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DTP2 Control Systems

DTP2 Control Systems. Euratom-Tekes Annual Fusion Seminar 2012 Janne Tuominen. DTP2 Remote Handling Environment. Two teleoperated , waterhydraulic manipulators: CMM and Multi purpose manipulator (WHMAN). Overview of the RH Control Systems. Operations Monitoring (Viewing, VR, Task Status).

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DTP2 Control Systems

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  1. DTP2 Control Systems Euratom-Tekes Annual Fusion Seminar 2012Janne Tuominen

  2. DTP2 Remote Handling Environment • Two teleoperated, waterhydraulic manipulators: CMM and Multi purpose manipulator (WHMAN)

  3. Overview of the RH Control Systems

  4. Operations Monitoring (Viewing, VR, Task Status) Interface Applications Force-Feedback Control Device 4 Person Team Operation Management System • Sequences of coordinated operations to fulfill complex tasks

  5. Command & Control (GUI) • Operator’sprimarytool to control RH equipment • Displayscurrentequipmentstates and condition

  6. VirtualReality • VR environment reflects data received from the real device’s controllers • Complex manipulators can be operated without line of sight

  7. Computer Assisted Teleoperation • Virtualpathscanbegenerated to addartificialforcesfor guidance • Virtualwallscanbegeneratedaroundobjects • Operatorfeelsforcesthatpush the slavearmtowards the optimalpathorawayfromimpendingcollisions • Manipulatormovementcanbestoppedbeforeactualcollisions

  8. Input Device • Manipulatorscanbeoperated with a slavearm • Force feedback is used to help the operator

  9. Equipment Controller • Hardrealtimecontrollers • Measuresjointpositions, valve states, pressures, etc. • Controls all the actuatorsaccording to the operatorscommands • Monitors the state and performance of equipment

  10. Structural Simulator • The dynamicbehavior of the CMM needsto becompensated in loadliftingsituations • A model is used to compensate for deformationsduringmovements

  11. Remote Diagnostics • Records commands and sensor feedback data • Detects anomalies in the equipment during operations • Offline analysis of the recorded data to improve the efficiency of maintenance operations

  12. Viewing System • A network of cameraswill act as the eyes of the operator in the divertor • Limited possibilities to usecamerasdue to radiation and shortage of clearspace • Intelligentalgorithmsareused to track RH equipment

  13. Final slide is optional in VTT’s internal presentations VTT - 70 years oftechnology for business and society

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