pfcoil_variables

N_PF_GROUPS_MAX = 10 module-attribute

maximum number of groups of PF coils

N_PF_COILS_IN_GROUP_MAX = 2 module-attribute

maximum number of PF coils in a given group

NPTSMX = 32 module-attribute

maximum number of points across the midplane of the plasma at which the field from the PF coils is fixed

NFIXMX = 64 module-attribute

maximum number of fixed current PF coils

NGC = N_PF_GROUPS_MAX * N_PF_COILS_IN_GROUP_MAX module-attribute

maximum total number of coils across all groups

NGC2 = NGC + 2 module-attribute

new variable to include 2 additional circuits: plasma and central solenoid

nef = None module-attribute

nfxf = None module-attribute

ricpf = None module-attribute

ssq0 = None module-attribute

stress_z_cs_self_peak_midplane = None module-attribute

Peak axial stress (z) in central solenoid at midplane due to its own field (when at peak current) (Pa)

sig_hoop = None module-attribute

forc_z_cs_self_peak_midplane = None module-attribute

Axial force (z) on central solenoid at midplane due to its own field (when at peak current) (N)

r_pf_cs_current_filaments = None module-attribute

array of radial positions of current filaments in central solenoid

z_pf_cs_current_filaments = None module-attribute

array of vertical positions of current filaments in central solenoid

c_pf_cs_current_filaments = None module-attribute

array of current in filaments in central solenoid

xind = None module-attribute

r_pf_coil_middle_group_array = None module-attribute

2D array of PF coil middle radii, indexed by group and coil in group

z_pf_coil_middle_group_array = None module-attribute

2D array of PF coil middle heights, indexed by group and coil in group

ccls = None module-attribute

ccl0 = None module-attribute

bpf2 = None module-attribute

vsdum = None module-attribute

first_call = None module-attribute

cslimit = None module-attribute

alfapf = None module-attribute

smoothing parameter used in PF coil current calculation at the beginning of pulse (BoP)

alstroh = None module-attribute

allowable hoop stress in Central Solenoid structural material (Pa)

i_cs_stress = None module-attribute

Switch for CS stress calculation: - =0 Hoop stress only - =1 Hoop + Axial stress

a_cs_poloidal = None module-attribute

Central solenoid vertical cross-sectional area (m2)

a_cs_turn = None module-attribute

Central solenoid (OH) trun cross-sectional area (m2)

awpoh = None module-attribute

central solenoid conductor+void area with area of steel subtracted (m2)

b_cs_peak_flat_top_end = None module-attribute

maximum field in central solenoid at end of flat-top (EoF) (T)

b_cs_peak_pulse_start = None module-attribute

maximum field in central solenoid at beginning of pulse (T)

b_pf_coil_peak = None module-attribute

peak field at coil i (T)

ccl0_ma = None module-attribute

PF group current array, flux-swing cancellation current (MA) Input if i_pf_current=0, computed otherwise

ccls_ma = None module-attribute

PF group current array, equilibrium current (MA) Input if i_pf_current=0, computed otherwise

j_cs_pulse_start = None module-attribute

Central solenoid overall current density at beginning of pulse (A/m2)

j_cs_flat_top_end = None module-attribute

Central solenoid overall current density at end of flat-top (A/m2) (iteration variable 37) (sweep variable 62)

c_pf_coil_turn = None module-attribute

current per turn in coil i at time j (A)

c_pf_coil_turn_peak_input = None module-attribute

peak current per turn input for PF coil i (A)

c_pf_cs_coil_pulse_start_ma = None module-attribute

PF coil current array, at beginning of pulse (MA) Indexed by coil number, not group number

c_pf_cs_coil_flat_top_ma = None module-attribute

PF coil current array, at flat top (MA) Indexed by coil number, not group number

c_pf_cs_coil_pulse_end_ma = None module-attribute

PF coil current array, at end of pulse (MA) Indexed by coil number, not group number

etapsu = None module-attribute

Efficiency of transfer of PF stored energy into or out of storage.

f_j_cs_start_end_flat_top = None module-attribute

ratio of central solenoid overall current density at beginning of flat-top / end of flat-top

f_j_cs_start_pulse_end_flat_top = None module-attribute

ratio of central solenoid overall current density at beginning of pulse / end of flat-top (iteration variable 41)

fcuohsu = None module-attribute

copper fraction of strand in central solenoid

fcupfsu = None module-attribute

copper fraction of cable conductor (PF coils)

i_pf_location = None module-attribute

Switch for location of PF coil group i: - =1 PF coil on top of central solenoid (flux ramp only) - =2 PF coil on top of TF coil (flux ramp only) - =3 PF coil outside of TF coil (equilibrium coil) - =4 PF coil, general location (equilibrium coil)

i_pf_conductor = None module-attribute

switch for PF & CS coil conductor type: - =0 superconducting PF coils - =1 resistive PF coils

itr_sum = None module-attribute

total sum of I x turns x radius for all PF coils and CS (Am)

i_cs_superconductor = None module-attribute

switch for superconductor material in central solenoid: - =1 ITER Nb3Sn critical surface model with standard ITER parameters - =2 Bi-2212 high temperature superconductor (range of validity T < 20K, adjusted field b < 104 T, B > 6 T) - =3 NbTi - =4 ITER Nb3Sn model with user-specified parameters - =5 WST Nb3Sn parameterisation - =6 REBCO HTS tape in CroCo strand - =7 Durham Ginzburg-Landau critical surface model for Nb-Ti - =8 Durham Ginzburg-Landau critical surface model for REBCO - =9 Hazelton experimental data + Zhai conceptual model for REBCO

i_pf_superconductor = None module-attribute

switch for superconductor material in PF coils: - =1 ITER Nb3Sn critical surface model with standard ITER parameters - =2 Bi-2212 high temperature superconductor (range of validity T < 20K, adjusted field b < 104 T, B > 6 T) - =3 NbTi - =4 ITER Nb3Sn model with user-specified parameters - =5 WST Nb3Sn parameterisation - =6 REBCO HTS tape in CroCo strand - =7 Durham Ginzburg-Landau critical surface model for Nb-Ti - =8 Durham Ginzburg-Landau critical surface model for REBCO - =9 Hazelton experimental data + Zhai conceptual model for REBCO

j_crit_str_cs = None module-attribute

superconductor strand critical current density under operating conditions in central solenoid (A/m2). Necessary for the cost calculation in $/kA m

j_crit_str_pf = None module-attribute

superconductor strand critical current density under operating conditions in PF coils (A/m2). Necessary for the cost calculation in $/kA m

i_pf_current = None module-attribute

Switch for controlling the current of the PF coils: - =0 Input via the variables c_pf_cs_coil_pulse_start_ma, c_pf_cs_coil_flat_top_ma, c_pf_cs_coil_pulse_end_ma - =1 SVD targets zero field across midplane (flux swing coils) and the correct vertical field at the plasma center (equilibrium coils)

i_r_pf_outside_tf_placement = None module-attribute

Switch for the placement of Location 3 (outboard) PF coils - =0 (Default) Outboard PF coils follow TF shape in an ellipsoidal winding surface - =1 Outboard PF coils all have same radius, cylindrical winding surface

j_cs_conductor_critical_pulse_start = None module-attribute

central solenoid superconductor critical current density (A/m2) at beginning-of-pulse

j_cs_conductor_critical_flat_top_end = None module-attribute

central solenoid superconductor critical current density (A/m2) at end-of-flattop

jcableoh_bop = None module-attribute

central solenoid cable critical current density (A/m2) at beginning-of-pulse

jcableoh_eof = None module-attribute

central solenoid cable critical current density (A/m2) at end-of-flattop

n_pf_cs_plasma_circuits = None module-attribute

number of PF circuits (including central solenoid and plasma)

n_pf_coils_in_group = None module-attribute

number of PF coils in group j

n_cs_current_filaments = None module-attribute

number of filaments the top and bottom of the central solenoid should be broken into during scaling (5 - 10 is good)

n_pf_coil_groups = None module-attribute

number of groups of PF coils. Symmetric coil pairs should all be in the same group

n_cs_pf_coils = None module-attribute

number of PF coils (excluding the central solenoid) + 1

f_z_cs_tf_internal = None module-attribute

Central solenoid height / TF coil internal height

f_a_cs_turn_steel = None module-attribute

Fraction of CS turn poloidal area that is steel (iteration variable 122)

pf_current_safety_factor = None module-attribute

Ratio of permissible PF coil conductor current density to critical conductor current density based on short-sample DC measurements

pfcaseth = None module-attribute

steel case thickness for PF coil i (m)

rho_pf_coil = None module-attribute

PF coil resistivity (if i_pf_conductor=1) (Ohm-m)

rhopfbus = None module-attribute

Resistivity of CS and PF coil bus bars (irrespective of whether the coils themselves are superconducting or resistive) (Ohm-m)

m_pf_coil_max = None module-attribute

mass of heaviest PF coil (tonnes)

r_pf_coil_outer_max = None module-attribute

radius of largest PF coil (m)

p_pf_electric_supplies_mw = None module-attribute

Total mean wall plug power dissipated in PFC and CS power supplies (MW) (issue #713)

p_cs_resistive_flat_top = None module-attribute

central solenoid resistive power during flattop (W)

p_pf_coil_resistive_total_flat_top = None module-attribute

total PF coil resistive losses during flattop (W)

r_pf_coil_inner = None module-attribute

inner radius of coil i (m)

r_pf_coil_outer = None module-attribute

outer radius of coil i (m)

c_pf_cs_coils_peak_ma = None module-attribute

peak current in coil i (MA-turns)

j_pf_coil_wp_peak = None module-attribute

average winding pack current density of PF coil i (A/m2) at time of peak current in that coil (calculated for i_pf_location=1 coils)

j_cs_critical_flat_top_end = None module-attribute

allowable central solenoid current density at end of flat-top (A/m2)

j_cs_critical_pulse_start = None module-attribute

allowable central solenoid current density at beginning of pulse (A/m2)

j_pf_wp_critical = None module-attribute

allowable winding pack current density of PF coil i (A/m2)

r_cs_middle = None module-attribute

radius to the centre of the central solenoid (m)

dz_cs_full = None module-attribute

Full height of the central solenoid (m)

dr_pf_tf_outboard_out_offset = None module-attribute

radial distance (m) from outboard TF coil leg to centre of i_pf_location=3 PF coils

r_pf_coil_middle = None module-attribute

radius of PF coil i (m)

dr_pf_cs_middle_offset = None module-attribute

offset (m) of radial position of i_pf_location=1 PF coils from being directly above the central solenoid

rpf2 = None module-attribute

offset (m) of radial position of i_pf_location=2 PF coils from being at rmajor (offset = rpf2*triang*rminor)

rref = None module-attribute

PF coil radial positioning adjuster: - for groups j with i_pf_location(j) = 1; rref(j) is ignored - for groups j with i_pf_location(j) = 2; rref(j) is ignored - for groups j with i_pf_location(j) = 3; rref(j) is ignored - for groups j with i_pf_location(j) = 4; rref(j) is radius of the coil in units of minor radii from the major radius (r = rmajor + rref*rminor)

s_shear_cs_peak = None module-attribute

Maximum shear stress (Tresca criterion) coils/central solenoid [MPa]

sigpfcalw = None module-attribute

maximum permissible tensile stress (MPa) in steel coil cases for superconducting PF coils (i_pf_conductor=0)

sigpfcf = None module-attribute

fraction of JxB hoop force supported by steel case for superconducting PF coils (i_pf_conductor=0)

ind_pf_cs_plasma_mutual = None module-attribute

mutual inductance matrix (H)

temp_cs_superconductor_margin = None module-attribute

Central solenoid temperature margin (K)

n_pf_coil_turns = None module-attribute

number of turns in PF coil i

f_a_pf_coil_void = None module-attribute

winding pack void fraction of PF coil i for coolant

f_a_cs_void = None module-attribute

void fraction of central solenoid conductor for coolant

vs_cs_pf_total_burn = None module-attribute

total flux swing available for burn (Wb)

vs_pf_coils_total_burn = None module-attribute

flux swing from PF coils for burn (Wb)

vs_pf_coils_total_ramp = None module-attribute

flux swing from PF coils for startup (Wb)

vs_pf_coils_total_pulse = None module-attribute

total flux swing from PF coils (Wb)

vs_cs_total_pulse = None module-attribute

total flux swing from the central solenoid (Wb)

vs_cs_burn = None module-attribute

central solenoid flux swing for burn (Wb)

vs_cs_ramp = None module-attribute

central solenoid flux swing for startup (Wb)

vs_cs_pf_total_ramp = None module-attribute

total flux swing for startup (constraint eqn 51 to enforce vs_cs_pf_total_ramp=vs_plasma_res_ramp+vs_plasma_ind_ramp) (Wb)

vs_cs_pf_total_pulse = None module-attribute

total flux swing for pulse (Wb)

f_c_pf_cs_peak_time_array = None module-attribute

PF, CS coil current relative to peak current at time points 1 to 6

m_pf_coil_conductor_total = None module-attribute

total mass of the PF coil conductor (kg)

m_pf_coil_structure_total = None module-attribute

total mass of the PF coil structure (kg)

m_pf_coil_conductor = None module-attribute

conductor mass for PF coil i (kg)

m_pf_coil_structure = None module-attribute

structure mass for PF coil i (kg)

z_pf_coil_upper = None module-attribute

upper point of PF coil i (m)

z_pf_coil_lower = None module-attribute

lower point of PF coil i (m)

z_pf_coil_middle = None module-attribute

z (height) location of PF coil i (m)

zref = None module-attribute

PF coil vertical positioning adjuster: - for groups j with i_pf_location(j) = 1; zref(j) is ignored - for groups j with i_pf_location(j) = 2 AND itart=1 (only); zref(j) is distance of centre of PF coil from inside edge of TF coil (remember that PF coils for STs lie within the TF coil) - for groups j with i_pf_location(j) = 3; zref(j) = ratio of height of coil group j to plasma minor radius - for groups j with i_pf_location(j) = 4; zref(j) = ratio of height of coil group j to plasma minor radius

b_cs_limit_max = None module-attribute

Central solenoid max field limit [T]

f_dr_dz_cs_turn = None module-attribute

Ratio of CS coil turn conduit length to depth

dr_cs_turn = None module-attribute

Length of CS of CS coil turn conduit

dr_cs_full = None module-attribute

Full radial thickness of the central solenoid (m)

dz_cs_turn = None module-attribute

Depth/width of CS of CS coil turn conduit

radius_cs_turn_corners = None module-attribute

Radius of curvature of CS coil turn corners (m)

radius_cs_turn_cable_space = None module-attribute

Length of CS of CS coil turn conduit length

init_pfcoil_module()

Source code in process/data_structure/pfcoil_variables.py

def init_pfcoil_module():
    global \
        first_call, \
        cslimit, \
        nef, \
        nfxf, \
        ricpf, \
        ssq0, \
        stress_z_cs_self_peak_midplane, \
        sig_hoop, \
        forc_z_cs_self_peak_midplane, \
        r_pf_cs_current_filaments, \
        z_pf_cs_current_filaments, \
        c_pf_cs_current_filaments, \
        xind, \
        r_pf_coil_middle_group_array, \
        z_pf_coil_middle_group_array, \
        ccls, \
        ccl0, \
        bpf2, \
        vsdum

    first_call = True
    cslimit = False
    nef = 0
    nfxf = 0
    ricpf = 0.0
    ssq0 = 0.0
    stress_z_cs_self_peak_midplane = 0.0
    sig_hoop = 0.0
    forc_z_cs_self_peak_midplane = 0.0

    r_pf_cs_current_filaments = np.zeros(NFIXMX)
    z_pf_cs_current_filaments = np.zeros(NFIXMX)
    c_pf_cs_current_filaments = np.zeros(NFIXMX)
    xind = np.zeros(NFIXMX)
    r_pf_coil_middle_group_array = np.zeros((N_PF_GROUPS_MAX, N_PF_COILS_IN_GROUP_MAX))
    z_pf_coil_middle_group_array = np.zeros((N_PF_GROUPS_MAX, N_PF_COILS_IN_GROUP_MAX))
    ccls = np.zeros(N_PF_GROUPS_MAX)
    ccl0 = np.zeros(N_PF_GROUPS_MAX)
    bpf2 = np.zeros(NGC2)
    vsdum = np.zeros((NGC2, 3))

init_pfcoil_variables()

Initialise the PF coil variables

Source code in process/data_structure/pfcoil_variables.py

def init_pfcoil_variables():
    """Initialise the PF coil variables"""
    global \
        alfapf, \
        alstroh, \
        i_cs_stress, \
        a_cs_poloidal, \
        a_cs_turn, \
        awpoh, \
        b_cs_peak_flat_top_end, \
        b_cs_peak_pulse_start, \
        b_pf_coil_peak, \
        ccl0_ma, \
        ccls_ma, \
        j_cs_pulse_start, \
        j_cs_flat_top_end, \
        c_pf_coil_turn, \
        c_pf_coil_turn_peak_input, \
        c_pf_cs_coil_pulse_start_ma, \
        c_pf_cs_coil_flat_top_ma, \
        c_pf_cs_coil_pulse_end_ma, \
        etapsu, \
        f_j_cs_start_end_flat_top, \
        f_j_cs_start_pulse_end_flat_top, \
        fcuohsu, \
        fcupfsu, \
        i_pf_location, \
        i_pf_conductor, \
        itr_sum, \
        i_cs_superconductor, \
        i_pf_superconductor, \
        j_crit_str_cs, \
        j_crit_str_pf, \
        i_pf_current, \
        i_r_pf_outside_tf_placement, \
        j_cs_conductor_critical_pulse_start, \
        j_cs_conductor_critical_flat_top_end, \
        jcableoh_bop, \
        jcableoh_eof, \
        n_pf_cs_plasma_circuits, \
        n_pf_coils_in_group, \
        n_cs_current_filaments, \
        n_pf_coil_groups, \
        n_cs_pf_coils, \
        f_z_cs_tf_internal, \
        f_a_cs_turn_steel, \
        pf_current_safety_factor, \
        pfcaseth, \
        rho_pf_coil, \
        rhopfbus, \
        m_pf_coil_max, \
        r_pf_coil_outer_max, \
        p_pf_electric_supplies_mw, \
        p_cs_resistive_flat_top, \
        p_pf_coil_resistive_total_flat_top, \
        r_pf_coil_inner, \
        r_pf_coil_outer, \
        c_pf_cs_coils_peak_ma, \
        j_pf_coil_wp_peak, \
        j_cs_critical_flat_top_end, \
        j_cs_critical_pulse_start, \
        j_pf_wp_critical, \
        r_cs_middle, \
        dz_cs_full, \
        dr_pf_tf_outboard_out_offset, \
        r_pf_coil_middle, \
        dr_pf_cs_middle_offset, \
        rpf2, \
        rref, \
        s_shear_cs_peak, \
        sigpfcalw, \
        sigpfcf, \
        ind_pf_cs_plasma_mutual, \
        temp_cs_superconductor_margin, \
        n_pf_coil_turns, \
        f_a_pf_coil_void, \
        f_a_cs_void, \
        vs_cs_pf_total_burn, \
        vs_pf_coils_total_burn, \
        vs_pf_coils_total_ramp, \
        vs_pf_coils_total_pulse, \
        vs_cs_total_pulse, \
        vs_cs_burn, \
        vs_cs_ramp, \
        vs_cs_pf_total_ramp, \
        vs_cs_pf_total_pulse, \
        f_c_pf_cs_peak_time_array, \
        m_pf_coil_conductor_total, \
        m_pf_coil_structure_total, \
        m_pf_coil_conductor, \
        m_pf_coil_structure, \
        z_pf_coil_upper, \
        z_pf_coil_lower, \
        z_pf_coil_middle, \
        zref, \
        b_cs_limit_max, \
        f_dr_dz_cs_turn, \
        dr_cs_turn, \
        dr_cs_full, \
        dz_cs_turn, \
        radius_cs_turn_corners, \
        radius_cs_turn_cable_space

    alfapf = 5e-10
    alstroh = 4.0e8
    i_cs_stress = 1
    a_cs_poloidal = 0.0
    a_cs_turn = 0.0
    awpoh = 0.0
    b_cs_peak_flat_top_end = 0.0
    b_cs_peak_pulse_start = 0.0
    b_pf_coil_peak = np.zeros(NGC2)
    ccl0_ma = np.zeros(N_PF_GROUPS_MAX)
    ccls_ma = np.zeros(N_PF_GROUPS_MAX)
    j_cs_pulse_start = 0.0
    j_cs_flat_top_end = 1.85e7
    c_pf_coil_turn = np.zeros((NGC2, 6))
    c_pf_coil_turn_peak_input = np.full(NGC2, 4.0e4)
    c_pf_cs_coil_pulse_start_ma = np.zeros(NGC2)
    c_pf_cs_coil_flat_top_ma = np.zeros(NGC2)
    c_pf_cs_coil_pulse_end_ma = np.zeros(NGC2)
    etapsu = 0.9
    f_j_cs_start_end_flat_top = 0.0
    f_j_cs_start_pulse_end_flat_top = 0.9
    fcuohsu = 0.7
    fcupfsu = 0.69
    i_pf_location = np.array([2, 2, 3, 0, 0, 0, 0, 0, 0, 0])
    i_pf_conductor = 0
    itr_sum = 0.0
    i_cs_superconductor = 1
    i_pf_superconductor = 1
    j_crit_str_cs = 0.0
    j_crit_str_pf = 0.0
    i_pf_current = 1
    i_r_pf_outside_tf_placement = 0
    j_cs_conductor_critical_pulse_start = 0.0
    j_cs_conductor_critical_flat_top_end = 0.0
    jcableoh_bop = 0.0
    jcableoh_eof = 0.0
    n_pf_cs_plasma_circuits = 0
    n_pf_coils_in_group = np.array([1, 1, 2, 0, 0, 0, 0, 0, 0, 0, 0, 0])
    n_cs_current_filaments = 7
    n_pf_coil_groups = 3
    n_cs_pf_coils = 0
    f_z_cs_tf_internal = 0.71
    f_a_cs_turn_steel = 0.5
    pf_current_safety_factor = 1.0
    pfcaseth = np.zeros(NGC2)
    rho_pf_coil = 2.5e-8
    rhopfbus = 3.93e-8
    m_pf_coil_max = 0.0
    r_pf_coil_outer_max = 0.0
    p_pf_electric_supplies_mw = 0.0
    p_cs_resistive_flat_top = 0.0
    p_pf_coil_resistive_total_flat_top = 0.0
    r_pf_coil_inner = np.zeros(NGC2)
    r_pf_coil_outer = np.zeros(NGC2)
    c_pf_cs_coils_peak_ma = np.zeros(NGC2)
    j_pf_coil_wp_peak = np.full(NGC2, 3.0e7)
    j_cs_critical_flat_top_end = 0.0
    j_cs_critical_pulse_start = 0.0
    j_pf_wp_critical = np.zeros(NGC2)
    r_cs_middle = 0.0
    dz_cs_full = 0.0
    dr_pf_tf_outboard_out_offset = 1.5
    r_pf_coil_middle = np.zeros(NGC2)
    dr_pf_cs_middle_offset = 0.0
    rpf2 = -1.63
    rref = np.full(N_PF_GROUPS_MAX, 7.0)
    s_shear_cs_peak = 0.0
    sigpfcalw = 500.0
    sigpfcf = 1.0
    ind_pf_cs_plasma_mutual = np.zeros((NGC2, NGC2))
    temp_cs_superconductor_margin = 0.0
    n_pf_coil_turns = np.zeros(NGC2)
    f_a_pf_coil_void = np.full(NGC2, 0.3)
    f_a_cs_void = 0.3
    vs_cs_pf_total_burn = 0.0
    vs_pf_coils_total_burn = 0.0
    vs_pf_coils_total_ramp = 0.0
    vs_pf_coils_total_pulse = 0.0
    vs_cs_total_pulse = 0.0
    vs_cs_burn = 0.0
    vs_cs_ramp = 0.0
    vs_cs_pf_total_ramp = 0.0
    vs_cs_pf_total_pulse = 0.0
    f_c_pf_cs_peak_time_array = np.zeros((NGC2, 6))
    m_pf_coil_conductor_total = 0.0
    m_pf_coil_structure_total = 0.0
    m_pf_coil_conductor = np.zeros(NGC2)
    m_pf_coil_structure = np.zeros(NGC2)
    z_pf_coil_upper = np.zeros(NGC2)
    z_pf_coil_lower = np.zeros(NGC2)
    z_pf_coil_middle = np.zeros(NGC2)
    zref = np.array([3.6, 1.2, 2.5, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0])
    b_cs_limit_max = 13.0
    f_dr_dz_cs_turn = 70.0 / 22.0
    dr_cs_turn = 0.0
    dr_cs_full = 0.0
    dz_cs_turn = 0.0
    radius_cs_turn_cable_space = 0.0
    radius_cs_turn_corners = 3.0e-3