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CFD Analysis of S-Gamma Model Coupled With Two-Group Interfacial Area Transport Equations and AMUSIG Model for a Large Diameter Pipe 大直径管道S-Gamma耦合两组界面面积输运方程和AMUSIG模型的CFD分析
Pub Date : 2020-08-04 DOI: 10.1115/icone2020-16645
Sungje Hong, J. Schlegel, Subash Sharma
This paper describes the modeling of flow regimes beyond bubbly flows in a large diameter channel considering polydispersity and bubble induced turbulence using the Eulerian two-fluid approach. A two-bubble-group approach with two-group interfacial area transport equations (IATEs) is used to demonstrate flow phenomena in a large diameter pipe. Source and sink terms for mass and momentum exchanges between the two groups of bubbles and for bubble coalescence and breakup mechanisms are implemented. For predicting particle size and its distribution, S-Gamma (Sγ) model is used. The Sγ model with two-group IATEs are evaluated by comparing local distributions of void fractions and Sauter mean diameters with results of adaptive-multiple-size-group (AMUSIG) models and experimental dataset developed by Schlegel et al., (2012) for model validations. It shows that two-group IATEs with Sγ model predict reasonably accurate flow characteristics of beyond bubbly flow regimes, but also show shortcomings in their accuracies predicting local distributions, which imply that further studies for modeling of interfacial force are needed.
本文用欧拉双流体方法描述了考虑多分散性和气泡诱导湍流的大直径通道中超越气泡流动的流态模型。采用双气泡群方法和双群界面面积输运方程(IATEs)来模拟大直径管道内的流动现象。实现了两组气泡之间的质量和动量交换以及气泡合并和破裂机制的源汇项。采用S-Gamma (Sγ)模型预测粒径及其分布。通过将孔隙分数和Sauter平均直径的局部分布与自适应多尺寸组(AMUSIG)模型的结果和Schlegel等人(2012)开发的用于模型验证的实验数据集进行比较,评估具有两组IATEs的s - γ模型。结果表明,采用s - γ模型的两组IATEs能够较准确地预测气泡外流态的流动特性,但在预测局部分布的精度上也存在不足,需要对界面力模型进行进一步的研究。
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引用次数: 0
Development and Assessment of Data-Driven Digital Twins in a Nearly Autonomous Management and Control System for Advanced Reactors 先进反应堆近自主管理与控制系统中数据驱动数字孪生的开发与评估
Pub Date : 2020-08-04 DOI: 10.1115/icone2020-16813
Linyu Lin, P. Rouxelin, Paridhi Athe, Truc-Nam Dinh, J. Lane
A critical component of the autonomous control system is the implementation of digital twin (DT) for diagnosing the conditions and prognosing the future transients of physical components or systems. The objective is to achieve an accurate understanding and prediction of future behaviors of the physical components or systems and to guide operating decisions by an operator or an autonomous control system. With specific requirements in the functional, interface, modeling, and accuracy, DTs are developed based on operational and simulation databases. As one of the modeling methods, data-driven methods have been used for implementing DTs since they have more adaptive forms and are able to capture interdependencies that can be overlooked in model-based DTs. To demonstrate the capabilities of DTs, a case study is designed for the control of the EBR-II sodium-cooled fast reactor during a single loss of flow accident, where either a complete or a partial loss of flow in one of the two primary sodium pumps is considered. Based on the definition of DTs and the design of autonomous control system, DTs for diagnosis and prognosis are implemented by training feedforward neural networks with suggested inputs, training parameters, and knowledge base. Furthermore, inspired by the validation and uncertainty quantification scheme for scientific computing, a list of sources of uncertainty in input variables, training parameters, and knowledge base is formulated. The objective is to assess qualitative impacts of different sources of uncertainty on the DT errors. It is found that the performance of DT for diagnosis and prognosis satisfies the acceptance criteria within the training databases. Meanwhile, the accuracy of DTs for diagnosis and prognosis is highly affected by multiple sources of uncertainty.
自动控制系统的一个关键组成部分是实施数字孪生(DT),用于诊断物理组件或系统的条件和预测未来的瞬态。目标是实现对物理组件或系统未来行为的准确理解和预测,并指导操作员或自主控制系统的操作决策。由于在功能、界面、建模和精度方面有特定的要求,dt是基于操作和仿真数据库开发的。作为建模方法之一,数据驱动方法已被用于实现dtd,因为它们具有更多的自适应形式,并且能够捕获在基于模型的dtd中可能被忽略的相互依赖性。为了证明DTs的能力,设计了一个案例研究,用于在单次失流事故中控制EBR-II钠冷快堆,其中两个主钠泵中的一个完全或部分失流。在自主控制系统设计的基础上,基于建议输入、训练参数和知识库,通过训练前馈神经网络实现诊断和预测的自主控制。此外,受科学计算的验证和不确定度量化方案的启发,给出了输入变量、训练参数和知识库的不确定度来源列表。目的是评估不同不确定性来源对DT误差的定性影响。结果表明,DT在诊断和预后方面的性能满足训练数据库的可接受标准。同时,诊断和预后的准确性受到多种不确定性来源的高度影响。
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引用次数: 5
Simulation of Severe Accident Progression Using ROSHNI: A New Integrated Simulation Code for PHWR Severe Accidents 基于ROSHNI的严重事故进展模拟:一种新的PHWR严重事故集成仿真代码
Pub Date : 2020-08-04 DOI: 10.1115/icone2020-16633
S. Nijhawan, Y. Song
As analysts still grapple with understanding core damage accident progression at Three Mile Island and Fukushima that caught the nuclear industry off-guard once too many times, one notices the very limited detail with which the large reactor cores of these subject reactors have been modelled in their severe accident simulation code packages. At the same time, modelling of CANDU severe accidents have largely borrowed from and suffered from the limitations of the same LWR codes (see IAEA TECDOC 1727) whose applications to PHWRs have poorly caught critical PHWR design specifics and vulnerabilities. As a result, accident management measures that have been instituted at CANDU PHWRs, while meeting the important industry objective of publically seeming to be doing something about lessons learnt from say Fukushima and showing that the reactor designs are oh so close to perfect and the off-site consequences of severe accidents happily benign. Integrated PHWR severe accident progression and consequence assessment code ROSHNI can make a significant contribution to actual, practical understanding of severe accident progression in CANDU PHWRs, improving significantly on the other PHWR specific computer codes developed three decades ago when modeling decisions were constrained by limited computing power and poor understanding of and interest in severe core damage accidents. These codes force gross simplifications in reactor core modelling and do not adequately represent all the right CANDU core details, materials, fluids, vessels or phenomena. But they produce results that are familiar and palatable. They do, however to their credit, also excel in their computational speed, largely because they model and compute so little and with such un-necessary simplifications. ROSHNI sheds most previous modelling simplifications and represents each of the 380 channels, 4560 bundle, 37 elements in four concentric ring, Zircaloy clad fuel geometry, materials and fluids more faithfully in a 2000 MW(Th) CANDU6 reactor. It can be used easily for other PHWRs with different number of fuel channels and bundles per each channel. Each of horizontal PHWR reactor channels with all their bundles, fuel rings, sheaths, appendages, end fittings and feeders are modelled and in detail that reflects large across core differences. While other codes model at best a few hundred core fuel entities, thermo-chemical transient behaviour of about 73,000 different fuel channel entities within the core is considered by ROSHNI simultaneously along with other 15,000 or so other flow path segments. At each location all known thermo-chemical and hydraulic phenomena are computed. With such detail, ROSHNI is able to provide information on their progressive and parallel thermo-chemical contribution to accident progression and a more realistic fission product release source term that would belie the miniscule one (100 TBq of Cs-137 or 0.15% of core inventory) used by EMOs now in Canada on recommendation
由于分析人士仍在努力理解三里岛和福岛核反应堆堆芯损坏事故的进展,这些事故曾多次让核工业猝不及防,人们注意到,这些反应堆的大型反应堆堆芯在严重事故模拟代码包中建模的细节非常有限。与此同时,CANDU严重事故的建模在很大程度上借鉴了相同的轻水堆规范(见IAEA TECDOC 1727),并受到其局限性的影响,这些规范在PHWR中的应用未能很好地抓住关键的PHWR设计细节和漏洞。因此,在CANDU PHWRs中制定的事故管理措施,一方面达到了重要的行业目标,即在公开场合似乎对从福岛核电站吸取的教训有所作为,并表明反应堆设计非常接近完美,严重事故的非现场后果令人愉快地良性发展。综合PHWR严重事故进展和后果评估代码ROSHNI可以对CANDU PHWR严重事故进展的实际、实际理解做出重大贡献,显著改进了30年前开发的其他PHWR特定计算机代码,当时建模决策受到有限的计算能力和对严重堆芯损坏事故的理解和兴趣的限制。这些规范强制简化堆芯建模,不能充分代表CANDU堆芯的所有细节、材料、流体、容器或现象。但它们产生的结果是熟悉和令人满意的。然而,值得赞扬的是,它们在计算速度上也表现出色,这主要是因为它们的建模和计算很少,而且进行了不必要的简化。ROSHNI摆脱了以往大多数模型的简化,更忠实地代表了一个2000兆瓦(Th) CANDU6反应堆中的380个通道、4560个束、四个同心环中的37个元素、锆合金包覆燃料几何形状、材料和流体。它可以很容易地用于其他具有不同数量的燃料通道和每个通道束的phwr。每个卧式PHWR反应堆通道及其所有束、燃料环、护套、附件、末端配件和进料器都进行了建模,并详细反映了堆芯之间的巨大差异。虽然其他规范最多只能模拟几百个堆芯燃料实体,但ROSHNI同时考虑了堆芯内约73,000个不同燃料通道实体的热化学瞬态行为,以及其他15,000个左右的其他流道段。在每个地点计算所有已知的热化学和水力现象。有了这些细节,ROSHNI能够提供有关它们对事故进展的渐进和平行热化学贡献的信息,以及一个更现实的裂变产物释放源项,该源项将与我们国家监管机构CNSC推荐的加拿大emo使用的极小的(100 TBq Cs-137或堆芯库存的0.15%)相一致。ROSHNI对Calandria容器中的每个束过渡到固体碎屑行为进行了更先进、更CANDU的具体考虑,而不会恢复到简化的熔融堆芯配方,这种配方很高兴地忽略了碎屑与容器焊缝的相互作用、进一步的容器故障和能量相互作用。该代码能够跟踪每个燃料束从燃料通道中拆卸后的行为,从而证明在某些分析中所作的堆芯坍塌的总体假设是错误的和误导性的。因此,它能够证明PHWR堆芯拆卸不仅是渐进的,而且在大多数可信的情况下,由于大量低功率的外围燃料通道永远不会拆卸,堆芯拆卸将是不完整的。该代码旨在成长为一个严重事故模拟器,并将其大量结果用于操作员培训。它的现象学模型能够检查影响事故进展的设计缺陷/问题,以及对结果产生深远影响的几个简单实施的设计改进。例如,在车站停电情况下,由于散热器不足而导致的早期压力边界失效可以与改进和适当的过压保护的效果一起检查。诸如ROSHNI之类的最佳努力规范有助于确定对PHWRs进行某些设计、操作和事故管理改进的风险降低效益,因为一些多单元的PHWRs由于稳压器位置不佳、易损材料的泄漏容器、过压保护不佳、临时缓解措施和所有candu共同的有限仪器而受到限制。一个典型的例子是PSA支持的设计和安装的氢气重组器的数量既不适合正确的气体(神秘地为H2而不是D2设计),也不适合其潜在的释放量(它们很稀疏,会导致爆炸)。 本文介绍了ROSHNI对假定的电站停电情景的模拟结果,并阐明了在将这些独特的动力反应堆的运行风险降至最低方面面临的挑战。
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引用次数: 0
Time-Dependent Solution of Unsteady Fluid Flow Equations for High Speed Oscillating Compressible Flows and Blast Wave Propagations 高速振荡可压缩流与冲击波传播非定常流动方程的时变解
Pub Date : 2020-08-04 DOI: 10.1115/icone2020-16419
R. Sinha
A solution of the highly complex unsteady high speed oscillating compressible flow field inside a cylindrical tube has been obtained numerically, assuming one dimensional, viscous, and heat conducting flow, by solving the appropriate fluid dynamic and energy equations. The tube is approximated by a right circular cylinder closed at one end with a piston oscillating at very high resonant frequency at the other end. An iterative implicit finite difference scheme is employed to obtain the solution. The scheme permits arbitrary boundary conditions at the piston and the end wall and allows assumptions for transport properties. The solution would also be valid for tapered tubes if the variations in the cross-sectional area are small. In successfully predicting the time dependent results, an innovative simple but stable solution of unsteady fluid dynamic and energy equations is provided here for wide ranging research, design, development, analysis, and industrial applications in solving a variety of complex fluid flow heat transfer problems. The method is directly applicable to pulsed or pulsating flow and wave motion thermal energy transport, fluid-structure interaction heat transfer enhancement, and fluidic pyrotechnic initiation devices. It can further be easily extended to cover muzzle blasts and nuclear explosion blast wave propagations in one dimensional and/or radial spherical coordinates with or without including energy generation / addition terms.
通过求解相应的流体动力学方程和能量方程,在一维、粘性、热传导的条件下,得到了圆柱管内高度复杂的非定常高速振荡可压缩流场的数值解。管子近似为一端封闭的右圆柱体,另一端以非常高的谐振频率振荡的活塞。采用迭代隐式有限差分格式求解。该方案允许活塞和端壁处的任意边界条件,并允许对输运性质进行假设。如果横截面积的变化很小,则该解决方案也适用于锥形管。在成功预测与时间相关的结果后,本文提供了一种创新的、简单而稳定的非定常流体动力学和能量方程的解,可用于广泛的研究、设计、开发、分析和工业应用,以解决各种复杂的流体流动传热问题。该方法可直接应用于脉冲或脉动流动与波动的热能传递、流固相互作用强化换热、流体烟火起爆装置等领域。它还可以很容易地扩展到涵盖枪口爆炸和核爆炸冲击波在一维和/或径向球坐标中的传播,包括或不包括能量产生/附加项。
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引用次数: 0
CFD-DEM Simulations of Graphite Particle Collisions in Opposed Jet Mill 对置射流磨机中石墨颗粒碰撞的CFD-DEM模拟
Pub Date : 2020-08-04 DOI: 10.1115/icone2020-16340
Sifan Peng, Yujia Liu, N. Gui, Xingtuan Yang, J. Tu, Shengyao Jiang
Graphite is widely used in nuclear reactors as moderator and structural material. Among present graphite preparation methods, air flow mill is considered to be qualified in the control of particle size and purity, and promising for future mass production. In this work, an opposed jet mill is designed to crush large graphite particles. The opposed jet mill accelerates the particles through two supersonic jet flows in opposite directions, and finally the particles collide in the crushing cavity. In order to estimate the performance of opposed jet mill, it is necessary to solve the coupling calculation of the compressible flow and the collision process of discrete particles. However, the research on calculating the compressible gas solid coupling problems is scarcely rare. In this paper, coupled CFD-DEM model is used to simulate the particle movement process with jet flows and accompanying jet in opposed jet mill. By comparing with experimental results, it is proved that these simulation results of the acceleration process of compressible gas through these nozzles and the collision process of the final two supersonic jet flows in the opposed-jet mill are accurate, with the accuracy model of the coupled CFD-DEM provided. The practice has proved that the contrastive flow mill has a broad application prospect in the production of graphite particles.
石墨作为慢化剂和结构材料广泛应用于核反应堆。在现有的石墨制备方法中,气流磨法对石墨的粒度和纯度控制较好,具有大规模生产的前景。在这项工作中,设计了一个对置式射流磨机来粉碎大的石墨颗粒。对置式射流磨通过两个方向相反的超音速射流对颗粒进行加速,最终使颗粒在破碎腔内发生碰撞。为了评估对置式射流磨机的性能,需要解决可压缩流动与离散颗粒碰撞过程的耦合计算问题。然而,对可压缩气固耦合问题的计算研究并不多见。本文采用CFD-DEM耦合模型,模拟了对置喷磨机中颗粒在射流及伴随射流作用下的运动过程。通过与实验结果的对比,证明了可压缩气体通过这些喷嘴的加速过程和对喷磨机内最后两股超音速射流碰撞过程的仿真结果是准确的,并给出了耦合CFD-DEM的精度模型。实践证明,对比流磨机在石墨颗粒生产中具有广阔的应用前景。
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引用次数: 0
Experimental Study on Flow Patterns and Pressure Drop of Decaying Swirling Gas-Liquid Flow in a Vertical Pipe 垂直管道中衰减旋流气液流型及压降的实验研究
Pub Date : 2020-08-04 DOI: 10.1115/icone2020-16484
Jiarong Zhang, Li Liu, L. Shuai, Gu Hanyang
Vertical swirling gas-liquid flow is a kind of complex two-phase flow containing a nonzero tangential velocity component in engineering applications. The accurate flow regime characterization, phase distribution information and pressure drop data about vertical swirling flow are the basis for the optimization of steam generator (SG), which can greatly reduce the cost and improve the safety of nuclear plants. To get these key parameters of swirling vertical flow, we have made a comprehensive visualization experiment in a vertical pipe with 30mm diameter and 5m length by high-speed camera. The experimental pipe is separated into swirling part and non-swirling part. We have set three observation section with different vertical heights in the swirling part. Changing the flow rate of water and gas, different swirling flow pattern photos can be captured by high-speed camera. Based on the photos of different positions and image-processing MATLAB code, we can get three flow regime maps and figure out the decaying law of swirling gas-liquid flow. The pressure drop can be recorded by rotameter at each position. The decaying law of pressrure drop can be concluded from it. These data can be a guide for designing gas-liquid separator in SG to improve the efficiency of nuclear plant.
在工程应用中,垂直旋流是一种含非零切向速度分量的复杂两相流。准确的垂直旋流流型表征、相分布信息和压降数据是蒸汽发生器优化的基础,可以大大降低成本,提高核电站的安全性。为了得到旋流式垂直流动的这些关键参数,我们在直径30mm、长度5m的垂直管道中,利用高速摄像机进行了综合可视化实验。实验管分为旋流部分和非旋流部分。我们在旋流部分设置了三个垂直高度不同的观测段。通过改变水和气体的流速,高速摄像机可以捕捉到不同的旋流模式的照片。根据不同位置的照片和图像处理的MATLAB代码,可以得到三种流型图,并计算出旋转气液流动的衰减规律。每个位置的压降可用转子表记录。由此可以得出压降的衰减规律。这些数据可以指导SG气液分离器的设计,提高核电站的效率。
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引用次数: 0
Numerical Investigation of the Obstacle on Hydrogen Distribution in a Vessel 容器内氢气分布障碍的数值研究
Pub Date : 2020-08-04 DOI: 10.1115/icone2020-16273
Tianlin Wang, L. Tong, Xuewu Cao
Hydrogen combustion and explosion is an important safety issue in nuclear power plants (NPPs) containment during postulated severe accidents or in utilization of hydrogen. It is significant to understand the hydrogen flow and distribution in space for mitigating hydrogen risk. In this paper, a numerical model to investigate hydrogen flow and distribution in a vessel is established using computational fluid dynamics (CFD) code GASFLOW. Hydrogen is simulated by helium which is used to study the hydrogen distribution. The k-ε turbulent model is selected to establish the numerical model, and the numerical model which has no obstacle inside the vessel or includes the obstacle inside is verified under medium momentum conditions of injected gas by comparing numerical results with experimental data. Regardless of the presence of the obstacle in the vessel, helium stratification occurs under all momentum condition of injected gas. When the obstacle is present, it blocks the flow path of the injected helium to the upper space, then the helium volume concentration in upper space is lower than the condition that there is no obstacle in the vessel. As the initial Froude number increases from 0.19 to 19.29, the flow mechanism around the obstacle under high momentum condition of injected gas is different from that under medium or low momentum conditions. Consequently, the boundary of the helium stratification moves down, and the distribution of helium looks more uniform in most area of the vessel for high momentum conditions of injected gas.
氢的燃烧与爆炸是核电厂在重大事故或氢利用过程中的一个重要安全问题。了解氢气在太空中的流动和分布对降低氢气风险具有重要意义。本文利用计算流体力学(CFD)程序GASFLOW建立了研究氢气在容器内流动和分布的数值模型。用氦气模拟氢气,研究氢气的分布。选取k-ε湍流模型建立数值模型,并通过数值结果与实验数据的对比,在注入气体中等动量条件下,验证了容器内无障碍物或包含障碍物的数值模型。无论容器中是否存在障碍物,在注入气体的所有动量条件下都会发生氦分层。当障碍物存在时,它阻断了注入氦气向上层空间的流动路径,此时上层空间的氦气体积浓度低于容器内没有障碍物的情况。随着初始弗劳德数从0.19增加到19.29,注入气体在高动量条件下绕障流动机理与中、低动量条件下不同。因此,在注入气体的高动量条件下,氦气分层边界下移,氦气在容器大部分区域的分布看起来更加均匀。
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引用次数: 0
Using Pipe Whip Analysis via the Finite Element Method to Underpin the Delineation Between High and Moderate Energy Lines 利用有限元法进行管鞭分析,为高能量线和中能线的划分提供依据
Pub Date : 2020-08-04 DOI: 10.1115/icone2020-16474
A. Hurst, P. Bansal
When a pressurised pipe in a reactor coolant system breaks, it results in hydraulic loads on the reactor containment system and escaping fluid exerts a thrust force on the pipe. The double-ended guillotine break (DEGB) is generally the most onerous loss of coolant accident (LOCA) in design of a reactor coolant system [1]. In addition to the hydraulic loads, the continuing thrust force on the broken end of the pipe generates a rapidly accelerating rotational displacement of the pipe section on the break side of the plastic hinge, the phenomenon called pipe whip. The whipping pipe has the potential to damage objects within the hazard zone therefore must be assessed. Currently a 20bar threshold is used in nuclear power plant (NPP) design of light water reactors (LWRs) to delineate high energy lines (HEL) and moderate energy lines (MEL). The threshold is used as a process to establish the requirement for additional pipe whip assessments to be performed as part of HEL guillotine break analysis. It is currently argued that no such studies are required for MEL. However the basis of using the 20bar threshold for not carrying out pipe whip assessment of MELs is not well understood. The work presented here provides details of the finite element (FE) analyses undertaken to substantiate the 20 bar threshold used for the differentiation of HEL and MEL. Using the FE analysis method, a range of pipe characteristics, and pressures in the range of 10–50bar have been studied to determine whether a plastic hinge will occur, and whether pipe whip effects will be seen for that case. The FE results have also been used to assess the equivalent plastic strain criteria generally used to define the formation of a plastic hinge and initiation of pipe whip.
当反应堆冷却剂系统中的加压管道破裂时,会对反应堆安全壳系统产生液压载荷,泄漏的流体会对管道施加推力。双端断头台断裂(DEGB)通常是反应堆冷却剂系统设计中最棘手的冷却剂损失事故[1]。除了水力载荷外,管道断裂端上持续的推力会在塑性铰断裂侧产生快速加速的管段旋转位移,这种现象称为管鞭。鞭打管有可能损坏危险区域内的物体,因此必须进行评估。目前,轻水反应堆(LWRs)设计采用20bar的阈值来划定高能线(HEL)和中能线(MEL)。阈值作为一个过程,用于建立额外的管道抽动评估需求,作为HEL断头台断裂分析的一部分。目前认为MEL不需要这样的研究。然而,使用20bar阈值不进行管道鞭鞭评估的依据尚不清楚。本文提供了有限元(FE)分析的细节,以证实用于区分HEL和MEL的20 bar阈值。使用有限元分析方法,研究了一系列管道特性和10-50bar范围内的压力,以确定是否会发生塑性铰链,以及在这种情况下是否会看到管道鞭效应。有限元结果还用于评估等效塑性应变准则,通常用于定义塑性铰的形成和管鞭的起始。
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引用次数: 0
Challenge to Investigation of Fuel Debris in RPV by an Advanced Super Dragon Articulated Robot Arm: Design and Prototyping of a Lightweight Super Long Reach Articulated Manipulator 先进“超级龙”式铰接机械臂对飞行器燃料碎片研究的挑战:一种轻型超长臂铰接机械臂的设计与原型制造
Pub Date : 2020-08-04 DOI: 10.1115/icone2020-16834
G. Endo, H. Takahashi, H. Kikura
A long-reach articulated manipulator that can deploy various sensors in a large but confined workspace is urgently needed in decommissioning tasks at Fukushima Daiichi Nuclear Power Stations. The most critical problem involves managing the large gravitational torques acting on the manipulator’s joints. In previous studies, several prototype models were developed; however, they were extremely heavy and bulky. This paper presents fundamental ideas for creating a lightweight super long-reach articulated manipulator. First, a mechanical structure could be utilized to support gravity. Second, a vertical force could be generated to compensate for gravity. Third, a tendon-driven mechanism could be utilized because it permits the installation of heavy actuators on the base. The tendons can transmit the actuator power to each joint. Thus, the weight of the arm is significantly reduced. We have discussed the advantages and drawbacks of each recommendation based on the hardware prototyping.
在福岛第一核电站的退役工作中,迫切需要一种能够在大而有限的工作空间内部署各种传感器的长臂铰接式机械手。最关键的问题是如何控制作用在机械臂关节上的大重力力矩。在之前的研究中,开发了几个原型模型;然而,它们极其笨重。本文提出了一种轻量化超长臂铰接机械手的基本思路。首先,可以利用机械结构来支撑重力。其次,可以产生垂直力来补偿重力。第三,可以使用肌腱驱动机构,因为它允许在基座上安装重型执行器。肌腱可以将执行器的动力传递到每个关节。因此,手臂的重量明显减轻。我们已经讨论了基于硬件原型的每种推荐的优点和缺点。
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引用次数: 1
Control Rod Blades Size Reduction Using Underwater Plasma Cutting and its Effects on Boron Carbide Powder Scattering 水下等离子切割控制棒叶片尺寸减小及其对碳化硼粉末散射的影响
Pub Date : 2020-08-04 DOI: 10.1115/icone2020-16414
Yassine Serbouti, K. Kurihara, Y. Kometani, Masatoshi Itagaki, Makoto Tatemura
Control rod blades are comprised of a stainless steel sheath, which contains neutron absorber tubes (filled with boron carbide powder). During decommissioning, the first stage of size reduction consists of cutting the connector (bottom portion) of the control rod, while the second stage consists of separating the blades of the control rod by cutting through the tie rod. The last stage consists of segmenting the control rod blades by cutting through absorber tubes. In this study, the control rod blades segmentation (last stage of size reduction) is investigated using an actual control rod (unused). During the experiments, we used a forming press on the cut locations followed by a plasma arc cutting underwater. The purpose of this cutting technique is to minimize the scattering of boron carbides into water by using the stainless sheath melt to seal the absorber tubes. After the segmentation, we confirmed the sealing of the absorber tubes by visually examining the cut cross-sections. The water analysis showed that the boron carbide scattering was relatively low (only 0.07% of the total boron carbides was scattered). Finally, we confirmed that the off-gas emission is considerably reduced by using Argon plasma instead of Argon-Hydrogen plasma.
控制棒叶片由不锈钢护套组成,其中包含中子吸收管(填充碳化硼粉末)。在退役过程中,减小尺寸的第一阶段包括切割控制棒的连接器(底部部分),而第二阶段包括通过切割拉杆分离控制棒的叶片。最后一个阶段是通过切割吸收管来分割控制棒叶片。在本研究中,控制棒叶片分割(尺寸减小的最后阶段)使用实际控制棒(未使用)进行研究。在实验中,我们在切割位置上使用成形压力机,然后在水下进行等离子弧切割。这种切割技术的目的是通过使用不锈钢护套熔体密封吸收管来最大限度地减少碳化硼在水中的散射。分割后,我们通过视觉检查切割截面来确认吸收管的密封。水分析表明,碳化硼的散射相对较低(仅占总碳化硼的0.07%)。最后,我们证实了使用氩等离子体代替氩-氢等离子体可以大大减少废气排放。
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引用次数: 1
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核工程研究与设计
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