On the mechanisms governing gas penetration into a tokamak plasma during a massive gas injection

A new 1D radial fluid code, IMAGINE, is used to simulate the penetration of gas into a tokamak plasma during a massive gas injection (MGI). The main result is that the gas is in general strongly braked as it reaches the plasma, due to mechanisms related to charge exchange and (to a smaller extent) recombination. As a result, only a fraction of the gas penetrates into the plasma. Also, a shock wave is created in the gas which propagates away from the plasma, braking and compressing the incoming gas. Simulation results are quantitatively consistent, at least in terms of orders of magnitude, with experimental data for a D 2 MGI into a JET Ohmic plasma. Simulations of MGI into the background plasma surrounding a runaway electron beam show that if the background electron density is too high, the gas may not penetrate, suggesting a possible explanation for the recent results of Reux et al in JET (2015 Nucl. Fusion 55 093013)

Toward perception-based navigation using EgoSphere

A method for perception-based egocentric navigation of mobile robots is described. Each robot has a local short-term memory structure called the Sensory EgoSphere (SES), which is indexed by azimuth, elevation, and time. Directional sensory processing modules write information on the SES at the location corresponding to the source direction. Each robot has a partial map of its operational area that it has received a priori. The map is populated with landmarks and is not necessarily metrically accurate. Each robot is given a goal location and a route plan. The route plan is a set of via-points that are not used directly. Instead, a robot uses each point to construct a Landmark EgoSphere (LES) a circular projection of the landmarks from the map onto an EgoSphere centered at the via-point. Under normal circumstances, the LES will be mostly unaffected by slight variations in the via-point location. Thus, the route plan is transformed into a set of via-regions each described by an LES. A robot navigates by comparing the next LES in its route plan to the current contents of its SES. It heads toward the indicated landmarks until its SES matches the LES sufficiently to indicate that the robot is near the suggested via-point. The proposed method is particularly useful for enabling the exchange of robust route informa-tion between robots under low data rate communications constraints. An example of such an exchange is given