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In this paper, we present and validate the concept of an autonomous aerial robot to reconstruct tomographic 2D slices of gas plumes in outdoor environments. Our platform, the so-called Unmanned Aerial Vehicle for Remote Gas Sensing (UAV-REGAS), combines a lightweight Tunable Diode Laser Absorption Spectroscopy (TDLAS) gas sensor with a 3-axis aerial stabilization gimbal for aiming at a versatile octocopter. While the TDLAS sensor provides integral gas concentration measurements, it does not measure the distance traveled by the laser diode’s beam nor the distribution of gas along the optical path. Thus, we complement the set-up with a laser rangefinder and apply principles of Computed Tomography (CT) to create a model of the spatial gas distribution from a set of integral concentration measurements. To allow for a fundamental ground truth evaluation of the applied gas tomography algorithm, we set up a unique outdoor test environment based on two 3D ultrasonic anemometers and a distributed array of 10 infrared gas transmitters. We present results showing its performance characteristics and 2D plume reconstruction capabilities under realistic conditions. The proposed system can be deployed in scenarios that cannot be addressed by currently available robots and thus constitutes a significant step forward for the field of Mobile Robot Olfaction (MRO).
Impact limiting components of packages for the transport of radioactivematerials are often designed as wood filled steel constructions. Wood absorbs major part of the impact energy in order to minimise the impact load acting upon the containment. Dynamic impact experiments with wood filled impact limiters showed different crushing mechanisms for axially loaded wood depending on their lateral constraint. Tests on spruce wood samples (Picea abies) were performed in order to clarify the influence of strain rate from static to 30 s-1 on a) compression strength, b) stress at a global strain level of 50%, and c) energy absorption capacity at 50% deformation, including statistical evaluation of the results. Results were as follows: strain rate increase led to significantly higher compression strength, stress and strain energy at a strain level of 50%. Lateral strain restriction had no effect on compression strength; it had a significant effect on stress and strain energy at strain level of 50%. Therefore, the definition of a general yield curve for wood under large deformations is not possible, the yield curve has to be chosen taking into account lateral constraints.
Diffusion of Cr, Fe, and Ti ions from Ni-base alloy inconel-718 into a transition alumina coating
(2012)
Heat treating metals at high temperatures trigger diffusion processes which may lead to the formation of oxide layers. In this work the diffusion of Cr, Fe and Ti into an alumina coating applied to Inconel-718 is being investigated. Mass gain measurements, UV–vis spectroscopy and transmission electron microscopy were applied in order to study the evolution of the diffusion process. It was found that mainly Cr as well as minor amounts of Fe and Ti are being incorporated into the alumina coating upon prolonged heat treatment at 700 °C. It could be shown that alumina coatings being void of Cr have the same oxidation related mass gain as uncoated samples. However, incorporation of Cr into the alumina coating decreased their mass gain below that of uncoated substrates forming a Cr oxide scale only.
Dynamic and quasi-static FE calculation of impact from 9 metre drop of spent fuel transport cask
(2009)
The drop from 9 m height onto a rigid target is one of the required proofs of safety for packages of radioactive materials. Direct dynamic finite element method (FEM) calculations and combined two step analytical quasi-static finite element (FE) calculations are both applied for the simulation of a 9 m drop test. This paper gives a comparative example of both approaches for the 9 m side drop simulation of the spent fuel transport cask with wood filled impact limiter. The model for dynamic FEM consists of cask body and impact limiter. Detailed material properties and geometry descriptions from each component of the impact limiter are required. The results (stress fields in the cask body) are obtained directly from the calculation. The combined method provides as intermediate results the force-deformation characteristic of impact limiter. The maximum impact limiter force determined by the law of energy conservation during the drop is then - in a second step - applied on the cask body in a quasi-static FE model in order to calculate the stresses. In this paper, the rigid body deceleration and the maximum stress in the middle of the cask body are used for the comparison between the dynamic FEM and the combined method. Similar maximum rigid body deceleration-time curves were obtained by both methods for the horizontal 9 m free fall. Concerning the stress in the cask body the dynamic FEM results oscillate about values calculated by the combined quasi-static approach. If the combined quasi-static approach is used in the safety assessment of a cask, a suitable factor has to be applied on its results to take into account the additional dynamic effects.
An extensive series of large deformation crushing tests with spruce wood specimens was conducted. Material orientation, lateral constraint and loading rate were varied. Regarding material orientation, a reduction in the softening effect and the general force level was observed with a higher fiber-load angle. A comparison with characteristics gained by application of Hankinson's formula showed discrepancies in compression strength and the beginning of the hardening effect. Lateral constraint of the specimens caused a multiaxial stress state in the specimens, which was quantified with the applied measuring method. Further, a higher force level compared to specimens without lateral constraint and significant hardening effect at large deformations resulted. Thus, the influence of a multiaxial stress state on the force level could be determined. An increase in the loading rate led to higher force levels at any displacement value and material orientation.
In case of a vehicle fire, an installed LPG (liquefied petroleum gas) tank with a malfunctioning safety device poses severe hazards. To investigate the consequences in case of tank failure, we conducted 16 tests with toroidal shaped LPG vehicle tanks. Three tanks were used for a Hydraulic Burst Test under standard conditions. Another three tanks were equipped with a statutory safety device and were subjected to a gasoline pool fire. The safety device prevented tank failure, as intended. To generate a statistically valid dataset on tank failure, ten tanks without safety devices were exposed to a gasoline pool fire. Five tanks were filled to a level of 20 %; the re-maining five were filled to a level of 100 %. In order to gain information on the heating process, three tem-perature readings at the tank surface, and three nearby flame temperatures were recorded. At distances of l = (7; 9; 11) m to the tank, the overpressure of the shock wave induced by the tank failure and the unsteady tem-peratures were measured. All ten tanks failed within a time of t < 5 min in a BLEVE (boiling liquid expanding vapor explosion). Seven of these resulted directly in a catastrophic failure. The other three resulted in partial failure followed by catastrophic failure. A near field overpressure at a distance of l = 7 m of up to p = 0.27 bar was measured. All ten tests showed massive fragmentation of the tank mantle. In total, 50 fragments were found. These 50 fragments make-up 88.6 % of the original tank mass. Each fragment was georeferenced and weighed. Fragment throwing distances of l > 250 m occurred. For the tanks with a fill level of 20 %, the average number of fragments was twice as high as it was for the tanks that were filled completely.
Wood is widely used in impact limiters of Transport casks for radioactive material. Encapsulated by an outer and inner Steel structure, spruce wood is offen applied in layers of altemating direction. The friction at the interfaces between these layers is of crucial importance for the impact and energy absorption e.g., at an accidental impact of a cask against a hard component.
In order to get detailed Information for corresponding numerical calculations, in this study the friction coefficient for the combinations wood-wood and wood-steel was measured in the temperature ränge between -40 °C and 90 °C according to the relevant stress conditions for such casks. Results show decreasing friction with increasing temperature, ranging from 0.43 at -40 °C to 0.22 for 90 °C for wood-steel combinations and from 0.3 at -40 °C to 0.24 at 90 °C to for a wood-wood combination.