Vedenalainen hitsaus

Tässä kandidaatintyössä esitellään ensin vedenalainen hitsaus yleisesti. Työssä käydään läpi vedenalaisen hitsauksen eri pääalueet ja niissä käytetyt hitsaustekniikat, sekä tarkastellaan veden vaikutusta hitsiin. Työ sisältää myös materiaali esimerkkejä, joita vedenalaisessa hitsauksessa käytetään. Vedenalainen hitsaus toimii asennus- ja korjaushitsauksena. Hitsausprosessit, joita työssä käsitellään, ovat puikko-, täytelanka- ja kitkahitsaus. Näitä hitsaustekniikoita käytetään märkähitsauksessa, mikä poikkeaa selvästi kuivassa ympäristössä tapahtuvaan hitsaamiseen, jossa hitsi ei pääse välittömästi kosketukseen veden kanssa. Työn tarkoituksena on antaa informaatiota vedenalaisesta hitsauksesta ja sen hyödyntämisestä hitsaustekniikassa.

Parallel Coupled Micro-Macro Actuators

This thesis presents a new actuator system consisting of a micro-actuator and a macro-actuator coupled in parallel via a compliant transmission. The system is called the Parallel Coupled Micro-Macro Actuator, or PaCMMA. In this system, the micro-actuator is capable of high bandwidth force control due to its low mass and direct-drive connection to the output shaft. The compliant transmission of the macro-actuator reduces the impedance (stiffness) at the output shaft and increases the dynamic range of force. Performance improvement over single actuator systems was expected in force control, impedance control, force distortion and reduction of transient impact forces. A set of quantitative measures is proposed and the actuator system is evaluated against them: Force Control Bandwidth, Position Bandwidth, Dynamic Range, Impact Force, Impedance ("Backdriveability'"), Force Distortion and Force Performance Space. Several theoretical performance limits are derived from the saturation limits of the system. A control law is proposed and control system performance is compared to the theoretical limits. A prototype testbed was built using permanenent magnet motors and an experimental comparison was performed between this actuator concept and two single actuator systems. The following performance was observed: Force bandwidth of 56Hz, Torque Dynamic Range of 800:1, Peak Torque of 1040mNm, Minimum Torque of 1.3mNm. Peak Impact Force was reduced by an order of magnitude. Distortion at small amplitudes was reduced substantially. Backdriven impedance was reduced by 2-3 orders of magnitude. This actuator system shows promise for manipulator design as well as psychophysical tests of human performance.

Rapid quality assessment of wheat cultivars registered in Poland using the 2-g mixograph and multivariate statistical analysis

Baking and 2-g mixograph analyses were performed for 55 cultivars (19 spring and 36 winter wheat) from various quality classes from the 2002 harvest in Poland. An instrumented 2-g direct-drive mixograph was used to study the mixing characteristics of the wheat cultivars. A number of parameters were extracted automatically from each mixograph trace and correlated with baking volume and flour quality parameters (protein content and high molecular weight glutenin subunit [HMW-GS] composition by SDS-PAGE) using multiple linear regression statistical analysis. Principal component analysis of the mixograph data discriminated between four flour quality classes, and predictions of baking volume were obtained using several selected mixograph parameters, chosen using a best subsets regression routine, giving R-2 values of 0.862-0.866. In particular, three new spring wheat strains (CHD 502a-c) recently registered in Poland were highly discriminated and predicted to give high baking volume on the basis of two mixograph parameters: peak bandwidth and 10-min bandwidth.

Dextrous hands: issues relating to a four-finger articulated hand

Manipulation of an object by a multi-fingered robot hand requires task planning which involves computation of joint space vectors and fingertip forces. To implement a task as fast as possible, computations have to be carried out in minimum time. The state of the art in manipulation by multi-fingered robot hand designs has shown the possible use of remotely driven finger joints. Such remotely driven hands require computation of tendon displacement for evaluating joint space vectors before signals are sent to actuators. Alternatively, a direct drive hand is a mechanical hand in which the shafts of articulated joints are directly coupled to the rotors of motors with high output torques. This article has been divided into two main sections. The first section presents a brief view of manipulation using a direct drive approach. Meanwhile, the other section presents ongoing research which is being carried out to design a four-finger articulated hand in the Department of Cybernetics at the University of Reading.

Room Temperature Ionic Liquid-Lithium Salt Mixtures: Optical Kerr Effect Dynamical Measurements

The addition of lithium salts to ionic liquids causes an increase in viscosity and a decrease in ionic mobility that hinders their possible application as an alternative solvent in lithium ion batteries. Optically heterodyne-detected optical Kerr effect spectroscopy was used to study the change in dynamics, principally orientational relaxation, caused by the addition of lithium bis(trifluoromethylsulfonyl)imide to the ionic liquid 1-buty1-3-methylimidazolium bis(trifluoromethylsulfonyl)imide. Over the time scales studied (1 ps-16 ns) for the pure ionic liquid, two temperature-independent power laws were observed: the intermediate power law (1 ps to similar to 1 ns), followed by the von Schweidler power law. The von Schweidler power law is followed by the final complete exponential relaxation, which is highly sensitive to temperature. The lithium salt concentration, however, was found to affect both power laws, and a discontinuity could be found in the trend observed for the intermediate power law when the concentration (mole fraction) of lithium salt is close to chi(LiTf(2)N) = 0.2. A mode coupling theory (MCT) schematic model was also used to fit the data for both the pure ionic liquid and the different salt concentration mixtures. It was found that dynamics in both types of liquids are described very well by MCT.

Avaliação de estratégias de controle de potência reativa de aerogeradores síncronos em redes elétricas

No presente trabalho é avaliada uma metodologia de injeção de potência reativa em redes elétricas durante afundamentos de tensão provocados por curto-circuito, em parques eólicos interligados, adotada em alguns países com maturidade tecnológica na produção de energia eólica. Nos estudos desenvolvidos, foi utilizado o aerogerador síncrono a imã permanente com conversor pleno em função da grande controlabilidade do conversor interligado à rede e por possuir elevada capacidade de fornecimento de potência reativa, comparada a outras tecnologias de aerogeradores. No Brasil, os requisitos de interligação de parques eólicos as redes elétricas, definido pelo Operador Nacional do Sistema, ainda não estipula a necessidade de adoção de tal metodologia durante defeitos na rede elétrica, apenas especifica a curva de capacidade de afundamentos de tensão que os aerogeradores devem seguir para evitar o desligamento frente a afundamentos de tensão. Os critérios de proteção do aerogerador síncrono são avaliados a partir de simulações de curto-circuito em uma rede de teste adotando-se os requisitos do Brasil, sem injeção de potência reativa, sendo comparados com o de outros países que adotam curvas de injeção de potência reativa.

Valutazione economica e funzionale dell'applicazione di un motore asincrono e di un motore coppia ad un estrusore di materie plastiche

Il concetto di “direct drive”, cioè l’applicazione diretta del motore all’utilizzatore, in modo da eliminare elementi di connessione intermedi (riduttori, pulegge, ecc…) con il vantaggio di migliorare il rendimento, ridurre gli ingombri, semplificare l’intera struttura, ridurre la manutenzione, è applicato con sempre maggior frequenza. L’azienda Graham Packaging Company Italia s.r.l. produce macchinari industriali per la produzione di packaging plastico, i quali montano un gruppo di estrusione a monte della macchina che alimenta il gruppo di soffiaggio: si possono, quindi, intuire alcuni vantaggi derivanti dall’applicazione del “direct drive”. Nella soluzione attualmente adottata dall’azienda la vite di estrusione, che gira a velocità relativamente basse, è collegata tramite un riduttore ad un motore asincrono trifase, che ruota a velocità significativamente superiori. L’ipotesi di una soluzione differente prevederebbe l’accoppiamento della vite ad un motore coppia (torque motor) caratterizzato da una elevata coppia e giri relativamente bassi. I vantaggi di tale accoppiamento sarebbero fondamentalmente il risparmio energetico derivante dall’esclusione del riduttore dal meccanismo e la maggiore facilità di regolazione della velocità e di conseguenza anche della portata dell’estrusore. La tesi ha lo scopo di analizzare nel particolare l’attuale situazione dal punto di vista del consumo energetico delle 11 taglie di estrusori, di valutare una soluzione con motore coppia consultando diversi fornitori di motori, di comparare le due varianti dal punto di vista dell’efficienza e dei vantaggi economici.

Reply to the editor

We appreciate the comments and concerns expressed by Arakawa and colleagues regarding our article, titled “Pulsatile control of rotary blood pumps: Does the modulation waveform matter?”1 Unfortunately, we have to disagree with Arakawa and colleagues. As is obvious from the title of our article, it investigates the effect of different waveforms on the heart–device interaction. In contrast to the authors' claim, this is the first article in the literature that uses basic waveforms (sine, triangle, saw tooth, and rectangular) with different phase shifts to examines their impact on left ventricular unloading. The previous publications2, 3 and 4 just varied the pump speed during systole and diastole, which was first reported by Bearnson and associates5 in 1996, and studied its effect on aortic pressure, coronary flow, and end-diastolic volume. We should mention that dp/dtmax is a load-sensitive parameter of contractility and not representative for the degree of unloading. Moreover, none of the aforementioned reports has studied mechanical unloading and in particular the stroke work of the left ventricle. Our method is unique because we do not just alternate between high and low speed but have accurate control of the waveform because of the direct drive system of Levitronix Technologies LLC (Waltham, Mass) and a custom-developed pump controller. Without referring, Arakawa and associates state “several previous studies have already reported the coronary flow diminishes as the left ventricular assist device support increases.” It should be noted that all the waveforms used in our study have 2000 rpm average value with 1000 rpm amplitude, which is not an excessive speed for the CentriMag rotary pump (Levitronix) to collapse the ventricle and diminish the coronary flow. We agree with Arakawa and coworkers that there is a need for a heart failure model to come to more relevant results with respect to clinical expectations. However, we have explored many existing models, including species and breeds that have a native proneness to cardiomyopathy, but all of them differ from the genetic presentation in humans. We certainly do not believe that the use of microembolization, in which the coronary circulation is impaired by the injection of microspheres, would form a good model from which to draw conclusions about coronary flow change under different loading conditions. A model would be needed in which either an infarct is created to mimic ischemic heart failure or the coronary circulation remains untouched to simulate, for instance, dilated cardiomyopathy. Furthermore, in discussion we clearly mention that “lack of heart failure is a major limitation of our study.” We also believe that unloading is not the only factor of the cardiac functional recovery, and an excessive unloading of the left ventricle might lead to cardiac tissue atrophy. Therefore, in our article we mention that control of the level of cardiac unloading by assist devices has been suggested as a mechanical tool to promote recovery, and more studies are required to find better strategies for the speed modulation of rotary pumps and to achieve an optimal heart load control to enhance myocardial recovery. Finally, there are many publications about pulsing rotary blood pumps and it was impossible to include them all. We preferred to reference some of the earlier basic works such as an original research by Bearnson and coworkers5 and another article published by our group,6 which is more relevant.

Materials Research for HiPER Laser Fusion Facilities: Chamber Wall, Structural Material and Final Optics

The European HiPER project aims to demonstrate commercial viability of inertial fusion energy within the following two decades. This goal requires an extensive Research &Development program on materials for different applications (e.g., first wall, structural components and final optics). In this paper we will discuss our activities in the framework of HiPER to develop materials studies for the different areas of interest. The chamber first wall will have to withstand explosions of at least 100 MJ at a repetition rate of 5-10 Hz. If direct drive targets are used, a dry wall chamber operated in vacuum is preferable. In this situation the major threat for the wall stems from ions. For reasonably low chamber radius (5-10 m) new materials based on W and C are being investigated, e.g., engineered surfaces and nanostructured materials. Structural materials will be subject to high fluxes of neutrons leading to deleterious effects, such as, swelling. Low activation advanced steels as well as new nanostructured materials are being investigated. The final optics lenses will not survive the extreme ion irradiation pulses originated in the explosions. Therefore, mitigation strategies are being investigated. In addition, efforts are being carried out in understanding optimized conditions to minimize the loss of optical properties by neutron and gamma irradiation

Symmetry Issues in Directly Irradiated Targets

In direct drive Inertial Confinement Fusion (ICF), the typical laser beam to laser beam angle is around 30o. This fact makes the study of the irradiation symmetry agenuine 3D problem. In this paper we use the three dimensional version of the MULTI hydrocode to assess the symmetry of such ICF implosions. More specifically, we study a shock-ignition proposal for the Laser-M´egajoule facility (LMJ) in which two of the equatorial beam cones are used to implode and pre compress a spherical capsule (the “reference” capsule of HiPER project) made of 0.59 mg of pure Deuterium-Tritium mixture. The symmetry of this scheme is analysed and optimized to get a design inside the operating limits of LMJ. The studied configuration has been found essentially axial-symmetric, so that the use of 2D hydrocodes would be appropriate for this specific situation.

Hydrodynamic stability theory of double ablation front structures in inertial confinement fusion.

The aim of inertial confinement fusion is the production of energy by the fusion of thermonuclear fuel (deuterium-tritium) enclosed in a spherical target due to its implosion. In the direct-drive approach, the energy needed to spark fusion reactions is delivered by the irradiation of laser beams that leads to the ablation of the outer shell of the target (the so-called ablator). As a reaction to this ablation process, the target is accelerated inwards, and, provided that this implosion is sufficiently strong a symmetric, the requirements of temperature and pressure in the center of the target are achieved leading to the ignition of the target (fusion). One of the obstacles capable to prevent appropriate target implosions takes place in the ablation region where any perturbation can grow even causing the ablator shell break, due to the ablative Rayleigh-Taylor instability. The ablative Rayleigh-Taylor instability has been extensively studied throughout the last 40 years in the case where the density/temperature profiles in the ablation region present a single front (the ablation front). Single ablation fronts appear when the ablator material has a low atomic number (deuterium/tritium ice, plastic). In this case, the main mechanism of energy transport from the laser energy absorption region (low density plasma) to the ablation region is the electron thermal conduction. However, recently, the use of materials with a moderate atomic number (silica, doped plastic) as ablators, with the aim of reducing the target pre-heating caused by suprathermal electrons generated by the laser-plasma interaction, has demonstrated an ablation region composed of two ablation fronts. This fact appears due to increasing importance of radiative effects in the energy transport. The linear theory describing the Rayleigh-Taylor instability for single ablation fronts cannot be applied for the stability analysis of double ablation front structures. Therefore, the aim of this thesis is to develop, for the first time, a linear stability theory for this type of hydrodynamic structures.

Effect of ion flux on helium retention in helium-irradiated tungsten

Helium retention in irradiated tungsten leads to swelling, pore formation, sample exfoliation and embrittlement with deleterious consequences in many applications. In particular, the use of tungsten in future nuclear fusion plants is proposed due to its good refractory properties. However, serious concerns about tungsten survivability stems from the fact that it must withstand severe irradiation conditions. In magnetic fusion as well as in inertial fusion (particularly with direct drive targets), tungsten components will be exposed to low and high energy ion (helium) irradiation, respectively. A common feature is that the most detrimental situations will take place in pulsed mode, i.e., high flux irradiation. There is increasing evidence on a correlation between a high helium flux and an enhancement of detrimental effects on tungsten. Nevertheless, the nature of these effects is not well understood due to the subtleties imposed by the exact temperature profile evolution, ion energy, pulse duration, existence of impurities and simultaneous irradiation with other species. Physically based Kinetic Monte Carlo is the technique of choice to simulate the evolution of radiation-induced damage inside solids in large temporal and space scales. We have used the recently developed code MMonCa (Modular Monte Carlo simulator), presented in this conference for the first time, to study He retention (and in general defect evolution) in tungsten samples irradiated with high intensity helium pulses. The code simulates the interactions among a large variety of defects and impurities (He and C) during the irradiation stage and the subsequent annealing steps. In addition, it allows us to vary the sample temperature to follow the severe thermo-mechanical effects of the pulses. In this work we will describe the helium kinetics for different irradiation conditions. A competition is established between fast helium cluster migration and trapping at large defects, being the temperature a determinant factor. In fact, high temperatures (induced by the pulses) are responsible for large vacancy cluster formation and subsequent additional trapping with respect to low flux irradiation.

Effect of ion flux on helium retention in helium-irradiated tungsten

Helium retention in irradiated tungsten leads to swelling, pore formation, sample exfoliation and embrittlement with deleterious consequences in many applications. In particular, the use of tungsten in future nuclear fusion plants is proposed due to its good refractory properties. However, serious concerns about tungsten survivability stems from the fact that it must withstand severe irradiation conditions. In magnetic fusion as well as in inertial fusion (particularly with direct drive targets), tungsten components will be exposed to low and high energy ion irradiation (helium), respectively. A common feature is that the most detrimental situations will take place in pulsed mode, i.e., high flux irradiation. There is increasing evidence of a correlation between a high helium flux and an enhancement of detrimental effects on tungsten. Nevertheless, the nature of these effects is not well understood due to the subtleties imposed by the exact temperature profile evolution, ion energy, pulse duration, existence of impurities and simultaneous irradiation with other species. Object Kinetic Monte Carlo is the technique of choice to simulate the evolution of radiation-induced damage inside solids in large temporal and space scales. We have used the recently developed code MMonCa (Modular Monte Carlo simulator), presented at COSIRES 2012 for the first time, to study He retention (and in general defect evolution) in tungsten samples irradiated with high intensity helium pulses. The code simulates the interactions among a large variety of defects and during the irradiation stage and the subsequent annealing steps. The results show that the pulsed mode leads to significantly higher He retention at temperatures higher than 700 K. In this paper we discuss the process of He retention in terms of trap evolution. In addition, we discuss the implications of these findings for inertial fusion.

Symmetry issues in Directly Irradiated Targets

In direct drive Inertial Confinement Fusion (ICF), the typical laser beam to laser beam angle is around 30o. This fact makes the study of the irradiation symmetry agenuine 3D problem. In this paper we use the three dimensional version of the MULTI hydrocode to assess the symmetry of such ICF implosions. More specifically, we study a shock-ignition proposal for the Laser-M´egajoule facility (LMJ) in which two of the equatorial beam cones are used to implode and pre compress a spherical capsule (the “reference” capsule of HiPER project) made of 0.59 mg of pure Deuterium-Tritium mixture. The symmetry of this scheme is analysed and optimized to get a design inside the operating limits of LMJ. The studied configuration has been found essentially axial-symmetric, so that the use of 2D hydrocodes would be appropriate for this specific situation

Irradiation uniformity at the Laser MegaJoule facility in the context of the shock ignition scheme

The use of the Laser MegaJoule facility within the shock ignition scheme has been considered. In the first part of the study, one-dimensional hydrodynamic calculations were performed for an inertial confinement fusion capsule in the context of the shock ignition scheme providing the energy gain and an estimation of the increase of the peak power due to the reduction of the photon penetration expected during the high-intensity spike pulse. In the second part, we considered a Laser MegaJoule configuration consisting of 176 laser beams that have been grouped providing two different irradiation schemes. In this configuration the maximum available energy and power are 1.3 MJ and 440 TW. Optimization of the laser?capsule parameters that minimize the irradiation non-uniformity during the first few ns of the foot pulse has been performed. The calculations take into account the specific elliptical laser intensity profile provided at the Laser MegaJoule and the expected beam uncertainties. A significant improvement of the illumination uniformity provided by the polar direct drive technique has been demonstrated. Three-dimensional hydrodynamic calculations have been performed in order to analyse the magnitude of the azimuthal component of the irradiation that is neglected in twodimensional hydrodynamic simulations.