Using programming by demonstration tools for DEMO maintenance: A framework proposal with an experimental validation
•General purpose robotic equipment are expected for DEMO ex-vessel maintenance.•Programming maintenance tasks offline seems inefficient with all errors cumulated.•Programming by demonstration techniques could propose alternative strategies.•No need to be a robotic expert to program the robotic equip...
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| Published in: | Fusion engineering and design Vol. 215; p. 114935 |
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| Main Authors: | , , , , , |
| Format: | Journal Article |
| Language: | English |
| Published: |
Elsevier B.V
01.06.2025
Elsevier |
| Subjects: | |
| ISSN: | 0920-3796 |
| Online Access: | Get full text |
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| Summary: | •General purpose robotic equipment are expected for DEMO ex-vessel maintenance.•Programming maintenance tasks offline seems inefficient with all errors cumulated.•Programming by demonstration techniques could propose alternative strategies.•No need to be a robotic expert to program the robotic equipment.•A pipe inspection experiment is carried out to validate this proposal.
The level of radiation expected in the DEMO fusion reactor facility will make it impossible to send operators during maintenance phases of the reactor as well as of a large number of ancillary components. During each scheduled shutdown phase, specifically designed robotized machines will replace consumable components in the course of complex and carefully studied procedures. However, accurate predictions for a large volume of tasks such as inspection or replacement of faulty components, are very difficult. These tasks will therefore require more versatile tools (e.g. manipulator with carrier). The resulting sum of potential errors (manufacturing, positioning…) makes it complex to carry out these tasks in a fully automated mode. Man-in-the-loop teleoperation techniques are therefore being considered, as they provide fault tolerance and adaptability. Previous studies have shown that the generation of operator assistance by model-based control tools does not only provides comfort when executing tasks, but also significantly improves their execution quality and allows hybrid modes switching between man in the loop, automated or semi-automated control modes. However, design of such models remains complex. Inspired by “programming by demonstration” (PbD) tools used in robotics, the feasibility of a framework creating the model directly during the execution phase is investigated, thanks to measurements taken locally. The model is built-up on-site, today with help of probes and in the future with 3D scanners. Then, the model is used to generate operator assistance. After reviewing the literature on the subject, we detail the particularities of our approach focusing on the interface level between a tool and its target and we explain why it is relevant in contexts such as fusion facilities. Then an experimental validation in the form of a pipe inspection with a camera mounted on a manipulator arm is presented. |
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| ISSN: | 0920-3796 |
| DOI: | 10.1016/j.fusengdes.2025.114935 |