Optimized hardware design for the divertor remote handling control system

H. Saarinen (Corresponding Author), J. Tiitinen, L. Aha, A. Muhammad, J. Mattila, Mikko Siuko, M. Vilenius, Jorma Järvenpää, M. Irving, C. Damiani, L. Semeraro

    Research output: Contribution to journalArticleScientificpeer-review

    2 Citations (Scopus)

    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 languageEnglish
    Pages (from-to)1666-1670
    Number of pages5
    JournalFusion Engineering and Design
    Volume84
    Issue number7-11
    DOIs
    Publication statusPublished - 2009
    MoE publication typeA1 Journal article-refereed
    Event25th Symposium on Fusion Technology, SOFT-25 - Rostock, Germany
    Duration: 15 Sep 200819 Sep 2008

    Fingerprint

    Hardware
    Control systems
    Manipulators
    Maintainability
    Test facilities
    Computer hardware
    Software engineering
    Hydraulics
    Feedback
    Network protocols
    Sensors
    Costs
    Water

    Keywords

    • CMM
    • DTP2
    • Hardware architecture
    • Multi-core
    • Software architecture

    Cite this

    Saarinen, H., Tiitinen, J., Aha, L., Muhammad, A., Mattila, J., Siuko, M., ... Semeraro, L. (2009). Optimized hardware design for the divertor remote handling control system. Fusion Engineering and Design, 84(7-11), 1666-1670. https://doi.org/10.1016/j.fusengdes.2008.11.050
    Saarinen, H. ; Tiitinen, J. ; Aha, L. ; Muhammad, A. ; Mattila, J. ; Siuko, Mikko ; Vilenius, M. ; Järvenpää, Jorma ; Irving, M. ; Damiani, C. ; Semeraro, L. / Optimized hardware design for the divertor remote handling control system. In: Fusion Engineering and Design. 2009 ; Vol. 84, No. 7-11. pp. 1666-1670.
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    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.",
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    Saarinen, H, Tiitinen, J, Aha, L, Muhammad, A, Mattila, J, Siuko, M, Vilenius, M, Järvenpää, J, Irving, M, Damiani, C & Semeraro, L 2009, 'Optimized hardware design for the divertor remote handling control system', Fusion Engineering and Design, vol. 84, no. 7-11, pp. 1666-1670. https://doi.org/10.1016/j.fusengdes.2008.11.050

    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 journalArticleScientificpeer-review

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    AU - Tiitinen, J.

    AU - Aha, L.

    AU - Muhammad, A.

    AU - Mattila, J.

    AU - Siuko, Mikko

    AU - Vilenius, M.

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    AU - Irving, M.

    AU - Damiani, C.

    AU - Semeraro, L.

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