annex a - standard terminology

PDF generated on 23-Nov-2011

Handbook (not under Configuration Control)

Annex A - Standard Terminology

This document provides definitions for RH control system acronymns and terminology

Approval Process Name Action AffiliationAuthor Hamilton D. 22-Nov-2011:signed IO/DG/DIP/CIE/AOP/RHCoAuthorReviewers Tesini A. 22-Nov-2011:recommended IO/DG/DIP/CIE/AOP/RHApprover Kondoh M. 22-Nov-2011:approved IO/DG/DIP/CIE

Document Security: level 1 (IO unclassified)RO: Tesini Alessandro

Read Access RO, project administrator, AD: ITER, AD: External Collaborators, AD: Section - Remote Handling, AD: Section - Remote Handling - EXT, AD: ITER Management Assessor

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2DX65KVERSION CREATED ON / VERSION / STATUS

22 Nov 2011 / 2.1 / APPROVED

EXTERNAL REFERENCE

PDF generated on 23-Nov-2011

Change LogTitle (Uid) Version Latest Status Issue Date Description of Change

Annex A - Standard Terminology (2DX65K_v2_1)

v2.1 Approved 22 Nov 2011

Changes made according to DA review report (653PL4)

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v2.0 Approved 28 Jun 2011 Added more terminology


v1.0 Signed 15 Oct 2008

ITER_D_2DX65K v2.1

Annex A - Standard Terminology ITER_D_2DX65K v2.1

© ITER Organization 1

RHCS Design Handbook

Annex A – Standard Terminology

Contents

1 Introduction ................................................................................................................................... 5

2 ITER RH Abbreviations/Acronyms .............................................................................................. 6

3 ITER Project Terminology ............................................................................................................ 8

3.1 CODAC .................................................................................................................................. 8

3.1.1 Plant System ..................................................................................................................... 8

3.1.2 Safety ................................................................................................................................. 8

3.1.3 Interlocks .......................................................................................................................... 8

3.1.4 Protection Systems ........................................................................................................... 8

3.1.5 Instrumentation and Control (I&C) ................................................................................ 9

3.2 Project .................................................................................................................................... 9

3.2.1 Hot Cell ............................................................................................................................. 9

3.2.2 Port Cell ............................................................................................................................ 9

3.2.3 Neutral Beam Cell ............................................................................................................ 9

3.2.4 Hot Test-Stand ................................................................................................................. 9

3.2.5 Cold Test-Stand ................................................................................................................ 9

3.2.6 Gallery ............................................................................................................................... 9

3.2.7 Cable Trays ....................................................................................................................... 9

4 ITER Remote Handling Terminology ........................................................................................ 10

4.1 Remote Handling ................................................................................................................ 10

4.1.1 Remote Handling System .............................................................................................. 10

4.1.2 Remote Handling Equipment System ........................................................................... 10

4.1.3 Remote Handling Equipment ........................................................................................ 10

4.1.4 Remote Handling Tools .................................................................................................. 10

4.1.5 Remote Handling Plant System .................................................................................... 10

4.1.6 Remote Handling Supervisory Applications ................................................................. 10

4.1.7 Remote Handling Control System ................................................................................. 10

4.1.8 Remote Handling High-Level Control System ............................................................. 10

4.1.9 Remote Handling Low-Level Control System .............................................................. 11

4.1.10 Equipment High-Level Control System ........................................................................ 11

4.1.11 Equipment Low-Level Control System ......................................................................... 11

4.2 Manipulation ....................................................................................................................... 11

4.2.1 Manipulator .................................................................................................................... 11

4.2.2 Telemanipulator ............................................................................................................. 11

4.2.3 Through-the-wall manipulator ...................................................................................... 11

4.2.4 Master Device ................................................................................................................. 11

4.2.5 Slave Device .................................................................................................................... 11

4.2.6 Haptic Device .................................................................................................................. 11

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4.2.7 Telepresence ................................................................................................................... 11

4.3 Handling .............................................................................................................................. 12

4.3.1 Transporter ..................................................................................................................... 12

4.3.2 BOOM .............................................................................................................................. 12

4.3.3 Mover ............................................................................................................................... 12

4.3.4 End-Effectors .................................................................................................................. 12

4.3.5 RH Cask .......................................................................................................................... 12

4.3.6 Cask Transfer System .................................................................................................... 12

4.3.7 In-Cask Equipment ........................................................................................................ 12

4.3.8 Vehicle ............................................................................................................................. 12

4.4 Control ................................................................................................................................. 12

4.4.1 Command & Control ...................................................................................................... 12

4.4.2 Graphic User Interface ................................................................................................... 12

4.4.3 Human-Machine Interface ............................................................................................. 12

4.4.4 Direct Control ................................................................................................................. 13

4.4.5 Indirect Control .............................................................................................................. 13

4.4.6 Equipment Controller .................................................................................................... 13

4.5 Control Room....................................................................................................................... 13

4.5.1 Work-cell ......................................................................................................................... 13

4.5.2 Workstation .................................................................................................................... 13

4.5.3 Remote Control ............................................................................................................... 13

4.5.4 Local Control ................................................................................................................... 13

4.6 Operations ........................................................................................................................... 13

4.6.1 ITER Handling Operations ............................................................................................ 13

4.6.2 ITER Maintenance Operations ...................................................................................... 13

4.6.3 Recovery Operation ........................................................................................................ 13

4.6.4 Rescue Operation ............................................................................................................ 14

4.6.5 Offline Operations .......................................................................................................... 14

4.6.6 Online Operations .......................................................................................................... 14

4.7 Miscellaneous ...................................................................................................................... 14

4.7.1 Fail-Safe .......................................................................................................................... 14

4.7.2 Field Wiring .................................................................................................................... 14

4.7.3 Mock-Up .......................................................................................................................... 14

4.7.4 Virtual Mock-Up ............................................................................................................. 14

4.7.5 Service Connector ........................................................................................................... 14

4.7.6 Umbilical Cable .............................................................................................................. 14

4.7.7 Architectural Modules .................................................................................................... 14

4.7.8 Software Component ...................................................................................................... 15

4.7.9 Middleware ..................................................................................................................... 15

4.7.10 Finite State Machine ...................................................................................................... 15

4.7.11 Off-line ‘Equipment’ Simulator ..................................................................................... 15

4.7.12 Virtual Reality Item, Parent, Frame............................................................................. 15

5 ITER Robotics Terminology ....................................................................................................... 16

5.1 Structure ............................................................................................................................. 16

5.1.1 Robot ................................................................................................................................ 16

5.1.2 Manipulator .................................................................................................................... 16

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5.1.3 Arm .................................................................................................................................. 16

5.1.4 Wrist ................................................................................................................................ 16

5.1.5 End-Effector .................................................................................................................... 16

5.1.6 Link ................................................................................................................................. 16

5.1.7 Joint ................................................................................................................................. 16

5.1.8 Axis .................................................................................................................................. 16

5.1.9 Actuator ........................................................................................................................... 16

5.1.10 Sensor .............................................................................................................................. 17

5.1.11 Redundant Manipulator................................................................................................. 17

5.2 Geometry ............................................................................................................................. 17

5.2.1 Degree of freedom (DOF) ............................................................................................... 17

5.2.2 Position ............................................................................................................................ 17

5.2.3 Orientation ...................................................................................................................... 17

5.2.4 Pose.................................................................................................................................. 17

5.2.5 Frame .............................................................................................................................. 17

5.2.6 Coordinate Systems ........................................................................................................ 17

5.2.7 Homogenous Transforms ............................................................................................... 18

5.2.8 X-Y-Z Euler Angles ......................................................................................................... 18

5.2.9 Angle-Axis (or Axis-Angle) ............................................................................................. 18

5.2.10 Quaternions .................................................................................................................... 18

5.3 Control ................................................................................................................................. 18

5.3.1 Manual Mode .................................................................................................................. 18

5.3.2 Automatic Mode .............................................................................................................. 18

5.3.3 Position control ............................................................................................................... 19

5.3.4 Force control ................................................................................................................... 19

5.3.5 Hybrid position/force control ......................................................................................... 19

5.4 Motion .................................................................................................................................. 19

5.4.1 Path Planning ................................................................................................................. 19

5.4.2 Trajectory Generation .................................................................................................... 19

5.4.3 Fly point .......................................................................................................................... 19

5.4.4 Rest point ........................................................................................................................ 19

5.5 Mathematics and Physics ................................................................................................... 20

5.5.1 Denavitt-Hartenberg Notation ...................................................................................... 20

5.5.2 Forward Kinematics ....................................................................................................... 20

5.5.3 Inverse Kinematics ......................................................................................................... 20

5.5.4 Jacobian .......................................................................................................................... 20

5.5.5 Manipulator Rigid Body Dynamics ............................................................................... 20

5.5.6 Dynamic Simulator ........................................................................................................ 20

5.5.7 Structural or Physical Simulator .................................................................................. 21

5.6 Performance ........................................................................................................................ 21

5.6.1 Accuracy .......................................................................................................................... 21

5.6.2 Repeatability ................................................................................................................... 21

5.6.3 Resolution ....................................................................................................................... 21

5.6.4 Sensitivity ....................................................................................................................... 21

5.6.5 Bandwidth ....................................................................................................................... 21

5.6.6 Stiffness ........................................................................................................................... 21

5.6.7 Compliance ...................................................................................................................... 21

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6 References ................................................................................................................................... 22

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1 Introduction

This document describes the general abbreviations/acronyms and terminology employed in the ITER remote handling section. It tries to cover the terms that everyone involved with ITER remote handling control system should be familiar with.

It is important in such a widely distributed international project that the meaning of these terms is clearly understood. This document attempts to remove any ambiguity about the interpretation of these key terms.

It is assumed that the very specific terms used within certain remote handling sub-systems will naturally become familiar and well defined to those operating in these areas. However, the widely used language should be clarified to avoid divergence on the interpretation of these terms.

In some cases, this document goes further than pure language definition. Some robotic notations can be applied differently, and this document tries to standardize on the selection and application of this notation so that the systems are described in a common notation and exhibit common behaviour (the direction of a positive motion for example).

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2 ITER RH Abbreviations/Acronyms

ALARA As Low As Reasonably Achievable

API Application Programming Interface

BM Blanket Module

BH Blanket Handling

BRH Blanket Remote Handling

C&C Command & Control

CAT Computer Assisted Teleoperation

CCEE Central Cassette End-Effector

CIN Central Interlock Network

CMM Cassette Multifunctional Mover

CMT Cask Mounted Transporter

CODAC Control, Data Acquisition, and Communication

COTS Commercial Off-The-Shelf

CTM Cassette Toroidal Mover

CTS Cask Transfer System

C&C Command & Control

DDD Design Description Document

DH Divertor Handling

DRH Divertor Remote Handling

DTP2 Divertor Test Platform 2

EMS Equipment Management System

ES Emergency Stop

FAT Factory Acceptance Test

FW First Wall

FMEA Failure Modes Effects Analysis

FSM Finite State Machine

Gy Gray (measurement unit for radiation)

GUI Graphic user interface

HAZOP Hazard and Operability

HAZID Hazard Identification

HCF ITER Hot-Cell Facility

HF Human factors

HMI Human-machine interface

ICD Interface Control Document

ICS Interlock Control System

IO ITER Organization

IPT Integrated Product Team

IS Interface Sheet

IVVS In-Vessel Viewing System

IRMMS ITER Remote Maintenance management System

IRHCOP ITER Remote Handling Code of Practice

IVT In-Vessel Transporter

I&C Instrumentation and Control

I/O Input/Output

JET Joint European Torus

LAN Local Area Network

LTM ITER Long Term Maintenance state

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LRU Line Replaceable Unit

MAM Manipulator ArM

MPD Multi-Purpose Deployer

NB Neutral Beam

OMS Operations Management System

PBS Plant Breakdown Structure

PCDH CODAC Plant Control Design Handbook

PCP Primary Closure Plate

PIS Plant Interlock System

PLC Programmable Logic Controller

PR ITER Project Requirements document

PSH Plant System Host

PSS Plant Safety System

PTS Procurement Technical Specification

RAMI Reliability, Availability, Maintainability, Inspectability

RH Remote Handling

RHE Remote Handling Equipment

RHCS Remote Handling Control System

RHSCS Remote Handling Supervisory Control System

RPE Respiratory Protective Equipment

RT Real-Time

R&D Research & Development

SAT Site Acceptance Test

SCEE Second cassette End-Effector

SCS Safety Control System

SIC Safety Important Component

SIL Safety Integrity Level

SL-2 Seismic Load 2

SRD System Requirements Document

SSEN Steady-State Electrical Power Network

StCEE Standard Cassette End-Effector

STM ITER Short Term Maintenance state

SWL Safe Working Load

TB ITER Tokamak Building

TBM Test Blanket Module

TC Transfer Cask

TCS Transfer Cask System

UML Unified Modelling Language

VM Vehicle Manipulator

VR Virtual Reality

VV Vacuum Vessel

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3 ITER Project Terminology

3.1 CODAC

3.1.1 Plant System

The ITER project is divided into different systems. CODAC provides central coordination of these systems and so each system links up to CODAC. CODAC describes each of the systems as Plant Systems. The Remote Handling System is thus one of the ITER Plant Systems.

3.1.2 Safety

The term ‘safety’ has definite connotations within the ITER project. It should therefore be used with these in mind. In principle, ‘safety’ regards the protection against risk to personnel and environment.

3.1.2.1 Nuclear Safety

ITER is a nuclear site. A big emphasis is therefore on safety against nuclear risks. In fact, the default use of the term safety at ITER is protection against nuclear risks. The Safety Important Components (SIC) are those that guard against nuclear risks.

The main remote handling SIC components are the Transfer Casks which provide a containment function for radioactive materials when transporting ITER components.

A significant project requirement for all systems, which is related to nuclear safety, is that they do not damage SIC systems.

3.1.2.2 Conventional Safety

Conventional safety covers standard risks such as fire, flooding, electrocution etc.

The conventional ‘crushing’ risk is significant for the remote handling systems. When operating remotely, there is limited exposure to this risk, but the remote handlings systems may also be used in mixed manual/remote activities, especially during first assembly, and this exposes the systems to this risk.

3.1.3 Interlocks

The Interlocks term is used at ITER to refer to a protection against damage to ITER investment. Mechanisms that protect against this risk should be described as interlock mechanisms rather than safety mechanisms.

3.1.4 Protection Systems

The ‘protection systems’ term describes all the systems which target the protection against risk, whether safety or investment related.

3.1.4.1 Central Safety System (CSS)

Hardware logic system protecting against safety risks arising from a combination of plant conditions. This system is managed by CODAC division.

Note: The CSS only contains logic, and not sensors or actuators. The CSS acts through the plant systems.

3.1.4.2 Plant Safety System (PSS)

Hardware logic system protecting against safety risks arising from a combination of plant equipment conditions. This system is managed by the ITER section in charge of the plant.

3.1.4.3 Equipment Safety System

Hardware logic system protecting against safety risks caused by misuse/malfunction of single piece of plant equipment. This system exists within the RH system but is not standard across ITER.

3.1.4.4 Central Interlock System (CIS)

Reliable software system protecting against ITER investment risks arising from a combination of plant conditions. This system is managed by CODAC division.

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3.1.4.5 Plant Interlock System (PIS)

Reliable software system protecting against ITER investment risks arising from a combination of plant equipment conditions. This system is managed by the ITER section in charge of the plant.

3.1.4.6 Equipment Interlock System

Reliable software system protecting against ITER investment risks caused by misuse/malfunction of single piece of plant equipment. This system exists within the RH system but is not standard across ITER.

3.1.5 Instrumentation and Control (I&C)

Instrumentation and Control is the CODAC term for cubicles that monitor and control items of ITER plant. CODAC refers to all the ITER systems, including the RH System, with common terminology. The RH Equipment controllers are thus referred to, for project purposes, as I&C.

3.2 Project

3.2.1 Hot Cell

The Hot Cell is the controlled area within the Hot Cell building (B21) where remote maintenance (refurbishment, maintenance, disposal) is performed on ITER components.

3.2.2 Port Cell

The vacuum vessel has ports every 20 on 3 levels. On the exterior, port cells are contained areas providing access to the vessel ports. The port-cells can accommodate the RH transfer casks.

3.2.3 Neutral Beam Cell

The Neutral Beam Cell is a contained area in the Tokamak building exterior to the vacuum vessel that covers equatorial and upper ports 4 to 8. This area has a dedicated system for RH maintenance.

3.2.4 Hot Test-Stand

The Hot Test-Stand is a controlled area in the Hot-Cell building where cask-based RH equipment can be deployed (after de-contamination) for maintenance, re-commissioning, and testing. This area is accessible to personnel with suitable RPE.

3.2.5 Cold Test-Stand

The Cold Test-Stand is a non-contaminated (possibly Be) mock-up environment to be located the Assembly Hall that is used for RH trials and training.

3.2.6 Gallery

The general area in the Tokamak Building around the ITER machine. This area should be accessible when the machine is in the maintenance state, unless RH cask operations are taking place.

3.2.7 Cable Trays

The electrical wiring to machine diagnostics and other services is routed along cable trays which track along the walls of the Tokamak Building.

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4 ITER Remote Handling Terminology

4.1 Remote Handling

4.1.1 Remote Handling System

This is the term used to describe the entirety of the RH sub-systems that are involved in the remote maintenance at ITER.

4.1.2 Remote Handling Equipment System

The RH System is made up of the following equipment systems:-

Blanket RH System (PBS 23.01)

Divertor RH System (PBS 23.02)

Cask and Plug RH System (PBS 23.03)

In-Vessel Viewing System (PBS 23.04)

Neutral Beam RH System (PBS 23.05)

Hot Cell RH System (PBS 23.06)

RH Control System (PBS 23.07)

Test Stand System (PBS 23.09)

Multi-Purpose Deployer (PBS 23.10)

4.1.3 Remote Handling Equipment

The term RH Equipment describes the complex powered mechanical devices that are used to perform remote maintenance at ITER.

4.1.4 Remote Handling Tools

The term ‘RH tools’ describes the tools deployed for remote maintenance operations. Tools may be passive devices such as bolt runner tools, or active devices such as cutting/welding tools. A tool is generally handled using a piece of RH equipment.

4.1.5 Remote Handling Plant System

RH Plant System is the term used by CODAC to described the RH System. The RH System is one of many Plant Systems supervised by CODAC.

4.1.6 Remote Handling Supervisory Applications

The RH Supervisory Applications are an assorted set of applications that operator on the RH System as a whole and shall be procured under PBS 23.07. They include:- RH Supervisor, RH Equipment Management System, RH Plant Controller, RH Plant System Host, RH Plant Interlock System, RH Safety System.

4.1.7 Remote Handling Control System

The RH Control System includes all the elements that are employed by the RH operators to plan RH operations and to operate the RH Equipment. It includes the RH High-Level Control System and the RH Low-Level Control System.

4.1.8 Remote Handling High-Level Control System

The RH High-Level Control System is the set of operator interfaces that are provided in the RH control room(s) and RH offices for planning and supervising RH operations.

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4.1.9 Remote Handling Low-Level Control System

The RH Low-Level Control System refers to the equipment and tool controllers that are embedded in control cubicles and located in the cubicles rooms.

4.1.10 Equipment High-Level Control System

The Equipment High-Level Control System is the set of control room operator interfaces that are to be provided with each RH Equipment System and which shall be integrated to form the RH High-Level Control System.

4.1.11 Equipment Low-Level Control System

The Equipment Low-Level Control System are the equipment and tool controllers that are provided within an RH Equipment System for the real-time control of the devices.

4.2 Manipulation

4.2.1 Manipulator

A manipulator is a flexible programmable device that can grasp and position objects within its working range. It consists of an arm, a wrist, and an end-effector. ITER Manipulators are expected to be able to execute automatic sequences in a robotic mode, or to be manually driven in a tele-operating mode.

4.2.2 Telemanipulator

A telemanipulator is a master-slave device for remote handling applications. At ITER, the telemanipulator term refers to electronically controlled devices (also known as servomanipulators). Dedicated telemanipulators are usually two armed.

4.2.3 Through-the-wall manipulator

Typically a mechanically linked master-slave device separated by heavy shielding and a viewing window. In some cases, the mechanical linkage is replaced with electrical communication to improve functionality and containment, although the operating environment is still though-the-wall.

4.2.4 Master Device

This is a powered mechanism located in the RH control room that is used to provide direct control, with force-feedback, over a slave device that is located in the remote environment.

4.2.5 Slave Device

In general terms, this is a piece of RH equipment in the remote environment that is under direct control of an operator (using joystick, haptic device, or master device).

4.2.6 Haptic Device

A haptic device is one that gives the operator a sense of touch or contact when controlling a remote or virtual device. Typically used for driving mechanisms is a virtual world, the haptic term also encompasses the telemanipulator master device.

4.2.7 Telepresence

A teleoperators feeling of actually carrying out the task in the remote environment rather than in the control room using RH equipment. This term reflects the quality of the equipment and operating environment.

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4.3 Handling

4.3.1 Transporter

A transporter is a general powered mechanism used to position an end-effector (often a manipulator) in the remote environment.

4.3.2 BOOM

A BOOM is a type of transporter. The main joints of BOOM transporters are predominantly aligned in the horizontal plane with rotations about vertical axes. A BOOM is sometimes described as snake-like, with the main body moving in a horizontal plane, and only the tip able to raise up into the vertical dimension.

4.3.3 Mover

A mover is a large powered RH mechanism developed for specific ITER handling applications. The movers are fitted with specific end-effectors for interfacing with the ITER components that they handle.

4.3.4 End-Effectors

End-effectors are special adaptors that connect to the end of RH transporters/movers to allow them to handle specific ITER components. End-effectors may be instrumented, in which case the connection to the RH equipment includes an electrical connector.

4.3.5 RH Cask

The ITER RH casks are used for the transfer of RH equipment and ITER components between the ITER Tokamak building and the Hot-Cell building.

4.3.6 Cask Transfer System

The Cask Transfer Systems are non-tethered mobile devices that transport RH casks between the ITER Hot-Cell and Tokamak buildings.

4.3.7 In-Cask Equipment

A number of the ITER RH sub-systems (cassette, blanket, plug handling) are deployed from the transfer casks. This equipment is fitted into the casks and is referred to as in-cask equipment.

4.3.8 Vehicle

A vehicle refers to a robotic structure whose base frame is mobile. The NB Cell RH System contains a ground support vehicle which is free roaming. The Blanket RH System contains a Vehicle Manipulator which is a telescopic manipulator that moves on the articulated rail.

4.4 Control

4.4.1 Command & Control

The human-machine interfaces to the RH equipment controllers are referred to as Command & Control stations. These supervisor stations have also been referred to as Task Supervisor in ITER documentation.

4.4.2 Graphic User Interface

A graphic user interface is an application running on a workstation with a graphical front-end.

4.4.3 Human-Machine Interface

A human-machine interface (HMI) is a workstation application that provides an operating interface to a piece of equipment. These days, HMI’s are usually graphical in nature and so are a sub-set of GUI.

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4.4.4 Direct Control

The RH equipment shall all have an operating mode for direct teleoperation by an operator. The direct control of a piece of RH equipment is done using an input device such as a joystick, which provides reference input to the real-time control loop of the device. This type of operation can be referred to as manual mode. This is the ‘Control’ element of Command & Control.

4.4.5 Indirect Control

Indirect control of RH equipment is where the equipment executes commands or sequences of commands (from a file) under the instigation and supervision of an operator. This type of control can be performed over a non deterministic link as the interactions are at a high level. A HMI application with a normal Ethernet link to the controller shall be used for this indirect control. This is the ‘Command’ element of Command & Control.

4.4.6 Equipment Controller

The RH Equipment are powered and controlled by the Equipment Controllers. These controllers are also referred to as Instrumentation & Control to align with CODAC terminology, although the controller term is preferred within the RH group (the Instrumentation & Control term comes from the world of steady-state plant operation).

4.5 Control Room

4.5.1 Work-cell

In the context of the RH control rooms, a work-cell is a relatively independent station for running an RH task. A work-cell is expected to contain several workstations for running HMI applications, viewing monitors, and control devices for direct control of equipment. Typically it will be manned by 4 operators.

Control room work-cells should be flexible so they can be configured to operate different sets of RH equipment according to the required RH task.

4.5.2 Workstation

In the context of the RH control rooms, a workstation is a personal computer.

4.5.3 Remote Control

Remote control describes the situation when the RH equipment is controlled from the RH control room.

4.5.4 Local Control

Local control describes the situation when the RH equipment is controlled by an operator in close proximity to the equipment (using a laptop).

4.6 Operations

4.6.1 ITER Handling Operations

This term is being used at ITER to refer to remote operations which remove and install ITER components only. The equipment used is very specific to the ITER requirements and performs clearly defined tasks.

4.6.2 ITER Maintenance Operations

ITER maintenance operations are repair, refurbishment, or disposal of ITER components. The tasks are varied and require dextrous manipulation and flexibility of execution. General purpose transporters and telemanipulators are typically required for these tasks.

4.6.3 Recovery Operation

A recovery operation is one where the RH equipment is able to bypass a failure and recovery itself (under remote control) to a safe area where it can undergo maintenance.

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4.6.4 Rescue Operation

A rescue operation is one where special purpose equipment is deployed to rescue some failed RH equipment back to a safe area where it can undergo maintenance.

4.6.5 Offline Operations

This term describes simulated operations in a virtual environment. RH tasks and motion programs will be developed by operations engineers by working in an offline mode.

4.6.6 Online Operations

Contrasting with ‘Offline’ operations, this term describes the actual performance of RH tasks in the ITER remote environment.

4.7 Miscellaneous

4.7.1 Fail-Safe

All RH equipment and tools should fail safe. That is, they should not cause damage to themselves or to the remote environment in the case of loss of power. This state corresponds to stopping equipment motion and maintaining the position and load against gravity.

4.7.2 Field Wiring

This term is used to describe the wiring between the equipment controllers and the actuators/sensors mounted on the RH equipment. It therefore includes both the wiring through the ITER infrastructure and through the RH equipment.

4.7.3 Mock-Up

A full scale model of a device for training/demonstration. The Cold Test Stand is a mock-up of part of the ITER vacuum vessel.

4.7.4 Virtual Mock-Up

A Virtual Reality model of a remote environment and associated tools that can be used for the simulation of RH operations.

4.7.5 Service Connector

Transfer casks are not autonomous. Only the Air Transfer System which transports them can be considered to be autonomous. The casks must be docked and connected to a service connector in order for the cask services and in-cask equipment to be powered and controller. The service connectors, which carry electrical signals only, are therefore located at all docking stations.

4.7.6 Umbilical Cable

A cable which supplies required consumables to an apparatus. In RH context, the umbilical cables refer to cables that connects power/control signals from a fixed connector to a moving device. This description makes a distinction from infrastructure wiring or wiring within a piece of equipment.

4.7.7 Architectural Modules

Distinct elements of an architectural design model fulfilling a functional role which connect to other elements via defined public interfaces. In UML an architectural module maps to a ‘class’. In SysML an architectural module maps to a ‘block’.

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4.7.8 Software Component

Derives from “component-based software engineering”. A component is a class of objects that fulfil a defined functionality (contract), communicate via interfaces, and are built to be reusable. Components equate to building blocks which can be assembled to form a complete application. A software component can be considered to be an architectural module in the RHCS context.

4.7.9 Middleware

A general purpose communication system linking heterogenous software applications.

4.7.10 Finite State Machine

A finite state machine is a model of behaviour composed of a finite number of states, transitions between those states, and actions. Numerous implementations exist for FSM’s. The UML state machine is a widely accepted standard.

4.7.11 Off-line ‘Equipment’ Simulator

An off-line equipment simulator is a software emulation of the nominal equipment controller plus device behaviour. In coordination with the high-level control system applications, it allows operation procedures to be developed in an off-line environment (no link to real equipment controllers).

4.7.12 Virtual Reality Item, Parent, Frame

In the VR context, the term item is used to refer to any geometry in the model. The geometry item shall be drawn with respect to a local coordinate frame (item frame). The coordinate frame shall be linked to a parent frame (item parent) in the model hierarchical structure and shall have a relative position offset with respect to the parent frame.

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5 ITER Robotics Terminology

5.1 Structure

5.1.1 Robot

Defined (1) as an automatically controlled, reprogrammable, multipurpose manipulator. The ‘robot’ term shall not be generally used for the ITER RH Equipment as it has associations of operating unsupervised which will not be the case for ITER remote handling. A more suitable general term would be RH mechanism or device.

5.1.2 Manipulator

See 4.2.1.

5.1.3 Arm

This is a set of linked and powered joints which positions the manipulator wrist. The arm normally provides 3 degrees-of-freedom.

5.1.4 Wrist

This is a set of powered joints between the arm and the end-effector which supports, positions, and orients the end-effector. The wrist normally provides 3 degrees-of-freedom.

5.1.4.1 Spherical wrist

The spherical wrist is the assembly between two links which enables one to pivot relative to the other about a fixed point in three degrees of freedom. This type of wrist makes for easier manipulator kinematics.

5.1.5 End-Effector

This is a device which has been designed to attach to the manipulator wrist to enable the manipulator to perform certain tasks (see also 4.3.4).

5.1.5.1 Gripper

This is an end-effector that has been designed specifically for grasping and holding.

5.1.6 Link

A rigid body which maintains a fixed relationship between joints.

5.1.7 Joint

An assembly between two links that enables one to have a motion relative to the other.

5.1.7.1 Revolute Joint

A joint enabling one link to rotate relative to the other about a fixed axis.

5.1.7.2 Prismatic Joint

A joint enabling one link to have a linear motion relative to the other.

5.1.8 Axis

Direction used to specify the joint motion in a revolute or linear joint.

5.1.9 Actuator

Powered mechanism used to affect motion of a joint. In some cases, the mechanism by which the actuators drive the joints is complex and there is not necessarily a one-to-one mapping between actuator space and joint space.

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5.1.10 Sensor

Component used to measure a property such as position, velocity, temperature, etc.

5.1.10.1 Internal Sensor

A sensor which measures a property of the RH device relative to itself.

5.1.10.2 External Sensor

A sensor which measures a property of the RH device relative to the environment.

5.1.11 Redundant Manipulator

A redundant manipulator is one that has more joints than degrees of freedom. The redundant manipulator can have many options for reaching a position which can be advantageous in cluttered or confined spaces.

5.2 Geometry

5.2.1 Degree of freedom (DOF)

One of the variables (maximum number of six) required to define the motion of a body in space. Used in a robotics context to define the motion of the manipulator end-effector in space.

5.2.2 Position

A point in space relative to a Cartesian coordinate system represented by a 3 dimensional vector.

5.2.3 Orientation

A body such as a manipulator end-effector has an orientation in space as well as a position. A body has 3 degrees of freedom in orientation.

5.2.4 Pose

Defined (1) as the combination of position and orientation in space.

5.2.5 Frame

A frame is a set of 4 vectors giving position and orientation information. A frame is therefore a coordinate system where, in addition to the orientation, we give a position vector which locates its origin relative to some other frame. In this robotics context, the frames always follow the orthogonal right-hand rule.

5.2.6 Coordinate Systems

5.2.6.1 World coordinate system

Stationary Cartesian coordinate system referenced to some fixed position in the operating environment.

5.2.6.2 Base coordinate system

Cartesian coordinate system referenced to the manipulator base.

5.2.6.3 Tool coordinate system

Cartesian coordinate system referenced to the tool or end-effector of a manipulator arm. The standard (2) orientation is for the Z-axis to be pointing in the direction of the tool or end-effector. For planar grasp type gripper end-effectors, the origin is in the middle of the gripper and the Y axis is on the moving plane of the fingers.

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Fig.1 Tool Coordinate Frame with Gripper End-Effector

5.2.6.4 Joint coordinate system

Coordinate system references to the manipulator joint axes.

5.2.7 Homogenous Transforms

A homogenous transform is a 4x4 matrix which describes the position and orientation of a frame and it is a useful tool for combining and manipulating coordinate frame transformations.

5.2.8 X-Y-Z Euler Angles

Frequently, it is desirable to represent a manipulator pose with a six axis vector rather than a 4x4 matrix transform. Numerous ‘fixed angle’ or ‘euler angle’ representation can be chosen for the 3 orientations. The standard used for ITER RH shall be to use the X-Y-Z Euler angles which corresponds to Yaw-Pitch-Roll rotations when using the tool frame axes shown in figure 1.

5.2.9 Angle-Axis (or Axis-Angle)

An alternative to the 3x3 matrix for representing a rotation. It has advantages for interpolation in Cartesian space.

5.2.10 Quaternions

An alternative to the 3x3 matrix for representing a rotation. They are more efficient than matrices, and compared to Euler angles, they are simpler to compose and avoid the problem of gimbal lock.

5.3 Control

5.3.1 Manual Mode

The RH device is under direct control of the operator. A user operated input device is providing a continuous stream of reference data to the closed loop controller which is affecting at least one degree of freedom of the device.

Note: some degrees of freedom could be under internal closed loop control (for example, during constrained telemanipulation).

5.3.2 Automatic Mode

The RH device is under indirect control of the operator. The operator has triggered the automatic execution of a sequence of commands and is supervising the device using the feedback systems.

ZT

YT

XT

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5.3.3 Position control

This refers to the control of the manipulator position in space. Much of the RH equipment will operate under position/velocity control only (transporters, for example, don’t expect to touch the remote environment). The control algorithm servo’s to achieve a reference that is specified in terms of positions and/or velocities.

5.3.3.1 Joint based position control

The RH device joints are driven to target values. A single move segment will be coordinated so that all moving joints start and stop at the same time.

5.3.3.2 Cartesian based position control

The path is planned in a Cartesian coordinate frame. The device is driven so that a point, usually the origin of the tool frame, moves along the Cartesian path. This control requires a solution of the manipulator kinematics in order to convert from the Cartesian reference space to the joint space where the control takes place.

5.3.4 Force control

The control algorithm servos to achieve a reference that is specified in terms of contact forces with the environment. This type of control requires the use of an external force sensor.

5.3.5 Hybrid position/force control

In practice, force control alone is not useful. The hybrid position/force controller is what is required to perform a task requiring force control. The position control drives the manipulator when it is in free space. When the manipulator is in contact with the environment, the constrained degrees of freedom may come under force control while the unconstrained degrees of freedom remain under position control.

Hybrid position/force control takes place in a Cartesian coordinate system (manipulator tool frame or an operation space coordinate frame).

5.4 Motion

5.4.1 Path Planning

Path planning is the process of planning the path that the manipulator should follow. In cluttered or confined environments, the path planning involves planning a path for the manipulator to the desired goal which does not collide with the environment.

Path planning requires knowledge of the environment. In most cases, the RH controllers will not have sufficient knowledge to perform path planning. This activity will most likely be carried out in a virtual reality environment and may, in fact, be done manually at ITER since the environment and paths should be well understood.

5.4.2 Trajectory Generation

Trajectory generation is the process of generating the reference input for each control loop cycle. Over a period of time the reference input attains some high level goal.

5.4.3 Fly point

A position that the manipulator will pass through on its way to reaching a final position. For ITER applications, the trajectory generator reference values should pass through a fly-point position precisely and with zero velocity (sometimes referred to as a stop point).

5.4.4 Rest point

A position within an overall move that the manipulator is driven to and where it remains until a further command is received.

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5.5 Mathematics and Physics

5.5.1 Denavitt-Hartenberg Notation

The most widely used notation for describing mechanisms is the Denavitt-Hartenberg (DH) notation. This notation shall be used for the description of the ITER RH mechanisms. There are variations in the use of the DH notation. The ITER standard shall be that described by J.J. Craig (3).

The following rules shall also apply for the determination of the joint frames:-

Draw the robot schematic with the base on the left of the page and the tip on the right of the page and gravity acting downwards,

Where a choice exists, the Z axis should be directed upwards, out of the page, or left to right.

5.5.2 Forward Kinematics

The forward kinematics is the calculation of the manipulator tool frame given the joint positions.

5.5.3 Inverse Kinematics

The inverse kinematics is the calculation of the manipulator joint positions given the tool frame. There can be multiple solutions, notably for redundant manipulators or when the robot is in a singular position. In the case of multiple solutions, the criteria used for selection is usually to choose the solution closest to the current position.

Manipulator inverse kinematic solutions can be split into two classes:- closed-form solutions and numerical solutions. Numerical solutions are much slower, so ITER manipulators should have closed-form solutions (virtually all industrial manipulators have been designed to have a closed-form solutions). Manipulators with a spherical wrist will have a closed-form solution as they can be split into two 3 dimensional problems.

5.5.4 Jacobian

The Jacobian (J) is a multidimensional form of the derivative. In the field of robotics, Jacobians relate joint velocities to Cartesian velocities.

).(Jv

In the force domain, the Jacobian transpose maps Cartesian forces acting at the tool frame into joint torques.

FJ T)(

5.5.5 Manipulator Rigid Body Dynamics

The manipulator rigid body dynamics provides the relationship between the applied torque vector and the resulting motion of the manipulator (excludes friction affects).

)(])[(])[()( 2 GCBM

Where M is the mass matrix

B is the matrix of Coriolis coefficients

C is the matrix of centrifugal coefficients

G is the vector of gravity terms

The manipulator dynamics is normally too complex to be worked out in closed form. Numerical methods (Newton-Euler) are employed to solve them.

Many ITER RH devices will move at very slow speeds and the terms which are a function of the product of joint velocities can usually be neglected.

5.5.6 Dynamic Simulator

A dynamic simulator simulates the robot dynamic response to applied torques, taking into account the joint positions and velocities. A dynamic simulator can be useful for developing/tuning the control algorithm off-line or also as part of some control algorithms (model-references) to modify parameters to make a real device behave like its model.

A form of the manipulator dynamics, perhaps including friction effects, could also be used as part of the diagnostic system to estimate the expected manipulator response to the controller outputs.

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5.5.7 Structural or Physical Simulator

The ITER RH Equipment will manipulate heavy loads. The RH joints and mechanism links will not behave as rigid bodies in these circumstances. The deflections could produce a significant variation in the real RH Equipment position compared to a rigid body model.

ITER requires virtual reality simulations of the RH Equipment than will reflect the real device position, both for off-line development work and for on-line monitoring. This simulator can be called the structural or physical simulator, referring to the fact that it takes into account the equipment structural deformations due to real-world physics.

5.6 Performance

5.6.1 Accuracy

The accuracy of a manipulator shall be taken as the maximum difference between the internal measurement of the tool frame position and the actual position of the tool frame position as measured with respect to the manipulator base coordinate frame (the accuracy of our knowledge of the position of the base of the manipulator is clearly not a function of the manipulator).

5.6.2 Repeatability

The repeatability is the maximum variation in manipulator tool frame position for the same static reference position. It therefore includes both the control algorithm’s ability to achieve a reference position, and the variations due to effects beyond the sensor measurement (backlash etc.).

5.6.3 Resolution

The resolution of a sensor is the smallest change it can detect in the quantity that it is measuring. However, electrical noise may mean that the resolution available at the controller is reduced from the theoretical one.

5.6.4 Sensitivity

This term applies to teleoperated equipment with force feedback. It is a measure of the minimum force increment that is reflected back to the operator.

5.6.5 Bandwidth

The bandwidth of a control loop is the excitation signal frequency where the system gain drops 3bB below peak (i.e. output falls to half of value obtained for static input of same amplitude). The bandwidth is a measure of a control loops dynamic capabilities and reflects the level of speed or force variations the system can track?

5.6.6 Stiffness

‘Stiffness’ is the relationship between force and displacement. A control loop with high stiffness exerts a large corrective force to eliminate a positional error. A ‘stiff’ system strongly resists external efforts to displace it from its reference position.

5.6.7 Compliance

The reciprocal of stiffness. A compliant system does not apply large resistance to external forces. A system may have compliance as a result of backlash or flexibility in the mechanism structure or due to low gains in the control loop.

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6 References

(1) ISO 8373: Manipulating industrial robots - Vocabulary

(2) ISO 9787: Manipulating industrial robots – Coordinate systems and motion nomenclatures

(3) “Introduction to Robotics: Mechanics and Control”, 3rd

Edition, John J. Craig

annex a - standard terminology

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