Flexible path optimization for the Cask and Plug Remote Handling System in ITER

Vale, Alberto; Fonte, Daniel; Valente, Filipe; Ferreira, João Amaro Oliveira; Ribeiro, M. Isabel; Gonzalez, C.

doi:10.1016/j.fusengdes.2013.02.095

Cited by 9 publications

(2 citation statements)

References 2 publications

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“…An optimization methodology based on the elastic bands method [25] was designed [26]. The original concept associated with this approach appeared in the computer vision field, with the presentation of the so called "snakes" algorithm [27].…”

Section: Path Optimization and Trajectory Evaluationmentioning

confidence: 99%

Performance analysis of fast marching-based motion planning for autonomous mobile robots in ITER scenarios

Gómez

Vale

Garrido

et al. 2015

Robotics and Autonomous Systems

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Section: Path Optimization and Trajectory Evaluationmentioning

confidence: 99%

Performance analysis of fast marching-based motion planning for autonomous mobile robots in ITER scenarios

Gómez

Vale

Garrido

et al. 2015

Robotics and Autonomous Systems

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“…Fonte et al [17] proposed a motion planning methodology for the transfer cask system (TCS) to operate in the cluttered and static ITER environment. Recently, they proposed the cask and plug remote handling system (CPRHS) to provide the means for the remote transfer of invessel components and remote handling equipment between the hot cell building (HCB) and the Tokamak building in ITER along predefined optimized trajectories [18][19][20]. However, they used a rhombic kinematic configuration with two pairs of drivable and steerable wheels in the vehicle which has a limited mobility comparing to the OTV adopted in this paper.…”

Section: Path Planning Of the Otv Since The Environment Ofmentioning

confidence: 99%

Development of a Remote Handling Robot for the Maintenance of an ITER-Like D-Shaped Vessel

Chen

Cao

2014

Science and Technology of Nuclear Installations

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Robotic operation is one of the major challenges in the remote maintenance of ITER vacuum vessel (VV) and future fusion reactors as inner operations of Tokamak have to be done by robots due to the internal adverse conditions. This paper introduces a novel remote handling robot (RHR) for the maintenance of ITER-like D-shaped vessel. The modular designed RHR, which is an important part of the remote handling system for ITER, consists of three parts: an omnidirectional transfer vehicle (OTV), a planar articulated arm (PAA), and an articulated teleoperated manipulator (ATM). The task of RHR is to carry processing tools, such as the viewing system, leakage detector, and electric screwdriver, to inspect and maintain the components installed inside the D-shaped vessel. The kinematics of the OTV, as well as the kinematic analyses of the PAA and ATM, is studied in this paper. Because of its special length and heavy payload, the dynamics of the PAA is also investigated through a dynamic simulation system based on robot technology middleware (RTM). The results of the path planning, workspace simulations, and dynamic simulation indicate that the RHR has good mobility together with satisfying kinematic and dynamic performances and can well accomplish its maintenance tasks in the ITER-like D-shaped vessel.

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Motion Planning of Large Scale Vehicles for Remote Material Transportation

Vale

Ribeiro

2015

Motion and Operation Planning of Robotic Systems

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Flexible path optimization for the Cask and Plug Remote Handling System in ITER

Cited by 9 publications

References 2 publications

Performance analysis of fast marching-based motion planning for autonomous mobile robots in ITER scenarios

Performance analysis of fast marching-based motion planning for autonomous mobile robots in ITER scenarios

Development of a Remote Handling Robot for the Maintenance of an ITER-Like D-Shaped Vessel

Motion Planning of Large Scale Vehicles for Remote Material Transportation

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