Characterisation of a nuclear cave environment utilising an autonomous swarm of heterogeneous robots

As nuclear facilities come to the end of their operational lifetime, safe decommissioning becomes a more prevalent issue. In many such facilities there exist ‘nuclear caves’. These caves constitute areas that may have been entered infrequently, or even not at all, since the construction of the facility. Due to this, the topography and nature of the contents of these nuclear caves may be unknown in a number of critical aspects, such as the location of dangerous substances or significant physical blockages to movement around the cave. In order to aid safe decommissioning, autonomous robotic systems capable of characterising nuclear cave environments are desired. The research put forward in this thesis seeks to answer the question: is it possible to utilise a heterogeneous swarm of autonomous robots for the remote characterisation of a nuclear cave environment? This is achieved through examination of the three key components comprising a heterogeneous swarm: sensing, locomotion and control. It will be shown that a heterogeneous swarm is not only capable of performing this task, it is preferable to a homogeneous swarm. This is due to the increased sensory and locomotive capabilities, coupled with more efficient explorational prowess when compared to a homogeneous swarm

Techno-economic and uncertainty analysis of Biomass to Liquid (BTL) systems for transport fuel production

This work examines the technical and economic feasibility of Biomass-To-Liquid (BTL) processes for the manufacture of liquid hydrocarbon fuels. Six BTL systems are modelled and evaluated which are based on pressurised oxygen gasification of woody biomass, and specifically on circulating fluidised bed and entrained flow gasification systems. Three fuel synthesis technologies are considered: Fischer-Tropsch synthesis, methanol conversion followed by Methanol to Gasoline (MTG) and the Topsoe Integrated Gasoline (TIGAS) synthesis. Published modelling studies of BTL systems based on gasification have only used deterministic estimates of fuel production costs to assess economic viability without accounting for uncertainties of their model parameters. Unlike other studies, the present techno-economic assessment examines and quantifies the effect of uncertainty of key parameters on the fuel production costs. The results of this analysis show that there is a realistic chance (8–14%) of concepts based on Fischer-Tropsch synthesis meeting the cost of conventional fuels; that this probability could be increased to 50% with moderate tax incentives (an 8% reduction in the tax rate); but that deterministic estimates may be systematically underestimating likely production costs. The overall energy efficiency and production costs of the BTL designs evaluated range from 37.9% to 47.6% LHV and €17.88–25.41 per GJ of produced fuels, respectively. The BTL concept with the lowest production costs incorporates CFB gasification and FT synthesis. The model deterministic estimates of production costs of this design indicate that a BTL process is not yet competitive with conventional refineries since the biofuel production costs are approximately 8% higher than current market prices. Large scale biofuel production may be possible in the long term through subsidies, crude oil price rises and legislation

Slice-selective NMR:a non-invasive method for the analysis of separated pyrolysis fuel samples

Pyrolysis oil has been identified as a possible alternative fuel source, however widespread use is hindered by high acidity and water content. These negative characteristics can be mitigated by blending with, for example, biodiesel, marine gas oil and butanol. These blended samples can be unstable and often separate into two distinct phases. NMR spectroscopy is a well-established spectroscopic technique that is finding increasing application in the analysis of pyrolysis oil and blended fuels derived from it. Here, slice-selective NMR, where the NMR spectrum of only a thin slice of the total sample is acquired, is used to study, non-invasively, how the constituent components of blended biofuel samples are partitioned between the two layers. Understanding the outcome of the phase separation is an important step towards understanding why the blended oil samples separate, and may provide answers to mitigating and eventually solving the problem. The NMR method was successfully used to analyse a number of separated biofuel samples - typically separated into an oil layer, containing marine gas oil and biodiesel, above a bio-oil layer with a high water and butanol content

A techno-economic analysis of energy recovery from organic fraction of municipal solid waste (MSW) by an integrated intermediate pyrolysis and combined heat and power (CHP) plant

The increasing environmental concerns and the significant growth of the waste to energy market calls for innovative and flexible technology that can effectively process and convert municipal solid waste into fuels and power at high efficiencies. To ensure the technical and economic feasibility of new technology, a sound understanding of the characteristics of the integrated energy system is essential. In this work, a comprehensive techno-economic analysis of a waste to power and heat plant based on integrated intermediate pyrolysis and CHP (Pyro-CHP) system was performed. The overall plant CHP efficiency was found to be nearly 60% defined as heat and power output compared to feedstock fuel input. By using an established economic evaluation model, the capital investment of a 5 tonne per hour plant was calculated to be £27.64 million and the Levelised Cost of Electricity was £0.063/kWh. This agrees the range of cost given by the UK government. To maximise project viability, technology developers should endeavour to seek ways to reduce the energy production cost. Particular attention should be given to the factors with the greatest influence on the profitability, such as feedstock cost (or gate fee for waste), maintaining plant availability, improving energy productivity and reducing capital cost

Phases of granular segregation in a binary mixture

We present results from an extensive experimental investigation into granular segregation of a shallow binary mixture in which particles are driven by frictional interactions with the surface of a vibrating horizontal tray. Three distinct phases of the mixture are established viz; binary gas (unsegregated), segregation liquid and segregation crystal. Their ranges of existence are mapped out as a function of the system's primary control parameters using a number of measures based on Voronoi tessellation. We study the associated transitions and show that segregation can be suppressed is the total filling fraction of the granular layer, $C$, is decreased below a critical value, $C_{c}$, or if the dimensionless acceleration of the driving, $\gamma$, is increased above a value $\gamma_{c}$.Comment: 12 pages, 12 figures, submitted to Phys. Rev.

Potential of Virginia Mallow as an Energy Feedstock

This study aims to compare the potential of Virginia mallow to other high yielding perennial grasses and hardwoods by characterising and comparing fast pyrolysis product yields. Feedstocks selected for this study include miscanthus (Miscanthus x giganteus), Virginia mallow (Sida hermaphrodita), willow short rotation coppice (SRC) (Salix viminalis) and oak (Quercus robur). The experimental work was split into two sections: analytical (Py–GC–MS) and laboratory-scale processing using a 300 g h−1 continuous bubbling fluidised bed reactor. Pyrolysis–gas chromatography–mass spectrometry (Py–GC–MS) has been used to quantify pyrolysis products from these feedstocks by simulating fast pyrolysis heating rates using a CDS 5200 pyrolyser closed coupled to a PerkinElmer Clarus 680 GC–MS. High bio-oil yields were achieved for Virginia mallow, willow SRC and oak (65.36, 62.55 and 66.43 wt% respectively), but miscanthus only produced a yield of 53.46 wt% due to increased feedstock ash content. The water content in the bio-oil is highest from miscanthus (17.64 wt%) and relatively low in the Virginia mallow and hardwoods willow SRC and oak (12.49, 13.88 and 14.53 wt%). Similar high yields of bio-oil and low yields of char and non-condensable gas compared to willow SRC make Virginia mallow an attractive feedstock for fast pyrolysis processing. Graphic Abstract: [Figure not available: see fulltext.]

Impact of potassium and phosphorus in biomass on the properties of fast Pyrolysis bio-oil

This study investigates fast pyrolysis bio-oils produced from alkali-metal-impregnated biomass (beech wood). The impregnation aim is to study the catalytic cracking of the pyrolysis vapors as a result of potassium or phosphorus. It is recognized that potassium and phosphorus in biomass can have a major impact on the thermal conversion processes. When biomass is pyrolyzed in the presence of alkali metal cations, catalytic cracking of the pyrolysis liquids occurs in the vapor phase, reducing the organic liquids produced and increasing yields of water, char, and gas, resulting in a bio-oil that has a lower calorific value and an increased chance of phase separation. Beech wood was impregnated with potassium or phosphorus (K impregnation and P impregnation, respectively) in the range of 0.10-2.00 wt %. Analytical pyrolysis-gas chromatography-mass spectrometry (Py-GC-MS) was used to examine the pyrolysis products during thermal degradation, and thermogravimetric analysis (TGA) was used to examine the distribution of char and volatiles. Both potassium and phosphorus are seen to catalyze the pyrolytic decomposition of biomass and modify the yields of products. 3-Furaldehyde and levoglucosenone become more dominant products upon P impregnation, pointing to rearrangement and dehydration routes during the pyrolysis process. Potassium has a significant influence on cellulose and hemicellulose decomposition, not just on the formation of levoglucosan but also other species, such as 2(5H)-furanone or hydroxymethyl-cyclopentene derivatives. Fast pyrolysis processing has also been undertaken using a laboratory-scale continuously fed bubbling fluidized-bed reactor with a nominal capacity of 1 kg h-1 at the reaction temperature of 525 °C. An increase in the viscosity of the bio-oil during the stability assessment tests was observed with an increasing percentage of impregnation for both additives. This is because bio-oil undergoes polymerization while placed in storage as a result of the inorganic content. The majority of inorganics are concentrated in the char, but small amounts are entrained in the pyrolysis vapors and, therefore, end up in the bio-oil

Effect of temperature on product performance of a high ash biomass during fast pyrolysis and its bio-oil storage evaluation

Bio-oil from the fast pyrolysis of agro-residues still needs to contemplate different production scenarios to look for its feasibility. For this reason, in this work the effect of a range of fast pyrolysis temperature (450, 480, 510 and 550 °C) processing rape straw biomass (with high K content) has been studied in a continuous bubbling fluidised bed reactor. It was found that the catalytic effect of the inorganic content was different at each fast pyrolysis temperature, with the lower temperatures resulting in the highest yield of bio-oil due to minor catalytic effect (up to 41.39 wt%). It was also found that at 480 °C the bio-oil presented the best combination of physico-chemical features such as non-separation phase and the lowest water content; yield (39.65 wt%) and HHV (19.23 MJ/kg), containing a high concentration of phenolic compounds. At the fast pyrolysis temperature of 510 °C and 550 °C, the conjunction effect of temperature and the catalytic effect provoked bio-oil separation into two phases and a higher gas yield than was expected. Then, the higher temperatures are not suitable for bio-oil production. Char is also an interesting co-product for all pyrolysis temperatures

Human Grasp Assist Device With Exoskeleton

A grasp assist system includes a glove, actuator assembly, and controller. The glove includes a digit, i.e., a finger or thumb, and a force sensor. The sensor measures a grasping force applied to an object by an operator wearing the glove. Phalange rings are positioned with respect to the digit. A flexible tendon is connected at one end to one of the rings and is routed through the remaining rings. An exoskeleton positioned with respect to the digit includes hinged interconnecting members each connected to a corresponding ring, and/or a single piece of slotted material. The actuator assembly is connected to another end of the tendon. The controller calculates a tensile force in response to the measured grasping force, and commands the tensile force from the actuator assembly to thereby pull on the tendon. The exoskeleton offloads some of the tensile force from the operator's finger to the glove

Monometallic and bimetallic catalysts based on Pd, Cu and Ni for hydrogen transfer deoxygenation of a prototypical fatty acid to diesel range hydrocarbons

Bimetallic PdxNi(100-x) and PdxCu(100-x) structures of a wide compositional range supported on activated carbon were synthesised via a simple, cheap and commercially relevant method. The surface and bulk properties of both the bimetallic structures and their monometallic counterparts were determined via STEM-EDS, TEM, XPS, powder XRD, N2 porosimetry and ICP-OES. A close correlation between the XRD patterns and EDS elemental composition mapping of individual metal particles established the extent of palladium-base metal interaction in each sample. The performance of the different structures as catalysts for the selective hydrogenation and hydrodeoxygenation of oleic acid, a prototypical fatty acid, was evaluated using tetralin as a hydrogen donor. Catalysts displaying true bimetallic/alloy formation were found to improve the conversion of tetralin as compared to catalysts in which compositional segregation was observed. The PdxNi(100-x) series was found to outperform the PdxCu(100-x) catalysts in terms of hydrogen production via the dehydrogenation of tetralin, mirroring the fact that compositional segregation occurs more for the PdxCu(100-x) series than PdxNi(100-x). The hydrogen transfer deoxygenation of oleic acid over the monometallic and bimetallic catalysts was found to mirror the availability of hydrogen with those catalysts liberating more hydrogen also favouring the formation of C17 and C18 alkanes