Interactive Simulation and Visualization of In-Reactor and Under-Sodium Viewing Operations

A prototype virtual reality simulator for mechanical operations in a sodium-cooled fast reactor is described. Developing simulation capabilities for fuel-handling operations and component inspection are of particular emphasis. Building on the first prototype, the objective is to provide multimodal (visual and haptic) sensing functionality, improve component models, and implement select scenarios for demonstration. RoboticsLab, a robotics software development framework, enables the necessary integration and development for mechanical operations simulation, supporting the capabilities for the construction of the virtual reality environment, fast robot prototyping, dynamics simulation, and customized sensing. Special emphasis was given to the simulation of the fuel-handling system and under-sodium viewing operation, which is one of the bottlenecks in the sodium-cooled fast reactor technology roadmap. By providing computer-based visualization, the virtual reality simulator can facilitate better reactor operation training and more comprehensive understanding and development of new concepts in integral mechanical operations.