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Implementation of an OROCOS based Real-Time Equipment Controller for Remote Maintenance of Tokamaks

Published: 28 June 2017 Publication History

Abstract

A tokamak is a torus shaped device used to confine high temperature plasmas with the help of powerful superimposed magnetic fields. With high temperature, vacuum and radiation levels, the environment inside the tokamak is hostile to human beings. All the repair and maintenance tasks are handled by specialized Remote Handling (RH) equipment consisting of robotic manipulators, special tooling and deployment systems which are controlled by skilled RH operators. These RH equipment are integrated using a supervisory control architecture in which the control system is distributed into operator level and machine level control systems. The OROCOS real-time toolkit, available open source, is used to implement the equipment controller that encompasses the machine-level control system software and hardware for operating multi-joint programmable RH equipment devices. It provides a standard interface and insulates the operator level control system from details of low-level hardware. The communication between operator and machine level systems is achieved at 100Hz through a standard middleware.
This paper presents the detailed implementation of the equipment controller with the operator level & machine level interfaces and its successful implementation for controlling the articulated RH equipment having 25 Kg payload with a toroidal reach of ~2m and a 6 DOF industrial robot. The master control is achieved using a commercial haptic device. A novel concept of virtual move is also implemented for carrying out offline simulations. The performance tests show low latency and smooth control over the RH equipment.

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Cited By

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  • (2020)Real-Time Scheduling Method for Middleware of Industrial Automation DevicesScheduling Problems - New Applications and Trends10.5772/intechopen.86769Online publication date: 8-Jul-2020
  • (2020)Reutilización de software en la robótica industrial: un mapeo sistemáticoRevista Iberoamericana de Automática e Informática industrial10.4995/riai.2020.1333517:4(354)Online publication date: 30-Sep-2020

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  1. Implementation of an OROCOS based Real-Time Equipment Controller for Remote Maintenance of Tokamaks

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      cover image ACM Other conferences
      AIR '17: Proceedings of the 2017 3rd International Conference on Advances in Robotics
      June 2017
      325 pages
      ISBN:9781450352949
      DOI:10.1145/3132446
      Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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      • IIT-Delhi: IIT-Delhi

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      Association for Computing Machinery

      New York, NY, United States

      Publication History

      Published: 28 June 2017

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      Author Tags

      1. Haptic feedback
      2. OROCOS
      3. Remote Handling
      4. Repair and Maintenance
      5. Tokamak
      6. Virtual Reality

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      AIR '17
      AIR '17: Advances in Robotics
      June 28 - July 2, 2017
      New Delhi, India

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      Overall Acceptance Rate 69 of 140 submissions, 49%

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      Cited By

      View all
      • (2020)Real-Time Scheduling Method for Middleware of Industrial Automation DevicesScheduling Problems - New Applications and Trends10.5772/intechopen.86769Online publication date: 8-Jul-2020
      • (2020)Reutilización de software en la robótica industrial: un mapeo sistemáticoRevista Iberoamericana de Automática e Informática industrial10.4995/riai.2020.1333517:4(354)Online publication date: 30-Sep-2020

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