- Email: [email protected]
Implementation strategy for the ITER plasma control system
Fusion Engineering and Design 96–97 (2015) 720–723
Contents lists available at ScienceDirect
Fusion Engineering and Design journal homepage: www.elsevier.com/locate/fusengdes
Implementation strategy for the ITER plasma control system A. Winter a,∗ , G. Ambrosino b , B. Bauvir a , G. De Tommasi b , D.A. Humphreys c , M. Mattei d , A. Neto e , G. Raupp f , J.A. Snipes a , A.V. Stephen g , W. Treutterer f , M.L. Walker c , L. Zabeo a a
ITER Organization, Route de Vinon-sur-Verdon, CS 90 046, 13067 St Paul Lez Durance Cedex, France CREATE/Università di Napoli Federico II, Dip. Ingegneria Elettrica e delle Tecnologie dell’Informazione, Italy General Atomics, San Diego, CA, USA d CREATE/Seconda Università di Napoli, Dip. Ingegneria Industriale e dell’Informazione, Italy e Fusion for Energy, Barcelona, Spain f Max Planck Institute for Plasma Physics, EURATOM Association, Garching, Germany g Culham Centre for Fusion Energy, Culham Science Centre, Abingdon, UK b c
a r t i c l e
i n f o
Article history: Received 19 September 2014 Received in revised form 3 December 2014 Accepted 3 February 2015 Available online 20 February 2015 Keywords: ITER Nuclear fusion Plasma control Control system
a b s t r a c t This paper gives an overview of the scope and context of the CODAC high-level real-time applications (Supervision and Plasma Control) and presents the strategy and current state of design of the tools to support the implementation. A real-time framework, which is currently under development with strong support of the worldwide fusion community will not only support the implementation of plasma control strategies with the extensive exception handling and forecasting functionality foreseen for ITER, but also integrated commissioning, orchestration and supervision as well as the real-time needs of ITER plant system developers. A second cornerstone in the implementation strategy is the development of a powerful simulation environment (Plasma Control System Simulation Platform – PCSSP) to design and verify control strategies, event handling and orchestration and automation. The development of PCSSP is currently under contract and this paper will also give an overview of its current state of development. © 2015 ITER Organization. Published by Elsevier B.V. All rights reserved.
1. Introduction ITER is presently under construction in southern France and will be the largest superconducting magnetic confinement fusion device once operational. Civil engineering work is well underway with the Tokamak concrete base mat having been successfully poured in mid-2014 and construction of the first batch of buildings having commenced shortly thereafter. Also, more than 85% of the in-kind procurement value has been committed. The ITER Control, Data Access and Communication system (CODAC) team is preparing the tools to implement some of its fundamental high-level applications, notably the plasma control system (PCS) and the supervisory control system (SUP) and the Pulse Schedule Preparation System (PSPS). Together with the Archiving System (which is not treated in this paper), these systems cover all the high-level functionality which is necessary to run ITER. Each of these systems comes with a different set of use cases which are briefly described below. A possible solution for common implementation frameworks covering a significant number
∗ Corresponding author. Tel.: +33 442176518. E-mail address: [email protected] (A. Winter). http://dx.doi.org/10.1016/j.fusengdes.2015.02.003 0920-3796/© 2015 ITER Organization. Published by Elsevier B.V. All rights reserved.
of those use cases was identified. The design of this framework is currently ongoing and the beginning of implementation is foreseen in 2015. Its major design features have however been identified and are addressed in the following sections. The framework will be used to implement all real-time functionality within scope of CODAC and a large part of the scope of SUP, namely monitoring, orchestration and automation. 2. System context and scope An overview of the system context of the CODAC high-level applications is given in Fig. 1. The color coding denotes the responsibilities. Green signifies full CODAC responsibility and green/red means implementation responsibility with the domestic agency, using CODAC tools (CODAC Core System [1]) where applicable. The SUP performs the following main functions: (i) Configuration – SUP will pass all necessary parameter values to one or more plant systems both before a pulse and at any time when necessary. (ii) Monitoring – All plant systems will be monitored by the central system. This is a task of varying complexity, ranging from simple monitoring of an EPICS Process Variable (PV) to more
A. Winter et al. / Fusion Engineering and Design 96–97 (2015) 720–723
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framework as a common development environment for both plant system I&C and central CODAC real-time functions. Another major use case is integrated commissioning. In scope of a task agreement between the IO and F4E, a requirements and use case analysis was performed, taking the experience of operating JET as an example [5]. The functionality required for integrated commissioning can be very complex ranging from testing a single system (e.g. one or more magnets with their respective power supplies) to full commissioning pulses with or without plasma. 3. The ITER real-time framework
Fig. 1. Context of CODAC high-level applications.
complex processes involving calculations using many PV’s from different plant systems. (iii) Automation – SUP will be responsible for carrying out all tasks which involve multiple plant systems, but are outside the scope of the PCS. Examples are baking or cooling down of the superconducting magnets. Some of these tasks do not necessarily require real-time performance (e.g. automation and monitoring), which however require more complex programming which may change frequently. This calls for a highly flexible, modular and configurable implementation framework which will not require recompilation to execute different scenarios. The PCS conceptual design review was successfully completed in late 2012. The physics, diagnostic and actuator requirements will not be covered in this paper, they have been published elsewhere [2,3]. The functional analysis performed for the PCS identified more than 40 control functions. The large number of possible connections and dependencies of control functions together with the demand for a sophisticated exception handling, necessitates a highly flexible, modular and expandable architecture [4]. An additional operational requirement imposes, that the system must not be re-compiled between different pulses, as it would otherwise have to be re-commissioned. This requirement also calls for a highly modular implementation driven by configuration and strict modularity. That will ensure that re-commissioning only has to be done for the component which was re-compiled. One peculiarity of ITER, due to its in-kind procurement model, is that not all functionality traditionally perceived as in scope of central plasma control is indeed within scope of the ITER PCS. A number of complex real-time calculations will be implemented in scope of the diagnostic plant systems and hence delivered in-kind by the ITER partners. The interface specified between diagnostic plant system and central CODAC is at the level of plasma measurements. The derivation of density or temperature profiles for instance is within scope of the diagnostic plant system I&C. The implementation of control algorithms and event handling is in scope of central CODAC and is part of the PCS. This gives rise to potential challenges stemming from the different implementation approaches taken by domestic agencies to deal with the individual functional requirements of their plant systems. The CODAC team acknowledges this issue and will propose a solution within their standard tools. For real-time tasks this is addressed by providing a real-time
Operation, maintenance and evolution of the machine will be significantly facilitated if a common implementation solution is adopted for all the use cases mentioned above. A real-time framework is an appropriate solution to satisfy the given requirements. There are two framework-based solutions at existing machines today, DCS at ASDEX-upgrade [6] and MARTe at JET [7]. MARTe places emphasis on providing a lightweight framework aimed at executing localized tasks, whereas DCS was conceived as a distributed control system. The requirements for real-time tasks at ITER call for both of these features. ITER CODAC is working together with experts from DCS and MARTe to design a framework combining both feature sets in an up-to-date implementation. The design will emphasize configurability, modularity and portability via a plug-in architecture, such that it can be easily adapted for use within the whole fusion community. The preliminary structure is shown in Fig. 2. The framework will feature a self-consistent and deployable core aimed at providing the basic necessary features for localized real-time tasks thus maintaining a lightweight appearance. Infrastructure components of the core can be seamlessly replaced to enable a feature-rich collaboration of different instances of the core to form a distributed control system. It is important to note that this replacement does not impact any application specific code or configuration. This approach will integrate the use case of developing local real-time applications in plant system I&C and the ability to integrate them in the context of a distributed control system. The design work is currently ongoing and scheduled to be completed by the end of 2014. Implementation will start in 2015 after a community-wide review of the design. 4. Simulation for PCS and SUP development The complexity of the ITER machine and cost of operation make simulation tools an essential part of the effort to reduce commissioning time and maximize efficient use of machine time. This does not only concern plasma control, but also orchestration. A team consisting of experts from General Atomics, IPP Garching and CREATE are developing the Plasma Control System Simulation Platform (PCSSP) to address the following use cases: (1) Development of the ITER PCS (including control and exception handling algorithms). (2) Development of discharge scenarios (with potential to contribute to official pulse validation). (3) Analysis and plant troubleshooting for operations support. (4) Support of ITER machine/system design and configuration evolution. Requirements and use-case analysis as well as the design have been completed [8] and an initial demonstration was held at IO in late 2013. A conceptual functional block diagram is shown in Fig. 3. The two key parts are the Tokamak Plant Simulator and the PCS simulator. Both functions will be exchanging data in exactly the same
722
A. Winter et al. / Fusion Engineering and Design 96–97 (2015) 720–723
Fig. 2. Layered structure of the framework.
fashion as the PCS would exchange data with a real plant system. This will ensure that it is possible to use the actual PCS implementation in conjunction with the Plant Simulator for development, debugging and testing. Implementation and commissioning time for the real PCS will be substantially reduced as the simulated version already resembled the production version in most aspects. A more detailed description of PCSSP is presented in [9]. Efforts are currently undertaken to stabilize PCSSP for a limited release. PCSSP
will be available to plant system I&C developers as well, for instance to develop synthetic diagnostics. The use of SimulinkTM as implementation environment for PCSSP allows for a future upgrade to make use of automated code generation. This will permit the use of the powerful native feature set of SimulinkTM and the added features of PCSSP and automatically generate the code of the validated and verified model and transfer it into modules of the ITER real-time framework. This will
A. Winter et al. / Fusion Engineering and Design 96–97 (2015) 720–723
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Fig. 3. Functional block diagram of PCSSP [8].
drastically reduce the time and effort required for development, coding and testing of both SUP and PCS. This has conceptually already been demonstrated with the MARTe framework. 5. Implementation time-line The real-time framework will be developed beginning 2015 and be integrated into CODAC Core System starting with a beta-level version in 2016 and releases anticipated in 2017 and 2018. This will make it part of the CODAC suite of tools provided to the plant system developers and be supported as such. IO will encourage the porting of the real-time framework to other existing fusion devices to widen the user circle and will make the framework available as a stand-alone solution as soon as practicable aside from the integration into CODAC Core System. The fusion control community has already come together at a dedicated workshop in 2012 and endorsed the idea of designing a next-generation real-time framework and members from various devices have expressed strong interest in its use. This approach will ensure that the framework is thoroughly tested before first plasma at ITER. PCSSP will transition to an open-source tool and support will be ensured by both IO and the fusion community. Funded efforts to enhance its functionality may also be conducted as appropriate. The presently ongoing preliminary design for the PCS, led by the Plasma Operation Directorate at IO will use PCSSP as the tool to develop and test the algorithms and control concepts. 6. Outlook and conclusion Requirements and use cases for the CODAC high-level applications and the PCS have been captured. ITER CODAC responded to the requirements by starting the design process for a real-time framework which will cover all the real-time use cases. The design will be concluded in 2014 and implementation is foreseen for 2015–2017.
The framework will be made available to the fusion community, which has expressed strong support for this effort. To limit the time necessary for development, verification and testing of plasma control and orchestration functionality, a dedicated environment based on SimulinkTM was developed. The initial implementation has been completed and it will be coupled to the real-time framework to make use of the automated code generation capabilities once the framework is implemented. The combination of those two key tools will enable cost and time effective design, validation and deployment of the real-time tasks within scope of CODAC. The current development timeline is well compatible with the current commissioning schedule for ITER and first plasma. The views and opinions expressed herein do not necessarily reflect those of the ITER Organization or Fusion for Energy. References [1] F. Di Maio, L. Abadie, C. Kim, K. Mahajan, D. Stepanov, N. Utzel, CODAC core system, the ITER software distribution for I&C, in: 13th ICALEPCS Conference, San Francisco, USA, 2013. [2] J.A. Snipes, Y. Gribov, A. Winter, Physics requirements of the ITER plasma control system, Fusion Eng. Des. 85 (July (3–4)) (2010) 461–465. [3] J.A. Snipes, D. Beltran, T. Casper, Y. Gribov, A. Isayama, J. Lister, et al., Actuator and diagnostic requirements of the ITER plasma control system, Fusion Eng. Des. 87 (2012) 1900–1906. [4] W. Treutterer, D. Humphreys, G. Raupp, E. Schuster, J. Snipes, G. De Tommasi, et al., Architectural concept for the ITER plasma control system, Fusion Eng. Des. 89 (2014) 512–517. [5] A.C. Neto, A. Stephen, F. Sartori, M. Cavinato, J. Farthing, R. Ranz, et al., From use cases of the joint European Torus towards integrated commissioning requirements of the ITER Tokamak, in: Proceedings of the 28th Symposium on Fusion Technology SOFT, San Sebastian, Spain, 2014. [6] G. Raupp, K. Behler, H. Blank, A. Buhler, R. Drube, H. Eixenberger, et al., ASDEX upgrade CODAC overview, Fusion Eng. Des. 84 (2009) 1575–1579. [7] A.C. Neto, F. Sartori, F. Piccolo, R. Vitelli, G. De Tommasi, L. Zabeo, et al., MARTe: a multiplatform real-time framework, IEEE Trans. Nucl. Sci. 57 (2010) 479–486. [8] PCSSP Final Requirements Document, ITER private communication. [9] M.L. Walker, G. Ambrosino, G. De Tommasi, D.A. Humphreys, M. Mattei, G. Neu, et al., The ITER plasma control system simulation platform, in: Proceedings of the 28th Symposium on Fusion Technology SOFT, San Sebastian, Spain, 2014.
Contents lists available at ScienceDirect
Fusion Engineering and Design journal homepage: www.elsevier.com/locate/fusengdes
Implementation strategy for the ITER plasma control system A. Winter a,∗ , G. Ambrosino b , B. Bauvir a , G. De Tommasi b , D.A. Humphreys c , M. Mattei d , A. Neto e , G. Raupp f , J.A. Snipes a , A.V. Stephen g , W. Treutterer f , M.L. Walker c , L. Zabeo a a
ITER Organization, Route de Vinon-sur-Verdon, CS 90 046, 13067 St Paul Lez Durance Cedex, France CREATE/Università di Napoli Federico II, Dip. Ingegneria Elettrica e delle Tecnologie dell’Informazione, Italy General Atomics, San Diego, CA, USA d CREATE/Seconda Università di Napoli, Dip. Ingegneria Industriale e dell’Informazione, Italy e Fusion for Energy, Barcelona, Spain f Max Planck Institute for Plasma Physics, EURATOM Association, Garching, Germany g Culham Centre for Fusion Energy, Culham Science Centre, Abingdon, UK b c
a r t i c l e
i n f o
Article history: Received 19 September 2014 Received in revised form 3 December 2014 Accepted 3 February 2015 Available online 20 February 2015 Keywords: ITER Nuclear fusion Plasma control Control system
a b s t r a c t This paper gives an overview of the scope and context of the CODAC high-level real-time applications (Supervision and Plasma Control) and presents the strategy and current state of design of the tools to support the implementation. A real-time framework, which is currently under development with strong support of the worldwide fusion community will not only support the implementation of plasma control strategies with the extensive exception handling and forecasting functionality foreseen for ITER, but also integrated commissioning, orchestration and supervision as well as the real-time needs of ITER plant system developers. A second cornerstone in the implementation strategy is the development of a powerful simulation environment (Plasma Control System Simulation Platform – PCSSP) to design and verify control strategies, event handling and orchestration and automation. The development of PCSSP is currently under contract and this paper will also give an overview of its current state of development. © 2015 ITER Organization. Published by Elsevier B.V. All rights reserved.
1. Introduction ITER is presently under construction in southern France and will be the largest superconducting magnetic confinement fusion device once operational. Civil engineering work is well underway with the Tokamak concrete base mat having been successfully poured in mid-2014 and construction of the first batch of buildings having commenced shortly thereafter. Also, more than 85% of the in-kind procurement value has been committed. The ITER Control, Data Access and Communication system (CODAC) team is preparing the tools to implement some of its fundamental high-level applications, notably the plasma control system (PCS) and the supervisory control system (SUP) and the Pulse Schedule Preparation System (PSPS). Together with the Archiving System (which is not treated in this paper), these systems cover all the high-level functionality which is necessary to run ITER. Each of these systems comes with a different set of use cases which are briefly described below. A possible solution for common implementation frameworks covering a significant number
∗ Corresponding author. Tel.: +33 442176518. E-mail address: [email protected] (A. Winter). http://dx.doi.org/10.1016/j.fusengdes.2015.02.003 0920-3796/© 2015 ITER Organization. Published by Elsevier B.V. All rights reserved.
of those use cases was identified. The design of this framework is currently ongoing and the beginning of implementation is foreseen in 2015. Its major design features have however been identified and are addressed in the following sections. The framework will be used to implement all real-time functionality within scope of CODAC and a large part of the scope of SUP, namely monitoring, orchestration and automation. 2. System context and scope An overview of the system context of the CODAC high-level applications is given in Fig. 1. The color coding denotes the responsibilities. Green signifies full CODAC responsibility and green/red means implementation responsibility with the domestic agency, using CODAC tools (CODAC Core System [1]) where applicable. The SUP performs the following main functions: (i) Configuration – SUP will pass all necessary parameter values to one or more plant systems both before a pulse and at any time when necessary. (ii) Monitoring – All plant systems will be monitored by the central system. This is a task of varying complexity, ranging from simple monitoring of an EPICS Process Variable (PV) to more
A. Winter et al. / Fusion Engineering and Design 96–97 (2015) 720–723
721
framework as a common development environment for both plant system I&C and central CODAC real-time functions. Another major use case is integrated commissioning. In scope of a task agreement between the IO and F4E, a requirements and use case analysis was performed, taking the experience of operating JET as an example [5]. The functionality required for integrated commissioning can be very complex ranging from testing a single system (e.g. one or more magnets with their respective power supplies) to full commissioning pulses with or without plasma. 3. The ITER real-time framework
Fig. 1. Context of CODAC high-level applications.
complex processes involving calculations using many PV’s from different plant systems. (iii) Automation – SUP will be responsible for carrying out all tasks which involve multiple plant systems, but are outside the scope of the PCS. Examples are baking or cooling down of the superconducting magnets. Some of these tasks do not necessarily require real-time performance (e.g. automation and monitoring), which however require more complex programming which may change frequently. This calls for a highly flexible, modular and configurable implementation framework which will not require recompilation to execute different scenarios. The PCS conceptual design review was successfully completed in late 2012. The physics, diagnostic and actuator requirements will not be covered in this paper, they have been published elsewhere [2,3]. The functional analysis performed for the PCS identified more than 40 control functions. The large number of possible connections and dependencies of control functions together with the demand for a sophisticated exception handling, necessitates a highly flexible, modular and expandable architecture [4]. An additional operational requirement imposes, that the system must not be re-compiled between different pulses, as it would otherwise have to be re-commissioned. This requirement also calls for a highly modular implementation driven by configuration and strict modularity. That will ensure that re-commissioning only has to be done for the component which was re-compiled. One peculiarity of ITER, due to its in-kind procurement model, is that not all functionality traditionally perceived as in scope of central plasma control is indeed within scope of the ITER PCS. A number of complex real-time calculations will be implemented in scope of the diagnostic plant systems and hence delivered in-kind by the ITER partners. The interface specified between diagnostic plant system and central CODAC is at the level of plasma measurements. The derivation of density or temperature profiles for instance is within scope of the diagnostic plant system I&C. The implementation of control algorithms and event handling is in scope of central CODAC and is part of the PCS. This gives rise to potential challenges stemming from the different implementation approaches taken by domestic agencies to deal with the individual functional requirements of their plant systems. The CODAC team acknowledges this issue and will propose a solution within their standard tools. For real-time tasks this is addressed by providing a real-time
Operation, maintenance and evolution of the machine will be significantly facilitated if a common implementation solution is adopted for all the use cases mentioned above. A real-time framework is an appropriate solution to satisfy the given requirements. There are two framework-based solutions at existing machines today, DCS at ASDEX-upgrade [6] and MARTe at JET [7]. MARTe places emphasis on providing a lightweight framework aimed at executing localized tasks, whereas DCS was conceived as a distributed control system. The requirements for real-time tasks at ITER call for both of these features. ITER CODAC is working together with experts from DCS and MARTe to design a framework combining both feature sets in an up-to-date implementation. The design will emphasize configurability, modularity and portability via a plug-in architecture, such that it can be easily adapted for use within the whole fusion community. The preliminary structure is shown in Fig. 2. The framework will feature a self-consistent and deployable core aimed at providing the basic necessary features for localized real-time tasks thus maintaining a lightweight appearance. Infrastructure components of the core can be seamlessly replaced to enable a feature-rich collaboration of different instances of the core to form a distributed control system. It is important to note that this replacement does not impact any application specific code or configuration. This approach will integrate the use case of developing local real-time applications in plant system I&C and the ability to integrate them in the context of a distributed control system. The design work is currently ongoing and scheduled to be completed by the end of 2014. Implementation will start in 2015 after a community-wide review of the design. 4. Simulation for PCS and SUP development The complexity of the ITER machine and cost of operation make simulation tools an essential part of the effort to reduce commissioning time and maximize efficient use of machine time. This does not only concern plasma control, but also orchestration. A team consisting of experts from General Atomics, IPP Garching and CREATE are developing the Plasma Control System Simulation Platform (PCSSP) to address the following use cases: (1) Development of the ITER PCS (including control and exception handling algorithms). (2) Development of discharge scenarios (with potential to contribute to official pulse validation). (3) Analysis and plant troubleshooting for operations support. (4) Support of ITER machine/system design and configuration evolution. Requirements and use-case analysis as well as the design have been completed [8] and an initial demonstration was held at IO in late 2013. A conceptual functional block diagram is shown in Fig. 3. The two key parts are the Tokamak Plant Simulator and the PCS simulator. Both functions will be exchanging data in exactly the same
722
A. Winter et al. / Fusion Engineering and Design 96–97 (2015) 720–723
Fig. 2. Layered structure of the framework.
fashion as the PCS would exchange data with a real plant system. This will ensure that it is possible to use the actual PCS implementation in conjunction with the Plant Simulator for development, debugging and testing. Implementation and commissioning time for the real PCS will be substantially reduced as the simulated version already resembled the production version in most aspects. A more detailed description of PCSSP is presented in [9]. Efforts are currently undertaken to stabilize PCSSP for a limited release. PCSSP
will be available to plant system I&C developers as well, for instance to develop synthetic diagnostics. The use of SimulinkTM as implementation environment for PCSSP allows for a future upgrade to make use of automated code generation. This will permit the use of the powerful native feature set of SimulinkTM and the added features of PCSSP and automatically generate the code of the validated and verified model and transfer it into modules of the ITER real-time framework. This will
A. Winter et al. / Fusion Engineering and Design 96–97 (2015) 720–723
723
Fig. 3. Functional block diagram of PCSSP [8].
drastically reduce the time and effort required for development, coding and testing of both SUP and PCS. This has conceptually already been demonstrated with the MARTe framework. 5. Implementation time-line The real-time framework will be developed beginning 2015 and be integrated into CODAC Core System starting with a beta-level version in 2016 and releases anticipated in 2017 and 2018. This will make it part of the CODAC suite of tools provided to the plant system developers and be supported as such. IO will encourage the porting of the real-time framework to other existing fusion devices to widen the user circle and will make the framework available as a stand-alone solution as soon as practicable aside from the integration into CODAC Core System. The fusion control community has already come together at a dedicated workshop in 2012 and endorsed the idea of designing a next-generation real-time framework and members from various devices have expressed strong interest in its use. This approach will ensure that the framework is thoroughly tested before first plasma at ITER. PCSSP will transition to an open-source tool and support will be ensured by both IO and the fusion community. Funded efforts to enhance its functionality may also be conducted as appropriate. The presently ongoing preliminary design for the PCS, led by the Plasma Operation Directorate at IO will use PCSSP as the tool to develop and test the algorithms and control concepts. 6. Outlook and conclusion Requirements and use cases for the CODAC high-level applications and the PCS have been captured. ITER CODAC responded to the requirements by starting the design process for a real-time framework which will cover all the real-time use cases. The design will be concluded in 2014 and implementation is foreseen for 2015–2017.
The framework will be made available to the fusion community, which has expressed strong support for this effort. To limit the time necessary for development, verification and testing of plasma control and orchestration functionality, a dedicated environment based on SimulinkTM was developed. The initial implementation has been completed and it will be coupled to the real-time framework to make use of the automated code generation capabilities once the framework is implemented. The combination of those two key tools will enable cost and time effective design, validation and deployment of the real-time tasks within scope of CODAC. The current development timeline is well compatible with the current commissioning schedule for ITER and first plasma. The views and opinions expressed herein do not necessarily reflect those of the ITER Organization or Fusion for Energy. References [1] F. Di Maio, L. Abadie, C. Kim, K. Mahajan, D. Stepanov, N. Utzel, CODAC core system, the ITER software distribution for I&C, in: 13th ICALEPCS Conference, San Francisco, USA, 2013. [2] J.A. Snipes, Y. Gribov, A. Winter, Physics requirements of the ITER plasma control system, Fusion Eng. Des. 85 (July (3–4)) (2010) 461–465. [3] J.A. Snipes, D. Beltran, T. Casper, Y. Gribov, A. Isayama, J. Lister, et al., Actuator and diagnostic requirements of the ITER plasma control system, Fusion Eng. Des. 87 (2012) 1900–1906. [4] W. Treutterer, D. Humphreys, G. Raupp, E. Schuster, J. Snipes, G. De Tommasi, et al., Architectural concept for the ITER plasma control system, Fusion Eng. Des. 89 (2014) 512–517. [5] A.C. Neto, A. Stephen, F. Sartori, M. Cavinato, J. Farthing, R. Ranz, et al., From use cases of the joint European Torus towards integrated commissioning requirements of the ITER Tokamak, in: Proceedings of the 28th Symposium on Fusion Technology SOFT, San Sebastian, Spain, 2014. [6] G. Raupp, K. Behler, H. Blank, A. Buhler, R. Drube, H. Eixenberger, et al., ASDEX upgrade CODAC overview, Fusion Eng. Des. 84 (2009) 1575–1579. [7] A.C. Neto, F. Sartori, F. Piccolo, R. Vitelli, G. De Tommasi, L. Zabeo, et al., MARTe: a multiplatform real-time framework, IEEE Trans. Nucl. Sci. 57 (2010) 479–486. [8] PCSSP Final Requirements Document, ITER private communication. [9] M.L. Walker, G. Ambrosino, G. De Tommasi, D.A. Humphreys, M. Mattei, G. Neu, et al., The ITER plasma control system simulation platform, in: Proceedings of the 28th Symposium on Fusion Technology SOFT, San Sebastian, Spain, 2014.