Schweizer, Nicolai ; Pongrac, Ivan (2020)
Visual Inspection of Curved Particle Accelerator Beam Pipes with a Modular Robot.
10th International Particle Accelerator Conference (IPAC'19). Melbourne, Australia (19.05.2019-24.05.2019)
doi: 10.25534/tuprints-00014326
Konferenzveröffentlichung, Zweitveröffentlichung, Verlagsversion
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Kurzbeschreibung (Abstract)
Inspecting ultra-high vacuum pipe systems of particle accelerators without disassembling the beam pipes is a complex challenge. In particular, curved sections of particle accelerators require a unique approach for the examination of the interior. For the planned heavy ion synchrotron SIS100 at FAIR, an inspection robot is currently under development, featuring an optical imaging system with which the robot can be navigated through the beam pipe. We present the current prototype, which is based on a modular snake-like robot with active wheels and joints. Due to the stipulated low movement velocity, it can be shown that a kinematic model is sufficient to control the robot whereas dynamical effects can be neglected. This concept is proven in experiments with the prototype. At the current development status, the robot is controlled manually by setting the velocity of the first module and its desired turning angle. In simulations we include a CAD model of a dipole chamber of the SIS100 and let an operator successfully navigate the robot through the beam pipe while only observing the camera image.
| Typ des Eintrags: | Konferenzveröffentlichung |
|---|---|
| Erschienen: | 2020 |
| Autor(en): | Schweizer, Nicolai ; Pongrac, Ivan |
| Art des Eintrags: | Zweitveröffentlichung |
| Titel: | Visual Inspection of Curved Particle Accelerator Beam Pipes with a Modular Robot |
| Sprache: | Englisch |
| Publikationsjahr: | 2020 |
| Ort: | Darmstadt |
| Publikationsdatum der Erstveröffentlichung: | 2019 |
| Ort der Erstveröffentlichung: | Bristol |
| Verlag: | JACoW Publishing |
| (Heft-)Nummer: | 10 |
| Buchtitel: | 10th International Particle Accelerator Conference |
| Reihe: | Journal of physics. Conference Series |
| Band einer Reihe: | 1350 |
| Veranstaltungstitel: | 10th International Particle Accelerator Conference (IPAC'19) |
| Veranstaltungsort: | Melbourne, Australia |
| Veranstaltungsdatum: | 19.05.2019-24.05.2019 |
| DOI: | 10.25534/tuprints-00014326 |
| URL / URN: | https://tuprints.ulb.tu-darmstadt.de/14326 |
| Zugehörige Links: | |
| Herkunft: | Zweitveröffentlichungsservice |
| Kurzbeschreibung (Abstract): | Inspecting ultra-high vacuum pipe systems of particle accelerators without disassembling the beam pipes is a complex challenge. In particular, curved sections of particle accelerators require a unique approach for the examination of the interior. For the planned heavy ion synchrotron SIS100 at FAIR, an inspection robot is currently under development, featuring an optical imaging system with which the robot can be navigated through the beam pipe. We present the current prototype, which is based on a modular snake-like robot with active wheels and joints. Due to the stipulated low movement velocity, it can be shown that a kinematic model is sufficient to control the robot whereas dynamical effects can be neglected. This concept is proven in experiments with the prototype. At the current development status, the robot is controlled manually by setting the velocity of the first module and its desired turning angle. In simulations we include a CAD model of a dipole chamber of the SIS100 and let an operator successfully navigate the robot through the beam pipe while only observing the camera image. |
| Freie Schlagworte: | controls, dipole, experiment, vacuum, simulation |
| Status: | Verlagsversion |
| URN: | urn:nbn:de:tuda-tuprints-143262 |
| Sachgruppe der Dewey Dezimalklassifikatin (DDC): | 600 Technik, Medizin, angewandte Wissenschaften > 600 Technik 600 Technik, Medizin, angewandte Wissenschaften > 620 Ingenieurwissenschaften und Maschinenbau |
| Fachbereich(e)/-gebiet(e): | 18 Fachbereich Elektrotechnik und Informationstechnik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik und Mechatronik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik und Mechatronik > Regelungsmethoden und Robotik (ab 01.08.2022 umbenannt in Regelungsmethoden und Intelligente Systeme) |
| Hinterlegungsdatum: | 30 Nov 2020 13:14 |
| Letzte Änderung: | 20 Okt 2023 10:59 |
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- Visual Inspection of Curved Particle Accelerator Beam Pipes with a Modular Robot. (deposited 30 Nov 2020 13:14) [Gegenwärtig angezeigt]
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