Development and Experimental Analysis of a Soft Compliant Tactile Microsensor for Anthropomorphic Artificial Hand

This paper presents the development and preliminary experimental analysis of a soft compliant tactile microsensor (SCTM) with minimum thickness of 2 mm. A high shear sensitive triaxial force microsensor was embedded in a soft, compliant, flexible packaging. The performance of the whole system, including the SCTM, an electronic hardware and a processing algorithm, was evaluated by static calibration, maximum load tests, noise and dynamic tests, and by focusing on slippage experiments. A proper tradeoff between final robustness and sensitivity of the tactile device was identified. The experiments showed that the tactile sensor is sufficiently robust for application in artificial hands while sensitive enough for slip event detection. The sensor signals were elaborated with the cumulative summation algorithm and the results showed that the SCTM system could detect a slip event with a delay from a minimum of 24.5 ms to a maximum of 44 ms in the majority of experiments fulfilling the neurophysiological requirement.     

Ultrasonic test of carbon composite/copper joints in the ITER divertor

The vertical targets of the ITER divertor consist of high flux units (HFU) actively cooled: CuCrZr tubes armoured by tungsten and carbon/carbon fibre composite (CFC). The armour is obtained with holed parallelepiped blocks, called monoblocks, previously prepared and welded onto the tubes by means diffusion bonding. The monoblock preparation consists in the casting of a layer of copper oxygen free (Cu OFHC) inside the monoblock hole.Each HFU is covered with more than 100 monoblocks that have to be joined simultaneously to the tube. Therefore, it is very important to individuate any defects present in the casting of Cu OFHC or at the interface with the CFC before the monoblocks are installed on the units.This paper discusses the application of non-destructive testing by ultrasound (US) method for the control of the joining interfaces between CFC monoblocks and Cu OFHC, before the brazing on the CrCrZr tube.In ENEA laboratory an ultrasonic technique (UT) suitable for the control of these joints with size and geometry according to the ITER specifications has been developed and widely tested. Real defects in this type of joints are, however, still hardly detected by UT. The CFC surface has to be machined to improve the mechanical strength of the joint. This results in a surface not perpendicular to the ultrasonic wave. Moreover, CFC is characterized by high acoustic attenuation of the ultrasonic wave and then it is not easy to get information regarding the Cu/CFC bonding. Nevertheless, the UT sharpness and simplicity pushes to perform some further study. With this purpose, a sample with artificial defects induced on the CFC/Cu interface during the Cu casting, has been manufactured and investigated, both by pulse-echo technique and by different techniques. The results obtained by the UT on this sample are reported and compared with X-ray method.     

Measuring human–robot interaction on wearable robots: A distributed approach

This paper presents a novel, distributed approach to monitor physical interaction between a user and a wearable robot. We propose to apply a matrix of optoelectronic sensors embedded in a thin and compliant silicone bulk onto the user-robot contact surface. This distributed tactile sensor can measure the pressure distribution on the interaction area without affecting the comfort of the user, and does not require the robot to be specifically designed to house it. Besides the estimation of the interaction force/torque, the distributed approach allows to monitor the pressure on the user’s skin. This information is fundamental to assess the comfort and safety of the users which determine the final acceptability of the robot-mediated rehabilitation. The proposed method is preliminary evaluated on an elbow active orthosis during a repetitive rehabilitation task. Experimental results prove the relevance of this approach for the detection of the user motion intention through a measurement of the interaction force distribution.     

Non-destructive methods for the defect detection in the ITER high heat flux components

This paper discusses the application of non-destructive testing (NDT) by ultrasonic technique for the control of the joining interfaces of the ITER divertor vertical target plasma facing units. The defect detection capability has to be proved for both metal to metal and metal to carbon/carbon fibre composite (CFC) joints because these two types of joints have to be realized for the manufacturing of the high heat flux units. In this paper the UT results coming from the investigation performed during the manufacturing, but also after the thermal fatigue testing (up to 20 MW/m²) of six mock-ups manufactured using the Hot Radial Pressure technology (HRP) in ENEA labs are presented and compared with the evidences from the final destructive examination. Regarding the Cu/CFC joint, the effectiveness of the ultrasonic test has been deeply studied due to the high acoustic attenuation of CFC to ultrasonic waves. To investigate the possibility to use the ultrasonic technique for this type of joint, an ‘ad hoc’ flat Cu/CFC joint sample, that reproduces the actual annular joint interfaces, was manufactured. This flat sample has the advantage of being easily tested by probes with different geometry and frequency. UT results are compared with X-ray and eddy current testing of the same sample.     

Manufacturing,testing and post-test examination of ITER divertor vertical target W small scale mock-ups

ENEA is involved in the International Thermonuclear Experimental Reactor (ITER) R&D activities. During the last years ENEA has set up and widely tested a manufacturing process, named Hot Radial Pressing (HRP), suitable for the construction of high heat flux plasma-facing components, such as the divertor targets.In the frame of the EFDA contract six mock-ups were manufactured by HRP in the ENEA labs using W monoblocks supplied by the Efremov Institute in St. Petersburg, Russian Federation and IG CuCrZr tubes.According to the technical specifications the mock-ups were examined by ultrasonic technique and after their acceptance they were delivered to the Efremov Institute TSEFEY-M e-beam facility for the thermal fatigue testing. The test consisted in 3000 cycles of 15 s heating and 15 s cooling at 10 MW/m² and finally 1000 cycles at 20 MW/m².After the testing the ultrasonic non-destructive examination was repeated and the results compared with the investigation performed before the testing.A microstructure modification of the W monoblock material due to the overheating of the surfaces and the copper interlayer structure modification were observed in the high heat flux area.The leakage points of the mock-ups that did not conclude the testing were localized in the middle of the monoblock while they were expected between two monoblocks.This paper reports the manufacturing route, the thermal fatigue testing, the pre and post non destructive examination and finally the results of the destructive examination performed on the monoblock small scale mock-ups.     

Output data from simplified electromagnetic models for structure analysis of main ITER components

The distribution of forces, acting on components of the electromagnetic (EM) system considered herein has been analyzed with the use of simplified models and equivalent dynamic simulators for a variety of plasma event scenarios. The work was aimed at the formulation of the problem of the global force balance and the approach to its resolution, identification of the main factors of the force interaction between components, development of the numerical models for qualitative and quantitative assessment of the problem and relevant parameters and the computations and assessment of the results. The use of equivalent simulators with elimination of redundant details and degrees of freedom (DOFs) principally reduces computational complexity of the problem. The selection (identification) of the equivalent system on the basis of the evaluation of the significance of impacts on the parameter of interest provides the effective and natural filtering of secondary or irrelevant information. The finding of equivalent minimum dynamic systems (EMDS) opens, at a certain rate of computations, a way to develop real-time simulators. The paper describes simplified models, the principles of definition (synthesis) and use of EMDS, the structure of the database (magnitude and time evolution of distributed and integral basic parameters) required for the evaluation of the EM loads and examples of the data.     

Further finite element structural analysis of FAST Load Assembly

The FAST (Fusion Advanced Study Torus) machine is a compact high magnetic field tokamak, that will allow to study in an integrated way the main operational issues relating to plasma-wall interaction, plasma operation and burning plasma physics in conditions relevant for ITER and DEMO. The present work deals with the structural analysis of the machine Load Assembly for a proposed new plasma scenario (10 MA – 8.5 T), aimed to increase the operational limits of the machine.A previous paper has dealt with an integrated set of finite element models (regarding a former reference scenario: 6.5 MA – 7.5 T) of the load assembly, including the Toroidal and Poloidal Field Coils and the supporting structure. This set of models has regarded the evaluation of magnetic field values, the evaluation of the electromagnetic forces and the temperatures in all the current-carrying conductors: these analysis have been a preparatory step for the evaluation of the stresses of the main structural components.The previous models have been analyzed further on and improved in some details, including the computation of the out-of-plane electromagnetic forces coming from the interaction between the poloidal magnetic field and the current flowing in the toroidal magnets.After this updating, the structural analysis has been executed, where all forces and temperatures, coming from the formerly mentioned most demanding scenario (10 MA – 8.5 T) and acting on the tokamak's main components, have been considered. The two sets of analysis regarding the reference scenario and the extreme one have been executed and a useful comparison has been carried on.The analyses were carried out by using the FEM code Ansys rel. 13.     

Specification of asymmetric VDE loads of the ITER tokamak

During asymmetric vertical displacement events (AVDEs) associated with the kink mode of the plasma two asymmetry phenomena were observed in existing tokamaks, in particular in JET [1]. The related halo currents flowing in the passive structure were identified as the cause of asymmetric EM loads on tokamak components. The first phenomenon is a toroidal peak of the poloidal halo current that flows in the passive structure. The second phenomenon is that the toroidal plasma current is not uniform toroidally, so a toroidally non-uniform current flows in the vessel [2]. The specification of the expected characteristics of both phenomena as well as of the consequent asymmetric loads in ITER are summarized here. The related loads are specified for likely, unlikely and extremely unlikely AVDEs.     

A sensorless torque control for Antagonistic Driven Compliant Joints

Antagonistic Driven Compliant Joints (ADCJs) are object of great interest in current robotics research, representing one of the most widely applied solutions to develop human-like and safe joints for human-robot interaction. Providing the joint with “actively” adjustable hardware compliance, ADCJs have two distinctive features: (1) the joint is powered by two independent “actuation units” and (2) each actuation unit works as a non-linear elastic element with an adjustable resting position. This paper proposes a sensorless torque control strategy suitable for ADCJs actuated robots. This method is based on two steps: (1) off-line characterization of the elasticity of the actuation units, defined by the force–elongation curve and (2) online estimation of the force exerted by each actuation unit, through a direct measure of the joint angle, and of the “resting position” of each actuation unit. The proposed force estimation method can be used to develop two independent force controllers, which can be then combined to regulate the resulting joint torque, with no need of additional torque sensors. The performance of the proposed torque control was evaluated over the shoulder and the elbow ADCJs of the 2-link 2-DOFs planar robotic arm NEURARM. The method proved to work effectively, achieving good performances on the test platform, and represents a suitable alternative to state-of-the-art sensor-based torque controls.