Development of in situ diagnostics and tools handled by a light multipurpose carrier for tokamak in-vessel interventions

A multipurpose carrier prototype called Articulated Inspection Arm (AIA) has been developed and demonstrated by CEA laboratories to operate embedded diagnostics or tools into a tokamak vacuum-vessel. The AIA robot with a vision diagnostic has been deployed inside the vacuum-vessel of Tore Supra tokamak and has realized closed inspections of plasma facing components’ under relevant conditions (high vacuum and temperature). CEA is engaged in development of interchangeable diagnostics or tools to be plugged on the front head of the arm. This covers applications such as in-vessel inspections, water leak localization, Plasma Facing Components (PFCs) characterization and treatment. This paper describes R&D activities performed in CEA laboratories to develop diagnostics and tools for in-vessel interventions. The AIA multipurpose carrier to carry such devices is also presented. The first demonstration of a quick intervention for plasma facing components performed in the Tore Supra Facility is described as well.