Improving the kinematic accuracy of a collaborative continuum robot by using flexure-hinges

Within various unstructured industrial environments, there is often the requirement to conduct remote engineering tasks, such as sampling the structure for analysis prior to decommissioning. Most existing tools are simply not dexterous enough to fulfil this task, and thus new technology is required. We describe here a simple, lightweight, and water-resistant collaborative dual-arm continuum robot system which can aid in this task. To improve the kinematic accuracy of the system, a class of flexible hinges have been combined with a conventional continuum robot configuration. The thickness and width of said flexible hinges can be adjusted to adapt to various tasks. Kinematic and stiffness models have further been developed, incorporating the influence of these flexible hinges. A set of experiments have been conducted to validate the proposed model and demonstrate the advantages of the platform. It was found that the kinematic accuracy of the continuum robot can be improved by a factor of around 10 with the aid of said hinges.

Design and Optimisation of a Three Layers Thermal Neutron, Fast Neutron and Gamma-Ray Imaging System

The design and configuration of a multi-layered imaging system with the ability to detect thermal neutrons, fast neutrons and gamma rays has been developed and its efficacy demonstrated. The work presented here numerically determines the systems efficiency and spatial resolution, using 252Cf and 137Cs as a case study. The novelty of this detection system lies in the use of small form factor detectors in a three-layer design, which utilises neutron elastic scattering and Compton scattering simultaneously. The current configuration consists of 10 mm thick natural lithium glass (GS10) scintillator integrated with a 20 mm thick plastic scintillator (EJ-204) in the first layer, a 15 mm thick lithium glass (GS10) scintillator in the second and a 30 mm thick CsI(Tl) scintillator forming the final layer. Each of these layers is backed with an 8 x 8 silicon photomultiplier diode (SiPM) array. The overall size of the imaging system is 27 mm x 27 mm x 135 mm. MCNPv6.1 and Geant4-10.04 were alternatively used to optimise the overall configuration and to investigate detection modalities. Results show promising performance with high precision source localisation and characterization abilities. Measurements were virtually obtained of two gamma-ray sources within steel enclosures at angles of 15°, 30° and 50° separation in order to test spatial resolution ability of the system. With the current active size of the system and the 8x8 SiPM configuration, the results estimate the spatial resolution to be close to 30°. The ability of the system to characterise and identify sources based on the type and energy of the radiation emitted, has been investigated and results show that for all radiation types the system can identify the source energy within the energy range of typical reported sources in literature.

Characterisation of the TRIUMF neutron facility using a Monte Carlo simulation code

Here, the characterisation of the high-energy neutron field at TRIUMF (The Tri Universities Meson Facility, Vancouver, British Columbia) with Monte Carlo simulation software is described. The package used is MCNPX version 2.6.0, with the neutron fluence rate determined at three locations within the TRIUMF Thermal Neutron Facility (TNF), including the exit of the neutron channel where users of the facility can test devices that may be susceptible to the effects of this form of radiation. The facility is often used to roughly emulate the field likely to be encountered at high altitudes due to radiation of galactic origin and thus the simulated information is compared with the energy spectrum calculated to be due to neutron radiation of cosmic origin at typical aircraft altitudes. The calculated values were also compared with neutron flux measurements that were estimated using the activation of various foils by the staff of the facility, showing agreement within an order of magnitude.

Development of fusion blanket technology for the DEMO reactor

The viability of various materials and blanket designs for use in nuclear fusion reactors can be tested using computer simulations and as parts of the test blanket modules within the International Thermonuclear Experimental Reactor (ITER) facility. The work presented here focuses on blanket model simulations using the Monte Carlo simulation package MCNPX (Computational Physics Division Los Alamos National Laboratory, 2010) and FISPACT (Forrest, 2007) to evaluate the tritium breeding capability of a number of solid and liquid breeding materials. The liquid/molten salt breeders are found to have the higher tritium breeding ratio (TBR) and are to be considered for further analysis of the self sufficiency timing.

Construction issues surrounding a portable four-band neutron detection system

Solid state-based surface barrier detectors (SBDs) have been employed in neutron radiation dosimetry for over half a century, each combination of detector featuring positives and pitfalls. Here the implications of constructing a portable neutron spectrometer device, based upon moderating high-density polyethylene substrates and utilising different types of large-area solid state SBDs, are discussed.

A Monte Carlo simulation of monoenergetic neutrons traversing rectangular and spherical polyethylene moderators

A Monte Carlo-based simulation of the transport of a series of monoenergetic neutron sources through first a rectangular block of 0.93 g cm(-3) density polyethylene and secondly through a sphere made of the same substance is presented here. In both instances, the neutron fields are monitored at closely spread intervals through the moderator mass, producing a lot of data in the process. To reduce the amount of data presented, a figure of merit is created by estimating the cross section for each discrete neutron energy and by applying this to the number of neutrons present of each energy giving an arbitrary response figure. This work was undertaken in order to aid the design and development of a novel neutron spectrometer.

A portable energy-sensitive cosmic neutron detection instrument

The construction and testing of a portable energy-sensitive neutron instrument are described. This instrument has been designed and constructed for the primary purpose of characterizing cosmic-ray neutron fields in the upper atmosphere and in cosmic reference field facilities. The instrument comprises a helium-3 proportional counter surrounded by 15 mm of lead and 140 mm of polyethylene creating a spherical structure with a diameter of 34 cm. The instrument also incorporates 12 boron-coated diodes, six on the outside of the polyethylene layer with six placed within the structure. The dimensions, materials, and arrangement of these in the instrument have previously been optimized with the MCNPX Monte Carlo simulation software to provide a compromise between the requirements of portability and spectral response. Testing took place at several locations and experimental data from the instrument's operation at the high-altitude Jungfraujoch laboratory in the Swiss alps are presented.

The design of a portable cosmic ray three-band neutron detector

The design of a portable three-band cosmic-ray neutron detector is reported in this article. This instrument has been designed to characterise cosmic ray neutron fields in the upper atmosphere and in cosmic reference field facilities. The design utilises a spherical moderator with a layer of spallation material covering a central (3)He proportional counter. The instrument incorporates twelve lithium-coated diodes, six on the outside of the polyethylene layer and six placed within the structure. The dimensions, materials and arrangement of these in the instrument have been optimised with MCNPX to provide a compromise between the requirements of portability and spectral response.

Application of laser spectroscopy for measurement of exhaled ethane in patients with lung cancer

There is increasing interest in ethane (C(2)H(6)) in exhaled breath as a non-invasive marker of oxidative stress (OS) and thereby a potential indicator of disease. However, the lack of real-time measurement techniques has limited progress in the field. Here we report on a novel Tunable Diode Laser Spectrometer (TDLS) applied to the analysis of exhaled ethane in patients with lung cancer. The patient group (n=52) comprised randomly selected patients presenting at a respiratory clinic. Of these, a sub-group (n=12) was subsequently diagnosed with lung cancer. An age-matched group (n=12) corresponding to the lung cancer group was taken from a larger control group of healthy adults (n=58). The concentration of ethane in a single exhaled breath sample collected from all subjects was later measured using the TDLS. This technique is capable of real-time analysis of samples with accuracy 0.1 parts per billion (ppb), over 10 times less than typical ambient levels in the northern hemisphere. After correcting for ambient background, ethane in the control group (26% smokers) ranged from 0 to 10.54 ppb (median of 1.9 ppb) while ethane in the lung cancer patients (42% smokers) ranged from 0 to 7.6 ppb (median of 0.7 ppb). Ethane among the non-lung cancer patients presenting for investigation of respiratory disease ranged from 0 to 25 ppb (median 1.45 ppb). We conclude that, while the TDLS proved effective for accurate and rapid sample analysis, there was no significant difference in exhaled ethane among any of the subject groups. Comments are made on the suitability of the technique for monitoring applications.