Schweizer, Nicolai ; Pongrac, Ivan (2022)
Semi-Autonomous Device for Visual Inspection of Vacuum Beamlines of Particle Accelerators.
8th International Particle Accelerator Conference. Copenhagen, Denmark (14.-19.05.2017)
doi: 10.26083/tuprints-00020318
Konferenzveröffentlichung, Zweitveröffentlichung, Verlagsversion
Kurzbeschreibung (Abstract)
Due to the closed structure of ultra-high vacuum beamline systems, a visual inspection of the internal pipe is hardly feasible. For instance, when opening the accelerator vacuum system, an endoscope can be used to inspect the internals. However, this proves to be impractical in case of large, curved accelerator vacuum systems with complex geometries. It is more efficient to open the system only at one or two locations and to use a mobile semi-autonomous inspection device with optical imaging. A mobile robot is currently under development in our laboratory for the planned heavy ion synchrotron SIS100 at FAIR. A multitude of vacuum chamber types with different height levels as well as gaps must be traversed reliably by the robot. We present a modular wheel-based mobile robot prototype with joints between the modules which let the robot climb to different height levels by lifting the modules successively.
| Typ des Eintrags: | Konferenzveröffentlichung |
|---|---|
| Erschienen: | 2022 |
| Autor(en): | Schweizer, Nicolai ; Pongrac, Ivan |
| Art des Eintrags: | Zweitveröffentlichung |
| Titel: | Semi-Autonomous Device for Visual Inspection of Vacuum Beamlines of Particle Accelerators |
| Sprache: | Englisch |
| Publikationsjahr: | 2022 |
| Ort: | Darmstadt |
| Verlag: | Joint Accelerator Conferences Website |
| Buchtitel: | Proceedings of the 8th International Particle Accelerator Conference |
| Reihe: | International Particle Accelerator Conference |
| Band einer Reihe: | 8 |
| Veranstaltungstitel: | 8th International Particle Accelerator Conference |
| Veranstaltungsort: | Copenhagen, Denmark |
| Veranstaltungsdatum: | 14.-19.05.2017 |
| DOI: | 10.26083/tuprints-00020318 |
| URL / URN: | https://tuprints.ulb.tu-darmstadt.de/20318 |
| Zugehörige Links: | |
| Herkunft: | Zweitveröffentlichungsservice |
| Kurzbeschreibung (Abstract): | Due to the closed structure of ultra-high vacuum beamline systems, a visual inspection of the internal pipe is hardly feasible. For instance, when opening the accelerator vacuum system, an endoscope can be used to inspect the internals. However, this proves to be impractical in case of large, curved accelerator vacuum systems with complex geometries. It is more efficient to open the system only at one or two locations and to use a mobile semi-autonomous inspection device with optical imaging. A mobile robot is currently under development in our laboratory for the planned heavy ion synchrotron SIS100 at FAIR. A multitude of vacuum chamber types with different height levels as well as gaps must be traversed reliably by the robot. We present a modular wheel-based mobile robot prototype with joints between the modules which let the robot climb to different height levels by lifting the modules successively. |
| Status: | Verlagsversion |
| URN: | urn:nbn:de:tuda-tuprints-203184 |
| Sachgruppe der Dewey Dezimalklassifikatin (DDC): | 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: | 14 Jan 2022 08:10 |
| Letzte Änderung: | 17 Jan 2022 10:59 |
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