1. Euratom 1 AIA robot – 2007.10 DEVELOPMENT OF AN ITER RELEVANT INSPECTION ROBOT Euratom

2. 2 AIA robot – 2007.10 Objectives of the Articulated Inspection Arm (AIA project): In-vessel remote close inspection: demonstration under high vacuum and temperature conditions Integration and exploitation on Tore Supra Development of new processes for inspection, maintenance and safety of tokamak's vessel AIA robot becomes a multipurpose carrier

3. Euratom 3 AIA robot – 2007.10 AIA capabilities for ITER: ITER Divertor scale 1 mock-up Remote operations, a major challenges for ITER First wall inspection and treatment will be needed for exploitation and safety Several poly-articulated carriers should be required for close operations of the Plasma Facing Components (PFCs) Preliminary CAD views of an AIA robot inspecting the Divertor and blanket modules of ITER

4. Euratom 4 AIA robot – 2007.10 The Articulated Arm characteristics: The complete AIA robot is assembled and tested at the CEA/LIST laboratory, June 2007 Length : 8 meters, payload : 10 Kg, 5 modules with 8 degrees of freedom, Ø160 mm titanium tube, total weight 150 kg, Articulations capabilities : elevation +/- 45°; horizontal rotation +/- 90°, All electro-technical components are embedded in modules and inserted in airtight boxes with stainless steel umbilicus for electric cables course Operation conditions : ultra high vacuum (10 -6 Pa) and 120°C, Baking phase : 200 °C for outgasing.

5. Euratom 5 AIA robot – 2007.10 The viewing process: 1 st process plugged: CCD color sensor with zoom and LEDs light embedded in a airtight box nitrogen gas cooled system (internal temperature below 60°) gas and electric cables drive by 2 external SS umbilicus 3 degrees of freedom (1 body rotation + 2 camera rotations) developed in 2006 and operated in June 2007 The viewing process developed by the ECA/Hytec (France-PACA) glass dome (Pyrex) gold coating for minimize thermal radiation LEDs light Lens (tilt articulation of +/-90° and panoramic articulation of 360°) joint (rotation of +/-90°)

6. Euratom 6 AIA robot – 2007.10 First complete deployment of the robot inside the plasma vessel of Tore Supra in atmospheric conditions, 2007-09-12 The first deployment small hole for robot introduction (Ø250)

7. Euratom 7 AIA robot – 2007.10 Viewing in the dark: Video acquisition from viewing process External vision of viewing inspection First inspections of Plasma Facing Components of Tore Supra in relevant darkness conditions, 2007-09-13

8. Euratom 8 AIA robot – 2007.10 Leak detection process, scheduled for 2008 : Laser applications for safety, scheduled for 2008: Ablation Chemical analysis of deposited layers (LIBS), Measurements of thickness layers (T° response after laser pulses) Lock In laser thermography (ageing of PFC assembly, adhesion of layers) 1 st drawing of laser ablation tool Deposited carbon on bottom Limiter of Tore Supra accumulated after several hours of plasma Galvanometric scan Fibre for laser input Developing processes

9. Euratom 9 AIA robot – 2007.10 Leak detection process, scheduled for 2008 Laser applications for safety, scheduled for 2008 All good ideas welcomed (flash lamp, metrology, …) Developing processes