DTT FLEXIBILITY: VV, DIVERTOR, FW AND REMOTE HANDLING ISSUES. G. Di Gironimo on behalf of DTT team

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1 DTT FLEXIBILITY: VV, DIVERTOR, FW AND REMOTE HANDLING ISSUES G. Di Gironimo on behalf of DTT team DTT Workshop, Frascati, June 2017 G. Di Gironimo DTT Workshop Frascati June

2 DTT FLEXIBILITY: VV, DIVERTOR, FW AND REMOTE HANDLING ISSUES

3 Overview DTT RH needs DTT RH Equipment requirements RH strategy for machine flexibility Use of VR technologies Conclusion G. Di Gironimo DTT Workshop Frascati June 2017

4 DTT RH needs The expected neutron rate in DTT varies from a minimum of ns 1 for AT scenarios to a maximum of ns 1 for the H-mode extreme scenario. The short/medium term activation is not negligible, making remote handling mandatory. Remote handling will be necessary only after a long period at the maximum performances, e.g. at least 6-12 months (it will partially depend from the initial available additional power) operations after the commissioning phase. However our assumption is that the remote handling will operate also during the machine assembling phase. This will allow to test and commission the remote handling during a phase when it is not at all necessary. G. Di Gironimo DTT Workshop Frascati June 2017

5 DTT RH needs The estimated contact dose rate level at 1 day at the end of DTT operations is indeed ~100 msv/h in tungsten. At longer cooling times, higher induced radioactivity is observed in steel mainly because of nickel, cobalt, and tantalum activation (i.e. ~10 msv/h in VV at one month after shutdown). The radioactivity level may require the preparation of an ad hoc temporary repository ( Shielded and restricted area ) to store some of the dismounted activated components. However, within 50 years from the shutdown, the contact dose of all components should be <10 μsv/h, and the level of activity should not cause waste management problems. G. Di Gironimo DTT Workshop Frascati June 2017

6 Requirements Remote handling scheme should be flexible to be adapted to all configurations Remote handling equipment should be flexible to manage replacement of first wall with upper vertical targets in case of double null configuration Remote handling equipment should be flexible to manage different shapes of first wall in case of Super-X configuration Remote handling equipment should be flexible to manage liquid metal divertor The maintenance operation shall be performed through lower and equatorial port. RH system must be flexible enough to work during scheduled maintenance as well as in case of failure. The component inside the tokamak must be RH-compatible, so RH engineers have to be involved in the design of components from the earliest stages of design. RH operators need feedback during operations. Forces and Torques sensors as well as cameras are necessary to get information. Virtual reality techniques can help, given that cameras can only show limited views of inside chamber. G. Di Gironimo DTT Workshop Frascati June 2017

7 DTT VV RH compatibility DTT VV designed for RH compatibility: One port per sector allows for (de)commissioning of FW port n. 3 One port per sector allows for (de)commissioning of the divertor port n G. Di Gironimo DTT Workshop Frascati June 2017

8 DTT divertor RH DTT divertor RH system is required to provide an easy handle of different type of divertor cassettes, characterized by different magnetic configurations or different operating principles. Since one of the main DTT target is the study of the power exhaust, the divertor choice cannot be limited on a SN and/or a SF, but the machine must have the possibility to test also other possible options, like, for instance, a liquid metal divertor. At the same time, the divertor configurations are required to be designed to ease their maintenance. G. Di Gironimo DTT Workshop Frascati June 2017

9 DTT divertor RH The basic idea for the DTT divertor RH system is to design an end effector as much as possible independent from the divertor configurations, in order to have a flexible system ITER-like robotic manipulator G. Di Gironimo DTT Workshop Frascati June 2017

10 DTT divertor RH Possible motion sequence for divertor G. Di Gironimo DTT Workshop Frascati June 2017

11 DTT divertor RH G. Di Gironimo DTT Workshop Frascati June 2017

12 DTT FW RH FW RH Equipment: One "drawer arm that will bring the different tool. One "operational arm" that will perform tooling operations (welding, cutting, etc.) as well as handling operations. As a consequence, at least two different endeffectors will be used on this arm. Input parameters (based on tokamak size and Equatorial Port dimensions): The robot is made of 6 parts: one "long" segment fixed on a rail system, 4 central segments of same length, and an endeffectors, which is not being presented here The length between two segments connections has to be 1.5 m for the arm to access ±190. The width of the first five segments is 250 mm. The width of the manipulator cannot exceed 500 mm in order to go through the equatorial port plugs. The height of the first five segments is 740 mm. G. Di Gironimo DTT Workshop Frascati June 2017

13 DTT FW RH G. Di Gironimo DTT Workshop Frascati June 2017

14 DTT FW RH SN configuration FW segmentation for RH transportation throught equatorial port G. Di Gironimo DTT Workshop Frascati June 2017

15 DTT FW RH From SN to DN configuration G. Di Gironimo DTT Workshop Frascati June 2017

16 DTT FW RH From SN to DN configuration G. Di Gironimo DTT Workshop Frascati June 2017

17 DTT FW RH G. Di Gironimo DTT Workshop Frascati June 2017

18 Conclusions The design of VV, Divertors and FW has been made to make the DTT machine flexible vs all alternative magnetic configurations. Flexibility of remote handling systems will be guaranteed mostly by real-time force and visual feedback to human operators. Virtual and augmented reality technologies will be tested as innovative human-robot interfaces to control servo-manipulators. Moreover, the use of standard and interchangeable casks and transporters will enhance the flexibility of the RH system as well.

19 Design CREATE - IDEAinVR lab Complex CAD models can be handled in real-time Stereoscopic visualization makes easier to detect technical problems A collaborative environment improves the information flow about the project Possible ergonomics and human robot interaction issues can be evaluated in real-time Quite complex human activities can be simulated inside a virtual environment It is a Decision making system -20- G. Di Gironimo DTT Workshop Frascati June 2017

20 Design CREATE - IDEAinVR lab -21- G. Di Gironimo DTT Workshop Frascati June 2017

21 Research on Fusion Energy: IFMIF Virtual prototyping, Remote Handling simulations, FEM analyses IFMIF Remote Handling issues Back Plate Removal VIRTUAL SIMULATION REAL EXPERIMENTATION University of Naples Federico II Joint Lab IDEAS -22-

22 Research on Fusion Energy: ITER Design and Integration of HCPB - HCS, HCLL HCS, HCPB - CPS, HCLL CPS systems in CVCS Area Previous configuration in CVCS Area Create Configuration in CVCS Area University of Naples Federico II Joint Lab IDEAS giuseppe.digironimo@unina.it

23 Research on Fusion Energy: ITER Preliminary design of the steel frames supporting all equipments in CVCS area taking into account maintenance needs Secondary Structures in CVCS Area designed by CREATE University of Naples Federico II Joint Lab IDEAS Systems and secondary steel structures in CVCS Area

24 Research on Fusion Energy: ITER Digital humans have been used to place components in view of their accessibility and maintenance during the preliminary design stage. Accessibility and visibility analyses during preliminary design University of Naples Federico II Joint Lab IDEAS -25-

25 Research on Fusion Energy: ITER ITER RNC: Remote handling compatibility and operation in virtual reality environment University of Naples Federico II Joint Lab IDEAS -26-

26 Research on Fusion Energy: DEMO WP BOP WP ENS WP BB WCLL WP RM WP PMI (VV) WP PMI (CAD CONF) WP DIV University of Naples Federico II Joint Lab IDEAS -27-

27 Electromagnetic loads on the metallic structures The operating scenarios are characterized by loads which are quite low during normal plasma behaviour and rather large during plasma VDE and disruptions. The worst disruption expected is a strong vertical asymmetric VDE. We assumed a VDE model where the vertical displacement of the plasma column is followed by a sudden loss of the plasma thermal energy and then by a fast current quench (1.5 MA/ms). Typical eddy current density pattern induced in the vessel Resultant force acting on one sector of the vessel

28 Preliminary structural analysis 29

29 FW structural analysis