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Conceptual design of coolant circuits and thermal stress analysis for JA-DEMO divertor JA-DEMO 分流器冷却回路概念设计和热应力分析
IF 1.9 3区 工程技术 Q1 NUCLEAR SCIENCE & TECHNOLOGY Pub Date : 2024-07-18 DOI: 10.1016/j.fusengdes.2024.114595
Nobuyuki Asakura , Satoshi Kakudate , Weixi Chen , Hiroyasu Utoh , Youji Someya , Yoshiteru Sakamoto , Joint Special Design Team for Fusion DEMO

Engineering design of the JA-DEMO divertor concept, i.e. double-coolant circuits of 200°C coolant (5MPa) for high heat load targets (CuCrZr-pipe) and 290°C coolant (15MPa) for high neutron load Plasma Facing Units (F82H-pipe) and cassette body (CB), has been developed. Computational fluid dynamics (CFD) calculation of the coolant distributions to targets, baffles, reflectors, dome and to CB was performed in order to determine the feasibility of the key concepts. (i) All PFU support designs for the coolant distribution to PFUs were optimized to reduce variation of the flow velocity (Vcool) at the inlet of PFUs less than 5 – 6 %. Parallel coolant circuit design for the dome and reflectors was also developed, and mass flows were adjusted by orifices and the main mass flow rate. (ii) A new cooling concept with two layers of puddles and fins at the side routes was proposed for CB. The design provided Vcool = 0.55 – 1.27 m⋅s−1 and average Vcool = 1.04 m⋅s−1 with the fin transparent ratio of 0.1. It was enough to exhaust the nuclear heat, and the design issues were identified under the coolant condition. (iii) Heat exhaust on fish-scale surface target and stress-strain of the CuCrZr pipe were investigated under assuming a DEMO divertor condition. Steady-state heat load at wet region by plasma (qtwet) was restricted below 13.5 MWm−2 to avoid W-recrystallization. In the stress-strain cycle of higher qtwet ∼15.3 MWm−2, maximum tensile σ (120 – 200 MPa) and total change in strain during the heat load cycle (Δε ∼0.25 %) were relatively small. These evaluations suggested that such high heat load cycle may not be a critical lifetime issue, but reduction in Tcool is preferable to handle ITER-like slow transients such as 15 – 20 MWm−2.

开发了 JA-DEMO 分流器概念的工程设计,即用于高热负荷靶件(CuCrZr 管)的 200°C 冷却剂(5MPa)和用于高中子负荷等离子体面单元(F82H 管)和盒体(CB)的 290°C 冷却剂(15MPa)双冷却回路。对目标、挡板、反射器、穹顶和 CB 的冷却剂分布进行了计算流体动力学 (CFD)计算,以确定关键概念的可行性。(i) 用于向 PFU 分配冷却剂的所有 PFU 支持设计都经过了优化,以减少 PFU 入口处流速(Vcool)的变化,使其小于 5 - 6%。还为穹顶和反射器开发了并行冷却剂回路设计,并通过孔口和主质量流量调节质量流量。(ii) 为 CB 提出了一种新的冷却概念,即在侧通道上有两层水坑和鳍片。该设计提供的 Vcool = 0.55 - 1.27 米-秒-1,平均 Vcool = 1.04 米-秒-1,翅片透明比为 0.1。这足以排出核热量,并找出了冷却剂条件下的设计问题。(iii) 在假定 DEMO 分流器条件下,研究了鱼鳞表面目标的排热量和 CuCrZr 管道的应力应变。等离子体湿区的稳态热负荷(qtwet)限制在 13.5 MWm-2 以下,以避免 W 重结晶。在较高 qtwet ∼15.3 MWm-2 的应力-应变循环中,最大拉伸σ(120 - 200 MPa)和热负荷循环中的应变总变化(Δε ∼0.25%)相对较小。这些评估表明,如此高的热负荷循环可能不是一个关键的寿命问题,但降低 Tcool 更有利于处理类似于热核实验堆的缓慢瞬态,如 15 - 20 MWm-2。
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引用次数: 0
Discussion on reliability and test number of switches in Tokamak fast discharge units 关于托卡马克快速放电装置开关的可靠性和测试次数的讨论
IF 1.9 3区 工程技术 Q1 NUCLEAR SCIENCE & TECHNOLOGY Pub Date : 2024-07-18 DOI: 10.1016/j.fusengdes.2024.114599
Meng Xu , Hua Li , Zhiquan Song , Guanghong Wang , Jianjun Chen , Zhenhan Li , Peng Fu

High-power switches, as the important active part of Fast Discharge Unit (FDU) in Tokamak, are designed to interrupt the circuit current and transfer the quench energy for protecting expensive superconducting magnets. Hence, their reliability has always been highly underlined. In this paper, the reliability and test number of FDU switches are discussed, mainly including three issues. First, the FDU configuration characteristics of different types of superconducting magnets are introduced, and explanations and calculations on reliability are provided. Second, the reliability interval estimation after a certain test number is discussed by using the binomial distribution theory. Three, the compliance test based on the claimed reliability is studied, and two types of test plans are discussed and compared to derive the test number. The discussion in this paper focuses on the FDU switches and provides valuable guidance for their reliability test and assessment.

大功率开关是托卡马克中快速放电装置(FDU)的重要有源部分,用于中断电路电流和传输淬火能量,以保护昂贵的超导磁体。因此,其可靠性一直备受关注。本文讨论了 FDU 开关的可靠性和测试次数,主要包括三个问题。首先,介绍了不同类型超导磁体的 FDU 配置特征,并对可靠性进行了解释和计算。其次,利用二项分布理论讨论了一定测试次数后的可靠性区间估计。第三,研究了基于声称可靠性的符合性测试,并讨论和比较了两种类型的测试计划以得出测试次数。本文重点讨论了 FDU 交换机,为其可靠性测试和评估提供了有价值的指导。
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引用次数: 0
Optimization and preparation for the start-up of the plasma ICR heating system at the KTM tokamak KTM 托卡马克等离子体 ICR 加热系统的优化和启动准备工作
IF 1.9 3区 工程技术 Q1 NUCLEAR SCIENCE & TECHNOLOGY Pub Date : 2024-07-17 DOI: 10.1016/j.fusengdes.2024.114596
A.V. Gulkin , B. Zh. Chektybayev , A.N. Satibekov , A.T. Kusainov , K. Zhenis , D.A. Olkhovik , D.B. Zarva , S.V. Kotov , S.A. Mukeneva , V.V. Dyachenko , V.B. Minaev , N.V. Sakharov , N.N. Bakharev , V.V. Solokha , V.I. Varfolomeev , E.G. Zhilin , P.A. Korepanov , A.M. Gubin

The paper presents and discusses the results of the research on the preparation of the HF plasma heating system of the KTM tokamak for the start-up. The calculations have been performed to determine the parameters at which the most effective absorption of the HF radiation by the plasma of the KTM tokamak was expected, the results of measurements of the frequency response of the antenna-feeder device of the HF heating system generator of the KTM tokamak plasma have been presented. The result of the carried out work have shown that more efficient plasma heating on a KTM tokamak can be obtained at a frequency of 14 MHz.

本文介绍并讨论了 KTM 托卡马克高频等离子体加热系统启动准备工作的研究成果。通过计算确定了 KTM 托卡马克等离子体最有效吸收高频辐射的参数,并介绍了对 KTM 托卡马克等离子体高频加热系统发生器的天线馈电装置频率响应的测量结果。测量结果表明,KTM 托卡马克等离子体在 14 兆赫频率下可以获得更有效的等离子体加热。
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引用次数: 0
Corrigendum to “Shut-down dose rate analysis for final design of shielding tent in port interspace of ITER UP#18” [Fusion Engineering and Design 196 (2023) 114021] 国际热核聚变实验堆UP#18端口间隙屏蔽帐篷最终设计的关闭剂量率分析"[聚变工程与设计196 (2023) 114021]更正
IF 1.9 3区 工程技术 Q1 NUCLEAR SCIENCE & TECHNOLOGY Pub Date : 2024-07-16 DOI: 10.1016/j.fusengdes.2024.114598
SeongHee Hong , Jaemin Kim , HeeJin Shim , MunSeong Cheon , Sunil Park
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引用次数: 0
Enhancement and comprehensive testing of interlock protection systems of high heat flux test facility at IPR 加强和全面测试 IPR 高热通量测试设施的联锁保护系统
IF 1.9 3区 工程技术 Q1 NUCLEAR SCIENCE & TECHNOLOGY Pub Date : 2024-07-16 DOI: 10.1016/j.fusengdes.2024.114588
Sunil Belsare , Tushar Patel , Kedar Bhope , Mayur Mehta , Samir Khirwadkar , Rajamannar Swamy , Prakash Mokaria , Nikunj Patel

This paper introduces the safety and protection measures implemented in the High Heat Flux Test Facility (HHFTF). The interlock system has been enhanced and integrated into HHFTF to ensure the protection of the facility and the safety of personnel, thereby mitigating risks during operations. The primary purpose of these interlocks is to secure the entire facility under well-defined conditions to prevent accidents.

The safety and interlock protection system constitute integral components of HHFTF's overall control system, providing the capability to manage various subsystems, many of these systems are operated reliably close to their performance limits in order to achieve the desired goals. The overall safety, interlock protection and the control system encompasses both hardware components and software, employing Programmable Logic Controllers (PLCs) and Field Programmable Gate Arrays (FPGAs), along with wired logic based on relays and special logic cards. Three different types of architecture have been developed: (1) Slow Architecture based on PLCs, for functions where response time of longer than 20 ms is adequate; (2) Fast Architecture based on FPGAs, for functions requiring fast response time beyond the capabilities of the PLC; and (3) Hardwired Architecture for critical functions.

The paper showcases the successful testing and outcomes of an enhanced interlock protection system, encompassing both software and critical hardwired interlocks, within the HHFTF. Key parameters monitored include the maximum allowable job threshold temperature, flow rates (for coolant loss detection), and chamber pressure. Activation times of interlocks were observed within a range from 100 microseconds to 116 milliseconds.

本文介绍了在高热通量试验设施(HHFTF)中实施的安全和保护措施。联锁系统已得到加强并集成到高热通量试验设施中,以确保设施的保护和人员的安全,从而降低操作过程中的风险。这些联锁的主要目的是在明确规定的条件下确保整个设施的安全,以防止事故发生。安全和联锁保护系统是 HHFTF 整体控制系统的组成部分,提供了管理各种子系统的能力,其中许多系统的可靠运行接近其性能极限,以实现预期目标。整体安全、联锁保护和控制系统包括硬件组件和软件,采用可编程逻辑控制器 (PLC) 和现场可编程门阵列 (FPGA),以及基于继电器和特殊逻辑卡的有线逻辑。已开发出三种不同类型的架构:(1) 基于 PLC 的慢速架构,适用于响应时间超过 20 毫秒即可满足要求的功能;(2) 基于 FPGA 的快速架构,适用于需要超出 PLC 能力的快速响应时间的功能;以及 (3) 适用于关键功能的硬接线架构。监测的关键参数包括最大允许工作临界温度、流速(用于冷却剂损失检测)和腔室压力。联锁的启动时间从 100 微秒到 116 毫秒不等。
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引用次数: 0
Design and analysis of cooling water system for ECRH and ICRF testing bench 为 ECRH 和 ICRF 试验台设计和分析冷却水系统
IF 1.9 3区 工程技术 Q1 NUCLEAR SCIENCE & TECHNOLOGY Pub Date : 2024-07-16 DOI: 10.1016/j.fusengdes.2024.114572
Lewen Chen , Lei Yang , Weibao Li , Bin Guo , Lili Zhu

In EAST(Experimental Advanced Superconducting Tokamak), the heat produced by ECRH (Electron Cyclotron Resonance Heating) and ICRF (Ion Cyclotron range of Frequencies Heating) should be respectively removed through independent cooling water system. Their capacities are typically proposed based on the full power of the ECRH and ICRF. Indeed, the operational duration of the wave system is limited, which necessitates a larger cooling water capacity redundancy, occupies a significant amount of space, and requires a substantial budget. In this paper, the cooling water system for ECRH and ICRF of CRAFT (Comprehensive Research Facility for Fusion Technology) testing bench is designed according to its requirements.Initially, the optimization of the cooling water process is carried out in accordance with the specified parameters. Thereafter, the entire process is simulated employing the AFT Fathom code.Finally, a multiuser integrated cooling water system is designed, which is different from the traditional majority one-to-one mode. And the results show that all the parameters can meet the system requirements, meanwhile the redundancy of the cooling water capacity can be greatly reduced by flow regulation.The cooling water integral structure will provide a new idea for the design of fusion reactor cooling water systems.

在 EAST(先进超导实验托卡马克)中,ECRH(电子回旋共振加热)和 ICRF(离子回旋频率范围加热)产生的热量应分别通过独立的冷却水系统带走。它们的容量通常是根据 ECRH 和 ICRF 的全功率提出的。事实上,波浪系统的运行时间是有限的,这就需要更大的冷却水冗余容量,占用大量空间,并需要大量预算。本文根据 CRAFT(聚变技术综合研究设施)试验台的要求,设计了 ECRH 和 ICRF 的冷却水系统。之后,利用 AFT Fathom 代码对整个过程进行仿真。最后,设计出了有别于传统的多数一对一模式的多用户集成冷却水系统。冷却水整体结构将为聚变堆冷却水系统的设计提供新的思路。
{"title":"Design and analysis of cooling water system for ECRH and ICRF testing bench","authors":"Lewen Chen ,&nbsp;Lei Yang ,&nbsp;Weibao Li ,&nbsp;Bin Guo ,&nbsp;Lili Zhu","doi":"10.1016/j.fusengdes.2024.114572","DOIUrl":"10.1016/j.fusengdes.2024.114572","url":null,"abstract":"<div><p>In EAST(Experimental Advanced Superconducting Tokamak), the heat produced by ECRH (Electron Cyclotron Resonance Heating) and ICRF (Ion Cyclotron range of Frequencies Heating) should be respectively removed through independent cooling water system. Their capacities are typically proposed based on the full power of the ECRH and ICRF. Indeed, the operational duration of the wave system is limited, which necessitates a larger cooling water capacity redundancy, occupies a significant amount of space, and requires a substantial budget. In this paper, the cooling water system for ECRH and ICRF of CRAFT (Comprehensive Research Facility for Fusion Technology) testing bench is designed according to its requirements.Initially, the optimization of the cooling water process is carried out in accordance with the specified parameters. Thereafter, the entire process is simulated employing the AFT Fathom code.Finally, a multiuser integrated cooling water system is designed, which is different from the traditional majority one-to-one mode. And the results show that all the parameters can meet the system requirements, meanwhile the redundancy of the cooling water capacity can be greatly reduced by flow regulation.The cooling water integral structure will provide a new idea for the design of fusion reactor cooling water systems.</p></div>","PeriodicalId":55133,"journal":{"name":"Fusion Engineering and Design","volume":null,"pages":null},"PeriodicalIF":1.9,"publicationDate":"2024-07-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141630195","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Cascade Internal Model Control scheme for PID feedback control on Keda Torus eXperiment 用于 Keda Torus 试验 PID 反馈控制的级联内部模型控制方案
IF 1.9 3区 工程技术 Q1 NUCLEAR SCIENCE & TECHNOLOGY Pub Date : 2024-07-15 DOI: 10.1016/j.fusengdes.2024.114592
Zhen Tao , Adil Yolbarsop , Yuan Zhang , Wentan Yan , Zheng Chen , Xianhao Rao , Shunrong Ren , Furen Tian , Xiuming Wang , Wenzhe Mao , Zian Wei , Zixi Liu , Chu Zhou , Adi Liu , Tao Lan , Jinlin Xie , Haiyang Zhou , Xiaohui Wen , Hai Wang , Ge Zhuang , Wandong Liu

KTX, a reversed field pinch (RFP) device, is equipped with a robust Magnetohydrodynamic (MHD) magnetic field feedback control system, which comprises two distinct loops: an inner loop used for current control to generate a magnetic field, and an outer loop dedicated to magnetic field control; these loops operate in a cascading manner. The Proportional–Integral–Derivative (PID) control methodology is employed. In the pursuit of achieving superior performance, mathematical analysis is conducted on both control loops. This rigorous examination culminates in the design of an Internal Model Control (IMC) PID controller. Simulations are employed and further verified through experimental investigations. A magnetic field with fast and accurate response time has been successfully achieved.

KTX 是一种反向磁场夹持(RFP)装置,配备了强大的磁流体动力(MHD)磁场反馈控制系统,该系统由两个不同的环路组成:一个内环用于控制电流以产生磁场,另一个外环专门用于磁场控制;这些环路以级联方式运行。系统采用比例-积分-微分(PID)控制方法。为了实现卓越的性能,对两个控制回路都进行了数学分析。通过严格的检查,最终设计出内部模型控制 (IMC) PID 控制器。仿真结果通过实验研究得到进一步验证。成功实现了快速、准确响应的磁场。
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引用次数: 0
Plasma and gas neutralisation of high energy H- and D- in an Argon plasma neutraliser 在氩等离子体中和器中对高能 H- 和 D- 进行等离子体和气体中和
IF 1.9 3区 工程技术 Q1 NUCLEAR SCIENCE & TECHNOLOGY Pub Date : 2024-07-15 DOI: 10.1016/j.fusengdes.2024.114578
Ronald Stephen Hemsworth

A beam driven plasma neutraliser (BDPN) has been proposed [1] as a relatively simple way to increase the efficiency of neutral beam injectors based on the acceleration and neutralisation of H- or D-. Initial calculations showed that sufficient levels of ionisation could be achieved with H2 or D2 as the initial gas target in the neutraliser if a plasma confinement time of the plasma in the neutraliser is >0.5 ms could be achieved. However, later calculations [2,3] show that the afore-mentioned results were very optimistic as the calculations did not take into account the recombination of molecular ions with electrons. Hence, it has been suggested [4] to use an argon (Ar) plasma as the molecular ion content in such a plasma will be negligible. The use of an Ar plasma neutraliser has been suggested previously [[5], [6], [7]], but few details have been given of the obtainable neutralisation efficiency, the necessary line density for that neutralisation efficiency, or of the calculations and cross sections used to deduce those quantities. This paper briefly discusses why Ar could be a good choice for a plasma neutraliser, then the reactions occurring between the H-/D- beam and the particles in the Ar plasma, and the available cross section data for those reactions. Subsequently, the differential equations for the change of the species in the beam as it traverses an Ar plasma are deduced and solved, and the solutions used to calculate the achievable neutralisation efficiency as a function of the line density in the neutraliser etc. Results are given of the neutralisation efficiency as a function of the degree of ionisation in the neutraliser, the required line density, and the species changes in the beam for accelerated H- beams with 100, 500 and 870 keV energies.

有人提出了光束驱动等离子体中和器(BDPN)[1],认为这是一种相对简单的方法,可以在加速和中和 H- 或 D- 的基础上提高中性光束注入器的效率。最初的计算表明,如果中和器中等离子体的约束时间为 0.5 毫秒,那么以 H2 或 D2 作为中和器中的初始气体目标就可以实现足够水平的电离。然而,后来的计算[2,3]表明,上述结果非常乐观,因为计算没有考虑分子离子与电子的重组。因此,有人建议 [4] 使用氩(Ar)等离子体,因为这种等离子体中的分子离子含量可以忽略不计。以前曾有人建议使用氩等离子体中和器[[5]、[6]、[7]],但很少有人详细说明可获得的中和效率、中和效率所需的线密度或用于推导这些量的计算和截面。本文简要讨论了为什么氩可以作为等离子体中和器的良好选择,然后讨论了 H-/D- 射束与氩等离子体中的粒子之间发生的反应,以及这些反应的现有截面数据。随后,推导并求解了光束穿过氩等离子体时光束中物种变化的微分方程,并利用这些解法计算了作为中和器中线密度函数的可实现中和效率。结果显示了中和器中的电离程度、所需的线密度以及 100、500 和 870 千伏能量的加速 H- 光子束中的物种变化对中和效率的影响。
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引用次数: 0
Deuterium permeation studies through bare and Er2O3 coated SS 316L 裸 SS 316L 和涂有 Er2O3 的 SS 316L 的氘渗透研究
IF 1.9 3区 工程技术 Q1 NUCLEAR SCIENCE & TECHNOLOGY Pub Date : 2024-07-14 DOI: 10.1016/j.fusengdes.2024.114587
Sudhir Rai , P.A. Rayjada , P.B. Dhorajiya , R.B. Patel , S.K. Sharma , A. Sircar , R. Bhattacharyay

Hydrogen isotope permeation through the structural walls of a fusion reactor poses concern for both fuel loss and safety. A primary focus in the International Thermonuclear Experimental Reactor (ITER) is the reduction of hydrogen isotopes, particularly tritium permeation through structural materials. In this work, an experimental setup has been developed to study the permeation of deuterium through thin samples such as bare and erbia (Er2O3) coated 100 µm thick stainless steel (SS 316 L). Permeation results through a bare SS 316 L sample yielded deuterium diffusivity and permeability of SS 316 L. Erbia coating on SS 316 L was developed using dip coating technique and its performance was tested as a permeation reduction barrier (PRB). A permeation reduction factor of ∼87 and 359 have been achieved with coating thickness ∼ 100 and ∼200 nm respectively. No measureable permeation flux was obtained for coating thickness of 492 nm. These results indicate the effectiveness of erbia coating in reducing deuterium permeation through SS 316 L.

氢同位素通过聚变反应堆结构壁的渗透对燃料损耗和安全都构成了威胁。国际热核实验反应堆(ITER)的一个主要重点是减少氢同位素,特别是氚在结构材料中的渗透。在这项工作中,开发了一套实验装置来研究氘通过薄样品(如裸不锈钢和涂有铒(Er2O3)的 100 微米厚不锈钢(SS 316 L))的渗透情况。通过裸 SS 316 L 样品的渗透结果得出了 SS 316 L 的氘扩散率和渗透率。采用浸涂技术在 SS 316 L 上形成了厄尔比亚涂层,并测试了其作为减少渗透屏障(PRB)的性能。涂层厚度分别为 100 纳米和 200 纳米时,渗透降低系数分别为 ∼87 和 359。涂层厚度为 492 nm 时,没有测得渗透流量。这些结果表明,埃尔比亚涂层能有效减少 SS 316 L 的氘渗透。
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引用次数: 0
Preliminary architecture design for human-in-the-loop control of robotic equipment in remote handling tasks: Case study on the NEFERTARI project 在远程操作任务中对机器人设备进行人环控制的初步结构设计:NEFERTARI 项目案例研究
IF 1.9 3区 工程技术 Q1 NUCLEAR SCIENCE & TECHNOLOGY Pub Date : 2024-07-14 DOI: 10.1016/j.fusengdes.2024.114586
Giuseppe Andrea Fontanelli, Alessandro Sofia, Salvatore Fusco, Stanislao Grazioso, Giuseppe Di Gironimo

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.

在这项工作中,我们提出了一种机器人系统的通用控制结构,专用于远程处理核聚变机器中的舱内组件。在 "Rfx 基础设施实验研究和技术进步新设备"(NEFERTARI)项目范围内,我们将对该控制架构进行测试,以检查和维护 RFX-mod2 实验的首批壁组件。该架构分为底层和高层。前者用于机器人系统的底层控制和安全管理;后者用于高层规划并实现多个子模块,如用于机器人数字双胞胎可视化的虚拟现实(VR)环境。此外,应用编程接口(API)用于连接这两层,模块和层之间的通信由 ROS2 框架提供。这种框架的典型用法是,人类操作员远程操作真实机器人,电机编码器的数据被用作动态模型模块的输入。该模块用于实时计算前向动力学,提供虚拟环境中机器人(数字孪生)的精确模拟。
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引用次数: 0
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Fusion Engineering and Design
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