Abstract
A key ITER maintenance activity is the exchange of the divertor cassettes. One of the major focuses of the EU Remote Handling (RH) programme has been the study and development of the remote handling equipment necessary for divertor exchange. The current major step in this programme involves the construction of a full scale physical test facility, namely DTP2 (Divertor Test Platform 2), in which to demonstrate and refine the RH equipment designs for ITER using prototypes. The major objective of the DTP2 project is the proof of concept studies of various RH devices, but is also important to define principles for standardizing control hardware and methods around the ITER maintenance equipment.
This paper focuses on describing the control system hardware design optimization that is taking place at DTP2. Here there will be two RH movers, namely the Cassette Multifuctional Mover (CMM), Cassette Toroidal Mover (CTM) and assisting water hydraulic force feedback manipulators (WHMAN) located aboard each Mover. The idea here is to use common Real Time Operating Systems (RTOS), measurement and control IO-cards etc. for all maintenance devices and to standardize sensors and control components as much as possible.
In this paper, new optimized DTP2 control system hardware design and some initial experimentation with the new DTP2 RH control system platform are presented. The proposed new approach is able to fulfil the functional requirements for both Mover and Manipulator control systems. Since the new control system hardware design has reduced architecture there are a number of benefits compared to the old approach. The simplified hardware solution enables the use of a single software development environment and a single communication protocol. This will result in easier maintainability of the software and hardware, less dependence on trained personnel, easier training of operators and hence reduced the development costs of ITER RH.
| Original language | English |
|---|---|
| Pages (from-to) | 1666-1670 |
| Number of pages | 5 |
| Journal | Fusion Engineering and Design |
| Volume | 84 |
| Issue number | 7-11 |
| DOIs | |
| Publication status | Published - 2009 |
| MoE publication type | A1 Journal article-refereed |
| Event | 25th Symposium on Fusion Technology, SOFT-25 - Rostock, Germany Duration: 15 Sep 2008 → 19 Sep 2008 |
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Keywords
- CMM
- DTP2
- Hardware architecture
- Multi-core
- Software architecture
Cite this
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Optimized hardware design for the divertor remote handling control system. / Saarinen, H. (Corresponding Author); Tiitinen, J.; Aha, L.; Muhammad, A.; Mattila, J.; Siuko, Mikko; Vilenius, M.; Järvenpää, Jorma; Irving, M.; Damiani, C.; Semeraro, L.
In: Fusion Engineering and Design, Vol. 84, No. 7-11, 2009, p. 1666-1670.Research output: Contribution to journal › Article › Scientific › peer-review
TY - JOUR
T1 - Optimized hardware design for the divertor remote handling control system
AU - Saarinen, H.
AU - Tiitinen, J.
AU - Aha, L.
AU - Muhammad, A.
AU - Mattila, J.
AU - Siuko, Mikko
AU - Vilenius, M.
AU - Järvenpää, Jorma
AU - Irving, M.
AU - Damiani, C.
AU - Semeraro, L.
PY - 2009
Y1 - 2009
N2 - A key ITER maintenance activity is the exchange of the divertor cassettes. One of the major focuses of the EU Remote Handling (RH) programme has been the study and development of the remote handling equipment necessary for divertor exchange. The current major step in this programme involves the construction of a full scale physical test facility, namely DTP2 (Divertor Test Platform 2), in which to demonstrate and refine the RH equipment designs for ITER using prototypes. The major objective of the DTP2 project is the proof of concept studies of various RH devices, but is also important to define principles for standardizing control hardware and methods around the ITER maintenance equipment.This paper focuses on describing the control system hardware design optimization that is taking place at DTP2. Here there will be two RH movers, namely the Cassette Multifuctional Mover (CMM), Cassette Toroidal Mover (CTM) and assisting water hydraulic force feedback manipulators (WHMAN) located aboard each Mover. The idea here is to use common Real Time Operating Systems (RTOS), measurement and control IO-cards etc. for all maintenance devices and to standardize sensors and control components as much as possible.In this paper, new optimized DTP2 control system hardware design and some initial experimentation with the new DTP2 RH control system platform are presented. The proposed new approach is able to fulfil the functional requirements for both Mover and Manipulator control systems. Since the new control system hardware design has reduced architecture there are a number of benefits compared to the old approach. The simplified hardware solution enables the use of a single software development environment and a single communication protocol. This will result in easier maintainability of the software and hardware, less dependence on trained personnel, easier training of operators and hence reduced the development costs of ITER RH.
AB - A key ITER maintenance activity is the exchange of the divertor cassettes. One of the major focuses of the EU Remote Handling (RH) programme has been the study and development of the remote handling equipment necessary for divertor exchange. The current major step in this programme involves the construction of a full scale physical test facility, namely DTP2 (Divertor Test Platform 2), in which to demonstrate and refine the RH equipment designs for ITER using prototypes. The major objective of the DTP2 project is the proof of concept studies of various RH devices, but is also important to define principles for standardizing control hardware and methods around the ITER maintenance equipment.This paper focuses on describing the control system hardware design optimization that is taking place at DTP2. Here there will be two RH movers, namely the Cassette Multifuctional Mover (CMM), Cassette Toroidal Mover (CTM) and assisting water hydraulic force feedback manipulators (WHMAN) located aboard each Mover. The idea here is to use common Real Time Operating Systems (RTOS), measurement and control IO-cards etc. for all maintenance devices and to standardize sensors and control components as much as possible.In this paper, new optimized DTP2 control system hardware design and some initial experimentation with the new DTP2 RH control system platform are presented. The proposed new approach is able to fulfil the functional requirements for both Mover and Manipulator control systems. Since the new control system hardware design has reduced architecture there are a number of benefits compared to the old approach. The simplified hardware solution enables the use of a single software development environment and a single communication protocol. This will result in easier maintainability of the software and hardware, less dependence on trained personnel, easier training of operators and hence reduced the development costs of ITER RH.
KW - CMM
KW - DTP2
KW - Hardware architecture
KW - Multi-core
KW - Software architecture
U2 - 10.1016/j.fusengdes.2008.11.050
DO - 10.1016/j.fusengdes.2008.11.050
M3 - Article
VL - 84
SP - 1666
EP - 1670
JO - Fusion Engineering and Design
JF - Fusion Engineering and Design
SN - 0920-3796
IS - 7-11
ER -