[en] To get indications to and boundary conditions for computer use in plant engineering, an analysis of the engineering process was done. The structure of plant engineering is represented by a network of substaks and subsets of data which are to be manipulated. Main tool for integration of CAD-subsystems in plant engineering should be a central database which is described by characteristical requirements and a possible simple conceptual schema. The main features of an interactive system for computer aided plant engineering are shortly illustrated by two examples. The analysis leads to the conclusion, that an interactive graphic system for manipulation of net-like structured data, usable for various subtasks, should be the base for computer aided plant engineering. (orig.)

[en] A control and simulation system with an interactive graphic man-machine interface is proposed for the articulated boom in JET. The system shall support 1. the study of boom movements in the planning phase, 2. the training of operators by appropriate simulations, 3. the programming of boom movements, and 4. the on-line control of the boom. A combination of computer graphic display and TV-images is proposed for providing optimum recognition of the actual situation and for echoing to the operator actions. (orig.)

[en] The goal of this NET study was to define the functionality of a remote handling workstation and its hardware and software architecture. The remote handling workstation has to fulfill two basic functions: (1) to provide the man-machine interface (MMI), that means the interface to the control system of the maintenance equipment and to the working environment (telepresence) and (2) to provide high level (task level) supporting functions (software tools) during the maintenance work and in the preparation phase. Concerning the man-machine interface, an important module of the remote handling workstation besides the standard components of man-machine interfacing is a module for graphical scene presentation supplementing viewing by TV. The technique of integrated viewing is well known from JET BOOM and TARM control using the GBsim and KISMET software. For integration of equipment dependent MMI functions the remote handling workstation provides a special software module interface. Task level support of the operator is based on (1) spatial (geometric/kinematic) models, (2) remote handling procedure models, and (3) functional models of the equipment. These models and the related simulation modules are used for planning, programming, execution monitoring, and training. The workstation provides an intelligent handbook guiding the operator through planned procedures illustrated by animated graphical sequences. For unplanned situations decision aids are available. A central point of the architectural design was to guarantee a high flexibility with respect to hardware and software. Therefore the remote handling workstation is designed as an open system based on widely accepted standards allowing the stepwise integration of the various modules starting with the basic MMI and the spatial simulation as standard components. (orig./HP)

[en] To support the tele-operator in fusion plant maintenance as flexibly and completely as possible at a high level a general purpose remote handling workstation concept has been developed and partly implemented. The remote handling workstation provides the man-machine interface and task level support functions. Task level support of the operator is based on the task knowledge represented as spatial models, procedure models, and functional models. These models and the related simulation systems are used for planning, execution, monitoring, training, and recovery. The workstation represents an intelligent interactive, multi-media handbook guiding the operator through planned procedures and in abnormal situations. As a prototypic implementation of this workstation concept the EDITH remote workstation is being implemented for the EDITH (experimental device for in-torus handling) remote workstation. (orig.)

[en] The paper describes new developments in controlling remote handling systems for nuclear applications. The main emphasis is to use robotic equipment and methods for reaching a high degree of system autonomy. A remote handling workstation concept is described, supporting various stages of mission planning and supervision by means of suited geometrical, procedural and functional models. The presented control system enables easy switching between semi-autonomous and manual task execution and sensor data integration. Some experimental results of a prototypic implementation are also described

[en] Man-machine cooperation in remote handling for fusion plants comprises cooperation for design of equipment and planning of procedures using a CAD system, and cooperation during operation of the equipment with computer aided telemanipulation systems (CAT). This concept is presently being implemented for support of slave positioning, camera tracking, and camera alignment in the KfK manipulator test facility. The pilot implementation will be used to test various man-machine interface layouts, and to establish a set of basic buildings blocks for future implementations of advanced remote handling control systems. (author)

[en] EDITH is an experimental device for in vessel handling at NET/ITER. The purpose of EDITH is: Testing of ABS (articulated boom system) components; testing and validation of remote handling procedures; testing and validation of ABS end-effectors; testing of ABS control system features and verification of control system concepts. This document, after describing the environment in which the control system is to operate, specifies architecture and functionality to be implemented by the EDITH motion control system software, thereby taking full reference to the control system specification for TARM, which was decided to be the base for the implementation. (orig.)

No abstract available

[en] To support the operator remote handling a number of well-developed techniques is available like transmission of forces, movements, and dexterous skills in general using masterslave manipulators equipped with special tools. In addition several types of transporters are available to position manipulators and tools. But there is a serious bottle-neck in viewing: the number of cameras is restricted and the cameras may in most cases not be positioned as to provide sufficient information. In order to improve this situation an integration of closed-loop TV and artificial viewing by sensor controlled computer graphics has been introduced successfully by KfK at JET. This integrated viewing subsystem combines not only those two techniques by providing the two views but also enhances the conventional camera control by a computer graphics model-based control. Practical experience has shown that the concept of viewing needs to be extended. Just seeing where things are is insufficient for the operators to perform their remote handling task properly. More information is required about the status of all equipment pieces involved and about the status of the entire handling task. Viewing for remote handling applications needs to include the display of such status information in a suitable form

[en] This report summarizes the work done under contract no. 164/84-7/FU-D-/NET between the Commission of the European Communities and KfK during the period from June 1, 1984, through May 31, 1985. The following topics are covered in this report: Initial modelling of NET version NET2A, CAD system extension for remote handling studies, analysis of the CAD information structure, work related to the transfer of CAD information between KfK and the NET team. (orig.)