The assessment of the seismic scrammability, which means the control rod insertability during a seismic event, is one of the most important design tasks for ensuring the seismic safety of nuclear power plants in Japan. This paper discusses the dynamic modeling of the control rod insertion behavior of a boiling water reactor (BWR) during an earthquake. A dynamic model of a control rod insertion system for BWR was developed based on multi-body dynamics. The coupled vibration behavior of the fuel assemblies in the fluid was modeled as an inertial coupling system. The effect of the interaction force between the control rod and the fuel assemblies was considered in a three-dimensional contact analysis. The hydraulic control unit and the control rod drive, which provide the control rod with drive force, were modeled in the concentrated parameter system. The model parameters, such as the friction coefficient between the control rod and the fuel assembly and the discharge coefficient of the scram piping, were obtained by conducting experiments. The validity of the model was confirmed by comparing the analytical results with the experimental ones. First, the validity of the fuel assembly model was verified through a comparison with the vibration testing in an underwater condition. It was confirmed that the calculation results for the frequency response of the fuel assembly were in good agreement with the experimental ones. Second, the validity of the modeling method of the drive system consisting of the hydraulic control unit and the control rod drive was verified through a comparison with the scram testing under non-vibration condition. The calculation results for the time history of the control rod insertion, the accumulator pressure, and the flow through the scram piping were in good agreement with the experimental ones. Finally, the validity of the modeling method of the whole system consisting of the fuel assemblies, the control rod, and the drive system was verified through a comparison with the scram testing under vibration condition. The calculation results for the time history of the control rod insertion stroke and the time delay of the insertion motion during an earthquake were in good agreement with the experimental ones. The results of these comparisons show that the developed analysis model can simulate the control rod insertion behavior during an earthquake.

Fretting wear is a common problem in different industries especially when it comes to interactions between metallic components. In heat exchangers, the problem plays a destructive role due to long term interaction between tubes and supports which may consequently lead to tube failure. In the present work, the tube-support fretting wear problem was investigated by refining models for friction effects in the stick-slip regions. The Slip distance is the most important parameter for wear estimation. Using the tangential stress distribution in the contact area, a new hybrid spring-damper friction model was developed. The model is able to estimate elastic, plastic and partial slipping distances during relative motion. The ability of the model to reproduce experimental tests is investigated in the present work.

This paper deals with the design of complex dynamic model of quadruped walking mobil robot. There is described the method of building of the numerical computational model and its simulating. Complex model consist of submodels of robotic mechanism, DC motor, gearbox model and thermal model of electrical motor. Control algorithms are also considered in model. In the paper is also discussed application of computational model directly for control of robot and also as a data generator for global and local approximation method, mainly artificial neural networks.