arXiv subjects

G. Johnson

Publications and source records attributed to G. Johnson.

3 recordsLinked to original sources

arXiv2023

Nitrogen Precooling Heat Exchanger replacement and control system upgrade in Superfluid Cryoplant at CMTF

Liquid Nitrogen precooling is used in most Cryoplants to achieve cooldown to 80 K temperature range. In one such system at Fermilab's CMTF Superfluid Cryoplant, where the Helium supply directly exchanges heat with liquid Nitrogen, freezing of Nitrogen occurred inside the heat exchanger due to heat exchanger imbalance during a Cryoplant trip. Trapped vapor pockets of N2 within the frozen heat exchanger channels were formed while warming up the heat exchanger, creating high localized pressure and subsequent damage/rupture of the heat exchanger. Replacement of the heat exchanger was done, and modifications were made in the system to rectify future occurrences. The control system was updated to bypass the heat exchanger entirely if the incoming Helium stream temperature drops below 76 K. This was done by repurposing two control valves as heat exchanger bypass valves that were previously used for a redundant 80 K adsorber in the coldbox. Additional modifications were made to further prevent return of large amount of cold Helium gas from cold end during abrupt Cryoplant shutdown. This modification has ensured high reliability of heat exchanger with prevention of freezing of Nitrogen which can damage the heat exchanger.

physics.ins-det↗

arXiv2018

cellPACKexplorer: Interactive Model Building for Volumetric Data of Complex Cells

Given an algorithm the quality of the output largely depends on a proper specification of the input parameters. A lot of work has been done to analyze tasks related to using a fixed model [25] and finding a good set of inputs. In this paper we present a different scenario, model building. In contrast to model usage the underlying algorithm, i.e. the underlying model, changes and therefore the associated parameters also change. Developing a new algorithm requires a particular set of parameters that, on the one hand, give access to an expected range of outputs and, on the other hand, are still interpretable. As the model is developed and parameters are added, deleted, or changed different features of the outputs are of interest. Therefore it is important to find objective measures that quantify these features. In a model building process these features are prone to change and need to be adaptable as the model changes. We discuss these problems in the application of cellPACK, a tool that generates virtual 3D cells. Our analysis is based on an output set generated by sampling the input parameter space. Hence we also present techniques and metrics to analyze an ensemble of probabilistic volumes.

cs.GR↗

arXiv2015

ControlIt! - A Software Framework for Whole-Body Operational Space Control

Whole Body Operational Space Control (WBOSC) is a pioneering algorithm in the field of human-centered Whole-Body Control (WBC). It enables floating-base highly-redundant robots to achieve unified motion/force control of one or more operational space objectives while adhering to physical constraints. Limited studies exist on the software architecture and APIs that enable WBOSC to perform and be integrated into a larger system. In this paper we address this by presenting ControlIt!, a new open-source software framework for WBOSC. Unlike previous implementations, ControlIt! is multi-threaded to increase servo frequencies on standard PC hardware. A new parameter binding mechanism enables tight integration between ControlIt! and external processes via an extensible set of transport protocols. To support a new robot, only two plugins and a URDF model needs to be provided --- the rest of ControlIt! remains unchanged. New WBC primitives can be added by writing a Task or Constraint plugin. ControlIt!'s capabilities are demonstrated on Dreamer, a 16-DOF torque controlled humanoid upper body robot containing both series elastic and co-actuated joints, and using it to perform a product disassembly task. Using this testbed, we show that ControlIt! can achieve average servo latencies of about 0.5ms when configured with two Cartesian position tasks, two orientation tasks, and a lower priority posture task. This is significantly higher than the 5ms that was achieved using UTA-WBC, the prototype implementation of WBOSC that is both application and platform-specific. Variations in the product's position is handled by updating the goal of the Cartesian position task. ControlIt!'s source code is released under an LGPL license and we hope it will be adopted and maintained by the WBC community for the long term as a platform for WBC development and integration.

cs.RO↗