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Your search keyword '"Shi, Shanshuang"' showing total 30 results
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30 results on '"Shi, Shanshuang"'

22. Design and motion control of an under-actuated snake arm maintainer.

Author

Qin, Guodong, Ji, Aihong, Cheng, Yong, Zhao, Wenlong, Pan, Hongtao, Shi, Shanshuang, and Song, Yuntao

Subjects
SNAKES, NUCLEAR reactors, NUCLEAR power plants, MAXIMUM power point trackers, EXTREME environments, WIRE rope
Abstract

This study presents an under-actuated snake arm maintainer (SAM) for complex and extreme environments such as nuclear power plants. The structure adopts the layered cable drive principle, whereby a single drive layer drives multiple joints. This design significantly reduces the complexity of the control system while increasing the spatial curvature. The traction of multiple wire ropes with a composite capstan drives the synchronous angular motion of several adjacent joints. By changing the number of joints in the single driver layer of the snake arm, the arm can be adapted to various complex environments. The trajectory planning and trajectory tracking motion control methods of the under-actuated SAM are established based on the improved backbone method and the variable rod length algorithm. Finally, a 10-joint prototype with an arm length of 2300 mm is designed for nuclear reactor maintenance. Trajectory experiments confirmed the rationality of the under-actuated SAM, the correctness of the inverse kinematics, and the effectiveness of the motion control methods. [ABSTRACT FROM AUTHOR]

Published
2022
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24. Major upgrade of the articulated inspection arm control system to fulfill daily operation requirements

Author

Liu Chen, Vincent Bruno, P. Coquillat, Shi Shanshuang, Cheng Yong, A. Barbuti, Song Yuntao, P. Malard, R. Le, E. Villedieu, Feng Hansheng, C. Dechelle, L. Allegretti, Rémy Nouailletas, L. Gargiulo, A. Martinez, P. Pastor, and B. Vincent

Subjects
Computer science, business.industry, Mechanical Engineering, Video camera, Tore Supra, law.invention, Visual inspection, Upgrade, Nuclear Energy and Engineering, law, Software deployment, Control system, Robot, General Materials Science, business, Simulation, Civil and Structural Engineering, Graphical user interface
Abstract

An articulated inspection arm (AIA) has been developed by CEA for visual inspection between pulses inside the Tore Supra tokamak vacuum vessel without breaking temperature and vacuum conditions. The eight meters length robot is composed of a shuttle and six articulated segments with a video camera at its end. A demonstration prototype has been achieved in 2008 at Tore Supra (Gargiulo, 2007; Houry, 2008; Perrot, 2003). A project to upgrade the AIA into a fully operational robot has been undertaken by IRFM and ASIPP in an Associated Laboratory. It will be in operation first in the EAST machine and afterwards in Tore Supra in its WEST (W/Tungsten Environment in Steady-state Tokamak) configuration where it is of paramount importance to survey possible degradation of W component surface. The control system of the robot has been extensively upgraded. The effort has been focused on three areas: (1) improvement of the arm position accuracy, (2) increase of the operational robustness, (3) use of a powerful graphical user interface including simulation of trajectories and robot deployment capabilities in a 3D viewer environment. The aim of this paper is to detail the architecture of the AIA control system.

Published
2015

28. Solid lubrication with MoS2-Ti-C films for high-vacuum applications in a nuclear fusion experimental device.

Author

Shi, Shanshuang, Wu, Huapeng, Song, Yuntao, and Handroos, Heikki

Subjects
*LUBRICATION & lubricants, *SPUTTERING (Physics), *COMPOSITE coating, *MAGNETRON sputtering, *NUCLEAR fusion
Abstract

Purpose This paper aims to present a study on composite coating films for solid lubrication applied on the surface of bearings and gears, which are exposed to the vacuum vessel of a tokamak fusion experimental device running under ultra-high vacuum conditions. Experimental advanced superconducting tokamak is a tokamak fusion experimental device running under ultra-high vacuum conditions. To avoid polluting the inner vessel environment, solid lubrication has been applied on the surface of bearings and gears, which are exposed to the vacuum.Design/methodology/approach Anti-friction MoS2 coatings integrated with Titanium and Carbon have been developed using the multi-target magnetron sputtering deposition technique. This paper presents the comparative testing of tribological properties for three kinds of MoS2-based coating layers.Findings Based on the test results, MoS2-Ti-C coating films are supposed to be the final selection because of the better performance of friction coefficient and lubrication longevity.Originality/value Finally, the detailed information has been characterized for the hybrid coatings, which can provide some references for applications of solid lubrications under similar conditions of high vacuum and temperature. [ABSTRACT FROM AUTHOR]

Published
2018
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