Supervisory system for DTP2 remote handling operations

The purpose of the Divertor Test Platform 2 (DTP2) is to demonstrate the proof-of-concept level remote handling operations with ITER maintenance devices, from a dedicated control room. In order to remotely operate these devices safely, a supervisory system composed of several software sub-systems is needed. For each of the devices, a control system is embodied. In the control room, there is no direct visual contact to the operation area and therefore, a remote viewing system having radiation tolerant cameras is required. Should the camera feeds be unavailable or with limited visibility, a 3D visualization system is utilized for showing a virtual model of the scene. As the maintenance sequences are often complicated and subject to formal approval, having them well designed beforehand is mandatory. In this paper, we present the complete software and hardware solution designed and implemented for the DTP2 remote handling operations, already being used with the Water Hydraulic Manipulator (WHMAN) and Cassette Multifunctional Mover (CMM). We present the modular division of systems, each of them in smaller detail, and go through some of the design choices made during the platform evolution.