Associazione EURATOMENEA sulla Fusione
Attività di Remote Handlin per ITER C.R. Frascati
IL SISTEMA DI VISIONE/INSPEZIONE DI ITER
Remote Handling per ITER: requisiti tecnici e overview delle forniture europee
ENEA C. R. Frascati 26 Febbraio 2010
Presented by C. Neria
Working team: G. Baccarellia, L. Bartolinia, F. Bonaccorsoc, B. Brichardd,
G. Cicconea,G. Caivanoa, A. Colettia,P. Costaa, C. Correiab, N. Cruzb,M. Floreana,
G.Fornettia, M. Ferria, A. Lo Buea, S. Lupinia, F. Massaiolic,G. Mugnainia, C.Nardi,
C. Neria, R. Pereirab, M. Pillona, F. Pollastronea, M. Rivaa, P. Rossia, L. Semeraroa,
C. Talaricoa.
a
Associazione EURATOM ENEA Frascati, Rome
b Instituto Superior Te´cnico, Lisboa, Portugal
c Consorzio CASPUR, Rome, Italy
d SCK-CEN, Mol, Belgium
Associazione EURATOMENEA sulla Fusione
ITER in vessel viewing requirement and environmental conditions
UHV
120/240°
C
5KGy/h
10 MGy
8 Tesla
•The ITER In-Vessel Viewing System (IVVS) shall
allow for in-vessel inspection of plasma-facing
surfaces to look for possible damage caused
during plasma operations.
•The IVVS shall also be used for metrology
measurements of the plasma chamber and its
components.
IVVS viewing performance
Spatial resolution better than 1mm at target
distances of 0.5m-4m and better than 3mm at target
distances up to 10m.
Metrology performance
Metrology with a reference accuracy of better than
±0.5mm at 5m target distance.
The ITER IVVS probe environmental conditions:
• operate in ITER vacuum conditions (5 x10-4 Pa)
• operate at 120 °C and be baked at 240 °C
• be inserted shortly after plasma pulses
(radiation≈5kGy/hour) and withstand an integrated
lifetime dose of 10 MGy
•operate with a toroidal field up to 8 Tesla
Associazione EURATOMENEA sulla Fusione
ENEA proposed and developed a prototype the Laser In Vessel Viewing&Ranging System
(IVVS) based on an Amplitude Modulated (AM) laser radar and a scanning head.
The system is based on an intrinsic radiation resistance concept: all the electronics and imaging
equipment are external to the ITER bioshield. The scanning head optical and instrumentation
components are driven by rad hard optical fibers, (excluding the ceramic motors)
IVVS SCANNING
HEAD
Laser
beam
Associazione EURATOMENEA sulla Fusione
Gamma irradiation test on IVVS components
A dedicated irradiation test was performed on the fiber optic optical
encoder to verify the encoder under the ITER irradiation conditions.
The dose rate was of 15.24 kGy/h
was reached a total dose of 2469 kGy.
Associazione EURATOMENEA sulla Fusione
IVVS system Outline
TILT/PAN MOTORS
MOTOR
DRIVERS
VME CONTROL &
ACQUISITION SYS
OPTICAL
FIBERS
ACTIVE
MODULE
PASSIVE
MODULE
RADAR
ELECTRONICS
OPTICAL
FIBERS
OPTICAL
ENCODER
PRISM
LASER BEAM
ENCODER
ELECTRONICS
(TWO ENCODERS)
INSTRUM. SENSORS
DRIVER
VISUALIS.
SYSTEM
Associazione EURATOMENEA sulla Fusione
IVVS main characteristics
• The system is based on an intrinsic radiation resistance concept: all the electronics and
imaging equipment are external to the ITER bioshield. The scanning head optical and
instrumentation components are driven by rad hard optical fibers, (excluding the ceramic
motors)
•The system obtains high resolution viewing images with a high dynamic range, 1 mm@4m
and many thousands of grey levels.
•The system is able to measure ranges and the ranging accuracy is better than 10-4 (i.e. 0.5
mm @ 5 m)
• The system has a quasi-spherical Field of View. The tilt-hidden angle is about +/- 15
degrees over a full angle of 360 degrees. The pan covers 360 degrees.
• The laser spot is the source of illumination itself, so that no external illumination source
is necessary.
• By choosing the appropriate speed of acquisition and acquisition time it is possible to
obtain low resolution or medium resolution overall images or high resolution zoom
images.
Associazione EURATOMENEA sulla Fusione
Experimental results of ENEA AM laser radar prototype IVVS
First wall plate detail, d = 3.75 m, q =0°
AMPLITUDE IMAGE
RANGE IMAGE
millimeters
811
806
801
796
791
1
101
201
301
401
501
601
pixels
701
801
901
1001
1101
1201
PROFILE
Stay time = 3 ms
 (range standard
deviation)
4m
Associazione EURATOMENEA sulla Fusione
Experimental results of ENEA AM laser radar prototype IVVS
FWP d = 3.75 m, q =0° 3D IMAGE with amplitude and CAD wire frame
superimposed
(Stay time= 0.36 ms  < 1mm)
Associazione EURATOMENEA sulla Fusione
Experimental results of ENEA AM laser radar prototype IVVS
STL file produced by CATIA
CAD of FWP
STL file produced from IVVS
experimental data
50 mm
Vertices 914
Vertices 546048
Faces 1824
Faces 1092096
Associazione EURATOMENEA sulla Fusione
IVVS Insertion System
Associazione EURATOMENEA sulla Fusione
IVVS in ITER
Six IVVS / GDS units shall be installed.
Port positions: #03 #05 #09 #11 #15 #17
Associazione EURATOMENEA sulla Fusione
IVVS key technologies

Optical radars design / characterization

Rad hard optics and optical devices

Precision mechanics

Rad hard vacuum/temperature compliant no magnetic motors

Rad hard fibers radiation/vacuum/temperature compliant

passive fiber sensors:
•
optical encoders fiber optic driven
•
strain gauges, Accelerometer, inclinometer
•
Optoelectronics devices (lasers, modulators, detectors …)
•
Radar electronics , fiber sensors electronics
•
Image construction algorithms, image visualization/archiving ..
•
Nuclear characterization / qualification