# Ventilated immersive suit for interactive and operative nuclear operations (VISION) applied to ITER test blanket modules

Stéphane Gazzotti, Tanguy Sève, Killian Huc, Simon Demolin, Chiara Di Paolo, Vincent Weistroffer, Claude Andriot, Jean-Pierre Friconneau, Jean-Pierre Martins

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Stéphane Gazzotti, Tanguy Sève, Killian Huc, Simon Demolin, Chiara Di Paolo, et al.

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# Ventilated immersive suit for interactive & operative nuclear operations (VISION) applied to ITER test blanket modules

Stéphane Gazzotti<sup>a,*</sup><sup>1,2</sup>, Tanguy Sève<sup>b</sup>, Killian Huc<sup>a</sup>, Simon Demolin<sup>a</sup>, Chiara Di Paolo<sup>d</sup>, Vincent Weistroffer<sup>c</sup>, Claude Andriot<sup>c</sup>, Jean-Pierre Friconneau<sup>a</sup>, Jean-Pierre Martins<sup>d</sup>

## ARTICLE INFO

### Keywords:

- Extended reality

- Virtual reality

- Air-fed suit

- Nuclear operations

- ITER

- Test blanket modules

- ALARA

- Human factors

## ABSTRACT

CEA is conducting feasibility studies on Test Blanket Modules (TBM) replacement operations in ITER Port Cells, employing an innovative validation concept through simulations using Extended Reality (XR). Collaborating with MATISEC (company specialized in production of security equipment for hostile environments), this study addresses nuclear engineering with motivation to assess in early design phase the use of Personnel Protection Equipment. This study also focusses on the new Immersive Air-Fed Suit (AFS) tailored for XR simulations to prepare hands on operations in hazardous environment. To address the increased operator's workload and fatigue associated with AFS use, the concept uses a modified MATISEC MRV5 prototype. It incorporates internal and external sensors, inertial units, optical and posture sensors, instrumented gloves and depth cameras. Integrated with the XDE physics engine(interactive physics engine) from CEA LIST (Laboratory for Integration of Systems and Technology), these components form an interactive simulation enabling to perform technical tasks in a virtual environment. The virtual simulation replicates human behavior and accurately simulates assembling/disassembling insulation, flanges or cutting/welding pipes operations with scale one tangible tools. The augmented suit and virtual reality resources allow the exploration of intervention scenarios, aligning with French labor regulations limiting AFS use due to operator fatigue. This technology is implemented in the Virtual Integration Platform for Engineering & Remote handling (VIPER) at CEA IRFM (Institute for Magnetic Fusion Research) in Cadarache. This innovative concept allows to check Human Factors requirements early in the design process, integrating advanced monitoring systems for real-time data. Applied to the Pipe Forest accessibility use case for TBM replacement in port cells #16 and #18, it streamlines the design and integration of complex components in constrained working environments minimizing worker exposure in line with the ALARA principle of radiation safety (As Low As Reasonably Achievable). The immersive simulation capabilities position the project as a valuable tool for industries prioritizing worker safety, particularly in nuclear facilities. This innovation extends its applicability to various fields, ranging from engineering analysis to worker training, offering a novel approach to integrate human factors into technical studies.

## 1. Introduction & context

The ITER Test Blanket Module (TBM) program aims to provide experimental data on the performance of the breeding blankets in the integrated fusion nuclear environment [1].

TBMs are installed and operated inside the Vacuum Vessel (VV) at the equatorial ports located within Port Plugs (PP).

After each 18-month-long plasma operation campaign, the TBM

research plan testing program requires the replacement of the components during the ITER Long-Term Maintenance (LTM).

The TBM plant shall be designed so that Occupational Radiation Exposure (ORE) is As Low As Reasonably Achievable (ALARA) over the life of the plant [2].

With the Virtual Integration Platform for Engineering & Remote handling (VIPER) (see Fig. 1), CEA IRFM has improved its skills in developing immersive simulation by including human factors early in

<footnote><sup>a</sup> CEA, IRFM, F-13108 Saint-Paul-Lez-Durance, France</footnote>

<footnote><sup>b</sup> MATISEC, 2 Rue Blaise Pascal, 38090 Vaulx-Milieu, France</footnote>

<footnote><sup>c</sup> Université Paris-Saclay, CEA, List, F-91120, Palaiseau, France</footnote>

<footnote><sup>d</sup> ITER Organization Route de Vinon-sur-Verdon, CS 90 046, 13067St. Paul Lez Durance Cedex, France</footnote>

<footnote>* Corresponding author.
E-mail address: stephane.gazzotti@cea.fr (S. Gazzotti).</footnote>
the design process to work on several Fusion projects such as WEST project, ITER or DEMO [3].

An innovative tool called MRV5 T-VISION (in French "Tenue Venteée Immersive adaptée aux Simulations Interactives d'Opérations Nucléaires") allows simulating in a realistic way nuclear operators intervention with Air Fed Suits (AFS) in constrained environments.

## 2. Concept

The overall concept is centered around the development of an immersive ventilated suit (see Fig. 2) as a solution to simulate operators working in nuclear environments where protection from airborne solid particles is essential and increased workload and physiological constraints leads to operator fatigue.

It includes a reinforced Air-Fed suit designed and adapted in collaboration with the company MATISEC [6] coupled with CEA interactive simulation technology.

This type of suit is designed for all mechanical operations in environments requiring individual protection against radioactive particles including ALARA method to reduce worker exposure.

This concept is a good asset for Virtual and Augmented Reality training:

- **Simulation:** Immersive simulation allows to reproduce real conditions of intervention in controlled nuclear zones

- **Silent:** good concentration and listening to the trainer's teaching messages and instructions.

- **Thermal comfort:** body thermal regulation thanks to spider ventilation system

## 3. Prototype characteristics

The prototype is based on a catalogue Matisec MRV5 ventilated waterproof suit modified for use in virtual reality requiring access to the headset and controllers (see Fig. 3). Thus, ventilation is limited to the body, while the airways and face remain free, thanks to the ribbed collar and cuffs that reduce air loss.

The material chosen for the body is a reinforced white double-sided opaque PVC-coated polyester fabric with thickness of 30/100e, weight of 350g/m2 and double-thickness elbow and knee reinforcements.

Breathable compressed air supply quality must comply with standard NF EN 12,021 and produce from 550 to 950 Nl/min at 6 Bars. Inlet connection with quick coupling is adaptable to ISO6150C & ISO6150B profile fittings with normalized connectors.

Slippers are crafted from a double-coated grey polyester fabric, with a thickness of 30/100e, featuring reinforced non-slip soles. They include an easy-to-use, single-use tear strip for simulated undressing, although

this aspect is not actually simulated. Additionally, they are equipped with a watertight zipper and an ergonomic, durable slider.

## 4. Simulation environment

This technology is today applied in a 70m² free roaming simulation environment [5]. The suit is augmented with internal and external sensors and coupled to a physics and ergonomics data processor to generate the operator's biomechanical avatar. This whole technical environment (see Fig. 4) is based on the use of the XDE Physics Engine developed by CEA LIST [7]

The simulation environment includes:

- Equipped operator (MRV5 T-Vision) (see Fig. 5)

- Compatibility with all Virtual reality headsets and controllers (Vive Pro 2 and Quest 3 in our case), and motion capture technology (Manus Gloves, XSens suit in our case) (see Fig. 6)

- Air providing system (Air liquide 200 bars bottles or Matisec transportable rack with 4 bottles of 300 bars) (see Fig. 7)

- Option to record the outer envelope of the suit using depth cameras for accessibility analysis (see Fig. 8)

- Compatibility with virtual and interactive environments (Unity Software [8] and Interact plugin [9] in our case)

- Additional screen to share the external and internal operators point of view

The capture of the external envelope in real time is using 1 to 3 Kinect™ Azure cameras (Microsoft). Each camera is positioned in order to provide the best coverage of the working area of the user. The point cloud is displayed in real time as 3D splats both for desktop and VR applications.

This set of cameras can also be used to capture the hoses linking the suit to the air compressor. Indeed, it is useful for the user to know where the hoses are located inside the VR simulation in order to avoid risk of falling. However, with the size of the component and the point cloud generated, an alternative method using pass-through technology seems more appropriate.

First tests were made with Varjo [10] headset technology using depth camera & chromakey (see Fig. 9) and also with Meta Quest 3 headset that produces similar results.

Chroma Keying involves filming subjects against a solid-colored backdrop, typically green or blue, and then digitally replacing that color with a different background. It requires controlled lighting and a uniform background to achieve clean results. It provides sharp, high-resolution results but doesn't allow occlusion with the virtual world.

Depth Sensing, on the other hand, utilizes sensors to capture the distance of objects from the camera, creating a depth map of the scene.

<figure><img src="image_3.png" /><figcaption>Fig. 1. CEA IRFM VIPER platform.</figcaption></figure>
<figure><img src="image_4.png" /><figcaption>Fig. 2. MATISEC MRV5 T-VISION concept.</figcaption></figure>

<figure><img src="image_5.png" /><figcaption>Fig. 3. MATISEC MRV5 T-VISION characteristics.</figcaption></figure>

This allows for background replacement based on the spatial position of subjects, independent of background color and is easier to implement. Depth sensing can handle more complex scenes and varying lighting conditions and allows occlusion of the virtual world but with less precision for detouring.

## 5. Methodology & qualification process

In the context of application of the methodology using Extended Reality simulations for ITER design and hands-on interventions verification [4], the goal is to faithfully reproduce operator behavior in a virtual environment exposed to contamination risks.

As part of this project, operations such as assembling/disassembling flange-type components or cutting piping are tested. It enables the operator to simulate a scenario, analyse postures and check for potential collisions with the environment. The operator can also manipulate real connected objects as part of mixed reality simulations.

The handling of tooling is considered for operators or with the integration of industrial cobots. This assumption aligns with French labor regulations that introduce time limitations for AFS use due to increased work fatigue.

The system as a whole (augmented suit and virtual reality simulation resources) enables engineering teams to study different intervention scenarios at a very early stage, in a virtual environment. For instance in

training program, operators can perform tasks in a hostile environment requiring protection of personnel in ventilated Air-Fed suits.

The accuracy of the simulation relies on the assumption that the biomechanical digital manikin, driven by captured body data, faithfully represents the operator's movements and interactions within the virtual environment.

In order to have validated results, the use of biomechanical digital manikins and motion capture systems involves collaboration with experts in biomechanics but also the integration of nuclear operators in the qualification process.

## 6. Results & experts feedback

Within studies for the ITER project, this technology has been applied to Pipe Forest accessibility studies for Test Blanket Modules (see Fig. 10) in order to validate the feasibility of the operations.

Thus, it allows design and integration of complex components in constrained working environments and is a real asset to help validate the TBM port cell component replacement scenario.

This innovation introduces Human Factor requirements early in the design process. It integrates advanced monitoring systems in order to provide real-time data and validate by simulation the processes and interventions.

Registered data allows performance evaluation, debriefing, and
<figure><img src="image_6.png" /><figcaption>Fig. 4. Vision integration diagram.</figcaption></figure>

<figure><img src="image_7.png" /><figcaption>Fig. 5. Operator in Simulation.</figcaption></figure>

improvement of training protocols. It also gives the ability to simulate accidental scenario (such as fire rescue) compared to traditional training generally limited to normal operations.

The qualification process, conducted in collaboration with experts operating nuclear facility, has proven invaluable in identifying both the strengths and limitations of the system. One of the most significant

findings is the realistic sensation experienced by users, which enhances the overall immersive experience. However, challenges remain, particularly regarding visibility. The helmet's design continues to pose a major issue, as it restricts the user's line of sight and is simulated with the visualization process in the virtual headset.

Additionally, the assessment highlighted risks associated with multi-user scenarios. The potential for cable entanglement presents a significant hazard, necessitating careful management to ensure safety. Another critical concern is the lack of visibility of the feet, which increases the

<figure><img src="image_8.png" /><figcaption>Fig. 6. XR and motion capture technology.</figcaption></figure>
<figure><img src="image_9.png" /><figcaption>Fig. 7. Air providing systems.</figcaption></figure>

<figure><img src="image_10.png" /><figcaption>Fig. 8. Virtual Clash detection with depth camera.</figcaption></figure>

risk of tripping over obstacles on the ground. This factor is especially important in environments where spatial awareness is crucial.

Another limitation concerns the use of gloves since they provide users with the dexterity needed for intricate tasks while preserving sensitivity to environmental cues, such as airflow. Furthermore, the phases of dressing and undressing are essential components of the training process, underscoring their importance in preparing users for real-world applications.

XR-based training eliminates the dependency on physical components, reducing preparation and maintenance costs. It enables repeated simulations at a lower marginal cost and supports training for rare or hazardous scenarios without requiring expensive or complex setups. Additionally, XR accelerates skill acquisition by allowing operators to train more frequently and under diverse conditions, ultimately saving both time and resources compared to traditional methods.

The collaboration with experienced operators has shed light on both the promising aspects and the areas needing improvement within the system, guiding future developments and training methodologies (Figs. 11 and 12).

For future development, we can analyze and implement additional features, such as:

- Deformable ventilated suit avatar model

- Deformable object for reachability surface qualification (functional air gap for operator protection)

- Clash feedback for operator in simulation

- New model for ergonomics (scoring, fatigue model, time criterion)

In current simulations, we use Rapid Upper Limb Assessment (RULA) scores, but we could also utilize other systems like Rapid Entire Body Assessment (REBA), Ovako Working Posture Analysis System (OWAS) [11], or specific customized rules for Air-Fed suits. Additionally, we can improve the evaluation by incorporating muscular fatigue and frequency criteria.

## 7. Innovation process

This innovation is applicable to several fields from engineering
<figure><img src="image_11.png" /><figcaption>Fig. 9. Hoses management with passthrough technology.</figcaption></figure>

<figure><img src="image_12.png" /><figcaption>Fig. 10. ITER TBM Pipe Forest removal simulation.</figcaption></figure>

<figure><img src="image_13.png" /><figcaption>Fig. 11. Qualification process with nuclear experts.</figcaption></figure>

analysis to workers training. It is a new way to integrate human factors in technical studies. Immersive nuclear simulations aim to replicate real-world scenarios as closely as possible. The innovation in these suits

allows future trainees to experience and respond to simulated nuclear incidents in a realistic manner.

Wearing a real suit brings the operator closer to real-life operating conditions, and so strengthens the validity of scenario studies. The innovative aspect lies in the technology as a whole, and in particular the combination of the suit with internal/external sensors and simulation tools. Indeed, the fusion of internal and external measurements (sensors) with interactive realistic multi-physics simulation in virtual/extended reality together enable a much more detailed and complete study of human intervention in hostile environments.

This innovation provides a high level of immersion, allowing the wearer to have a representative environment within simulation for various nuclear scenarios. It is applicable at all levels of the design process from concept analysis to workers training.

## 8. Conclusion

Air-Fed Suits are currently being considered for human intervention in hazardous environments, such as ITER Port Cell when necessary. Introducing lessons learnt in best practice from operation in nuclear facilities, activities are ongoing to explore the feasibility of the TBM maintenance/replacement operations in early design stage.

The VIPER features development coupled with several XR technical sessions at CEA IRFM confirm the first positive results on the feasibility using increased representation of the simulation for TBM replacement scenario.

Virtual and Augmented Reality are extensively used at the early stage of the design taking into account a large set of constraints (ALARA, human factors, ergonomics, accessibility...).

The project showcases innovation through the suit compatibility with immersive technologies such as Virtual Reality (VR) and eXtended Reality (XR). The incorporation of depth cameras, motion capture systems, and the biomechanical digital manikin represents a high level of engineering precision, enabling the accurate digital representation of an operator's movements in real time.

It demonstrates a commitment to excellence in science by considering physiological constraints and workload factors associated with Air-Fed Suits (AFS) based on rigorous research and understanding of human factors. Initial research work on ergonomics has led to the development of a theoretical model of the human being in a work situation wearing a Ventilated Suit [5]. This model is supplemented by a phase of laboratory experimentation designed to produce calibration data and an evaluation grid to calibrate the simulation models. It will be used to complete the risks associated with working in a ventilated suit.

The collaboration between CEA and MATISEC further highlights the
<figure><img src="image_14.png" /><figcaption>Fig. 12. ITER TBM Pipe Forest removal simulation.</figcaption></figure>

project's technical progress:

* CEA nuclear expertise on nuclear use cases allowed to integrate return on experience with ergonomics observation and interviews with expert operators

* Matisec as a Nuclear Air-fed Suit provider is specialized in the production of protective equipment for hostile environments for over fifty years.

The project not only represents a breakthrough in protective equipment design but also demonstrates a keen understanding of the economic impact and potential for innovation exploitation. The business opportunities are highlighted by the collaboration between CEA and MATISEC, suggesting a strategic approach to innovation exploitation. The development of a prototype indicates a commitment to bringing the prototype to market, potentially transforming the landscape of personal protective equipment use for design and operators training.

This innovative process can be extended to several fields from engineering to training including design and integration, and different sectors such as Nuclear power plants, Nuclear research facilities, Nuclear Decommissioning, Nuclear waste industries or Health and Safety program analysis.

### Disclaimer

The views and opinions expressed herein do not necessarily reflect those of the ITER Organization.

### CRediT authorship contribution statement

**Stéphane Gazzotti:** Writing – original draft, Validation, Methodology, Investigation, Formal analysis, Conceptualization. **Tanguy Seve:** Resources, Conceptualization. **Killian Huc:** Resources. **Simon

**Demolin:** Software, Formal analysis. **Chiara Di Paolo:** Methodology.

**Vincent Weistroffer:** Methodology. **Claude Andriot:** Supervision.

**Jean-Pierre Friconneau:** Supervision, Project administration. **Jean-

Pierre Martins:** Supervision, Project administration.

### Declaration of competing interest

The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper.

### Data availability

Data will be made available on request.

### References

[1] Giancarli & al. Overview of recent ITER TBM Program activities. Fusion Eng. Design 158, 111674. https://doi.org/10.1016/j.fusengdes.2020.111674.

[2] Friconneau & al. ITER test blanket Module – ALARA investigations for port Cell Pipe Forest replacement https://www.mdpi.com/2199460.

[3] Gazzotti & al. Virtual and augmented reality use cases for Fusion design engineering https://doi.org/10.1016/j.fusengdes.2021.112780.

[4] C.D. Paolo et al., "Methodology for applying extended reality simulations for ITER design and hands-on interventions verification," in IEEE Transactions on Plasma Science, doi:http://doi.org/10.1109/TPS.2024.3435355.

[5] Gazzotti & al. Verification and validation by eXtended reality simulations of Test blanket modules replacement operations in Air-Fed Suits https://doi.org/10.1016/j.fusengdes.2022.113383.

[6] https://www.matisec.fr/.

[7] XDE Physics, CEA-List. https://list.cea.fr/en/page/xde-physics-interactive-multi-physics-simulation-in-virtual-or-extended-reality (accessed August 12, 2022).

[8] Unity https://unity.com/.

[9] Interact https://www.ls-group.fr/interact.

[10] https://varjo.com/blog/video-pass-through-xr-changes-reality-as-you-know-it/.

[11] Dohyung Kee, Comparison of OWAS, RULA and REBA for assessing potential work-related musculoskeletal disorders, Int. J. Ind. Ergon., https://doi.org/10.1016/j.ergon.2021.103140.