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The ITER ECRH system consists of 24 gyrotrons with up to 24 MW installed millimeter wave heating power at 170 GHz, power supplies, control system, transmission lines, one Equatorial and the four Upper Launchers. With its high frequency and small beam focus the ECRH has the unique capability of driving locally current. While the Equatorial Launcher mainly acts for central heating and current profile shaping, the Upper Launchers aim on suppressing MHD instabilities, especially neoclassical tearing modes (NTM) triggering plasma disruptions. The Upper Launchers inject millimeter waves through a quasi-optical section consisting of three fixed and the front steering mirror set. The eight overlapping beams have focal points optimized for suppression of the q = 3/2 and q = 2/1 NTMs., Several project change requests required the redesign of the Upper Launchers and the connected ex-vessel system. This redesign includes a new boundary geometry of the launchers as well as a newly designed cooling system for the Blanket Shield Module (BSM), a modified flange of the BSM to the structural main frame and a refined optical design. Additionally shield blocks with integrated in-vessel waveguides were added and the closure plate with waveguide and supply line feedthroughs was adapted. Further changes, not all caused by PCRs, include newly designed ex-vessel waveguide components with a reduced aperture and redesigned ultra low-loss CVD diamond windows. Finally several components originally foreseen as off-the-shelf components have become part of the design scope. The new launcher design status is presented with selected results on numerical design validation.

A promising solution to improve task performance in ITER hot cell remote handling is the use of haptic shared control. Haptic shared control can assist the human operator along a safe and optimal path with continuous guiding forces from an intelligent autonomous controller. Previous research tested such controllers with accurate knowledge of the environment (giving flawless guiding forces), while in a practical implementation guidance forces will sometimes be flawed due to inaccurate models or sensor information. This research investigated the effect of zero and small (7.5 mm) errors on task performance compared to normal (unguided) operation. In a human factors experiment subjects performed a three dimensional virtual reality peg-in-hole type task (30 mm diameter; 0.1 mm clearance), with and without ⿿ potentially flawed ⿿ haptic shared control. The results showed that the presence of guiding forces, despite of small guiding errors, still improved task performance with respect to unguided operations.

The ITER tokamak has a modular design, with port plugs, blanket modules and divertor cassettes. This set-up allows for maintenance of diagnostics, heating systems and first wall elements. The maintenance can be done in situ, or in the Hot Cell. Safe and effective remote handling (RH) will be ensured by the RH requirements and standards. Compliance is verified through remote handling compatibility assessments at the ITER Design Review milestones. The Remote Handling Study Centre at FOM Institute DIFFER is created to study ITER RH maintenance processes at different levels of complexity, from relatively simple situational awareness checks using snap-shots in the CAD system, time studies using virtual reality (VR) animations, to extensive operational sequence validation with multiple operators in real-time. The multi-operator facility mimics an RH work-cell as presently foreseen in the ITER RH control room. Novel VR technology is used to create a realistic setting in which a team of RH operators can interact with virtual ITER environments. A physics engine is used to emulate real-time contact interaction as to provide realistic haptic feed-back. Complex interactions between the RH operators and the control room system software are tested. RH task performance is quantified and operational resource usage estimated. The article provides a description and lessons learned from a recent study on replacement of the Steering Mirror Assembly on the ECRH (Electron Cyclotron Resonance Heating) Upper Launcher port plug.

New optical configurations for the ITER core CXRS system offer the possibility of longer ducts between the first mirror and the plasma. This has led to a renewed optimization of the availability. using a simple model of the degradation of the first mirror that starts with the conditions of (a) the required measurement performance and (b) the geometry of the port plug. It is found that for a fully passive system the design should strive for the longest duct length possible. Given known data, this will result in a diagnostic lifetime still substantially shorter than ITER lifetime. When an option of cleaning the first mirror is introduced (assuming this is a feasible option) the optimum is less straightforward, because the lifetime of the second mirror then also becomes important. The optimum then depends on the ratio between the cleaning interval and the ITER lifetime. Options are presented for various sets of assumptions. Finally practical limitations of supporting subsystems (cleaning system, shutter, calibration system) may influence the final design. Examples of such limitations with their impact are presented. (C) 2011 Published by Elsevier B.V.

The upper port #18 (UP18) in ITER hosts three diagnostic systems: the neutron activation system, the Vacuum Ultra-Violet spectrometer system, and the vertical neutron camera. These diagnostics are integrated into three infrastructures in the port: the upper port plug, interspace support structure and port cell support structure. The port integration in UP18 is at the preliminary design stage and the current design of the infrastructure as well as the diagnostic integration is described here. The engineering issues related to neutron shielding and maintenance are addressed and the design approach is suggested.

ITER standards Tesini (2009) require hardware mock-ups to validate the Remote Handling (RH) compatibility of RH class 1- and critical class 2-components. Full-scale mock-ups of large ITER components are expensive, have a long lead time and lose their relevance in case of design changes. Interactive Virtual Reality simulations with real time rigid body dynamics and contact interaction allow for RH Compatibility Assessment during the design iterations. This paper explores the use of interactive virtual mock-ups to analyze the RH compatibility of heavy component handling and maintenance. It infers generic maintenance operations from the analysis and proposes improvements to the simulator capabilities.

Remote maintenance activities in ITER will be performed by a unique set of hardware systems, supported by an extensive software kit. A layer of middleware will manage and control a complex set of interconnections between teams of operators, hardware devices in various operating theatres, and databases managing tool and task logistics. The middleware is driven by constraints on amounts and timing of data like real-time control loops, camera images, and database access. The Remote Handling Study Centre (RHSC), located at FOM institute DIFFER, has a 4-operator work cell in an ITER relevant RH Control Room setup which connects to a virtual hot cell back-end. The centre is developing and testing flexible integration of the Control Room components, resulting in proof-of-concept tests of this middleware layer. SW components studied include generic human-machine interface software, a prototype of a RH operations management system, and a distributed virtual reality system supporting multi-screen, multi-actor, and multiple independent views. Real-time rigid body dynamics and contact interaction simulation software supports simulation of structural deformation, “augmented reality” operations and operator training. The paper presents generic requirements and conceptual design of middleware components and Operations Management System in the context of a RH Control Room work cell. The simulation software is analyzed for real-time performance and it is argued that it is critical for middleware to have complete control over the physical network to be able to guarantee bandwidth and latency to the components.

Maintenance of the ITER EC H&CD Upper Launcher (UL) shall be performed through the use of Remote Handling (RH) in the ITER Hot Cell Facility (HCF). The UL design will have to be fully compliant with ITER RH maintenance requirements and the set of RH tooling and services available in the HCF. This paper describes the development of an overall maintenance strategy for the UL, starting from a listing of all conceivable maintenance operations, including hands-on tasks. Components for which design concepts are discussed in this paper are the Blanket Shield Module (BSM), the steering mirror (M4), the mid optics (M1, M2) and the waveguide (WG) feed-through plate. Aspects related to RH documentation, overall maintenance strategy and design concepts for optimizing the maintainability of the UL are presented. (C) 2013 Elsevier B.V. All rights reserved.

This paper deals with Remote Handling activities foreseen on the Blanket Shield Module, the plasma facing component of the ITER Electron Cyclotron Heating and Current Drive Upper Launcher. The maintenance configuration considered here is the Vertical Remote Handling, meaning gravity acting along the launcher radial axis. The plant, where the maintenance under consideration is occurring, is the Hot Cell Facility Work Cell. The study here reported has been carried out within the presently ongoing EFDA Goal Oriented Training program on Remote Handling (GOT-RH), which aims to support ITER activities. This document and its contents have to be considered as part of a more vast RAMI analysis to be developed within the GOT-RH, which aims to maximize the Electron Cyclotron Heating and Current Drive system availability. The Baseline CAD model of the Electron Cyclotron Heating and Current Drive Upper Launcher is currently in its preliminary design phase and does not provide enough details for developing a fully detailed maintenance strategy. Therefore, through a System Engineering approach, a set of assumptions was conceived on the launcher structure, as a basis for development of a Remote Handling strategy. Moreover, to compare different design solutions related to the possibility of integrating a quasi-optical component into the Blanket Shield Module, a Trade-Off was made, and its contents are shown here. The outcome of this System Engineering approach has been formalized into Task Definition Forms whose contents are reported here. The Remote Handling strategy presented in this work will be tested in the near future both through Virtual Reality simulations and through prototype experiments.

Haptic shared control is a promising approach to increase the effectiveness of remote handling operations. While in haptic shared control the operator is continuously guided with assistive forces, the operator's response to forces is not fully understood. This study describes the development of a computational model of a human operator controlling a teleoperation system based on feedforward control. In a simulation, the operator's response to repulsive forces in free-space motions was modeled for two degrees of freedom, for two operator endpoint admittances (estimated by means of closed-loop identification techniques). The simulation results show that similar repulsive forces lead to substantial discrepancies in response when admittance settings mismatch; wrongly estimated operator admittances can lead to assistive forces that are either not perceived, or deflect the combined system of human operator and telemanipulator. It is concluded that assistive forces should be tailored to the arm configuration and the type of task performed. In order to utilize haptic shared control to its full potential, it is required to study, measure and quantitatively model operator behavior for teleoperated tasks in more detail.

A facility for detailed simulation of maintenance processes in the ITER Hot Cell Facility (HCF) has been taken into operation. The facility mimics the Remote Handling (RH) work-cells as are presently foreseen. Novel virtual reality (VR) technology, extended with a physics engine is used to create a realistic setting in which a team of Remote Handling (RH) operators can interact with a virtual Hot Cell environment. The physics engine is used to emulate the Hot Cell behavior and to provide tactile feed-back of the (virtual) slave. Multi-operator maintenance scenarios can be developed and tested in virtual reality. Complex interactions between the RH operators and the HCF control system software will be tested. Task performance will be quantified and operational resource consumption will be estimated. (C) 2011 Elsevier B.V. All rights reserved.

The upper port #3 in ITER will be used by the core Charge Exchange Recombination Spectroscopy (core CXRS) to channel out light from the inside of the vacuum vessel. Recent research about the lifetime of the first two mirrors and changes in the upper port plug geometry initiated further investigations into possible alternative system design concepts. Two new variants of the optical system were chosen for further investigation. The different sub-systems of core CXRS such as optical system, retractable tube and shutter are introduced together with their impact on the system design and their interactions. Space constraints originating from the envelope of the UPP and requirements emerging from the ITER environment such as remote handling and other maintenance considerations are also included in the investigation. Alternative system concepts taking the constraints into account are presented and discussed. Implications for further design work on the subsystems are derived from the results. (C) 2011 Forschungszentrum Julich, Association EURATOM-FZL. Published by Elsevier B.V. All rights reserved.

Virtual Reality (VR) simulation can be used to study, improve and verify ITER maintenance operations during preparation. VR can also improve the situational awareness of human operators during actual Remote Handling (RH) operations. Until now. VR systems use geometric models of the environment and the objects being handled and kinematic models of the manipulation systems. The addition of dynamic effects into the VR simulation was investigated. Important dynamic effects are forces due to contact transitions and the bending of beams under heavy loads. A novel dynamics simulation module was developed and introduced as an add-on to the VR4Robots VR software. Tests were performed under simplified test conditions and in the context of realistic ITER maintenance tasks on a benchmark product and on the ECRH Upper Port Launcher Plug (UPL). The introduction of dynamic effects into VR simulations was found to add realism and provide new insights in procedure development. The quality of the haptic feedback depends strongly on the haptic device used to "display" haptic feedback to the operator. Dynamic effect simulation can also form the basis for real-time guidance support to operators during the execution of maintenance tasks (augmented reality). (C) 2011 Elsevier B.V. All rights reserved.

Central, retractable tubes are proposed in several Upper Port Plugs (UPPs) designs for ITER, to enable fast exchange of specific components of diagnostics housed in these UPPs. This paper investigates into possible designs to enable the efficient handling of tubes. The feasibility of tube handling is analysed by first reviewing the designs drivers. Several concepts for handling of the tube are proposed, exploring the limits described by the design drivers. Suggestions are presented for tube integration into the UPP design, concerning the tube mounting into the UPP, the load takeover and coping with the thermal elongation. It is found that the handling of tubes is feasible but still requires a lot of system level integration. Also, the added value of a tube as a feature in an UPP design to the availability of the subsystem the UPP is a part of, is questionable and needs further assessment on ITER system level. (C) 2011 Elsevier B.V. All rights reserved.

The present design of the ECH (Electron Cyclotron Heating) upper port launcher has been evaluated in light of the ITER remote handling (RH) requirements. Changes to the launcher design associated with the accessibility, maintainability and manageability of replaceable components are presented. Captive bolts were placed along the flange of the Blanket Shielding Module (BSM). A hinge mechanism was integrated to simplify the (dis-)mounting of the BSM and a frame with incorporated cooling and actuation lines was suggested for simplified mounting and replacement of the steerable mirrors. Rotating the upper port plug upside-down improves maintenance access and component handling. Tools are proposed for manipulation of the port plug and its sub-components. The RH compatibility analysis can improve a design. Early consideration of RH requirements and implementation of necessary features is therefore vital. (C) 2011 Elsevier B.V. All rights reserved.

The paper presents component concepts developed for the ITER core charge exchange recombination spectroscopy (cCXRS). They are based on the cCXRS layout of 2009, named as reference design option. It includes an outer shell, carrying a blanket shield module and a shielding cassette. The cassette, attached to the outer shell, carries secondary mirrors and a retractable tube. The tube holds a first mirror (M1) and a shutter. Development priority is given to the M1, M1 holder, shutter, calibration system and retractable tube. These units are the most critical from reliability point of view. The developed design approaches could be likely used as generic or prototype solutions for a cCXRS diagnostic port plug in future. Before prototyping critical components as the M1 holder and shutter, the final cCXRS conceptual design has to meet forthcoming changes in the ITER diagnostic upper port plug (UPP) and blanket system. The integrated first wall diagnostic shield modules, first wall recession, blanket shaping and generic UPP layout have considerable impact on the layout of the cCXRS and its components. The paper presents a preliminary solution for integration of the customized reference cCXRS into expected ITER blanket and UPP layouts. (C) 2011 FORSCHUNGSZENTRUM JULICH GMBH-EURATOM-FZJ. Published by Elsevier B.V. All rights reserved.

A plug for the ITER core charge exchange recombination spectroscopy (core CXRS) is located in the upper port 3. It transfers the light emitted by interaction of plasma ions with the diagnostic neutral beam (DNB). The plug consists of a main shell, a shielding cassette and a retractable tube. The tube carries the first mirror (M1) with a shutter and allows multiple replacements of M1. A large uncertainty in the M1 lifetime has initiated a new design option with M1 located as far as possible from the first wall. A fast shutter has been proposed to enhance M1 protection. It operates consistently with a pulsed DNB and uses elastic hearings. Three-point attachment scheme of blanket shield modules (BSMs) has been suggested. It is capable to react electromagnetic loads caused by eddy- and halo-currents for any BSM option with a good design margin. The concern has been raised with regards to the forces caused by halo current and applied to the entire plug. Possible solutions are either to shunt and support the plug to the port in the frontal part, or re-attach all BSM in this belt from the plugs to the vacuum vessel. (C) 2009 Elsevier B.V. All rights reserved.

All ITER sub-systems of remote handling (RH) classes 1 and 2 have to be remotely maintainable. The maintenance strategy for these components has to ensure system availability after failure or scheduled maintenance. This paper shows how virtual reality (VR) simulation [1] can be used as a tool to analyze the maintenance process, to predict the mean time to repair and to ensure the RH compatibility of one ITER sub-system, the Upper Port Launcher (UPL) [2]. Special emphasis is put on the development of RH procedures and the identification of tooling requirements. The possibility to Simulate RH logistics and repair actions in an early stage of the design process allows for the identification of those maintenance actions that require dedicated tests in the Launcher Handling Test Facility at Karlsruhe. The VR analysis. together with dedicated mock-up tests will demonstrate the RH compatibility of the UPL plug, provide input to the design of the Port Plug maintenance area in the ITER Hot Cell, and support the development of RH maintenance tooling. (C) 2009 Published by Elsevier B.V.

Already in the early phase of a design for ITER, the maintenance aspects should be taken into account, since they might have serious implications. This paper presents the arguments in support of the case for the maintainability of the design, notably if this maintenance is to be performed by advanced remote methods. This structure is compliant to the evolving maintenance strategy of ITER. Initial results of a Failure Mode Effects and Criticality Analysis (FMECA) and a development risk analysis for the ITER upper port plug #3, housing the Charge Exchange Recombination Spectroscopy (CXRS) diagnostic, are employed for the definition of the maintenance strategy. The CXRS upper port plug is essentially an optical system which transfers visible light from the plasma into a fiber bundle. The most critical component in this path is the first mirror (M1) whose reflectivity degrades during operation due to deposition and/or erosion dominated effects. Amongst other measures to mitigate these effects, the strategy is to allow for a replacement of this mirror. Therefore it is mounted on a retractable central tube. The main purpose of this tube is to make frequent replacements possible without hindering operation. The maintenance method in terms of time, geometry and spare part policy has a large impact on cost of the system and time usage in the hot cell. Replacement of the tube under vacuum and magnetic field seems infeasible due to the operational risk involved. The preferred solution is to have a spare tube available which is replaced in parallel with other maintenance operations on the vessel, as to avoid any interference in the hot cell with the shutdown scheduling. This avoids having to refurbish a full port plug and also allows for a more frequent replacement of M1, as we can replace the mirror anytime the vacuum vessel is vented, estimated to be once a year. (C) 2009 Elsevier B.V. All rights reserved.

The ITER core charge exchange recombination spectroscopy (core CXRS) diagnostic system is designed to provide experimental access to various measurement quantities in the ITER core plasma such as ion densities, temperatures and velocities. The implementation of the approved CXRS diagnostic principle on ITER faces significant challenges: First, a comparatively low CXRS signal intensity is expected, together with a high noise level due to bremsstrahlung, while the requested measurement accuracy and stability for the core CXRS system go far beyond the level commonly achieved in present-day fusion experiments. Second, the lifetime of the first mirror surface is limited due to either erosion by fast particle bombardment or deposition of impurities. Finally, the hostile technical environment on ITER imposes challenging boundary conditions for the diagnostic integration and operation, including high neutron loads, electromagnetic loads, seismic events and a limited access for maintenance. A brief overview on the R&D and design activities for the core CXRS system is presented here, while the details are described in parallel papers. (C) 2011 Elsevier B.V. All rights reserved.

One of the challenges in future fusion plants such as ITER is the remote maintenance of the plant. Foreseen human-in-the-loop tele-operation is characterized by limited visual and haptic feedback from the environment, which results in degraded task performance and increased operator workload. For improved tele-operated task performance it is required to get insight in the expected tasks and problems during maintenance at ITER. By means of an exploratory human factor experiment, this paper analyses problems and bottlenecks during the execution of foreseen tele-operated maintenance at ITER, identifying most promising areas of improvement. The focus of this paper is on free space (sub)tasks where contact with the environment needs to be avoided. A group of 5 subjects was asked to carry-out an ITER related free space task (visual inspection), using a six degree of freedom master device connected to a simulated hot cell environment. The results show large variation in time performance between subjects and an increasing number of collisions for more difficult tasks, indicating room for improvement for free space (sub)tasks. The results will be used in future research on the haptic guidance strategies in the ITER Remote Handling framework. (C) 2013 FOM institute DIFFER (Dutch Institute for Fundamental Energy Research). Published by Elsevier B.V. All rights reserved.

The current design of the ITER cask for Upper Port Plugs has been evaluated. Careful reduction of the number of mechanical degrees of freedom is an opportunity to relax the tolerances in the design, resulting in cost reduction and reliability increase. A new kinematical design for the tractor module has a higher stiffness to weight ratio, reduces actuator forces by a factor four and minimizes cross-talk between lift and rotation motion. Non-cantilevered handling is recommended to reduce wheel loads on the tractor by a factor six and to simplify guidance. At the system level the tubular guide (TG) is proposed, a semipermanent 3.5 m long tube which is an extension of the Upper Port. Cask docking is simplified and the risk of the cask tilting is prevented. Redesigning the system concept is recommended and the TG looks promising. Since a system level redesign impacts the external interfaces, overall feasibility has to be investigated. (C) 2011 Elsevier B.V. All rights reserved.