Water hydraulic manipulator for fail safe and fault tolerant remote handling operations at ITER

Peetu Nieminen; Salvador Esque; Ali Muhammad; Jouni Mattila; Jukka Väyrynen; Mikko Siuko; Matti Vilenius

doi:10.1016/j.fusengdes.2008.12.002

Water hydraulic manipulator for fail safe and fault tolerant remote handling operations at ITER

Peetu Nieminen (Corresponding Author), Salvador Esque, Ali Muhammad, Jouni Mattila, Jukka Väyrynen, Mikko Siuko, Matti Vilenius

Tampere University of Technology (TUT)

Research output: Contribution to journal › Article › Scientific › peer-review

30 Citations (Scopus)

Abstract

Department of Intelligent Hydraulics and Automation (IHA) of Tampere University of Technology has been involved in the European Fusion program since 1994 within the ITER reactor maintenance activities. In this paper we discuss the design and development of a six degrees of freedom water hydraulic manipulator with a force feedback for teleoperation tasks. The manipulator is planned to be delivered to Divertor Test Platform 2 (DTP2) during year 2008. The paper also discusses the possibility to improve the fail safe and redundant operation of the manipulator. During the design of the water hydraulic manipulator, special provisions have been made in order to meet the safety requirements such as servo valve block for redundant operation and safety vane brakes for fail safe operation.

Original language	English
Pages (from-to)	1420-1424
Number of pages	5
Journal	Fusion Engineering and Design
Volume	84
Issue number	7-11
DOIs	https://doi.org/10.1016/j.fusengdes.2008.12.002
Publication status	Published - 2009
MoE publication type	A1 Journal article-refereed
Event	25th Symposium on Fusion Technology, SOFT-25 - Rostock, Germany Duration: 15 Sept 2008 → 19 Sept 2008

Keywords

WHMAN
Water hydraulics
Remote handling
Fail safe
Fault tolerant

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1016/j.fusengdes.2008.12.002

Cite this

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title = "Water hydraulic manipulator for fail safe and fault tolerant remote handling operations at ITER",

abstract = "Department of Intelligent Hydraulics and Automation (IHA) of Tampere University of Technology has been involved in the European Fusion program since 1994 within the ITER reactor maintenance activities. In this paper we discuss the design and development of a six degrees of freedom water hydraulic manipulator with a force feedback for teleoperation tasks. The manipulator is planned to be delivered to Divertor Test Platform 2 (DTP2) during year 2008. The paper also discusses the possibility to improve the fail safe and redundant operation of the manipulator. During the design of the water hydraulic manipulator, special provisions have been made in order to meet the safety requirements such as servo valve block for redundant operation and safety vane brakes for fail safe operation.",

keywords = "WHMAN, Water hydraulics, Remote handling, Fail safe, Fault tolerant",

author = "Peetu Nieminen and Salvador Esque and Ali Muhammad and Jouni Mattila and Jukka V{\"a}yrynen and Mikko Siuko and Matti Vilenius",

year = "2009",

doi = "10.1016/j.fusengdes.2008.12.002",

language = "English",

volume = "84",

pages = "1420--1424",

journal = "Fusion Engineering and Design",

issn = "0920-3796",

publisher = "Elsevier",

number = "7-11",

note = "25th Symposium on Fusion Technology, SOFT-25 ; Conference date: 15-09-2008 Through 19-09-2008",

}

TY - JOUR

T1 - Water hydraulic manipulator for fail safe and fault tolerant remote handling operations at ITER

AU - Nieminen, Peetu

AU - Esque, Salvador

AU - Muhammad, Ali

AU - Mattila, Jouni

AU - Väyrynen, Jukka

AU - Siuko, Mikko

AU - Vilenius, Matti

PY - 2009

Y1 - 2009

N2 - Department of Intelligent Hydraulics and Automation (IHA) of Tampere University of Technology has been involved in the European Fusion program since 1994 within the ITER reactor maintenance activities. In this paper we discuss the design and development of a six degrees of freedom water hydraulic manipulator with a force feedback for teleoperation tasks. The manipulator is planned to be delivered to Divertor Test Platform 2 (DTP2) during year 2008. The paper also discusses the possibility to improve the fail safe and redundant operation of the manipulator. During the design of the water hydraulic manipulator, special provisions have been made in order to meet the safety requirements such as servo valve block for redundant operation and safety vane brakes for fail safe operation.

AB - Department of Intelligent Hydraulics and Automation (IHA) of Tampere University of Technology has been involved in the European Fusion program since 1994 within the ITER reactor maintenance activities. In this paper we discuss the design and development of a six degrees of freedom water hydraulic manipulator with a force feedback for teleoperation tasks. The manipulator is planned to be delivered to Divertor Test Platform 2 (DTP2) during year 2008. The paper also discusses the possibility to improve the fail safe and redundant operation of the manipulator. During the design of the water hydraulic manipulator, special provisions have been made in order to meet the safety requirements such as servo valve block for redundant operation and safety vane brakes for fail safe operation.

KW - WHMAN

KW - Water hydraulics

KW - Remote handling

KW - Fail safe

KW - Fault tolerant

U2 - 10.1016/j.fusengdes.2008.12.002

DO - 10.1016/j.fusengdes.2008.12.002

M3 - Article

SN - 0920-3796

VL - 84

SP - 1420

EP - 1424

JO - Fusion Engineering and Design

JF - Fusion Engineering and Design

IS - 7-11

T2 - 25th Symposium on Fusion Technology, SOFT-25

Y2 - 15 September 2008 through 19 September 2008

ER -

Water hydraulic manipulator for fail safe and fault tolerant remote handling operations at ITER

Abstract

Keywords

UN SDGs

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