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論文

Fast in-situ mesh generation using Orb-SLAM2 and OpenMVS

Wright, T.*; 羽成 敏秀; 川端 邦明; Lennox, B.*

Proceedings of 17th International Conference on Ubiquitous Robots (UR 2020) (Internet), p.315 - 321, 2020/00

In exploratory robotics for nuclear decommissioning, environmental understanding is key. Sites such as Fukushima Daiichi Power Station and Sellafield often use manually controlled or semi-autonomous vehicles for exploration and monitoring of assets. In many cases, robots have limited sensing capabilities such as a single camera to provide video to the operators. These limitations can cause issues, where a lack of data about the environment and limited understanding of depth within the image can lead to a mis-understanding of asset state or potential damage being caused to the robot or environment. This work aims to aid operators by using the limited sensors provided i.e. a single monocular camera, to allow estimates of the robot's surrounding environments to be generated in situ without having to off load large amounts of data for processing. This information can then be displayed as a mesh and manipulated in 3D to improve the operator awareness. Due to the target environment for operation being radioactive, speed is prioritised over accuracy, due to the damaging effects radiation can cause to electronics. In well lit environments images can be overlaid onto the meshes to improve the operators understanding and add detail to the mesh. From the results it has been found that 3D meshes of an environment/object can be generated in an acceptable time frame, less than 5 minutes. This differs from many current methods which require offline processing due to heavy computational requirement of Photogrammetry, or are far less informative giving data as raw point clouds, which can be hard to interpret. The proposed technique allows for lower resolution meshes good enough for avoiding collisions within an environment to be generated during a mission due to it's speed of generation, however there are still several issues which need to be solved before such a technique is ready for deployment.

論文

CAF$'E$ experiments on the flow and freezing of metal fuel and cladding melts, 1; Test conditions and overview of the results

深野 義隆; 川田 賢一; 佐藤 一憲; Wright, A. E.*; Kilsdonk, D. J.*; Aeschlimann, R. W.*; Bauer, T. H.*

Proceedings of International Conference on Fast Reactors and Related Fuel Cycles (FR 2009) (CD-ROM), 10 Pages, 2012/00

For metal fueled fast reactors, assessment of the core disruptive accident (CDA) is necessary for both design and licensing. The objectives of the Core Alloy Flow and Erosion (CAF$'E$) experiments are to investigate the fundamental flow, metallurgical interaction, and freezing behavior of uranium-iron-type melts within iron-based trough-shaped flow channels and provide information that can support the development of mathematical models that describe the movements of molten fuel-bearing core materials during CDAs. In the CAFE experiments, melt produced in yttria-coated crucible by induction heating flowed down within approximately 660 mm long inclined trough and was received by the catch cup located below the bottom of the trough. Flow was observed and recorded by three video cameras and many thermocouples. Four UT series tests were conducted using molten uranium whose melting point is 1400 K. Two E1T series tests were performed using U-Fe eutectic mixture whose melting point is 1000 K. In each test, 1 to 1.65 kg of melt was introduced into an inclined trough. These test results provide understandings on fundamental flow and freezing behavior of melts including metallurgical interaction in the steel flow channels with a variety of melt and flow channel conditions and also offer useful information for developing analytical models to describe such behavior.

論文

CAF$'E$ experiments on the flow and freezing of metal fuel and cladding melts, 2; Results, analysis, and applications

Wright, A. E.*; Bauer, T. H.*; Kilsdonk, D. J.*; Aeschlimann, R. W.*; 深野 義隆; 川田 賢一; 佐藤 一憲

Proceedings of International Conference on Fast Reactors and Related Fuel Cycles (FR 2009) (CD-ROM), 9 Pages, 2012/00

The Core Alloy Flow and Erosion (CAF$'E$) experiments have measured fundamental flow, metallurgical interaction, and freezing behavior of uranium and uranium-iron melts within iron-based trough-shaped flow channels relevant to phenomena that might occur in a hypothetical severe accident in a metal fueled fast reactor. CAF$'E$ simulations conducted so far have engineered interactions of fuel and structural materials over a prototypic range of accident-related melt compositions and temperatures. Real-time measurements included flow-channel temperatures and video recording of the flowing melt. Post-test evaluations compare and contrast flow behaviors, trough damage, and debris distribution and indicate that thermo-chemical interactions play a central role in the interaction of molten fuel debris flowing on cold structure and may inhibit bulk freezing of the debris on the structure.

論文

Azimuthal correlations of electrons from heavy-flavor decay with hadrons in $$p+p$$ and Au+Au collisions at $$sqrt{s_{NN}}$$ = 200 GeV

Adare, A.*; Afanasiev, S.*; Aidala, C.*; Ajitanand, N. N.*; 秋葉 康之*; Al-Bataineh, H.*; Alexander, J.*; 青木 和也*; Aphecetche, L.*; Aramaki, Y.*; et al.

Physical Review C, 83(4), p.044912_1 - 044912_16, 2011/04

 被引用回数:7 パーセンタイル:49.81(Physics, Nuclear)

重いフレーバーのメソンの崩壊からの電子の測定は、このメソンの収量が金金衝突では陽子陽子に比べて抑制されていることを示している。われわれはこの研究をさらに進めて二つの粒子の相関、つまり重いフレーバーメソンの崩壊からの電子と、もう一つの重いフレーバーメソンあるいはジェットの破片からの荷電ハドロン、の相関を調べた。この測定は重いクォークとクォークグルオン物質の相互作用についてのより詳しい情報を与えるものである。われわれは特に金金衝突では陽子陽子に比べて反対側のジェットの形と収量が変化していることを見いだした。

論文

Benchmarking of lower hybrid current drive codes with application to ITER-relevant regimes

Bonoli, P. T.*; Harvey, R. W.*; Kessel, C. E.*; Imbeaux, F.*; 及川 聡洋; Schneider, M.*; Barbato, E.*; Decker, J.*; Giruzzi, G.*; Forest, C. B.*; et al.

Proceedings of 21st IAEA Fusion Energy Conference (FEC 2006) (CD-ROM), 8 Pages, 2007/03

ITER定常運転プラズマを対象として、複数の低域混成波(LH)電流駆動計算コードを比較した。LH計算コードには2次元速度空間で定義されたFokker-Planck方程式をもとにしたコード及び1次元Fokker-Planck方程式をもとにしたコードがあり、2次元Fokker-Planckコードは最も適切な取り扱いをしていると考えられる。2次元コードは1次元コードに比べて40%程度大きいLH駆動電流を与えた。また、捕捉粒子効果の考慮も重要であることもわかった。さらに、バウンス平均したオペレータの導入が必要であり、バウンス平均していないオペレータを使った場合30%程度計算結果が異なる。また、核融合生成物である3.5MeVのアルファ粒子によるLH波の吸収を評価した。アルファ粒子の異常輸送によりLH波吸収領域でのアルファ粒子密度が増加する場合でも、LH波周波数3.7GHzにおいてアルファ粒子により吸収されるLHパワーは7.7%と小さく、LH機器の設計値である5GHzに対して周波数選択の余地があることを示した。

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