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In this work we present the latest progresses (September 2018) in the conceptual design of the main containment structures of DTT fusion reactor. The previous DTT baseline design is revised in terms of structural materials and overall reactor shape. The major change involves the vacuum vessel, which now foresees a welded double-wall stainless steel structure. The basic design includes eighteen sectors, with novel ports configuration for remote maintenance systems, diagnostics and heating equipment. New supports are designed for the first wall, which is conveniently segmented in view of assembly and remote replacement. The cryostat of the machine is conceived as a single-wall cylindrical vessel reinforced by ribs. The cryostat base is also in charge of supporting the vacuum vessel and the magnets system. A preliminary FEA analysis confirms that the main mechanical structure might withstand the design loads, in particular the ones resulting from possible plasma disruptions. [ABSTRACT FROM AUTHOR]

Abstract Remote handling of heavy in-vessel components inside nuclear fusion reactors requires the use of large robotic mechanisms, whose numerical analysis is highly complex. As a matter of fact, these robots are subject to large deformations, either induced by the geometric configuration of their mechanical structure or by the heavy payloads they usually transport. This work was motivated by the need of deriving physical-based predictive models able to simulate the mechanical behavior of such large robotic mechanisms, while performing dynamic tasks. The method formulates the dynamics of robotic manipulators on a Lie group, and uses a finite element procedure to discretize the flexible bodies. The method is applied to a complex mechanism, the serial/parallel flexible manipulator which has been recently selected for DEMO blanket remote handling. The case studies investigated in this paper involve the simulations of this manipulator while handling the inboard and outboard blanket segments according to the sequence of maneuvers planned for their removal processes from the vessel. The results show that such dynamic simulations could give useful information for design, analysis and control of remote handling equipment. The generality of the method makes this approach prone to be easily used in simulating the dynamics of other flexible manipulators for remote handling of large in-vessel components inside nuclear fusion reactors. [ABSTRACT FROM AUTHOR]

The realization of a specific REMote HAndling Test and Training Facility (REMHAT) is necessary for the development and optimization of the Remote Handling (RH) system, to demonstrate the fulfilment of all its design requirements, for testing and validation of the RH maintenance procedures, for the qualification and acceptance testing of RH equipment and tooling. Furthermore, it provides training and certification to the RH maintenance operators, by making available to operators the knowledge, instructions and experiencing of the Virtual Simulator platform, the control room devices, the robots and tooling to be used for RH tasks. In this work, the preliminary architecture of the DTT REMHAT facility is described, with a focus on the added value of the adoption of Virtual Reality (VR) technologies enabling real-time alignment of virtual robots' configuration with the real ones (Digital Twin). A first approach to the facility design is proposed, starting from the technical requirements: Environmental, Design, Physical, Functional, Operational, Human Factors and Product assurance and safety. The proposed logical architecture consists of four Sub-Systems (S/S): building and auxiliaries, mock-ups, robots and Control Room. In the present work, a particular attention is paid on the last one. The idea is to create a digital twin of the RH equipment mock-ups to be coupled with software of real-time structural simulation, in order to have at disposition and show in VR environment real-time additional information about the real environment, like robots' deflections and/or vibrations, clearances and possible collisions detection. These data could be crucial for the operator's decision-making process about a sudden intervention on the RH system, further to their employment for future studies and optimization. Therefore, for each subsystem of the facility, the components identification and a description of the software and hardware aspects are provided. In conclusion, an overview of the critical issues of such complex system is presented, in order to prepare the ground for future research works. [ABSTRACT FROM AUTHOR]

• A new systems engineering procedure to manage requirements is discussed. • How to use the system requirements document is shown. • A participative approach involving experts with specific roles is adopted. • Engineering requirements of the EU-DEMO divertor are identified and formalized. • The propagation of divertor parent requirements is carried out. Systems Engineering allows to address the design of complex systems from the early stage until the end of its lifetime with the aim to realize successful systems. The intrinsic complexity of tokamak design requires to adopt Systems Engineering guidelines to write correctly and efficiently a large set of system requirements. Well-formed requirements would make efficient and consistent the downstream design, integration, and verification of a system. The process of requirements definition, conformed to Guide to System Requirements Definition recommended in fusion field, is far from simple and fast. The requirements definition phase encourages the early identification of issues that can be acted in the life cycle. This paper firstly highlights a new procedure to include requirements of a tokamak component in the requirement management tool of the whole system. This work identifies engineering requirements and constraints and describes their impact on the selection of the design principles of the EU-DEMO divertor system. The new identified procedure is developed using a participative approach involving experts belonging to different working groups. [ABSTRACT FROM AUTHOR]

This paper proposes a System Engineering-based iterative design approach for the DTT HyRMan, an hyper redundant manipulator conceived to perform Remote Maintenance (RM) of the FW modules and inspection tasks in the DTT vacuum vessel. According to the "RFLP" paradigm of the "V-model" (Requirements, Functionalities, Logical and Physical architecture, with the respective test phases), after having defined the manipulator's Requirements and Functionalities, the Logical and Physical architectures have been established. In particular, the current design of hyper redundant manipulator is characterized by twelve joints (two prismatic and ten revolute), with a Planar and a Dexterous Arm. Once defined the ideal operative procedures, the Verification phase of Systems Engineering approach has been carried out. The HyRMan behaviour has been simulated and tested in virtual environment under the in-vessel geometric constraints, to evaluate the overall encumbrance and the remote operations feasibility. The kinematic analyses were performed simulating links and joints as rigid bodies, using the software Delmia in the same Dassault Systèmes V5 platform used for 3D CAD modelling (CATIA V5). Flexibility analyses performed in SimSOFT have confirmed that the HyRMan can be modelled using the rigid body assumption with sufficient confidence, as flexible effects along the length of the links are negligible with the current design of the manipulator. The workflow of actions implemented within the virtual platform and the obtained results are discussed in the paper, further to the evaluation of alternative design solutions in case of reachability or collision avoidance criticalities for the HyRMan. [ABSTRACT FROM AUTHOR]

• Screw-based nonlinear finite element formulation for advanced modeling of flexible mechanical systems. • Input shaping predictive control algorithms for command generation and vibration control of flexible mechanical systems. • Simulation tools for predicting the motion of DEMO flexible mechanical systems for analysis, planning and control purposes. • Simulation of: Telescopic Articulated Remote Mast; Hybrid Kinematic Mechanism. • Perspectives and discussion about future research on modeling and control for DEMO remote maintenance systems. The goal of this paper is to disseminate the main results achieved within the FlexARM project. The project deals with advanced modeling techniques and predictive control strategies for flexible mechanical systems intended to be used in remote tasks inside advanced nuclear fusion reactors. This article aims at underlying the main aspect of the FlexARM methodology and paves the way towards future research in the field. [ABSTRACT FROM AUTHOR]

Divertor is a crucial component in Tokamaks, aiming to exhaust the heat power and particles fluxes coming from the plasma during discharges. This paper focuses on the optimization process of FAST divertor, aimed at achieving required thermo-mechanical capabilities and the remote handling (RH) compatibility. Divertor RH system final layout has been chosen between different concept solutions proposed and analyzed within the principles of Theory of Inventive Problem Solving (TRIZ). The design was aided by kinematic simulations performed using Digital Mock-Up capabilities of Catia software. Considerable electromagnetic (EM) analysis efforts and top-down CAD approach enabled the design of a final and consistent concept, starting from a very first dimensioning for EM loads. In the final version here presented, the divertor cassette supports a set of tungsten (W) actively cooled tiles which compose the inner and outer vertical targets, facing the plasma and exhausting the main part of heat flux. W-tiles are assembled together considering a minimum gap tolerance (0.1–0.5 mm) to be mandatorily respected. Cooling channels have been re-dimensioned to optimize the geometry and the layout of coolant volume inside the cassette has been modified as well to enhance the general efficiency. [ABSTRACT FROM AUTHOR]

In contexts in which mechanized harvesting is limited, such as in the northwestern Black Sea region of Turkey, it is important to improve timber harvesting productivity while preserving operators' safety and reducing environmental damage. This study aims to introduce a methodology in which the harvesting process is simulated with discrete-event simulation (DES) software in order to identify bottlenecks. An alternative process is compared to the original within the DES software, carrying out further steps oriented to the generation of new innovative product concepts. As a case study, the design of an innovative skidding winch is proposed. The development of the product was focused towards customer satisfaction by collecting customer requirements and identifying quality characteristics with a quality function deployment approach. Contradictions identified in the design phase were solved using the TRIZ contradiction toolkit, generating different product concepts. Inventive solutions provided by TRIZ were designed within parametric CAD software. The concepts were compared in a virtual environment, eventually selecting an optimal solution. The results showed that, with the concept adopted, it is possible to achieve a substantial increase in productivity, from 121% to 133%, in terms of kilograms of logs per hour deposited on the landing. [ABSTRACT FROM AUTHOR]

We conducted a comparative study of chipping logging residues at the roadside landing or at the yarder pad, the latter inaccessible to heavy road vehicles. Field data was collected from real operations in the Italian mountain, and it was used for building a simulation model that could generalize the results of the study. The model was built with Arena 14 and carefully reflected interaction delays between individual units along the chain. Chipping at the pad with a chipper and two shuttles was the best compromise solution of low supply cost and fuel consumption. At a mean cost of €22.7 per fresh tonne, this solution was 10% cheaper than chipping at the landing. Using three chip shuttles did not allow a meaningful reduction of supply cost over a two-shuttle chain, but resulted in a 7% increase of fuel consumption. The distance between the pad and the roadside landing was by far the most important factor in determining supply cost, and accounted for 80% of the variability in the data, for both systems. Under these circumstances, the higher speed and payload of the chip shuttles made it preferable to chip at the pad, provided enough shuttles are available. [ABSTRACT FROM PUBLISHER]

Trailers are used to carry logs having specific dimensions for logging extraction operations, secondary transportation, and agricultural activities. The main objective of this study was the design of a timber trailer capable of manual loading operations and suitable for rough terrain conditions to be used in combination with a farm tractor in the western Black Sea region of Turkey. In the proposed methodology, a House of Quality diagram was used to transfer customer requirements into quality characteristics, and focus the development of the product toward customer satisfaction. Negative correlations between quality characteristics were solved using the TRIZ contradiction toolkit and generating different concepts. Inventive solutions provided by TRIZ were designed with parametric CAD software. Several concepts were compared in a participative design review session in an immersive virtual reality environment. To choose an optimal concept, the analytic hierarchy process (AHP) was used. The final concept has a total length of 3.35 m, width of 1.34 m, and height of 1.8 m. The mass is 2700 kg, the payload capacity is about 2.33 m³, and the total volume of the chassis is 2.68 m³. The angle of rollover is 26.9°, the door is reachable by 90% of the population, and the lower back analysis performed for the loading operation showed a maximum value of 2597 N. The final concept is capable of movement in steep terrain and with the presence of obstacles, carrying logs up to 3-m long. It is more productive among high-density stand trees, allows for ergonomic loading operations, and reduces environmental damage to soil and vegetation. [ABSTRACT FROM AUTHOR]

• The main requirements of Configuration Management platform of the DTT project are defined and the suitable Product Lifecycle Management platform is then selected. • A novel platform that ensures the Technical Integration of the DTT project is proposed and a SWOT analysis is carried out. • The Product Breakdown Structure of the DTT facility is implemented evaluating benefits and limits of the chosen collaborative cloud-based platform. Effective project management methods, tools and working practices shall be applied to facilitate the communication and collaboration among the different institutions involved in the Divertor Tokamak Test (DTT) project. This paper deals with the definition of the configuration management platform architecture enabling technical integration of the DTT system. The first step consists in the identification of main requirements the platform should satisfy, considering the multidisciplinary domains and the geographically dispersed working teams characterizing the nuclear fusion sector and the maturity level of the specific project. Main characteristics of the most advanced Product Lifecycle Management (PLM) tools are identified, their limits and benefits are evaluated, and the suitable PLM platform is selected, satisfying the DTT project needs. The definition of the architecture of the configuration management platform for the DTT project aims at implementing the DTT assembly model in a unique environment able to exchange models and data even developed outside the platform ensuring the congruence of the design, the traceability of design changes and the adoption of a proper Systems Engineering approach. [ABSTRACT FROM AUTHOR]

This work proposes a novel virtual reality system which makes use of wearable sensors for testing and validation of cooperative workplaces from the ergonomic point of view. The main objective is to show, in real time, the ergonomic evaluation based on a muscular activity analysis within the immersive virtual environment. The system comprises the following key elements: a robotic simulator for modeling the robot and the working environment; virtual reality devices for human immersion and interaction within the simulated environment; five surface electromyographic sensors; and one uniaxial accelerometer for measuring the human ergonomic status. The methodology comprises the following steps: firstly, the virtual environment is constructed with an associated immersive tutorial for the worker; secondly, an ergonomic toolbox is developed for muscular analysis. This analysis involves multiple ergonomic outputs: root mean square for each muscle, a global electromyographic score, and a synthetic index. They are all visualized in the immersive environment during the execution of the task. To test this methodology, experimental trials are conducted on a real use case in a human–robot cooperative workplace typical of the automotive industry. The results showed that the methodology can effectively be applied in the analysis of human–robot interaction, to endow the workers with self–awareness with respect to their physical conditions. [ABSTRACT FROM AUTHOR]

This paper proposes a virtual reality-based dual-mode teleoperation architecture to assist human operators in remotely operating robotic manipulation systems in a safe and flexible way. The architecture, implemented via a finite state machine, enables the operator to switch between two operational modes: the Approach mode, where the operator indirectly controls the robotic system by specifying its target configuration via the immersive virtual reality (VR) interface, and the Telemanip mode, where the operator directly controls the robot end-effector motion via input devices. The two independent control modes have been tested along the task of reaching a glass on a table by a sample population of 18 participants. Two working groups have been considered to distinguish users with previous experience with VR technologies from the novices. The results of the user study presented in this work show the potential of the proposed architecture in terms of usability, both physical and mental workload, and user satisfaction. Finally, a statistical analysis showed no significant differences along these three metrics between the two considered groups demonstrating ease of use of the proposed architecture by both people with and with no previous experience in VR. [ABSTRACT FROM AUTHOR]

Nowadays, technology in sport plays an important role to help training and judgement processes. This study proposes the use of a wearable inertial system to derive novel biomechanical indices for the assessment of performance and infringements in race-walking. These indices are built from five inertial-based parameters: loss of ground contact time, loss of ground contact step classification, step length ratio, step cadence and smoothness. The biomechanical indices are customized for elite race-walkers, and represented on a radar chart for an intuitive analysis of performance and infringements. From the radar chart, a synthetic index regarding the athlete's overall gesture is derived. The validation of the biomechanical indices is carried out in field tests, involving nine elite race-walkers wearing an inertial sensor located at the end of the column vertebra (L5–S1). A statistical analysis is used to determinate the quality and reliability of the proposed indices and of their representation. The results show that these biomechanical indices can be implemented on a wearable inertial system for assistance in training and judgement in race-walking. [ABSTRACT FROM AUTHOR]

In this paper, a novel concept of robotic manipulator is developed for direct additive manufacturing on non-planar surfaces. The application scenario is the metal coating of the internal surface of radome systems, using frequency selective surface patterns. The manipulator is presented from the design, modeling, and control point of view. It is developed following an application-driven approach, meaning that the requirements from the application and the additive manufacturing technology are translated into the design specifications of the robotic system. Simulation results demonstrate that the proposed control strategy based on a decentralized architecture is satisfactory to accurately control the motion of the robotic mechanisms along the trajectory foresees by the direct additive manufacturing task. [ABSTRACT FROM AUTHOR]

System engineering (SE) methods and principles are nowadays widely adopted in the product development processes, especially in the industrial sector, where saving production time and costs are primary goals. This work describes an application of a particular SE methodology, the V-model-based design, in which the system development lifecycle is divided on the basis of a graphical V-shaped scheme, called V-model. Following this approach, a new concept of charging arm for Robotic Train Inspection Monorail (TIM) of Large Hadron Collider (LHC) at CERN (Conseil Européen pour la Recherche Nucléaire) has been developed. The current charging arm version is affected by several issues and limits that have led to the necessity of a new solution. Starting from the first stages of functional requirements (FRs) definition and decomposition (left side of the "V"), a new concept has been implemented, in order to be tested for its verification and validation (right side of the "V"). As part of the principles of SE, the process has been based on virtual models of the product and on virtual simulations of its operation, rather than on the realization of time-consuming and expensive physical models and tests, even if a final physical prototype has also been built and some physical operative tests have also been carried out on it. These tests have showed that the new product appears to fulfill each one of its FRs and overcome the limits imposed by the previous version. The future commissioning and operative tests in the real operating condition and location shall definitely validate the new product. [ABSTRACT FROM AUTHOR]

This paper refers to the activity of structural design of DEMO Divertor in the framework of the EUROfusion Consortium. The structural analysis and its preparatory assessments were carried on since a year and the first results were published in a previous paper. The Cassette Body has been examined considering the most conservatives loads (e.g. coolant pressure, volumetric nuclear heating and electro-magnetic loads) according to their latest estimates. This work is based on the design-by-analysis approach adopted in the conceptual design phase of the DEMO Divertor. This design activity has been focused on some key parameters e.g. loads, main geometric dimensions, positions of the Cassette attachments on the vacuum vessel, way of loads application to characterize the structural behavior of the Divertor Cassette. In addition to the existing 3D solid element model, a shell element model has also been developed: with this new model a parametric analysis can be done for a fast optimization. The structural assessment was done according to the Design and Construction Rules for Mechanical Components of Nuclear Installation (RCC-MRx). [ABSTRACT FROM AUTHOR]

The present work focuses on structural assessment of DEMO Vacuum Vessel Lower Port structure. Since previous studies have been addressed the structural scheme of the main vessel, this work investigates a feasible layout of vessel supports defining the position of the pumping port cut and different inclinations of the lower port. All design configurations have been analysed according to Design and Construction Rules for Mechanical Components of Nuclear Installations. The structure was checked against a vertical load due to a Vertical Displacement Event in combination with the estimated mass of all components supported by the vessel. The outcome of the assessment gives relevant information about the optimal position of the supports, the impact of the pumping port duct cut and the lower port inclination. [ABSTRACT FROM AUTHOR]

In this work, we present a general control architecture for robotic systems dedicated to the remote handling of in-vessel components in fusion machines. This control architecture will be tested for the inspection and maintenance of the first wall components of the RFX-mod2 experiment, in the scope of the New Equipment For the Experimental Research and Technological Advancement for the Rfx Infrastructure (NEFERTARI) project. The architecture is split into low-level and high-level layers. The former is used for the low-level control of the robotics systems and to manage safety; the latter is used for the high-level planning and implements several sub-modules, such as a Virtual Reality (VR) environment for the visualisation of the robot's digital twin. Moreover, an Application Programming Interface (API) is intended to connect the two layers, and the communication between modules and layers is provided by the ROS2 framework. A typical usage of such a framework involves a human operator who is teleoperating the real robot, data from motor encoders are used as inputs for the dynamic model module. This module is used to compute the forward dynamics in real-time, providing an accurate simulation of the robot (digital twin) in the virtual environment. • Generic control architecture for control of robotic manipulators used in remote handling tasks. • Description of the software control architecture, which is based on ROS2 Framework, dynamic simulation engine and VR for accurate digital twin. • Description of the NEFERTARI project and its robotic arm where the architecture will be implemented. [ABSTRACT FROM AUTHOR]

This paper explores a possible integration of some ancillary systems of helium-cooled lithium lead (HCLL) and helium-cooled pebble-bed (HCPB) test blanket modules in ITER CVCS area. Computer-aided design and ergonomics simulation tools have been fundamental not only to define suitable routes for pipes, but also to quickly check for maintainability of equipment and in-line components. In particular, accessibility of equipment and systems has been investigated from the very first stages of the design using digital human models. In some cases, the digital simulations have resulted in changes in the initial space reservations. [ABSTRACT FROM AUTHOR]

• The present work deal with the design activities of an insulated Plasma Facing Components-Cassette Body (PFCs-CB) support. • The PFC support model for European DEMO divertor has been developed and optimized in CAD environment including an electrical insulation system. • Structural and thermal FEM analysis have been performed with the aim to optimize the ceramic insulating system The design activities of an insulated Plasma Facing Components-Cassette Body (PFCs-CB) support has been carried out under the pre-conceptual design phase for Eurofusion-DEMO Work Package DIV-1 "Divertor Cassette Design and Integration" - Eurofusion Power Plant Physics & Technology (PPPT) program. The Eurofusion-DEMO divertor is a key in-vessel component with PFCs which directly interact with the plasma scrape-off layer. The PFCs have to cope with high heat loads, neutron irradiation and electromagnetic loads. The mechanical integrity of the PFCs and water cooling pipes can be jeopardized by high heat loads and by electromagnetic loads generated in a disruption event. In European-DEMO the possibility to estimate the heat load by measuring the relative thermocurrents is under investigation. In order to allow thermocurrents measurements, a divertor design option provides that PFCs are electrically insulated from CB. In this work authors aim to analyze the opportunity that the PFC-CB fixing system incorporates an electrical insulation system, thus acquiring also an important diagnostic role in the measurement of the thermocurrents and in the management of the current flows. The possible use of ceramic material (e.g. alumina) as the insulating layer between the support components is investigated. [ABSTRACT FROM AUTHOR]

In the current pre-concept phase of the European DEMO, integration studies of the systems in the Upper Port area are being carried out. In DEMO, the Upper Port of the Vacuum Vessel is extraordinarily large to allow for the vertical extraction of the Breeding Blanket segments. This requires a number of components inside and outside the port to be integrated with tight space constraints: The Upper Port structure and its annexes, the adjacent Toroidal and Poloidal Field Coils, the Thermal Shields, the piping connection to the Vacuum Vessel Pressure Suppression System, the Shield Plug and its inserts, the feeding pipework of the in-vessel components and part of the Breeding Blanket supporting structures. Apart from functional aspects, the design of these components is driven by considerations of structural integrity, maintainability and irradiation shielding, which are mutually competing in many areas. Several studies were conducted on the design of the Upper Port and the required configuration of the components within. The present article describes the development approach, the studied options and the respective results, the identified issues as well as the proposed engineering solutions, in particular with respect to the mechanical design of the Upper Port and the integrated Shield Plug. [ABSTRACT FROM AUTHOR]

The International Fusion Materials Irradiation Facility-DEMO Oriented Neutron Source (IFMIF-DONES) consists of complex systems and massive components that need to be on site assembled and maintained. For several of them it is required to perform maintenance, inspection and monitoring tasks over many years in a hostile environment and in efficient, safe and reliable manner. The maintenance of IFMIF-DONES' systems and components, located mainly in the Test Systems (TS), in the Lithium Systems (LS) and in the Accelerator Systems (AS), is classified as a Remote Handling (RH) Class 1st activity and as such is considered a crucial and essential activity whose success will strictly depend on the IFMIF-DONES RH capability. According to this, a Remote Handling System (RHS) for IFMIF-DONES, which comprises the whole set of Remote Handling Equipment and tooling for the execution of maintenance tasks, has been designed. A wide range of technologies is involved: special cranes, manipulator arms, lift interface frames, special cameras, control systems and virtual reality. In this paper an overview on status of the design of the main robotic systems and tooling of the RHS of IFMIF-DONES, including design requirements, functions and maintenance tasks to be performed, is given. [ABSTRACT FROM AUTHOR]

• The present work focused on alternative design of DEMO Water Cooled Lithium Lead Breeding Blanket. • The structural feasibility of the proposed design has been checked against one of the most severe load conditions. • FEM analyses of the simplified model have been run in case of Over Pressurization Scenario. • Optimization analyses have been carried out the fix the layout of the internal structure of the Breeding Blanket Segment. One of the most critical components in the design of DEMO Power Plant is the Breeding Blanket (BB). Currently, four candidates are under study as options for DEMO. One of these is the Water Coolant Lithium Lead (WCLL) Breeding Blanket (BB). During the previous years a conceptual design of WCLL BB has been developed. At the current stage some open issues related to its manufacturability and design are still under evaluation. Since DEMO project is still in the pre-concept phase, the WCLL BB design team decided to investigate, in parallel with the current studies, an alternative design of the WCLL BB internal structure inspired to studies conducted in '90 s. The main drivers, in developing the alternative design, consisted on reducing the complexity of the internal structure itself and increasing the performances of the single module in terms of neutron shielding, tritium self-sufficiency, heat extraction and transportation to the primary heat transfer system and magneto hydrodynamic effects. All that, taking into account the lesson learned by the studies carried out in the last three years. The segment has been conceived as a single box where the lithium lead flows inside the module in poloidal direction. The rear part of the module is entirely dedicated to the cooling water manifold. A first 3d model of the alternative design has been developed, structural analyses have been carried out to optimize the internal structure against an over pressurization scenario. The results and the optimized design of the alternative WCLL BB design are here presented and discussed. [ABSTRACT FROM AUTHOR]

This paper presents the recent progress in the pre-conceptual design activities for the EU-DEMO divertor Cassette Body, performed in the framework of the work package "Divertor" of the EUROfusion Power Plant Physics & Technology (PPPT) program. According to Systems Engineering Principles, the divertor CAD model is reviewed, considering the updates in the DEMO configuration model presented by the Programme Management Unit (PMU) in 2017. The design parameters affected by these changes and their impact on the divertor design and on the interfaced systems are analysed. Then, the paper focuses on the integration on the new cassette geometry of the divertor sub-systems. This includes the design of a "shielding liner" for cassette body and Vacuum Vessel protection, as well as the development of the cassette body-to-Vacuum Vessel fixation system. The design activities related to these main sub-systems are discussed in detail, in terms of CAD model and thermo-mechanical calculations. [ABSTRACT FROM AUTHOR]

Introduction and Objectives: Fabrication processes for spinal orthoses require accurate three-dimensional (3D) models of the patients' trunk. Current methods for 3D reconstruction used in this field mainly include laser or structured light scanning; these methods are time expensive and invasive, especially for patients with partial disabilities. Therefore, a theoretically instant system for data acquisition of anatomical structure is highly desirable. The objective of this work is to show the feasibility of using digital photogrammetry for human body digitization to generate accurate 3D models of the patients' trunk for spinal orthoses fabrication. Materials and Methods: Multiple synchronized two-dimensional images of the human torso are captured from different points of view using a photogrammetric scanner. A 3D model is generated using the state-of-the-art algorithms for point cloud and surface reconstruction. The digitized model is then used as input for the standard computer-aided design (CAD)/computer-aided manufacturing (CAM) process of fabrication. R4D from Rodin4D is used as prosthetics and orthotics CAD software. A robotic cell constituted by a six-axis KUKA KR 30–3 is used for milling a polyurethane foam. Vacuum forming is then adopted to generate the orthosis. Two spinal orthoses are fabricated using this approach and a classical one; then, they are evaluated using quantitative and qualitative metrics. Results: The data acquisition using this approach lasts 50 milliseconds. The 3D reconstruction accuracy averages 0.21 ± 1.27 mm, which suits for the considered health care scenario. Results of the initial fitting of the orthoses fabricated with the presented method show better performances in terms of time (44%), product quality (35%), and patient experience (30%). Conclusions: Digital photogrammetry can be used to enhance the data acquisition and data processing of anatomical surfaces for the CAD/CAM process of spinal orthoses. The data acquisition time, almost instant, allows an easy compliance of many patients. The data processing allows generating accurate models of the patient's body. The overall process generates orthoses with a better quality with respect to those manufactured using conventional procedures. [ABSTRACT FROM AUTHOR]

Highlights • The paper focuses on design assessment of the DEMO Upper Port structures. • The work provides an alternative design of DEMO Upper Port. • The structural feasibility of the proposed design has been checked against the most severe load conditions. • FEM analyses of the Upper Port Structures have been run in different load conditions. • The results of FEM analyses proved the feasibility of the proposed design. Abstract The present work focuses on the design assessment of the DEMO Upper Port. The size of the upper port is defined by the available space in between the toroidal field coils and the required space to integrate a thermal shield between the vacuum vessel (VV) port and the coils. Since the large breeding blanket (BB) segments will require periodic replacement via the upper vertical ports the space inside the upper port needs to be maximized. For this reason the optimization and verification of the upper port design is a critical aspect in the development of DEMO project. The work here presented investigates the possibility to have an upper port with single walled sidewalls to increase the space available inside the port for the integration of pipe work and to allow the handling of the BB segments. The work carried out evaluates the feasibility of the design solution from the structural and thermal point of view verifying the upper port structure against nuclear heating, in-vessel pressure, and electromagnetic loads due to a toroidal field coil fast discharge and plasma disruptions according to nuclear codes. [ABSTRACT FROM AUTHOR]

The water-cooled lithium-lead (PbLi) breeding blanket is one of the candidate systems considered for the implementation in the European Demonstration Power Plant (DEMO) nuclear fusion reactor. This concept employs PbLi liquid metal as tritium breeder and neutron multiplier, water pressurized at 15.5 MPa as the coolant, and EUROFER as the structural material. The current design is based on the single module segment approach and follows the requirements of the DEMO-2015 baseline design. The module is constituted by a basic toroidal–radial cell that is recursively repeated along the poloidal direction where the liquid metal flows along a radial–poloidal path. The heat generated by the fusion reactions is extracted by means of separate cooling systems for the breeding zone and the first wall. A back supporting structure is dedicated to withstand loads of the module during normal and off-normal operations. Water and PbLi manifolds are integrated with primary heat transport and tritium extraction systems. The status of the conceptual design is presented, critically discussing its rationale and main features as supported by neutronic, thermal-hydraulic, magneto-hydrodynamic, and thermo-mechanic analyses. Recent results are outlined, pointing out open issues and development needs. [ABSTRACT FROM AUTHOR]

One of the most critical components in the design of DEMO Power Plant is the Breeding Blanket. Currently, four candidates are investigated as options for DEMO. One of these is the Water Coolant Lithium Lead Breeding Blanket. A new concept design has been proposed and investigated in 2015. The first activity driving the Breeding Blanket design was the definition of the poloidal segmentation. Current trend in breeding blanket design is based on the multi module box approach, which has advantages in terms of manufacturing, in reducing the global stress and strain during the start-up and the shut-down phases and during operation, because the favourable thermal expansions; and in simplifying the First Wall layout and integration. Nevertheless, drawbacks are identified, such as the reduction of Tritium Breeding Ratio, the constraints in manifold and in Back Supporting Structure design and integration because the limited space available. The present work concerns a method that, starting from these constraints, defines and optimizes some of the main design drivers for the selection of the segmentation of the Water Coolant Lithium Lead Breeding Blanket. The method by definition is based just on geometrical parameters because it is used as first step of the design when any analysis and detailed data are available. It is based on the definition of Figures Of Merits, consisting in numerical parameters, such as the ratio between the modules volume and the overall volume of segment assigned, the approximation between the real profile of the modules and the theoretical one, the form factor of the modules, the ratio between the module thickness at the mid-plane and the segment thickness at the same position. The figures of merits support the choice among different options. In particular two different solutions of poloidal segmentation have been compared and, according to the proposed method, the best one was chosen for the design of Water Coolant Lithium Lead Breeding Blanket. [ABSTRACT FROM AUTHOR]

Artificial limbs can help people missing body parts to restore some of their daily-life activities. However, the user should spend up to a few months to intuitively control the new device. During this period, she/he may suffer pain due to wearing or using the prosthesis inappropriately. This research presents a virtual simulator that allows the user to carry out training sessions for controlling the prosthesis. A set of Surface Electromyographic (sEMG) sensors are used to acquire the signals from user's muscles and send them to a recognition algorithm that interprets the patient's intentions. Simultaneously, the patient observes the response of her/his device on the simulator. Two studies are presented: the first study evaluate the performance of three different recognition algorithms i.e., Linear Discriminant Analysis (LDA), Support Vector Machine (SVM), and Multi-Layer Perceptron (MLP), based on the successful recognition of the patient's intentions. The second study investigates the least number of sEMG sensors to be used, as having less components improves the patient's wearability and decreases the processing time. The developed simulator represents a real prosthetic device, PRISMA hand II. The results showed the superiority of the MLP with 80% of successful recognition when 6-sEMG sensors are used. If a reduced set of gestures is considered (frequently needed by the patient), 90% of successful recognition could be achieved. Less sEMG sensors significantly degraded the performance of the recognition algorithm as only 53.8% of successful recognition could be achieved. All experiments were conducted with the help of a patient with below-elbow amputation. [ABSTRACT FROM AUTHOR]

This paper focuses on a preliminary structural analysis of the current concept design of DEMO vacuum vessel (VV). The VV structure is checked against a vertical load due to a Vertical Displacement Event in combination with the weight force of all components that the main vessel shall bear. Different configurations for the supports are considered. Results show that the greatest safety margins are reached when the tokamak is supported through the lower ports rather than the equatorial ports, though all analyzed configurations are compliant with RCC-MRx design rules. [ABSTRACT FROM AUTHOR]

This paper describes the development of a master model concept of the DEMO vacuum vessel (VV) conducted within the framework of the EUROfusion Consortium. Starting from the VV space envelope defined in the DEMO baseline design 2014, the layout of the VV structure was preliminarily defined according to the design criteria provided in RCC-MRx. A surface modelling technique was adopted and efficiently linked to the finite element (FE) code to simplify future FE analyses. In view of possible changes to shape and structure during the conceptual design activities, a parametric design approach allows incorporating modifications to the model efficiently. [ABSTRACT FROM AUTHOR]

The EUROfusion Consortium is setting up – as part of the EU Fusion Roadmap – the framework for the implementation of the (pre)conceptual design phase of the DEMO reactor. Configuration management needs have been identified as one of the key elements of this framework and is the topic of this paper, in particular the configuration of the CAD design data. The desire is to keep the definition and layout of the corresponding systems “light weight” and relatively easy to manage, whilst simultaneously providing a level of detail in the definition of the design configuration that is fit for the purpose of a conceptual design. This paper aims to describe the steps followed during the definition of the configuration management system of the DEMO design data in terms of (i) the identification of the appropriate product data management system, (ii) the description of the philosophy of the configuration management of the design data, and (iii) the introduction of the most important enabling processes. [ABSTRACT FROM AUTHOR]

Complete and detailed 3D scanning of cultural heritage artifacts is a still time-consuming process that requires skilled operators. Automating the digitization process is necessary to deal with the growing amount of artifacts available. It poses a challenging task because of the uniqueness and variety in size, shape and texture of these artifacts. Scanning devices have usually a limited focus or measurement volume and thus require precise positioning. We propose a robotic system for automated photogrammetric 3D reconstruction. It consists of a lightweight robotic arm with a mounted camera and a turntable for the artifact. In a virtual 3D environment, all relevant parts of the system are modeled and monitored. Here, camera views in position and orientation can be planned with respect to the depth of field of the camera, the size of the object and preferred coverage density. Given a desired view, solving inverse kinematics allows for collision-free and stable optimization of joint configurations and turntable rotation. We adopt the closed-loop inverse kinematics (CLIK) algorithm to solve the inverse kinematics on the basis of a particular definition of the orientation error. The design and parameters of the solver are described involving the option to shift the weighting between different parts of the objective function, such as precision or mechanical stability. We then use these kinematic solutions to perform the actual scanning of real objects. We conduct several tests with different kinds of objects showing reliable and sufficient results in positioning and safety. We present a visual comparison involving the real robotic system with its virtual environment demonstrating how view poses for different-sized objects are successfully planned, achieved and used for 3D reconstruction. [ABSTRACT FROM AUTHOR]

• Robotic arms for tokamak maintenance shall handle high payloads in thigh spaces. • The proposed IK satisfies joint position limits, torque limits and obstacle avoidance. • It guarantees a safe interaction with the environment. • It is suited for high-frequency human-in-the-loop control strategies. • The modular approach facilitates adaptation of the proposed IK to different chains. This work proposes a geometric approach to inverse kinematics of hyper-redundant manipulators used for remote maintenance of nuclear fusion reactors. The approach is particularly suited to be adopted in real-time human-in-the-loop control strategies involving high-frequency control feedback and requiring safe interaction between the manipulator and the in-vessel environment. The capability of the inverse kinematic method to find a solution for a set of different robot end-effector poses, inside a toroidal environment, was tested on the HyRMan kinematics, i.e. the Hyper Redundant Manipulator developed in the framework of the Divertor Tokamak Test (DTT) project. The simulation tests were aimed at assessing performance of the proposed method in terms of accuracy in the end-effector positioning, computational burden, distance from obstacle, distance from joint angles and torque limits and success rate of the task execution. The achieved results were compared to the ones obtained through an iterative method proposed in literature, i.e. the one based on the computation of the Jacobian pseudo-inverse, demonstrating overall higher performance of the proposed approach and comparable ability to safely avoid obstacles and joint limits. [ABSTRACT FROM AUTHOR]

The WEST project (W-Environment in Steady-State Tokamak) aims to transform the Tore Supra limiter configuration to an x-point divertor, providing a test bed for ITER-like plasma-facing components (actively cooled W monoblocs) under high heat flux, steady-state plasma irradiation. The lower divertor includes an actively cooled, W-coated CuCrZr baffle to provide neutral compression and improve particle exhaust. As part of the new diagnostic equipment of Tore Supra within WEST project, a set of Langmuir probes will find place on the baffle in order to provide plasma flux and electron temperature measurements for physics studies and real-time machine protection functions during steady-state discharges. On the baffle top surface, irradiation coming from the plasma, energetic ripple-ions losses, photons and energetic neutrals from charge exchange reactions produce power fluxes up to 3 MW/m 2 , representing a challenge for the Langmuir probes operating conditions. In this paper Copper–Chrome–Zirconium (CuCrZr) cylindrical probe concept design is proposed. Finite element thermo-mechanical analysis (FEA) confirmed the consistency of this solution under the steady-state plasma condition in the worst case (highest thermal load). [ABSTRACT FROM AUTHOR]

• The present work deals with a preliminary engineering development of the cassette divertor and PFCs integration for EU-DEMO. • Introduction of Reflector Plates as two main components in PFC system, useful to protect cassette body and diffusers. • Assembly assessment of all components on the DEMO divertor. The pre-conceptual design of the DEMO divertor cassette with a novelty, alternative path of the main cooling pipes inside cassette body is presented in this paper, focusing on cassette design and Plasma Facing Components (PFC) integration. The divertor cassette design is reviewed, considering recent updates in the DEMO configuration model as presented by the Programme Management Unit (PMU) in 2018. The new configuration requires the cooling pipes to be integrated inside the cassette body. The components affected by these changes and the impact on the divertor design are analyzed. The study focuses on a new integration system between cassette and cooling pipes. The paper describes the integration on the new cassette geometry and the divertor sub-systems. The design activities related to this system are discussed in detail in terms of CAD modeling and considerations with respect to manufacturing such as welding technologies and non-destructive testing. [ABSTRACT FROM AUTHOR]

• The present work deals with a preliminary engineering development of alternative magnetic divertor configurations for EU-DEMO. • Parametric CAD master models for each configuration have been developed, including PF and TF coils, VV, ports and in-vessel components. • The configurations have been analyzed in terms of geometrical envelope and ports layout, considering structural and Remote Handling (RH) requirements. One of the main challenges in the roadmap to the realization of fusion energy is to develop a heat and power exhaust system able to withstand the large loads expected in the divertor of a fusion power plant. The challenge of reducing the heat load on the divertor targets is addressed, within the mission 2 'Heat-exhaust systems', through the investigation of divertor configurations alternative to the standard Single Null (SN), such as the Snowflake (SF), Double Null (DN), X and Super-X (SX) divertors. This paper focuses on a preliminary engineering assessment of the alternative configurations proposed for the EU DEMO reactor. Starting from the description of the optimized plasma shape developed for each configuration, the 3D geometrical description of the Magnet System and of the main Mechanical Structures (Vacuum Vessel and in-vessel components) is presented. Based on the 3D geometry, the compatibility of the location and dimensions of ports with Remote Maintenance needs is discussed and possible design optimizations are proposed both for the Magnets system and the mechanical structures design. Finally, the various configurations are compared with regard to the engineering and feasibility aspects. [ABSTRACT FROM AUTHOR]

The Eurofusion-DEMO design will complete the Pre Conceptual Design phase (PCD) with a PCD Gate, named G1, scheduled to take place in Q4 2020 that will focus on assessing the feasibility of the plant and its main components prior to entering into the Conceptual Design phase. In the paper first an overview is given of the Eurofusion-DEMO Divertor Assembly including design and interface description, systems and functional requirements, load specification, system classification, manufacturing procedures and cost estimate. Then critical issues are discussed and potential design solutions are proposed, e.g.: - Neutron material damage limits of the different (structural) materials present in the divertor assembly (as CuCrZr, Eurofer) and in the vacuum vessel (AISI 316 L(N)-IG); - Temperature hot spots in parts of the divertor assembly exposed to high nuclear heating and high heat radiation (from the plasma core or the separatrix) causing difficulties for active or passive cooling (e.g. cassette body structure, liner support structures, mechanical supports, divertor toroidal rails); - Arrangement and design of plasma-facing components and liner with pumping slot in the divertor cassette to enable pumping of exhaust gases from the lower port. [ABSTRACT FROM AUTHOR]