Research On Remote Handling System For Tokamak Flexible In-vessel Inspection Robot Based On Virtual Reality

Controlled nuclear fusion reaction can be regarded as a clean way to solvethe energy problem which is always a serious problem nowadays. The keyprerequisites is how to implement an effectively maintenance to the nuclearreactors.Apparently, the maintenance task can be only performed remotely, ratherthan done by human beings directly due to the high temperature, high vacuumand strong radiation environment. However, without monitoring camerasinstalled in the nuclear reactor, the traditional control system which vastlydepends on visual information is not able to work inefficiently, even worse,collisions between the in-vessel components may happen in this scene. So,how to provide effective visual feedback to improve efficiency and safety ofremote handling system for nuclear reactors is very important.For the Tokamak flexible in-vessel inspection robot (FIVIR), this paperdesign and implement a remote handling system based on virtual reality. Itreemerge the actual scenes of Tokamak and FIVIR based on kinematic,dynamics with flexibility taken into consideration. With the virtual reality technology, the operator can observe the FIVIR and Tokamak at any point,which greatly reduce the burden of the teleoperator and improve theefficiency and safety of FIVIR.The main content of this thesis is summarized as bellow:1. Design and implement a remote handling system based on virtualreality. The system includes two working states online and offline. Andaccording to the actual task demand corresponding remote modes have beendesigned.2. After the kinematics modeling, a flexible dynamics model based on theabsolute nodal coordinate has been established in order to achieve a moreaccurate simulation and control of the FIVIR.3. To avoid collisions between the maintenance manipulator and in-vesselcomponents, a minimum distance calculation algorithm has been designedand implemented in the system. The algorithm is based on the concept ofMinkowski space. The simulation system can display the closest points andrecord the distance.4. To improve human-computer interaction and immersion of the system,stereoscopic display based on active shutter stereoscopic method has beenimplemented into human-computer interaction system. And the stereoscopicscene can be controlled by3D mouse. 5. According to the real image information and the manipulator positionfeedback information, combining the graphical image superposition technique,the first wall of virtual Tokamak can be updated to the real image information.This will greatly improve the convenience of the later detection.