AIA robot – 2007.10

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DEVELOPMENT OF AN ITER RELEVANT INSPECTION ROBOT

TORE SUPRAEuratom

AIA robot – 2007.10

EuratomTORE SUPRA

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Objectives of the Articulated Inspection Arm Objectives of the Articulated Inspection Arm (AIA project)(AIA project)::

• In-vessel remote close inspection: demonstration under high vacuum and temperature conditions

• Integration and exploitation on Tore Supra

• Development of new processes for inspection, maintenance and safety of tokamak's vessel

AIA robot becomes a multipurpose carrier

AIA robot – 2007.10

EuratomTORE SUPRA

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AIA capabilities for ITER:AIA capabilities for ITER:

ITER Divertor scale 1 mock-up

• Remote operations, a major challenges for ITER

• First wall inspection and treatment will be needed for exploitation and safety

• Several poly-articulated carriers should be required for close operations of the Plasma Facing Components (PFCs)

Preliminary CAD views of an AIA robot inspecting the Divertor and blanket modules of ITER

AIA robot – 2007.10

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The Articulated Arm characteristics:The Articulated Arm characteristics:

The complete AIA robot is assembledand tested at the CEA/LIST laboratory,

June 2007

• Length : 8 meters, payload : 10 Kg,

• 5 modules with 8 degrees of freedom, Ø160 mm titanium tube, total weight 150 kg,

• Articulations capabilities : elevation +/- 45°; horizontal rotation +/- 90°,

• All electro-technical components are embedded in modules and inserted in airtight boxes with stainless steel umbilicus for electric cables course

• Operation conditions : ultra high vacuum (10-6 Pa) and 120°C,

• Baking phase : 200 °C for outgasing.

AIA robot – 2007.10

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The viewing process:The viewing process:1st process plugged:

CCD color sensor with zoom and LEDs light embedded in a airtight box nitrogen gas cooled system (internal temperature below 60°) gas and electric cables drive by 2 external SS umbilicus 3 degrees of freedom (1 body rotation + 2 camera rotations) developed in 2006 and operated in June 2007

The viewing process developedby the ECA/Hytec (France-PACA)

glass dome (Pyrex)

gold coatingfor minimize

thermal radiation

LEDs light

Lens(tilt articulation of +/-90° and panoramic articulation of 360°)

joint(rotation of +/-90°)

AIA robot – 2007.10

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First complete deployment of the robotinside the plasma vessel of Tore Suprain atmospheric conditions, 2007-09-12

The first deploymentThe first deployment

small hole for robot introduction (Ø250)

AIA robot – 2007.10

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Viewing in the dark:Viewing in the dark:

Video acquisition from viewing process

External vision ofviewing inspection

First inspections of Plasma Facing Components of Tore Supra

in relevant darkness conditions, 2007-09-13

AIA robot – 2007.10

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• Leak detection process, scheduled for 2008:• Laser applications for safety, scheduled for 2008:

Ablation Chemical analysis of deposited layers (LIBS), Measurements of thickness layers (T° response after laser pulses) Lock In laser thermography (ageing of PFC assembly, adhesion of layers)

1st drawing of laser ablation toolDeposited carbon on bottom Limiter of Tore Supra accumulated after several hours of

plasma

Galvanometric scan

Fibre for laser input

Developing processesDeveloping processes

AIA robot – 2007.10

EuratomTORE SUPRA

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• Leak detection process, scheduled for 2008

• Laser applications for safety, scheduled for 2008

• All good ideas welcomed (flash lamp, metrology, …)

Developing processesDeveloping processes