Development and operation of an ITER relevant inspection Robot

Robotic operations are one of the major maintenance challenges for ITER and future fusion reactors. In particular, in vessel inspection operations without loss of conditioning will be mandatory. In this context, an Articulated Inspection Arm (AIA) has been developed by CEA within the European work programme framework, which aims at demonstrating the capabilities of a multi-purpose in-vessel Remote Handling inspection system. In September 2008, the AIA robot carried out a complete deployment into Tore Supra under relevant conditions (Ultra High Vacuum and 120°C). With this full scale demonstration, the robot constitutes a promising tool for generic applications: indeed, different diagnostics are being developed by CEA to be plugged at the front head of the carrier. One, currently in operation consists of a viewing system offering accurate visual inspection of PFCs. Leak detection of first wall based on helium sniffing and laser compact system for carbon codeposited layers characterizations or treatments are also considered for demonstration. This paper describes the AIA project and the recent operations carried on Tore Supra.