Boiling water reactor fuel transfer simulator

Abstract

The fuel movement simulator system includes a virtual reality (VR) system configured to generate a virtual refueling floor environment and a fuel movement simulator assembly configured to provide a physical interface to the virtual refueling floor environment, the fuel movement simulator assembly including a replica mast, a replica control panel connected to the replica mast, and a support structure configured to support the replica mast and the replica control panel.

Description

[Technical field]

[0001] The present invention relates generally to the field of providing training for complex facility operations, and more particularly to providing training for boiling water reactor (BWR) refueling operations. [Background technology]

[0002] The work of complex process facilities, such as nuclear power plants, involves complex processes that are performed by a team of knowledgeable and experienced personnel. However, when experienced personnel retire, change jobs, or leave the service of a particular team of a process facility, the team needs new personnel to replace the experienced personnel who have left the team. The new personnel can be, for example, inexperienced personnel and / or experienced personnel from outside the team. In order for the new personnel to safely adapt to the implementation of the complex processes of the complex process, it is important that the new personnel can undergo training and team development on said complex processes.

[0003] The process performed by the fuel transfer team during refueling or fuel transfer operations in a boiling water reactor (BWR) facility is an example of the complex process described above. The fuel transfer team is made up of operational (reactor shutdown operators or SROs) and non-operational (fuel movers and spotters) personnel. Team development is recommended and implemented to ensure that the fuel transfer team is skilled in communicating and executing the fuel transfer process prior to outage so that it can perform the process as efficiently and effectively as possible. Summary of the Invention [Problem to be solved by the invention]

[0004] Assembling such a team at an off-site training facility prior to the suspension has become more difficult for several reasons.

[0005] According to at least some example embodiments, the fuel transfer simulator places a physical environment (e.g., a refueling mast and cab) within a virtual environment (e.g., a virtual reactor) and allows the two environments to interact. The fuel transfer simulator, according to at least some example embodiments, also allows trainers to interact with the simulation for more effective training and team development. [Means for solving the problem]

[0006] According to at least some example embodiments, a fuel movement simulator system includes a virtual reality (VR) system configured to generate a virtual refueling floor environment, and a fuel movement simulator assembly configured to provide a physical interface with the virtual refueling floor environment, the fuel movement simulator assembly including a replica mast, a replica control panel connected to the replica mast, and a support structure configured to support the replica mast and the replica control panel.

[0007] The support structure may include a connector and the replica mast may be connected to the connector.

[0008] The connector may be configured to support one or more degrees of freedom such that the replica mast and replica console can move relative to the support structure.

[0009] The support structure may further comprise a plurality of vertical supports and a horizontal support supported by the plurality of vertical supports.

[0010] The connector may be connected to the horizontal support, and the replica mast may be connected to the horizontal support via the connector such that the replica operation panel is rotatable about a central axis of the replica mast relative to the horizontal support.

[0011] The VR system may include a number of tracker ceiling panels configured to emit infrared (IR) light.

[0012] The replica mast may include a sensor configured to generate a signal indicative of an orientation of the replica mast based on IR light emitted by one or more of the plurality of tracker ceiling panels.

[0013] The VR system may further include a VR headset with a tracker configured to generate a signal for tracking a position of a user wearing the VR headset based on IR light emitted by one or more of the plurality of tracker ceiling panels, and a VR display configured to display a scene of the virtual refueling floor environment to the user.

[0014] The VR system may be configured to generate a refueling floor environment such that the refueling floor environment includes a virtual refueling transfer cab, a reactor pool, and a reactor core within the reactor pool.

[0015] The virtual fuel transfer cab may include a virtual mast and a virtual control panel corresponding to the replica mast and the replica control panel, respectively.

[0016] According to at least some example embodiments, a fuel transfer simulator assembly includes a replica mast, a replica control panel connected to the replica mast, and a support structure configured to support the replica mast and the replica control panel.

[0017] The support structure may include a connector and the replica mast may be connected to the connector.

[0018] The connector may be configured to support one or more degrees of freedom such that the replica mast and replica console can move relative to the support structure.

[0019] The support structure may further comprise a plurality of vertical supports and a horizontal support supported by the plurality of vertical supports.

[0020] The connector may be connected to the horizontal support, and the replica may be connected to the horizontal support via the connector such that the replica operation panel is rotatable about a central axis of the replica mast relative to the horizontal support.

[0021] The replica mast may comprise a sensor configured to generate a signal indicative of the orientation of the replica mast. [Brief description of the drawings]

[0022] [Figure 1A] FIG. 1A is a block diagram illustrating a fuel transfer simulator system according to at least some example embodiments. [Figure 1B] FIG. 1B illustrates a fuel transfer simulator assembly included in the fuel transfer simulator of FIG. 1A according to at least some example embodiments. [Figure 2A] FIG. 2A shows the connections between the replica mast and replica control panel of the fuel transfer simulator assembly of FIG. 1B. [Figure 2B] FIG. 2B illustrates the connection between the replica mast and the support structure of the fuel transfer simulator assembly of FIG. 1B. [Diagram 3] FIG. 3 illustrates a tracker ceiling panel of the fuel transfer simulator system of FIG. 1A according to at least some example embodiments. [Figure 4A] 4A-4F show various views of a replica control panel of the fuel transfer simulator assembly of FIG. 1B. [Figure 4B] 4A-4F show various views of a replica control panel of the fuel transfer simulator assembly of FIG. 1B. [Figure 4C] 4A-4F show various views of a replica control panel of the fuel transfer simulator assembly of FIG. 1B. [Figure 4D] 4A-4F show various views of a replica control panel of the fuel transfer simulator assembly of FIG. 1B. [Figure 4E] 4A-4F show various views of a replica control panel of the fuel transfer simulator assembly of FIG. 1B. [Figure 4F] 4A-4F show various views of a replica control panel of the fuel transfer simulator assembly of FIG. 1B. [Figure 5A] 5A and 5B show various views of a virtual reality (VR) display and a tracker headset included in the VR system of the fuel transfer simulator system of FIG. 1A. [Figure 5B] 5A and 5B show various views of a virtual reality (VR) display and a tracker headset included in the VR system of the fuel transfer simulator system of FIG. 1A. [Figure 5C] FIG. 5C illustrates a VR processor included in the VR system of the fuel transfer simulator system of FIG. 1A. [Figure 6A] 6A-6E illustrate various views of a virtual control panel according to at least some example embodiments. [Figure 6B] 6A-6E illustrate various views of a virtual control panel according to at least some example embodiments. [Figure 6C] 6A-6E illustrate various views of a virtual control panel according to at least some example embodiments. [Figure 6D] 6A-6E illustrate various views of a virtual control panel according to at least some example embodiments. [Figure 6E] 6A-6E illustrate various views of a virtual control panel according to at least some example embodiments. [Figure 7A] 7A and 7B illustrate various views of a hypothetical fuel movement platform cab according to at least some example embodiments. [Figure 7B]7A and 7B illustrate various views of a hypothetical fuel movement platform cab according to at least some example embodiments. [Figure 8A] 8A-8C illustrate various views of a hypothetical refueling floor of a boiling water nuclear reactor (BWR) according to at least some example embodiments. [Figure 8B] 8A-8C illustrate various views of a hypothetical refueling floor of a boiling water nuclear reactor (BWR) according to at least some example embodiments. [Figure 8C] 8A-8C illustrate various views of a hypothetical refueling floor of a boiling water nuclear reactor (BWR) according to at least some example embodiments. [Figure 9A] 9A and 9B illustrate various views of a virtual mast grapple according to at least some example embodiments. [Figure 9B] 9A and 9B illustrate various views of a virtual mast grapple according to at least some example embodiments. [Figure 10] FIG. 10 illustrates a perspective view of a hypothetical fuel bundle according to at least some example embodiments. [Figure 11] FIG. 11 illustrates a virtual gradient fuel transfer system (IFTS) phase tube according to at least some example embodiments. [Figure 12A] 12A and 12B respectively illustrate an example of a user (e.g., a fuel mover) 1205-R operating a replica control console and a corresponding example scene of a virtual refueling floor environment provided to a VR display of user 1205-5, according to at least some example embodiments. The scene of the virtual refueling floor environment is provided from the perspective of a corresponding virtual avatar 1205-V. [Figure 12B]12A and 12B respectively illustrate an example of a user (e.g., a fuel mover) 1205-R operating a replica control console and a corresponding example scene of a virtual refueling floor environment provided to a VR display of user 1205-5, according to at least some example embodiments. The scene of the virtual refueling floor environment is provided from the perspective of a corresponding virtual avatar 1205-V. [Figure 13A] 13A and 13B respectively show an example of a first user (e.g., a spotter) 1205-R supervising a second user (e.g., a fuel mover) 1220-R performing a fuel movement training task and an example of a corresponding scene of a virtual refueling floor environment provided to the users' VR displays, according to at least some example embodiments. [Figure 13B] 13A and 13B respectively show an example of a first user (e.g., a spotter) 1205-R supervising a second user (e.g., a fuel mover) 1220-R performing a fuel movement training task and an example of a corresponding scene of a virtual refueling floor environment provided to the users' VR displays, according to at least some example embodiments. [Figure 14A] 14A and 14B respectively show an example of a second user (e.g., a fuel mover) 1220-R performing a fuel movement training task and a corresponding example scene of a virtual refueling floor environment provided on a VR display of the second user (e.g., fuel mover) 1220-R, according to at least some example embodiments. [Figure 14B] 14A and 14B respectively show an example of a second user (e.g., a fuel mover) 1220-R performing a fuel movement training task and a corresponding example scene of a virtual refueling floor environment provided on a VR display of the second user (e.g., fuel mover) 1220-R, according to at least some example embodiments. [Figure 15A]15A and 15B respectively show an example of a first user (e.g., spotter) 1210-R looking in a downward direction and a corresponding example scene of a virtual refueling floor environment provided on a VR display of the first user (e.g., spotter) 1210-R, according to at least some example embodiments. [Figure 15B] 15A and 15B respectively show an example of a first user (e.g., spotter) 1210-R looking in a downward direction and a corresponding example scene of a virtual refueling floor environment provided on a VR display of the first user (e.g., spotter) 1210-R, according to at least some example embodiments. [Figure 16A] 16A and 16B respectively show an example of a second user (e.g., a fuel mover) 1220-R looking to the right and a corresponding example scene of a virtual refueling floor environment provided on a VR display of the second user (e.g., a fuel mover) 1220-R, according to at least some example embodiments. [Figure 16B] 16A and 16B respectively show an example of a second user (e.g., a fuel mover) 1220-R looking to the right and a corresponding example scene of a virtual refueling floor environment provided on a VR display of the second user (e.g., a fuel mover) 1220-R, according to at least some example embodiments. [Figure 17A] 17A and 17B each illustrate another example of a first user (e.g., a spotter) 1210-R supervising a second user (e.g., a fuel mover) 1220-R performing a fuel movement training task, and another example of a corresponding scene of a virtual refueling floor environment provided on a VR display of the first user (e.g., spotter) 1210-R, according to at least some example embodiments. [Figure 17B]17A and 17B each illustrate another example of a first user (e.g., a spotter) 1210-R supervising a second user (e.g., a fuel mover) 1220-R performing a fuel movement training task, and another example of a corresponding scene of a virtual refueling floor environment provided on a VR display of the first user (e.g., spotter) 1210-R, according to at least some example embodiments. [Figure 18A] 18A and 18B respectively show another example of a second user (e.g., a fuel mover) 1220-R performing a fuel movement training task and another example of a corresponding scene of a virtual refueling floor environment provided on a VR display of the second user (e.g., a fuel mover) 1220-R, according to at least some example embodiments. [Figure 18B] 18A and 18B respectively show another example of a second user (e.g., a fuel mover) 1220-R performing a fuel movement training task and another example of a corresponding scene of a virtual refueling floor environment provided on a VR display of the second user (e.g., a fuel mover) 1220-R, according to at least some example embodiments. [Figure 19A] 19A and 19B each show an example of a first user (e.g., a spotter) 1210-R supervising a second user (e.g., a fuel mover) 1220-R performing a fuel movement training task, and another example of a corresponding scene of a virtual refueling floor environment provided on a VR display of the first user (e.g., spotter) 1210-R, according to at least some example embodiments. [Figure 19B] 19A and 19B each show an example of a first user (e.g., a spotter) 1210-R supervising a second user (e.g., a fuel mover) 1220-R performing a fuel movement training task, and another example of a corresponding scene of a virtual refueling floor environment provided on a VR display of the first user (e.g., spotter) 1210-R, according to at least some example embodiments. [Figure 20A]20A and 20B show an example of a second user (e.g., a fuel mover) 1220-R looking at a mast camera monitor within a virtual refueling floor environment according to at least some example embodiments. [Figure 20B] 20A and 20B show an example of a second user (e.g., a fuel mover) 1220-R looking at a mast camera monitor within a virtual refueling floor environment according to at least some example embodiments. [Figure 21A] 21A, 21B, 22A, and 22B show examples of a first (e.g., a spotter) and a second (e.g., a fuel mover) user looking together at respective mast camera monitors within a virtual refueling floor environment according to at least some example embodiments. [Figure 21B] 21A, 21B, 22A, and 22B show examples of a first (e.g., a spotter) and a second (e.g., a fuel mover) user looking together at respective mast camera monitors within a virtual refueling floor environment according to at least some example embodiments. [Figure 22A] 21A, 21B, 22A, and 22B show examples of a first (e.g., a spotter) and a second (e.g., a fuel mover) user looking together at respective mast camera monitors within a virtual refueling floor environment according to at least some example embodiments. [Figure 22B] 21A, 21B, 22A, and 22B show examples of a first (e.g., a spotter) and a second (e.g., a fuel mover) user looking together at respective mast camera monitors within a virtual refueling floor environment according to at least some example embodiments. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] Various features and advantages of the non-limiting embodiments herein may become more apparent upon consideration of the detailed description in conjunction with the accompanying drawings, which are provided for illustrative purposes only and should not be construed as limiting the scope of the claims. The accompanying drawings should not be considered to be to scale unless expressly stated. Various dimensions of the figures may be exaggerated for clarity.

[0024] When an element or layer is referred to as "on," "connected," "coupled to," or "covering" another element or layer, it may be directly on, connected to, or covering the other element or layer, or there may be intervening elements or layers. In contrast, when an element is referred to as "directly on," "directly connected to," or "directly coupled to" another element or layer, there are no intervening elements or layers. Like numbers refer to like elements throughout the specification. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0025] In this specification, terms such as first, second, third, etc. may be used to describe various elements, components, regions, layers, and / or sections, and these elements, components, regions, layers, and / or sections are not intended to be limited by these terms. These terms are used only to distinguish one element, component, region, layer, or section from another element, component, region, layer, or section. Thus, a first element, component, region, layer, or section discussed below may be replaced with a second element, component, region, layer, or section without departing from the teachings of the example embodiments.

[0026] Spatially relative terms (e.g., "below," "lower," "downward," "upward," "above," etc.) may be used herein for ease of description to describe the relationship of one element or feature as depicted in the figures to other elements or features. It should be understood that the spatially relative terms are intended to encompass different orientations of the device during use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, an element described as "below" or "below" the other element or feature would then be oriented "above" the other element or feature. Thus, the term "below" can encompass both an upper and lower orientation. The device may also be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptions used herein interpreted accordingly.

[0027] The terms used herein are for the purpose of describing various embodiments only and are not intended to limit the exemplary embodiments. Indefinite and definite articles used herein denoting the singular are intended to include the plural, unless the context clearly indicates otherwise. It is also understood that the terms "comprise", "comprising", "comprises" and / or "comprising" as used herein specify the presence of the mentioned features, integers, steps, operations, elements, and / or components, and do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0028] Example embodiments are described herein with reference to cross-sectional illustrations that are schematic illustrations of idealized embodiments (and intermediate structures) of example embodiments. As such, variations from the shapes of the illustrations and / or deviations as a result, for example, of manufacturing techniques, are expected. Thus, example embodiments should not be construed as limited to the shapes of regions illustrated herein and may include deviations resulting from manufacturing, for example.

[0029] Unless otherwise specified, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those of ordinary skill in the art to which the example embodiments pertain. Terms should be interpreted as having a meaning consistent with the meaning in the context of the relevant art, including those defined in commonly used dictionaries, and should not be understood in an idealized or overly formal manner unless otherwise specified herein.

[0030] FIG. 1A is a block diagram illustrating a fuel transfer simulator system 1050 according to at least some example embodiments. The fuel transfer simulator system 1050 includes a fuel transfer simulator assembly 2050 and a virtual reality (VR) system 3050. The VR system 3050 provides a user with a virtual interface to a virtual refueling floor environment. Additionally, the VR system 3050 performs positional tracking and head tracking to update the virtual interface according to the user's spatial location and gaze direction. The fuel transfer simulator assembly 2050 is a tangible, physical device that provides a user with a physical interface to the virtual refueling floor environment generated by the VR system 3050. For example, the fuel transfer simulator assembly 2050 includes physical elements that a user can physically manipulate to control the virtual refueling floor environment. According to at least some example embodiments, the fuel transfer simulator assembly 2050 and the VR system 3050 transmit signals to each other via wired and / or wireless connections between the fuel transfer simulator assembly 2050 and the VR system 3050.

[0031] FIG. 1B illustrates a fuel transfer simulator assembly 2050 included in a fuel transfer simulator system 1050 according to at least some example embodiments. According to at least some example embodiments, FIG. 1B illustrates the interior of a portable enclosure (e.g., a trailer) in which the fuel transfer simulator assembly 2050 may be located. With reference to FIGS. 1A and 1B, the fuel transfer simulator assembly 2050 includes a support structure 100 supporting a replica mast 200-R and a replica control panel 400-R connected to the replica mast 200-R. FIG. 2A illustrates a connection between the replica mast 200-R and the replica control panel 400-R of the fuel transfer simulator assembly 2050. FIG. 2B illustrates a connection between the replica mast 200-R and the support structure 100 of the fuel transfer simulator assembly 2050. As will be described in more detail below, the replica mast 200-R includes a sensor 250.

[0032] 1B, 2A, and 2B, the fuel movement simulator assembly 2050 includes multiple vertical supports 110 (e.g., two), each connected to and supporting a horizontal support 120. According to at least some example embodiments, the replica mast 200-R may be connected to the horizontal support 120 via a connector 130. According to at least some example embodiments, the connector 130 supports one or more degrees of freedom to move the replica mast 200-R and the connected replica control panel 400-R relative to the support structure 100. For example, the connector 130 may be connected between the horizontal support 120 and the replica mast 200-R such that the replica mast 200-R and the connected control panel 400 can rotate (e.g., clockwise and / or counterclockwise) about a central axis of the replica mast 200-R. As shown in FIG. 2A, the replica control panel may include a counterbalance 450, which may be weighted to prevent the replica control panel 400-R from becoming unbalanced by the weight of the front of the replica control panel 400-R.

[0033] According to at least some example embodiments, the orientation of the replica control console 400-R may be tracked. For example, with reference to Figures 2A and 2B, the replica mast 200-R may include a sensor 250 for tracking the orientation of the replica control console 400-R based on light (e.g., infrared (IR) light) emitted from the tracker ceiling panel. Figure 3 illustrates the tracker ceiling panel 300 of the VR system 3050 shown in Figure 1A. The VR system 3050 may further include a VR display, a tracker headset 500, and a VR processor 550, each of which are discussed in more detail below with reference to Figures 5A-5C.

[0034] Returning to FIG. 1B-3, the ceiling above the fuel transfer simulator assembly 2050 may include a number of tracker ceiling panels 300. According to at least some example embodiments, the tracker ceiling panels 300 may be Virtualware N-Meros ceiling panels. According to at least some example embodiments, the sensor 250 may use infrared (IR) light emitted by the tracker ceiling panels 300 to generate an indication of the orientation of the replica control panel 400-R (e.g., the degree of rotation about the central axis of the replica mast 200-R). According to at least some example embodiments, the sensor 250 provides an indication of the orientation of the replica control panel 400-R relative to the VR system 3050 (e.g., the VR processor 550) via a wired and / or wireless connection between the fuel transfer simulator assembly 2500 and the VR system 3050 (e.g., the VR processor 550). According to at least some example embodiments, the tracker ceiling panel 300 may be a row of panels or tiles disposed on the ceiling of a room housing the fuel transfer simulator system 1050 or, for example, a portable trailer.

[0035] 4A to 4F show various views of the replica control operation panel 400-R of the fuel transfer simulator assembly 2050. FIG. 4A and FIG. 4B show first and second perspective views of the replica control operation unit 400-R from an observation position on the upper side of the replica control operation panel 400-R in an orientation in which the replica control operation panel 400-R faces forward. FIG. 4C shows a perspective view of the replica control operation panel 400-R from an observation position on the lower side of the replica control operation panel 400-R in an orientation in which the replica control operation panel 400-R faces forward. FIG. 4D shows a perspective view of the replica control operation panel 400-R from an observation position on the upper side of the replica control operation panel 400-R in a state in which the replica control operation panel 400-R has been rotated counterclockwise with respect to the orientation in which the replica control operation panel 400-R faces forward. Fig. 4E shows a perspective view of the replica control operation panel 400-R from an observation position above the replica control operation panel 400-R in a state where the replica control operation panel 400-T has been rotated clockwise from an orientation facing forward. Fig. 4F shows a perspective view of the replica control operation panel 400-R from an observation position above the replica control operation panel 400-T in an orientation where the replica control operation panel 400-R faces approximately backward.

[0036] As shown in FIGS. 4A-4F, the replica control panel 400-R is a tangible, physical element that includes a number of tangible, operable controls. The particular arrangement of controls included on the replica control panel 400-R and the general dimensions of the replica control panel 400-R may be selected according to the preferences of the designer, manufacturer, and / or operator of the fuel transfer simulator system 1050. For example, the particular arrangement of controls included on the replica control panel 400-R and the general dimensions of the replica control panel 400-R may be selected to mirror the controls and / or general dimensions of a control panel (e.g., a particular model of control panel used in each reactor in which the refueling operation being performed by the user is to be performed). As used herein, the terms "refueling" and "fuel transfer" may be considered synonymous and may be used interchangeably. According to at least some example embodiments, when one or more controls of the replica control panel 400-R are operated, the replica control panel 400-R generates a signal indicative of the control that was operated and the nature of the operation. According to at least some example embodiments, the control panel 400-R transmits the generated signals to the VR system 3050 (e.g., VR processor 550) via a wired and / or wireless connection between the fuel transfer simulator assembly 2050 and the VR system 3050 (e.g., VR processor 550).

[0037] According to at least some example embodiments, the replica control panel 400-R may include one or more electric motors for generating haptic feedback. Example sensations of haptic feedback that the replica control panel 400-R may replicate include, but are not limited to, the following: -The feeling of landing on the bail handle - Sensation of entering the reactor core or spent fuel pool rack -Feeling like raising and / or lowering the fuel bundle while it is still in the core / rack -Feel and sound of weight transfer on mast section -The sensation of the core fuel assembly cleaner entering the core - A sense of mast drift as it starts and stops moving 5A and 5B show various views of a virtual reality (VR) display and tracker headset 500 included in the VR system 3050 of the fuel transfer simulator system 1050 of FIG. 1A. FIG. 5C shows a VR processor 550 included in the VR system 3050 of the fuel transfer simulator system 1050 of FIG. 1A. Referring to FIGS. 5A and 5B, according to at least some embodiments, the VR processor 550 may be or may comprise a processing circuit, such as hardware with logic circuits, a hardware / software combination executing software, or a combination thereof. For example, and more specifically, the processing circuit may include, but is not limited to, a central processing unit (CPU), a graphics processing unit (GPU), an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), and programmable logic, a microprocessor, an application specific integrated circuit (ASIC), and the like.

[0038] According to at least some example embodiments, the VR display and tracker headset 500, which may also be referred to herein as the tracker 500, is configured to be worn on the head of a user and includes a tracker 505, a VR display 515, and a motion sensor 525. According to at least some example embodiments, the tracker 505 generates signals to track the position of a user wearing the VR display and tracker headset 500 (e.g., based on IR light emitted by the tracker ceiling panel 300) and the orientation of the user's head, and the motion sensor 525 may reduce the latency in detecting changes in the orientation of the user's head with the tracker 505. Additionally, the VR display 515 may display an immersive three-dimensional scene of a virtual refueling floor environment to the user. According to at least some example embodiments, the VR display 515 may be VR display goggles worn near the eyes of the user of the VR display and tracker headset 500 and configured to provide the user with a stereoscopic image that provides the user with approximation of depth to the image provided. Additionally, the VR processor 550 may perform the necessary calculations in updating the VR scene displayed to the user via the VR display 515 based on the tracked position and head orientation of the user detected based on signals output by the tracker 505 and the motion sensor 525 and signals received from the fuel transfer simulator assembly 2050 indicating one or more of the orientation of the replica control panel 400-R (e.g., from the sensor 250), the control of the control panel 400-R that was manipulated, and the manner in which the control was manipulated (from the replica control panel 400-R). Operations described herein as being performed by the VR system 3050 or elements thereof (e.g., the VR display and tracker headset 500) may be performed and / or controlled by the VR processor 550. According to at least some example embodiments, the VR display and tracker headset 500 may be a Virtualware N-Meros tracker.According to at least some example embodiments, the VR processor 550 may be an HP® VR Backpack G2.

[0039] The virtual environment displayed to a user of the VR display and tracker headset 500 based on the above-described position tracking and head orientation tracking performed by the VR display and tracker headset 500 will be discussed in further detail below with reference to Figures 6A-11.

[0040] Referring to FIG. 6A to FIG. 6E, FIG. 6A shows the top surface of the virtual control operation panel 400-V from an observation position on the upper side of the virtual control operation panel 400-V in a state where the virtual control operation panel 400-V has a forward orientation. FIG. 6B shows the surface of the virtual control operation panel 400-V from an observation position in front of the virtual control operation panel 400-V in a state where the virtual control operation panel 400-V has a forward orientation. FIG. 6C shows a perspective view of the virtual control operation panel 400-V from an observation position on the lower side of the virtual control operation panel 400-V in a state where the virtual control operation panel 400-V has a substantially forward orientation. FIG. 6D shows a perspective view of the virtual control operation panel 400-V from an observation position slightly above the virtual control operation panel 400-V in a state where the virtual control operation panel 400-V has been rotated clockwise with respect to the forward orientation. FIG. 6E shows a perspective view of virtual control operation panel 400-V from an observation position slightly above virtual control operation panel 400-V in a state in which virtual control operation panel 400-V has been rotated counterclockwise with respect to a forward facing orientation.

[0041] 7A and 7B show various views of a virtual fuel transfer platform cab 700 according to at least some example embodiments. Referring to FIG. 7A and FIG. 7B, the virtual fuel transfer platform cab 700 includes a virtual control 400-V connected to a virtual mast 200-V. The virtual fuel transfer platform cab 700 further includes a forward mast camera monitor 710A and an aft mast camera monitor 710B. According to at least some example embodiments, the forward mast camera monitor 710A is used by a user in training to perform a refueling operation, and the aft mast camera monitor 710B displays the same content as the forward mast camera monitor 710A, but is used by a user in the role of a senior reactor operator (SRO) and / or training supervisor and / or spotter. Referring to FIG. 7A and FIG. 7B, the virtual fuel transfer platform cab 700 further includes an elevation seat 715, a load and elevation readout 720, and a coordinate readout 730.

[0042] 8A-8C illustrate various views of a virtual refueling floor environment 4050 of a boiling water reactor (BWR) according to at least some example embodiments. With reference to FIGs. 8A-8C, the virtual refueling floor environment 4050 may include, for example, a virtual fuel transfer platform cab 700, a virtual mast 200-V, a virtual mast grapple 900 attached to the end of the virtual mast 200-V, a reactor vessel head 830, and a reactor pool 800. Within the reactor pool are a reactor vessel core 810, a separator 820, a dryer 840, a spent fuel pool 850, and a virtual inclined fuel transfer system (IFTS) transfer pipe 940.

[0043] 9A and 9B illustrate various views of a virtual mast grapple 900 according to at least some example embodiments. FIG. 10 illustrates a perspective view of a virtual fuel bundle 920 according to at least some example embodiments. With reference to FIGS. 9A-10, the virtual mast grapple 900 may include a mast camera 210 that is used to follow the mast as it rises and read the fuel ID number 925 from the virtual fuel bundle 920. FIG. 11 illustrates a virtual IFTS transfer pipe 940 according to at least some example embodiments. With reference to FIG. 11, a user may operate the virtual mast grapple 900 to transfer the virtual fuel bundle 920 to the virtual IFTS transfer pipe 940.

[0044] 12A-22B include images of a user interacting with a physical fuel transfer simulator assembly 2050 juxtaposed with corresponding images from a virtual refueling floor environment created by the VR system 3050.

[0045] For example, Figure 12A shows an example of a user (e.g., fuel mover) 1205-R operating a replica control panel, and Figure 12B shows a corresponding scene of the virtual refueling floor environment 4050 provided to the VR display 515 of the user (e.g., fuel mover) 1205-R. As shown in Figure 12B, the scene provided to the VR display 515 of the user (e.g., fuel mover) 1205-R may include at least a portion (e.g., hand, arm, etc.) of a user virtual avatar 1205-V, which is a virtual avatar of the user (e.g., fuel mover) 1205-R.

[0046] As will be discussed in more detail below, Figures 13A-22B also show a first user (e.g., spotter) 1210-R and a second user (e.g., fuel mover) 1220-R in various positions and orientations and corresponding scenes of the virtual refueling floor environment 4050 provided to the VR displays of the first user (e.g., spotter) 1210-R and the second user (e.g., fuel mover) 1220-R. Some of Figures 13A-22B also show a second user virtual avatar 1220-V (i.e., a virtual avatar of the second user (e.g., fuel mover) 1220-R) within the scenes of the virtual refueling floor environment 4050 provided to the VR displays of the first user (e.g., spotter) 1210-R and the second user (e.g., fuel mover) 1220-R. FIG 13A illustrates an example of a first user (e.g., a spotter) 1210-R supervising a second user (e.g., a fuel mover) 1220-R performing a fuel movement training task, and FIG 13B illustrates a corresponding scene of the virtual refueling floor environment 4050 provided to the VR display 515 of the first user (e.g., a spotter) 1210-R. FIG 14A illustrates an example of a second user (e.g., a fuel mover) 1220-R performing a fuel movement training task, and FIG 14B illustrates a corresponding scene of the virtual refueling floor environment 4050 provided to the VR display 515 of the second user (e.g., a fuel mover) 1220-R.

[0047] Figure 15A shows an example of a first user (e.g., spotter) 1210-R looking in a downward direction, and Figure 15B shows a corresponding scene of the virtual refueling floor environment 4050 provided to the VR display 515 of the first user (e.g., spotter) 1210-R. Figure 16A shows an example of a second user (e.g., fuel mover) 1220-R looking to the right, and Figure 16B shows a corresponding example of the virtual refueling floor environment 4050 provided to the VR display 515 of the second user (e.g., fuel mover) 1220-R. FIG. 17A shows an example of a first user (e.g., a spotter) 1210-R supervising a second user (e.g., a fuel mover) 1220-R while the second user (e.g., a fuel mover) 1220-R performs a fuel movement training task, and FIG. 17B shows an example of a corresponding scene of the virtual refueling floor environment 4050 provided on the VR display 515 of the first user (e.g., a spotter) 1210-R.

[0048] FIG 18A illustrates another example of a second user (e.g., fuel mover) 1220-R performing a fuel movement training task, and FIG 18B illustrates another example of a corresponding scene of the virtual refueling floor environment 4050 provided to the VR display 515 of the second user (e.g., fuel mover) 1220-R. FIG 19A illustrates another example of a first user (e.g., spotter) 1220-R supervising the second user (e.g., fuel mover) 1220-R with the second user (e.g., fuel mover) performing a fuel movement training task, and FIG 19B illustrates another example of a corresponding scene of the virtual refueling floor environment 4050 provided to the VR display 515 of the first user (e.g., spotter) 1210-R. FIG. 20A shows an example of a second user (e.g., a fuel mover) 1220-R looking at a rear mast camera monitor 710B in a virtual fuel transfer platform cab 700 of a virtual refueling floor environment 4050, and FIG. 20B shows a view of the rear mast camera monitor 710B provided to a first user (e.g., a spotter)'s VR display 515.

[0049] Figures 21A and 22A show an example of a first user (e.g., a spotter) 1210-R looking at the forward mast camera monitor 710A while a second user (e.g., a fuel mover) 1220-R looking at the aft mast camera monitor 710B. Figures 21B and 22B show scenes of the virtual refueling floor environment 4050 provided to the VR displays 515 of the first user (e.g., a spotter) 1210-R and the second user (e.g., a fuel mover) 1220-R, respectively.

[0050] A fuel transfer simulator according to at least one example embodiment provides the advantage of facilitating the training process for personnel or groups of personnel performing fuel transfer operations. For example, it is important that new personnel be able to undergo training and team development on the complex processes associated with working in a multi-process facility so that they have sufficient experience to safely perform such processes. For example, SROs often first meet their fuel transfer teams when they assemble on-site during an outage. Ideally, they will have the opportunity to conduct team development at an off-site facility prior to an outage. A fuel transfer simulator system according to at least one example embodiment provides the advantage of a portable platform for conducting such training and team development.

[0051] An example refueling operation training solution includes using a full-size replica of the relevant portion of a BWR plant for training. Personnel can use the full-size replica to train by performing refueling operations as if they were in the actual BWR plant. However, such replicas are expensive and very large. Thus, it may be impractical to build such replicas in more than a limited amount at a limited number of locations. Thus, personnel wishing to train to perform refueling operations may need to travel to one of a limited number of geographic locations to use the full-size replica for training.

[0052] However, the fuel transfer simulator system according to at least one example embodiment provides the advantages of (i) being usable by personnel of all experience levels without risking damage to training facilities and mock-ups, and (ii) being portable so that the refueling operation training solution can be brought to a location convenient to personnel seeking training, instead of requiring personnel to travel significant distances for training.

[0053] A fuel transfer simulator system according to at least one example embodiment provides the advantage of supporting a safe and relatively compact method for allowing multiple users to practice BWR facility fuel transfer operations together.

[0054] The fuel movement simulator system, according to at least one example embodiment, provides the benefit of reducing overall fuel movement time by acclimating fuel movers (e.g., personnel moving fuel) to the process prior to beginning work within the reactor. Thus, the average fuel movement time may be reduced by reducing the time required for a reactor service technician (RST), with or without a senior reactor operator (SRO), to acclimate to the fuel movement process.

[0055] While a number of example embodiments have been disclosed herein, it should be understood that other variations are possible, and such variations should not be considered a departure from the spirit and scope of the present disclosure, and all such modifications obvious to those skilled in the art are intended to be included within the scope of the following claims.

Claims

1. 1. A fuel transfer simulator system comprising: a virtual reality (VR) system configured to generate a virtual refueling floor environment; a fuel movement simulator assembly configured to provide a physical interface to the virtual refueling floor environment; Equipped with the fuel movement simulator assembly comprises: a replica mast; a replica control panel connected to the replica mast; and a support structure configured to support the replica mast and the replica control panel; A fuel transfer simulator system, wherein the replica control panel is connected to the support structure via the replica mast.

2. The support structure includes: Equipped with a connector, The fuel transfer simulator system of claim 1 , wherein the replica mast is connected to the connector.

3. The fuel transfer simulator system of claim 2 , wherein the connector supports one or more degrees of freedom such that the replica mast and the replica control panel can move relative to the support structure.

4. The support structure includes: Multiple vertical supports; The fuel transfer simulator system of claim 3 , further comprising a horizontal support supported by the plurality of vertical supports.

5. the connector is connected to the horizontal support; 5. The fuel transfer simulator system of claim 4, wherein the replica mast is connected to the horizontal support via the connector such that the replica control panel is rotatable about a central axis of the replica mast relative to the horizontal support.

6. The VR system is The fuel transfer simulator system of claim 1 , comprising a plurality of tracker ceiling panels configured to emit infrared (IR) light.

7. 7. The fuel transfer simulator system of claim 6, wherein the replica mast comprises a sensor configured to generate a signal indicative of an orientation of the replica mast based on IR light emitted by one or more of the plurality of tracker ceiling panels.

8. The VR system includes: a VR headset, the VR headset comprising: a tracker configured to generate a signal for tracking a position of a user wearing the VR headset based on IR light emitted by one or more of the plurality of tracker ceiling panels; 8. The fuel transfer simulator system of claim 7, further comprising: a VR display configured to display scenes of the virtual refueling floor environment to the user.

9. 2. The fuel transfer simulator system of claim 1, wherein the VR system is configured to generate the virtual refueling floor environment such that the virtual refueling floor environment comprises a virtual refueling cab, a reactor pool, and a reactor core within the reactor pool.

10. 10. The fuel transfer simulator system according to claim 9, wherein the virtual fuel transfer cab includes a virtual mast and a virtual control operation panel corresponding to the replica mast and the replica control operation panel, respectively.

11. 1. A fuel transfer simulator assembly comprising: Replica mast and a replica control console connected to the replica mast, the replica control console configured to send at least one signal to a virtual reality (VR) system, the VR system configured to generate a virtual refueling floor environment; a support structure configured to support the replica mast and the replica control panel; The replica control panel is a fuel transfer simulator assembly connected to the support structure via the replica mast.

12. The support structure includes: Equipped with a connector, The fuel transfer simulator assembly of claim 11 , wherein the replica mast is connected to the connector.

13. The fuel transfer simulator assembly of claim 12 , wherein the connector is configured to support one or more degrees of freedom such that the replica mast and the replica control panel are movable relative to the support structure.

14. The support structure includes: Multiple vertical supports; a horizontal support supported by the plurality of vertical supports. The fuel transfer simulator assembly of claim 13.

15. the connector is connected to the horizontal support; The fuel transfer simulator assembly of claim 14 , wherein the replica mast is connected to the horizontal support via the connector such that the replica control panel is rotatable about a central axis of the replica mast relative to the horizontal support.

16. The fuel transfer simulator assembly of claim 15 , wherein the replica mast comprises a sensor configured to generate a signal indicative of an orientation of the replica mast.

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