t n todd jt60sa remote handling meeting 24th november 2008 boom (transporter) two-arm manipulator...
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T N Todd JT60SA Remote Handling meeting 24th November 2008
Boom (transporter)
Two-arm manipulator
Remote Handling at JET
Required due to high in-vessel radiation field
Force-feedback:“Man in Loop” system, used in JET for a wide variety of in-vessel tasks including heavy welding
T N Todd JT60SA Remote Handling meeting 24th November 2008
Remote handling capability in JET
• Handling - installation and removal• Welding - eg 20mm MIG “plug” welds• Photogrammetry - camera and targets• Testing wiring• Cleaning plasma diagnostic windows• Tile detritiation by intense flash-lamp• In-vessel inspections• Plasma diagnostics calibration• Vacuum cleaning• Wire-brushing• Thread tapping• Filing
TAE Antenna
Much preparatory work is
done in Virtual Reality
Carrier assembly being moved by MASCOT
T N Todd JT60SA Remote Handling meeting 24th November 2008
ILW needs two Remote Handling booms acting in synergy
Octant 5 Octant 1
MASCOT accessing Task Module
T N Todd JT60SA Remote Handling meeting 24th November 2008
Examples of poloidal limiter tile-carrier tooling
Standard Wide Tile Carrier Tool
Top (W24) Tile Carrier Tool
W5 Tile Carrier Tool Bottom (W1) Tile Carrier Tool
W4 Tile Carrier Tool
Bolt Runners Torque Wrench
The ILW tiles are on carriers but these require interface tooling
T N Todd JT60SA Remote Handling meeting 24th November 2008
Remote Handling divertor tile tooling: detailed example
T N Todd JT60SA Remote Handling meeting 24th November 2008
Large-scale remote handling - the ITER-Like Antenna
T N Todd JT60SA Remote Handling meeting 24th November 2008
Intricate remote handling - diagnostic cabling installation
T N Todd JT60SA Remote Handling meeting 24th November 2008
End
T N Todd JT60SA Remote Handling meeting 24th November 2008
In - Vessel Dose Rate 1990-2008 ( JET operation until 04/04/07)
1
10
100
1000
10000
1990 1991 1992 1993 1994 1995 1996 1997 1998 1999 2000 2001 2002 2003 2004 2005 2006 2007 2008
Date
Do
se R
ate
(uS
v/h
)
Co-57
Co-58
Co-60
Mn-54
Cr-51
Dose total
Dose meas HP
JET In-vessel dose rate history (& projection from April 2007)
T N Todd JT60SA Remote Handling meeting 24th November 2008
Remote Handling tooling
• Generic tools
Portable camera
Torque wrench
Ring spanner
Bolt runner
T N Todd JT60SA Remote Handling meeting 24th November 2008
Flanged Joint
Trolley
Main Boom Section
Slewing Ring Flange
Vertical Traverse Section
Task Module
ILW requires second toroidal-access boom
• Necessitates extension and rebuild of existing “Octant 1” boom