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Soft roboticists are facing challenges with reproducibility, which prevents researchers from making holistic comparisons to prior work, impedes full understanding of results, and forces the need to “reinvent the wheel,” delaying fundamental advances. Reproducibility of results is key to advancing science as well as achieving technology transfer from research laboratories to industrial applications. Recently, a discussion-based workshop dedicated to the topic, “Developing Standard Testing and Reporting Guidelines for Soft Robotics,” was held at IROS 2023 in Detroit, MI. The purpose of this document is to record a set of recommendations and voluntary draft guidelines for soft roboticists concerning fabrication/manufacturing, test procedures, and reporting, which were collectively developed at the workshop. Together as a community, we hope to improve the reporting standards of soft robotics and drive the field as a whole toward more rigorous research practices.
Exploration at the laser intensity frontier has always offered new avenues for physics and reaching beyond this frontier is a grand challenge. Present-day petawatt-class lasers provide focused intensities on target of 10 22 W/cm 2 , corresponding to electric fields of 200 TV/m, while laser-plasma amplification opens a route for focused intensities well above 10 23 W/cm 2 . Intensities in this range provide the ability to test quantum electrodynamics in the unexplored low-energy, strong-field regime where signatures for new physics may arise. The behavior of matter under such extraordinary conditions is a rich and fascinating subject, not only in its own right in fundamental plasma physics, but for the many potential applications that promise to enrich the natural sciences in the future, including compact electron-beam, ion-beam particle accelerators, and ultra-bright X-ray sources. Although laser systems are now under construction internationally to access intensities of 10 23 W/cm 2 , the current technologies used appear to be fundamentally limited to these intensities. The realization of intensities beyond 10 23 W/cm 2 using parametric amplification in plasmas promises a breakthrough in high-energy density physics. Parametric amplification using Raman scattering in a plasma could provide the enabling technology for the generation of ultra-high-power laser pulses, but a more complete understanding of the nonlinear optics of plasmas is required. There is a significant gap in well-diagnosed laser-plasma instability studies of nonlinear plasma-wave phenomena, which are critical to understand for future laser-plasma devices. To achieve an efficient laser-plasma amplifier, plasma waves must be driven to large amplitude where significant energy can be rapidly transferred from the pump to the seed over the pulse duration of the seed. Simulations suggest that this nonlinear pump depletion regime can be achieved in the “pi-pulse” amplification regime. While simulations show this optimal regime with efficient amplification, it has remained elusive in experiments and there is a growing consensus within the community that thermal effects and pump beam limitations prevent laser-plasma amplifiers from progressing through the linear regime into the nonlinear pump depletion regime. Previous experiments have been significantly limited by the laser power available at the necessary wavelengths for the seed laser; therefore, the amplification is required to start in the linear regime where it is sensitive to many deleterious effects. The enabling technology (currently unique to plasma-wave amplification in the world) at the University of Rochester is the ability to provide a seed pulse with sufficient power (4 mJ/100 fs seed) to immediately drive nonlinear plasma waves into the pi-pulse regime and to tune its wavelength to optimize the efficiency of energy transfer. This in combination with the state-of-the-art OMEGA heater beams providing multiple kilojoules in a nanosecond to sufficiently heat the plasma make this system distinct from previous studies. These heater beams will provide, for the first time in Raman amplification studies, a homogeneous electron temperature high enough to prevent pump beam propagation issues that have plagued previous experiments. These systems will provide a platform for driving electron-plasma waves into the nonlinear regime where pump depletion and pulse shortening are predicted to lead to high amplification efficiencies (>30%). The Team has made significant progress through prior support from DOE Fusion Energy Sciences [DOE Office of Science Award Number DE-SC0016253 (2016-2022)]. This includes twenty-two peer-reviewed manuscripts, one patent, ten contributed talks presented at international conferences, and research that was highlighted as invited talks at fifteen international conferences. The broader impacts of this research are evident in the support of early career scientists, two Ph.D. theses, four current graduate students, a Masters Project, two undergraduate researchers, and an underrepresented minority student hired through the California Alliance for Minority Participation who now works as a Research Engineer in the group. This research met all of the funded research objectives and the highlights from primary Raman amplification thrust of this work are discussed below and form the foundation for the proposed research.
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A high-intensity proton beam exposure with 181 MeV energy has been conducted at Brookhaven Linac Isotope Producer facility on various material specimens for accelerator targetry applications, including titanium alloys as a beam window material. The radiation damage level of the analyzed capsule was 0.25 dpa at the beam center region with an irradiation temperature around 120 oC. Tensile tests showed increased hardness and a large decrease in ductility for the dual a+ß-phase Ti-6Al-4V Grade-5 and Grade-23 extra low interstitial alloys, with the near a-phase Ti-3Al-2.5V Grade-9 alloy still exhibiting uniform elongation of a few % after irradiation. Transmission Electron Microscope analyses on Ti-6Al-4V indicated clear evidence of a high-density of defect clusters with size less than 2 nm in each a-phase grain. The ß-phase grains did not contain any visible defects such as loops or black dots, while the diffraction patterns clearly indicated ?-phase precipitation in an advanced formation stage. The radiation-induced ?-phase transformation in the ß-phase could lead to greater loss of ductility in Ti-6Al-4V alloys in comparison with Ti-3Al-2.5V alloy with less ß-phase.google scho
The proposed polarized 3 He ++ acceleration in RHIC and the future Electron-Ion Collider will require about 2×10 11 ions in the source pulse. A new technique had been proposed for production of high intensity polarized 3 He ++ ion beams. It is based on ionization and accumulation of the 3 He gas (polarized by metastability-exchange optical pumping and in the 5T high magnetic field) in the existing Electron Beam Ion Source (EBIS). A novel 3 He cryogenic purification and storage technique was developed to provide the required gas purity. An original gas refill and polarized 3 He gas injection to the EBIS long drift tubes, (which serves as the storage cell) were developed to ensure polarization preservation. An infrared laser system for optical pumping and polarization measurements in the high 3–5 T field has been developed. The 3 He polarization 80–85% (and sufficiently long ~30 min relaxation time) was obtained in the “open” cell configuration with refilling valve tube inlet and isolation valve closed. The development of the spin-rotator and 3 He 4 He absolute nuclear polarimeter at 6 MeV 3 He ++ beam energy is also presented here in this work.
4H-SiC Low Gain Avalanche Detectors (LGADs) have been fabricated and characterized. The devices employ a circular mesa design with low-resistivity contacts and an SiO 2 passivation layer. The I–V and C–V characteristics of the 4H-SiC LGADs are compared with complementary 4H-SiC PiN diodes to confirm a high breakdown voltage and low leakage current. Both LGADs and PiN diodes were irradiated with alpha particles from a $^{210}_{84}$Po source. The charge collected by each device was compared, and it was observed that low-gain charge carrier multiplication is achieved in the 4H-SiC LGAD.
The Facility for Rare Isotope Beams (FRIB) at Michigan State University (MSU) consists of a newly constructed linear accelerator and fragment separator that are designed for enhanced production rates of rare isotopes for use in research and other societal applications. Recent activities through to August 2022 took place to commission the Advanced Rare Isotope Separator (ARIS) and carry out the first experiments. This followed commissioning of the newly constructed linac that is designed to provide orders of magnitude higher beam power than the previously coupled cyclotrons. This required that more advanced target, beam dump, and collimation systems of the new separator be designed and constructed to sustain unprecedented conditions by heavy ion beams. Commissioning with ~1 kW beams began recently and results from activities that began in late 2021 are reported here. Comparisons between the previous and current facilities are provided.
Finite element analysis was used to investigate the temperature and stress profiles that develop in 316L stainless steel membranes being irradiated using different proton beam conditions in contact with a molten salt environment. It was shown that in addition to a nonuniform irradiation profile, a focused 2 MeV proton beam leads to very strong temperature and stress gradients in the membrane, introducing highly localized driving forces that complicate and even compromise the integrity and reliability of the experimental results of corrosion studies. Here, the use of a focused beam in corrosion studies can create experimental artifacts that may misrepresent the true corrosion behavior. In contrast, the use of a rastered beam is shown to distribute the protons and resulting radiation damage uniformly across the membrane face, and more importantly, results in temperature and stress profiles that are not only very uniform but are of much lower magnitude. The use of a rastered beam during molten salt corrosion experiments is therefore recommended to achieve uniform damage rates, thereby reducing both gradients and magnitudes of the temperature and stress distributions.
A neutron source using the inverse kinematic reaction between lithium and proton, p( 7 Li, n) 7 Be, achieves forward-directed neutrons, potentially enhancing neutron yield in the forward direction. Despite the advantage, no evaluated-cross-section data for this reaction can be used in Monte Carlo simulation codes, such as PHITS. To solve this problem, this study aims to evaluate the applicability of the user-defined cross-section data, Frag data, for p ( 7 Li, n) 7 Be in PHITS. The simulations reproduced collisions between 7 Li 3+ ions and polypropylene targets. The Frag data was edited based on the JENDL-5 by utilizing the two-body collision kinematics. The neutron yield and angular distribution were investigated in the simulation. As a result, the forward neutron convergence with a reasonable neutron yield and energy spectrum was observed. The expected neutron yield in the forward 1-steradian area is 2.46 × 10 10 n/s when lithium-ion energy and current are 16.45 MeV and 0.1 mA.
The European XFEL is a hard X-ray free-electron laser (FEL) based on a high-electron-energy superconducting linear accelerator. The superconducting technology allows for the acceleration of many electron bunches within one radio-frequency pulse of the accelerating voltage and, in turn, for the generation of a large number of hard X-ray pulses. In this paper, we report on the performance of the European XFEL accelerator with up to 5,000 electron bunches per second and demonstrating a full energy of 17.5 GeV. Feedback mechanisms enable stabilization of the electron beam delivery at the FEL undulator in space and time. The measured FEL gain curve at 9.3 keV is in good agreement with predictions for saturated FEL radiation. Hard X-ray lasing was achieved between 7 keV and 14 keV with pulse energies of up to 2.0 mJ. Using the high repetition rate, an FEL beam with 6 W average power was created.
In this work, we derived S-parameter based expressions for the intrinsic quality factor of an arbitrary coupled multiport microwave cavity and a non-ideal test fixture. Practical accuracy limitations of the obtained expressions specifically for superconducting accelerator cavities were evaluated both analytically and with the simulation software. The resulting formulas can be used to extract the intrinsic quality factor of normal-conducting and superconducting cavities directly from the calibrated S-parameter measurements.
Abstract We demonstrate practical accelerating gradients on a superconducting radiofrequency (SRF) accelerator cavity with cryocooler conduction cooling, a cooling technique that does not involve the complexities of the conventional liquid helium bath. A design is first presented that enables conduction cooling an elliptical-cell SRF cavity. Implementing this design, a single cell 650 MHz Nb 3 Sn cavity coupled using high purity aluminum thermal links to a 4 K pulse tube cryocooler generated accelerating gradients up to 6.6 MV m −1 at 100% duty cycle. The experiments were carried out with the cavity-cryocooler assembly in a simple vacuum vessel, completely free of circulating liquid cryogens. We anticipate that this cryocooling technique will make the SRF technology accessible to interested accelerator researchers who lack access to full-stack helium cryogenic systems. Furthermore, the technique can lead to SRF based compact sources of high average power electron beams for environmental protection and industrial applications. A concept of such an SRF compact accelerator is presented.
The electron lens in the Fermilab Integrable Optics Test Accelerator (IOTA) will enable new research in nonlinear integrable optics, space-charge compensation, electron cooling, and the stability of intense beams. This research addresses scientific questions on high-brightness beams and operational challenges of high-power accelerators for nuclear and particle physics. We review the roles that electron lenses play in this field and the physical principles behind their applications. The design criteria and specifications for the IOTA storage ring and electron lens are then discussed. We conclude with a description of the components of the apparatus.
Accelerators for High Energy Physics (HEP) are large users of energy, much of it in the form of radiofrequency (RF) power to accelerate particles to very high energies. Proposed HEP projects will require even larger amounts of RF energy. Increasing concerns of the cost and availability of energy will require the HEP community to use energy as efficiently as possible. Successful transfer of HEP technology to the public and private sectors will be most effective if it is highly efficient. Historically, the HEP community has utilized available RF power sources, mainly in the form of vacuum tube technology, much of which was developed during the cold war or is otherwised used in the private sector. The private sector is moving to solid-state RF sources which do not exhibit the electrical efficiency that is needed for future HEP projects. Here we summarize the state of the development of a number of RF sources that promise efficiencies of 80% and above. We also outline future efforts that are needed to fully realize the potential of these sources.
The United States has a rich history in high energy particle accelerators and colliders — both lepton and hadron machines, which have enabled several major discoveries in elementary particle physics. To ensure continued progress in the field, U.S. leadership as a key partner in building next generation collider facilities abroad is essential; also critically important is to prepare to host an energy frontier collider in the U.S. once the construction of the LBNF/DUNE project is completed. In this paper, we briefly discuss the ongoing and potential U.S. engagement in proposed collider projects abroad and present a number of future collider options we have studied for hosting an energy frontier collider in the U.S. Further, we also call for initiating an integrated national R&D program in the U.S. now, focused on future colliders.
Silicon carbide (SiC) particle detectors have the potential to provide time resolutions and robust performance in extreme environments which exceed that of silicon detectors. In this work 4H-SiC low gain avalanche detectors (LGADs) and complementary PiN diodes were irradiated with 2.5 GeV protons at fluences up to 3.33 × 10 14 p/cm 2 . The electrostatic performance of both irradiated and non-irradiated devices was evaluated using I-V and C-V measurements. Moreover, charge collection measurements using α particles were also conducted. SiC LGADs displayed a loss in rectification, high ON-state resistances >10 10 Ω-cm 2 , and the complete removal of gain when exposed to the highest proton fluence. Additionally, the reductions in capacitance and OFF-state current pointed to compensation of the gain layer as a gain reducing mechanism. The introduction of radiation-induced defects also hinders carrier acceleration, which reduces impact ionization and further gain reduction. LGADs exposed to a fluence of 1 × 10 14 p/cm 2 experienced a partial recovery in gain (originally having a value of ∼ 2) with a value of ∼ 1.65 when applying a bias of 500 V. Charge trapping was also seen in the reduction of charge collection efficiency (CCE) to ∼ 65% for the PiN diode. However, despite the reduction in device performance, the demonstration of a measurable signal after irradiation points to the potential of SiC LGAD detectors for future high energy physics applications.
SRF cavities for particle acceleration are conventionally operated immersed in a bath of liquid helium at 4.2 K and below. Although this cooling configuration is practically and economically viable for large scientific accelerator installations, it may not be so for smaller accelerators intended for industrial applications such as the treatment of wastewater, sludge, flue gases, etc. In this paper, we describe a procedure to operate SRF cavities without liquid helium that can be used to construct electron-beam sources for industrial applications of electron irradiation (1-10 MeV electron energy). In this procedure, an elliptical single-cell 650 MHz niobium-tin coated niobium cavity is coupled to a closed-cycle 4.2 K cryocooler using high purity aluminum thermal links. The cryocooler conductively extracts heat (RF dissipation) from the cavity without requiring liquid helium around the cavity. We present construction details of this cryocooler conduction-cooling technique and systematic experiments that have demonstrated ~10 MV/m cw gradient on the cavity. By straightforward scaling up the cavity length and number of cryocoolers, the technique will provide the complete range of 1-10 MeV electron energy for industrial applications.