A. Neto

MARTe: A Multiplatform Real-Time Framework

Development of real-time applications is usually associated with nonportable code targeted at specific real-time operating systems. The boundary between hardware drivers, system services, and user code is commonly not well defined, making the development in the target host significantly difficult. The Multithreaded Application Real-Time executor (MARTe) is a framework built over a multiplatform library that allows the execution of the same code in different operating systems. The framework provides the high-level interfaces with hardware, external configuration programs, and user interfaces, assuring at the same time hard real-time performances. End-users of the framework are required to define and implement algorithms inside a well-defined block of software, named Generic Application Module (GAM), that is executed by the real-time scheduler. Each GAM is reconfigurable with a set of predefined configuration meta-parameters and interchanges information using a set of data pipes that are provided as inputs and required as output. Using these connections, different GAMs can be chained either in series or parallel. GAMs can be developed and debugged in a non-real-time system and, only once the robustness of the code and correctness of the algorithm are verified, deployed to the real-time system. The software also supplies a large set of utilities that greatly ease the interaction and debugging of a running system. Among the most useful are a highly efficient real-time logger, HTTP introspection of real-time objects, and HTTP remote configuration. MARTe is currently being used to successfully drive the plasma vertical stabilization controller on the largest magnetic confinement fusion device in the world, with a control loop cycle of 50 ?s and a jitter under 1 ?s. In this particular project, MARTe is used with the Real-Time Application Interface (RTAI)/Linux operating system exploiting the new ?86 multicore processors technology.

High-resolution gamma ray spectroscopy measurements of the fast ion energy distribution in JET 4He plasmas

High-resolution ?-ray measurements were carried out on the Joint European Torus (JET) in an experiment aimed at accelerating 4He ions in the MeV range by coupling third harmonic radio frequency heating to an injected 4He beam. For the first time, Doppler broadening of ?-ray peaks from the 12C(d, p?)13C and 9Be(?, n?)12C reactions was observed and interpreted with dedicated Monte Carlo codes based on the detailed nuclear physics of the processes. Information on the confined 4He and deuteron energy distribution was inferred, and confined 4He ions with energies as high as 6?MeV were assessed. A signature of MHD activity in ?-ray traces was also detected. The reported results have a bearing on diagnostics for fast ions in the MeV range in next step fusion devices.

Energy resolution of gamma-ray spectroscopy of JET plasmas with a LaBr3 scintillator detector and digital data acquisition.

A new high efficiency, high resolution, fast γ-ray spectrometer was recently installed at the JET tokamak. The spectrometer is based on a LaBr3(Ce) scintillator coupled to a photomultiplier tube. A digital data acquisition system is used to allow spectrometry with event rates in excess of 1 MHz expected in future JET DT plasmas. However, at the lower rates typical of present day experiments, digitization can degrade the energy resolution of the system, depending on the algorithms used for extracting pulse height information from the digitized pulses. In this paper, the digital and analog spectrometry methods were compared for different experimental conditions. An algorithm based on pulse shape fitting was developed, providing energy resolution equivalent to the traditional analog spectrometry method.

ATCA control system hardware for the plasma vertical stabilization in the JET tokamak

A multi-input-multi-output controller for the plasma vertical stabilization was implemented and installed on the Joint European Torus tokamak. The system can attain a control-cycle time of approximately 30 µs using x86 multi-core processors but targets 10 µs via Field Programmable Gate Array (FPGA) based processing. The hardware, complying with the Advanced Telecommunications Computing Architecture (ATCA) standard, was in-house designed and implemented to achieve the required performance and consists of: A total of 6 synchronized ATCA control boards, each one with 32 analog input channels which provide up to 192 galvanically-isolated channels, used mainly for magnetic measurements. Each board contains an FPGA, which performs digital signal processing and includes a PCI Express communications interface; An ATCA rear transition module, which comprises up to 8 galvanically-isolated analog output channels to control the fast radial field amplifier (±10 kV, ±2.5 kA). An optical link to digitally control the enhanced radial field amplifier (±12 kV, ±5 kA). Up to 8 EIA-485 digital inputs for timing and monitoring information; An ATCA processor blade with a quad-core processor, where the control algorithm is presently running, connected to the 6 ATCA control boards through the PCI Express interface. All FPGAs are interconnected by low-latency links via the ATCA full-mesh backplane, allowing all channel data to be available on each FPGA running an upcoming distributed control algorithm.

A protection system for the JET ITER-like wall based on imaging diagnostics

The new JET ITER-like wall (made of beryllium and tungsten) is more fragile than the former carbon fiber composite wall and requires active protection to prevent excessive heat loads on the plasma facing components (PFC). Analog CCD cameras operating in the near infrared wavelength are used to measure surface temperature of the PFCs. Region of interest (ROI) analysis is performed in real time and the maximum temperature measured in each ROI is sent to the vessel thermal map. The protection of the ITER-like wall system started in October 2011 and has already successfully led to a safe landing of the plasma when hot spots were observed on the Be main chamber PFCs. Divertor protection is more of a challenge due to dust deposits that often generate false hot spots. In this contribution we describe the camera, data capture and real time processing systems. We discuss the calibration strategy for the temperature measurements with cross validation with thermal IR cameras and bi-color pyrometers. Most importantly, we demonstrate that a protection system based on CCD cameras can work and show examples of hot spot detections that stop the plasma pulse. The limits of such a design and the associated constraints on the operations are also presented.

Control of Elongated Plasma in Presence of ELMs in the JET Tokamak

Tokamaks are the most promising approach for nuclear fusion on earth. They are toroidal machines where the plasma is heated in a ring-shaped vessel and kept away from the vessel by applied magnetic fields. To achieve high performance in tokamaks, plasmas with elongated poloidal cross-section are needed. Such elongated plasmas are vertically unstable, hence position control on a fast time scale is clearly an essential feature for all tokamak devices. In this context the Plasma Control Upgrade project was aimed at increasing the capabilities of the Vertical Stabilization (VS) of the JET tokamak. This paper introduces the new JET VS system and focuses on how the flexibility of this real-time system has been exploited to enlarge its operational limits in terms of maximum controllable disturbance. Eventually, some experimental results achieved during the last experimental campaigns are presented.

Performance comparison of EPICS IOC and MARTe in a Hard Real-Time control application

EPICS is used worldwide mostly for controlling accelerators and large experimental physics facilities. Although EPICS is well fit for the design and development of automation systems, which are typically VME or PLC-based systems, and for soft real-time systems, it may present several drawbacks when used to develop Hard Real-Time systems/applications especially when General Purpose Operating Systems as plain Linux are chosen. This in particular true in fusion research devices typically employing several Hard Real-Time systems, such as the magnetic control systems, that may requires strict determinism, and high performance in terms of jitter and latency, otherwise serious deterioration of important plasma parameters can happen, possibly leading to an abrupt termination of the plasma discharge.

Modeling of MARTe-Based Real-Time Applications With SysML

Model-driven design is recently gaining a wide spreading in different fields, such as design of mechatronics and embedded systems. Approaches based on either UML or SysML permit to efficiently manage the design of complex systems in different areas. In this paper a SysML modeling approach is proposed for the design of real-time applications based on the MARTe framework. The MARTe framework has been recently adopted for the development of real-time systems in several European experimental fusion reactors. The proposed approach allows to achieve a better standardization of the development cycle and a better documentation of the developed systems. Furthermore, by using model-2-text tools it is possible to automatically generate part of the real-time executable code and the application configuration file. The proposed approach has been applied for the modeling of the control system for the Frascati Tokamak Upgrade.

Engineering design of ITER prototype Fast Plant System Controller

The ITER control, data access and communication (CODAC) design team identified the need for two types of plant systems. A slow control plant system is based on industrial automation technology with maximum sampling rates below 100 Hz, and a fast control plant system is based on embedded technology with higher sampling rates and more stringent real-time requirements than that required for slow controllers. The latter is applicable to diagnostics and plant systems in closed-control loops whose cycle times are below 1 ms. Fast controllers will be dedicated industrial controllers with the ability to supervise other fast and/or slow controllers, interface to actuators and sensors and, if necessary, high performance networks. Two prototypes of a fast plant system controller specialized for data acquisition and constrained by ITER technological choices are being built using two different form factors. This prototyping activity contributes to the Plant Control Design Handbook effort of standardization, specifically regarding fast controller characteristics. Envisaging a general purpose fast controller design, diagnostic use cases with specific requirements were analyzed and will be presented along with the interface with CODAC and sensors. The requirements and constraints that real-time plasma control imposes on the design were also taken into consideration. Functional specifications and technology neutral architecture, together with its implications on the engineering design, were considered. The detailed engineering design compliant with ITER standards was performed and will be discussed in detail. Emphasis will be given to the integration of the controller in the standard CODAC environment. Requirements for the EPICS IOC providing the interface to the outside world, the prototype decisions on form factor, real-time operating system, and high-performance networks will also be discussed, as well as the requirements for data streaming to CODAC for visualization and archiving.

The COMPASS tokamak plasma control software performance

The COMPASS tokamak has began operation at the IPP Prague in December 2008. A new control system has been built using an ATCA-based real-time system developed at IST Lisbon. The control software is implemented on top of the MARTe real-time framework attaining control cycles as short as 50 μs, with a jitter of less than 1 μs. The controlled parameters, important for the plasma performance, are the plasma current, position of the plasma current center, boundary shape and horizontal and vertical velocities. These are divided in two control cycles: slow at 500 μs and fast at 50 μs. The project has two phases. First, the software implements a digital controller, similar to the analog one used during the COMPASS-D operation in Culham. In the slow cycle, the plasma current and position are measured and controlled with PID and feedforward controllers, respectively, the shaping magnetic field is preprogrammed. The vertical instability and horizontal equilibrium are controlled with the faster 50-μs cycle PID controllers. The second phase will implement a plasma-shape reconstruction algorithm and controller, aiming at optimized plasma performance. The system was designed to be as modular as possible by breaking the functional requirements of the control system into several independent and specialized modules. This splitting enabled tuning the execution of each system part and to use the modules in a variety of applications with different time constraints. This paper presents the design and overall performance of the COMPASS control software.