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.

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 a portable isotropic neutron spectrometer.

A portable neutron spectrometry and dosimetry measurement device is in the process of development, which will be capable of accurate characterisation of neutron fields. The instrument is an amalgamation of two well-known techniques the Bonner-sphere and the surface barrier detector. Recent developments in semiconductor materials have allowed the growth of large-area thin-film based semiconductors upon high density polyethylene substrates, on which this detector is formed. Herein we discuss three plausible detection devices and test their results.

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.

Variation in measured neutron fluence in low radiation environments when altering sensor density on the surface of a sphere.

A Monte Carlo simulation package, MCNPX version 2.6.0, has been used to evaluate the effect on the response of a spherical neutron detector utilising various numbers of point detectors on the surface of a spherical polyethylene structure, which forms an instrument specifically designed for low radiation environments.

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.