Attività di Remote Handlin per ITER C.R. Frascati IL SISTEMA DI VISIONE/INSPEZIONE DI ITER

Associazione EURATOM-ENEA sulla Fusione

Attività di Remote Handlin per ITER C.R. FrascatiIL SISTEMA DI VISIONE/INSPEZIONE DI ITER

Remote Handling per ITER: requisiti tecnici e overview delle forniture europeeENEA 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, Romeb Instituto Superior Te´cnico, Lisboa, Portugal c Consorzio CASPUR, Rome, Italyd SCK-CEN, Mol, Belgium


•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.

The ITER IVVS probe environmental conditions:

• operate in ITER vacuum conditions (5 x10-4 Pa)

5KGy/h5KGy/h

10 MGy10 MGy

120/240°C120/240°C

8 Tesla8 Tesla

UHVUHV

IVVS viewing performanceSpatial resolution better than 1mm at target distances of 0.5m-4m and better than 3mm at target distances up to 10m. Metrology performanceMetrology with a reference accuracy of better than ±0.5mm at 5m target distance.

ITER in vessel viewing requirement and environmental conditions

• 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


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

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 dose rate was of 15.24 kGy/hwas reached a total dose of 2469 kGy.

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.


IVVS system Outline

OPTICAL ENCODER

PASSIVE MODULE

MOTORDRIVERS

ACTIVEMODULE

ENCODERELECTRONICS

(TWO ENCODERS)

RADARELECTRONICS

VME CONTROL &ACQUISITION SYS

VISUALIS.SYSTEM

TILT/PAN MOTORSOPTICAL FIBERS

OPTICAL FIBERS

LASER BEAM

PRISM

INSTRUM. SENSORS DRIVER


• 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.

IVVS main characteristics


RANGE IMAGE

791

796

801

806

811

1 101 201 301 401 501 601 701 801 901 1001 1101 1201

pixels

millim

ete

rs

PROFILEStay time = 3 ms

(range standard deviation) 4m

First wall plate detail, d = 3.75 m, =0° AMPLITUDE IMAGEExperimental results of ENEA AM laser radar prototype IVVS


FWP d = 3.75 m, =0° 3D IMAGE with amplitude and CAD wire frame superimposed (Stay time= 0.36 ms < 1mm)

Experimental results of ENEA AM laser radar prototype IVVS


STL file produced by CATIA CAD of FWP

STL file produced from IVVS experimental data

Vertices 914

Faces 1824

Vertices 546048

Faces 1092096

50 mm

Experimental results of ENEA AM laser radar prototype IVVS


IVVS Insertion System


IVVS in ITER

Six IVVS / GDS units shall be installed.

Port positions: #03 #05 #09 #11 #15 #17


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

Attività di Remote Handlin per ITER C.R. Frascati IL SISTEMA DI VISIONE/INSPEZIONE DI ITER

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