1. Il contributo della Realtà Virtuale nel progetto e nella gestione processi a rischio Le attività presso Halden Virtual Reality Center Ing. Massimo Sepielli - ENEA - Servizio Calcolo e Modellistica Delegato ENEA presso HRP - MTO

2. DEFINIZIONI Introduzione alla RV
La realtà virtuale (VR O RV) è una tecnologia che consente di ricreare, tramite computer, mondi e oggetti che sono la trasposizione digitale di ambienti reali o di fantasia.
RV è un modo per visualizzare, manipolare e interagire con dati estremamente complessi per mezzo di una simulazione che, in ambienti immersivi, viene percepita totalmente dai nostri sensi, in particolare dalla vista, seguita dall’udito e dal tatto.

3. PECULIARITA’ Differenze con la grafica tradizionale (CAD)
Introduzione alla RV
PECULIARITA’ Differenze con la grafica tradizionale (CAD)
Utente sceglie
Interazione
Realismo (rendering: resa realistica degli oggetti rappresentati, real-time)
Immersività, senso di presenza (I/O video/audio)
Cooperazione (Telepresenza)

4. APPLICAZIONI Introduzione alla RV Cinema/TV/intrattenimento
Divulgazione scientifica, istruzioni al pubblico
Simulazione dei fenomeni trasportistici
Progettazione di grandi strutture
Progettazione e addestramento di vettori prototipo
Simulazione di fenomeni microscopici
Restauro virtuale
Visione virtuale per robot simulazione in medicina e chirurgia (Virtual Surgery)
Progettazione sale controllo
Addestramento e supporto operatori
Pianificazione e simulazione di attività a rischio

5. VANTAGGI IN CAMPO INDUSTRIALE
Introduzione alla RV
VANTAGGI IN CAMPO INDUSTRIALE
Decision-making collaborativo
Penetrazione su problemi complessi
Costi di produzione e di lavoro
NON PRATICABILITA’, danno e spesa ambienti fisici reali
Dimostrativi di prodotti
Acquisizione di capacità e apprendimento dei concetti
Esplorazione intuitiva

6. Virtual Reality for Design, Planning and Training
Le attività di Halden
Le attività di Halden
Virtual Reality for Design, Planning and Training
By : T. Johnsen

7. Halden VR Centre VR Centre was established in 1996
Le attività di Halden
Halden VR Centre
VR Centre was established in 1996
The activities started out as
Bilateral IFE projects work for Norwegian and international industry
VR research increasingly more important

8. Why VR in Halden Project?
Le attività di Halden
Why VR in Halden Project?
Unique multi-disciplinary work
Right staff end experience
Computer Science
Human
Factors
Process
Knowledge
“Solve Real World Problems”

9. Primary Areas of Focus Decommissioning planning
Le attività di Halden
Primary Areas of Focus
Control room engineering
Decommissioning planning
Training and Simulation
VR support tools development

10. Use of Virtual Reality in Control Room Engineering (CRE)
Le attività di Halden
Use of Virtual Reality in Control Room Engineering (CRE)

11. Why Use VR in CRE? Costly physical mock-up not necessary
Le attività di Halden
Why Use VR in CRE?
Costly physical mock-up not necessary
Design can be modified quickly and easily to prototype different solutions in a short period of time
Can evaluate a design against ergonomic data, guidelines and recommendations
Save time and money in addition to a more optimal design solution

12. CRE Nuclear Reference List
Le attività di Halden
CRE Nuclear Reference List
Oskarshamn NPP
Sweden
1996-
Barsebäck NPP
Sweden
1997
Forsmark NPP
Sweden
1998
Ringhals Nuclear Power Plant
Sweden
1999
Halden BWR
Norway
2000-
EDF CRE Advanced Toolkit Env
France
2000-

13. VR for Decommissioning
Le attività di Halden
VR for Decommissioning

14. Why VR in Decommissioning
Le attività di Halden
Why VR in Decommissioning
Intuitive visualisation of the process
Rapid prototyping of possible solutions
Optimisation of radiation exposure
Visualise radiation
On-line information
Route recording
Save time and money
Better planning and administration (info archiving)
Improved quality of training
Authority demonstration (briefing)
Public acceptance
What is the advantage of the VR for decommissioning.
The VR gives us
Intuitive visualisation of the work process, Rapid prototyping of possible solutions
optimisation of radiation exposure
By Visualise radiation, On-line information, Route recording
This leads to Saving time and money
By better planning and administration
Improved quality of training
Public acceptance

15. Le attività di Halden - VR-Dose
The VRdose System
A bilateral project for Japan Nuclear Cycle Development Institute (JNC)
A virtual reality application for:
Work simulation.
Dose-rate visualisation.
Occupational dose calculation.
Desktop based VR system using Java and Internet technology

16. Fugen Nuclear Power Station
Le attività di Halden - VR-Dose
Fugen Nuclear Power Station
The Fugen reactor is situated in Fukui, in the centre-western part of Japan. (one hour by train from Kyoto)
Fugen is a 165MWe, heavy water moderated, light-water cooled pressure-tube type reactor.
It went into commercial operation in 1979.
Decommissioning will start March 2003, and will take about 20 years.
KYOTO
JNC is in charge of establishment of nuclear fuel cycle under the Japanese government.
JNC has three reactors for this purpose they are FBRs JOYO, MONJU and Fugen.
Fugen is located in Fukui, it is about 1 hour from Kyoto.
Fugen is a 165MWe, heavy water moderated, light-water cooled pressure-tube type reactor.
It went into commercial operation in 1979.
However, because the mission of Fugen was finished, the decommissioning will start March 2003, and will take about 20 years.
Outlook of Fugen

17. Moving through the VR Model of Fugen
Le attività di Halden - VR-Dose
Moving through the VR Model of Fugen
Now, I will explain the functions of the VR dose step by step.
VR model of the system uses VRML Version 2.0 this is from CAD data of Fugen.
The user can walk through in the model.

18. Le attività di Halden - VR-Dose
Scenarios
Each worker also has a name and a description that can be edited by the user.
In order to distinguish between workers, each gets a different colouring either on the suit or the helmet.
In a Scenario one or more manikin workers perform work tasks inside the NPP.
This is an explanation of scenario function.
In a Scenario one or more manikin workers perform work tasks inside the model.
In order to distinguish between workers, each gets a different colouring either on the suit or the helmet.
Each worker also has a name and a description that can be edited by the user.

19. Le attività di Halden - VR-Dose
Camera View
The user can view the scene from a virtual camera…
The user can view the scene from a virtual camera like this and

20. Le attività di Halden - VR-Dose
Manikin View
..or from the eyes of one of the manikins.
Or, this is from the eyes of the manikins.

21. Manikin View with radiation Information
Le attività di Halden - VR-Dose
Manikin View with radiation Information
The view can be switched like this with radiation rate information, from the Data base.
This is done by volume rendering technique of JAVA-3D application program interface.

22. Radiation Landscape Visualisation
Le attività di Halden - VR-Dose
Radiation Landscape Visualisation
A surface plot of the dose-rate in the area around the spectator is also provided.
The data in this plot are measurement interpolations at the chest (dosimeter) height of a person viewing the model from the virtual camera’s position.
Radiation rate is shown with the depth expression like this.
The data is calculated by Interpolation of discrete data.

23. Le attività di Halden - VR-Dose
Scenario Recording
A scenario is recorded as a set of routes with action markers. Each of these routes or work tasks belongs to a manikin.
This is about the scenario recording.
A scenario is recorded as a set of routes with action markers.
Each of these routes or work tasks belongs to a manikin.

24. Le attività di Halden - VR-Dose
Playback of Scenarios
The manikin is also pausing on markers where it has been synchronized to wait for other manikins to finish their tasks.
On playback the manikin will walk the route as recorded, doing work or handling objects on the markers where the user has recorded such actions.
The user can playback the scenario.
On playback the manikin will walk the route as recorded, doing work or handling objects on the markers where the user has recorded such actions.
The manikin is also pausing on markers where it has been synchronized to wait for other manikins to finish their tasks.

25. Le attività di Halden - VR-Dose
Scenario Creation
The scenario of each worker will be like this.
In this case, an engineer walk and synchronize with a mechanic and work something and so on.

26. The Dose-Rate of a Work Task
Le attività di Halden - VR-Dose
The Dose-Rate of a Work Task
In the scenario recording, routes with markers of positions and duration at each position are generated.
These routes may afterwards be assigned to real life workers from the system worker database.
A worker walk and stay somewhere with a certain radiaiton rate.
In the scenario recording, routes with markers of positions and duration at each position are generated.
These routes may afterwards be assigned to real life workers from the system worker database.

27. The Database Interface
Le attività di Halden - VR-Dose
The Database Interface
The data base produces radiation rate history and corrective dose for each worker and each task.
The user can judge from this results and can reflect to the work plan itself.

28. Le attività di Halden - VR-Dose
Libreria di oggetti
A bank of decommissioning tools is being made. These tools can be inserted into the Fugen model and used by the manikins in the scenarios.
Examples:
Let’s quick look at the new features under development.
First, because of the main purpose is the dismantling by workers, the tools will be handled in the system.

29. Le attività di Halden - VR-Dose
Taglio di oggetti
In a dismantling process, cutting of various large objects will be necessary. This is a complicated task in VR, and a module for cutting pipes is being made this year.
In a dismantling process, cutting of various large objects will be necessary. This is a complicated task in VR, and a module for cutting pipes is being made this year.

30. VRDose e ambiente di progetto
Le attività di Halden - VR-Dose
VRDose e ambiente di progetto
A more user friendly interface is under development.
In the decommissioning project, JNC will use the planning and work estimation system “COSMARD” by JAERI. The new user interface of VRdose will try to reflect the COSMARD work breakdown.
Based on COSMARD, a wizard for scenario recording will help the user to enter information into the system.
Moreover, A better user friendly interface is under development.
In the decommissioning project, JNC will use the planning and work estimation system “COSMARD” by JAERI. The new user interface of VRdose will try to reflect the COSMARD work breakdown.
Based on COSMARD, A wizard for scenario recording will help the user to enter information into the system.

31. L’ambiente di design Ansaldo - So.G.I.N.
AnsaldoEnergia
Una Società Finmeccanica
Ansaldo Nucleare Meeting
Divisione di ANSALDO ENERGIA S.p.A ENEA - IFE Halden Reactor Project - Italian Interest Group
L’ambiente di design Ansaldo - So.G.I.N.
Ansaldo Nucleare interest in IFE/HRP R&D Activities
Human-machine interface
b) VIRTUAL REALITY
possible future interest in the development of an integrated tool (Intergraph, VR, Dose Calculation)
Essential need:
- tool allowing fast updating of radiation field after dismantling and/or removing of parts;
(optional: dynamic visualisation of movements of components or parts, for optimisation of time, doses and procedures)

32. L’ambiente di design Ansaldo - So.G.I.N.
PROJECT STRUCTURE
AUTOCAD
DESIGN REVIEW
(Walk through)
3D GRAPHIC MODEL
3D MODELLING
INTERGRAPH
DATABASE
ACCESS
REPORTS
VIRTUAL REALITY
(HALDEN)
L’ambiente di design Ansaldo - So.G.I.N.

33. Purpose: VR-Based Training
Le attività di Halden
Purpose: VR-Based Training
A major application area for VR
Highly relevant for the nuclear industry
Provides a safe environment for hazardous operations training
Training for one-time operations
Maintenance training
Major application area
* Military
* Medical
* Aviation
Whenever the work area is difficult to access or is unsafe, VR provides a safe model or simulation of the work area

34. Why VR in Training Learn by doing Improve safety
Le attività di Halden
Why VR in Training
Learn by doing
Active off-the-job learning
Explorative and procedural/guided training
Improve safety
Safety-critical operations can be performed at any time and as frequently as necessary in a secure environment
Improve performance in actual operations
Reduce time and improve effectiveness, Reduce errors, Save money
More flexible than review
More realistic, more fidelity

35. VR Training Experiments
Le attività di Halden
VR Training Experiments
Conduct experiment on fidelity requirements for different types of training in VR
Types of training
Procedural knowledge
Assembly knowledge
Spatial / environmental configuration knowledge
Levels of fidelity (immersion, presence)
Desktop VR
Stereoscopic – Large screen
HMD
Identify cost-effective VR training technology to effectively improve different types of performance
Example of changing experimental fuel rods at the reactor
Procedure – tasks to be completed, what they are, order, criteria
Assembly – how the equipment fits together. Configuration of equipment
Spatial configuration – environment layout
Must be appropriate for the control mechanisms allowed in VR
e.g., detailed physical tasks, assembly techniques, would not be trainable with the point and click interface, regardless of level of immersion

36. Training 1: Task Visualisation
Le attività di Halden
Training 1: Task Visualisation
Procedures
Assembly (visualization)
Desktop is sufficient

37. Training 2: Assembly Task
Le attività di Halden
Training 2: Assembly Task
Assembly (task)
HMD / Data glove required

38. Training 3: Moving in the space
Le attività di Halden
Training 3: Moving in the space
Spatial configuration
Stereoscopic is sufficient

39. Le attività di Halden
Selected Projects
ASSIST Toolkit (EU ESPRIT project) VR applied to intelligent training EU
1998
Statnett National Power Distr. Centre Maintenance of a Gas Insulated System
Norway
1998
Statnett National Power Distr. Centre Hazardous high-voltage environment
Norway
1998
Explosives Training
Demo
1999
Decommissioning Planning
HRP
1999-
Leningrad Nuclear Power Plant
Russia
2000-

40. Progetto VirtualDecom
Nell’ambito del HRP General Programme:
Riunione maggio 2000 HRP- SoGIN-Ansaldo- RAD
Studio di fattibilità
Preparazione contratto bilaterale and technical annex
12 mesi con quattro “deliverable”:
1) modelli dell’environment e delle SaG
2) framework che unisce tutti gli ambienti già esistenti
3) simulazione delle task di lavoro
4) simulazione di scenari operativi

41. Il progetto VirtualDecom
Module Architecture
Editing Scenario
(manikins)
CAD system
3D model data
Radiation/
Contamination
maps
Advanced 3D module
(displac./
collision/
cut/
assembling/
disassemb.)
Scenario DB
Data conversion
Dose
Calculation
VRML
models
Walking-through
(navigation)
Human radiation dose DB

42. RISORSE INFORMATICHE Macchine
- PC (MS Windows) con adeguate risorse RAM, Processori, acceleratori grafici
- Macchine ed interfacce dedicate (tipo S.G.i., input - output immersivo)
Linguaggi
Linguaggi commerciali JAVA 3D e VRML 97, Web-browsers CosmoPlayer, Cortona per Explorer/Netscape
Ambienti :
- AUTOCAD 2000, foto digitali per Textures
Integrazione con ambienti di progettazione (Intergraph / Cosmard)
VR: Multigen Paradigm, DVmockup

43. SINERGIE ENEA
CAMO: Competenze modellistiche e interfaccia verso Halden
INFO: Ambienti VR dedicati e competenze
FIS: utilizzo di VR per progettazione sale controllo per applicazioni nucleari sperimentali
Creazione di un laboratorio stabile di VR ENEA polifunzionale