{"id":"https://openalex.org/W2034274475","doi":"https://doi.org/10.1109/iros.2008.4650808","title":"Demonstration of an ITER relevant remote handling equipment for Tokamak close inspection","display_name":"Demonstration of an ITER relevant remote handling equipment for Tokamak close inspection","publication_year":2008,"publication_date":"2008-09-01","ids":{"openalex":"https://openalex.org/W2034274475","doi":"https://doi.org/10.1109/iros.2008.4650808","mag":"2034274475"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2008.4650808","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4650808","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5108077364","display_name":"D. Keller","orcid":null},"institutions":[{"id":"https://openalex.org/I4210085861","display_name":"Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies","ror":"https://ror.org/000dbcc61","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210085861","https://openalex.org/I4210117989"]},{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"D. Keller","raw_affiliation_strings":["CEA - LIST, Service de Robotique Interactive, FONTENAY AUX ROSES, France"],"affiliations":[{"raw_affiliation_string":"CEA - LIST, Service de Robotique Interactive, FONTENAY AUX ROSES, France","institution_ids":["https://openalex.org/I4210085861","https://openalex.org/I2738703131"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061087461","display_name":"Y. Perrot","orcid":"https://orcid.org/0000-0001-9043-5857"},"institutions":[{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]},{"id":"https://openalex.org/I4210085861","display_name":"Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies","ror":"https://ror.org/000dbcc61","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210085861","https://openalex.org/I4210117989"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Y. Perrot","raw_affiliation_strings":["CEA - LIST, Service de Robotique Interactive, FONTENAY AUX ROSES, France"],"affiliations":[{"raw_affiliation_string":"CEA - LIST, Service de Robotique Interactive, FONTENAY AUX ROSES, France","institution_ids":["https://openalex.org/I4210085861","https://openalex.org/I2738703131"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014727773","display_name":"L. Gargiulo","orcid":null},"institutions":[{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]},{"id":"https://openalex.org/I4210110641","display_name":"CEA Cadarache","ror":"https://ror.org/01rs1gy10","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I4210110641"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"L. Gargiulo","raw_affiliation_strings":["Association Euratom CEA, IRFM, France","Association Euratom-CEA, CEA, Cadarache, France"],"affiliations":[{"raw_affiliation_string":"Association Euratom CEA, IRFM, France","institution_ids":["https://openalex.org/I2738703131"]},{"raw_affiliation_string":"Association Euratom-CEA, CEA, Cadarache, France","institution_ids":["https://openalex.org/I4210110641","https://openalex.org/I2738703131"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043450860","display_name":"J.P. Friconneau","orcid":"https://orcid.org/0000-0002-2478-3789"},"institutions":[{"id":"https://openalex.org/I4210085861","display_name":"Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies","ror":"https://ror.org/000dbcc61","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210085861","https://openalex.org/I4210117989"]},{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"J.P. Friconneau","raw_affiliation_strings":["CEA - LIST, Service de Robotique Interactive, FONTENAY AUX ROSES, France"],"affiliations":[{"raw_affiliation_string":"CEA - LIST, Service de Robotique Interactive, FONTENAY AUX ROSES, France","institution_ids":["https://openalex.org/I4210085861","https://openalex.org/I2738703131"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112298725","display_name":"V. Bruno","orcid":null},"institutions":[{"id":"https://openalex.org/I4210110641","display_name":"CEA Cadarache","ror":"https://ror.org/01rs1gy10","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I4210110641"]},{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"V. Bruno","raw_affiliation_strings":["Association Euratom CEA, IRFM, France","Association Euratom-CEA, CEA, Cadarache, France"],"affiliations":[{"raw_affiliation_string":"Association Euratom CEA, IRFM, France","institution_ids":["https://openalex.org/I2738703131"]},{"raw_affiliation_string":"Association Euratom-CEA, CEA, Cadarache, France","institution_ids":["https://openalex.org/I4210110641","https://openalex.org/I2738703131"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073812714","display_name":"R. L\u00e9","orcid":null},"institutions":[{"id":"https://openalex.org/I4210110641","display_name":"CEA Cadarache","ror":"https://ror.org/01rs1gy10","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I4210110641"]},{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"R. Le","raw_affiliation_strings":["Association Euratom CEA, IRFM, France","Association Euratom-CEA, CEA, Cadarache, France"],"affiliations":[{"raw_affiliation_string":"Association Euratom CEA, IRFM, France","institution_ids":["https://openalex.org/I2738703131"]},{"raw_affiliation_string":"Association Euratom-CEA, CEA, Cadarache, France","institution_ids":["https://openalex.org/I4210110641","https://openalex.org/I2738703131"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111517292","display_name":"B. Soler","orcid":null},"institutions":[{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]},{"id":"https://openalex.org/I4210110641","display_name":"CEA Cadarache","ror":"https://ror.org/01rs1gy10","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I4210110641"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"B. Soler","raw_affiliation_strings":["Association Euratom CEA, IRFM, France","Association Euratom-CEA, CEA, Cadarache, France"],"affiliations":[{"raw_affiliation_string":"Association Euratom CEA, IRFM, France","institution_ids":["https://openalex.org/I2738703131"]},{"raw_affiliation_string":"Association Euratom-CEA, CEA, Cadarache, France","institution_ids":["https://openalex.org/I4210110641","https://openalex.org/I2738703131"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041990911","display_name":"M. Itchah","orcid":null},"institutions":[{"id":"https://openalex.org/I4210085861","display_name":"Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies","ror":"https://ror.org/000dbcc61","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210085861","https://openalex.org/I4210117989"]},{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"M. Itchah","raw_affiliation_strings":["CEA - LIST, Service de Robotique Interactive, FONTENAY AUX ROSES, France"],"affiliations":[{"raw_affiliation_string":"CEA - LIST, Service de Robotique Interactive, FONTENAY AUX ROSES, France","institution_ids":["https://openalex.org/I4210085861","https://openalex.org/I2738703131"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017693801","display_name":"D. Ponsort","orcid":null},"institutions":[{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]},{"id":"https://openalex.org/I4210085861","display_name":"Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies","ror":"https://ror.org/000dbcc61","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210085861","https://openalex.org/I4210117989"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"D. Ponsort","raw_affiliation_strings":["CEA - LIST, Service de Robotique Interactive, FONTENAY AUX ROSES, France"],"affiliations":[{"raw_affiliation_string":"CEA - LIST, Service de Robotique Interactive, FONTENAY AUX ROSES, France","institution_ids":["https://openalex.org/I4210085861","https://openalex.org/I2738703131"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057610845","display_name":"Pascal Chambaud","orcid":null},"institutions":[{"id":"https://openalex.org/I4210085861","display_name":"Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies","ror":"https://ror.org/000dbcc61","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210085861","https://openalex.org/I4210117989"]},{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"P. Chambaud","raw_affiliation_strings":["CEA - LIST, Service de Robotique Interactive, FONTENAY AUX ROSES, France"],"affiliations":[{"raw_affiliation_string":"CEA - LIST, Service de Robotique Interactive, FONTENAY AUX ROSES, France","institution_ids":["https://openalex.org/I4210085861","https://openalex.org/I2738703131"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006281480","display_name":"J. Bonnemason","orcid":null},"institutions":[{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]},{"id":"https://openalex.org/I4210085861","display_name":"Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies","ror":"https://ror.org/000dbcc61","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210085861","https://openalex.org/I4210117989"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"J. Bonnemason","raw_affiliation_strings":["CEA - LIST, Service de Robotique Interactive, FONTENAY AUX ROSES, France"],"affiliations":[{"raw_affiliation_string":"CEA - LIST, Service de Robotique Interactive, FONTENAY AUX ROSES, France","institution_ids":["https://openalex.org/I4210085861","https://openalex.org/I2738703131"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034853487","display_name":"S. Lamy","orcid":null},"institutions":[{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]},{"id":"https://openalex.org/I4210085861","display_name":"Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies","ror":"https://ror.org/000dbcc61","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210085861","https://openalex.org/I4210117989"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"S. Lamy","raw_affiliation_strings":["CEA - LIST, Service de Robotique Interactive, FONTENAY AUX ROSES, France"],"affiliations":[{"raw_affiliation_string":"CEA - LIST, Service de Robotique Interactive, FONTENAY AUX ROSES, France","institution_ids":["https://openalex.org/I4210085861","https://openalex.org/I2738703131"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000059503","display_name":"Yvan Measson","orcid":null},"institutions":[{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]},{"id":"https://openalex.org/I4210085861","display_name":"Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies","ror":"https://ror.org/000dbcc61","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210085861","https://openalex.org/I4210117989"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Y. Measson","raw_affiliation_strings":["CEA - LIST, Service de Robotique Interactive, FONTENAY AUX ROSES, France"],"affiliations":[{"raw_affiliation_string":"CEA - LIST, Service de Robotique Interactive, FONTENAY AUX ROSES, France","institution_ids":["https://openalex.org/I4210085861","https://openalex.org/I2738703131"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":13,"corresponding_author_ids":["https://openalex.org/A5108077364"],"corresponding_institution_ids":["https://openalex.org/I2738703131","https://openalex.org/I4210085861"],"apc_list":null,"apc_paid":null,"fwci":0.4844,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.68071366,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1495","last_page":"1500"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11808","display_name":"Superconducting Materials and Applications","score":0.9065999984741211,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11808","display_name":"Superconducting Materials and Applications","score":0.9065999984741211,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/tokamak","display_name":"Tokamak","score":0.7901159524917603},{"id":"https://openalex.org/keywords/thermonuclear-fusion","display_name":"Thermonuclear fusion","score":0.7517784833908081},{"id":"https://openalex.org/keywords/tore-supra","display_name":"Tore Supra","score":0.5839426517486572},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5440245866775513},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4574306607246399},{"id":"https://openalex.org/keywords/fusion-power","display_name":"Fusion power","score":0.4469640254974365},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.4385543465614319},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.43351301550865173},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.42415645718574524},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.366621196269989},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23111307621002197},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1945289671421051},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15410804748535156},{"id":"https://openalex.org/keywords/nuclear-physics","display_name":"Nuclear physics","score":0.08417096734046936}],"concepts":[{"id":"https://openalex.org/C116515362","wikidata":"https://www.wikidata.org/wiki/Q188589","display_name":"Tokamak","level":3,"score":0.7901159524917603},{"id":"https://openalex.org/C72260207","wikidata":"https://www.wikidata.org/wiki/Q7783221","display_name":"Thermonuclear fusion","level":3,"score":0.7517784833908081},{"id":"https://openalex.org/C2780595907","wikidata":"https://www.wikidata.org/wiki/Q3532260","display_name":"Tore Supra","level":4,"score":0.5839426517486572},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5440245866775513},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4574306607246399},{"id":"https://openalex.org/C24671956","wikidata":"https://www.wikidata.org/wiki/Q641442","display_name":"Fusion power","level":3,"score":0.4469640254974365},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.4385543465614319},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.43351301550865173},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.42415645718574524},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.366621196269989},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23111307621002197},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1945289671421051},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15410804748535156},{"id":"https://openalex.org/C185544564","wikidata":"https://www.wikidata.org/wiki/Q81197","display_name":"Nuclear physics","level":1,"score":0.08417096734046936},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C82706917","wikidata":"https://www.wikidata.org/wiki/Q10251","display_name":"Plasma","level":2,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2008.4650808","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4650808","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W1576164719","https://openalex.org/W2023782890","https://openalex.org/W2039552173","https://openalex.org/W2066856287","https://openalex.org/W2079729944","https://openalex.org/W2484040391","https://openalex.org/W4285719527","https://openalex.org/W6721651058"],"related_works":["https://openalex.org/W2030921448","https://openalex.org/W2067591074","https://openalex.org/W4390967188","https://openalex.org/W1975182940","https://openalex.org/W2000801982","https://openalex.org/W2491248557","https://openalex.org/W2745723341","https://openalex.org/W42076619","https://openalex.org/W3042280156","https://openalex.org/W1971182722"],"abstract_inverted_index":{"This":[0,127],"work":[1],"concerns":[2],"the":[3,22,36,91,98,106,169,184,187,212,216,234,249,275,290,332,335,342,360],"development":[4],"of":[5,40,145,161,186,196,253,260,289,311,334,340],"an":[6,271],"ITER":[7],"relevant":[8],"advanced":[9,357],"robotic":[10,262],"systems":[11],"for":[12,45,157,368],"fusion":[13],"reactor.":[14],"The":[15,32,53,165,189,237,268],"feasibility":[16,251],"demonstration":[17,252,269],"will":[18,42],"be":[19,43,94,241,283,326,346],"performed":[20],"on":[21,86,359,361],"thermonuclear":[23],"experimental":[24],"Tokamak:":[25],"Tore":[26],"Supra,":[27],"located":[28],"in":[29,50,73,121,168,224,274,351],"Cadarache":[30],"facilities.":[31],"manipulator":[33,170,308],"developed":[34,327],"by":[35,174,258,338],"interactive":[37],"robotics":[38],"unit":[39],"CEA-LIST":[41],"used":[44],"close":[46,256],"inspection":[47,257],"intervention":[48],"tasks":[49],"a":[51,64,74,82,149,158,175,194,225,254,261,293,320,352],"Tokamak.":[52],"robot":[54,92,307],"must":[55,93],"meet":[56],"severe":[57,190],"specifications:":[58],"small":[59],"diameter,":[60],"long":[61,128],"reach":[62,129],"with":[63,105,211,287],"9.5":[65],"m":[66],"cantilever":[67],"length,":[68],"high":[69],"dexterity":[70],"to":[71,80,103,209,232,240,247,285,300,328],"move":[72],"Torus":[75],"shape":[76],"environment":[77,228],"and":[78,108,119,138,148,152,199,245,303,313,337,348,371],"able":[79],"carry":[81],"10":[83,133],"kg":[84],"payload":[85],"its":[87,301,317],"end":[88],"effector.":[89],"As":[90],"introduced":[95],"without":[96],"breaking":[97],"machine":[99],"conditioning,":[100],"it":[101],"has":[102,132,239],"cope":[104,210,286],"vacuum":[107,198,244],"temperature":[109,200,246],"constraints:":[110],"Ultra":[111],"High":[112],"Vacuum":[113],"(10":[114],"<sup":[115],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[116],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">-6</sup>":[117],"Pa)":[118],"120degC":[120],"use,":[122],"200degC":[123],"during":[124],"baking":[125],"phase.":[126],"multi-link":[130],"carrier":[131],"DOF":[134],"(9":[135],"rotary":[136],"joints":[137],"1":[139],"prismatic":[140],"joint).":[141],"It":[142],"is":[143,171,270,319],"composed":[144],"5":[146],"modules":[147],"precise":[150],"guiding":[151],"pushing":[153],"system":[154,364],"(the":[155,179],"deployer)":[156],"total":[159],"weight":[160],"about":[162],"300":[163],"kg.":[164],"gravity":[166],"effect":[167],"largely":[172],"compensated":[173],"special":[176],"mechanical":[177,323],"structure":[178,336],"parallelogram)":[180],"that":[181,202],"helps":[182],"reducing":[183],"size":[185,302],"actuators.":[188],"operating":[191,266],"conditions":[192,223],"impose":[193],"selection":[195],"several":[197],"technologies":[201],"have":[203],"been":[204],"tested,":[205],"qualified":[206],"or":[207,281],"optimized":[208],"requirements.In":[213],"September":[214],"2007,":[215],"Remote":[217],"Handling":[218],"Equipment":[219],"deployment":[220],"under":[221,243,264],"atmospheric":[222],"real":[226,265,353],"Tokamak":[227,255],"(Tore":[229],"Supra)":[230],"enabled":[231],"qualify":[233],"entire":[235],"prototype.":[236,296],"scenario":[238],"rehearsed":[242],"achieve":[248],"complete":[250],"means":[259,339],"equipment":[263],"conditions.":[267],"important":[272],"step":[273],"project":[276],"but":[277],"further":[278],"developments":[279,358],"are":[280,365],"could":[282,325,345],"necessary":[284,367],"100%":[288],"requirements":[291],"toward":[292],"reliable":[294],"industrial":[295],"In":[297],"particular,":[298],"due":[299],"weight,":[304],"this":[305],"large":[306],"holds":[309],"lots":[310],"elastic":[312],"geometric":[314],"deformations.":[315],"Thus":[316],"accuracy":[318],"challenge.":[321],"A":[322],"model":[324,343],"take":[329],"into":[330],"consideration":[331],"flexibilities":[333],"calibration,":[341],"parameters":[344],"identified":[347],"then":[349],"integrated":[350],"time":[354],"controller.":[355],"Further":[356],"line":[362],"monitoring":[363],"also":[366],"operator":[369],"assistance":[370],"fault":[372],"detection.":[373]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
