User-centered design of a dynamic-autonomy remote interaction concept for manipulation-capable robots to assist elderly people in the home

In this article, we describe the development of a human-robot interaction concept for service robots to assist elderly people in the home with physical tasks. Our approach is based on the insight that robots are not yet able to handle all tasks autonomously with sufficient reliability in the complex and heterogeneous environments of private homes. We therefore employ remote human operators to assist on tasks a robot cannot handle completely autonomously. Our development methodology was user-centric and iterative, with six user studies carried out at various stages involving a total of 241 participants. The concept is under implementation on the Care-O-bot 3 robotic platform. The main contributions of this article are (1) the results of a survey in form of a ranking of the demands of elderly people and informal caregivers for a range of 25 robot services, (2) the results of an ethnography investigating the suitability of emergency teleassistance and telemedical centers for incorporating robotic teleassistance, and (3) a user-validated human-robot interaction concept with three user roles and corresponding three user interfaces designed as a solution to the problem of engineering reliable service robots for home environments

Development of a component-level hydrogen transport model with openfoam and application to tritium transport inside a demo hcpb breeder

This work continues the development of a numerical model to simulate transient tritium transport on the breeder zone (BZ) level for the EU helium-cooled pebble bed (HCPB) concept for DEMO. The basis of the model is the open-source field operation and manipulation framework, OpenFOAM. The key output quantities of the model are the tritium concentration in the purge gas and in the coolant and the tritium inventory inside the BZ structure. New model features are briefly summarized. As a first relevant application a simulation of tritium transport for a single pin out of the KIT HCPB design for DEMO is presented. A variety of scenarios investigates the impact of the permeation regime (diffusion-limited vs. surface-limited), of an additional hydrogen content of 300 Pa H2 in the purge gas, of the released species (HT vs. T$_{2}$), and of the choice of species-specific rate constants (recombination constant of HT set twice as for H$_{2}$ and T$_{2}$). The results indicate that the released species plays a minor role for permeation. Both permeation and inventory show a considerable dependence on a possible hydrogen addition in the purge gas. An enhanced HT recombination constant reduces steel T inventories and, in the diffusion-limited case, also permeation significantly. Scenarios with 80 bar vs. 2 bar purge gas pressure indicate that purge gas volumetric flow is decisive for permeation

Engineering Design of the European DEMO HCPB Breeding Blanket Breeder Zone Mockup

The Helium Cooled Pebble Bed (HCPB) breeding blanket is one of the two driver-blanket candidates for the European fusion demonstration power plant (EU DEMO) within the framework of the EUROfusion Consortium. As the EU DEMO program is going, testing of mockups becomes increasingly important. In this article, the engineering design of a first-ever breeder zone mockup of the EU DEMO HCPB breeding blanket is reported. The mockup will be tested in the high-pressure, high temperature, helium facility (HELOKA) at Karlsruhe Institute of Technology. This mockup will act as a test rig to validate heat transfer correlations, CFD software, and thermal hydraulics systems codes. As pressure equipment, the mockup shall conform to the latest European Union Pressure Equipment Directive 2014/68/EU. The design description, rationale and test matrix, and corresponding analyses are discussed and presented