## 5 Application to a Specific Case Study: ITER Divertor Remote Handling System  
### ITER Environment  
The ITER remote handling (RH) [29] system will be operated from a dedicated control room, approx. 1 km away from the reactor and designed for full remote operation. The intention is to manage all the necessary equipment for specific RH tasks from a single operations bench known as the RH standard work cell. Given that numerous RH operations will be executed concurrently, the plan is to incorporate multiple work cells within the RH control room. The ITER RH control system comprises various modules and technologies, necessitating sustained operational functionality throughout the ITER project's estimated 30-year lifespan, encompassing assembly and decommissioning. To streamline initial integration and ongoing maintenance, a modular approach is advocated. ITER mandates a fixed modular architecture for all systems, emphasizing a straightforward principle to foster interoperability and maintainability: each control system element should meet its requirements without imposing specific solutions on other elements. For the implementation of the RH standard work cell, this modular approach was realized. Figure 2 illustrates the different modules that configure a work cell. The ITER remote maintenance system (IRMS) [31] is required to provide full remote handling capability (including rescue) inside the in-vessel area. The IRMS remote handling equipment is the divertor remote handling system (RHS) (DTP2), which is illustrated in Figure 3:  
Figure 2: The four-person work cell tasks. (**a**) The responsible officer oversees operations. (**b**) The deputy manages cameras and support tools. (**c**) The “mover” operates casks, transporters, and cranes. (**d**) The “manipulator” controls the master arm and other manipulative devices. Reprinted with permission from Ref. [30]. 2024, [PERSON]. The divertor RHS (toroidal system) is required to perform the following key functions:  
* Insertion/extraction of divertor cassettes and their transportation to/from a transfer task docked at divertor-level RH ports. * Insertion/extraction of divertor-level diagnostic assemblies and their transportation to/from a transfer task docked at divertor-level RH ports. * Removal/replacement of the divertor-level RH port primary closure plate (PCP). * Dust removal within and around the divertor region during the cassette-removal process. A work cell to control the divertor RHS will be established based on the latest ITER specifications for the control room and work cell design, incorporating the remote handling and control room software developed for F4E/ITER:  
1. General-purpose controller (GENROBOT): GENROBOT is a software controller application built to command particular RH systems used across the ITER remote handling environment and is integrated to command RH systems via the RH-IHMI application. 2. Remote robot handling intelligent human-machine interface (RH-IHMI): The RH-IHMI software is a single application that provides the operator interface to control and command the different ITER remote handling systems (RHSs) via a customizable graphical user interface. The RH-IHMI software application also allows one to receive information about all the steps present in the presently active method and any step containing an SL instruction designed for RH-IHMI application. Figure 3: The ITER Maintenance System serves various areas within the ITER facility. (**a**) Full capability for its manual maintenance within the hot cell, NB cell, and test stand. (**b**) Full remote handling capability, including rescue operations, within the in-vessel, hot cell, and NB cell. (**c**) Complete remote handling capabilities for the recovery of casks within the lift, gallery, and hot cell. (**d**) Remote handling capabilities that can be seamlessly combined with local manual support within the NB cell, hot cell (part), port cell, and test stand area.