Publications

Version: 1.0 Approved

LDO-ID 2021-06-08-07

Title A Telerobotic Real-Time Network Distributed Framework for the ITER Remote Handling Supervisory Control System

Abstract

We present a high-level real-time network distributed framework under design by Vitrociset – a Leonardo Company, for ITER Remote Handling Supervisory Control System (RHSCS). One of the main functionalities of RHSCS is to provide internal network communication mechanisms to control RH devices and, in general, to provide monitoring features for RH campaigns execution. In addition to the physical infrastructure, Vitrociset is in charge of the design and commissioning of dedicated communication protocols or Application Program Interfaces (APIs), for the safety relevant remote control of devices such as a joystick controller communicating with robot controllers or robot controllers communicating with external sensor controllers (e.g. a vision system being used to modify, for example, the robot trajectories). The framework will be able to connect point-to-point systems for real-time data exchange and diagnostic monitoring and control with the future capability of fault prevention using predictive analytics running over specific diagnostic data. Master/slave communications, and other point-to-point real-time communications, are implemented using a publish-subscribe pattern able to set-up a regular real-time streaming of data, directly handling eventual data transmission problems, based on a Data Distribution Service (DDS). Considering for example a Work-Cell Command and Control (C&C) application with a master arm used for direct control over a slave arm, the application will send a command in request/reply mode to the master arm controller to initialize master operation mode and then it will start streaming in publish/subscribe mode the control loop data over the real-time network, monitoring timing errors or networks faults. In a second stage, the application will send a command (using request/reply mode) to the slave arm to initialize slave operation mode with the specified master arm topic. At this time the connection through the DDS data bus is established between the two actors and the slave arm will receive data coming from the master arm using the publish/subscribe messaging pattern. The Master as Requester in this case will simply be the first Point of the connection, while the Slave, the Replier, will be the second Point

Authors Mazzaro Silvio, Nobili Matteo, Fiorilla Angelo Emanuele, Hamilton David, Massa Alessandro, Matta Walter

Type Paper for Seminar/Symposium/Conference

Media SOFT - Symposium on Fusion Technology (20-25 September 2020, Virtual Edition)

Web site

https://soft2020.eu/content/download/23572/407738/file/SOFT-2020-Book-of-Abstracts-v2.pdf

Anno 2020