Operation of an ITER relevant inspection robot on Tore Supra tokamak

Robotic operations are one of the major maintenance challenges for ITER and future fusion reactors. CEA has developed a multipurpose carrier able to realize deployments in the plasma vessel without breaking the Ultra High Vacuum (UHV) and temperature conditioning. A 6 years R&D programme was jointly conducted by CEA-LIST Interactive Robotics Unit and the Institute for Magnetic Fusion Research (IRFM) in order to demonstrate the feasibility and reliability of an in-vessel inspection robot relevant to ITER requirements.The Articulated Inspection Arm robot (AIA) is an 8-m long multilink carrier with a payload up to 10 kg operable between plasma under tokamak conditioning environment; its geometry allows a complete close inspection of Plasma Facing Components (PFCs) of the Tore Supra vessel.Different tools are being developed by CEA to be plugged at the front head of the carrier. The diagnostic presently in operation consists in a viewing system offering accurate visual inspection of PFCs. Leak detection of first wall based on helium sniffing and laser compact system for carbon co-deposited layers characterizations or treatments are also considered for demonstration.In April 2008, the AIA robot equipped with its vision diagnostic has realized a complete deployment into Tore Supra and the first closed inspection of the vessel under UHV conditions. During the upcoming experimental campaign, the same operation will be performed under relevant conditions (10^?6 Pa and 120 °C) after a conditioning phase at 200 °C to avoid outgassing pollution of the chamber.This paper describes the different steps of the project development, robot capabilities with the present operations conducted on Tore Supra and future requirements for making the robot a tool for tokamak routine operation.     

The upgraded laser in vessel viewing system (IVVS) for ITER

A prototype of a laser in vessel viewing and ranging system was developed at ENEA laboratories in Frascati, it uses the amplitude modulated laser radar concept and it is conceived to withstand the severe ITER conditions. The in vessel viewing system (IVVS) probe has been designed and built to perform sub-millimetric three-dimensional images inside ITER; it is based on an intrinsically radiation resistant concept and architecture. A first characterization of the IVVS probe under room conditions was made at Frascati Labs on a full-scale mock-up of the ITER first wall panel (FWP) and of the divertor vertical target. The first characterization demonstrated that an upgrade of the IVVS performances was necessary especially to cope with divertor surfaces made of carbon material, which is highly absorbent from optical point of view.The paper describes the new developments of IVVS prototype to increase range measurement performances that was obtained increasing the modulation frequency, the optical efficiency of the probe optics and the laser power. A new test campaign has been carried out on the upgraded IVVS and a compact characteristic curve describing its performances has been found both in mathematical and graphical form. As far as viewing is concerned, the system has confirmed the sub-millimetric viewing resolution, reaching in the worst cases ～1 mm of resolution. The image quality was excellent in almost all the cases. The range measurement performance of IVVS system has been strongly upgraded reducing the standard deviation of range measure of a factor varying from 6 to 12. The increased performance allows measuring surface shapes and erosion on first wall tiles and divertor also for inclination angles completely outside the previous IVVS characteristics.     

Korean high heat flux test facility by using electron beam system for ITER first wall semi-prototype

A Korean high heat flux test facility for the semi-prototype (SP) qualification of an ITER first wall (FW) will be constructed to evaluate the fabrication technologies required for the ITER FW, and the acceptance of these developed technologies will be established for the ITER FW manufacturing procedure. Korea participated in this qualification program, and is responsible for suitable arrangements for the heat flux test of our fabricated SPs. Qualification testing can be started provided that adequate quality and control measures are implemented and validated by the ITER Organization (IO). The controlling measures required for all heat flux tests shall be concrete and demonstrate the satisfaction of the IO test programs. Each country shall provide a test plan covering the quality and controlling measures in the high heat flux test facility to be implemented throughout the test program. Korean high heat flux testing for these ITER plasma facing materials will be performed by using a 60 kV electron beam and a power supply system of 300 kW, where the allowable target dimension is 70 cm × 50 cm in a vacuum chamber. In addition, this facility needs a cooling system for a high-temperature target and decontamination system for beryllium filtration.     

Test of piezo-ceramic motor technology in ITER relevant high magnetic fields

In the framework of a Fusion for Energy (F4E) grant, a test campaign started in 2012 in order to assess the performance of the in-vessel viewing system (IVVS) probe concept and to verify its compatibility when exposed to ITER typical working conditions. ENEA laboratories went through with several tests simulating high magnetic fields, high temperature, high vacuum, gamma radiation and neutron radiation.A customized motor has been adopted to study the performances of ultrasonic piezo motors technology in high magnetic field conditions. This paper reports on the testing activity performed on the motor in a multi Tesla magnetic field. The job was carried out in a test facility of ENEA laboratories able to achieve 14 T. A maximum field of 10 T, fully compliant with ITER requirements (8 T), was applied. A specific mechanical assembly has been designed and manufactured to hold the motor in the region with high homogeneity of the field. Results obtained so far indicate that the motor is compatible with high magnetic fields, and are presented in the paper.     

Status of the IDTF high-heat-flux test facility

The ITER Divertor Test Facility (IDTF) was designed for the high heat flux tests of outer vertical targets, inner vertical targets and domes of the ITER divertor. This facility was created in the Efremov Institute under the Procurement Arrangement 1.7.P2D.RF (high heat flux tests of the plasma facing units of the ITER divertor).The heat flux is generated by an electron-beam system (EBS), 800 kW power and 60 kV maximum accelerating voltage. The component to be tested is mounted on a manipulator in the vacuum chamber capable of testing objects up to 2.5 m long and 1.5 m wide. The pressure in the vacuum chamber is about 3*10⁻³ Pa. The parameters of the cooling system and the water quality (deionized water) are similar to the cooling conditions of the ITER divertor. The integrated control system regulates all IDTF subsystems and data acquisition from all diagnostic devices, such as pyrometers, IR-cameras, video cameras, flow, pressure and temperature sensors.Started in 2008, the IDTF was commissioned in 2012 with the testing the outer vertical full-scale prototypes and the completion of the PA 1.7.P2D.RF task. This paper details the main characteristics of the IDTF.     

Diagnostics carried by a light multipurpose deployer for vacuum vessel interventions

ITER will greatly rely on remote-handling operations to accomplish its scientific missions. Robotic systems will also be required to operate inside vacuum vessels in order to limit or replace human access, to intervene quickly between experimental sessions for in-vessel inspections and measurements, and to preserve the machine conditioning and thus improve machine availability. In this prospect, a multipurpose carrier prototype called Articulated Inspection Arm (AIA) was developed by CEA laboratories within the European work program. With an embedded camera, it successfully demonstrated close inspection feasibility inside Tore Supra tokamak. The AIA robot was designed for mini-invasive operations with interchangeable diagnostics to be plugged at its head. This covers various applications for the safety, the operation and the scientific mission (in-vessel inspection, plasma diagnostics calibrations or inner components analysis and treatments). This paper presents recent analysis and results obtain with diagnostics developed by CEA for in-vessel remote-handling intervention.     

Design progress on ITER port plug test facility

To achieve the overall ITER machine availability target, the availability of diagnostics and heating port plugs shall be as high as 99.5%. To fulfill these requirements, it is mandatory to test the port plugs at operating temperature before installation on the machine and after refurbishment.The ITER port plug test facility (PPTF) provides the possibility to test upper and equatorial port plugs before installation on the machine. The port plug test facility is composed of several test stands. These test stands are first used in the domestic agencies and on the ITER Organization site to test the port plugs at the end of manufacturing. Two of these stands are installed later in the ITER hot cell facility to test the port plugs after refurbishment. The port plugs to be tested are the Ion Cyclotron (IC) heating and current drive antennas, Electron Cyclotron (EC) heating and current drive launchers, diagnostics and test blanket modules port plugs.Test stands shall be capable to perform environmental and functional tests. The test stands are composed of one vacuum tank (3.3 m in diameter, 5.6 m long) and the associated heating, vacuum and control systems. The vacuum tank shall achieve an ultimate pressure of 1 × 10^?5 Pa at 100 °C containing a port plug. The heating system shall provide water at 240 °C and 4.4 MPa to heat up the port plugs. Openings are provided on the back of the vacuum tank to insert probes for the functional tests.This paper describes the tests to be performed on the port plugs and the conceptual design of the port plug test facility. The configuration of the standalone test stands and the integration in the hot cell facility are presented.     

Architecture of SPIDER control and data acquisition system

The ITER Heating Neutral Beam injectors will be implemented in three steps: development of the ion source prototype, development of the full injector prototype, and, finally, construction of up to three ITER injectors. The first two steps will be carried out in the ITER neutral beam test facility under construction in Italy. The ion source prototype, referred to as SPIDER, which is currently in the development phase, is a complex experiment involving more than 20 plant units and operating with beam-on pulses lasting up to 1 h. As for control and data acquisition it requires fast and slow control (cycle time around 0.1 ms and 10 ms, respectively), synchronization (10 ns resolution), and data acquisition for about 1000 channels (analogue and images) with sampling frequencies up to tens of MS/s, data throughput up to 200 MB/s, and data storage volume of up to tens of TB/year. The paper describes the architecture of the SPIDER control and data acquisition system, discussing the SPIDER requirements and the ITER CODAC interfaces and specifications for plant system instrumentation and control.     

HVPTF—The high voltage laboratory for the ITER Neutral Beam test facility

In the MITICA research program for the construction of the ITER Neutral Beam Injector prototype, a Laboratory for the investigation on high voltage holding in vacuum has been set up. This Laboratory - HVPTF: High Voltage Padova Test Facility - is presently capable of experiments up to 300 kV dc, and planned for the upgrade to 800 kV. The specific mission for this ancillary lab is the support to the electrostatic design and construction of the MITICA accelerator and the development and testing of HV components to be installed inside the MITICA accelerator during its operation.The paper describes the structure of the lab, characterized by a high degree of automation and reports the results of the commissioning at 300 kV and the first results of voltage holding between test electrodes.     

Preliminary design of the ITER ECH Upper Launcher

The design of the ITER electron cyclotron launchers recently reached the preliminary design level - the last major milestone before design finalization. The ITER ECH system contains 24 installed gyrotrons providing a maximum ECH injected power of 20 MW through transmission lines towards the tokamak. There are two EC launcher types both using a front steering mirror; one equatorial launcher (EL) for plasma heating and four upper launchers (UL) for plasma mode stabilization (neoclassical tearing modes and the sawtooth instability). A wide steering angle range of the ULs allows focusing of the beam on magnetic islands which are expected on the rational magnetic flux surfaces q = 1 (sawtooth instability), q = 3/2 and q = 2 (NTMs).In this paper the preliminary design of the ITER ECH UL is presented, including the optical system and the structural components. Highlights of the design include the torus CVD-diamond windows, the frictionless, front steering mechanism and the plasma facing blanket shield module (BSM). Numerical simulations as well as prototype tests are used to verify the design     

Development and experimental study of beryllium window for ITER radial X-ray camera

Radial X-ray camera (RXC) is a diagnostic device planned to be installed in the ITER Equatorial Port #12. Beryllium window will be installed between the inner and outer camera of RXC, which severs as the transmission photocathode substrate and also the vacuum isolation component. In this paper the design and manufacture process of two types of beryllium windows were introduced. Although 50 μm thickness of beryllium foil is the best choice, the 80 μm one with X-ray threshold of 1.34 keV was selected for safety consideration. Using the intermediate layer (low purity of beryllium) between the beryllium foil and the stainless steel base flange is an effective strategy to limit the welding thermal deformation and thermal stress of the thin foil caused by bonding between different materials. By using ANSYS software, the feasibility of the aperture design was analyzed and validated. Metal sealing ring was applied in the mechanical clamped beryllium window for its good stability under high temperature and neutron radiation. Although both of the hollow metal sealing ring with 0.03 mm silver coating and the pure silver sealing ring can satisfy the sealing requirement, the later one was chosen to produce the final product. Two hours 240 °C high temperature baking test, two hours 3.3 Hz vibration test and fatigue test were performed on the two types of beryllium windows. Based on the tests results, the two types of beryllium windows could stand the high temperature baking during the wall conditioning phase of ITER tokamak and the vibration during transportation without causing large leakage. Both of the two types of beryllium windows could bear impact load (0.1 MPa pressure difference) for many times without failure.     

Development of water-cooled solid breeder test blanket module in JAEA

One of the most important missions of ITER is to provide a test bed for breeding blanket modules, which are called as test blanket module (TBM). JAEA has been extensively developing a water-cooled solid breeder test blanket module (WCSB TBM) for ITER. JAEA developed fabrication technology of F82H rectangular cooling tubes, and has successfully fabricated the near-full scale first wall mock-up of WCSB TBM by hot isostatic press (HIP) technique, which is fully made of F82H. The mock-up has been high-heat flux tested in the DATS facility in JAEA, which is an ion beam test facility. The inlet temperature of the cooling water is about 280 °C with 15 MPa, which is almost the same as the WCSB TBM design conditions. The mock-up has endured a heat load of 0.5 MW/m², 30 s for 80 thermal cycles. Neither hot spots nor thermal degradation have been observed.     

Study of large gap 200 kV breakdowns in vacuum with high stored energy for ITER neutral beam accelerator

In the context of the ITER contract “ITER/CT/07/219–200 kV Stored Energy Tests”, electrical breakdown tests have been performed in vacuum with a stored energy of up to 425 J. The experiments have been conceived and performed with the collaboration of Consorzio RFX. The tests are being performed in the 1 MV test facility at IRFM, CEA-Cadarache. They should simulate the conditions that will be found in the ITER Neutral Beam accelerator, at 200 kV. This paper presents the set-up of the test bed, the choice of critical components, the diagnostic equipments and the results obtained with 200 kV applied on the anode electrode.     

Operational experience with forced cooled superconducting magnets

Force-cooled concept has been chosen for ITER superconducting magnet to get reliable coil insulation using vacuum-pressure impregnation (VPI) technology. However 17 breakdowns occurred during operation of six magnets of this type or their single coil tests at operating voltage < 3 kV, while ITER needs 12 kV. All the breakdowns started on electric, cryogenic and diagnostic communications (ECDCs) by the high voltage induced at fast current variations in magnets concurrently with vacuum deterioration, but never on the coils, though sometimes the latter were damaged too. It suggests that simple wrap insulation currently employed on ECDCs and planned to be used in ITER is unacceptable. Upgrade of the ECDC insulation to the same level as on the coils is evidently needed. This could be done by covering each one from ECDCs with vacuum-tight grounded stainless steel casings filled up with solid insulator using VPI-technology. Such an insulation will be insensitive to in-cryostat conditions, excluding helium leaks and considerably simplifying the tests thus allowing saving time and cost. However it is not accepted in ITER design yet. So guarantee of breakdown prevention is not available.     

IWR-solution for the ITER vacuum vessel assembly

The assembly of ITER vacuum vessel (VV) is still a very big challenge as the process can only be done from inside the VV. The welding of the VV assembly is carried out using the dedicated robotic systems. The main functions of the robots are: (i) measuring the actual space between every two sectors, (ii) positioning of the 150 kg splice plates between the sector shells, (iii) welding the splice plates to the sector shells, (iv) NDT of the welds, (v) repairing, including machining of the welds, (vi) He-leak tests of the welds, and (vii) the non-planned functions that may turn out. This paper presents a reasonable method to assemble the ITER VV. In this article, one parallel mobile robot, running on the track rail fixed on the wall inside the VV, is designed and tested. The assembling process, carried out by the mobile robot together with the welding robot, is presented.     

High power millimeter wave experiment of torus diamond window prototype for ITER EC H&CD system

The design of the torus diamond window for the ITER electron cyclotron heating and current drive (EC H&CD) system has advanced considering a reliable and manufacturable structure. The diamond window prototype was fabricated based on the design and the high power experiment was carried out to verify the millimeter wave transmission capability. Transmission of 740 kW-100 s was demonstrated and no significant temperature increase of the window structure and no damage on the diamond disk were obtained. The temperature saturation of the cooling water for the window was observed and loss tangent of 7.8 × 10^?6, which was the lowest value that we had ever obtained at JAEA, was evaluated. This result indicates that the diamond window design is feasible and promising the high power more than 1 MW transmission.     

Characterization and qualification of advanced insulators for fusion magnets

Intensive research over the past decades demonstrated that the mechanical material performance of epoxy based glass fiber reinforced plastics, which are normally used by industry as insulating materials in magnet technology, degrades dramatically upon irradiation to fast neutron fluences above 1 × 10²² m^?2 (E > 0.1 MeV). which have to be expected in large fusion devices like ITER. This triggered an insulation development program based on cyanate ester (CE) and blends of CE and epoxies, which are not affected up to twice this fluence level, and therefore appropriate for large fusion magnets like the ITER TF coils. Together with several suppliers resin mixtures with very low viscosity over many hours were developed, which renders them suitable for the impregnation of very large volumes. This paper reports on a qualification program carried out during the past few years to characterize suitable materials, i.e. various boron-free R-glass fiber reinforcements interleaved with polyimide foils embedded in CE/epoxy blends containing 40% of CE, a repair resin, a conductor insulation, and various polyimide/glass fiber bonded tapes. The mechanical properties were assessed at 77 K in tension and in the interlaminar shear mode under static and dynamic load conditions prior to and after reactor irradiation at ~340 K to neutron fluences of up to 2 × 10²² m^?2 (E > 0.1 MeV). i.e. twice the ITER design fluence. The results confirmed that a sustainable solution has become available for this critical magnet component of ITER.     

Analysis of edge magnetic field line structure in ITER due to in-vessel ELM control coils

In this work we evaluated the ITER ELM coils design based on two metrics: the Chirikov vacuum magnetic island overlap parameter, and the vacuum Field Line Loss Fraction. The study was performed for a range of current amplitudes for three different n = 4 waveforms: square, cosine and sine. The results indicated that ITER ELM coils are designed with a high level of flexibility to accommodate different operation scenarios (H-mode and Steady State) with different values of q₉₅ and q-profiles. The magnetic island overlap analysis showed that ITER ELM coils are capable of matching the DIII-D I-coil spectrum. The Field Line Loss analysis showed that edge vacuum stochastization might be achieved that is similar or greater than in DIII-D. Fault analysis of the coils indicated that ITER ELM coils are robust and show good characteristics even with 11% of dead coils.