CFETR's Installation and Maintenance on Teleoperation

Institute of Intelligent Machines, Chinese Academy of Sciences

Zengfu Wang

（Qingquan Yan）

2012-5-15

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Main topics

2. Our solution

3. Innovation Point

1. Current Research - Domestic and Abroad

4. Research foundation

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1. Current Research - Domestic and Abroad

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Fusion

Cabin

In order to accomplish the tasks on observation, Inspection, removal,

assembly, recycling, transport and restoration through tele-operation under the

nuclear environment, we must firstly solve the problems of stable collection,

reliable operation, effective representation and correct recognition of

all kinds of state information in fusion cabin, and therefore provide scientific

basis for decision and control.

Both physical and chemical environments are severe.

The geometry is complex

Outline of the Research

High Temperature

Vacuum Radiation Contamination

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Current Research

Imaging

DeviceCCD Camera

VacuumUtilizing stainless steel

and glass to protect it

from the outer

High

temperature

Alloy is plated on the outer side

of supported arm.To increase the

thermal resistance, use Nitrogen

to cold.

Solution to ITER（1）

Radiation The radiation is under

consideration.

Illumination LEDs

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Current Research

Solution to ITER （2）

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Current Research

Solution to ITER （3）

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Current Research

The direct visual representation method used in

ITER doesn’t contain the profound meanings,

thus it’s not contributed to the operator for

using the input effectively.

CCD camera along with the LEDs can’t go well

under the high temperature, vacuum, radiation

circumstance.

In Question

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The Targets

It’s essential to reconstruct the 3D scene of fusion

cabin of ITER. The task may help us perform the virtual

path planning, accomplish the validation and evaluation

of operation, and avoid the collision with other devices.

The automatic detection of abnormal events based on

the visual info tends to be a promising project, and may

avoid the occasional checking failures caused by

operator fatigue and mistakes.

To observe stably, we should exploit the visual device

fitted to the inner ITER .

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Our Solution

Solution - optical fiber bundle

Optical fiber The demo image of optical

fiber monomer

Imaging

Device

Composed of optical fiber

bundle ,the objective,

eyepiece.

VacuumExamine whether the optical

fiber leaks in vacuum or not,

if so, seal it.

High

Temperature

Both the glue optical fiber adopted and

C2F4 the outer guarded surface uses

can endure the high temp, especially

the later can endure 300 Centigrade.

RadiationQuartz glass doped with OH or F

elements is made into optical fiber，and it can be anti-radiation.

Illumination Adopting only one or many

optical fiber bundles

optical fiber bundleeach optical fiber

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Our Solution

The scheme with snake type tele-operation robot

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Our Solution

The scheme with snake type tele-operation robot

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Our Solution

Design and realization of teleoperation system

based on visual feedback

Based on the developed of the integrated

snake robot, we propose to add the visual

sensing and teleoperation, to develop the

augmented reality reproduction algorithm on

visual input and real scene model, to realize

the teleoperation system with visual feedback

and testify in the experiment, to have the

robot’s teleoperation succeeded under manual

intervention.

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Our Solution

The design and realization of the teleoperation

system combined with visual and force feedback

Based on the developed of the visual feedbackteleoperation, manipulator as well as end

effector (i.e smart hand),and also the

corresponding force feedback are added. We

accomplish recycling, replacing etc. by vision,

in company with testifying the robot’s

function, using online high precision target

localization algorithm and visual repre-

sentation of the force, following the instru-

ction.

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The research on Control Algorithm Combined Tele-

operation with Autonomous Control

We’re carrying out the research combined teleoperation

with autonomous control on body movement of the

nuclear robot. On the one hand, operators directly

handle the manipulator to realize multi-pose and multi-

DOF movement through HMI, on the other hand, the

balance and every part’s movement of the robot is

controlled by the inertial’s obtaining pose on itself.

Balance control and movement distribution ensure that

it won’t overturn.

Our Solution

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3. Innovation point

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Innovation point

The project adopts optical fiber imaging system

to observe in the nuclear fusion cabin. It may

make good performance on high temperature,

vacuum, image sensing under radiation.

Besides, we propose effective and easy

accomplished method for 3D reconstruction

according to the structural feature. It may lay a

good foundation of virtual path planning and

collision detection of 3D model as well as

teleoperation.

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4. Research foundation

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Research foundation

Our team has a further study on stereo vision, and

we’ve proposed many kinds of effective stereo

matching algorithm. Especially Region Based Stereo

Matching Algorithm Using Cooperative Optimization

works best. This algorithm ranks top on the inter-

nationally accepted stereo vision evaluation website

Middlebury so far.

We carried out the research on 3D modeling well ,with

the wide-range, our outstanding field . We constructed a

3D reconstruction system based on image sequences

matching , highly praised by the experts.

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Research foundation

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Our team pre-researched the recovery of the

optical fiber bundle images.

Research foundation

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Basis we have

Our team pre-researched the image enhancement

under low illumination.

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