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FUTURE DETECTORS ROBOTICS INTERFACES
Lorenzo Teofili, Corrado Gargiulo
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CERN 13 March 2020
PRESENTATION SUMMARY
Motivations and Goal of the R&D
Detector Main Automation Systems Interface
• Remote Manipulator System- RMS
• Services Umbilical Mechanism Assembly – SUMA
• On Detector Robot Systems - ODRS
• …
The Five-Year Project Plan
The Detailed One Year Project Plan
WHY ROBOTICS SOLUTIONS?
INTRODUCTION
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HIGH RADIATION ENVIRONMENT IN DETECTORSMOTIVATIONS OF THE R&D
The current CERN accelerator upgrading projects (HL-LHC) and the possible future accelerators for HEP (FCC as Example) are going towards higher beams intensities (number of particles in thebeam). This will increase the material activation and the consequent radiations, especially in the experimental detectors. Thus, in the future, installation maintenance handling and dismounting ofactivated materials in detectors will be done by automated systems to minimized the dose delivered to human operators.
Define New detector interfaces and services architectures for automated installation, maintainability and disposal.
THE MAIN AUTOMATION SYSTEMS
THE FIVE-YEARS PROJECT PLAN
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New must be designed to be easily maintained and possibly to maximize detectoraccessibility and . RMS, SUMA, ODRS.
EP/DT, C. Gargiulo, A.Onnela, A,Catinaccio, M.Jaekel , A. Perez, …EN/SMM/MRO M.DiCastro, …
TAMPERE UNV & EN/SMM/MRO, NASA, ESA,
Hardware construction for design validation, if the program will be extended
0.5 1 25
0.5 1 1 50
0.5 1 1 75
0.5 1 1 1000.5 1 1 100
2020
2021
2022
20232024
Deliverables
( LS3, HL, and beyond).
Reports, State of the art for robotic. Detectors maintenance req. Best practice design.
robotic system for detector’s remote handling andmaintenanceReport.
for (RMS, SUMA,ODRS)
Breadboard Model design
Engineering Model design
based on Engineering Model
THE FIVE –YEARS PROJECT PLAN
THE ONE-YEARS DETAILED PROJECT PLAN
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Main Tasks Year 1
HEP Detectors Interfaces to Robotic Systems J F M A M J J A S O N D
STATE OF THE ART
REQUIREMENTS
BEST PRACTICE DESIGN
D1
D3
D# =deliverables
at CERN:
at ITER, at ESA/NASA…
Ex of Remote Handling, Connection and Inspection in HEP…
D2
LHC LS3
LHC HL run
Beyond LHC
• Study LHC Experiments detectors and services layout• Study CMS, ATLAS detectors replacement/maintenance needs
Methods to ensure compatibility
Baseline strategies and design standards
Suitable Robotics System
Impact on Experiments layout
• Maintenance needs
Report on State of the art for robotic solutions in harsh environment
Report on Detectors maintenance requirementsin harsh environment
Report on Best Practice Design for HEP Detectors Interfaces to Robotic Systems
D1
D2
D3
• Experiment layouts• Maintenance needs
• IRHCoP ITER Remote Handling Code of Practice
• AMS_02 SUMA • ALICE ITS RMS• LHCB Velo RMS
• HL-LHC ITHACA
• KUKA,…
• Case Study FCC hh
…EN-SMM-MROLHC Exp
…
HEP Detectors Interfaces to Robotic Systems J F M A M J J A S O N D
STATE OF THE ART
REQUIREMENTS
BEST PRACTICE DESIGN
Main Tasks Year 1 D# =deliverables
Report on State of the art for robotic solutions in harsh environment
Report on Detectors maintenance requirementsin harsh environment
Report on Best Practice Design for HEP Detectors Interfaces to Robotic Systems
D1
D2
D3
Kick-off meeting
Meeting with ATLAS, CMS Tracker Engineers
Meeting with LHC Project Engineers
Meeting with FCC hh, HE LHC,…
Meeting with AMS
Visit NASA JSC Robotics
Meeting with ITHACA Collaboration
Visit ITER Project
Visit Robotics Industries (KUKA)
CERN EN NMO laboratory
ALICE (ITS inst), LHCb (Velo constr.)
…
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COLLABORATIONS AND RESOURCES
EN-SMM-MRO
NASA
ESA
Tampere University
University Of Sheffield
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ROBOTIC INTERVENTION IN THE TUNNEL IN THE CERNTAURO FRAMEWORKSOME ALREADY ACHIEVED RESULTS AT CERN
Images Courtesy of M. Di Castro, “A novel robotic framework for safe inspection and telemanipulation in hazardous and
unstructured environments”, Ph.D. thesis, 2019, University of Madrid
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REMOTE MANIPULATOR SYSTEM- RMSMAIN AUTOMATION SYSTEMS
At at the end of the FCC-hh operation, the dose rate levels 1 mSv/h in the entire tracker cavity values do not decrease significantly for 1 month or 1 year of cooling time. This radiation comes mainlyfrom the highly activated forward calorimeters, so an opening scenario must foresee an automated displacement of this object into a shielded garage or bunker in order to limit the dose for personnel.
FCC-hh
KUKA robotics NASA
Robots at CERN (EN-SMM-MRO)
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ON DETECTOR ROBOT SYSTEMS - ODRS
TIM: Built at CERN, used for inspection, radiation mapping of LHC
Telemax: environment inspection, teleoperation.
Un/screwingLHC TDE inspection
SPS TIDVC
Limit human intervention
forDetectors’ maintenance
MAIN AUTOMATION SYSTEMS
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SERVICES UMBILICAL MECHANISM ASSEMBLY - SUMA
Umbilical Mechanism Assembly (UMA)The UMA is the way the power is supplied from the ISS to AMS-02
ATLAS Pixel has 1 connector per module at PP0AMS_02 has 1 connector for the entire Experiment
MAIN AUTOMATION SYSTEMS
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EXAMPLES OF REPORTS
Example of an alignment system compatible with a robotic manipulator. The system is taught to have the desired alignment tolerances independently from the accuracy of the manipulator. Courtesy of ITER.
DELIVERIES
On the Alignment System an Electrical Connection Can Be Mounted To be Correctly Connected. Courtesy of ITER..
Robotic Handling Approved Connectors.Courtesy of ITHACA.
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A NEW RADIATION DOSE ESTIMATION TOOLTOOLS
“An Advanced Radiation Dose Estimation Tool
for Decommissioning of HEP Experiments”M.R.Jäkel, K.L. Veale
(CERN)A. Cryer, R. French, G. Kapellmann, H.Marin-
Reyes, (Sheffield)A. Steel (CERN
Summer Student)
THE MAIN AUTOMATION SYSTEMS
THANK YOU FOR YOUR ATTENTION
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BACKUP
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TRACKER CRYOTANK ROBOTICS NEW
COOLANTS
Year Staff
Fellow
Student
Funds
Staff
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Student
Funds
Staff
Fellow
Student
Funds
Staff
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Student
Funds
2020
0.9
1 1 1500.5
1 250.5
1 25
2021
0.9
1 1 2000.5
1 500.5
1 1 500.2
1 75
2022
0.9
1 1 2000.5
1 750.5
1 1 750.2
1 25
2023
0.9
1 1 1000.5
1 750.5
1 1 1000.2
1 50
2024
0.9
1 1 1000.5
1 250.5
1 1 1000.2
1 50
tota 4.5 5 750
2.4 1 250
2.5 4 350
2.0 4 200