Tank farm workers involved in nuclear cleanup activities perform physically demanding tasks, typically while wearing heavy personal protective equipment (PPE). Exoskeleton devices have the potential to bring considerable benefit to this industry but have not been thoroughly studied in the context of nuclear cleanup. In this paper, we examine the performance of exoskeletons during a series of tasks emulating jobs performed on tank farms while participants wore PPE commonly deployed by tank farm workers. The goal of this study was to evaluate the effects of commercially available lower-body exoskeletons on a user’s gait kinematics and user perceptions. Three participants each tested three lower-body exoskeletons in a 70-min protocol consisting of level treadmill walking, incline treadmill walking, weighted treadmill walking, a weight lifting session, and a hand tool dexterity task. Results were compared to a no exoskeleton baseline condition and evaluated as individual case studies. The three participants showed a wide spectrum of user preferences and adaptations toward the devices. Individual case studies revealed that some users quickly adapted to select devices for certain tasks while others remained hesitant to use the devices. Temporal effects on gait change and perception were also observed for select participants in device usage over the course of the device session. Device benefit varied between tasks, but no conclusive aggregate trends were observed across devices for all tasks. Evidence suggests that device benefits observed for specific tasks may have been overshadowed by the wide array of tasks used in the protocol.
The development of multi-axis force sensing ca-pabilities in elastomeric materials has enabled new types of human motion measurement with many potential applications. In this work, we present a new soft insole that enables mobile measurement of ground reaction forces (GRFs) outside of a lab-oratory setting. This insole is based on hybrid shear and normal force detecting (SAND) tactile elements (taxels) consisting of optical sensors optimized for shear sensing and piezoresistive pressure sensors dedicated to normal force measurement. We develop polynomial regression and deep neural network (DNN) GRF prediction models and compare their performance to ground-truth force plate data during two walking experiments. Utilizing a 4-layer DNN, we demonstrate accurate prediction of the anterior-posterior (AP), medial-lateral (ML) and vertical components of the GRF with normalized mean absolute errors (NMAE) of <5.1 %, 4.1 %, and 4.5%, respectively. We also demonstrate the durability of the hybrid SAND insole construction through more than 20,000 cycles of use.
Wellbore integrity is a significant problem in the U.S. and worldwide, which has serious adverse environmental and energy security consequences. Wells are constructed with a cement barrier designed to last about 50 years. Indirect measurements and models are commonly used to identify wellbore damage and leakage, often producing subjective and even erroneous results. The research presented herein focuses on new technologies to improve monitoring and detection of wellbore failures (leaks) by developing a multi-step machine learning approach to localize two types of thermal defects within a wellbore model, a prototype mechatronic system for automatically drilling small diameter holes of arbitrary depth to monitor the integrity of oil and gas wells in situ, and benchtop testing and analyses to support the development of an autonomous real-time diagnostic tool to enable sensor emplacement for monitoring wellbore integrity. Each technology was supported by experimental results. This research has provided tools to aid in the detection of wellbore leaks and significantly enhanced our understanding of the interaction between small-hole drilling and wellbore materials.
We describe the development and benchtop prototype performance characterization of a mechatronic system for automatically drilling small diameter holes of arbitrary depth, to enable monitoring the integrity of oil and gas wells in situ. The precise drilling of very small diameter, high aspect ratio holes, particularly in dimensionally constrained spaces, presents several challenges including bit buckling, limited torsional stiffness, chip clearing, and limited space for the bit and mechanism. We describe a compact mechanism that overcomes these issues by minimizing the unsupported drill bit length throughout the process, enabling the bit to be progressively fed from a chuck as depth increases. When used with flexible drill bits, holes of arbitrary depth and aspect ratio may be drilled orthogonal to the wellbore. The mechanism and a conventional drilling system are tested in deep hole drilling operation. The experimental results show that the system operates as intended and achieves holes with substantially greater aspect ratios than conventional methods with very long drill bits. The mechanism enabled successful drilling of a 1/16" diameter hole to a depth of 9", a ratio of 144:1. Dysfunctions prevented drilling of the same hole using conventional methods.