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Advanced Control Systems for Remote Handling Environment in Fusion Operations

Explore the innovative control systems used in remote handling operations for fusion. Learn about VR interfaces, force feedback devices, team management tools, and more. Enhance efficiency and safety in complex tasks. Discover the technology behind RH equipment monitoring, manipulator operation, and equipment maintenance.

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Advanced Control Systems for Remote Handling Environment in Fusion Operations

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Presentation Transcript

  1. DTP2 Control Systems Euratom-Tekes Annual Fusion Seminar 2012Janne Tuominen

  2. DTP2 Remote Handling Environment • Two teleoperated, waterhydraulic manipulators: CMM and Multi purpose manipulator (WHMAN)

  3. Overview of the RH Control Systems

  4. Operations Monitoring (Viewing, VR, Task Status) Interface Applications Force-Feedback Control Device 4 Person Team Operation Management System • Sequences of coordinated operations to fulfill complex tasks

  5. Command & Control (GUI) • Operator’sprimarytool to control RH equipment • Displayscurrentequipmentstates and condition

  6. VirtualReality • VR environment reflects data received from the real device’s controllers • Complex manipulators can be operated without line of sight

  7. Computer Assisted Teleoperation • Virtualpathscanbegenerated to addartificialforcesfor guidance • Virtualwallscanbegeneratedaroundobjects • Operatorfeelsforcesthatpush the slavearmtowards the optimalpathorawayfromimpendingcollisions • Manipulatormovementcanbestoppedbeforeactualcollisions

  8. Input Device • Manipulatorscanbeoperated with a slavearm • Force feedback is used to help the operator

  9. Equipment Controller • Hardrealtimecontrollers • Measuresjointpositions, valve states, pressures, etc. • Controls all the actuatorsaccording to the operatorscommands • Monitors the state and performance of equipment

  10. Structural Simulator • The dynamicbehavior of the CMM needsto becompensated in loadliftingsituations • A model is used to compensate for deformationsduringmovements

  11. Remote Diagnostics • Records commands and sensor feedback data • Detects anomalies in the equipment during operations • Offline analysis of the recorded data to improve the efficiency of maintenance operations

  12. Viewing System • A network of cameraswill act as the eyes of the operator in the divertor • Limited possibilities to usecamerasdue to radiation and shortage of clearspace • Intelligentalgorithmsareused to track RH equipment

  13. Final slide is optional in VTT’s internal presentations VTT - 70 years oftechnology for business and society

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