|Funding Reference||EU F4E-GRT-276-01 (MS-RH)|
Remote Handling (RH) is an absolute required feature of ITER not only during nominal operation, but also during rescue and recovery situations. Among the various RH systems and sub-systems, a Cask and Plug Remote Handling System (CPRHS) has been adopted as the reference solution for the transportation of casks (containing divertors and blankets) to/from vacuum vessel ports in all levels of the Tokamak Building (TB) and ports in the Hot Cell Building (HCB).
This present grant continues the work of the past one (F4E-2008-GRT-016), and aims at generating optimized paths for the CPRHS and CTS in the two buildings of ITER, the Tokamak Building (TB) and the Hot Cell Building (HCB). All types of CPRHS, CTS and rescue casks will be considered for all the VV ports in TB and all the docking ports in HCB. Additionally, the grant will generate paths for the parking locations in the HCB. Path optimization will consider:
For each path, a set of information parameters will be provided:
3D models swept by the CPRHS and CTS (when moving alone) along each trajectory provided in CATIA,
Intelligent Robots and Systems Group (IRSg)
|Project Partners||ISR/IST (Coordinator) (P), IPFN/IST (P), ASTRIUM ST (F)|
Activities Related to the Optimization of Trajectories for the Cask and Plug Remote Handling System in Tokamak Building and Hot Cell