Command and Control application framework for interoperable heterogeneous ITER Remote Handling devices

The ITER divertor Remote Handling maintenance concepts are under investigation at a full scale mockup facility, the Divertor Test Platform, located in Tampere, Finland. The key devices to carry out these operations are the (CMM), Cassette Toroidal Mover, Multi Axis Manipulators (MAM) and related too...

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Bibliographic Details
Published in:Fusion engineering and design 2011-10, Vol.86 (9), p.2067-2070
Main Authors: Tuominen, J., Muhammad, A., Mattila, J., Aha, L., Saarinen, H., Siuko, M., Hamilton, D., Semeraro, L.
Format: Article
Language:English
Subjects:
Applied sciences
Command and Control
Controled nuclear fusion plants
Coordinate measuring machines
Devices
DTP2
Energy
Energy. Thermal use of fuels
Exact sciences and technology
Installations for energy generation and conversion: thermal and electrical energy
Manipulators
Mockups
Modules
Remote Handling
Robot arms
Unified Software Development
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Summary:The ITER divertor Remote Handling maintenance concepts are under investigation at a full scale mockup facility, the Divertor Test Platform, located in Tampere, Finland. The key devices to carry out these operations are the (CMM), Cassette Toroidal Mover, Multi Axis Manipulators (MAM) and related tooling. Despite their differences, in essence all of these devices are manipulators with varying specifications. Hence, from the operator's point of view, they perform similar operations, such as following predefined position trajectories and lifting and carrying tools and equipment. This paper explores how to implement a software framework for a Command and Control application, otherwise known as Human Machine Interface (HMI), in such a way that it could be used to control different manipulators. A framework is presented that supports the combining of small, independent modules into a single cohesive HMI. It is then shown that a HMI can be built by combining modules that are common to these manipulators and modules that are specific to a single manipulator. This will not only minimize the programming effort but also reduce the training required of operators. To elaborate on the concept, an example HMI is implemented to control virtual models of CMM and MAM.
ISSN:0920-3796
1873-7196
DOI:10.1016/j.fusengdes.2011.02.029