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Jellyfish cyborgs present a promising avenue for soft robotic systems, leveraging the natural energy-efficiency and adaptability of biological systems. Here we demonstrate a novel approach to predicting and controlling jellyfish locomotion by harnessing the natural embodied intelligence of these animals. We developed an integrated muscle electrostimulation and 3D motion capture system to quantify both spontaneous and stimulus-induced behaviors in Aurelia coerulea jellyfish. Using Reservoir Computing, a machine learning framework, we successfully predicted future movements based on the current body shape and natural dynamic patterns of the jellyfish. Our key findings include the first investigation of self-organized criticality in jellyfish swimming motions and the identification of optimal stimulus periods (1.5 and 2.0 seconds) for eliciting coherent and predictable swimming behaviors. These results suggest that the jellyfish body motion, combined with targeted electrostimulation, can serve as a computational resource for predictive control. Our findings pave the way for developing jellyfish cyborgs capable of autonomous navigation and environmental exploration, with potential applications in ocean monitoring and pollution management.

DIII-D discharges that transition to H-mode solely with off-axis electron cyclotron heating (ECH) often exhibit strong off-axis peaking of electron temperature profiles at the heating location. Electron heat transport properties near these off-axis temperature peaks have been studied using modulated ECH. The Fourier analyzed electron temperature data have been used to infer electron thermal diffusivity. Comparisons with numerical solutions of the time-dependent electron thermal equation find that the data are consistent with a narrow region with electron diffusivity $\chi_e$ an order of magnitude lower than the average value across the plasma, suggesting an electron internal transport barrier (ITB) near the ECH heating location. Detailed profile analysis and equilibrium reconstructions suggest that the formation of these ITBs are correlated with off-axis values of the safety factor $q$ being near 1. Furthermore, the ECH driven H-mode discharges demonstrate more rapid electron heating rate near the ECH deposition location than L-mode discharges with higher auxiliary ECH heating power. Additional modeling attributes this difference to the modification of electron heat transport in the core at the L-H transition, which also sustains the off-axis electron temperature peaks.

Turbulent plasma edge density fluctuations can broaden a traversing microwave beam degrading its quality. This can be a problem for scenarios relying on a high spatial localization of the deposition of injected microwave power, like controlling MHD instabilities. Here we present numerical estimations of the scattering of a microwave beam by density fluctuations over a large parameter range, including extrapolations to ITER. Two codes are used, the full-wave code IPF-FDMC and the wave kinetic equation solver WKBeam. A successful comparison between beam broadening obtained from DIII-D experiments and corresponding full-wave simulations is shown., Comment: EPJ Web of Conferences, EC-20 2018 Proceedings, submitted

In this paper we show that the kinetic instabilities associated with runaway electron beams play an essential role for the production of high-level non-thermal electron-cyclotron-emission (ECE) radiation. Most of the non-thermal ECE comes from runaway electrons in the low-energy regime with large pitch angle, which are strongly scattered by the excited whistler waves. The power of ECE from runaway electrons is obtained using a synthetic diagnostic model based on the reciprocity method. The electron distribution function is calculated using a kinetic simulation model including the whistler wave instabilities and the quasilinear diffusion effects. Simulations based on DIII-D low-density discharge reproduces the rapid growth of the ECE signals observed in DIII-D experiments. Unlike the thermal ECE where radiation for a certain frequency is strongly localized inside the resonance region, the non-thermal ECE radiation from runaway electrons is nonlocal, and the emission-absorption ratio is higher than that of thermal electrons. The runaway electron tail is more significant for ECE with higher frequencies, and the ECE spectrum becomes flatter as RE population grows. The nonlinear behavior of the kinetic instabilities is illustrated in the osculations of the ECE waves. The good agreement with the DIII-D experimental observations after including the kinetic instabilities clearly illustrate the significance of the scattering effects from wave-particle interactions, which can also be important for runaway electrons produced in disruptions.

Interaction between microwave power, used for local heating and mode control, and density fluctuations can produce a broadening of the injected beam, as confirmed in experiment and simulation. Increased power deposition width could impact suppression of tearing mode structures on ITER. This work discusses the experimental portion of an effort to understand scattering of injected microwaves by turbulence on the DIII-D tokamak. The corresponding theoretical modeling work can be found in M.B. Thomas et. al.: Submitted to Nuclear Fusion (2017)[Author Note - this paper to be published in same journal]. In a set of perturbative heat transport experiments, tokamak edge millimeter-scale fluctuation levels and microwave heat deposition are measured simultaneously. Beam broadening is separated from heat transport through fitting of modulated fluxes. Electron temperature measurements from a 500 kHz, 48-channel ECE radiometer are Fourier analyzed and used to calculate a deposition-dependent flux. Consistency of this flux with a transport model is evaluated. A diffusive and convective transport solution is linearized and compared with energy conservation-derived fluxes. Comparison between these two forms of heat flux is used to evaluate the quality of ECRF deposition profiles, and fitting finds a significant broadening of 1D equilibrium ray tracing calculations from the benchmarked TORAY-GA ray tracing code is needed. The physical basis, cross-validation, and application of the heat flux method is presented. The method is applied to a range of DIII-D discharges and finds a broadening factor of the deposition profile width which scales linearly with edge density fluctuation level. These experimental results are found to be consistent with the full-wave beam broadening measured by the 3D full wave simulations in the same discharges., Comment: 21 Pages, 9 Figures

Edge plasma density fluctuations are shown to have a significant effect on the electron cyclotron resonance heating (ECRH) beam in the DIII-D tokamak. Experimental measurements of the ECRH deposition profile have been taken in three operating scenarios: L-mode, H-mode and negative triangularity. Each scenario corresponds to distinct turbulence characteristics in the edge region through which the beam must propagate. The measured ECRH deposition profile is significantly broadened by comparison to the profile predicted by the ray tracing code TORAY-GA and has been shown to scale with the severity of edge turbulence. Conventional ray tracing does not include the effects of turbulence and therefore a 3D full-wave cold plasma finite difference time domain code EMIT-3D is presented and used for the simulations. The turbulence is generated through the Hermes model in the BOUT++ framework which takes as input the measured time averaged electron density, temperature and magnetic field profiles for the specific shot in question. The simulated turbulence is constrained to match the experimentally measured (by use of the BES and DBS systems) correlation length and normalised fluctuation levels. The predictions of the beam broadening from the simulations are found to agree very well with the experimentally-observed broadening in all cases: L-mode, H-mode and negative triangularity. Due to the large gradients within the H-mode edge, the resolution uncertainty and error in the measurement from Thomson scattering and BES diagnostics result in a spread in the simulated turbulence amplitude. In light of this a parameter scan through the range in experimental diagnostic measurement uncertainty has been conducted to explore the impact on beam broadening predictions.