A small, novel, remote in-vessel inspection system for the Alcator C-Mod tokamak

• A compact, flexible remote inspection system was developed for the Alcator C-Mod tokamak.
• This 2-axis articulated system carries a high resolution camera and LED lighting.
• The system can inspect the entirety of the vessel main chamber from a single 4 cm diameter vacuum port.
• The system is used during brief vacuum vents with no degradation to the vacuum cleanliness.
• Use has expanded understanding of the condition of the interior of the vessel, enabling repair preparations and plasma surface science.

A small robust system has been constructed for in-situ visual inspection of the Alcator C-Mod tokamak. The system consists of a small, light, wide-angle high definition camera and LED package housed in a nacelle on the end of thin, rigid, 3.5 m long support pole. The nacelle has two actuated degrees of freedom allowing the camera to observe nearly 4π steradians. The support pole has a specific slight curve that allows it to pass to either side of the center column of the tokamak to observe the entirety of the vessel interior, while still fitting through the small aspect ratio Alcator C-Mod vacuum port structure. The support pole and camera can enter the vessel through any horizontal vacuum port with an inner diameter greater than 4 cm, thus a dedicated port is not required. The inspection is typically undertaken during maintenance periods when the vessel is filled with a noble gas near atmospheric pressure thus minimizing the influx of water vapor and the concomitant loss of wall conditioning. The system is operated manually, producing photos and video which are reviewed in near real-time. Nearly the entire vessel, including the plasma facing components, can be carefully inspected in 3–5 h. The system provides improved characterization of the interior components and surfaces of the tokamak with a modest engineering and operational effort. Information gathered from the system has identified damage to plasma facing components that were interfering with tokamak operation, as well as damage to mechanical components which were redesigned during the remainder of the campaign, thereby enhancing program planning.

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