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At least 91 records · Page 5

All sources NASA NTRS DOE OSTI

DOE OSTI2019

Extra Robotic Legs for Bearing Equipment Loads During Emergency Response - 19532

The Extra Robotic Legs (XRL) system is a robotic augmentation worn by a human operator that consists of two articulated robot legs that help bear a heavy backpack payload and the operator's own weight. The design was driven by a need to increase the effectiveness of Department of Energy hazardous material emergency response personnel who are encumbered by their Personal Protective Equipment. A prototype was fabricated utilizing insights gained from force analyses and human-robot interaction safety requirements. A seamless hybrid control architecture was developed to allow the operator command over the pace of the stand-to-squat transition. Initial tests of balance control while performing squatting transitions indicate the feasibility of the XRL System. The legs will ultimately walk, climb stairs, crouch down, and crawl with the operator while eliminating all equipment loads on the operator. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

DOE OSTI2022

Study of effect of PWR cold leg temperature gradient on reactor core condition

Effects of temperature and flow gradients in Westinghouse designed three-loop Pressurized Water Reactor (PWR) cold legs, the piping between the main coolant pump and the reactor vessel, were evaluated using Computational Fluid Dynamics (CFD) code STAR CCM+ and coupled neutronic and thermal-hydraulic (T/H) code system VERA. In the parametric study, several symmetric and asymmetric temperature gradients that were significantly larger than those observed from plant measurements were applied to the cold leg inlets for comparison with the base case without any temperature gradient. A CFD model using the STAR-CCM+ code was developed for a portion of the RCS region between the Reactor Coolant Pump (RCP) and the core inlet based on previously validated modeling approach. The CFD simulation results were processed for the temperature and flow rate distributions at the core inlet as input to the VERA calculations. The VERA code system consists of COBRA-TF (CTF) for thermal-hydraulics, MPACT for reactor physics and neutron transport, and ORIGEN for isotopic depletion. The VERA model was for depletion calculations of a high-burnup loading pattern with the reactor core in pin-by-pin and subchannel resolution. The results of the study indicate that the postulated temperature gradients within the PWR cold legs do not result in any significant changes in the core inlet temperature distributions and the core power distributions during the reactor operation. (authors)

21 SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS↗

DOE OSTI2023

The Reduction of Random Uncertainty in Differential Temperature Measurements Using Common Leg Thermocouples

The uncertainty quantification of random error is considered for common leg thermocouples (i.e., where one thermoelement is shared along the length of the TC for all other TC junctions present). The uncertainty is presented for both a common leg and individual, separate leg thermocouples. For Type K thermocouples a reduction in uncertainty by up to 3x is capable when differential temperatures, ?T, are within 150°C, and diminishes to little to no improvement above 150°C.

46 - INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AN↗

DOE OSTI2018

Structural Reliability Evaluation of Thermoelectric Generator Modules: Influence of End Conditions, Leg Geometry, Metallization, and Processing Temperatures

Structural reliability of thermoelectric generators (TEGs) in medium to high temperature applications still remains a challenge. Currently there are no established standards for evaluating the thermomechanical reliability of TEGs during new material and module development phases in the industry. In this work we implemented a procedure for evaluating the reliability of brittle TE materials based on the common practice in the ceramics industry. The probabilistic thermomechanical reliability of TEG couples and modules is evaluated using Weibull analysis. Finite element simulations were carried out to study the influence of TEG couple parameters such as element geometry, dimensions, spacing, metallization thickness, and processing conditions on the stresses, and the structural reliability evaluations are conducted based on the TE element stresses. We report results showed that the boundary conditions and processing temperatures have significant influence on the element and metallization stresses and overall device reliability. The external compressive load significantly enhanced structural reliability. Results also showed that among geometrical parameters the element length has a dominating influence on the element stresses compared to the leg cross-sectional shapes. The cross-section geometry of legs showed considerable effect at shorter lengths and the influence diminished with increased lengths. The proposed approach for evaluating the structural reliability could be integrated with performance optimization techniques for developing optimal and reliable TEG devices.

36 MATERIALS SCIENCE↗

DOE OSTI2026

Optical diagnostic design for measuring the radiation front with a mid-leg pumped divertor on DIII-D

The design of an optical diagnostic system to localize the radiation front in a mid-leg pumped divertor configuration on DIII-D is presented. Divertor detachment is a key mechanism for handling power exhaust in tokamaks, and mid-leg pumping offers a promising approach to radiatively dissipate power while maintaining acceptable core performance. To predict the location of the radiation front and design a spectroscopic diagnostic to measure its position, a database of SOLPS-ITER simulations across a range of input powers and gas puffing rates representative of DIII-D operation was employed. These simulations provide self-consistent plasma backgrounds for a Cherab-Raysect synthetic diagnostic framework, which incorporates detailed tokamak geometry and physically accurate ray-tracing. Synthetic simulations of optical sightlines and viewing cone geometry were used to calculate line-integrated emission from the plasma, particularly of the C III 465 nm line, to serve as a proxy for the T e ≈ 7 − 10 eV temperature region associated with the onset and evolution of divertor detachment. Neutral deuterium emission is also evaluated for comparison. The synthetic diagnostic is used to assess the performance of existing DIII-D optical systems, including filterscopes and the Multichord Divertor Spectrometer, and to optimize line-of-sight placement within mechanical and installation constraints. The results provide quantitative guidance for diagnostic implementation on DIII-D and demonstrate the advantage of integrated synthetic diagnostics for divertor design studies and future advanced divertor concepts.

Cherab↗

DOE OSTI2023

Energy and particle balance during plasma detachment in a long-leg divertor configuration

Abstract Comprehensive studies of energy and particle balances in the transition to plasma detachment in an alternative divertor configuration with long outer legs are shown. Numerical simulations are performed with the 2D code suite SOLPS 4.3, using a disconnected double null grid with narrow, tightly baffled long poloidal leg divertors at the outer lower target and outer upper target. A particle count scan is performed using the ‘closed gas box’ model, where the tunable parameter in the simulations is the total number of deuterium particles in the simulation space and all other parameters are held fixed, including a constant input power and trace neon impurity radiation, to assess the physics of the transition to detachment in the system as the particle count increases. Three main aspects of the physics of divertor detachment are addressed: the criteria for the local onset of divertor detachment in each of the divertors, the distribution of heat flux and other plasma parameters between the four divertors as each divertor transitions to detachment, and the role of perpendicular transport in the transition to the detached regime. A synergistic mechanism by which the cross-field transport is reduced by factors associated with the onset of plasma recombination effects is identified. These results are compared to the existing understanding of the physics of the transition to plasma detachment in standard divertors.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

DOE OSTI2026

Effect of outer divertor leg detachment on the high field side scrape-off layer in DIII-D and ASDEX Upgrade

In this work, evidence is presented that detachment of the outer divertor leg leads to a reduction of electron density and neutral pressure in the high-field side (HFS) scrape-off layer (SOL) of the ASDEX Upgrade (AUG) and DIII-D tokamaks with ion $B$ x $∇B$ drift directed toward the X-point (favorable configuration). These results are observed across multiple diagnostics and without the use of impurity seeding to reach detachment. In AUG, outer divertor leg detachment correlates with a decrease in electron density near the separatrix at the inner midplane, measured with HFS reflectometry. A concurrent reduction in inner divertor density and neutral pressure at the inner target is observed using divertor Thomson scattering and neutral pressure gauges. These effects are present in both L- and H-mode plasmas. In DIII-D, a similar reduction is detected through analysis of line-integrated hydrogenic emission measured by multiple diagnostics in the HFS SOL close to the separatrix. The consistent trends in both devices indicate that high electron density and strong hydrogenic emissivity in the HFS SOL are common features of H-mode plasmas in the favorable configuration, independent of wall material and divertor geometry. In L-mode plasmas, the reduction in electron density and neutral pressure is not observed in DIII-D, possibly due to differences in wall material. These results emphasize the importance of the divertor state in determining the two-dimensional neutral distribution and edge fueling.

detachment↗

DOE OSTI2025

A Grid-Forming Split-Phase Three-Leg Inverter with Unbalanced Loading and Active Power Decoupling

This paper presents a split-phase three-leg inverter that regulates 180-degree phase-shifted AC voltages to support residential house loads under unbalanced loading conditions and decouples double line frequency power pulsation by utilizing the third half-bridge switching leg. The active power decoupling function is added without extra active switching components. The control feasibility and effectiveness are verified through MATLAB Simulink simulation and controller hardware-in-the-loop test.

Kim, Namwon [ORNL] (ORCID:0000000200438489)↗

DOE OSTI2017

PIMAL: Phantom wIth Moving Arms and Legs Version 4.1.0

Computational phantoms with articulated arms and legs have been developed to enable radiation dose estimation for male and female receptors in different postures. Using a user-friendly graphical user interface (GUI), the PIMAL (Phantom wIth Moving Arms and Legs) software can be employed to adjust the posture of a phantom, generate a corresponding input file for the Monte Carlo N-Particle (MCNP®) radiation transport code, and perform the radiation transport simulations for the dose calculations in MCNP®. The MCNP® code can be run natively from the PIMAL interface or externally in the MCNP® command prompt via the generated MCNP® PIMAL input file.

61 RADIATION PROTECTION AND DOSIMETRY↗

DOE OSTI2021

Dip leg plug formation evaluation and abatement testing in support of the H-Canyon accelerated basin de-inventory

As requested in the Technical Task Request (TTR), the Savannah River National Laboratory (SRNL) performed testing on the current typical bubbler dip leg design used in the H-Area Canyon (HCA). The TTR has a functional classification of General Services. Testing was initiated to ascertain if the plugging described in the TTR could be reproduced and, if so, to obtain general metrics on the resulting plugging dynamics, and evaluate possible mitigating methods, including design changes and cleaning/purging protocols. The bubblers were to be suspended in a simulant typical of H-Canyon solutions containing aluminum nitrate and silica at a temperature of 25°C using a nominal bubbler air flowrate of 7.5 SCFH. Emphasis was placed on minimizing equipment changes necessary to accomplish the mitigations, as equipment changes in the existing facility would be costly. Testing evolved into four (4) phases, concluding that plugging could indeed be reproduced (believed to be attributed to localized evaporation and bridging of crystals in the dip legs). During testing, plug formation information was obtained, including time, pressure, and temperature traces leading to plugging were defined; solution compositions leading to plugging were determined, and various physical characteristics (visual and mechanical) of the crystallized plug were obtained.

42 ENGINEERING↗

DOE OSTI2016

DO THE LEGS OF MAGNETIC CLOUDS CONTAIN TWISTED FLUX-ROPE MAGNETIC FIELDS?

Magnetic clouds (MCs) are a subset of interplanetary coronal mass ejections (ICMEs) characterized primarily by a smooth rotation in the magnetic field direction indicative of the presence of a magnetic flux rope. Energetic particle signatures suggest MC flux ropes remain magnetically connected to the Sun at both ends, leading to widely used model of global MC structure as an extended flux rope, with a loop-like axis stretching out from the Sun into the heliosphere and back to the Sun. The time of flight of energetic particles, however, suggests shorter magnetic field line lengths than such a continuous twisted flux rope would produce. In this study, two simple models are compared with observed flux rope axis orientations of 196 MCs to show that the flux rope structure is confined to the MC leading edge. The MC “legs,” which magnetically connect the flux rope to the Sun, are not recognizable as MCs and thus are unlikely to contain twisted flux rope fields. Spacecraft encounters with these non-flux rope legs may provide an explanation for the frequent observation of non-MC ICMEs.

79 ASTRONOMY AND ASTROPHYSICS↗

NASA NTRS1964

Characteristics of a Lunar Landing Configuration Having Various Multiple-Leg Landing-Gear Arrangements

An experimental investigation has been made of some lunar-landing characteristics of a 1/6-scale dynamic model of a landing module having multiple-leg landing-gear systems. Symmetric four-point and five-point systems were investigated. The landing-gear legs were inverted tripod arrangements having a telescoping main strut which incorporated a yielding-metal strap for energy dissipation, hinged V-struts, and circular pads. The landing tests were made by launching a free model onto an impenetrable hard surface (concrete) and onto a powdered-pumice overlay of various depths. Landing motion and acceleration data were obtained for a range of touchdown speeds, touchdown attitudes, and landing-surface conditions. Maximum normal acceleration experienced at the module center of gravity during landings on hard surface or pumice was 2g (full-scale lunar value in terms of earth's gravity) over a wide range of touchdown conditions. acceleration experienced was 12 1/2 radians/sec(exp 2) and maximum longitudinal acceleration was 1 3/4g. The module was very stable with all gear configurations during landings on hard surface (coefficient of friction, micron = 0.4) at all conditions tested. Some overturn instability occurred during landings on powdered pumice (micron = 0.7 to 1.0) depending upon flight path, pitch and yaw attitude, depth of pumice, surface topography, and landing-gear configuration. The effect on stability of roll attitude for the limited amount of roll-attitude landing data obtained was insignificant. Compared with the four-point landing gear, the five-point system with equal maximum gear radius increased landing stability slightly and improved the static stability for subsequent lunar launch. A considerable increase in landing stability in the direction of motion was obtained with an asymmetric four-point gear having two pads offset to increase gear radius by 33 percent in the direction of horizontal flight.

Blanchard, Ulysse J.↗

NASA NTRS1970

Tandem wheel drop-legs for standard truck trailer

Tandem wheel drop-leg device provides a semitrailer with fore and aft mobility that allows it to be moved without a prime mover. The modified drop-legs have trunnion dual wheels and an adjustable brace.

Cantwell, W.↗

NASA NTRS1972

Analysis of legged landers for the survivable soft landing of instrument payloads.

Two methods of analysis have been developed for legged planetary landers. The first of these, the Large Displacement Gear Analysis, is a design tool for statically determining the large displacement stroking behavior, energy absorption characteristics, and internal load distributions in a single gear. The second, the Landing Dynamics Analysis, predicts the spatial landing dynamics of a legged lander. Effects of structural flexibility, elastic-plastic gear load characteristics, and soil properties on the loads, motions, and stability of the lander may be determined. Validation of the analytical techniques is accomplished through comparison of predicted results and experimental data obtained during a model test program.

Laurenson, R. M.↗

NASA NTRS1974

Experimental investigation of the landing dynamics of three-legged spacecraft models

An experimental investigation was conducted to obtain accurate data from two three-legged spacecraft landing systems for purposes of validating current and future computer programs for legged landers. Two landing-gear systems were investigated: an inverted tripod system and a cantilever system. Tests were conducted for eight landing conditions chosen to obtain stability data, maximum loads, and maximum strokes for correlation with analytical results. Data from the two models are not directly comparable because of geometry and mass differences, but both are considered to be typical models of the respective landing-gear systems. Results indicate that maximum accelerations for both models, which occurred during a nearly flat landing on a horizontal surface, were nearly the same (approximately minus 18g). Maximum primary strut forces occurred for landings into a 20 deg slope and were 40 kiloNewtons (9000 lbf) and 47 kiloNewtons (10 500 lbf) for the inverted tripod and cantilever models, respectively; and maximum primary strut strokes for both models were 19 cm (7.4 in.). The inverted tripod model was slightly more stable than the cantilever model because of a larger ratio of footpad radius to center-of-gravity height.

Stubbs, S. M.↗

NASA NTRS1974

Hemodynamic studies of the legs under weightlessness

Following exposure to weightlessness, alterations in the return of blood from the legs play a crucial role in orthostatic tolerance and may be an important factor in work tolerance. To investigate some of the hemodynamic mechansism involved, an experiment was performed on the Skylab 3 and Skylab 4 missions to study arterial blood flow, venous compliance, and muscle pumping of blood. Skylab 4 results indicated that the most likely cause of increased blood flow was an increase in cardiac output secondary to increased central venous pressure caused by blood redistribution. Changes in venous compliance are thought to be primarily changes in somatic musculature which is postulated to primarily determine venous compliance of the legs. This was also thought to be demonstrated by the changes in muscle pumping. It is thought that these compliance changes, when taken with the decreased blood volume; provide a basis for the changes seen in orthostatic tolerance, work capacity and lower body negative pressure response.

Thornton, W. E.↗

NASA NTRS1977

Rotational joint assembly for the prosthetic leg

A rotational joint assembly for a prosthetic leg has been devised, which enables an artificial foot to rotate slightly when a person is walking, running or turning. The prosthetic leg includes upper and lower tubular members with the rotational joint assembly interposed between them. The assembly includes a restrainer mechanism which consists of a pivotably mounted paddle element. This device applies limiting force to control the rotation of the foot and also restores torque to return the foot back to its initial position.

Owens, L. J.↗

NASA NTRS1978

Residual glasses and melt inclusions in basalts from DSDP Legs 45 and 46 - Evidence for magma mixing

Microprobe analyses of natural glasses in basalts recovered by Legs 45 and 46 of the Deep Sea Drilling Project are reported and interpreted in the context of other geochemical, petrographic and experimental data on the same rocks (Rhodes et al., 1978). Residual glass compositions in the moderately evolved aphyritic and abundantly phyric basalts within each site indicate that none of the units is related to any other or to a common parent by simple fractional crystallization. The compositional trends, extensive disequilibrium textures in the plagioclase phenocrysts and the presence in evolved lavas of refractory plagioclase and olivine phenocrysts bearing primitive melt inclusions provide evidence that magma mixing had a major role in the genesis of the Leg 45 and 46 basalts. The magma parental to these basalts was most likely characterized by high Mg/(Mg + Fe/+2/), CaO/Al2O3, CaO/Na2O and low lithophile concentrations. A mixing model involving incremental enrichment of magmaphile elements by repeated episodes of mixing of relatively primitive and moderately evolved magmas, followed by a small amount of fractionation is consistent with the characteristics of the basalts studied.

Dungan, M. A.↗