train for rp survey and visual inspection in lhc radwg meeting - 8th may 2013 bruno feral edms:...
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Train for RP survey and visual inspection in LHC
RadWG meeting - 8th May 2013
Bruno FERAL
EDMS: 1284415
Section EN-HE-HT
B. Feral2
Our main task:
Design and development of remote handling equipment for interventions in radioactive areas at CERN.
The TIM* 30 x 30: a remote controlled inspection vehicle for LHC tunnel :
• Radiation + oxygen measurements• Visual Inspection with cameras (HD, infrared, etc) • Autonomous: Battery powered• Additional payload on demand
3
30cm
30cm
*TIM: Train Inspection Monorail
8 May 2013B. Feral - RadWG meeting
Outline
Mission of TIM series
TIM main characteristics
TIM tests in LHC early 2013
TIM components
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Development of TIM pre-series and series
To provide remote inspections, radiological surveys in the entire LHC tunnel when the machine is not in access mode.
Establish a reliable service that is fully automated and fully integrated in the LHC operational procedures and controls software and contributes to the full exploitation of the physics potential of the LHC.
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Mission:
8 May 2013B. Feral - RadWG meeting
Outline
Mission of TIM series
TIM main characteristics
TIM tests in LHC early 2013
TIM components
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TIM 30-30: main characteristics
• Visual Inspection • Radiation + oxygen measurements• Parks in P5 by-pass• Pass from P5 - P2 and from P5 - P8• Max speed 8km/h• Control from CERN Control Centre
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General view looking upstream (low resolution)
TIM 30-30 visual inspection of DFBM
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TIM 30-30: main characteristics
• Visual Inspection • Radiation + oxygen measurements• Parks in P5 by-pass• Pass from P5 - P2 and from P5 - P8• Max speed 8km/h• Control from CERN Control Centre
8 May 2013B. Feral - RadWG meeting
RP Data transmission system
RP wagon
PCMX sensor«Dose rate
value»
Ethernet
NI Compact RIO ETIC 3G Modem
Ethernet
ETIC 3G Modem
Laptop reception data
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TIM 30-30: main characteristics
• Visual Inspection • Radiation + oxygen measurements• Parks in P5 by-pass• Pass from P5 - P2 and from P5 - P8• Max speed 8km/h• Control from CERN Control Centre
8 May 2013B. Feral - RadWG meeting
Current situation: 1 train & 1 garage
Point 5 by pass is a natural garage for TIM.
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TIM
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Train1
Train2 Train3
Train4
Proposal: 4 trains & 4 garages:
2 new garages shall be built on each side of point 1. It shall be possible to dismantle them during technical stop or shutdown.
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TIM 30-30: main characteristics
• Visual Inspection • Radiation + oxygen measurements• Parks in P5 by-pass• Pass from P5 - P2 and from P5 - P8• Max speed 8km/h• Control from CERN Control Centre
8 May 2013B. Feral - RadWG meeting
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TIM 30-30 CCC operation
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Communication network
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Surface
Tunnel LHC
TIM 30 x 30
Leaky feeder cable installed in the LHC tunnel – Sunrise network
Modem Sunrise network
Modem
(CCC/CCR)
Surface (CCC/CCR)
Tunnel LHC
Train
Cable rayonnant installé dans tout le tunnel – réseau Sunrise
PLC Siemenscontrol
RadiationData acquisition
WebcamAxis 213
IPL-3G IPL-3G IPL-G12 IPL-G12
PC control
PC vision
PC acquisition données Radiation
PLC Siemenscontrol
IPL-3G réseau Sunrise
Internet
IPL-G12réseau Sunrise
6
1
2
3 4 5
VPN to 4
VPN to 5
VPN to 1 VPN to 2
Vers modems 3 et 6
WebcamAxis 213
Com
mu
nic
ati
on
Netw
ork
in
more
deta
ils
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TIM control: phone & computer network
Upgraded to UMTSUpgraded to UMTS Upgraded to UMTS
Upgraded to UMTS
Upgraded to UMTS
8 May 2013B. Feral - RadWG meeting
Outline
Mission of TIM series
TIM main characteristics
TIM tests in LHC early 2013
TIM components
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Results of tests in LHC:
• Basic functionalities for the vehicle confirmed and tested.
• Basic RP survey functionality available and tested.
• TIM was operational for 20 days in LHC.• 12 successful surveys from point 5.• Number of hours of operation: 22 hours and 22
minutes.• Total distance covered during the tests: 48 km.• Time needed to survey a sector : 2 hours and 15
minutes• Almost 100% availability !
Start/End
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DS R5
ARC
DS L6
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RA47 – UJ47 UJ62
LSS5L & Collimator
Outline
Mission of TIM series
TIM main characteristics
TIM tests in LHC early 2013
TIM components
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TIM components
Motor wagon
Reconnaissance wagon
RP wagon Battery wagon
Control wagon
10.2 meters
Bar
code r
eader
posi
tion
8.84 meters 1.36 meters
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Motor Wagon
SSD Parvex gearbox + Hengstler incremental encoder
Ethernet
Ethernet
Reconnaissance wagon
Waldmann LED operation unit
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Reconnaissance Wagon
Ethernet
Motor wagon RP wagon
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RP Wagon
Ethernet
Reconnaissance wagon
Battery wagon
PCMX sensor«Dose rate value»
Ethernet
NI Compact RIO ETIC 3G Modem
VEXTA Brushless DC motor – movingthe arm
RP arm
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Battery Wagon
Ethernet
RP wagon Control wagon
Current transducer
Voltage
Battery controller
+24V 0V
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Control Wagon
Ethernet
Battery wagon
Remote switch
Waldmann LED operation unit
PXT-10 Temperature converter
Battery charger
Ethernet
WiFi
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