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One important element of the Leak-Before-Break analysis of nuclear piping is how to determine relevant fracture toughness (or the J-resistance curve) for nonlinear fracture mechanics analysis. The practice to use fracture toughness from a standard C(T) specimen is known to often give conservative estimates of toughness. To improve the accuracy, this paper proposes a new method to determine fracture toughness using a non-standard testing specimen, curved wide-plate in tension. To show validity of the proposed curved wide-plate test, the J-resistance curve from the full-scale pipe test is compared with that from the curved wide-plate test and that from the C(T) specimen. It is shown that the J-resistance curve form the curved wide-plate tension test is similar to, but that from the C(T) specimen is lower than, the J-resistance curve from the full-scale pipe test. Further validation is performed by investigating crack-tip constraint conditions via detailed 3-D FE analyses, which shows that the crack-tip constraint condition in the curved wide-plate tension specimen is indeed similar to that in the full-scale pipe under bending.
In order to evaluate the integrity of nuclear power plant components, the analysis based on fracture mechanics is crucial. For this purpose, finite element method is popularly used to obtain J-integral. However, it is time consuming to design the finite element model of a cracked structure. Also, the J-integral should be verified by alternative methods since it may differ depending on the calculation method. The objective of this paper is to develop a three-dimensional elastic-plastic J-integral analysis system which is named as EPAS program. The EPAS program consists of an automatic mesh generator for a through-wall crack and a surface crack, a solver based on ABAQUS program, and a J-integral calculation program which provides DI (Domain Integral) and EDI (Equivalent Domain Integral) based J-integral calculation. Using the EPAS program, an optimized finite element model for a cracked structure can be generated and corresponding J-integral can be obtained subsequently.
This study proposed a new method to design a robot manipulator control system capable of tracking the trajectories of joint angles in a reasonable accuracy to cover with actual situation of varying payload, uncertain parameters, and time delay. The direct adaptive model following control method has been used to improve existing industrial robot manipulator control system design. The proposed robot manipulator controller is operated by adjusting its gains based on the response of the manipulator in such a way that the manipulator closely matches the reference model trajectories predefined by the designer. The manipulator control system studied has two loops: they are an inner loop on adaptive model following controller to compensate nonlinearity in the manipulator dynamic equation and to decouple the coupling terms and an outer loop of state feedback controller with integral action to guarantee the stability of the adaptive scheme. This adaptation algorithm is based on the hyperstability approach with an improved Lyapunov function. The coupling among joints and the nonlinearity in the dynamic equation are explicitly considered. The designed manipulator controller shows good tracking performance in various cases, load variation, parameter uncertainties. and time delay. Since the proposed adaptive control method requires only a small number of parameters to be estimated, the controller has a relatively simple structure compared to the other adaptive manipulator controllers. Therefore, the method used is expected to be well suited for a high performance robot controller under practical operation environments.
A dynamic model of turbo air compressor having multi-helical gear pairs is developed by transfer matrix method. The model accounts for the shaft and bearing flexibilities, gyroscopic effects and the force couplings among the transverse, torsion, and axial motions due to gearing. The program which can be used to analyze and predict the vibrational characteristics by the mass unbalance of the rotors and gear transmission error of turbo compressor is developed with this system model We expect this developed program to contribute the reduction of the vibration/noise on turbo compressor in the field of both design and manufacturing and can be used as a basic sub-program for CAD/CAM of low-noised gear teeth also.