Modeling and control of robot manipulators with the constraints at the moving objects

In this paper a method of constructing a model of control over compliant motion of robot manipulators is considered. In this method the elastic deformations of flexible manipulators elements are used as feedback signals. © 2015 IEEE

COMPARATIVE ANALYSIS OF STRUCTURAL CHANGES IN U-MO DISPERSED FUEL OF FULL-SIZE FUEL ELEMENTS AND MINI-RODS IRRADIATED IN THE MIR REACTOR

The paper summarizes the irradiation test and post-irradiation examination (PIE) data for the U-Mo low-enriched fuel that was irradiated in the MIR reactor under the RERTR Program. The PIE data were analyzed for both full-size fuel rods and mini-rods with atomized powder dispersed in Al matrix as well as with additions of 2%, 5% and 13% of silicon in the matrix and ZrN protective coating on the fuel particles. The full-size fuel rods were irradiated up to an average burnup of ∼ 60%235U; the mini-rods were irradiated to an average burnup of ∼ 85%235U. The presented data show a significant increase of the void fraction in the U-Mo alloy as the U-235 burnup rises from ∼ 40% up to ∼ 85%. The effect of irradiation test conditions and U-235 burnup were analyzed with regard to the formation of an interaction layer between the matrix and fuel particles as well as generation of porosity in the U-Mo alloy. Shown here are changes in distribution of U fission products as the U-235 burnup increases from ∼ 40% up to ∼ 85%