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Abstract: Because ITER magnet system has a limited number of mechanical and thermal stress cycles, shut down number of the toroidal field is limited during lifetime of ITER. Any inspection device able to withstand the toroidal field between two plasma shots will enhance the inspection frequency capacity of ITER during operation phase. In addition to the high magnetic field the system should also cope with high temperature, ultra-high vacuum and high radiation, in order to keep the reactor availability high. Radiation, ultra-high vacuum and temperature constraints already addressed by on going R&D activities within Europe—considering the required level of radiation is to date the highest encountered in remote handling, and that facing all these constraints at once is an additional issue to overcome. Whereas, operating remote handling systems in high magnetic field is quite new field of investigation. This paper aims to be a guideline for future designers to help them choose among options the adequate solution for an ITER relevant inspection device. It provides the designer an objective view of the different effects that stem from technical choices and help them deciding whether a technology is relevant or not depending on the task''s requirements. We have selected a set of technologies and products available for structural design, actuation, sensing and data transmission in order to design inspection remote handling equipment for ITER in the given constraints. These different solutions are commented with specific considerations and directions to have them fit in the specifications. Different design strategies to cope with magnetic field are then discussed, which imply either insensitive design or using the magnetic field as a potential energy source and as a positioning help. This analysis is the first result of one of the projects in the PREFIT partnership, part of the European Fusion Training Scheme. [Copyright &y& Elsevier]

Abstract: The scope of this paper is a preliminary assessment of the maintenance scheme in support of the European study for the next generation of fusion reactor: DEMO. Despite other fusion machine requiring remote handling maintenance operations, DEMO is supposed to work under steady state operational conditions. Therefore, requirement on the maintenance scheme is stronger. To target a good availability of the machine along machine operation plan, it is necessary to draw an adequate maintenance scheme. Indeed, due to the high fluxes generated by the plasma in the vacuum vessel, the first wall lifetime is limited, so the frequent replacement is necessary. On current fusion experimental machine, as first wall load conditions are less severe, DEMO condition implies high level of requirement on maintenance time. During DEMO lifetime, several full first wall replacements are expected. To provide access to the vacuum vessel machine for first wall removal, preparatory work is required to set the machine to adequate maintenance conditions and to open the machine properly, the same situation at the end of the maintenance period. Shutdown duration for first wall replacement should be as short as possible to reach the availability target of the machine. From this statement, the maintenance duration should not exceed 20% of the total lifetime of the reactor operation. First wall segmentation (i.e. total number of component to replace) has a high impact onto the replacement time. Considering the number of feasible designs for the first wall segmentation, we concentrate remote handling concept assessments one type of segmentation, the one minimizing the numbers of modules to replace . Assumption on Divertor segmentation for these DEMO studies have similarities with Divertor ITER design; therefore ITER design output is relevant . We assume divertor removal performed in shadow time, while removing the other first wall modules. [Copyright &y& Elsevier]

Abstract: 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 10kg 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. [Copyright &y& Elsevier]

Abstract: Robotic operations are one of the major maintenance challenges for ITER and future fusion reactors. In particular, in-vessel inspection operations without loss of conditioning will be mandatory. In this context, an Articulated Inspection Arm (AIA) is currently developed by the CEA within the European work programme framework, which aims at demonstrating the feasibility of a multi-purpose in-vessel Remote Handling inspection system using a long reach, limited payload carrier (up to 10kg). It is composed of 5 segments with 8 degrees of freedom and a total range of 8m. The first in situ tests will take place by the end of 2007 on the Tore Supra Tokamak at Cadarache (France). They will validate concepts for operations under ITER relevant vacuum and temperature conditions. After qualification, the arm will constitute a promising tool for various applications. Several processes are already considered for ITER maintenance and will be demonstrated on the AIA robot carrier: [•] The first embedded process is the viewing system. It is already manufactured and will allow close visual inspection of the complex Plasma Facing Components (PFC) (limiters, neutralisers, RF antenna, diagnostic windows, etc.). [•] In situ localisation of water leakage based on a helium sniffing system is also being studied to improve and facilitate maintenance operations. [•] Finally a laser ablation system for PFC detritiation, developed in CEA laboratories, is being fitted to be implemented on the robot for future operation in Tore Supra. This paper deals with the integration of the robot into Tore Supra and the progress in the development of the processes listed above. It also describes the current test campaign aiming to qualify the robot performance and reliability under vacuum and temperature conditions. [Copyright &y& Elsevier]