arXiv subjects

Jungpyo Lee

Publications and source records attributed to Jungpyo Lee.

12 recordsLinked to original sources

arXiv2024

Haptic search with the Smart Suction Cup on adversarial objects

Suction cups are an important gripper type in industrial robot applications, and prior literature focuses on using vision-based planners to improve grasping success in these tasks. Vision-based planners can fail due to adversarial objects or lose generalizability for unseen scenarios, without retraining learned algorithms. We propose haptic exploration to improve suction cup grasping when visual grasp planners fail. We present the Smart Suction Cup, an end-effector that utilizes internal flow measurements for tactile sensing. We show that model-based haptic search methods, guided by these flow measurements, improve grasping success by up to 2.5x as compared with using only a vision planner during a bin-picking task. In characterizing the Smart Suction Cup on both geometric edges and curves, we find that flow rate can accurately predict the ideal motion direction even with large postural errors. The Smart Suction Cup includes no electronics on the cup itself, such that the design is easy to fabricate and haptic exploration does not damage the sensor. This work motivates the use of suction cups with autonomous haptic search capabilities in especially adversarial scenarios.

cs.RO↗

arXiv2023

Initial Analysis of Data-Driven Haptic Search for the Smart Suction Cup

Suction cups offer a useful gripping solution, particularly in industrial robotics and warehouse applications. Vision-based grasp algorithms, like Dex-Net, show promise but struggle to accurately perceive dark or reflective objects, sub-resolution features, and occlusions, resulting in suction cup grip failures. In our prior work, we designed the Smart Suction Cup, which estimates the flow state within the cup and provides a mechanically resilient end-effector that can inform arm feedback control through a sense of touch. We then demonstrated how this cup's signals enable haptically-driven search behaviors for better grasping points on adversarial objects. This prior work uses a model-based approach to predict the desired motion direction, which opens up the question: does a data-driven approach perform better? This technical report provides an initial analysis harnessing the data previously collected. Specifically, we compare the model-based method with a preliminary data-driven approach to accurately estimate lateral pose adjustment direction for improved grasp success.

cs.RO↗

arXiv2017

A positive-definite form of bounce-averaged quasilinear velocity diffusion for the parallel inhomogeneity in a tokamak

In this paper, the analytical form of the quasilinear diffusion coefficients is modified from the Kennel-Engelmann diffusion coefficients to guarantee the positive definiteness of its bounce average in a toroidal geometry. By evaluating the parallel inhomogeneity of plasmas and magnetic fields in the trajectory integral, we can ensure the positive definiteness and help illuminate some non-resonant toroidal effects in the quasilinear diffusion. When the correlation length of the plasma-wave interaction is comparable to the magnetic field variation length, the variation becomes important and the parabolic variation at the outer-midplane, the inner-midplane, and trapping tips can be evaluated by Airy functions. The new form allows the coefficients to include both resonant and non-resonant contributions, and the correlations between the consecutive resonances and in many poloidal periods. The positive-definite form is implemented in a wave code TORIC and we present an example for ITER using this form.

physics.plasm-ph↗

arXiv2017

Quasilinear diffusion coefficients in a finite Larmor radius expansion for ion cyclotron heated plasmas

In this paper, a reduced model of quasilinear diffusion by a small Larmor radius approximation is derived to couple the Maxwell's equations and the Fokker-Planck equation self-consistently for ion cyclotron range of frequency waves in a tokamak. The reduced model ensures the important properties of the full model by Kennel-Engelmann diffusion, such as diffusion directions, wave polarizations, and H-theorem. The kinetic energy change (W-dot) is used to derive the reduced model diffusion coefficients for the fundamental damping and the second harmonic damping to the lowest order of the finite Larmor radius expansion. The quasilinear diffusion coefficients are implemented in a coupled code (TORIC-CQL3D) with the equivalent reduced model of dielectric tensor. We also present the simulations of the ITER minority heating scenario, in which the reduced model is verified within the allowable errors from the full model results.

physics.plasm-ph↗

arXiv2017

An analytic scaling relation for the maximum tokamak elongation against n=0 MHD resistive wall modes

A highly elongated plasma is desirable in order to increase plasma pressure and energy confinement to maximize fusion power output. However, there is a limit to the maximum achievable elongation which is set by vertical instabilities driven by the $n=0$ MHD mode. This limit can be increased by optimizing several parameters characterizing the plasma and the wall. The purpose of our study is to explore how and to what extent this can be done. Specifically, we extend many earlier calculations of the $n=0$ mode and numerically determine scaling relations for the maximum elongation as a function of dimensionless parameters describing (1) the plasma profile ($β_p$ and $l_i$), (2) the plasma shape ($ε$ and $δ$), (3) the wall radius ($b/a$) and (4) most importantly the feedback system capability parameter $γτ_w$. These numerical calculations rely on a new formulation of $n=0$ MHD theory we recently developed [Freidberg et. al. 2015; Lee et. al. 2015] that reduces the 2-D stability problem into a 1-D problem. This method includes all the physics of the ideal MHD axisymmetric instability while reducing the computation time significantly, so that many parameters can be explored during the optimization process. Perhaps the most useful final result is a simple analytic fit to the simulations which gives the maximum elongation and corresponding optimized triangularity as functions $κ(ε,β_p,l_i,b/a,γτ_w)$ and $δ(ε,β_p,l_i,b/a,γτ_w)$. The scaling relations we present include the effects of the optimal triangularity and the finite aspect ratio on the maximum elongation, and can be useful for determining optimized plasma shapes in current experiments and future tokamak designs.

physics.plasm-ph↗

arXiv2016

Effect of the Shafranov shift and the gradient of $β$ on intrinsic momentum transport in up-down asymmetric tokamaks

Tokamaks with up-down asymmetric poloidal cross-sections spontaneously rotate due to turbulent transport of momentum. In this work, we investigate the effect of the Shafranov shift on this intrinsic rotation, primarily by analyzing tokamaks with tilted elliptical flux surfaces. By expanding the Grad-Shafranov equation in the large aspect ratio limit we calculate the magnitude and direction of the Shafranov shift in tilted elliptical tokamaks. The results show that, while the Shafranov shift becomes up-down asymmetric and depends strongly on the tilt angle of the flux surfaces, it is insensitive to the shape of the current and pressure profiles (when the geometry, total plasma current, and average pressure gradient are kept fixed). Next, local nonlinear gyrokinetic simulations of these MHD equilibria are performed with GS2, which reveal that the Shafranov shift can significantly enhance the momentum transport. However, to be consistent, the effect of $β'$ (i.e. the radial gradient of $β$) on the magnetic equilibrium was also included, which was found to significantly reduce momentum transport. Including these two competing effects broadens the rotation profile, but leaves the on-axis value of the rotation roughly unchanged. Consequently, the shape of the $β$ profile has a significant effect on the rotation profile of an up-down asymmetric tokamak.

physics.plasm-ph↗

arXiv2015

Tokamak elongation: how much is too much? I Theory

In this and the accompanying paper the problem of the maximally achievable elongation in a tokamak is investigated. The work represents an extension of many earlier studies, which were often focused on determining the elongation limits due to (1) natural elongation in a simple applied pure vertical field or (2) axisymmetric stability in the presence of a perfectly conducting wall. The extension investigated here includes the effect of the vertical stability feedback system which actually sets the maximum practical elongation limit in a real experiment. A basic resistive wall stability parameter (gammatau) is introduced to model the feedback system which although simple in appearance actually captures the essence of the feedback system. Elongation limits in the presence of feedback are then determined by calculating the maximum elongation against n=0 resistive wall modes for fixed gammatau. The results are obtained by means of a general formulation culminating in a variational principle which is particularly amenable to numerical analysis. The principle is valid for arbitrary profiles but simplifies significantly for the Solov'ev profiles, effectively reducing the 2-D stability problem into a 1-D problem. The accompanying paper provides the numerical results and leads to a sharp answer of how much elongation is too much?

physics.plasm-ph↗

arXiv2015

Tokamak elongation: how much is too much? II Numerical results

The analytic theory presented in Paper I is converted into a form convenient for numerical analysis. A fast and accurate code has been written using this numerical formulation. The results are presented by first defining a reference set of physical parameters based on experimental data from high performance discharges. Numerically obtained scaling relations of maximum achievable elongation versus inverse aspect ratio are obtained for various values of poloidal beta, wall radius and feedback capability parameter in ranges near the reference values. It is also shown that each value of maximum elongation occurs at a corresponding value of optimized triangularity, whose scaling is also determined as a function of inverse aspect ratio. The results show that the theoretical predictions of maximum elongation are slightly higher than experimental observations for high performance discharges as measured by high average pressure. The theoretical optimized triangularity values are noticeably lower. We suggest that the explanation is associated with the observation that high performance involves not only MHD considerations, but also transport as characterized by confinement time. Operation away from the MHD optimum may still lead to higher performance if there are more than compensatory gains in the confinement time. Unfortunately, while the empirical scaling of the confinement time with the elongation has been determined, the dependence on the triangularity has still not been quantified. This information is needed in order to perform more accurate overall optimizations in future experimental designs.

physics.plasm-ph↗

arXiv2015

Turbulent momentum transport due to neoclassical flows

Intrinsic toroidal rotation in a tokamak can be driven by turbulent momentum transport due to neoclassical flow effects breaking a symmetry of turbulence. In this paper we categorize the contributions due to neoclassical effects to the turbulent momentum transport, and evaluate each contribution using gyrokinetic simulations. We find that the relative importance of each contribution changes with collisionality. For low collisionality, the dominant contributions come from neoclassical particle and parallel flows. For moderate collisionality, there are non- negligible contributions due to neoclassical poloidal electric field and poloidal gradients of density and temperature, which are not important for low collisionality.

physics.plasm-ph↗

arXiv2014

ECOM: a fast and accurate solver for toroidal axisymmetric MHD equilibria

We present ECOM (Equilibrium solver via COnformal Mapping), a fast and accurate fixed boundary solver for toroidally axisymmetric magnetohydrodynamic equilibria with or without a toroidal flow. ECOM combines conformal mapping and Fourier and integral equation methods on the unit disk to achieve exponential convergence for the poloidal flux function as well as its first and second partial derivatives. As a consequence of its high order accuracy, for dense grids and tokamak-like elongations ECOM computes key quantities such as the safety factor and the magnetic shear with higher accuracy than the finite element based code CHEASE [H. Lütjens \textit{et al.}, Computer physics communications 97, 219 (1996)] at equal run time. ECOM has been developed to provide equilibrium quantities and details of the flux contour geometry as inputs to stability, wave propagation and transport codes.

physics.plasm-ph↗

arXiv2013

Turbulent momentum pinch of diamagnetic flows in a tokamak

The ion toroidal rotation in a tokamak consists of an $E\times B$ flow due to the radial electric field and a diamagnetic flow due to the radial pressure gradient. The turbulent pinch of toroidal angular momentum due to the Coriolis force studied in previous work is only applicable to the $E\times B$ flow. In this Letter, the momentum pinch for the rotation generated by the radial pressure gradient is calculated and is compared with the Coriolis pinch. This distinction is important for subsonic flows or the flow in the pedestal where the two types of flows are similar in size and opposite in direction. In the edge, the different pinches due to the opposite rotations can result in intrinsic momentum transport that gives significant rotation peaking.

physics.plasm-ph↗

arXiv2012

Perpendicular momentum injection by lower hybrid wave in a tokamak

The injection of lower hybrid waves for current drive into a tokamak affects the profile of intrinsic rotation. In this article, the momentum deposition by the lower hybrid wave on the electrons is studied. Due to the increase in the poloidal momentum of the wave as it propagates into the tokamak, the parallel momentum of the wave increases considerably. The change of the perpendicular momentum of the wave is such that the toroidal angular momentum of the wave is conserved. If the perpendicular momentum transfer via electron Landau damping is ignored, the transfer of the toroidal angular momentum to the plasma will be larger than the injected toroidal angular momentum. A proper quasilinear treatment proves that both perpendicular and parallel momentum are transferred to the electrons. The toroidal angular momentum of the electrons is then transferred to the ions via different mechanisms for the parallel and perpendicular momentum. The perpendicular momentum is transferred to ions through an outward radial electron pinch, while the parallel momentum is transferred through collisions.

physics.plasm-ph↗