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CFD analysis of a CiADS fuel assembly during the steam generator tube rupture accident based on the LBEsteamEulerFoam 被引量:1
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作者 Yun-Xiang Li Lu Meng +8 位作者 Song Li Zi-Nan Huang Di-Si Wang Bo Liu You-Peng Zhang Tian-Ji Peng Lu Zhang Xing-Kang Su Wei Jiang 《Nuclear Science and Techniques》 SCIE EI CAS CSCD 2023年第10期136-147,共12页
Steam generator tube rupture(SGTR) accident is an important scenario needed to be considered in the safety analysis of lead-based fast reactors. When the steam generator tube breaks close to the main pump, water vapor... Steam generator tube rupture(SGTR) accident is an important scenario needed to be considered in the safety analysis of lead-based fast reactors. When the steam generator tube breaks close to the main pump, water vapor will enter the reactor core, resulting in a two-phase flow of heavy liquid metal and water vapor in fuel assemblies. The thermal-hydraulic problems caused by the SGTR accident may seriously threaten reactor core's safety performance. In this paper, the open-source CFD calculation software OpenFOAM was used to encapsulate the improved Euler method into the self-developed solver LBEsteamEulerFoam. By changing different heating boundary conditions and inlet coolant types, the two-phase flow in the fuel assembly with different inlet gas content was simulated under various accident conditions. The calculation results show that the water vapor may accumulate in edge and corner channels. With the increase in inlet water vapor content, outlet coolant velocity increases gradually. When the inlet water vapor content is more than 15%, the outlet coolant temperature rises sharply with strong temperature fluctuation. When the inlet water vapor content is in the range of 5–20%, the upper part of the fuel assembly will gradually accumulate to form large bubbles. Compared with the VOF method, Euler method has higher computational efficiency. However, Euler method may cause an underestimation of the void fraction, so it still needs to be calibrated with future experimental data of the two-phase flow in fuel assembly. 展开更多
关键词 steam generator tube rupture CiADS CFD simulations Two-phase flow
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Verification of Integrity of Steam Generator Tubes by Pressure Testing
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作者 Yong-Seok Kang Min-Woo Nam Jai-Hak Park 《Journal of Energy and Power Engineering》 2013年第12期2249-2255,共7页
This paper assessed the benefit of the in-situ pressure test to support steam generator tube integrity assessment and reviewed a conservatism of currently applied structural integrity assessment methodology against de... This paper assessed the benefit of the in-situ pressure test to support steam generator tube integrity assessment and reviewed a conservatism of currently applied structural integrity assessment methodology against defected tubes. According to the steam generator program requirement, condition monitoring assessment was performed to the all detected flaws. For condition monitoring assessments, the limiting structural integrity requirement should be demonstrated for all detected degraded tubes at a probability of at least 0.95 at 50% confidence. Some flaws were slightly exceeded the structural integrity threshold values of the condition monitoring performance limits using analytical method. As a direct evaluation of tube integrity with degraded tubes, in-situ pressure testing performed on some selected flaws and passed all proof and leakage test criteria with no leakage. From this pressure testing, the authors have verified that degraded tubes met a specified value containing a defined safety margins. Also, the authors have confirmed that existing structural assessment methodology has enough margins to retain integrity of steam generator tubes. 展开更多
关键词 Pressure testing steam generator tube integrity assessment.
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Adaptive H-infinity control of synchronous generators with steam valve via Hamiltonian function method 被引量:2
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作者 Shujuan LI Yuzhen WANG 《控制理论与应用(英文版)》 EI 2006年第2期105-110,共6页
Based on Hamiltonian formulation, this paper proposes a design approach to nonlinear feedback excitation control of synchronous generators with steam valve control, disturbances and unknown parameters. It is shown tha... Based on Hamiltonian formulation, this paper proposes a design approach to nonlinear feedback excitation control of synchronous generators with steam valve control, disturbances and unknown parameters. It is shown that the dynamics of the synchronous generators can be expressed as a dissipative Hamiltonian system, based on which an adaptive H-infinity controller is then designed for the systems by using the structure properties of dissipative Hamiltonian systems. Simulations show that the controller obtained in this paper is very effective. 展开更多
关键词 Synchronous generator Excitation control steam valve control Hamiltonian function method Adaptive H-infinity controller.
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Self-Floating Efficient Solar Steam Generators Constructed Using Super-Hydrophilic N,O Dual-Doped Carbon Foams from Waste Polyester 被引量:4
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作者 Huiying Bai Ning Liu +5 位作者 Liang Hao Panpan He Changde Ma Ran Niu Jiang Gong Tao Tang 《Energy & Environmental Materials》 SCIE EI CAS CSCD 2022年第4期1204-1213,共10页
Solar evaporation is recognized as a prospective technique to produce freshwater from non-drinkable water using inexhaustible solar energy.However,it remains a challenge to fabricate low-cost solar evaporators with ob... Solar evaporation is recognized as a prospective technique to produce freshwater from non-drinkable water using inexhaustible solar energy.However,it remains a challenge to fabricate low-cost solar evaporators with obviously reduced water evaporation enthalpy to achieve high evaporation rates.Herein,N,O dual-doped carbon foam(NCF)is fabricated from the lowtemperature carbonization of poly(ethylene terephthalate)(PET)waste by melamine/molten salts at 340℃.During carbonization,melamine reacts with carboxylic acids of PET degradation products to yield a crosslinking network,and then molten salts catalyze the decarboxylation and dehydration to construct a stable framework.Owing to rich N,O-containing groups,3D interconnected pores,super-hydrophilicity,and ultra-low thermal conductivity(0.0599 W m^(−1) K^(−1)),NCF not only achieves high light absorbance(ca.99%)and solar-to-thermal conversion,but also promotes the formation of water cluster to reduce water evaporation enthalpy by ca.37%.Consequently,NCF exhibits a high evaporation rate(2.4 kg m^(−2) h^(−1)),surpassing the-state-of-the-art solar evaporators,and presents good antiacid/basic abilities,long-term salt-resistance,and self-cleaning ability.Importantly,a large-scale NCF-based outdoor solar desalination device is developed to produce freshwater.The daily freshwater production amount per unit area(6.3 kg)meets the two adults’daily water consumption.The trash-to-treasure strategy will give impetus to the development of low-cost,advanced solar evaporators from waste plastics for addressing the global freshwater shortage. 展开更多
关键词 carbon foam solar desalination solar energy solar steam generator waste plastics
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Transient Analysis of Steam Generator in PWR Nuclear Power Plant 被引量:1
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作者 M.Tahir Khaleeq Lang Wengpeng He Guoseng (School of Automation) 《Advances in Manufacturing》 SCIE CAS 1998年第2期43-50,共8页
The water level control system of steam generator in a pressurized water reactor of nuchear power plant plays an important role which effects the water level control of the steam generator are due the reverse dynamics... The water level control system of steam generator in a pressurized water reactor of nuchear power plant plays an important role which effects the water level control of the steam generator are due the reverse dynamics behavior,so the transient analysis of the steam generator should firstly solve their mathematical models.For determination of dynamic behavior and design and testing of the control system, a nonlinear math model is developed using one dimensional conservation equations of mass,momentum and energy of primary and secondary sides of the steam generator. The nonlinear model is verified with standard power plant data available in the references, then the steady states and transient calculations are performed for full power to 5% power reactor operation of the steam generator of Chinese Qinshan Nuclear Power Plant. 展开更多
关键词 nuclear power plant steam generator nonlinear mathematical model qinshan nuclear powerplant
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A Novel Computerized Water Level Control System of PWR Steam Generator of Nuclear Power Plant 被引量:1
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作者 M.Tahir Khaleeq Lang Wenpen He Guosen (School of Automation) 《Advances in Manufacturing》 SCIE CAS 1998年第3期56-66,共11页
This paper presents a novel method to solve old problem of water level control system of pressurized water reactor (PWR) steam generator (SG) of nuclear power plant (NPP) .The level control system of SG plays an impo... This paper presents a novel method to solve old problem of water level control system of pressurized water reactor (PWR) steam generator (SG) of nuclear power plant (NPP) .The level control system of SG plays an important role which effects the reliablity,safty,cost of SG and its mathematical models have been solved.A model of the conventional controller is presented and the existing problems are discussed. A novel rule based realtime control technique is designed with a computerized water level control (CWLC) system for SG of PWR NPP.The performance of this is evaluated for full power reactor operating conditions by applying different transient conditions of SG′s data of Qinshan Nuclear Power Plant (QNPP). 展开更多
关键词 steam generator (SG) Pressurized Water Reactor (PWR) Nuclaer Power Plant (NPP) Rule based Real time Control (RRC)
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Correlation Dimension in Fault Diagnosis of 600 MW Steam Turbine Generator 被引量:2
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作者 姚宝恒 杨霞菊 +1 位作者 佟德纯 陈兆能 《Journal of Donghua University(English Edition)》 EI CAS 2005年第1期31-36,共6页
GP algorithm of correlation dimension computation is ameliorated which overcomes the shortage of traditional one. Improved process of GP algorithm takes the influence of temporal correlative pairs of points on correla... GP algorithm of correlation dimension computation is ameliorated which overcomes the shortage of traditional one. Improved process of GP algorithm takes the influence of temporal correlative pairs of points on correlation dimension into account and promotes the computational efficiency prominently. Iterative SVD method is applied to remove the influence of noise on the result of correlation dimension. The faults of steam flow turbulence and oil film disturbance which occur in 600 MW Steam Turbine Generator are analyzed and whose correlation dimensions are computed. More distinct quantitative index than FFT is gained to distinguish two faults and it’s of little importance to apply correlation dimension to study the influence of various factors on steam flow turbulence fault for nonexistence of convergent floor in correlation integral curve, which presents a new way to learn the operational function of large capacity steam turbine generator and carry out comprehensive condition monitoring. 展开更多
关键词 correlation dimension ameliorated algorithm 600 MW steam turbine generator air turbulence oil film disturbance.
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Fault Diagnosing System of Steam Generator for Nuclear Power Plant Based on Fuzzy Neural Networks
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作者 Ming-Yu Fu Xin-Qian Bian Ji Shi 《Journal of Marine Science and Application》 2002年第1期41-46,共6页
All kinds of reasons are analysed in theory and a fault repository combined with local expert experiences is establishedaccording to the structure and the operation characteristic of steam generator in this paper. At ... All kinds of reasons are analysed in theory and a fault repository combined with local expert experiences is establishedaccording to the structure and the operation characteristic of steam generator in this paper. At the same time, Kohonen algo-rithm is used for fault diagnoses system based on fuzzy neural networks. Fuzzy arithmetic is inducted into neural networks tosolve uncertain diagnosis induced by uncertain knowledge. According to its self-association in the course of default diagnosis. thesystem is provided with non-supervise, self-organizing, self-learning, and has strong cluster ability and fast cluster velocity. 展开更多
关键词 NEURAL NETWORK steam generator FUZZY FAULT diagnosing
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Feasibility Study of Solar Energy Steam Generator for Rural Electrification
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作者 Mouaaz Nahas M. Sabry Saud Al-Lehyani 《Energy and Power Engineering》 2015年第1期1-11,共11页
In Middle East region, where there are plentiful amounts of solar radiation and great desert areas, solar energy can play a potential role in replacing conventional fuel-operated electricity generation methods with a ... In Middle East region, where there are plentiful amounts of solar radiation and great desert areas, solar energy can play a potential role in replacing conventional fuel-operated electricity generation methods with a cost-effective, sustainable solution. This paper presents a feasibility study of a low-cost solar energy steam generator for rural areas electrification. The proposed system is based on the use of trough concentrator which converts solar radiation into thermal energy in its focal line (where a receiver pipe is installed with a fluid flowing in its interior). The aim of the paper is to predict the feasibility and potential for steam generation using a stand-alone solar concentrator with a small dimension for domestic and small-scale electricity generation. The study presented here is based on modelling of the system to determine the points at which the system is expected to produce sufficient steam energy at the tube outlet to drive a steam engine for producing electricity. Results are presented in graphical forms to show the operating points and the effect of changing selected input parameters on the behavior of the system in order to set some limits (boundaries) for such parameters. Results show that among the three input design parameters selected, the tube diameter is the most dominant parameter that influences steam energy, then the tube length and finally the flow rate of the water passing through the tube. The results of this paper can provide a useful guideline for future simulation and/or physical implementation of the system. 展开更多
关键词 Solar RADIATION TROUGH CONCENTRATOR RADIATION Intensity TUBE DIAMETER TUBE Length Flow Rate steam Energy
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Investigation on two-phase flow instability in steam generator of integrated nuclear reactor 被引量:1
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作者 荆建刚 陈听宽 《Nuclear Science and Techniques》 SCIE CAS CSCD 1996年第2期73-80,共8页
Investigationontwo-phaseflowinstabilityinsteamgeneratorofintegratednuclearreactorJingJian-Gang(荆建刚)andChenTi... Investigationontwo-phaseflowinstabilityinsteamgeneratorofintegratednuclearreactorJingJian-Gang(荆建刚)andChenTing-Kuan(陈听宽)(Xi'a... 展开更多
关键词 二相流 核反应堆 蒸汽发生器
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Modeling a high output marine steam generator feedwater control system which uses parallel turbine-driven feed pumps
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作者 邱志强 邹海 孙建华 《Journal of Marine Science and Application》 2008年第3期212-217,共6页
Parallel turbine-driven feedwater pumps are needed when ships travel at high speed. In order to study marine steam generator feedwater control systems which use parallel turbine-driven feed pumps, a mathematical model... Parallel turbine-driven feedwater pumps are needed when ships travel at high speed. In order to study marine steam generator feedwater control systems which use parallel turbine-driven feed pumps, a mathematical model of marine steam generator feedwater control system was developed which includes mathematical models of two steam generators and parallel turbine-driven feed pumps as well as mathematical models of feedwater pipes and feed regulating valves. The operating condition points of the parallel ttu-bine-driven feed pumps were calculated by the Chebyshev curve fit method. A water level controller for the steam generator and a rotary speed controller for the turbine-driven feed pumps were also included in the model. The accuracy of the mathematical models and their controllers was verified by comparing their results with those from a simulator. 展开更多
关键词 feedwater control steam generator MODELING feed pump TURBINE
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Analysis of the Break Size Influence on the Damage Accident of Single Heat Transfer Tube of Ship Nuclear Power Steam Generator
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作者 Meng Cai Wei Wang +1 位作者 Junzhong Sun Renxi Jin 《World Journal of Engineering and Technology》 2017年第4期21-32,共12页
In view of the problem that the breakage size is not enough to analyze the damage of the heat transfer tube of the ship nuclear power steam generator under the condition that the breakage loop cannot be isolated, this... In view of the problem that the breakage size is not enough to analyze the damage of the heat transfer tube of the ship nuclear power steam generator under the condition that the breakage loop cannot be isolated, this paper analyzes the damage safety analysis model based on the MELCOR program, Damage of heat transfer tubes at different break sizes (2 mm and 6 mm) to reactor power, primary loop pressure, regulator water level, core water level, vapor pressure, break flow, fuel element cladding breakage, etc. The influence of the breakage size on the damage effect of the heat transfer tube has improved the analysis and handling capacity of the damage of the heat transfer tube, and improved the reactor accident handling capacity under the condition of the damage of the heat transfer tube. 展开更多
关键词 steam generator DAMAGE Safety ANALYSIS BREAK SIZE
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Simulation analysis of static and dynamic characteristics of once-through steam generator in concentric annuli tube
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作者 ZHANG Wei BIAN Xin-qian XIA Guo-qing 《Journal of Marine Science and Application》 2006年第3期36-40,共5页
The once-through steam generator (OTSG) in concentric annuli tube is a new type of steam generator which applies double side to transfer heat. The heat flux between the water of centric tube, outside annuli tube and t... The once-through steam generator (OTSG) in concentric annuli tube is a new type of steam generator which applies double side to transfer heat. The heat flux between the water of centric tube, outside annuli tube and that of annulus channel is assumed to be equal, and then the steam generator’s model is built by lumped parameters with moving boundary. In the basis of the built model, static and dynamic characteristics are analyzed. The static characteristics are proved by experiment results in a 19-tube once-through steam generator of Babcock & Wilcox. The characteristics that the lengths of three regions (subcooled region, nucleate boiling region, superheat region) change with power can be explained by theory analysis. The dynamic characteristics accord with the heat and hydraulics and the results of analysis according to the mechanism. 展开更多
关键词 once-through steam generator dynamic characteristics simulatin CALCULATION
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The Research of Heat Transfer Area for 55/19 Steam Generator
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作者 Qingsen Zhao Debing Deng +3 位作者 Shenbin Nie Wei Chen Jiayong Wang Ding Zhang 《Journal of Power and Energy Engineering》 2015年第4期417-422,共6页
A calculation method of heat transfer area for vertical natural circulated steam generator was introduced. According to the design requirements of steam generator 55/19 of CPR1000, its heat transfer area was calculate... A calculation method of heat transfer area for vertical natural circulated steam generator was introduced. According to the design requirements of steam generator 55/19 of CPR1000, its heat transfer area was calculated based on this method. The results show that the accuracy of partitional and overall calculation method is almost the same, but the result is different when using different calculation models. And the results are compared with the foreign companies for 55/19 steam generator. 展开更多
关键词 steam generator HEAT TRANSFER Area 55/19
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Dynamic simulation of drum level sloshing of heat recovery steam generator
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作者 曹小玲 皮正仁 +2 位作者 蒋绍坚 杨卫宏 B.Wlodzimerz 《Journal of Central South University》 SCIE EI CAS 2013年第2期413-423,共11页
Drum level sloshing is the latest discovery in the application of heat recovery steam generator (HRSG) in combined cycle, and shows certain negative influence on drum level controlling. In order to improve drum level ... Drum level sloshing is the latest discovery in the application of heat recovery steam generator (HRSG) in combined cycle, and shows certain negative influence on drum level controlling. In order to improve drum level controlling, influence factors on the drum level sloshing were investigated. Firstly, drum sub-modules were developed using the method of modularization modeling, and then the model of drum level sloshing was set up as well. Experiments were carried out on the experimental rig, and the model was validated using the obtained experimental results. Dynamic simulation was made based on the model to get a 3-D graph of drum level sloshing, which shows a vivid procedure of drum level sloshing. The effect of feed-water flow rate, main-steam flow rate and heating quantity on the drum level sloshing was analyzed. The simulation results indicate that the signals with frequency higher than 0.05 Hz are that of drum level sloshing, the signals with frequency of 0.0-0.05 Hz are that of drum level trendy and "false water level", and variation of the feed-water flow rates, main-steam flow rates and heating quantities can change the frequency of drum level sloshing, i.e., the frequency of sloshing increases with the increase of feed-water flow rate, or the decrease of the main-steam flow rate and the heating quantity. This research work is fundamental to improve signal-to-noise ratio of drum level signal and precise controlling of drum level. 展开更多
关键词 combined cycle heat recovery steam generator false level drum level sloshing model modularization modeling
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Steady thermal hydraulic characteristics of nuclear steam generators based on the drift flux code model
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作者 张小英 陈焕栋 +3 位作者 白宁 朱元兵 任志豪 黄凯 《Nuclear Science and Techniques》 SCIE CAS CSCD 2014年第5期78-85,共8页
To investigate the steady thermal hydraulic characteristics of U-tube steam generator(SG), a 1D simulation code based on the four-equation drift flux model is developed. The U-tube channels presumably consist mainly o... To investigate the steady thermal hydraulic characteristics of U-tube steam generator(SG), a 1D simulation code based on the four-equation drift flux model is developed. The U-tube channels presumably consist mainly of the primary channel, secondary channel, and tube wall. In the sub-cooling regions of the primary and secondary channels, flow is simulated using the single-phase flow model, whereas that in the boiling regions of the secondary channels is simulated using the four-equation drift flux model. The first-order equations of upwind difference are derived based on the staggered grid. Steady-state thermal hydraulic parameters are obtained with a cross-iteration scheme of heat balance and natural circulation requirement. The developed code is applied to analyze the SG behavior of the Qinshan I Nuclear Power Plant under 100%, 75%, 50%, 30%, and 15% power conditions. Analysis results are then compared with the simulation results obtained using RELAP5. 展开更多
关键词 热工水力特性 漂移流模型 蒸汽发生器 秦山核电站 代码 基础 通量 一维模拟
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Analysis of flow instabilities in forced-convection steam generator
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作者 WU Ge-Ping QIU Sui-Zheng SU Guang-Hui JIA Dou-Nan 《Nuclear Science and Techniques》 SCIE CAS CSCD 2006年第3期185-192,共8页
Because of the practical importance of two-phase instabilities, substantial efforts have been made to date to understand the physical phenomena governing such instabilities and to develop computational tools to model ... Because of the practical importance of two-phase instabilities, substantial efforts have been made to date to understand the physical phenomena governing such instabilities and to develop computational tools to model the dynamics. The purpose of this study is to present a numerical model for the analysis of flow-induced instabilities in forced-convection steam generator. The model is based on the assumption of homogeneous two-phase flow and ther- modynamic equilibrium of the phases. The thermal capacity of the heater wall has been included in the analysis. The model is used to analyze the flow instabilities in the steam generator and to study the effects of system pressure, mass flux, inlet temperature and inlet/outlet restriction, gap size, the ratio of do / di, and the ratio of qi / qo on the system be- havior. 展开更多
关键词 蒸汽发生器 强迫对流 流动不稳定性 双相不稳定性
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Simultaneous Solar-driven Steam and Electricity Generation by Cost-effective,Easy Scale-up MnO 2-based Flexible Membranes
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作者 Jiaxin Ren Yang Ding +2 位作者 Jiang Gong Jinping Qu Ran Niu 《Energy & Environmental Materials》 SCIE EI CAS CSCD 2023年第3期184-192,共9页
Harvesting solar energy in an effective manner for steam and electricity generation is a promising technique to simultaneously cope with the energy and water crises.However,the construction of efficient and easy scale... Harvesting solar energy in an effective manner for steam and electricity generation is a promising technique to simultaneously cope with the energy and water crises.However,the construction of efficient and easy scale-up photothermal materials for steam and electricity cogeneration remains challenging.Herein,we report a facile and cost-effective strategy to prepare MnO_(2)-decorated cotton cloth(MCx).The wide adsorption spectrum and excellent photothermal conversion ability of the in situ-formed MnO_(2)nanoparticles make the MCx to be advanced photothermal materials.Consequently,the hybrid device integrated with MCx as the photothermal layer and the thermoelectric(TE)module for electricity power conversion exhibits an extremely high evaporation rate of 2.24 kg m^(−2)h^(−1)under 1 kW m^(−2)irradiation,which is ranked among the most powerful solar evaporators.More importantly,during solar evaporation,the hybrid device produces an open-circuit voltage of 0.3 V and a power output of 1.6 W m^(−2)under 3 Sun irradiation,and outperforms most of the previously reported solar-driven electricity generation devices.Therefore,the integrated device with synergistic solar-thermal utilization opens up a green way toward simultaneous solar vapor and electric power generation in remote and resource-constrained areas. 展开更多
关键词 photothermal material solar desalination solar energy solar steam generator THERMOELECTRICS
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Prediction of External Exposure during Dismantling of Steam Generator
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作者 Martin Hornacek Vladimir Necas 《World Journal of Engineering and Technology》 2015年第3期155-162,共8页
The decommissioning of nuclear power plants is in the Slovak Republic an actual issue. In 2015 started the second decommissioning stage of nuclear power plant V1 in Jaslovské Bohunice. This stage involves the dis... The decommissioning of nuclear power plants is in the Slovak Republic an actual issue. In 2015 started the second decommissioning stage of nuclear power plant V1 in Jaslovské Bohunice. This stage involves the dismantling and segmentation of activated (reactor pressure vessel, reactor internals) and contaminated parts (steam generators, pressurizer). From this reason it is necessary to investigate the radiation situation in the vicinity of the component to be cut. The presented results show that during remote dismantling the exposure is small (compared with the fragmentation tasks). Moreover, when the pre-dismantling decontamination with decontamination factor of 100 is applied, the total collective effective dose is below the yearly limit of 20 mSv for workers. 展开更多
关键词 steam generator Dismantling and Fragmentation External Exposure
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面向多规格蒸发器传热管检修的新型机器人机构设计及其运动规划
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作者 高厚秀 林靖涵 +3 位作者 于璇 张宽 徐碧莹 樊继壮 《科学技术与工程》 北大核心 2024年第18期7739-7745,共7页
面向核电站蒸汽发生器的管板爬行式检修机器人存在适应性差、检修效率低等问题。为实现蒸汽发生器多规格传热管的检修任务,设计了一款新型机构的四足爬行检修机器人,并对相关的步态规划展开了研究。首先,根据需要适应多规格管板的要求,... 面向核电站蒸汽发生器的管板爬行式检修机器人存在适应性差、检修效率低等问题。为实现蒸汽发生器多规格传热管的检修任务,设计了一款新型机构的四足爬行检修机器人,并对相关的步态规划展开了研究。首先,根据需要适应多规格管板的要求,提出机器人的构型以及整体方案设计,确定了爬行机器人的主要运动方式,并给出了工具工作空间;之后,根据不同类型管板开展了机器人步态规划相关研究,规划了三角形、正方形两种排布管板上的直线运动步态与转向运动步态;最后,利用V-REP与Python联合仿真进行机器人运动仿真实验,结果表明,爬行机器人能够完成多规格管板下的直线运动与转向运动,证明了机构的合理性与运动的可行性。 展开更多
关键词 蒸汽发生器 检修机器人 多规格管板适应性 机构设计 运动规划
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