Remote maintenance is a key function to ensure reliable, safe, and long-term operation of fusion reactors. However, handling heavy components in tight spaces is a challenging task. As part of its goals, the ITER project also has to demonstrate the feasible design, integration, and operation of a remote handling system (RHS) able to perform both preplanned tasks and recovery/rescue operations in case of failure or abnormal conditions. The ITER Remote Handling Control System (RHCS) is based on a man-in-the-loop concept due to the complexity of the tasks. In order to make more informed and aware decisions while supervising or teleoperating RH equipment movements, the operators are provided with both real images coming from on-site cameras and virtual renderings, thanks to the virtual reality (VR) system. Generally, VR renderings are made of rigid CAD models and do not consider the effects of dynamic factors on the RH equipment (RH) structure. This work shows the development activities of the structural simulator (SS) for the calibration of the RH VR models, aimed at accurately representing the real configuration the robots assume due to their own weight and the handled load.
Development of the Structural Simulator for the Calibration of the Virtual Reality Environment of the ITER Remote Handling Control System / Zoppoli, A., Kolokotronis, E., Pintos Cabrera, N.A., Esque, S., Saarinen, H., Ruiz Morales, E., Hamilton, D., Di Gironimo, G.. - In: IEEE TRANSACTIONS ON PLASMA SCIENCE. - ISSN 0093-3813. - (2026). [10.1109/TPS.2026.3700331]
Development of the Structural Simulator for the Calibration of the Virtual Reality Environment of the ITER Remote Handling Control System
A. Zoppoli;G. Di Gironimo
2026
Abstract
Remote maintenance is a key function to ensure reliable, safe, and long-term operation of fusion reactors. However, handling heavy components in tight spaces is a challenging task. As part of its goals, the ITER project also has to demonstrate the feasible design, integration, and operation of a remote handling system (RHS) able to perform both preplanned tasks and recovery/rescue operations in case of failure or abnormal conditions. The ITER Remote Handling Control System (RHCS) is based on a man-in-the-loop concept due to the complexity of the tasks. In order to make more informed and aware decisions while supervising or teleoperating RH equipment movements, the operators are provided with both real images coming from on-site cameras and virtual renderings, thanks to the virtual reality (VR) system. Generally, VR renderings are made of rigid CAD models and do not consider the effects of dynamic factors on the RH equipment (RH) structure. This work shows the development activities of the structural simulator (SS) for the calibration of the RH VR models, aimed at accurately representing the real configuration the robots assume due to their own weight and the handled load.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
