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

    Research output: Contribution to journalArticleScientificpeer-review

    20 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 languageEnglish
    Pages (from-to)1420-1424
    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

    Manipulators
    Hydraulics
    Water
    Degrees of freedom (mechanics)
    Remote control
    Brakes
    Fusion reactions
    Automation
    Feedback

    Keywords

    • WHMAN
    • Water hydraulics
    • Remote handling
    • Fail safe
    • Fault tolerant

    Cite this

    Nieminen, Peetu ; Esque, Salvador ; Muhammad, Ali ; Mattila, Jouni ; Väyrynen, Jukka ; Siuko, Mikko ; Vilenius, Matti. / Water hydraulic manipulator for fail safe and fault tolerant remote handling operations at ITER. In: Fusion Engineering and Design. 2009 ; Vol. 84, No. 7-11. pp. 1420-1424.
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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.",
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    author = "Peetu Nieminen and Salvador Esque and Ali Muhammad and Jouni Mattila and Jukka V{\"a}yrynen and Mikko Siuko and Matti Vilenius",
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    Water hydraulic manipulator for fail safe and fault tolerant remote handling operations at ITER. / Nieminen, Peetu (Corresponding Author); Esque, Salvador; Muhammad, Ali; Mattila, Jouni; Väyrynen, Jukka; Siuko, Mikko; Vilenius, Matti.

    In: Fusion Engineering and Design, Vol. 84, No. 7-11, 2009, p. 1420-1424.

    Research output: Contribution to journalArticleScientificpeer-review

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    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

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    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.

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    KW - Remote handling

    KW - Fail safe

    KW - Fault tolerant

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    JF - Fusion Engineering and Design

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