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Visual Inspection of Curved Particle Accelerator Beam Pipes with a Modular Robot

Schweizer, Nicolai and Pongrac, Ivan (2019):
Visual Inspection of Curved Particle Accelerator Beam Pipes with a Modular Robot. (Publisher's Version)
In: Journal of physics. Conference Series, 1350, In: 10th International Particle Accelerator Conference, pp. 4135-4137,
Bristol, JACoW Publishing, 10th International Particle Accelerator Conference (IPAC'19), Melbourne, Australia, 19.-24.05.2019, ISBN 978-3-95450-208-0,
DOI: 10.25534/tuprints-00014326,
[Conference or Workshop Item]

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.

Item Type: Conference or Workshop Item
Erschienen: 2019
Creators: Schweizer, Nicolai and Pongrac, Ivan
Origin: Secondary publication service
Status: Publisher's Version
Title: Visual Inspection of Curved Particle Accelerator Beam Pipes with a Modular Robot
Language: English
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.

Title of Book: 10th International Particle Accelerator Conference
Series Name: Journal of physics. Conference Series
Volume: 1350
Number: 10
Place of Publication: Bristol
Publisher: JACoW Publishing
ISBN: 978-3-95450-208-0
Uncontrolled Keywords: controls, dipole, experiment, vacuum, simulation
Divisions: 18 Department of Electrical Engineering and Information Technology
18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik
18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik > Control Methods and Robotics
Event Title: 10th International Particle Accelerator Conference (IPAC'19)
Event Location: Melbourne, Australia
Event Dates: 19.-24.05.2019
Date Deposited: 30 Nov 2020 13:14
DOI: 10.25534/tuprints-00014326
Official URL: https://tuprints.ulb.tu-darmstadt.de/14326
URN: urn:nbn:de:tuda-tuprints-143262
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