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Report No.

Development of a virtual reality simulator for the ITER blanket remote handling system

Takeda, Nobukazu; Kakudate, Satoshi; Nakahira, Masataka; Shibanuma, Kiyoshi; Tesini, A.*

The maintenance activity in the ITER has to be performed remotely because 14 MeV neutron caused by fusion reaction induces activation of structural material and emission of $$gamma$$ ray. In general, it is one of the most critical issues to avoid collision between the remote maintenance system and in-vessel components. Therefore, the visual information in the vacuum vessel is required strongly to understand arrangement of these devices and components. However, there is a limitation of arrangement of viewing cameras in the vessel because of high intensity of $$gamma$$ ray. Furthermore, visibility of the interested area such as the contacting part is frequently disturbed by the devices and components, thus it is difficult to recognize relative position between the devices and components only by visual information even if enough cameras and lights are equipped. From these reasons, the simulator to recognize the positions of each devices and components is indispensable for remote handling systems in fusion reactors. The authors have been developed a simulator for the remote maintenance system of the ITER blanket using a general 3D robot simulation software "ENVISION". The simulator is connected to the control system of the manipulator which was developed as a part of the blanket maintenance system in the EDA and can reconstruct the positions of the manipulator and the blanket module using the position data of the motors through the LAN. In addition, it can provide virtual visual information, such as the connecting operation behind the blanket module with making the module transparent on the screen. It can be used also for checking the maintenance sequence before the actual operation.



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Category:Nuclear Science & Technology



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