nuclear energy research initiative/67531/metadc740634/m2/1/high_re… · mockups. 2 task...

Nuclear Energy Research Initiative

DE-FG03-01SF22327

NERI Project 2001-069

Generation IV Nuclear Energy Systems Construction Cost Reductions through the use of Virtual Environments

Task 1 Completion Report

October 2002

Applied Research Laboratory (ARL)

Penn State University P.O. Box 30

State College, PA 16804-0030

Nuclear Energy Research Initiative 01-069 Task 1: Virtual Mockup Development Final Report The Pennsylvania State University Applied Research Laboratory

EXECUTIVE SUMMARY The objective of this project is to demonstrate the feasibility and effectiveness of using full-scale virtual reality simulation in the design, construction, and maintenance of future nuclear power plants. Specifically, this project will test the suitability of Immersive Projection Display (IPD) technology to aid engineers in the design of the next generation nuclear power plant and to evaluate potential cost reductions that can be realized by optimization of installation and construction sequences. The intent is to see if this type of information technology can be used in capacities similar to those currently filled by full-scale physical mockups. Much of the development of the virtual mockup has taken place at Penn State ARL’s SEA Lab facility. The SEA Lab equipment includes a fully-immersive CAVE-like IPD in which the computer-generated images completely surround the user. A number of tools allow the user to view and interact with the virtual reality image. Active-stereo glasses, worn by users, allow three-dimensional, stereoscopic images to be viewed. A motion tracking system tracks the user’s position in the virtual world. The user is able to navigate freely through the image using a mouse-like device. A gesture-recognizing glove worn by the user facilitates interaction with objects within the image. Together these tools provide the user with a believable virtual reality experience. A virtual mockup of a room in the auxiliary building of the AP1000 Nuclear Power Plant provides the testbed for this research. To create the virtual mockup, three-dimensional CAD models of the pipes, valves, and equipment within the room are translated into a format that can be viewed in the IPD system. Once the models are loaded into the IPD system, many human-centered activities can be simulated, such as navigation, orientation, and object identification and manipulation. Group discussions, a survey, and a mock design review were used to measure the success of this task. Design integration, ease of navigation, and sense of presence were identified as three advantages the virtual mockup offers over existing 3D CAD visualization during multiple discussions with the project team. In addition, the discussions pointed to possible uses of the virtual mockup technology throughout the life cycle of the power plant. A survey taken during the development of the virtual mockup acknowledges multiple strengths, primarily in areas where spatial correlation and visualization are critical. Before and after the designer made changes, mock design reviews of the room being studied were performed. The technology offers the opportunity to evaluate design alternatives in a context familiar to the designers, allowing them to optimize their design. The benefits of using the virtual mockup can be seen throughout the entire life cycle of the nuclear power plant. During the design phase, different design alternatives can be easily investigated, use of space can be optimized, and disciplines not typically consulted during design can be included. During construction, scheduling can be developed and optimized, schedule information can be communicated, and space considerations can be evaluated. The virtual mockup can potentially be used for orientation, simulated maintenance, procedure development, and training during the operation and maintenance phase.

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Table of Contents 1 Introduction................................................................................................................. 1 2 Task Description ......................................................................................................... 1 3 Nuclear Power Plant (NPP) Virtual Mockup.............................................................. 2

3.1 Basis.................................................................................................................... 2 3.2 Space Description ............................................................................................... 3 3.3 NPP Virtual Mockup Development .................................................................... 4 3.4 Virtual Environment Application Description.................................................... 5 3.5 Tour of the NPP Virtual Mockup........................................................................ 6 3.6 Penn State ARL’s CAVE-like Immersive Projection Display System............. 10

3.6.1 System Components.................................................................................. 10 3.6.2 System Features ........................................................................................ 13 3.6.3 User Interactions ....................................................................................... 15

3.7 Additional Testing ............................................................................................ 17 4 Results....................................................................................................................... 20

4.1 Results............................................................................................................... 20 4.1.1 Design Integration..................................................................................... 21 4.1.2 Navigation................................................................................................. 21 4.1.3 Presence .................................................................................................... 22

4.2 Evaluating Arrangement Modifications during a Mock Design Review.......... 22 4.3 Survey Results .................................................................................................. 29

4.3.1 Summary of Survey Results...................................................................... 32 5 Conclusions............................................................................................................... 33

5.1 Potential Benefits .............................................................................................. 34 5.1.1 Design Phase Benefits............................................................................... 34 5.1.2 Construction Phase Benefits ..................................................................... 35 5.1.3 Operation and Maintenance Phase Benefits ............................................. 35

6 Future Work .............................................................................................................. 36 7 References................................................................................................................. 36 8 Appendix................................................................................................................... 37

8.1 Software Descriptions....................................................................................... 37 8.2 Application Definition File (ADF) used to create the virtual mockup ............. 39 8.3 Configuration (CFG) file used with virtual mockup......................................... 44 8.4 Parse-vrml.pl script used to translate VRML files to OpenInventor files ........ 45 8.5 Survey Evaluating Various Mockup Technologies .......................................... 48 8.6 Survey Results .................................................................................................. 51

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Table of Figures: Figure 1: Scale Model of AP600 Nuclear Power Plant ..................................................... 2 Figure 2: Location of Room 12306.................................................................................... 3 Figure 3: Process of Creating a Virtual Mockup ................................................................ 5 Figure 4: Breakout of Penn State’s IPD Software .............................................................. 5 Figure 5: Location of Major Equipment in Room 12306 .................................................. 6 Figure 6: Module KB-36 - First Floor ................................................................................ 7 Figure 7: Module KB-36 - Second Floor........................................................................... 8 Figure 8: Steam Generator Blowdown Valves .................................................................. 8 Figure 9: Fire Protection System Containment Isolation Valve Station............................ 9 Figure 10: Air Handling Units on the Second Level ......................................................... 9 Figure 11: PSU ARL Immersive Projection Display System........................................... 10 Figure 12: Interaction Tool Architecture .......................................................................... 11 Figure 13: Motion Tracking System (sensor and transmitter) .......................................... 12 Figure 14: FakeSpace PINCH Glove............................................................................... 12 Figure 15: Wanda.............................................................................................................. 13 Figure 16: Demonstration of Collision Detection............................................................. 15 Figure 17: Operating the Virtual Crane ........................................................................... 16 Figure 18: Demonstration of Grab and Move.................................................................. 16 Figure 19: Using the Virtual Measuring Tape ................................................................. 17 Figure 20: Inside the Containment of AP1000 ................................................................ 18 Figure 21: Inside the Containment Building of AP1000 (Major Equipment) ................. 19 Figure 22: Single-Wall Demonstration of Immersive Technology ................................. 20 Figure 23: Before (top) and After (bottom) of the South End of the First Floor............. 23 Figure 24: Before (top) and After (bottom) Views of the North End of the First Floor.. 24 Figure 25: Before (top) and After (bottom) Views of Difficult-to-Reach Valve ............ 25 Figure 26: Before (top) and After (bottom) Views of Pipe Interference ......................... 26 Figure 27: Before (top) and After (bottom) Views of Fire Hose Station.......................... 27 Figure 28: Before (top) and After (bottom) Views of Pipe-Penetration Mismatch......... 28 Table of Tables: Table 1: Voice Commands Used in the Virtual Mockup................................................. 14 Table 2: Mean and Standard Deviation Data for Each Survey Question ......................... 30 Table 3: T-Test and ANOVA Results for Each Survey Question ................................... 31 Table 4: Mean, Standard Deviation, and T-Ratios for each Survey ................................ 32

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1 Introduction The objective of this project is to demonstrate the feasibility and effectiveness of using full-scale virtual reality simulation in the design, construction, and maintenance of future nuclear power plants. Specifically, this project will test the suitability of Immersive Projection Display (IPD) technology to aid engineers in the design of the next generation nuclear power plant and to evaluate potential cost reductions that can be realized by optimization of installation and construction sequences. The intent is to see if this type of information technology can be used to improve arrangements and reduce both construction and maintenance costs, as has been done by building full-scale physical mockups. 2 Task Description The development, testing, and evaluation of the virtual environment technology for the stated objective are divided into five tasks, to take place over three years. The first task entails the creation and review of a full-scale virtual mockup of a selected space within an advanced nuclear power plant design for use as an experimental testbed. During the second task, this testbed will be used to study the effectiveness of the technology to support the development and evaluation of the installation sequence for the selected space. The third task involves developing the methodology and the required tools to perform a prototypical maintenance task using the virtual mockup. The actual maintenance activity study will be performed as task four. Finally, an investigation into the lessons learned during the first four tasks as they apply to a Generation IV design, most likely the Eskom Pebble Bed Modular Reactor will be performed. This report details the work performed on the first task, the development of the virtual mockup. The initial task performed, Task 1, includes the following activities: Creation of a virtual mock-up of a selected space in the AP600/1000 nuclear

power plant. The specific actions performed involve: o Identification and Acquisition of 3D CAD drawings of the selected space o Conversion from 3D CAD format to a format recognized by the

Immersive Projection Display (IPD) visualization application o Integration of a virtual environment application to support the

functionality required supporting the installation study objectives. Evaluation of the virtual mockup for completeness, including ensuring that all of

the pieces of the room have been received o Test the developed virtual mockup application for effectiveness at

supporting the installation and maintenance study objectives. Evaluate the level of detail shown in the mockup by:

o Determining whether or not the level of detail is sufficient to proceed with Tasks 2, 3, and 4.

o Determining optimum breakdown of 3D CAD models at the: Module level System level Individual component level

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Survey the project team for potential uses of the virtual mockup and technologies required for implementation to provide direction for future research specifically relevant to the nuclear industry, as well as to evaluate whether the objectives and goals of Task 1 were achieved.

3 Nuclear Power Plant (NPP) Virtual Mockup 3.1 Basis Mockups, both full-scale and reduced-scale, are used in many industries for orientation and training. The scale of a nuclear power plant precludes the development of complete full-scale mockups. Reduced-scale mockups are expensive and often lack sufficient detail to be useful since not all piping may be represented. For example, the DOE commissioned a scale model of the AP600, shown in Figure 1, which cost approximately $600,000. Although the model had many dynamic features, only large equipment was modeled. Many times, resources are not available to construct task-specific physical mockups for any activities except those that are high risk.

Figure 1: Scale Model of AP600 Nuclear Power Plant

If a multi-purpose virtual mockup could be constructed from the existing CAD data associated with the power plant design, it would allow a viewer or viewers to be immersed in the virtual power plant, where they could view the complete plant design at any scale including one-to-one. A virtual mockup could be developed for tens of thousands of dollars, whereas a full-scale physical mockup of the same space may cost millions to tens of millions of dollars. The information technology (IT) systems used to create the virtual mockup currently cost on the order of 2 million dollars; however, these systems may be used to create multiple virtual mockups, and the prices of the displays are decreasing. During the first year of the project, a virtual mockup of Room 12306 of the Westinghouse AP600 Nuclear Power Plant was developed, tested, and refined. This room was chosen

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as the testbed for the virtual mockup because many systems are located there, challenging the designer and constructor. 3.2 Space Description Room 12306 lies between the containment building and the turbine building. This room is located on the third level of the Auxiliary Building, in the northeast corner. The inside dimensions of this room are approximately 46’-0” x 16’-0” x 15’-6”. The location of room 12306 in relation to the containment is shown in Figure 2.

Figure 2: Location of Room 12306

A single controlled access is provided to this room from the Turbine Building, through the north wall. Room 12306 contains normally non-radioactive, mechanical equipment and piping. The room also serves as a containment piping penetration area; therefore, it contains containment isolation valves for several fluid systems. The selected space contains components, piping, valves, and instrumentation associated with ten different fluid systems. This room also contains a number of pre-assembled equipment modules. The most significant module located in this room is the PCS (Passive Containment Cooling System) Pump and Valve Module, a large, two level, structurally framed module. This module contains major components of the Passive Containment Cooling System and containment isolation valves associated with other fluid systems. The following ten fluid systems are represented in Room 12306.

1. Compressed and Instrument Air System 2. Chemical and Volume Control System 3. Demineralized Water Transfer and Storage System 4. Fire Protection System

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5. Passive Containment Cooling System 6. Steam Generator System 7. Central Chilled Water System 8. Non-Radioactive Water System 9. Hot Water Heating System 10. Liquid Radwaste System

3.3 NPP Virtual Mockup Development Currently designers in many industries use 3D CAD packages to develop their designs. The virtual mockup developed during this task takes 3D CAD one step further, presenting it full-size at a one-to-one scale within a human-centered virtual environment. The CAD package chosen by the designer, Westinghouse, is capable of exporting a file format that can, with effective geometry translation, be viewed and interacted within a CAVE-like Immersive Projection Display (IPD) system. The 3D CAD package used for model conversion is Bentley MicroStation. This software was chosen because it is capable of reading the AP600 CAD models developed by Westinghouse using Intergraph PDS, another similar CAD package. MicroStation has the capability of exporting CAD models as Virtual Reality Modeling Language (VRML) files, essential to creation of the virtual mockup. VRML provides a standard format for the presentation of 3D objects. In addition, the format of the VRML file is very similar to a file format that the virtual reality rendering application can interpret and display within an IPD. Using a Perl script, the VRML files, exported by the CAD package, are converted to Open Inventor files. The Perl script changes the vertex ordering to COUNTERCLOCKWISE from CLOCKWISE in order to shade the model correctly. The script removes the preset VRML viewpoints, which are unnecessary in the Open Inventor format. In addition, a block is added to the file, which tells the program that the units given in the model should be interpreted as feet, rather than meters. Finally, the script renames the file from a *.wrl (VRML) file to *.iv, an Open Inventor file. Use of the script allows large numbers of models to be converted quickly. Once the model has been converted to Open Inventor format, it may be directly imported to the IPD application for viewing. A number of software packages can view the Open Inventor files; however, in order to develop interactive scenes, a combination of software packages was used to develop the virtual mockup. An alternate file format, Performer binary, may be loaded more efficiently by the rendering program. These files load faster than the Open Inventor files, which is important when loading a large amount of model geometry. The conversion process is detailed in Figure 3.

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Figure 3: Process of Creating a Virtual Mockup

3.4 Virtual Environment Application Description Once the Open Inventor files or performer binary files are created, they are loaded into the virtual environment application presented within the IPD. Additional software packages interpret the input files to render and permit the interaction with a graphics scene. The multi-layered software application, which drives the IPD, as shown in Figure 4, is made up of two software application programming interface (API) toolkits. The Performer API permits the graphical display of objects. Vega allows for general interaction with the objects and allows models to be named and defined in an Application Definition File (ADF). The Vega API is built on top of a Performer API. Explorer is based on Vega and is an end-user application developed at Penn State ARL that allows additional interaction with the objects and controls motion through the environment. A number of options for Explorer can be set using a Configuration file (CFG). Examples of the ADF and CFG files are located in appendices 8.2 and 8.3, respectively. Additional information about the software packages is given in the Appendix, section 8.1.

Figure 4: Breakout of Penn State’s IPD Software

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Depending on the task, the systems or equipment may be divided into smaller parts using MicroStation, the 3D CAD program. There are a number of possibilities for dividing the 3D CAD drawings for display in the virtual mockup; however, two of these methods are used more often. The first method involves creating a VRML file with all of the piping and valves from a specific system in one model. If the mockup is to be used for spatial orientation, these system-level models are preferred. The second method involves dividing the 3D CAD drawings into a number of different VRML files, each representing a single valve or piping section. If the mockup is to be used for maintenance training, additional interaction is required so the models are reduced to the individual component-level. Smaller, finely resolved parts can be manipulated, moved, and identified. For example, because the designer used high-resolution valve models composed of multiple pieces, it may be possible to actually open and close the valve. Currently a few of the larger system-level files have been subdivided to create new model files containing individual valves. The subdivided model files allow the valves to be moved and identified by system and valve number. 3.5 Tour of the NPP Virtual Mockup The virtual mockup of Room 12306 was developed using approximately 50 CAD model files. The larger pieces the CAD files are used to assemble are described in this section. To show the relative location of each image, Figure 5 has been assembled using a side view of the desktop 3D CAD of Room 12306. Images taken in the IPD showing the largest module, KB-36, the off-module platform, the fire protection system valve station, and the air-handling units are presented.

Fire Protection Valve Station

Air Handling Units

Module KB36

Off-module Platform (behind KB36)

Fire Protection Valve Station

Air Handling Units

Module KB36

Off-module Platform (behind KB36)

Figure 5: Location of Major Equipment in Room 12306

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Figure 6 shows a user on the first level of Room 12306. Module KB-36, a large, 2-level module, occupies much of the south end of the mockup. Piping, valves, and equipment for the passive containment cooling system dominate the first level of the module. In the figure, a number of valves can be seen as well as a heater and a chemical addition tank.

Figure 6: Module KB-36 - First Floor

Figure 7 shows the second floor of module KB-36. Piping and valves from a number of different systems are present; mainly the chemical and volume control system, liquid radwaste system, and demineralized water system. The figure also shows one of the virtual people called avatars, added to increase the sense of presence experienced by the user and to provide an additional sense of the scale of the image.

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Figure 7: Module KB-36 - Second Floor

Figure 8 shows the off-module platform, which supports four air-operated valves. Two parallel pipes, the steam generator blowdown lines, run from the containment shield wall at the south end to the turbine building at the north end.

Figure 8: Steam Generator Blowdown Valves

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The fire protection system containment isolation valve station, shown in Figure 9, occupies the first level of the North end of Room 12306. The valve station will be installed as a prefabricated assembly. In addition, the doorway connecting this room in the auxiliary building to the turbine building is shown.

Figure 9: Fire Protection System Containment Isolation Valve Station

Figure 10 shows the air handling units and associated equipment on the second level of the virtual mockup. Hot water and chilled water lines enter the air handling units. Ductwork connects to the air handling units and exits through the wall at the north end.

Figure 10: Air Handling Units on the Second Level

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3.6 Penn State ARL’s CAVE-like Immersive Projection Display System 3.6.1 System Components A number of hardware components are brought together to create a high-resolution virtual environment. Penn State ARL’s Synthetic Environment Applications Lab (SEA Lab) includes a CAVE-like IPD that is being used on this project. The Immersive Projection Display system generates the virtual mockup. The user views the three-dimensional stereoscopic image by wearing active-shutter. A mouse-like device called a Wanda is used to navigate through the virtual environment. Gesture-recognizing gloves allow the user to interact with the image. A magnetic motion tracking tracks the position of many of the implements within the IPD. These tools are described further in the sections that follow. SEA Lab’s CAVE-like Immersive Projection Display was designed and installed by Mechdyne Corporation. The Surround Screen Virtual Reality (SSVR) system is a turnkey virtual reality platform, which includes the display, the projectors, and all of the required hardware. A high-end Silicon Graphics Onyx2 computer serves as the image generator. The computer has a separate graphics processor, or graphics pipe, for each of the four walls. A High-Bandwidth BarcoGraphics CRT projector provides the image generated by the computer on to a Mylar mirror, which reflects the image onto the back of each of the four wall screens. The typical footprint for a CAVE system is 3 walls and a floor; however, Penn State ARL has custom built system with four walls, which surround the user. Plans have also been made for the future installation of fifth display surface, a top-projected floor. A diagram of the Penn State ARL IPD is shown in Figure 11.

Figure 11: PSU ARL Immersive Projection Display System

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The IPD creates a three-dimensional stereoscopic image using a technique called active stereo. In order to create the stereo image, the computer generates 96 frames of information per second. Forty-eight are optimized for viewing in the right eye, and 48 are optimized for viewing in the left eye. StereoGraphics CrystalEyes glasses, worn by the user, have LCD shutters in the lenses. The glasses receive IR signal from emitters at the top of each wall, which synchronize the shutters to the image being projected. When the left eye image is being projected on the screen, the right lens of the glasses is blacked out. When the right eye image is being projected, the left eye is blacked out. The switching of the images is imperceptible to the user. Active stereo provides a high quality stereoscopic image, although the projection of the image in stereo causes the image to appear dimmer than the typical monoscopic image. Different tools are combined to develop intuitive interaction with the virtual mockup. The architecture of these tools is depicted in Figure 12. The figure shows the motion tracking system, the PINCH gloves, and the Wanda. These tools connect to the computer driving the display by Ethernet or Serial port. Information on their status is transmitted to a software daemon, VRCO’s Trackd. Trackd moves the status and position information into shared memory where it can be accessed by software programs. The Explorer application manages much of the interaction in the virtual mockup. Explorer accesses the information stored in the shared memory. Using this information, Explorer is able to feed back data into the image being drawn, thus simulating the user’s interaction with the mockup.

Figure 12: Interaction Tool Architecture

Figure 13 depicts the IPD’s motion tracking system. The commercial system used on this project is Ascension Technologies’ Motion Star. The system provides real-time position

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data, such as X,Y,Z position and orientation angles. To determine the position, a transmitter, located above the IPD, radiates a magnetic field, which is detected by a sensor. The position of the sensor with respect to the transmitter is measured and sent to the computer up to 120 times per second. Currently, the SEALab system uses 4 sensors: one on each glove, one on the Wanda, and one on the glasses. The system is capable of tracking more than 90 different sensors, which allows for future expansion of this capability.

Figure 13: Motion Tracking System (sensor and transmitter)

The SEALab’s IPD uses Fakespace PINCH gloves to recognize gestures. PINCH gloves are cloth gloves with electrical contacts at the tip of each finger. If any two or more digits make contact, a conduction path is created. Gestures or pinches may be programmed into applications to perform various actions. When a motion-tracking sensor is attached to the glove, the position of the user’s hand may be tracked in the virtual environment. A PINCH glove with motion sensor is shown in Figure 14.

Figure 14: FakeSpace PINCH Glove

To navigate through the virtual mockup, a commercially available, specialized 3-D joystick called Wanda is used. It has a multidirectional trackball-like sensor, which allows the user to control movement in the virtual environment. The Wanda has three

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programmable buttons, which may be assigned to different activities in the mockup. The Wanda is shown in Figure 15.

Figure 15: Wanda

3.6.2 System Features A number of features are available to enhance the users experience within the virtual mockup. Gesture recognition, voice recognition, and collision detection are used to simplify interaction with the image. A further description of each technology is given below. Gesture Recognition: Gesture recognition is made possible using the FakeSpace PINCH gloves. Sensors in the fingers of the gloves recognize when contact between fingers is made. Pinches between different fingers can be attached to various activities using the Explorer software. Currently, pinching the index finger and the thumb is set to grab the object at the end of the pointer. Pinching the middle finger and the thumb toggles a measuring tape feature. Finally, pinching the ring finger and the thumb moves the crane, if it has been activated. Voice Recognition: To expand interaction with the virtual environment, a voice recognition system is used. The system is based on a simple speech-to-text program. The user wears a microphone connected to the voice server, a PC. The voice server interprets the signal from the microphone, using the Microsoft speech recognition package. The software translates the signal to text, which is sent to the Explorer program on the main system where it is compared to a list of text commands. If the command appears on the list, that command is executed. A list of voice commands recognized by the system appears in Table 1.

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Table 1: Voice Commands Used in the Virtual Mockup

Command Function to Tour oves the viewpoint through a list of predefined locations

ear Labels lears text labels on objects ane oggles the crane on and off stance isplays the distance between the viewer and the object To {bookmark} oves viewpoint to predefined position ab rabs the object at the end of the pointer avity oggles ground clamping to simulate gravity lp oggles a command reference display ntify nnounces object name of object at end of the pointer xt Bookmark oves viewer to the next predefined location on the list sition nnounces the x, y, and z coordinates of the viewer’s position evious Bookmark oves the view to the previous predefined location on the list lease eleases objects that have been grabbed tistics oggles the display statistics on and off tus oggles status display on and off pe oggles measuring tape on and off ack oggles eyepoint tracking on and off do ndoes the previous command or returns a moved object to its original

ocation arp oves viewpoint to position at end of pointer

Au MCl CCr TDi DGo MGr GGr THe TIde ANe MPo APr MRe RSta TSta TTa TTr TUn U

lW M

Collision Detection: Collision detection between pairs of objects is available. Performing dynamic collision detection on every model within the virtual mockup is not practical because of the number of calculations that would need to be performed for each frame. The virtual mockup uses a plug-in module known as vCollide, written by the University of North Carolina. (Hudson, 1997) The collision detection approach is implemented using the configuration file read during the loading process. Pairs of objects can be selected to be “collidable”, meaning that any overlap between them will trigger a response. Audible and visual cues are used to inform the user of the collision. The visual cue is a red box with the word “collision” that appears at the bottom of the screen. The audible cue is a buzzing sound. When the object is moved so that a collision is no longer present, the cues disappear. Figure 16 shows a collision between a piping section and a nearby pipe support.

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Figure 16: Demonstration of Collision Detection

3.6.3 User Interactions Using the tools discussed in the previous section, a number of interactions are possible. Possible interactions include use of the virtual crane, grabbing and moving objects, and measuring the distance between objects. A virtual crane can be used to move equipment. Giving the “CRANE” voice command spawns the crane. Once the crane appears, the user can move it by pinching the ring finger and the thumb and moving his or her hand in the desired direction. To lift and move an object, the crane must intersect with that object. Once the crane is in position, the user pinches the index finger and the thumb to hook the object. Then, the crane and the object can be moved together using hand gestures. Figure 17 shows the crane being moved into position over the steam generator blowdown valves.

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Figure 17: Operating the Virtual Crane

Figure 18 shows the grab and move functionality being demonstrated. In order to grab an object, the user must pinch the index finger and the thumb while either the pointer extending from the virtual hand or the virtual hand itself is intersecting with the object. Once the grab function is invoked, the object may be carried around or moved until it is let go. To let go, the user simply releases the pinch, and the object will be left in its last position.

Figure 18: Demonstration of Grab and Move

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The grab and move functionality works best with finely resolved models-those models where, for example, each valve is modeled in its own separate file. In the files received from the designer, all of the valves for each system in the area were contained in a single 3D CAD file. These 3D CAD files were subdivided into many separate files so that each valve could be identified and moved. Since the designer used high-resolution part models, the individual valves may be divided further, separating the handwheel or operator from the body of the valve. The grab and move functionality may be used during the maintenance activity during the third year of this program to simulate operation of valves or other equipment. Another useful function is the simulated measuring tape, shown in Figure 19. By pinching the thumb and middle finger, the user can pull out a measuring tape to determine the distance between two points. The distance, in meters, and a line connecting the two points are displayed on the screen. The measuring tape can assist the user in determining clearances between pieces of equipment or reachability of valve operators, for example.

Figure 19: Using the Virtual Measuring Tape

3.7 Additional Testing As an extension of the work performed under Task 1, a virtual mockup of the containment of the AP1000 nuclear power plant was developed. In order to showcase the technology, an exhibit was sponsored by Penn State ARL at the ICONE-10 Meeting in April of 2002. An exhibit sponsored by the DOE was shown at the Global 8 Energy meeting in May of 2002. Development of the virtual mockup of the containment presented the opportunity to extend the work done developing the mockup of Room

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12306 to a much larger scale. Figure 20 shows an observer standing on one of the platforms looking towards the reactor vessel of the AP1000.

Figure 20: Inside the Containment of AP1000

In order to create the virtual mockup of the containment, nearly 450 files were converted and linked. The result was a model with over 2 million polygons of geometry to render. This amount of 3D geometry requires additional performance tuning to be performed to result in a usable virtual environment. Two methods were used to improve the rendering performance of the containment mockup. First, a commercially available software program, Systems In Motion’s Rational Reducer, was used to reduce the number of polygons representing the concrete sections and many of the non-essential systems’ equipment. Second, a software utility was developed to add level-of-detail to the source geometry and a module was added to Explorer to dynamically change the geometry level-of-detail (LoD) while navigating through the virtual environment. Reducing the number of polygons decreases the amount of triangles the computer must draw to create each frame so performance improves. The drawback of reducing the number of polygons is that the physical appearance of the components is usually at a

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lower fidelity. For example, after being reduced, hand wheels on valves that were originally round appear hexagonal. The graphical LoD switch added to Explorer allows the software to dynamically hide or display geometry using a mathematical formula based on the size of the object and its distance to the viewer. Smaller piping is not displayed when it is far away, while larger pipes are displayed. As the viewpoint moves closer to the smaller pipes, they appear. These two methods improved the frame rate associated with the application. In addition, a number of preset viewpoints were set to allow the facility to be viewed on a scripted tour to make the slow frame rate less obvious to the observer. A second virtual mockup, created for educational purposes, provides an overview of the major equipment. An image of a user in the IPD with this model is shown in Figure 21.

Figure 21: Inside the Containment Building of AP1000 (Major Equipment)

For both conference demonstrations, a large single-screen display was used. This display provided a format that could be viewed by many people; however, the sense of immersion was diminished because the viewers were not surrounded by the image. Figure 22 shows the display used at the Global 8 Energy meeting. A similar display was used at the ICONE-10 meeting.

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Figure 22: Single-Wall Demonstration of Immersive Technology

The two demonstrations showed that a portable NPP virtual mockup of reasonable fidelity could be created. The demonstrations also experimented with the use of active and passive stereo for viewing by large audiences. The ICONE-10 demonstration generated the stereoscopic image using passive stereo. A polarizing LCD screen was mounted on the lens of the projector to create the stereo image. The glasses worn by the viewers were simple polarizing filters. In contrast, the Global 8 Energy demonstration used active stereo to generate the image. The image generated by the computer was projected at 96 frames per second – 48 frames for the right eye and 48 frames for the left eye. Liquid crystal shutter glasses, worn by the viewer, are synchronized to the images generated, creating a 3D image similar to the one seen in the SSVR IPD. Both of these methods can be used to successfully display the mockup to larger audiences. 4 Results 4.1 Results Once a method for translating the 3D CAD data into a format the IPD system could render was found, new models could be added or changed rather quickly. As stated in the discussion of the development of the mockup, the testbed consisted of a combination of approximately 45 3D CAD models. Figure 3 shows the basic flow of the model translation. If many models have been referenced or linked together within the CAD software, these must be removed by hand prior to translation. If this is not performed, geometry overlaps may occur, which slows the mockup’s frame rate. Once these links have been removed and the CAD models have been translated into VRML, the process has been automated for the remaining steps. Because of the level of automation, new

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CAD models can be introduced to the mockup in a few hours. Large spaces with many models, such as the containment, require additional time. The full-scale virtual mockup is more effective than existing desktop CAD visualization technology in three key categories: design integration, navigation, and presence. 4.1.1 Design Integration The authors observed that the NPP virtual mockup would be beneficial during design integration because there could be better collaboration between the designers who lay out the systems. HVAC, Piping, and cable trays are typically laid out by different people who may or may not be working together. One of the authors mentioned an anecdote about a HVAC designer who created a space in 3D CAD in which none of the equipment could be accessed. Additionally, the authors feel that because it presents model detail in full one-to-one scale, the virtual mockup will open up design reviews to trades not traditionally consulted. Because there is no requirement to understand drawings, professionals with expertise in many diverse disciplines such as safety analysis, engineering, operations, maintenance, and radiation protection could be consulted throughout the design process. This would allow for a more thorough review that could catch potential problems that otherwise might not be known until construction is complete or until after operation. The authors concur that multi-site or multi-organization collaboration would be made easier using the virtual mockup to facilitate communication of design issues. The team envisioned a situation where the primary design office would receive the CAD files from their international partners, load them into the IPD system, and check for design errors and general integration issues using the virtual mockup. The virtual mockup offers significant flexibility for evaluating design alternatives. Design alternatives can be evaluated quickly and at minimal cost compared to physical mockups, since changes only require new 3D CAD models to be imported to the IPD system. 4.1.2 Navigation One significant advantage displayed by the virtual mockup over the desktop 3D CAD system is its natural navigation. Currently, design reviews are performed on desktop monitors or on large screen projections of desktop applications such as Intergraph’s Smart Plant Review. The Smart Plant Review software allows the user to set the field and depth of the view cone. In addition, the viewpoint can be rotated, panned, and moved in space. Even with these capabilities, it is difficult to get a sense of the surroundings and context. When navigating through the models, it can be challenging not to bump into equipment or pass through walls. The navigation model for the virtual mockup provides a much more natural way to move through the model. Because the image surrounds the user, navigation through the space is not as challenging, since the user is more familiar with the surroundings. Moving around is as simple as pointing the Wanda object in the desired direction and pressing the ball forward or backward.

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4.1.3 Presence The sense of presence is established by providing a realistic and believable experience to the user. While the greatest sense of presence would be observed in a physical mockup, the cost associated with constructing and maintaining the physical mockup is too great in most cases. In order to study whether or not the virtual mockup provided sufficient image detail to be believable, a number of subjects were given demonstrations of the virtual mockup’s capabilities. If the models rendered were to provide sufficient detail, the subject would believe that he or she was actually standing in Room 12306 of the AP600 power plant. One construction manager introduced to the space attempted to grab a handrail while viewing the air-handling units on the second level. The designers admitted that viewing the space in the virtual mockup provided them with insights they had not previously realized. For example, using the virtual mockup, the designer was able to recognize that one of the valves in the testbed would be very difficult to reach due to its location. The virtual mockup allowed the designer to investigate possible alternatives for its placement so that it would be more accessible. The mockup also reinforced the knowledge of the designer by assisting them to make the transition from the desktop 3D CAD design to how the space would actually appear once it was built. Another element contributing to the user’s sense of presence is scale. The virtual mockup allows the user to see the layout of a space in a context familiar to them. This allows the designer to achieve the optimum design when space concerns are important and, thus, helps to minimize volume and construction costs while not sacrificing operability and maintainability. The virtual mockup gives the designer a better sense of scale than the current desktop CAD systems do. 4.2 Evaluating Arrangement Modifications during a Mock Design Review During the course of the first year, the designer made a number of modifications to the arrangement of the components in Room 12306. Penn State received updated models based on these modifications from the designer. This provided an opportunity to evaluate the virtual mockup technology for performing pre- and post change reviews. As stated in section 4.1.2, design reviews are typically performed using desktop computer applications driving either monitors or large-screen displays. When Penn State received the initial package of models from the designer, a cursory design review was made in the virtual mockup. Prior to consultation with the designer, a number of items of interest were located. The designer was consulted and all were known issues; however, they had not been addressed. The purpose of the design review was not to prompt design changes, rather, it was meant to show that the virtual mockup technology is useful. A number of the known issues are described in the following paragraphs. Figure 23 depicts the south end of the first floor of module KB-36. The top figure shows the initial version received from the designer. The bottom figure shows the latest version received. The general layout of the space has remained the same, however small changes to some of the valve locations can be seen.

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Figure 23: Before (top) and After (bottom) of the South End of the First Floor

Figure 24 shows the north end of the first floor of Room12306. A number of changes in pipe routings were made between the initial version, shown in the top image, and the final version, shown in the bottom image. The routing of some of the fire protection system and the compressed and instrument air system was changed to eliminate interferences and to improve overhead clearance on the first level.

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Figure 24: Before (top) and After (bottom) Views of the North End of the First Floor

One area of interest found in the initial walkthrough is shown in Figure 25. One of the valves on the first level within module KB-36 is in a position that would be very difficult for a worker to operate. Many of the valves on the first level are operated infrequently; however, this valve, part of the passive containment cooling system, was located in a position behind a valve and below another valve. In addition, the valve is canted away

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from the user. Because of this, the valve is not only hard to reach, but it may also be operated incorrectly because of its orientation. The valve was moved to a more accessible location in the latest iteration of the mockup, shown in the bottom image.

Figure 25: Before (top) and After (bottom) Views of Difficult-to-Reach Valve

During an early evaluation of the virtual mockup, one of the engineers reviewing the layout of the systems noticed the pipe interference shown in the top image of Figure 26. A one-inch compressed air pipe was intersecting a four-inch fire protection pipe. This

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interference was resolved by re-routing the compressed air pipe, shown in the bottom image.

Figure 26: Before (top) and After (bottom) Views of Pipe Interference

Figure 27 shows the relocation of the fire hose station from the west wall to the east wall. On the west wall, the fire hose station was difficult to access because it was placed behind the fire protection system containment isolation valve station. The top image

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shows that the CAD data for this system was received while a design change was being processed, because the pipe connecting the fire hose to the fire protection system is already present on the east wall.

Figure 27: Before (top) and After (bottom) Views of Fire Hose Station

Figure 28 shows before and after images of a mismatch between two fire protection system pipes, their penetrations, and the holes through the concrete to the stairwell on the other side of the wall. In order to support the air handling units and associated piping, the roof slab of this area was thickened. This required moving the fire protection system

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piping down so that it did not intersect with the new slab. The pipes on the far side of the wall were moved down; however, when the initial set of models was received from the designer, the change had not been made to the near side. In the latest set of models received, the routing of the pipes has been changed so they mate with the penetrations.

Figure 28: Before (top) and After (bottom) Views of Pipe-Penetration Mismatch

The examples highlighted between Figure 23 and Figure 28 show before and after views of some of the design changes to the virtual mockup testbed over the first year of the project. These examples may be used to demonstrate the value of the virtual mockup in evaluating design issues from an operability and maintainability perspective. The images

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show how a design evolves over time. The virtual mockup presents a snapshot of individual times in the design process. Apparent errors in the design are often due to configuration management issues. When designing in a multi-organization environment, design changes may in-process but do not yet appear in the final version of the CAD used by the lead design office. The one-to-one scale view provided by the IPD system may be used to quickly determine if requested changes have been worked in to the final version of the CAD. Two of the examples presented in this section stand out. First, the tilted valve demonstrates the value of the virtual mockup in suggesting alternative layouts. Second, recognition of the mismatch between the FPS pipes and penetrations shows the mockup’s value as a tool for reviewing design integration. Figure 25 shows a change in the valve position due to its inaccessibility. The human-in-the-loop interaction provided by the virtual mockup demonstrated that it would be difficult to reach the valve in its previous location. By breaking the model down into finer detail in which individual valves could be identified and moved, more accessible potential locations were suggested. Figure 28 may be used to demonstrate the virtual mockup’s usefulness as a design integration tool. Two different engineering firms designed the piping systems on each side of the concrete wall. These firms send the completed models to the vendor for design integration. One design firm had made the appropriate changes when the roof was thickened, while the other had not. An immersive display system would allow the vendor to easily recognize whether or not the appropriate changes were made to the models. 4.3 Survey Results In order to have a quantifiable metric for measuring the effectiveness of the virtual mockup, a survey was developed. Adapted from work by Tatum, et al, at Newport News Shipbuilding, the survey compares physical mockups, the desktop CAD application, and the virtual mockup in a number of different categories. (Tatum, 1994) The survey has been attached in section 8.5 of the appendix to this report. Responses were solicited from participants during a meeting of the project team. Eight responses were received, representing a number of different fields and positions within companies including an Engineering Project Manager, a Vice-President of Engineering, an Operations Instruction Shift Manger from a utility, a Health Physics Instructor from a utility, an engineering consultant, and a Director of CAE. A table of the raw survey responses appears in section 8.6. Two statistical tests were used to reduce the data. First, a two-sided t-test with unequal variances was used to determine if a relationship existed between the three pairs of methods: Computer and Virtual model (CV), Computer and Physical model (CP), and Virtual and Physical model (VP). This test was performed on each question to determine trends as well as on each survey response to determine if their answers were related. The second test, performed using the ANOVA method, reduced the data for each question to

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determine if a relationship exists among all three methods: desktop CAD, virtual mockup, and physical mockup. Table 2 gives the mean and standard deviation corresponding to the eight survey responses for each question. After the area of interest, the next three columns give the means for the computer model, the virtual mockup, and the physical mockup, respectively. Following the means, the standard deviation for each data set has been calculated. The means appear to show that the respondents felt strongly about the utility provided by the computer model and the virtual mockup. The physical mockup scored poorly in most areas due to its high cost and difficulty to change. The large fluctuations in the standard deviation on some questions indicate disagreement among the respondents concerning the usefulness of a technology for that particular aspect.

Table 2: Mean and Standard Deviation Data for Each Survey Question

Average

Computer Average Virtual

Average Physical SD Computer SD Virtual SD Physical

Preliminary design concept evaluations 8.00 6.25 2.00 2.12 2.95 1.41

Location of equipment and systems 8.25 8.13 5.00 1.85 2.62 2.87

Space Perception 5.00 9.63 6.00 2.00 0.99 2.78

System Review 7.63 7.50 3.75 2.00 1.58 1.39

Interference Analysis 6.63 6.63 5.13 1.68 0.99 2.67

Access 4.38 7.88 4.00 2.73 1.76 3.02

Operability 3.50 7.38 5.38 2.13 1.92 2.75

Maintenance 3.88 7.00 5.13 1.40 1.85 3.14

Design Fitup 7.88 7.63 3.50 1.31 1.58 1.60

Configuration management 7.00 6.63 3.25 1.85 1.58 3.24

Identification of material usage 6.50 4.38 1.63 1.97 3.51 0.99

Verification of design requirements 7.38 5.50 2.50 1.92 2.55 1.88

System engineering calculations and analyses 5.13 3.88 1.75 1.47 3.08 2.21 Design to ensure construction requirements are considered 5.00 6.50 4.00 0.75 2.56 3.20

Illumination evaluation 3.50 6.00 3.00 1.37 2.47 3.02

Demonstration of equipment removal 5.00 9.00 4.50 2.31 1.80 2.35

Drawing development 6.50 3.88 2.75 1.97 2.06 3.48

Support transfer of digital data for construction 7.63 5.88 1.50 1.48 3.55 0.87

Analyze proposed design modification 6.63 8.00 4.50 1.68 2.12 1.66

Advanced reactor design development support 7.25 7.25 4.25 1.48 1.79 2.44

Evaluation of previous designs 7.00 7.50 4.88 1.85 1.58 2.76

Portability 7.63 3.25 3.00 1.48 2.11 2.00

Verification of Class 1 piping requirement 7.25 5.88 3.50 1.48 2.62 1.66

The results of the statistical tests performed on the data for each question are shown in Table 3. The second, third, and fourth columns show the probability generated using Student’s T-Test on pairs of technologies. The second column compares the computer

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model and the physical mockup; the third column compares the virtual mockup and the physical model, and the fourth column compares the computer model and the virtual mockup. A high probability determined using the T-Ratio indicates that the means of the data set are closely related. This can be perceived as an indication that the respondents felt that the pair of technologies performed equally for that specific task. Probabilities generated using the T-test that are greater that 0.5 are highlighted in orange, while probabilities between 0.1 and 0.5 are highlighted in green. This indicates that the respondents felt that the technologies could possibly be used for the same purpose. The final column in the table represents the results of an analysis of the variance (ANOVA) performed on the combination of all three technologies. Higher values of the ANOVA indicate that there is no perceived relationship between the data sets. Conversely, lower values of the ANOVA indicate that there is a relationship between the data sets. An ANOVA result of one would indicate that all three data sets perform equally well or poorly for the task in question.

Table 3: T-Test and ANOVA Results for Each Survey Question

Probability C-P

Probability V-P

Probability C-V ANOVA

Preliminary design concept evaluations 0.00 0.01 0.23 13.16 Location of equipment and systems 0.03 0.05 0.92 3.839 Space Perception 0.45 0.01 0.00 9.766 System Review 0.00 0.00 0.90 12.09 Interference Analysis 0.10 0.29 0.26 2.725 Access 0.74 0.02 0.06 3.66 Operability 0.34 0.12 0.01 3.78 Maintenance 0.34 0.18 0.00 3.82 Design Fitup 0.00 0.00 0.11 17.89 Configuration management 0.02 0.08 0.18 5.449 Identification of material usage 0.00 0.07 0.05 10.96 Verification of design requirements 0.00 0.02 0.13 10.37 System engineering calculations and analyses 0.00 0.13 0.09 6.784 Design to ensure construction requirements are considered 0.17 0.11 0.51 2.142 Illumination evaluation 0.39 0.05 0.09 3.035 Demonstration of equipment removal 0.37 0.00 0.02 8.026 Drawing development 0.01 0.45 0.01 6.524 Support transfer of digital data for construction 0.00 0.01 0.08 16.32 Analyze proposed design modification 0.01 0.00 0.69 7.399 Advanced reactor design development support 0.00 0.02 0.27 7.612 Evaluation of previous designs 0.03 0.05 0.61 4.153 Portability 0.00 0.82 0.00 18.37 Verification of Class 1 piping requirement 0.00 0.07 0.06 9.275 In order to evaluate each respondent’s overall feelings, the mean, standard deviation, and T-Test probability were calculated. These data are shown in Table 4. Overall, most respondents felt that the computer model was the best overall for the tasks evaluated,

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with the virtual mockup coming in second. Most respondents rated the physical mockup poorly; however, this may be due, in part, to a discussion concerning scale models and physical mockups and their high cost during the meeting.

Table 4: Mean, Standard Deviation, and T-Ratios for each Survey

Survey 1 Survey 2 Survey 3 Survey 4 Survey 5 Survey 6 Survey 7 Survey 8

Mean: 8.43 6.74 2.83 8.00 5.26 5.30 6.13 8.60 2.83 7.87 7.30 2.48 7.20 7.57 4.39 6.14 7.18 3.27 6.13 5.43 6.22 8.39 7.91 3.70

Std Dev: 1.88 2.33 2.62 2.13 3.38 3.43 1.89 1.50 1.28 2.52 2.35 1.35 1.60 2.53 1.99 2.72 3.01 2.20 1.51 2.04 3.22 1.76 1.79 2.01

CP CV VP CP CV VP CP CV VP CP CV VP CP CV VP CP CV VP CP CV VP CP CV VP

T-Test Probability 0.00 0.01 0.00 0.00 0.00 0.97 0.00 0.00 0.00 0.00 0.45 0.00 0.02 0.71 0.00 0.00 0.24 0.00 0.91 0.21 0.34 0.00 0.38 0.00

4.3.1 Summary of Survey Results A number of conclusions can be drawn from the survey results. Based on the mean calculated for each survey question, areas in which each technology performed well can be listed. The virtual mockup scored strongly in the following categories: Space perception Interference analysis Access Operability Maintenance Ensuring construction requirements are met Illumination evaluation Demonstration of equipment removal Analysis of proposed design modifications Advanced reactor design development support Evaluation of previous designs

The virtual mockup was rated highly in areas where good spatial correlation and visualization are critical. As stated before, the sense of presence experienced by the user is one of the virtual mockup’s strengths. The survey results make this clear. The desktop CAD system scored strongly in the following areas: Preliminary design concept evaluations Location of equipment and systems System review Interference analysis Design fitup Configuration management Identification of material usage Verification of design requirements Drawing development Support of digital data transfer for construction Advanced reactor design development support

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Portability Verification of Class 1 piping requirements

The desktop CAD system received the highest scores in areas in which 3D CAD systems are typically used, design-oriented tasks. A number of the strengths of the CAD system are the result of its link to a database, which contains information about material specifications, part numbers, suppliers, and part names. It may be possible to add some of these features to the virtual mockup; however, it is not clear if there would be value-added over the desktop CAD display if this were done. The physical mockup scored strongly in the following areas: Space perception Interference analysis Maintenance Operability

The physical mockup did not receive the highest score in any of the categories, although it scored well in the categories relating to spatial understanding, like those mentioned above. The survey and associated statistical data reduction provided the project team with results that were consistent with the discussions of the strengths and weaknesses of each technology. 5 Conclusions Development of the NPP virtual mockup for use during this project has been completed. The virtual mockup testbed, Room 12306 in the AP600 nuclear power plant presented in Penn State ARL’s SEA Lab, has been developed and evaluated. In addition, a mockup of the containment of the AP1000 nuclear power plant was developed to test the limits of the technology. A reliable, multi-step method of translating the 3D CAD models to a format viewable in the IPD system has been developed. The NPP virtual mockup provides the potential of an evolutionary step in the design, construction, operation, and maintenance of a nuclear power plant, providing additional value to the existing CAD systems currently in use. Current desktop CAD systems provide computer-centered navigation and a limited field of view. The navigation within a virtual mockup is more human-centered; the user simply points in the desired direction and moves there. The four-wall display system provides the user with a full 360-degree view of the surroundings. The motion-tracking sensor on the primary pair of glasses worn in the IPD allows the image to be optimized to the position of the viewer. For example, the user can bend down and view the underside of a component. In addition, the viewer perceives the images in stereoscopic 3D, adding depth to images, a property not seen in desktop display systems. The grouping and division of systems is an important consideration when designing the virtual mockup. Depending on the task, the systems or equipment may be divided into

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smaller parts using the 3D CAD program. These smaller parts can be manipulated, moved, and identified. If the mockup is to be used for spatial orientation, system-level models can be used. If the mockup is to be used for maintenance training, the models should be reduced to the individual component-level to accommodate the additional interaction needed. Another consideration is the possibility of presenting additional information using the virtual mockup. First, object color can be used to convey additional information about objects within the mockup. Using Perl scripts, the color block within the VRML model files can be changed to any color. Changing the model colors allows visual cues concerning the equipment or pipe section’s status. For example, colors can be used to show pipes that are hot or cold, radioactive or non-radioactive, safety grade or not. Colors could potentially be used to show more abstract concepts such as failure probability. Second, meta-data, a database of information tied to the object, can be used to display additional information about objects within the virtual mockup. Meta-data can be used in a capacity similar to equipment identification tags on a physical mockup. In addition, they can be used to display other data about the system. Some examples of meta-data are operating temperature, part number, manufacturer, pipe thickness, and valve type. Although this capability has not been developed, the research team sees advantages in displaying the additional information to make the virtual mockup. The cost of developing spaces for display in the virtual mockup is low compared to the cost of constructing a full-scale physical mockup. The initial cost associated with the display system is significant; however, the capital computer equipment investment can be applied to various problems of interest outside of the scope of virtual mockup development. Physical mockups of spaces similar in size and complexity to Room 12306, depending on the level of detail shown, can cost millions of dollars. The relative cost between the two technologies differs by at least two orders of magnitude, with the virtual mockup being less expensive. 5.1 Potential Benefits Potential Benefits of using the NPP virtual mockup can be seen throughout the design phase, construction phase, and operation and maintenance phase of a NPP’s life cycle. 5.1.1 Design Phase Benefits The virtual mockup can be used during all parts of the design process. Three-dimensional visualization can assist designers to make more informed decisions on layout of spaces because the immersive technology allows the designer to effectively transfer conceptual designs from two dimensional screens or paper to a realistic 3D rendering of the space being designed. This transfer will enhance the designer’s ability to manage and optimize space utilization. The virtual mockup will allow design teams to receive input from groups who are outside of the typical design team, such as construction workers, maintenance workers, or radiation protection personnel. The ability to involve these professionals during the design process should lead to improved designs that are not only constructible but also more maintainable.

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The virtual mockup may also be used to evaluate design alternatives from many perspectives. In some cases, different designers may lay out piping and HVAC systems for the same space. This can result in interferences between pipes or equipment. The virtual mockup provides a tool for design integration where individual designers or design teams could review the layout of the completed space and find the best resolutions for interferences. The authors agreed that the technology could best be used after preliminary design work using conventional tools has been completed, because it allows the designer to review the details of the design, which may be difficult to see on the desktop CAD system. The technology could be used prior to approval and release of final design drawings, allowing the designers to perform one final check for completeness. 5.1.2 Construction Phase Benefits The NPP virtual mockup would also be useful before and during the construction phase. An evaluation of the usefulness of the virtual mockup in schedule development and module installation sequencing is planned during Task 2 of this project. A number of different schedules could be developed and evaluated in the virtual mockup. Issues such as spatial overlap and conflicts between trades can be evaluated, which could potentially lead to more parallel activities and, therefore, a shorter construction schedule. The virtual mockup may potentially be used to communicate the schedule information developed prior to construction to the on-site subcontractors and foremen. During construction, the mockup could be used to ensure that there is sufficient space to bring in equipment, lay it out, and finally install it. The mockup could be used to check for confined spaces and evaluate the design and construction strategy for potential safety issues. 5.1.3 Operation and Maintenance Phase Benefits After the plant has been built, the mockup may be used for a number of activities. Maintenance crews could be trained to perform high-risk activities in a realistic low-risk environment. Task 3 of this project will evaluate the use of the virtual mockup for training and maintenance. A successful demonstration of the virtual mockup’s ability to effectively simulate operation and maintenance will enhance the acceptance of this technology. If successful, the benefits of the technology could be extended to currently operating nuclear power plants. The mockup could be used to develop a walkthrough of plant areas before and after modifications to orient plant employees and workers. Using additional information embedded in the mockup known as meta-data, valve numbers, system names, and equipment parameters can be used to reinforce user knowledge about plant equipment. It may be possible to track maintenance issues or make maintenance records available using this meta-data, although this capability has not currently been developed. In a manner similar to developing the lay down spaces during construction, the mockup can be used to allocate adequate space for equipment access and lay down during maintenance. The mockup could be used to effectively plan and simulate replacement of large components. Finally, accessibility to critical locations during accident scenarios could be evaluated using the virtual mockup.

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6 Future Work The remaining tasks on this project entail using the mockup to study the installation sequences of equipment in the nuclear power plant, testing the mockup’s usefulness in performing maintenance training, and finally, discussing the lessons learned in the development of the virtual mockup as they relate to a Generation IV nuclear power plant. In support of work on Task 2, two installation sequence studies are being developed. The first study asks groups of construction management students to attempt to develop a construction sequence after a brief introduction to the components in the room. The students are given the freedom to change module boundaries and to cut pipes. The sequence they develop is then played back and evaluated. The second study asks experienced construction superintendents to develop a schedule using the isometric drawings provided by the designer. The schedule they develop will then be loaded into the virtual environment system for review and evaluation to identify constructability issues not revealed using the isometric drawings. The subjects will be surveyed concerning the benefits or drawbacks of developing the installation sequence with the assistance of the virtual environment technology. Looking ahead to task 3, the maintenance activity, the development of an integrated dose model is being evaluated. The ability to track worker dose within the space will add an additional sense of realism to the simulation. Using this model, it may be possible to evaluate procedures for ALARA considerations. 7 References 1) Hudson, T.C., Lin, M.C., Cohen, J., Gottschalk, S., Manocha, D. “V-COLLIDE: Accelerated Collision Detection for VRML” Proceedings: VRML ’97 2) Tatum, S.A., Byrum, J.C., Rourke, P.W. “Design Validation Using Computer Models in Lieu of Full-Scale Mockups.” Marine Technology Vol 31, No. 3 (July 1994): pp. 225-230.

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8 Appendix 8.1 Software Descriptions A number of software packages, referred to in section 3.4, have been used during the development of the virtual mockup. Bentley MicroStation MicroStation is a design tool, which allows users to develop 3D CAD models of objects. The models and all of their components are graphical simulations of real-world objects. From design and engineering through construction and operation, the model holds all information about the asset and its configuration, simplifying project management and making the operation of the facility more efficient and cost-effective. The models used in the virtual mockup were created using Intergraph’s PDS software; however, the project team has been using MicroStation to perform all model conversion from the 3D CAD to Open Inventor format for use in the IPD. MicroStation allows the user to export models as VRML 1.0 files for viewing. Open Inventor Open InventorTM is an object-oriented toolkit used to develop 3D graphics applications. In addition, it defines a standard file format for exchanging 3D data between applications. Open Inventor serves as the basis for the VRML (Virtual Reality Modeling Language) standard. Since Open Inventor and VRML are related, model conversion from VRML 1.0 to Open Inventor is a simple process, which is performed by a Perl script. The Perl script used to convert models from VRML to Open Inventor appears in the appendix of this report. Additional information about Open Inventor may be found at http://www.sgi.com/software/inventor/. Performer OpenGL Performer provides a programming interface for developers to create simulations and 3-D graphics applications. According to Silicon Graphics, Performer applications may be used to simplify development of complex applications used for visual simulation, simulation-based design, virtual reality, interactive entertainment, broadcast video, architectural walk-through, and computer aided design. For the virtual mockup project, Performer is used to interpret and display the graphical objects created using three-dimensional CAD. Information about Performer may be found at http://www.sgi.com/software/performer/overview.html. Vega Vega is a modular real-time simulation environment. Developed by MultiGen-Paradigm, Vega allows the user to develop real-time visual and audio simulations. The software contains interfaces for sensors, virtual reality tools, and other visualization applications. Vega provides a graphical user interface, Lynx, which allows viewpoints, controls, and lighting to be easily added to the virtual environment. More information about the Vega software can be located at http://www.multigen.com/products/runtime/vega/index.shtml.

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http://www.sgi.com/software/inventor/

http://www.sgi.com/software/performer/overview.html

http://www.multigen.com/products/runtime/vega/index.shtml


Explorer Explorer is an interactive data analysis tool for desktop and immersive environments including large format Immersive Projection Displays (IPDs) such as CAVEsTM developed at Penn State ARL. It accepts several standard 3D graphics formats including VRML, DXF, OBJ, OpenInventor, OpenFlight, 3DS, and Performer. In addition to supporting the graphics, Explorer supports quad-channel sonification of sounds within the 3D environment, providing a truly immersive 3D experience. Explorer operates in concert with standard six degree-of-freedom motion tracking systems, such as the Ascension MotionStar, to track the position and orientation of the user and several input devices within the immersive environment. This allows the user to use gestures, which facilitates a human centered approach to navigation and interaction with the virtual world. Navigation through the 3D space is simply a matter of pointing to the desired direction of travel. Explorer provides a base set of user/model interactions that can be extended through the Multigen Vega Software application programming interface (API). These interactions include:

Animation Control (for animated models: pause, resume, faster, slower) Grab / Move / Release / Undo Queries (distance to point, position of point, object identify) Tape Measure Gravity Modeling Collision Detection Position Bookmarking

Explorer utilizes the DIS/HLA protocol to link simultaneous Explorer applications running on separate machines. This can potentially allow users in another room or across the country to collaborate in the virtual mockup.

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8.2 Application Definition File (ADF) used to create the virtual mockup // Vega Application Definition File path { pathname "install_new"; pathname "../../DEMOS/OBJECTS"; pathname "gray"; pathname "red"; } object "Module KB-36 P C S" { file "1231ppcs02.iv"; cs 1; pos -333 -309.5 -31.6 0 0 0; scale 1; } object "Module KB-36 F P S" { file "1231pfps02.iv"; cs 1; pos -333 -309.5 -31.6 0 0 0; scale 1; } object "Module KB-36 D W S" { file "1231pdws02.iv"; cs 1; pos -333 -309.5 -31.6 0 0 0; scale 1; } object "Module KB-36 C V S" { file "1231pcvs02.iv"; cs 1; pos -333 -309.5 -31.6 0 0 0; scale 1; } object "Penetration 1" { file "1231pen01.iv"; cs 1; pos -333 -309.5 -31.6 0 0 0; scale 1; } object "Penetration 2" { file "1231pen02.iv"; cs 1; pos -333 -309.5 -31.6 0 0 0; scale 1; }

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object "Module KB-36 V P C S" { file "1231vpcs02.iv"; cs 1; pos -333 -309.5 -31.6 0 0 0; scale 1; } object "Module KB-36 V D W S" { file "1231vdws02.iv"; cs 1; pos -333 -309.5 -31.6 0 0 0; scale 1; } object "Module KB-36 V C V S" { file "1231vcvs02.iv"; cs 1; pos -333 -309.5 -31.6 0 0 0; scale 1; } object "Module KB-36 Chemical Addition Tank" { file "1231eqp30.iv"; cs 1; pos -333 -309.5 -31.6 0 0 0; scale 1; } object "Module KB-36 Recirculation Heater" { file "1231eqp31.iv"; cs 1; pos -333 -309.5 -31.6 0 0 0; scale 1; } object "Module KB-36 P C S Pumps" { file "1231eqp32.iv"; cs 1; pos -333 -309.5 -31.6 0 0 0; scale 1; } object "Module KB-36 Steel" { file "1231sts02.iv"; cs 1; pos -333 -309.5 -31.6 0 0 0; scale 1; } object "Module KB-36 Supports" { file "1231sup02.iv"; cs 1; pos -333 -309.5 -31.6 0 0 0; scale 1; }

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object "Module KB-36 Grating" { file "1231sms02.iv"; cs 1; pos -333 -309.5 -31.6 0 0 0; scale 1; } object "Off Module Floor Supports and Steel" { file "step2.iv"; cs 1; pos -333 -309.5 -31.6 0 0 0; scale 1; } object "SGS Blowdown Piping and Valves P S G S" { file "1231psgs02.iv"; cs 1; pos -333 -309.5 -31.6 0 0 0; scale 1; } object "SGS Blowdown Piping and Valves V S G S" { file "1231vsgs02.iv"; cs 1; pos -333 -309.5 -31.6 0 0 0; scale 1; } object "Off Module Wall Supports and Equipment" { file "1231sup05.iv"; cs 1; pos -333 -309.5 -31.6 0 0 0; scale 1; } object "Standard Service Module and Fire Hose Station" { file "1231eqp02.iv"; cs 1; pos -333 -309.5 -31.6 0 0 0; scale 1; } object "FPS Piping and Valve Assembly F P S" { file "1231pfps04.iv"; cs 1; pos -333 -309.5 -31.6 0 0 0; scale 1; } object "FPS Piping and Valve Assembly P C S" { file "1231ppcs04.iv"; cs 1; pos -333 -309.5 -31.6 0 0 0; scale 1; } object "FPS Piping and Valve Assembly V F P S" {

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file "1231vfps02.iv"; cs 1; pos -333 -309.5 -31.6 0 0 0; scale 1; } object "Makeup Piece P C S" { file "makeup1.iv"; cs 1; pos -333 -309.5 -31.6 0 0 0; scale 1; } object "Makeup Piece F P S" { file "makeup2.iv"; cs 1; pos -333 -309.5 -31.6 0 0 0; scale 1; } object "Makeup Piece D W S" { file "makeup3.iv"; cs 1; pos -333 -309.5 -31.6 0 0 0; scale 1; } object "Makeup Piece W L S" { file "makeup4.iv"; cs 1; pos -333 -309.5 -31.6 0 0 0; scale 1; } object "Makeup Piece C V S" { file "makeup5.iv"; cs 1; pos -333 -309.5 -31.6 0 0 0; scale 1; } object "Makeup Piece C A S" { file "makeup6.iv"; cs 1; pos -333 -309.5 -31.6 0 0 0; scale 1; } object "Off Module Platform" { file "step7.iv"; cs 1; pos -333 -309.5 -31.6 0 0 0; scale 1; } object "Air Handling Unit 1" { file "1231eqp33.iv";

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cs 1; pos -333 -309.5 -31.6 0 0 0; scale 1; } object "Air Handling Unit 2" { file "1231eqp34.iv"; cs 1; pos -333 -309.5 -31.6 0 0 0; scale 1; } object "A H U Piping and Valves" { file "step9.iv"; cs 1; pos -333 -309.5 -31.6 0 0 0; scale 1; } object "Raceway" { file "1231rac002.iv"; cs 1; pos -333 -309.5 -31.6 0 0 0; scale 1; } object "HVAC" { file "1231hvxs02.iv"; cs 1; pos -333 -309.5 -31.6 0 0 0; scale 1; } object "concrete" { file "concrete.pfb"; cs 1; pos -333 -309.5 -31.6 0 0 0; scale 1; } object "floor" { file "floor.pfb"; cs 1; pos -333 -309.5 -31.6 0 0 0; scale 1; }

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8.3 Configuration (CFG) file used with virtual mockup

// Explorer Config File explorer { pos 0 0 0 0 0 0; id_type object; max_speed 1; } crane { scale .25; } bookmark { pos 0.000 0.000 0.000 0.000 0.000 0.000; voice "go home"; key "1"; } bookmark { pos -1.232 1.869 0.417 90.0 0.000 0.000; voice "go to valve space"; key "2"; } bookmark { pos -5.583 0.201 0.139 0.000 0.000 0.000; voice "go to spool"; key "3"; } bookmark { pos -1.427 1.467 -0.736 0.000 0.000 0.000; voice "go to tilted valve"; key "4"; } bookmark { pos 4.789 2.280 2.254 -45.0 -25.000 0.000; voice "go to interference"; key "5"; } bookmark { pos 3.020 2.546 0.397 165.000 0.00 0.000; voice "go to penetration"; key "6"; } bookmark { pos -2.396 -0.352 1.233 90.000 -20.000 0.000; voice "go to steam generator valves"; key "7"; } bookmark { pos -4.460 1.011 2.767 -90.000 0.000 0.000; voice "go to second floor"; key "8"; } bookmark { pos 0.896 0.654 2.767 -105.000 0.000 0.000; voice "go to air handler"; key "9"; }

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8.4 Parse-vrml.pl script used to translate VRML files to OpenInventor files #! /usr/freeware/bin/perl # # Name: parse-vrml.pl # # Programmer: Ken Slater # ARL # # Description: Reformats a VRML 1.0 file to an Inventor 2.1 # file. # - Changes header # - Adds a units paragraph # - Changes vertexOrdering from CLOCKWISE to COUNTERCLOCKWISE # - Removes PerspectiveCamera paragraphs # # Usage: For usage, invoke this script with a '-h' option. # use Getopt::Long; use File::Basename; use strict; ########## sub usage ########## # # prints usage message and returns to caller # sub usage { my $execname; ( $execname ) = fileparse( "$0", "" ); print STDERR <<USAGE; $execname reformats a VRML 1.0 file as an Inventor 2.1 file. usage: $execname <VRML file name> <VRML file name> ... $execname -h|-help : show usage message Where VRML file name can contain wildcards. USAGE return 0; } # end sub usage ################### parseFile ###################### # # subfunction called for each file to convert. # # arguments: 1) Directory containing file to convert # 2) Base name of file to convert # # For example, the directory could be "./" (indicating the # current directory, and the base name could be "test" # (indicating the input file will be "test.wrl" and the # output file will be "test.iv"). # sub parseFile { my ( $dir, $base, $curlCtr, $infileName, $outfileName );

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$dir = pop; $base = pop; $infileName = $dir.$base.".wrl"; $outfileName = $dir.$base.".iv"; # Open the input and output files, if there is a # problem, quit processing and print message. open ( OUTFILE, ">$outfileName") or die "ERROR: could not open $outfileName for output"; open ( INFILE, "$infileName") or die "ERROR: could not open $infileName for output"; # Loop through the file while (<INFILE>) { SWITCH: { /^#VRML/ && do { print OUTFILE "#Inventor V2.1 ascii\n\n"; print OUTFILE "Separator\n"; print OUTFILE " {\n"; # Put the units right after this print OUTFILE " Units\n"; print OUTFILE " {\n"; print OUTFILE " units FEET\n"; print OUTFILE " }\n"; last SWITCH; }; /vertexOrdering/ && do { s/CLOCKWISE/COUNTERCLOCKWISE/; print OUTFILE $_; last SWITCH; }; /PerspectiveCamera/ && do { # Find opening curly brace while (! m/\{/ ) { $_ = <INFILE>; } $curlCtr = 1; while ( $curlCtr > 0 ) { $_ = <INFILE>; if ( m/\{/ ) { $curlCtr++; } if ( m/\}/ ) { $curlCtr--; } } last SWITCH; }; # default print OUTFILE $_; } } print OUTFILE "}\n"; close (INFILE); close (OUTFILE); } ########## main ########## # my ($base, $dir,

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$ext, $file, $help, $numArgs ); $help = 0; # determine if user has requested help GetOptions( "h!" => \$help, "help!" => \$help ); if ( $help ) { usage; exit 0; } $numArgs = $#ARGV + 1; if ( $numArgs < 1 ) { usage; exit 0; } foreach $file ( @ARGV ) { print "PARSING $file\n"; ($dir, $base, $ext) = fileparse($file, '\.wrl'); if ( $ext eq ".wrl" ) { parseFile ($dir,$base); } else { print "ERROR: $file is not a VRML file\n"; } }

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8.5 Survey Evaluating Various Mockup Technologies Job Title: ______________________________ How does each model rate in the following areas:

1 = Poor 5 = Satisfactory 10 = Superior Computer Model Ratings Virtual Mockup Ratings Physical Mockup Ratings

Preliminary design concept evaluations 1-------3------5-------7------10 1-------3------5-------7------10 1-------3------5-------7------10 Location of equipment and systems 1-------3------5-------7------10 1-------3------5-------7------10 1-------3------5-------7------10 Space Perception 1-------3------5-------7------10 1-------3------5-------7------10 1-------3------5-------7------10 System Review 1-------3------5-------7------10 1-------3------5-------7------10 1-------3------5-------7------10 Interference Analysis 1-------3------5-------7------10 1-------3------5-------7------10 1-------3------5-------7------10 Access 1-------3------5-------7------10 1-------3------5-------7------10 1-------3------5-------7------10 Operability 1-------3------5-------7------10 1-------3------5-------7------10 1-------3------5-------7------10 Maintenance 1-------3------5-------7------10 1-------3------5-------7------10 1-------3------5-------7------10 Design Fitup 1-------3------5-------7------10 1-------3------5-------7------10 1-------3------5-------7------10 Configuration management 1-------3------5-------7------10 1-------3------5-------7------10 1-------3------5-------7------10 Identification of material usage 1-------3------5-------7------10 1-------3------5-------7------10 1-------3------5-------7------10 Verification of design requirements 1-------3------5-------7------10 1-------3------5-------7------10 1-------3------5-------7------10 System engineering calculations and analyses 1-------3------5-------7------10 1-------3------5-------7------10 1-------3------5-------7------10 Design to ensure construction requirements are considered 1-------3------5-------7------10 1-------3------5-------7------10 1-------3------5-------7------10 Illumination evaluation 1-------3------5-------7------10 1-------3------5-------7------10 1-------3------5-------7------10 Demonstration of equipment removal 1-------3------5-------7------10 1-------3------5-------7------10 1-------3------5-------7------10 Drawing development 1-------3------5-------7------10 1-------3------5-------7------10 1-------3------5-------7------10 Support transfer of digital data for construction 1-------3------5-------7------10 1-------3------5-------7------10 1-------3------5-------7------10 Analyze proposed design modification 1-------3------5-------7------10 1-------3------5-------7------10 1-------3------5-------7------10 Advanced reactor design development support 1-------3------5-------7------10 1-------3------5-------7------10 1-------3------5-------7------10 Evaluation of previous designs 1-------3------5-------7------10 1-------3------5-------7------10 1-------3------5-------7------10 Portability 1-------3------5-------7------10 1-------3------5-------7------10 1-------3------5-------7------10 Verification of Class 1 piping requirement 1-------3------5-------7------10 1-------3------5-------7------10 1-------3------5-------7------10 Comments:

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Computer Model = 3D Desktop computer model (eg Bentley Microstation, Intergraph PDS, Smart Plant Review, etc) Virtual Mockup = 3D Model displayed in Penn State’s Immersive Projection Display system Physical Mockup = Physical model (eg scale model, cardboard and plywood mockup, etc) Explanation of Uses: • Preliminary design concept evaluations – Develop preliminary design concepts.

Design studies historically performed prior to mockup construction. • Location of equipment and systems – Ensure the equipment is properly located

and that these locations account for space required for all outfitting systems • Space Perception – Verify that the design is spatially distributed. Ability to

optimize the use of plant volume • System Review – Ensure that system meets diagrammatic requirements • Interference Analysis – Ensure that all geometry has correct clearance, including

construction tolerance, thermal expansion, acoustic, and shock clearances • Access – Verify that all system access is identified and is a design requirement.

This includes access for operability and maintenance. Examples: hose hook-up, valve pull space, resilient mount inspection, cabinet pull or door swing

• Operability – Ensure that the design meets all criteria for being able to operate from normally accessible positions

• Maintenance – Ensure that the design meets all plant maintenance requirements • Design Fitup – Verify that system components have exact alignment and end

connection compatibility • Configuration management – Document the design plan, schedule all design

documents, control all design data, including initial design development, and document all required changes, thereto. This includes reason and authority for each change.

• Identification of material usage – Accountability of all material usage • Verification of design requirements – Many of the manufacturing and design

requirements are programmed as “check errors” in the computer model • System engineering calculations and analyses – Develop and maintain

calculations to reflect the ship design and changes thereto. These calculations are under configuration management control

• Design to ensure construction requirements are considered – Ensure that the design is optimized to include the construction/produciblity requirements in conjunction with all other design requirements (technical, operability, maintenance, cost). This includes designing for all producibility attributes; for example, the location of a weld joint for the lowest piece part used during construction

• Illumination evaluation – Photometric survey to ensure that lighting requirements are met

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• Demonstration of equipment removal – Verify that designated equipment can be removed as required. This includes reviewing all pad eyes, lifting gear required to support equipment removal, and interference with all adjacent systems.

• Drawing development – Add text to the design as required for design approval and construction

• Support transfer of digital data for construction – Provide a documentation base for digital data to support construction

• Analyze proposed design modification – Review and compare a proposed design change with an existing design

• Advanced reactor design development support – Develop all design requirements for advanced reactors. Include the capability to design and display plant.

• Evaluation of previous designs – Compare the current design with the previous design. This is a comparison of the composite arrangement, i.e., the configuration of the plant structure, equipment, outfitting system, and all other items.

• Portability – Transportation of the mockup from its construction site to remote location for review/evaluation or utilization by trades

• Verification of Class 1 piping requirement -- Ability to verify that unique Class 1 (NRC Group A) piping requirements are met

Adapted from: Tatum, S.A., Byrum, J.C., Rourke, P.W. “Design Validation Using Computer Models in Lieu of Full-Scale Mockups.” Marine Technology Vol 31, No. 3 (July 1994): pp. 225-230.

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8.6 Survey Results

8 Survey 1

Survey 2

Survey 3

Survey 4

Survey 5

Survey 6

Survey 7

Survey 8

C V P C V P C V P C V P C V P C V P C V P C V P

Preliminary design concept evaluations 10 7 1 10 1 1 7 7 1 10 5 1 5 7 1 5 10 3 7 3 3 10 10 5

Location of equipment and systems 10 7 1 7 10 10 5 10 3 10 5 3 10 10 5 7 10 8 7 3 3 10 10 7

Space Perception 5 10 5 7 10 10 3 10 3 5 10 3 7 10 3 1 10 7 5 7 10 7 10 7

System Review 5 10 5 10 5 5 7 10 1 10 7 5 7 7 3 10 7 3 5 7 3 7 7 5

Interference Analysis 10 7 3 7 7 7 5 7 1 7 5 3 7 5 7 8 7 7 5 10 10 7 5

Access 7 10 3 7 7 7 10 5 10 1 5 5 1 7 1 5 7 10 10 7 5

Operability 7 10 10 5 7 7 3 5 3 10 3 1 10 5 5 7 10 7 10 5

Maintenance 5 7 10 5 7 7 3 3 5 1 10 3 3 10 5 5 7 10 7 10 5

Design Fitup 10 7 3 7 7 7 7 7 10 10 5 10 3 9 8 2 10 5 5 10 7 3

Configuration management 10 5 1 7 7 3 7 7 10 5 1 10 7 7 5 1 5 7 10 10 7 3

Identification of material usage 10 5 1 10 1 1 10 10 3 10 3 7 1 1 10 3 3 5 5 1

Verification of design requirements 10 7 1 10 1 1 10 7 3 7 10 3 7 5 2 5 7 7 10 7 3

System engineering calculations and analyses 7 3 1 10 1 1 7 7 1 10 7 7 3 3 10 7 1Design to ensure construction requirements are considered 7 5 1 7 7 7 7 10 3 10 7 7 3 1 5 7 10 7 10 3

Illumination evaluation 7 10 3 3 10 10 3 3 3 5 1 5 8 1 5 5 5 5 7 1

Demonstration of equipment removal 10 10 5 5 10 10 3 7 3 7 10 3 10 3 3 10 2 5 5 5 7 10 5

Drawing development 10 3 1 10 1 1 10 7 1 5 7 10 3 1 5 7 10 7 5 1

Support transfer of digital data for construction 10 5 1 10 1 1 7 10 3 10 10 1 5 3 7 5 1 7 1 1 10 10 1

Analyze proposed design modification 7 7 3 10 5 5 7 10 3 10 10 3 5 7 7 10 3 5 7 7 7 10 5

Advanced reactor design development support 10 5 1 10 7 7 7 10 3 7 7 3 5 7 7 10 5 7 7 7 10 7 1

Evaluation of previous designs 10 7 3 7 7 10 10 10 3 10 5 1 7 7 7 10 5 5 7 7 7 7 3

Portability 7 3 1 10 1 3 7 7 5 10 5 1 3 3 10 1 3 7 1 1 10 5 7

Verification of Class 1 piping requirement 10 5 1 10 1 1 7 7 5 7 10 5 3 5 7 7 5 7 7 3 10 7 3

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