Thomas Piercy Guido Herrmann Angelo Cangelosi Ioannis Dimitrios Zoulias Erwin Lopez
In current telerobotics and telemanipulator applications, operators must perform a wide variety of tasks, often with a high risk associated with failure. A system designed to generate data-based behavioural estimations using observed operator features could be used to reduce risks in industrial teleoperation. This paper describes a non-invasive …
PublishedWenxing Liu Hanlin Niu Wei Pan Guido Herrmann Joaquin Carrasco
Sim-and-real training is a promising alternative to sim-to-real training for robot manipulations. However, the current sim-and-real training is neither efficient, i.e., slow convergence to the optimal policy, nor effective, i.e., sizeable real-world robot data. Given limited time and hardware budgets, the performance of sim-and-real training is …
PurchaseErwin Jose Lopez Pulgarin Ozan Tokatli Guy Burroughes Guido Herrmann
Tele-manipulation is indispensable for the nuclear industry, since teleoperated robots cancel the radiation hazard problem for the operator. However, the performance limitations of teleoperated robots for nuclear decommissioning tasks is not clearly answered in the literature. In this paper, we propose a task performance-based methodology to evalua…
Preprint PublishedM. Fulvio L. Aho-Mantila R. Ambrosino T. Body H. Bufferand G. Calabro’ G. Ciraolo D. Coster G. Di Gironimo P. Fanelli N. Fedorczak A. Herrmann P. Innocente R. Kembleton T. Lunt D. Marzullo S. Merriman D. Moulton A. Nielsen J. Omotani G. Ramogida H. Reimerdes M. Reinhart P. Ricci F. Riva A. Stegmeir F. Subba W. Suttrop P. Tamain M. Teschke A. Thrysoe W. Treutterer S. Varoutis M. Wensing M. Wischmeier l. Y. Xiang J. Lilburne A. Wilde
A comparison between different alternative divertor configurations, in terms of benefits and additional complexity is carried out for the European DEMO. A synergetic approach between different aspects of the problem, including physics and engineering, provides new insight on the capabilities of the new divertors to handle the exhausted power wit…
PreprintF. Militello L. Aho-Mantila R. Ambrosino T. Body H. Bufferand G. Calabro’ G. Ciraolo D. Coster G. Di Gironimo P. Fanelli N. Fedorczak A. Herrmann P. Innocente R. Kembleton J. Lilburne T. Lunt D. Marzullo S. Merriman D. Moulton A. Nielsen J. Omotani G. Ramogida H. Reimerdes M. Reinhart P. Ricci F. Riva A. Stegmeir F. Subba W. Suttrop P. Tamain M. Teschke A. Thrysoe W. Treutterer S. Varoutis M. Wensing A. Wilde M. Wischmeier L.Y. Xiang
A thorough physics and engineering analysis of alternative divertor configurations is carried out by examining benefits and problems by comparing the baseline single null solution with a Snowflake, an X- and a Super-X divertor. It is observed that alternative configurations can provide margin and resilience against large power fluctuations, but the…
Preprint PurchaseA. Kirk H.W. Muller A. Herrmann M. Kocan V. Rohde P. Tamain The Asdex Upgrade Team
The radial propagation of type-I ELMs in ASDEX Upgrade has been measured using a number of techniques. The most reliable technique uses a filament probe to measure the time difference between two separated probes and yields a mean radial velocity obtained of ~1.5 kms -1 . The radial velocity calculated using a time of flight technique suffers from …
PublishedI. T. Chapman M. F. De Bock S. D. Pinches M. R. Turnyanskiy Mast Team V. G. Igochine M. Maraschek G. Tardini Asdex Upgrade Team
Sawtooth behavior has been investigated in plasmas heated with off-axis neutral beam injection in ASDEX Upgrade [A. Herrmann and O. Gruber, Fusion Sci. Technol. 44 , 569 (2003)] and the Mega-Ampere Spherical Tokamak MAST [A. Sykes and et al. , Nucl. Fusion 41 , 1423 (2001)]. Provided that the fast ions are well confined, the sawtooth period is foun…
PublishedA. Kirk B. Koch R. Scannell H. R. Wilson G. Counsell J. Dowling A. Herrmann
Edge-localized modes (ELMs) are repetitive instabilities that occur in the outer region of tokamak plasmas. This Letter provides new information on and the implications of the evolution of the filament structures observed during ELMs in the MAST tokamak. The filaments exist for the time over which particles are being released into the scrape off la…
Published