a progressive representation. And then, the progressive model is streamed by the modified protocol based on the UDP_lite protocol. The simulation results demonstrate that end-to-end delay has significant improvement and the graphics quality has no apparent degradation.

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