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Discharge scenarios and control schemes in ASDEX Upgrade (AUG) are evolving more and more complex. Especially in physics investigations for ITER and DEMO sophisticated scenarios exploit the operational space. This increases the probability of design flaws or human errors in the pulse configuration, but also aggravates the potential damage in the failure case. The ASDEX Upgrade Flight Simulator Fenix, which is currently under construction, will provide a fast and efficient simulation tool for testing and validating discharge scenarios, as well as control and monitoring functions, during their development and immediately prior to experimental pulse execution. This ensures, that the scenarios and settings are adequate to reach the experimental goals and that the margins to operational limits are sufficiently large also during the dynamic evolution of the discharge. Simplified physics and plant system “control” models combined with a representation of the ASDEX Upgrade Discharge Control System (DCS) allow for fast simulation runs with reasonable prediction quality. In the simulation an event generator can trigger plasma instabilities, technical failures and external events to test the resilience of the designed pulse against unplanned incidents. The granularity of modelling shall be customizable, such that the simulator can also be used for detail investigations with elaborate physics at the cost of longer simulation time. As a basis for implementation the ITER Plasma Control System Simulation Platform (PCSSP) has been chosen. The flight simulator, extends PCSSP with an ASTRA co-simulator for the ASDEX Upgrade tokamak model and with custom modules for its actuators, diagnostics and control system. Plugins will enable reading original AUG discharge programs and configuration files, as well as storing the results in the AUG shot file database.

In present day tokamaks, the role of the control research is to support the physics experiments and to prepare technologies for future devices such as ITER and DEMO. This paper presents the developments done under the MST1 program collaboration on ASDEX Upgrade in the area of the actuator management, plasma density reconstruction, and feedback control of the electron temperature. In the area of actuator management, the actuator interface was unified for the neutral beams and for the gyrotrons, which enables to freely group these actuators to bigger objects, so called virtual actuators. In the area of plasma state reconstruction, a significant progress was made in the real time estimation of the plasma density in discharges with ion cyclotron heating. This enabled execution of experiments requiring electron temperature control in discharges with ion cyclotron heating, which are reported as well. Other control applications such as fusion power emulation using heating actuators are not described in detail, but a list of relevant references is given.

Actuator management is an essential part of a modern tokamak plasma control system. It has to deal with a large number of control task simultaneously, needs to be able to operate close to stability limits and to avoid disruptions. In the ASDEX Upgrade tokamak experiment, the process of actuator management development is ongoing. As a first step, we have removed direct assignement of physical actuators to controllers responsible for the control task execution. Instead, the controller is communicating to the so-called virtual actuator, which groups an arbitrary number of actuators of the same type (so far ECRH only) and distributes the controller command between them. The virtual actuator has been implemented and used on ASDEX Upgrade in the 2019 experimental campaign. It gave valuable contributions to several physics experiments. First, the implementation of the virtual actuator enabled β p control by ECRH power, which is of interest especially for I-mode and ELM-free H-mode discharges. Second, it was used in the electron temperature control experiments, which is a useful control tool for transport studies. Third, the concept was used for the density limit disruption avoidance experiments where central ECRH power is applied to recover the plasma from a disruptive zone. The current paper describes the use of the virtual actuator in these cases and based on the gained experience, it suggests future developments and improvements of the virtual actuator on ASDEX Upgrade discharge control system.

The ASDEX Upgrade (AUG) programme, jointly run with the EUROfusion MST1 task force, continues to significantly enhance the physics base of ITER and DEMO. Here, the full tungsten wall is a key asset for extrapolating to future devices. The high overall heating power, flexible heating mix and comprehensive diagnostic set allows studies ranging from mimicking the scrape-off-layer and divertor conditions of ITER and DEMO at high density to fully non-inductive operation (q95 = 5.5, ) at low density. Higher installed electron cyclotron resonance heating power 6 MW, new diagnostics and improved analysis techniques have further enhanced the capabilities of AUG. Stable high-density H-modes with MW m−1 with fully detached strike-points have been demonstrated. The ballooning instability close to the separatrix has been identified as a potential cause leading to the H-mode density limit and is also found to play an important role for the access to small edge-localized modes (ELMs). Density limit disruptions have been successfully avoided using a path-oriented approach to disruption handling and progress has been made in understanding the dissipation and avoidance of runaway electron beams. ELM suppression with resonant magnetic perturbations is now routinely achieved reaching transiently . This gives new insight into the field penetration physics, in particular with respect to plasma flows. Modelling agrees well with plasma response measurements and a helically localised ballooning structure observed prior to the ELM is evidence for the changed edge stability due to the magnetic perturbations. The impact of 3D perturbations on heat load patterns and fast-ion losses have been further elaborated. Progress has also been made in understanding the ELM cycle itself. Here, new fast measurements of and Er allow for inter ELM transport analysis confirming that Er is dominated by the diamagnetic term even for fast timescales. New analysis techniques allow detailed comparison of the ELM crash and are in good agreement with nonlinear MHD modelling. The observation of accelerated ions during the ELM crash can be seen as evidence for the reconnection during the ELM. As type-I ELMs (even mitigated) are likely not a viable operational regime in DEMO studies of 'natural' no ELM regimes have been extended. Stable I-modes up to have been characterised using -feedback. Core physics has been advanced by more detailed characterisation of the turbulence with new measurements such as the eddy tilt angle—measured for the first time—or the cross-phase angle of and fluctuations. These new data put strong constraints on gyro-kinetic turbulence modelling. In addition, carefully executed studies in different main species (H, D and He) and with different heating mixes highlight the importance of the collisional energy exchange for interpreting energy confinement. A new regime with a hollow profile now gives access to regimes mimicking aspects of burning plasma conditions and lead to nonlinear interactions of energetic particle modes despite the sub-Alfvénic beam energy. This will help to validate the fast-ion codes for predicting ITER and DEMO. This work has been carried out within the framework of the EUROfusion Consortium and has received funding from the Euratom research and training programme 2014–2018 and 2019–2020 under grant agreement No. 633053. The views and opinions expressed herein do not necessarily reflect those of the European Commission. "Article signat per més de 100 autors/es: H. Meyer, for the AUG Team: D. Aguiam, C. Angioni, C.G. Albert, N. Arden, R. Arredondo Parra, O. Asunta, M. de Baar, M. Balden, V. Bandaru, K. Behler, A. Bergmann, J. Bernardo, M. Bernert, A. Biancalani, R. Bilato, G. Birkenmeier, T.C. Blanken, V. Bobkov, A. Bock, T. Bolzonella, A. Bortolon, B. Böswirth, C. Bottereau, A. Bottino, H. van den Brand, S. Brezinsek, D. Brida, F. Brochard, C. Bruhn, J. Buchanan, A. Buhler, A. Burckhart, Y. Camenen, D. Carlton, M. Carr, D. Carralero, C. Castaldo, M. Cavedon, C. Cazzaniga, S. Ceccuzzi, C. Challis, A. Chankin, S. Chapman, C. Cianfarani, F. Clairet, S. Coda, R. Coelho, J.W. Coenen, L. Colas, G.D. Conway, S. Costea, D.P. Coster, T.B. Cote, A. Creely, G. Croci, G. Cseh, A. Czarnecka, I. Cziegler, O. D'Arcangelo, P. David, C. Day, R. Delogu, P. de Marné, S.S. Denk, P. Denner, M. Dibon, A. Di Siena, D. Douai, A. Drenik, R. Drube, M. Dunne, B.P. Duval, R. Dux, T. Eich, S. Elgeti, K. Engelhardt, B. Erdös, I. Erofeev, B. Esposito, E. Fable, M. Faitsch, U. Fantz, H. Faugel, I. Faust, F. Felici, J. Ferreira, S. Fietz, A. Figuereido, R. Fischer, O. Ford, L. Frassinetti, S. Freethy, M. Fröschle, G. Fuchert, J.C. Fuchs, H. Fünfgelder, K. Galazka, J. Galdon-Quiroga, A. Gallo, Y. Gao, S. Garavaglia, A. Garcia-Carrasco, M. Garcia-Muñoz, B. Geiger, L. Giannone, L. Gil, E. Giovannozzi, C. Gleason-González, S. Glöggler, M. Gobbin, T. Görler, I. Gomez Ortiz, J. Gonzalez Martin, T. Goodman, G. Gorini, D. Gradic, A. Gräter, G. Granucci, H. Greuner, M. Griener, M. Groth, A. Gude, S. Günter, L. Guimarais, G. Haas, A.H. Hakola, C. Ham, T. Happel, N. den Harder, G.F. Harrer, J. Harrison, V. Hauer, T. Hayward-Schneider, C.C. Hegna, B. Heinemann, S. Heinzel, T. Hellsten, S. Henderson, P. Hennequin, A. Herrmann, M.F. Heyn, E. Heyn, F. Hitzler, J. Hobirk, K. Höfler, M. Hölzl, T. Höschen, J.H. Holm, C. Hopf, W.A. Hornsby, L. Horvath, A. Houben, A. Huber, V. Igochine, T. Ilkei, I. Ivanova-Stanik, W. Jacob, A.S. Jacobsen, F. Janky, A. Jansen van Vuuren, A. Jardin, F. Jaulmes, F. Jenko, T. Jensen, E. Joffrin, C.-P. Käsemann, A. Kallenbach, S. Kálvin, M. Kantor, A. Kappatou, O. Kardaun, J. Karhunen, S. Kasilov,, Y. Kazakov, W. Kernbichler, A. Kirk, S. Kjer Hansen, V. Klevarova, G. Kocsis, A. Köhn, M. Koubiti, K. Krieger, A. Krivska, A. Krämer-Flecken, O. Kudlacek, T. Kurki-Suonio, B. Kurzan, B. Labit, K. Lackner, F. Laggner, P.T. Lang, P. Lauber, A. Lebschy, N. Leuthold, M. Li, O. Linder, B. Lipschultz, F. Liu, Y. Liu, A. Lohs, Z. Lu, T. Luda di Cortemiglia, N.C. Luhmann, R. Lunsford, T. Lunt, A. Lyssoivan, T. Maceina, J. Madsen, R. Maggiora, H. Maier, O. Maj, J. Mailloux, R. Maingi, E. Maljaars, P. Manas, A. Mancini, A. Manhard, M.-E. Manso, P. Mantica, M. Mantsinen, P. Manz, M. Maraschek, C. Martens, P. Martin, L. Marrelli, A. Martitsch, M. Mayer, D. Mazon, P.J. McCarthy, R. McDermott, H. Meister, A. Medvedeva, R. Merkel, A. Merle, V. Mertens, D. Meshcheriakov, O. Meyer, J. Miettunen, D. Milanesio, F. Mink, A. Mlynek, F. Monaco, C. Moon, F. Nabais, A. Nemes-Czopf, G. Neu, R. Neu, A.H. Nielsen, S.K. Nielsen, V. Nikolaeva, M. Nocente, J.-M. Noterdaeme, I. Novikau, S. Nowak, M. Oberkofler, M. Oberparleiter, R. Ochoukov, T. Odstrcil, J. Olsen, F. Orain, F. Palermo, O. Pan, G. Papp, I. Paradela Perez, A. Pau, G. Pautasso, F. Penzel, P. Petersson, J. Pinzón Acosta, P. Piovesan, C. Piron, R. Pitts, U. Plank, B. Plaum, B. Ploeckl, V. Plyusnin, G. Pokol, E. Poli, L. Porte, S. Potzel, D. Prisiazhniuk, T. Pütterich, M. Ramisch, J. Rasmussen, G.A. Rattá, S. Ratynskaia, G. Raupp, G.L. Ravera, D. Réfy, M. Reich, F. Reimold, D. Reiser, T. Ribeiro, J. Riesch, R. Riedl, D. Rittich, J.F. Rivero-Rodriguez, G. Rocchi, M. Rodriguez-Ramos, V. Rohde, A. Ross1, M. Rott, M. Rubel, D. Ryan, F. Ryter, S. Saarelma, M. Salewski, A. Salmi, L. Sanchis-Sanchez, J. Santos, O. Sauter, A. Scarabosio, G. Schall, K. Schmid, O. Schmitz, P.A. Schneider, R. Schrittwieser, M. Schubert, T. Schwarz-Selinger, J. Schweinzer, B. Scott, T. Semer, E. Seliunin, M. Sertoli, A. Shabbir, A. Shalpegin, L. Shao, S. Sharapov, G. Sias, M. Siccinio, B. Sieglin, A. Sigalov, A. Silva, C. Silva, D. Silvagni, P. Simon, J. Simpson, E. Smigelskis, A. Snicker, C. Sommariva, C. Sozzi, M. Spolaore, A. Stegmeir, M. Stejner, J. Stober, U. Stroth, E. Strumberger, G. Suarez, H.-J. Sun, W. Suttrop, E. Sytova, T. Szepesi, B. Tál, T. Tala, G. Tardini, M. Tardocchi, M. Teschke, D. Terranova, W. Tierens, E. Thorén, D. Told, P. Tolias, O. Tudisco, W. Treutterer, E. Trier, M. Tripský, M. Valisa, M. Valovic, B. Vanovac, D. van Vugt, S. Varoutis, G. Verdoolaege, N. Vianello, J. Vicente, T. Vierle, E. Viezzer, U. von Toussaint, D. Wagner, N. Wang, X. Wang, M. Weiland, A.E. White, S. Wiesen, M. Willensdorfer, B. Wiringer, M. Wischmeier, R. Wolf, E. Wolfrum, L. Xiang, Q. Yang, Z. Yang, Q. Yu, R. Zagórski, I. Zammuto, W. Zhang, M. van Zeeland, T. Zehetbauer, M. Zilker, S. Zoletnik, H. Zohm and the EUROfusion MST1 Team55

In fusion research the ability to generate and sustain high performance fusion plasmas gains more and more importance. Optimal combinations of magnetic shape, temperature and density profiles as well as the confinement time are identified as advanced regimes. Safe operation in such regimes will be crucial for the success of ITER and later fusion reactors. The operational space, on the other hand, is characterized by nonlinear dependencies between plasma parameters. Various MHD limits must be avoided in order to minimize the risk of a disruption. Sophisticated feedback control schemes help to tackle this challenge. But these in turn require detailed information on plasma state in time to allow proper reaction. Control system and diagnostic systems therefore must establish a symbiotic relationship to carry out such schemes. Today, all major fusion devices implement such a concept. An implementation of such a concept with sustained integration is presented using the example of ASDEX Upgrade. It covers data communication via a real-time network, synchronization mechanisms for data-driven algorithm execution as well as operational aspects and exception handling for failure detection and recovery. A modular distributed software framework offers standardized user algorithm interfaces, automated workflow procedures and the application of various computer and network hardware components. Designed with a special focus on reliability, robustness and flexibility, it is a sound base for exploring ITER-relevant plasma regimes and control strategies.

ASDEX Upgrade's recently commissioned discharge control system (DCS) marks the transition from a traditional programmed system to a highly flexible “data driven” one. The allocation of application processes (APs) to controllers, the interconnection of APs through uniquely named signals, and AP control parameter values are all defined as data, and can easily be adapted to the requirements of a particular discharge. The data is laid down in a set of XML documents which APs request via HTTP from a configuration server before a discharge. The use of XML allows for easy parsing, and structural validation through (XSD) schemas. The central input to the configuration process is the discharge schedule (DS), which embodies the dynamic behaviour of a planned discharge as reference trajectories grouped in segments, concatenated through transition conditions. Editing, generation and validation tools, and version control through CVS allow for efficient management of DSs.

ASDEX Upgrade is a medium sized tokamak experiment investigating highly shaped plasma and advanced scenarios to be extrapolated for ITER. Eleven independent magnetic coils allow for proper shaping and plasma current control. For plasma heating and current drive eight NBI beam lines, two ICRH antenna pairs and four ECRH gyrotrons are available. Five channels for controlling gas valves and a pellet injector serve for fuelling. All actuators are driven by a digital discharge control system. One basic enhancement of the latest generation is a unified framework for all feed-forward and feedback control tasks in a discharge. The framework consists of two layers. The core layer implements wind-up safe feedback controllers with a collection of overlaid output limitations. Each controller is dynamically switchable in references, controlled variables, control law and control parameters via a control mode. The coordination layer implements intelligent discharge protection or optimisation algorithms, which synchronously can change control modes and dynamically can generate reference waveforms adapted to the discharge's state and goal. Thus, the framework approach easily allows for further extensions and opens a door for future experimental investigations.

Accompanying the introduction of the new discharge control and data acquisition system, ASDEX Upgrade's feedback control scheme is reworked. The present control system comprises magnetic and performance control with different organisations. Magnetic control consists mainly of multi-input/multi-output (MIMO) feedback loops. Performance control is made up by many heterogeneous standalone control algorithms with a typical structure: a single-input/single-output (SISO) feedback controller with some dedicated pre- and postprocessing. These algorithms are independent and have almost no interconnections to each other. While this simple structure is a perfect choice for explorative work, it is often not sufficient for achieving optimised performance, safe handling and easy maintainability, because shared output resources and cross-couplings are ignored. In our new approach, performance and magnetic control get a common structure. The isolated views of the single performance control applications are replaced by a more integrated view. Applications are rearranged, accounting for the limitations of common actuators and relations between controlled variables. Common data can be shared, special procedures are separated from generic ones. The resulting structure has three blocks: a measurement preprocessor with specialised diagnostic algorithms, a generic MIMO feedback controller with switchable operation mode, and optional output postprocessors to serve dedicated needs of actuators. In this paper, we present the guidelines we have developed for this procedure.

Significant progress has been made on ASDEX Upgrade during the last two years in the basic understanding of transport, in the extension of the improved H-mode in parameter space and towards an integrated operating scenario and in the development of control methods for major performance limiting instabilities. The important features were the understanding of particle transport and the control of impurity accumulation based on it, the satisfactory operation with predominantly tungsten-clad walls, the improved H-mode operation over density ranges and for temperature ratios covering (non-simultaneously) the ITER requirements on ν*, n/nGW and Te/Ti, the ELM frequency control by pellet injection and the optimization of NTM suppression by DC-ECCD through variation of the launching angle. From these experiments an integrated scenario has emerged which extrapolates to a 50% improvement in n T τ or a 30% reduction of the required current when compared with the ITER base-line assumptions, with moderately peaked electron and controllable high-Z density profiles.

An integrated exhaust scenario has been developed in ASDEX Upgrade providing simultaneous control of particle exhaust, time averaged divertor power flux and ELM power via pace-making of the ELM frequency. Feedback quantities are the divertor neutral flux (actuator: deuterium gas puff) and the divertor temperature as measured by thermoelectric currents (actuator: argon gas puff). The ELM frequency is stabilised to a level high enough for moderate ELM power load with repetitive injection of small pellets from the high field side. The scenario is fully compatible with the present tungsten wall coating, which constitutes about 65% of the area of the plasma facing components. It is intended for application in a future full-tungsten ASDEX Upgrade with strongly reduced intrinsic carbon radiation in order to simulate a possible full-tungsten stage of ITER.

ASDEX upgrade investigates the integration of confinement, stability and exhaust issues into an operating scenario for ITER and a future fusion reactor. Since commissioned in 1990 the systems used to feedback control plasma position and shape as well as performance have continuously been enhanced. To overcome performance limitations and improve connectivity and steady state capability, a new plasma control system is being implemented. For the new system, adequate and reliable communication mechanisms are essential to integrate the realtime discharge control and data acquisition. We present communication methods and the process organisation of the new system and show that the new concept allows easy performance scaling. We demonstrate how existing periphery and new realtime diagnostics interface to control applications. This facilitates the realisation of novel and sophisticated control tasks combining multiple diagnostics and actuators for common physical goals.

The ASDEX Upgrade Discharge Control System DCS is a modern and mature product, originally designed to regulate and supervise ASDEX Upgrade Tokamak plasma operation. In its core DCS is based on a generic, versatile real-time software framework with a plugin architecture that allows to easily combine, modify and extend control function modules in order to tailor the system to required features and let it continuously evolve with the progress of an experimental fusion device. Due to these properties other fusion experiments like the WEST project have expressed interest in adopting DCS. For this purpose, essential parts of DCS must be unpinned from the ASDEX Upgrade environment by exposure or introduction of generalised interfaces. Re-organisation of DCS modules allows distinguishing between intrinsic framework core functions and device-specific applications. In particular, DCS must be prepared for deployment in different system environments with their own realisations for user interface, pulse schedule preparation, parameter server, time and event distribution, diagnostic and actuator systems, network communication and data archiving. The article explains the principles of the revised DCS structure, derives the necessary interface definitions and describes major steps to achieve the separation between general-purpose framework and fusion device specific components.

Concepts for the configuration of plant systems and plasma control of modern devices such as ITER and W7-X are based on global data structures, or “pulse schedules” or “experiment programs”, which specify all physics characteristics (waveforms for controlled actuators and plasma quantities) and all technical characteristics of the plant systems (diagnostics and actuators operation settings) for a planned pulse. At ASDEX Upgrade we use different approach. We observed that the physics characteristics driving the discharge control system (DCS) are frequently modified on a pulse-to-pulse basis. Plant system operation, however, relies on technical standard settings, or “basic configurations” to provide guaranteed resources or services, which evolve according to longer term session or campaign operation schedules. This is why AUG manages technical configuration items separately from physics items. Consistent computation of the DCS configuration requires access to all this physics and technical data, which include the discharge programme (DP), settings of actuator systems and real-time diagnostics, the current system state and a database of static parameters. A Parameter Server provides a unified view on all these parameter sets and acts as the central point of access. We describe the functionality and architecture of the Parameter Server and its embedding into the control environment.

Disruptions in tokamaks are instabilities events which can damage the machine components. The avoidance and mitigation of these events is desirable in present machines as well as in Next Step devices (such as ITER). A neural network has been developed to predict the occurrence of disruptions caused by edge cooling mechanisms in ASDEX Upgrade. The network works reliably and is able to predict the majority (85%) of the disruptions. The neural network has been trained to predict the time interval up to the disruption and this makes it suitable to be used on-line either to avoid disruptions (by means of auxiliary heating and reduction of gas puffing) or to mitigate the unavoidable ones. For this last purpose, a solid pellet injector has been developed and tested; the injected impurity pellets have been shown to reduce the vertical forces and the conductive fluxes to the divertor.

Based on present achievements in tokamak control and considering requirements for reactor-oriented research, a next generation discharge control system is presented. Decomposition of control functions mapped onto dedicated controllers and diagnostics gives a distributed system integrated with a common real-time network to publish process and reference values. Basic mechanisms for cycle administration, data exchange and process management of the prototype system currently being implemented are shown.

Fusion experiments place high demands on real-time control systems. Within the fusion community two modern framework-based software architectures have emerged as powerful tools for developing algorithms for real-time control of complex systems while maintaining the flexibility required when operating a physics experiment. The two frameworks are known as DCS (Discharge Control System), from ASDEX Upgrade and MARTe (Multithreaded Application Real-Time executor), originally from JET. Based on the success of DCS and MARTe, ITER has chosen to develop a framework architecture for its Plasma Control System which will adopt major design concepts from both the existing frameworks. This paper describes a coupling of the two existing frameworks, which was undertaken to explore the degree of similarity and compliance between the concepts, and to extend their capabilities. DCS and MARTe operate in parallel with synchronised state machines and a common message logger. Configuration data is exchanged before the real-time phase. During the real-time phase, structured data is exchanged via shared memory and an existing DCS algorithm is replicated within MARTe. The coupling tests the flexibility and identifies the respective strengths of the two frameworks, providing a well-informed basis on which to move forward and design a new ITER real-time framework.

The Axially Symmetric Divertor Experiment(ASDEX) Upgrade's digital systems for plant operation and real-time discharge control are described. Experience gained during development and operation is used to derive the structure of a reference discharge control system that serves as a target system to assess the impact of enhancements in the existing system. Within this context, the extension of supervision control from technical synchronization of dedicated controllers to physics-oriented coordination is discussed, and examples oftechnical and physical applications are shown.

The completely detached high confinement (CDH) regime established recently in high power ASDEX-Upgrade single null divertor discharges is described. The standard CDH mode scenario with feedback controlled external deuterium and neon puffing is analysed in detail with respect to its divertor detachment and confinement properties. Impurity transport and pumping effects and the density operation windows of the CDH mode are outlined. First results with other impurity radiators (N,Ar) are given. Finally the CDH mode operation space is discussed in terms of main chamber and scrape-off layer plus divertor radiation and possible consequences for future fusion experiments are outlined.

Puffing of impurities (neon, argon) and deuterium gas in the main chamber is used to feedback control the total radiated power fraction and the divertor neutral particle density simultaneously in the ASDEX Upgrade tokamak. The variation of Psep=Pheat-Prad(core) by impurity radiation during H mode shows a similar effect on the ELM behaviour as that obtained by a change of the heating power. For radiated power fractions above 90%, the ELM amplitude becomes very small and detachment from the divertor plates occurs, whilst no degradation of the global energy confinement is observed (completely detached high confinement mode). Additional deuterium gas puffing is found to increase the radiated power per impurity ion in the plasma core owing to the combined effect of a higher particle recycling rate and a lower core penetration probability. The outer divertor chamber, which is closed for deuterium neutrals, builds up a high neutral pressure, the magnitude of which is determined by the balance of particle sources and pumping. For this particular situation, the effective pumping time of neon and argon is considerably reduced, to less than 0.3 s, mainly owing to an improved divertor retention capability. The radiation characteristics of discharges with a neon driven radiative mantle are modelled using a 1-D radial impurity transport code that has been coupled to a simple divertor model describing particle recycling and pumping. The results of simulations are in good agreement with experiment

To improve the plasma position and shape control system in ASDEX Upgrade, it is constantly expanded by the integration of data acquisition systems of important and interesting diagnostics. Usually the main responsibility of data acquisition systems is to collect data and subsequently put it into a data base archive system from where it is later analysed. The obligation now is also to simultaneously process the acquired data with an appropriate algorithm and send the pre-processed data in real-time to the plasma control system during a discharge. To achieve this requirements the used hardware must provide enough processing power and the operating system has to meet some real-time constraints. To avoid the burden of using proprietary real-time operating systems the trend is to use Open Source variants mainly based on Linux. Some of these solutions also allow us doing real-time capable communication using standard Ethernet hardware. By way of an example the implementation process of a prototype of a real-time data acquisition system based on a multi-core processor and Xenomai is demonstrated. Other possible solutions like Realtime Linux and their differences to Xenomai which we propose as the most sophisticated real-time framework for Linux are discussed in this paper.

This addendum applies to papers authored by contributors from the Axially Symmetric Divertor Experiment (ASDEX) Upgrade Team published in Review of Scientific Instruments. This addendum provides the full list of ASDEX Upgrade Team contributors and their affiliations.

For the adaptive control system of the ASDEX Upgrade tokamak experiment a new digital timing system was developed. Its structure is centralized and distributed. The timing system defines a systemwide 100-ns absolute timescale by central generation of clock and time zero information. Distributed processes are synchronized by time events and state events generated centrally. The timing system supports preprogrammed operation and adaptive operation in close collaboration with the central control computers. A summary is presented of the ASDEX Upgrade timing system design and implementation and of aspects of the integration into the control system. >

ASDEX Upgrade has recently finished its transition towards an all-W divertor tokamak, by the exchange of the last remaining graphite tiles to W-coated ones. The plasma start-up was performed without prior boronization. It was found that the large He content in the plasma, resulting from DC glow discharges for conditioning, leads to a confinement reduction. After the change to D glow for inter-shot conditioning, the He content quickly dropped and, in parallel, the usual H-Mode confinement with H factors close to one was achieved. After the initial conditioning phase, oxygen concentrations similar to that in previous campaigns with boronizations could be achieved. Despite the removal of all macroscopic carbon sources, no strong change in C influxes and C content could be observed so far. The W concentrations are similar to the ones measured previously in discharges with old boronization and only partial coverage of the surfaces with W. Concomitantly it is found that although the W erosion flux in the divertor is larger than the W sources in the main chamber in most of the scenarios, it plays only a minor role for the W content in the main plasma. For large antenna distances and strong gas puffing, ICRH power coupling could be optimized to reduce the W influxes. This allowed a similar increase of stored energy as yielded with comparable beam power. However, a strong increase of radiated power and a loss of H-Mode was observed for conditions with high temperature edge plasma close to the antennas. The use of ECRH allowed keeping the central peaking of the W concentration low and even phases of improved H-modes have already been achieved.

Today's data acquisition systems and control at the ASDEX Upgrade fusion experiment communicate during the setup of an experimental discharge only. While control executes the discharge based on recipes and a fixed number of input and output channels, diagnostic measurements are done under a predefined schema. Considerable benefits for scenario specific discharge execution are expected to be drawn from a real-time integration of data acquisition and discharge control systems: Information from the control system can be used for the real-time adaptation of the data acquisitions configuration, such as channel selection, time resolution, signal filtering, analysis process selection and protocolling functions. Information from data acquisition processed from the full set of input channels and diagnostic-specific knowledge can be used to select and fine-tune control configurations. Access to the data acquisition systems as external information sources potentially reduces the complexity of the discharge controls peripheral hardware and preprocessing software. Information exchange among these systems on a peer-to-peer basis allows freely to communicate the results. This is preferable to a master-slave concept where strict communication protocols have to be observed. In this paper we present the current work on the integration of discharge control and data acquisition at ASDEX Upgrade and give an outlook on future developments.

In this paper we describe how plasma regime information is used for real-time optimization of discharge control during the flat-top phase of ASDEX Upgrade tokamak discharges. The discharge control system runs a new real-time algorithm that detects and classifies a number of plasma confinement regimes. Supervision control receives the regime information, evaluates it and triggers local or global reaction mechanisms in the controllers.

This paper outlines a function-oriented structure, applicable for future discharge control systems. The number of infrastructure and application functions is minimized, control tasks are mapped onto separate controller units. The resulting distributed structure does not distinguish I/O from controller units and supports heterogeneous controller hardware. A common communication layer integrates all units. This set-up results in improvements for rapid modification, flexible discharge control including supervision and emergency handling, long pulse operation functions like instant protocol and display or reference value adjustment, and development support with shot replay and test unit mounting.

This paper presents a new component in the ASDEX Upgrade discharge control system, the plasma controller. Its initial tasks include feedback control of physical parameters such as radiated power fraction and neutral gas density in the divertor. We report on its design, commissioning and first operational experiences.

ASDEX Upgrade's fully digital control system is described. Discharge control consists of 6 real time computers for discharge and system monitoring, position and shape control and extended plasma control, all synchronized by a supervisor for discharge phase switching. The timing system is integrated giving absolute time for discharge control and diagnostics. Event-dependent operation is supported. Hierarchically organized protection systems are closely coupled with the discharge and machine control systems. All systems run under a software platform for automated experiment operation.

The last important steps of the tokamak machine assembly are described. A survey of precision and tolerances is given achieved for the vacuum vessel, the toroidal field (TF) magnet and the poloidal field (PF) coils. The first commissioning tests of vacuum vessel, TF magnet and PF coils are described together with certain features of the control and technical supervisory system. Remarks on improvements of the electric power supply system and the fast plasma control system follow. Finally the programme of the next future is briefly outlined.

Beyond optimization of position and shape control, producing high performance plasmas relies on precise and coordinated control of plasma parameters. This requires a universal platform, into which control algorithms can flexibly be integrated to adapt to interesting discharge scenarios. With the multitude of processes expected to be implemented, management of real time processes becomes crucial. In this paper the authors shall demonstrate how this issue is raised by the requirement specification of the controller and how it influences its design, implementation and operation.

In the ASDEX Upgrade tokamak, position and selected shape parameters are controlled by a parallel computer. Years of operational experience went into its redesign. Mapping the functionality of the algorithm into modules of code provides a sound base for extension to full shape control. A rule-based coordination layer guides controller action depending on discharge program and plasma and internal states.

The ASDEX Upgrade Discharge Control System (DCS) is a distributed real-time control system executing complex control and monitoring tasks. Up to now, DCS control algorithms have been implemented by coding dedicated application processes with the C++ programming language. Algorithm changes required code modification, compilation and commissioning which only experienced programmers could perform. This was a significant constraint of flexibility for both control system operation and design. The new approach extends DCS with the capability of configuration-defined control algorithms. These are composed of chains of small, configurable standard function blocks providing general purpose functions like algebraic operations, filters, feedback controllers, output limiters and decision logic. In a later phase a graphical editor could help to compose and modify such configuration in a Simulink-like fashion. Building algorithms from standard functions can result in a high number of elements. In order to achieve a similar performance as with C++ coding, it is essential to avoid administrative bottlenecks by design. As a consequence, DCS executes a function block chain in the context of a single real-time thread of an application process. No concurrency issues as in a multi-threaded context need to be considered resulting in strongly simplified signal handling and zero performance overhead for inter-block communication. Instead of signal-driven synchronization, a block scheduler derives the execution sequence automatically from the block dependencies as defined in the configuration. All blocks and connecting signals are instantiated dynamically, based on definitions in a configuration file. Algorithms thus are not defined in the code but only in the configuration. The concept has been developed in view of Simulink block libraries and MARTe General Application Modules (GAM) but extends these with the DCS virtues of distributed computing and multi-threading. With growing diversity of general-purpose blocks the DCS framework will reach an unprecedented degree of universality and flexibility. Configuration-defined algorithms will gradually replace many existing DCS applications. Finally, the concept might also become of interest for the upcoming ITER plasma control system.

Densities achievable in ASDEX Upgrade discharges are restricted by a disruptive limit in the L-mode caused by an edge-power imbalance which is linking divertor detachment, Marfe formation and the separatrix density. The attainable average densities depend then on the internal particle sources and the core transport and can exceed the empirical Greenwald density. In H-mode an upper density limit is found which represents a non-disruptive H - L back transition, which is preceded by the occurrence of type-III ELMs. Close to the Greenwald limit this H - L transition cannot be avoided at any power flux across the separatrix and - at high external neutral gas fluxes - confinement compared with ITER H-92P scaling degrades even before the back transition. The H-mode operational window is determined by local edge-barrier parameters and their gradients, respectively. The boundaries are represented by the L - H transition-temperature threshold, the ideal ballooning edge-pressure gradient limit, the upper temperature limit for type-III ELMs and an upper H-mode barrier density limitation. The cause for the last limitation is not yet identified; it may be due to resistive ballooning modes or the separatrix density limit. Despite the limited edge densities the Greenwald density could be surpassed by a factor of three with pellet refuelling from the low magnetic-field side. Pellet injection from the high-field side gains from the strong increase of fuelling efficiency due to the assisting toroidal outward drift of the formed high- ablatant. Higher densities are achievable in H-mode compared with low-field side injection and diminished convective losses avoid confinement degradation up to the Greenwald density. In gas-puffed type-I ELMy H-modes the plasma thermal energy and the edge-pressure gradients, which are limited by ballooning stability, are linked via a robust temperature-profile stiffness and the flat density profiles resulting from dominant edge refuelling at high densities. Their confinement does not improve with increasing density (and neutral gas fluxes) and may even slightly degrade. Therefore, the superior confinement of type-I ELMy H-modes compared with type-III ELMy ones at medium densities is actually offset at densities close to the Greenwald density. In contrast to the temperature-profile resilience density profiles can be changed both by deep refuelling (with pellets) and intrinsic transport improvements connected with density peaking (observed in CDH-modes), which offers the combination of high confinement and high density operation. The possible alliance with radiation cooling, divertor detachment and divertor compatible type-III ELMs could solve the power exhaust problem.

Recent experiments at ASDEX Upgrade have achieved advanced scenarios with high β N (>3) and confinement enhancement over ITER98(y, 2) scaling, H H98y2 = 1.1-1.5, in steady state. These discharges have been obtained in a modified divertor configuration for ASDEX Upgrade, allowing operation at higher triangularity, and with a changed neutral beam injection (NBI) system, for a more tangential, off-axis beam deposition. The figure of merit, β N H ITER89-P , reaches up to 7.5 for several seconds in plasmas approaching stationary conditions. These advanced tokamak discharges have low magnetic shear in the centre, with q on-axis near 1, and edge safety factor, q 95 in the range 3.3-4.5. This q-profile is sustained by the bootstrap current, NBI-driven current and fishbone activity in the core. The off-axis heating leads to a strong peaking of the density profile and impurity accumulation in the core. This can be avoided by adding some central heating from ion cyclotron resonance heating or electron cyclotron resonance heating, since the temperature profiles are stiff in this advanced scenario (no internal transport barrier). Using a combination of NBI and gas fuelling line, average densities up to 80-90% of the Greenwald density are achieved, maintaining good confinement. The best integrated results in terms of confinement, stability and ability to operate at high density are obtained in highly shaped configurations, near double null, with δ = 0.43. At the highest densities, a strong reduction of the edge localized mode activity similar to type II activity is observed, providing a steady power load on the divertor, in the range of 6 MW m -2 , despite the high input power used (> 10 MW).

The beam intensity of electron cyclotron resonance heating at ASDEX Upgrade has the potential to seriously damage in-vessel components, whenever not fully absorbed by the plasma. Operation is, therefore, interlocked with both plasma current and density above a given threshold. Microwave protection detectors installed in several ports on the low field side switch the heating system off, in case the stray radiation exceeds a given threshold. During regular inspections, however, damages were reported in the vicinity of the launchers and in particular around the tiles of the heat shield. On one hand, it was found that insulating material, which may not face the plasma, degraded due to millimetre wave absorption. The waves entered the free space behind the heat shield through gaps. On the other hand, local damage even of metallic components was observed on surfaces, which were directly exposed to the microwave beam. Polarisation errors, which led to a local shine through of significant beam power, were responsible. We note that this happened mainly on the high field side in a certain distance to the microwave protection detectors, which were not triggered by the events. In order to increase the level of protection, we identify three necessary measures: Firstly, polarisation control is to be automated such, that mode content and shine through can be monitored. Secondly, by installing additional detectors, the spatial coverage of stray radiation monitoring is enlarged. Thirdly, the heat shield tiles will be redesigned in order to increase the shielding against millimetre waves.