Abstract: A general, computational-mathematical modeling method for the solution of large, boundary-coupled transport problems involving the flow of mass, momentum, energy or subatomic particles is disclosed. The method employs a modeling processor that extracts a matrix operator equation (or set of equations) from a numerical transport code (NTC). The outputs of software codes, available for modeling physical problems governed by conservation laws in the form of differential equations, can be processed into closed-form operator equations with the method. Included is a numerical transport code functionalization (NTCF) model which can be determined numerically, based on a system of solutions of an NTC, evaluating outputs for a given set of inputs. The NTCF model is a linear or nonlinear, multi-variable operator equation or set of such equations. The NTCF model defines relationships between general, time-variable inputs and outputs, some known and some unknown, considered as boundary values.

Abstract: A coordinated joint control system for controlling a coordinated joint motion system, e.g. an articulated arm of a hydraulic excavator blends automation of routine tasks with real-time human supervisory trajectory correction and selection. One embodiment employs a differential control architecture utilizing an inverse Jacobian. Modelling of the desired trajectory of the end effector in system space can be avoided. The invention includes image generation and matching systems.

Abstract: A coordinated joint control system for controlling a coordinated joint motion system, e.g. an articulated arm of a hydraulic excavator blends automation of routine tasks with real-time human supervisory trajectory correction and selection. One embodiment employs a differential control architecture utilizing an inverse Jacobian. Modelling of the desired trajectory of the end effector in system space can be avoided. The disclosure includes image generation and matching systems.

Abstract: Disclosed are an articulated hydraulic machine supporting, control system and control method for same. The articulated hydraulic machine has an end effector for performing useful work. The control system is capable of controlling the end effector for automated movement along a preselected trajectory. The control system has a position error correction system to correct discrepancies between an actual end effector trajectory and a desired end effector trajectory. The correction system can employ one or more absolute position signals provided by one or more acceleration sensors supported by one or more movable machine elements. Good trajectory positioning and repeatability can be obtained. A two joystick controller system is enabled, which can in some cases facilitate the operator's task and enhance their work quality and productivity.

Abstract: A control method and system for controlling a hydraulically actuated mechanical arm to perform a task, the mechanical arm optionally being a hydraulically actuated excavator arm. The method can include determining a dynamic model of the motion of the hydraulic arm for each hydraulic arm link by relating the input signal vector for each respective link to the output signal vector for the same link. Also the method can include determining an error signal for each link as the weighted sum of the differences between a measured position and a reference position and between the time derivatives of the measured position and the time derivatives of the reference position for each respective link. The weights used in the determination of the error signal can be determined from the constant coefficients of the dynamic model. The error signal can be applied in a closed negative feedback control loop to diminish or eliminate the error signal for each respective link.

Abstract: Disclosed are an articulated hydraulic machine supporting, control system and control method for same. The articulated hydraulic machine has an end effector for performing useful work. The control system is capable of controlling the end effector for automated movement along a preselected trajectory. The control system has a position error correction system to correct discrepancies between an actual end effector trajectory and a desired end effector trajectory. The correction system can employ one or more absolute position signals provided by one or more acceleration sensors supported by one or more movable machine elements. Good trajectory positioning and repeatability can be obtained. A two-joystick controller system is enabled, which can in some cases facilitate the operator's task and enhance their work quality and productivity.

Abstract: A general, computational-mathematical modeling method for the solution of large, boundary-coupled transport problems involving the flow of mass, momentum, energy or subatomic particles is disclosed. The method employs a modeling processor that extracts a matrix operator equation (or set of equations) from a numerical transport code (NTC). The outputs of software codes, available for modeling physical problems governed by conservation laws in the form of differential equations, can be processed into closed-form operator equations with the method. Included is a numerical transport code functionalization (NTCF) model which can be determined numerically, based on a system of solutions of an NTC, evaluating outputs for a given set of inputs. The NTCF model is a linear or nonlinear, multi-variable operator equation or set of such equations. The NTCF model defines relationships between general, time-variable inputs and outputs, some known and some unknown, considered as boundary values.

Abstract: A general, computational-mathematical modeling method for the solution of large, boundary-coupled transport problems involving the flow of mass, momentum, energy or subatomic particles is disclosed. The method employs a modeling processor that extracts a matrix operator equation (or set of equations) from a numerical transport code (NTC). The outputs of software codes, available for modeling physical problems governed by conservation laws in the form of differential equations, can be processed into closed-form operator equations with the method. Included is a numerical transport code functionalization (NTCF) model which can be determined numerically, based on a system of solutions of an NTC, evaluating outputs for a given set of inputs. The NTCF model is a linear or nonlinear, multi-variable operator equation or set of such equations. The NTCF model defines relationships between general, time-variable inputs and outputs, some known and some unknown, considered as boundary values.

Abstract: A control method and system for controlling a hydraulically actuated mechanical arm to perform a task, the mechanical arm optionally being a hydraulically actuated excavator arm. The method can include determining a dynamic model of the motion of the hydraulic arm for each hydraulic arm link by relating the input signal vector for each respective link to the output signal vector for the same link. Also the method can include determining an error signal for each link as the weighted sum of the differences between a measured position and a reference position and between the time derivatives of the measured position and the time derivatives of the reference position for each respective link. The weights used in the determination of the error signal can be determined from the constant coefficients of the dynamic model. The error signal can be applied in a closed negative feedback control loop to diminish or eliminate the error signal for each respective link.

Abstract: A coordinated joint control system for controlling a coordinated joint motion system, e.g. an articulated arm of a hydraulic excavator blends automation of routine tasks with real-time human supervisory trajectory correction and selection. One embodiment employs a differential control architecture utilizing an inverse Jacobian. Modelling of the desired trajectory of the end effector in system space can be avoided. The invention includes image generation and matching systems.

Abstract: A coordinated joint control system for controlling a coordinated joint motion system, e.g an articulated arm of a hydraulic excavator blends automation of routine tasks with real-time human supervisory trajectory correction and selection. One embodiment employs a differential control architecture utilizing an inverse Jacobian. Modeling of the desired trajectory of the end effector in system space can be avoided. The invention includes image generation and matching systems.

Abstract: Disclosed are an articulated hydraulic machine supporting, control system and control method for same. The articulated hydraulic machine has an end effector for performing useful work. The control system is capable of controlling the end effector for automated movement along a preselected trajectory. The control system has a position error correction system to correct discrepancies between an actual end effector trajectory and a desired end effector trajectory. The correction system can employ one or more absolute position signals provided by one or more acceleration sensors supported by one or more movable machine elements. Good trajectory positioning and repeatability can be obtained. A two-joystick controller system is enabled, which can in some cases facilitate the operator's task and enhance their work quality and productivity.

Abstract: The present disclosure provides a disposal container for nuclear materials. According to certain ambodiments, the disposal container includes a nuclear material sub-container of a first type and a plurality of nuclear material sub-containers of a second type. In particular implementations, the disposal container includes a plurality of nuclear material sub-containers of a first type. The nuclear material sub-containers of a second type may surround the nuclear material sub-container of a first type. In particular examples, the nuclear material sub-containers of a second type are arranged concentrically around the nuclear material sub-container of a first type. The disclosed disposal containers may provide more efficient storage of nuclear materials, such as nuclear waste.

Abstract: The present disclosure provides methods and systems for storing nuclear material. According to a disclosed method, an amount of heat generated over a period of time by each of a plurality of nuclear storage containers is determined. A nuclear storage location in a material field having liquid passing through the material field is determined. A position is determined for a condensation gap in the material field. Locations are determined for first and second thermal zones in the nuclear storage location. The first and second thermal zones interact with the material field to produce the condensation gap. Based on the calculated amount of heat from each of the nuclear storage containers, the plurality of nuclear storage containers are placed in the material field to produce the first and second thermal zones.

Abstract: A general, computational-mathematical modeling method for the solution of large, boundary-coupled transport problems involving the flow of mass, momentum, energy or subatomic particles is disclosed. The method employs a modeling processor that extracts a matrix operator equation (or set of equations) from a numerical transport code (NTC). The outputs of software codes, available for modeling physical problems governed by conservation laws in the form of differential equations, can be processed into closed-form operator equations with the method. Included is a numerical transport code functionalization (NTCF) model which can be determined numerically, based on a system of solutions of an NTC, evaluating outputs for a given set of inputs. The NTCF model is a linear or nonlinear, multi-variable operator equation or set of such equations. The NTCF model defines relationships between general, time-variable inputs and outputs, some known and some unknown, considered as boundary values.

Abstract: A coordinated joint control system for controlling a coordinated joint motion system, e.g an articulated arm of a hydraulic excavator blends automation of routine tasks with real-time human supervisory trajectory correction and selection. One embodiment employs a differential control architecture utilizing an inverse Jacobian. Modeling of the desired trajectory of the end effector in system space can be avoided. The invention includes image generation and matching systems.

Abstract: The present invention relates to the retrievable storage of high-level nuclear spent fuel. Such waste, which generates heat as it decays, is packed in sealed containers (2) which are placed in a repository site comprising a tunnel or drift (5) in a geological rock formation (50) for permanent or long-term storage. Elongated, sealed cooling enhancement devices (7) are emplaced in boreholes (8) extending from the inside surfaces (16a-b) of the drift (5) and carry heat from the location of the waste containers (5) to farther distances in the repository site. Applicable sealed cooling enhancement devices disclosed are heat pipes (7), thermal syphons (307), superconductor rods, and heat pumps (407). In accordance with a preferred embodiment, conventional mining rock bolts which are hollowed contain a cooling enhancement choice.

Abstract: The present invention relates to the retrievable storage of high-level nuclear spent fuel (waste). Such waste, which generates heat as it decays, is packed in sealed containers (2) which are placed in a repository site comprising a tunnel or drift (5) in a geological rock formation (50) for permanent or long-term storage. Elongated, sealed cooling enhancement devices (7) are emplaced in boreholes (8) extending from the inside surfaces (16 a-b) of the drift (5) and carry heat from the location of the waste containers (5) to farther distances in the repository site. Applicable sealed cooling enhancement devices disclosed are heat pipes (7), thermal syphons (307), superconductor rods, and heat pumps (407).