Remote Handling Control System and Operations of Vacuum-Compatible In-Vessel Inspection System

IF 1.3 4区 物理与天体物理 Q3 PHYSICS, FLUIDS & PLASMAS
Naveen Rastogi;Manoah Stephen;Krishan Kumar Gotewal;Ravi Ranjan Kumar;Jignesh Chauhan;Pramit Dutta;Dilip Raval;Yuvakiran Paravastu;Siju George
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引用次数: 0

Abstract

The plasma-facing components (PFCs) in a tokamak require periodic in-service inspection to allow for the detection of any damage or wear due to the exposure to the high heat flux and plasma radiations so that repairs or replacement can be made before the damage becomes severe. The inspections must be done without breaking the ultrahigh vacuum (UHV) to maintain the machine availability. An in-vessel inspection system (IVIS) compatible to vacuum and high temperature has been developed for the in-service inspection of tokamaks. The IVIS is compatible to 8e−8 mbar vacuum and $100~^{\circ }$ C temperature. The system consists of a 5-DOF articulated arm with a reach of up to 4 m to deploy inside the vacuum vessel carrying a vision device as a payload. It is mounted on a linear guide with a storage vacuum chamber (SVC) connected to the radial port of tokamak through a vacuum gate valve. The IVIS arm consists of 05 revolute joints based on vacuum-compatible brushless dc motors with specially lubricated gearboxes and UHV-compatible multiturn absolute encoders. The IVIS system is controlled remotely using a closed-loop virtual reality (VR)-based monitoring and control system. The IVIS control system is built on CAN-Open network architecture and includes high-precision servo drives with position feedback from Hall sensors and absolute encoders. During initial testing, the position repeatability of ±2 mm has been achieved. The system can also be adapted for inspection and maintenance in any large system with challenging environment such as vacuum, temperature, and narrow spaces. This article presents in detail the IVIS control system design and test results.
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来源期刊
IEEE Transactions on Plasma Science
IEEE Transactions on Plasma Science 物理-物理:流体与等离子体
CiteScore
3.00
自引率
20.00%
发文量
538
审稿时长
3.8 months
期刊介绍: The scope covers all aspects of the theory and application of plasma science. It includes the following areas: magnetohydrodynamics; thermionics and plasma diodes; basic plasma phenomena; gaseous electronics; microwave/plasma interaction; electron, ion, and plasma sources; space plasmas; intense electron and ion beams; laser-plasma interactions; plasma diagnostics; plasma chemistry and processing; solid-state plasmas; plasma heating; plasma for controlled fusion research; high energy density plasmas; industrial/commercial applications of plasma physics; plasma waves and instabilities; and high power microwave and submillimeter wave generation.
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