Sensor based control test for remote installation of ITER blanket module

ITER blanket is composed of about 400 modules in the vacuum vessel (VV) for remote individual replacement. The most critical issue in the remote replacement of the blanket module is to install the module of 4 t with high positioning accuracy under the clearance of 0.25 mm between the module and two key supports on the VV. A new control scheme of ‘sensor based control’ has been developed using a combination of distance sensor for rough positioning and contact sensor for fine positioning so as to solve the issue. The performance test of the 4 t module installation under the clearance of 0.25 mm between the module and the key has been successfully carried out using a full-scale remote handling equipment, so that the feasibility of the newly developed control scheme has been demonstrated.