Presentation on theme: "Euratom 1 AIA robot – 2007.10 DEVELOPMENT OF AN ITER RELEVANT INSPECTION ROBOT Euratom."— Presentation transcript:
Euratom 1 AIA robot – 2007.10 DEVELOPMENT OF AN ITER RELEVANT INSPECTION ROBOT Euratom
2 AIA robot – 2007.10 Objectives of the Articulated Inspection Arm (AIA project): In-vessel remote close inspection: demonstration under high vacuum and temperature conditions Integration and exploitation on Tore Supra Development of new processes for inspection, maintenance and safety of tokamak's vessel AIA robot becomes a multipurpose carrier
Euratom 3 AIA robot – 2007.10 AIA capabilities for ITER: ITER Divertor scale 1 mock-up Remote operations, a major challenges for ITER First wall inspection and treatment will be needed for exploitation and safety Several poly-articulated carriers should be required for close operations of the Plasma Facing Components (PFCs) Preliminary CAD views of an AIA robot inspecting the Divertor and blanket modules of ITER
Euratom 4 AIA robot – 2007.10 The Articulated Arm characteristics: The complete AIA robot is assembled and tested at the CEA/LIST laboratory, June 2007 Length : 8 meters, payload : 10 Kg, 5 modules with 8 degrees of freedom, Ø160 mm titanium tube, total weight 150 kg, Articulations capabilities : elevation +/- 45°; horizontal rotation +/- 90°, All electro-technical components are embedded in modules and inserted in airtight boxes with stainless steel umbilicus for electric cables course Operation conditions : ultra high vacuum (10 -6 Pa) and 120°C, Baking phase : 200 °C for outgasing.
Euratom 5 AIA robot – 2007.10 The viewing process: 1 st process plugged: CCD color sensor with zoom and LEDs light embedded in a airtight box nitrogen gas cooled system (internal temperature below 60°) gas and electric cables drive by 2 external SS umbilicus 3 degrees of freedom (1 body rotation + 2 camera rotations) developed in 2006 and operated in June 2007 The viewing process developed by the ECA/Hytec (France-PACA) glass dome (Pyrex) gold coating for minimize thermal radiation LEDs light Lens (tilt articulation of +/-90° and panoramic articulation of 360°) joint (rotation of +/-90°)
Euratom 6 AIA robot – 2007.10 First complete deployment of the robot inside the plasma vessel of Tore Supra in atmospheric conditions, 2007-09-12 The first deployment small hole for robot introduction (Ø250)
Euratom 7 AIA robot – 2007.10 Viewing in the dark: Video acquisition from viewing process External vision of viewing inspection First inspections of Plasma Facing Components of Tore Supra in relevant darkness conditions, 2007-09-13
Euratom 8 AIA robot – 2007.10 Leak detection process, scheduled for 2008 : Laser applications for safety, scheduled for 2008: Ablation Chemical analysis of deposited layers (LIBS), Measurements of thickness layers (T° response after laser pulses) Lock In laser thermography (ageing of PFC assembly, adhesion of layers) 1 st drawing of laser ablation tool Deposited carbon on bottom Limiter of Tore Supra accumulated after several hours of plasma Galvanometric scan Fibre for laser input Developing processes
Euratom 9 AIA robot – 2007.10 Leak detection process, scheduled for 2008 Laser applications for safety, scheduled for 2008 All good ideas welcomed (flash lamp, metrology, …) Developing processes
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