Real time command control architecture for an ITER relevant inspection robot in operation on Tore Supra

被引:14
|
作者
Keller, Delphine [1 ]
Bayetti, P. [2 ]
Bonnemason, J. [1 ]
Bruno, V. [2 ]
Chambaud, P. [1 ]
Friconneau, J. P. [1 ]
Gargiulo, L. [2 ]
Itchah, M. [1 ]
Lamy, S. [1 ]
Le, R. [2 ]
Measson, Y. [1 ]
Perrot, Y. [1 ]
Ponsort, D. [1 ]
机构
[1] CEA, LIST Serv Robot Interact, F-92265 Fontenay Aux Roses, France
[2] CEA Cadarache, IRFM, DSM, EURATOM Assoc, F-13108 St Paul Les Durance, France
关键词
Remote Handling; ITER; Tore Supra; Articulated Inspection Arm (AIA); Robot; Maintenance; Command control;
D O I
10.1016/j.fusengdes.2008.11.044
中图分类号
TL [原子能技术]; O571 [原子核物理学];
学科分类号
0827 ; 082701 ;
摘要
In 2008, the Articulated Inspection Arm (AIA) performed its first deployment in Tore Supra tokamak vessel, under real vacuum and temperature conditions (10(-6) Pa and 120 degrees C) after a conditioning phase to avoid pollution of the chamber. This full demonstration is a turning point in the project, allowing a second phase to start toward the objective to make use of the Remote Handling Equipment as an inspection routine tool. This feasibility demonstration will also be performed on Tore Supra. At this stage, the system requires enhancements of overall technologies and also developments of the Remote Handling control system. Lessons learned in the first phase of the project and experience collected for more than 20 years by Robotics Units of CEA-LIST teams on teleoperated systems enable to identify three main fields to explore to reach the objectives: Development of a reliable control based on a real time generic command control system. Development of a graphical supervisor for intuitive steering. Development of a generic flexible model for realistic computations of the robot localization in the environment. This paper is dedicated to the description of the further developments that shall be done for routine Remote Handling operations. It presents the R&D project roadmap for the next years. (C) 2008 Elsevier B.V. All rights reserved.
引用
收藏
页码:1015 / 1019
页数:5
相关论文
共 50 条
  • [11] Integration of high power, long pulse operation in Tore Supra in preparation for ITER
    Chatelier, M.
    NUCLEAR FUSION, 2007, 47 (10) : S579 - S589
  • [12] Steady state operation and control experiments on Tore Supra
    Saint-Laurent, F
    NUCLEAR FUSION, 2000, 40 (06) : 1047 - 1055
  • [13] Coupling characteristics of the ITER relevant lower hybrid antenna in Tore Supra: experiments and modelling
    Preynas, M.
    Ekedahl, A.
    Fedorczak, N.
    Goniche, M.
    Guilhem, D.
    Gunn, J. P.
    Hillairet, J.
    Litaudon, X.
    RADIO FREQUENCY POWER IN PLASMAS: PROCEEDINGS OF THE 19TH TOPICAL CONFERENCE, 2011, 1406
  • [14] Real time determination and control of the plasma localisation and internal inductance in Tore Supra
    Saint-Laurent, F
    Martin, G
    FUSION ENGINEERING AND DESIGN, 2001, 56-57 : 761 - 765
  • [15] Coupling characteristics of the ITER-relevant lower hybrid antenna in Tore Supra: experiments and modelling
    Preynas, M.
    Ekedahl, A.
    Fedorczak, N.
    Goniche, M.
    Guilhem, D.
    Gunn, J. P.
    Hillairet, J.
    Litaudon, X.
    Achard, J.
    Berger-By, G.
    Belo, J.
    Corbel, E.
    Delpech, L.
    Ohsako, T.
    Prou, M.
    NUCLEAR FUSION, 2011, 51 (02)
  • [16] Feedback control during long pulse operation of Tore Supra
    Wijnands, T
    Martin, G
    NUCLEAR FUSION, 1996, 36 (09) : 1201 - 1204
  • [17] REAL TIME CONTROL OF THE SAWTOOTH PERIOD ON TORE SUPRA USING VARIABLE ECCD INJECTION ANGLES
    Lennholm, M.
    Eriksson, L. -G.
    Turco, F.
    Bouquey, F.
    Darbos, C.
    Dumont, R.
    Giruzzi, G.
    Lambert, R.
    Magne, R.
    Molina, D.
    Moreau, P.
    Rimini, F.
    Segui, J. -L.
    Song, S.
    Traisnel, E.
    ELECTRON CYCLOTRON EMISSION AND ELECTRON CYCLOTRON RESONANCE HEATING, 2009, : 74 - 80
  • [18] Real time control of fully non-inductive operation in Tore Supra leading to 6 min, 1 GJ plasma discharges
    van Houtte, D
    Martin, G
    Bécoulet, A
    Bucalossi, J
    Saint-Laurent, F
    Saoutic, B
    FUSION ENGINEERING AND DESIGN, 2005, 74 (1-4) : 651 - 658
  • [19] Validation of the ITER-relevant passive-active-multijunction LHCD launcher on long pulses in Tore Supra
    Ekedahl, A.
    Delpech, L.
    Goniche, M.
    Guilhem, D.
    Hillairet, J.
    Preynas, M.
    Sharma, P. K.
    Achard, J.
    Bae, Y. S.
    Bai, X.
    Balorin, C.
    Baranov, Y.
    Basiuk, V.
    Becoulet, A.
    Belo, J.
    Berger-By, G.
    Bremond, S.
    Castaldo, C.
    Ceccuzzi, S.
    Cesario, R.
    Corbel, E.
    Courtois, X.
    Decker, J.
    Delmas, E.
    Ding, X.
    Douai, D.
    Goletto, C.
    Gunn, J. P.
    Hertout, P.
    Hoang, G. T.
    Imbeaux, F.
    Kirov, K. K.
    Litaudon, X.
    Magne, R.
    Mailloux, J.
    Mazon, D.
    Mirizzi, F.
    Mollard, P.
    Moreau, P.
    Oosako, T.
    Petrzilka, V.
    Peysson, Y.
    Poli, S.
    Prou, M.
    Saint-Laurent, F.
    Samaille, F.
    Saoutic, B.
    NUCLEAR FUSION, 2010, 50 (11)
  • [20] DEVELOPMENT OF AN INSPECTION ROBOT UNDER ITER RELEVANT VACUUM AND TEMPERATURE CONDITIONS
    Hatchressian, J-C
    Bruno, V.
    Gargiulo, L.
    Keller, D.
    Perrot, Y.
    Bayetti, P.
    Cordier, J-J
    Friconneau, J-P
    Palmer, J. D.
    Samaille, F.
    PROCEEDINGS OF THE 17TH INTERNATIONAL VACUUM CONGRESS/13TH INTERNATIONAL CONFERENCE ON SURFACE SCIENCE/INTERNATIONAL CONFERENCE ON NANOSCIENCE AND TECHNOLOGY, 2008, 100