Operational experience feedback in JET Remote Handling

David, Olivier; Loving, A.; Palmer, J.D.; Ciattaglia, S.; Friconneau, Jean-Pierre

doi:10.1016/j.fusengdes.2005.06.161

Cited by 31 publications

(15 citation statements)

References 1 publication

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“…Industrial robots were used under MIL scheme in the fission industry [3,4]. JET has now gathered a very significant operational experience [5,6] and ITER is facing very challenging projects. In the accelerator community, RH operations are up to now limited to target exchange operations: Spallation Neutron Source, Paul Scherer Institute and Isolde experience [7,8] IFMIF is clearly a step forward.…”

Section: Design Guidelinesmentioning

confidence: 99%

Overview of the preliminary remote handling handbook for IFMIF

David

Miccichè

Ibarra

et al. 2009

Fusion Engineering and Design

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Section: Design Guidelinesmentioning

confidence: 99%

Overview of the preliminary remote handling handbook for IFMIF

David

Miccichè

Ibarra

et al. 2009

Fusion Engineering and Design

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“…Such components are those requiring scheduled maintenance in ITER's lifetime and therefore needing development of specific RH equipment and tools for both installation and refurbishment. Both TBM and RH equipment are of one-off nature and to maximise reliability during maintenance operations simple rules need to be followed (see [11,12]):…”

Section: Remote Handling Considerationsmentioning

confidence: 99%

The HCLL Test Blanket Module system: Present reference design, system integration in ITER and R&D needs

Salavy

Aiello

David

et al. 2008

Fusion Engineering and Design

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“…Large scientific experiments like CERN (European Organization for Nuclear Research) [14] and JET (Joint European Torus) [15], [16] are also deploying telerobotic solutions in sections where the ionising radiation and hazardous conditions make it difficult or impede human intervention. Ionising radiation hazard depends on the location, dose rates and time elapsed.…”

Section: Introductionmentioning

confidence: 99%

External Force Estimation for Telerobotics without Force Sensor

Sol

Pagala

King

et al. 2014

ROBOT2013: First Iberian Robotics Conference

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Abstract. This paper establishes an approach to external force estimation through the use of a mathematical model and current sensing, without employing a force/torque sensor. The advantages and need for force feedback have been well established in the field of telerobotics. This paper presents the requirement for sensorless force estimation and comparative results between a force sensor and the presented approach using an industrial robot. The approach presents not only a cost effective solution but also a solution for force sensing in hazardous environments, especially ionizing radiation prone environments where the dose rates limit the use of sensing equipment. The paper also discusses the applications and advantages presented by this work in various fields.Keywords: Industrial robot, sensorless, remote handling, force feedback, master-slave system IntroductionIn teleoperation a human operator manipulates master device, and a slave device follows the motion while manipulating in a remote environment. Providing the operator with various information regarding the remote environment like position, orientation, contact, load, forces and others; improves the task performance and the operator understanding of the environment. This information can be viewed on display screens [1] but, it is more intuitive when provided directly, by reflecting the measured parameters like positions and torques to the master haptic device. When the operator is interacting with the slave with a haptic master then the operator is said to be kinesthetically coupled to the environment. The task being performed is said to be bilateral controlled teleoperation [2], [3]. The continued advances in these various fields of control, communications, haptic systems and others have made possible to have an integrated robotic master slave system that it is able to aid the human operator in effective task execution. The teleoperation slaves are generally controlled using bilateral control algorithms. Bilateral control algorithms main goals are stability and transparency. Stability assures expected system response for the teleoperation task. It ensures stability and prevents

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Operational experience feedback in JET Remote Handling

Cited by 31 publications

References 1 publication

Overview of the preliminary remote handling handbook for IFMIF

Overview of the preliminary remote handling handbook for IFMIF

The HCLL Test Blanket Module system: Present reference design, system integration in ITER and R&D needs

External Force Estimation for Telerobotics without Force Sensor

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