Identifying the criterion spontaneously minimized during the take-off phase of a sub-maximal long jump through optimal synthesis

Optimal synthesis of human movement or the prediction of the kinematics of a new movement require not only that the multi-body system be modeled but also that a performance criterion is specified. For sub-maximal movements the selection of a suitable performance criterion, able to generate realistic dynamic behavior is difficult. A two-dimensional simulation model of the take-off phase of a sub-maximal long jump was developed to study the effect of criterion choice on the realism of simulated movements. A parametric optimization technique was employed to obtain solutions to the constrained equations of motion. Seven different criteria were evaluated, by comparing simulated movements with an actual performance, to identify the criterion which most closely approximated that spontaneously minimized by the athlete. Synthesis of the take-off phase of a sub-maximal long jump was found to be sensitive to the chosen criterion, with a criterion based on minimizing joint intersegmental forces found to perform well.     

Lower limb contribution in kayak performance: modelling,simulation and analysis

Lower limb contribution in flatwater kayaking is difficult to quantify experimentally because lower-limbs and pelvis are hidden in the kayak. A computer simulation model was developed to assess the lower limb contribution to kayak performance. Three simulated movements were compared in terms of paddle tip velocity, force impulse, and mechanical work. The pelvis motion increased the paddle tip velocity by 0.15 m s⁻¹ at the stroke beginning and 0.34 m s⁻¹ afterward. The propulsive impulse was also modified by pelvis rotation with a 3.5 N s increase per stroke. For a set performance, the co-ordination involving the lower limbs decreased the mechanical work by 20 J. The above results were obtained by modelling the Ergometer-Athlete-Paddle {EAP} system using 18 bodies and 31 degrees of freedom. The motion capture data were transformed in generalized coordinate time histories by solving an inverse kinematics problem with optimization in order to assess both lower limb and upper limb positions and produce a cyclic motion. Then the {EAP} was simulated based on Lagrangian dynamics with Lagrange multipliers to introduce the paddle forces. Finally, the joint torques were calculated by solving an inverse dynamics problem with optimization in order to ensure a good distribution of lower limbs actuating torques.     

Present status of the conceptual design of the EU test blanket systems

The EU Breeding Blanket Programme aims the testing of two blankets concept in ITER in form of Test Blanket Modules. In the equatorial port #16 the two EU TBMs – a solid and a liquid blanket concept – will be exposed to the plasma and the complex system of their auxiliary systems dedicated to heat and Tritium removal will be integrated in the surrounding ITER buildings. The development of the conceptual design of the EU TBM System is the main objective of the Grant F4E-2008-GRT-09 contract launched by F4E and assigned to a European Consortium. This paper presents an overview of the results after about 20 months of activities: namely, the design of the main sub-systems of the EU TBSs and a concept of integration in ITER.     

Conceptual design of the blanket mechanical attachment for the helium-cooled lithium-lead reactor

The conceptual design of a new type of fusion reactor based on the helium-cooled lithium-lead (HCLL) blanket has been performed within the European Power Plant Conceptual Studies. As part of this activity, a new attachment system suitable for the HCLL blanket modules had to be developed. This attachment is composed of two parts. The first one is the connection between module and the first part of a shield, called high temperature shield, which operates at a temperature around 500 °C, close to that of the blanket module. This connection must be made at the lateral walls, in order to avoid openings through the first wall and breeding zone thus avoiding complex design and fabrication issues of the module. The second connection is the one between the high temperature shield and a second shield called low temperature shield, which has a temperature during reactor operation around 150 °C. The design of this connection is complex because it must allow the large differential thermal expansion (up to 30 mm) between the two components. Design proposals for both connections are presented, together with the results of finite element mechanical analyses which demonstrate the feasibility to support the blanket and shield modules during normal and accidental operation conditions.     

Optimal Motion Synthesis – Dynamic Modelling and Numerical Solving Aspects

A general approach for generating optimal movements of actuatedmulti-jointed systems is presented. The method is based on theimplementation of the Pontryagin Maximum Principle (PMP) used as amathematical optimization tool. It applies to mechanical systems withkinematic tree-like topology such as serial robots, walking machines,and articulated biosystems. Emphasis is put on the choice of anappropriate dynamic model of the multibody system, together with thechoice of relevant performance criteria to be minimized for generatingthe optimal motion. It is shown that the Hamiltonian formalism isperfectly suitable to deal with the optimization problem using the PMP.On the other hand, prominence is given to performance criteria ensuringsoft and efficient functioning of the articulated systems. Two computingtechniques for solving the optimization problem are presented. Threenumerical simulations demonstrate the applicability of the method.     

An anthropomorphic biped robot: dynamic concepts and technologicaldesign

The authors of this study are a part of a joint project, involving four French laboratories, whose goal is the design and construction of a mechanical biped robot with anthropomorphic characteristics. In the first section of this paper, we will examine mechanical architectures of some representatives of state-of-the art biped robots by focusing on their kinematic arrangement. It is widely known that the existence of natural gaits is closely linked to the intrinsic dynamic characteristics of the mechanical structure of the biped robot. In order to further develop this idea, two studies will be presented in the second section: the first is relative to the lateral instability of the system while the second deals with the existence of passive pendular gaits during the swing phase of walking in the sagittal plane. In the last section, in correlation with the observations made, we will gain insight into main characteristics of the mechanical architecture that we have designed for the BIP project: 15 active degrees of freedom (DOF), joints actuated by special transmission system, anthropometric mass distribution     

Conceptual design for the superconducting magnet system of a pulsed DEMO reactor

A methodology has been developed to consistently investigate, taking into account main reactor components, possible magnet solutions for a pulsed fusion reactor aiming at a large solenoid flux swing duration within the 2–3 h range. In a conceptual approach, investigations are carried out in the equatorial plane, taking into account the radial extension of the blanket-shielding zone, of the toroidal field magnet system inner leg and of the central solenoid for estimation of the pulsed swing.Design criteria are presented for the radial extension of the superconducting magnets, which is mostly driven by the structures (casings and conductor jacket). Typical available cable current densities are presented as a function of the magnetic field and of the temperature margin.The magnet design criteria have been integrated into SYCOMORE, a code for reactor modeling presently in development at CEA/IRFM in Cadarache, using the tools of the EFDA Integrated Tokamak Modeling task force.Possible solutions are investigated for a 2 GW fusion power reactor with different aspect ratios.The final adjustment of the DEMO pulsed reactor parameters will have to be consistently done, considering all reactor components, when the final goals of the machine will be completely clarified.     

The EU TBM systems: Design and development programme

This paper presents the status of the design and of the development programme of the two test blanket systems (TBSs) based on the blanket concepts supported by the EU, namely the helium cooled lithium lead (HCLL) and helium cooled pebble bed (HCPB) concepts.Both the test blanket modules (TBMs) box design and the associated systems (Helium Cooling Systems, PbLi loop for the HCLL system, helium processing systems for tritium extraction, etc.) have been revised and, where needed, modified according to the assumption that one ITER equatorial port could be available for testing the two European test blanket modules (TBMs).According to EU TBMs programme, two reliable test blanket systems shall be ready for installation on the first day of ITER operation. In order to comply with this ambitious objective, six EURATOM associates who have sustained the TBM program so far have joined themselves in a consortium aiming to ensure an efficient management of the project tasks and exploit specific competences enhancing potential synergies. The consortium objectives and development programme are summarised in the paper.