Title in bold letters

DTP2 Control SystemsEuratom-Tekes Annual Fusion Seminar 2012Janne Tuominen

#29/05/20121DTP2 Remote Handling EnvironmentTwo teleoperated, waterhydraulic manipulators: CMM and Multi purpose manipulator (WHMAN)

#29/05/2012

Overview of the RH Control Systems

#29/05/2012Operation Management SystemSequences of coordinated operations to fulfill complex tasks

4 Person TeamOperations Monitoring (Viewing, VR, Task Status)Force-FeedbackControl DeviceInterface Applications

#29/05/2012Command & Control (GUI)Operators primary tool to control RH equipmentDisplays current equipment states and condition

#29/05/2012Virtual RealityVR environment reflects data received from the real devices controllersComplex manipulators can be operated without line of sight

#29/05/2012Computer Assisted TeleoperationVirtual paths can be generated to add artificial forces for guidanceVirtual walls can be generated around objectsOperator feels forces that push the slave arm towards the optimal path or away from impending collisionsManipulator movement can be stopped before actual collisions

#29/05/2012Input DeviceManipulators can be operated with a slave armForce feedback is used to help the operator

#29/05/2012Equipment ControllerHard realtime controllersMeasures joint positions, valve states, pressures, etc.Controls all the actuators according to the operators commandsMonitors the state and performance of equipment

#29/05/2012Structural SimulatorThe dynamic behavior of the CMM needs to be compensated in load lifting situationsA model is used to compensate for deformations during movements

#29/05/2012Remote DiagnosticsRecords commands and sensor feedback dataDetects anomalies in the equipment during operationsOffline analysis of the recorded data to improve the efficiency of maintenance operations

#29/05/2012Viewing SystemA network of cameras will act as the eyes of the operator in the divertorLimited possibilities to use cameras due to radiation and shortage of clear spaceIntelligent algorithms are used to track RH equipment

#29/05/2012

VTT - 70 years oftechnology for business and societyFinal slide is optional in VTTs internal presentations

#29/05/2012Cluster

OMS interfaces

OMS server

Control Network

CMM operator

OMS client

Virtual reality

WHMAN operator

Supervisor

C&C + OMS client

C&C + OMS client

Apache + SQL

Waypoints

Force field

Path

Cluster

Graphical User Interface

Haptic devicecontroller

Control room

Operations Management System

Factory floor

Hydraulics

Electrical cabinet

SVE

ReflectiveMemory

DDS

DDS

DDS

USB

EquipmentController