Command and Control application framework for interoperable heterogeneous ITER Remote Handling devices

J. Tuominen (Corresponding Author), Ali Muhammad, J. Mattila, L. Aha, Hannu Saarinen, Mikko Siuko, D. Hamilton, L. Semeraro

Research output: Contribution to journalArticleScientificpeer-review

1 Citation (Scopus)

Abstract

The ITER divertor Remote Handling maintenance concepts are under investigation at a full scale mockup facility, the Divertor Test Platform, located in Tampere, Finland. The key devices to carry out these operations are the (CMM), Cassette Toroidal Mover, Multi Axis Manipulators (MAM) and related tooling. Despite their differences, in essence all of these devices are manipulators with varying specifications. Hence, from the operator's point of view, they perform similar operations, such as following predefined position trajectories and lifting and carrying tools and equipment. This paper explores how to implement a software framework for a Command and Control application, otherwise known as Human Machine Interface (HMI), in such a way that it could be used to control different manipulators. A framework is presented that supports the combining of small, independent modules into a single cohesive HMI. It is then shown that a HMI can be built by combining modules that are common to these manipulators and modules that are specific to a single manipulator. This will not only minimize the programming effort but also reduce the training required of operators. To elaborate on the concept, an example HMI is implemented to control virtual models of CMM and MAM.
Original languageEnglish
Pages (from-to)2067-2070
Number of pages4
JournalFusion Engineering and Design
Volume86
Issue number9-11
DOIs
Publication statusPublished - 2011
MoE publication typeA1 Journal article-refereed
Event26th Symposium of Fusion Technology, SOFT-26 - Porto, Portugal
Duration: 27 Sep 20101 Oct 2010
Conference number: 26

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Manipulators
Coordinate measuring machines
Trajectories
Specifications

Keywords

  • Remote Handling
  • DTP2
  • Command and Control
  • Unified Software Development

Cite this

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title = "Command and Control application framework for interoperable heterogeneous ITER Remote Handling devices",
abstract = "The ITER divertor Remote Handling maintenance concepts are under investigation at a full scale mockup facility, the Divertor Test Platform, located in Tampere, Finland. The key devices to carry out these operations are the (CMM), Cassette Toroidal Mover, Multi Axis Manipulators (MAM) and related tooling. Despite their differences, in essence all of these devices are manipulators with varying specifications. Hence, from the operator's point of view, they perform similar operations, such as following predefined position trajectories and lifting and carrying tools and equipment. This paper explores how to implement a software framework for a Command and Control application, otherwise known as Human Machine Interface (HMI), in such a way that it could be used to control different manipulators. A framework is presented that supports the combining of small, independent modules into a single cohesive HMI. It is then shown that a HMI can be built by combining modules that are common to these manipulators and modules that are specific to a single manipulator. This will not only minimize the programming effort but also reduce the training required of operators. To elaborate on the concept, an example HMI is implemented to control virtual models of CMM and MAM.",
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Command and Control application framework for interoperable heterogeneous ITER Remote Handling devices. / Tuominen, J. (Corresponding Author); Muhammad, Ali; Mattila, J.; Aha, L.; Saarinen, Hannu; Siuko, Mikko; Hamilton, D.; Semeraro, L.

In: Fusion Engineering and Design, Vol. 86, No. 9-11, 2011, p. 2067-2070.

Research output: Contribution to journalArticleScientificpeer-review

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T1 - Command and Control application framework for interoperable heterogeneous ITER Remote Handling devices

AU - Tuominen, J.

AU - Muhammad, Ali

AU - Mattila, J.

AU - Aha, L.

AU - Saarinen, Hannu

AU - Siuko, Mikko

AU - Hamilton, D.

AU - Semeraro, L.

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