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Journées Nationales du GDR Robotique La robotique dans les grands équipements de fusion contrôlée

Journées Nationales du GDR Robotique La robotique dans les grands équipements de fusion contrôlée. Contact : yvan.measson@cea.fr. Magnetic Confinement Fusion and Robotics. I - Why Robotics for Fusion Reactors? II - The Articulated Inspection Arm for Tore Supra III - ITER Maintenance and RH

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Journées Nationales du GDR Robotique La robotique dans les grands équipements de fusion contrôlée

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  1. Journées Nationales du GDR Robotique La robotique dans les grands équipements de fusion contrôlée • Contact : yvan.measson@cea.fr LIST – DTSI – Service Robotique Interactive

  2. Magnetic Confinement Fusion and Robotics • I - Why Robotics for Fusion Reactors? • II - The Articulated Inspection Arm for Tore Supra • III - ITER Maintenance and RH • IV - ITER Organization LIST – DTSI – Service Robotique Interactive

  3. I - Why Robotics for Fusion Reactors?Introduction Main function of a tokamak: Make fusion reactions as often as possible in safe conditions • The maintenance is defined by the European standard* as following : “Combination of all technical, administrative and managerial actions during the life cycle of an item intended to retain it in, or restore it to, a state in which it can perform the required function.” • This definition can be completed by adding that the maintenance strategy must be defined according three main criteria: • To ensure the availability of the item for the required function, often at optimum costs; • To consider the safety requirements associated with the item for both maintenance and user personnel, and, where necessary, any impact on the environment; • To uphold the durability of the item and/or the quality of the product or service provided considering where necessary costs. * [European Standard - “Maintenance terminology” - NF EN 13306- LIST – DTSI – Service Robotique Interactive

  4. I - Why Robotics for Fusion Reactors?Description of a Tokamak from the maintenance point of view • What essentially ensures the functioning of a tokamak : • The toroidal geometry of the vessel • The ultra high vacuum inside the vessel • The magnetic plasma confinement • The temperature to reach plasma state (heating plasma devices) • The measuring of the plasma If at least one of these conditions is not correctly satisfied , the main function of the reactor cannot be fulfilled. All components that provides the base functions must be maintained. LIST – DTSI – Service Robotique Interactive

  5. I - Why Robotics for Fusion Reactors? Description of a Tokamak from the maintenance point of view Vacuum Vessel 9 sectors ITER components LIST – DTSI – Service Robotique Interactive

  6. I - Why Robotics for Fusion Reactors? Description of a Tokamak from the maintenance point of view Vacuum Vessel 9 sectors 18 Toroidal Field coils ITER components LIST – DTSI – Service Robotique Interactive

  7. I - Why Robotics for Fusion Reactors? Description of a Tokamak from the maintenance point of view Central Solenoid 6 Modules Vacuum Vessel 9 sectors 18 Toroidal Field coils 6 Poloidal Field Coils Up. & Eq. Port Plugs heating/current drive, test blankets limiters/RH diagnostics 18 Upper ports 14 Equatorial ports + 3 Neutral Beam Injector Ports 440 Blanket Modules 9 Divertor ports 54 Divertor Cassettes ITER components LIST – DTSI – Service Robotique Interactive

  8. I - Why Robotics for Fusion Reactors? Description of a Tokamak from the maintenance point of view Cryostat 24 m high, 28 m dia. Central Solenoid 6 Modules Vacuum Vessel 9 sectors 18 Toroidal Field coils 6 Poloidal Field Coils Up. & Eq. Port Plugs heating/current drive, test blankets limiters/RH diagnostics 18 Upper ports 14 Equatorial ports + 3 Neutral Beam Injector Ports 440 Blanket Modules 9 Divertor ports 54 Divertor Cassettes Machine mass : 23350 t (cryostat + VV + magnets) - shielding, divertor and manifolds: 7945 t + 1060 port plugs - magnet systems: 10150 t; cryostat:  820 t 8 Cryopumps ITER components LIST – DTSI – Service Robotique Interactive

  9. I - Why Robotics for Fusion Reactors? Description of a Tokamak from the maintenance point of view • Example of plasma effects on first wall in Tore Supra (after an intensive plasma campaign): Dust is produced inside the vacuum vessel of a Tokamak by interaction of the plasma with the components of the first wall and the divertor Antenna protections Floor limiter Tore Supra First Wall after an intensive plasma campaign LIST – DTSI – Service Robotique Interactive

  10. I - Why Robotics for Fusion Reactors? Consequences of the fusion reaction on the maintenance • The fusion reaction uses tritium : • Components must be cleaned • Hazardous nuclear substance • The fusion reaction produces high energy neutron (14Mev) : • First wall and shielding components highly constrained => Many parts of the first wall region must be replaced or refurbished during the reactor’s life. • Gamma activation of structural material LIST – DTSI – Service Robotique Interactive

  11. I - Why Robotics for Fusion Reactors? Consequences of the fusion reaction on the maintenance Activation decreases with time (tens of years), but forbids human presence if too high Tritium is dangerous for human being Must follow ALARA principles: All exposures to ionizing radiation and levels of radioactivity to personnel, members of the public and the environment are maintained As Low As Reasonably Achievable • The fusion reaction uses tritium : • Components must be cleaned • Hazardous nuclear substance • The fusion reaction produces high energy neutron (14Mev) : • First wall and shielding components highly constrained => Many parts of the first wall region must be replaced or refurbished during the reactor’s life. • Gamma activation of structural material LIST – DTSI – Service Robotique Interactive

  12. I - Why Remote Handling for Fusion Reactors?Remote Handling principles Consequences of the Tokamak layout and functioning conditions on the nuclear fusion Remote Handling characteristics: • Physical • Geometrically complex working environment • Large components (mass & dimensions) • Limited access through narrow ports • Remote Handling equipment comprises combination of large transporters, specialised end-effectors (including teleoperated manipulators) and Remote Handling tooling • Distance between reactor and Hot Cell • Hot Cell dimensions and functions • Environment • Ultra High Vacuum clean conditions • Gamma and beta radiation • Contamination (e.g. Beryllium dust, Tritiated Carbon dust, Gaseous Tritium & Tungsten dust) [A. Tesini, “ITER & RH”, 1st PREFIT workshop, Culham (UK) 5-6 June 2007- LIST – DTSI – Service Robotique Interactive

  13. II - The AIA for TORE SUPRA Description of the project The AIA project description & objectives • Development of a mini-invasive long reach carrier for Tokamak in vessel intervention • EFDA work programme carried out by CEA to evaluate the feasibility of ITER 100% first wall components inspection under operating conditions • 6 years collaboration between CEA-LIST Interactive Robotic Unit and CEA-IRFM Institute for Magnetic Fusion Research • To make available technologies to pilot a multi-link carrier under ultra vacuum and temperature conditions • Elaborate embedded tools and diagnostics to increase the capabilities and functions of the robotic system • Demonstration and use on Tore Supra facility in view of future applications on ITER September 2007 First time in Tore Supra (ambient) June 2007 First deployments in CEA-LIST labs LIST – DTSI – Service Robotique Interactive

  14. II - The AIA for TORE SUPRA Description of the project The AIA main capabilities • Main characteristics • 8 meters long cantilevered arm • Payload: 10 kg • 5 modules & 1 deployment system (8 + 1 dofs) • Working area : ± 2,4m in vertical range and 7,8m outreach radius • Introduction diameter < Ø250mm • End-effector designed to allow connection of several tools • Operating conditions (certified on Tore Supra) • Ambient to 120°C (withstand 200°C during baking phase) • Room pressure to Ultra High Vacuum (10-6 Pa) August 2008 ME60under UHV and temp. 120° LIST – DTSI – Service Robotique Interactive

  15. II - The AIA for TORE SUPRA integration in TORE SUPRA Integration in Tore Supra • Goal = observing 100% of the plasma facing components Antennas and floor limiter LIST – DTSI – Service Robotique Interactive

  16. II - The AIA for Tore SupraIntegration in Tore Supra 03/09/2008 1,4.10-5 Pa 120°C Pictures of the deployment inside the plasma vessel Acquisitions from the viewing tool LIST – DTSI – Service Robotique Interactive

  17. Hands On Operations Shielding Radiation environment Remote Handling Operations III - ITER Maintenance and RHGlobal Scheme Need for an ITER Remote Handling System • ITER requires a Remote Handling System to: • Support the ITER Project scientific mission by providing a suite of tools capable to restore the machine availability after planned and un-planned shutdowns; • Ensure that the gamma radiationdose to the workers is kept within the statutory limits by operating reliably for the duration of the RH tasks. [A. Tesini, “ITER & RH”, 1st PREFIT workshop, Culham (UK) 5-6 June 2007- LIST – DTSI – Service Robotique Interactive

  18. III - ITER Maintenance and RHGlobal Scheme ITER Remote Handling • REMOTE HANDLING OPERATION THEATER • Inside the Vacuum Vessel • Inside the Cryostat • Inside the Neutral Beam Cell • Inside the Hot Cell • (under nominal operating conditions) • ITER MAINTENANCE SYSTEM (IMS) • Remote Handling equipment and tools • Hot Cell facility [A. Tesini, “ITER & RH”, 1st PREFIT workshop, Culham (UK) 5-6 June 2007- LIST – DTSI – Service Robotique Interactive

  19. III - ITER Maintenance and RHGlobal Scheme Main ITER In-VV Components to be Remotely Handled PORT PLUGS BLANKET MODULES DIVERTOR CASSETTES • Design features • 45 ton (equator plugs) • 20 ton (upper plugs) • Design features • 54 cassettes (~11 ton) with removable PFC’s • Mechanical connection to vessel via toroidal rails • Independent hydraulic connection to cooling circuit • Design features • ~ 400 modules (∽ 4.5 ton each) • Mechanical connection to vessel via bolts • Independent hydraulic connection to cooling circuit • Maintenance features • 4 access ports • Handling with special robotic vehicle & manipulator • TRANSFER CASKS • Maintenance features • 18 upper ports • 15 equatorial ports • Handling with special robotic vehicle & manipulator • TRANSFER CASKS • Maintenance features • 3 access ports • Handling by robotic movers & manipulator • TRANSFER CASKS [A. Tesini, “ITER & RH”, 1st PREFIT workshop, Culham (UK) 5-6 June 2007- LIST – DTSI – Service Robotique Interactive

  20. JAPAN III - ITER Maintenance and RHDescription of the different RH systems Blanket Remote Handling System • Blanket module Max 4.5 tons, exchanged via anIn-Vessel Transporter (IVT)running on a 250mm (wide) x 500mm (high) passive rail deployed around the equatorial region [A. Tesini, “ITER & RH”, 1st PREFIT workshop, Culham (UK) 5-6 June 2007- LIST – DTSI – Service Robotique Interactive

  21. JAPAN III - ITER Maintenance and RHDescription of the different RH systems • V - [A. Tesini, “ITER & RH”, 1st PREFIT workshop, Culham (UK) 5-6 June 2007- LIST – DTSI – Service Robotique Interactive

  22. EUROPE III - ITER Maintenance and RHDescription of the different RH systems Divertor Remote Handling System • Divertor cassette • 3.5m (l) x 2m (h) x 0.8m (w) weight = 8 -10 tonnes. • Exchange via “cassette movers” to lift and carry the cassette coupled with dextrous manipulators to handle tooling. • Access to the divertor region is via 3 equi-spaced maintenance ports. [A. Tesini, “ITER & RH”, 1st PREFIT workshop, Culham (UK) 5-6 June 2007- LIST – DTSI – Service Robotique Interactive

  23. EUROPE III - ITER Maintenance and RHDescription of the different RH systems Cassette Multi-functional Mover (CMM) + Second Cassette End-Effector (SCEE) Divertor Remote Handling System Divertor Test Platform 2 (Finland) Cassette Mock-up Divertor Test Platform 2 (Finland) [A. Tesini, “ITER & RH”, 1st PREFIT workshop, Culham (UK) 5-6 June 2007- LIST – DTSI – Service Robotique Interactive

  24. EUROPE CHINA III - ITER Maintenance and RHDescription of the different RH systems 5 MAIN STEPS (assuming a replacement sequence) Transfer Cask System LIST – DTSI – Service Robotique Interactive

  25. EUROPE CHINA III - ITER Maintenance and RHDescription of the different RH systems Transfer Cask System • A system of transfer casks is used to move in-vessel component and tools between the ITER machine and the Hot Cell • These casks are : • remotely controlled / autonomous • floating using an air cushion system • driven by motorised wheels • not shielded • docking to machine and Hot Cell port using a double door system LIST – DTSI – Service Robotique Interactive

  26. ~ 100 persons city bus EUROPE CHINA III - ITER Maintenance and RHDescription of the different RH systems 3.7m x 2.7m x 8.5m Total Mass about 60 t Transfer Cask System LIST – DTSI – Service Robotique Interactive

  27. EUROPE CHINA III - ITER Maintenance and RHDescription of the different RH systems Lift between Tokamak levels Transfer Cask System [A. Tesini, “ITER & RH”, 1st PREFIT workshop, Culham (UK) 5-6 June 2007- LIST – DTSI – Service Robotique Interactive

  28. EUROPE III - ITER Maintenance and RHDescription of the different RH systems In-Vessel Viewing System [A. Tesini, “ITER & RH”, 1st PREFIT workshop, Culham (UK) 5-6 June 2007- LIST – DTSI – Service Robotique Interactive

  29. EUROPE III - ITER Maintenance and RHDescription of the different RH systems viewing In-Vessel Viewing System metrology Ranging accuracy: 0.5 mm at 5m [A. Tesini, “ITER & RH”, 1st PREFIT workshop, Culham (UK) 5-6 June 2007- LIST – DTSI – Service Robotique Interactive

  30. ITER FUND III - ITER Maintenance and RHDescription of the different RH systems Hot Cell Remote Handling • Several function to ensure refurbishment: • Storage • Access for components from VV • Exit for dust • Heavy components handling • Fine remote operations • … [A. Tesini, “ITER & RH”, 1st PREFIT workshop, Culham (UK) 5-6 June 2007- LIST – DTSI – Service Robotique Interactive

  31. ITER FUND III - ITER Maintenance and RHDescription of the different RH systems Hot Cell Remote Handling [A. Tesini, “ITER & RH”, 1st PREFIT workshop, Culham (UK) 5-6 June 2007- LIST – DTSI – Service Robotique Interactive

  32. III - ITER Maintenance and RHDescription of the different RH systems Remote Handling Systems Procurement Scheme * IUA : ITER Unit of Account, 1 IUA = 1279 € (base 2000) LIST – DTSI – Service Robotique Interactive

  33. For more information : www.iter.orgwww.efda.org LIST – DTSI – Service Robotique Interactive

  34. LIST – DTSI – Service Robotique Interactive

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