FUTURE DETECTORS ROBOTICS INTERFACES - CERN 13 March 2020 - CERN Indico
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CERN
13 March 2020
FUTURE DETECTORS
ROBOTICS INTERFACES
Lorenzo Teofili, Corrado Gargiulo
1
PRESENTATION SUMMARY
Motivations and Goal of the R&D The Detailed One Year Project Plan
Detector Main Automation Systems Interface
• Remote Manipulator System- RMS
• Services Umbilical Mechanism Assembly – SUMA
• On Detector Robot Systems - ODRS
• …
The Five-Year Project Plan
INTRODUCTION
WHY ROBOTICS SOLUTIONS?
3
MOTIVATIONS OF THE R&D
HIGH RADIATION ENVIRONMENT IN DETECTORS
Define New detector interfaces and services
architectures for automated installation,
maintainability and disposal.
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 the
beam). This will increase the material activation and the consequent radiations, especially in the experimental detectors. Thus, in the future, installation maintenance handling and dismounting of
activated materials in detectors will be done by automated systems to minimized the dose delivered to human operators. 4
THE FIVE-YEARS PROJECT PLAN
THE MAIN AUTOMATION SYSTEMS
5
THE FIVE –YEARS PROJECT PLAN
New must be designed to be easily maintained and possibly to maximize detector
accessibility and . RMS, SUMA, ODRS.
Deliverables
2020 ( LS3, HL, and beyond). 0.5 1
25
Reports, State of the art for robotic. Detectors maintenance req. Best practice design.
2021 robotic system for detector’s remote handling and
maintenance Report. 0.5 1 1
for (RMS, SUMA,
50
ODRS)
Breadboard Model design
2022
Engineering Model design
2023 0.5 1 1
2024 based on Engineering Model 75
TAMPERE UNV & EN/SMM/MRO, NASA, ESA,0.5 1 1
100 , A. Perez, …
EP/DT, C. Gargiulo, A.Onnela, A,Catinaccio, M.Jaekel
EN/SMM/MRO M.DiCastro, … 0.5 1 1
100
Hardware construction for design validation, if the program will be extended
THE ONE-YEARS DETAILED PROJECT PLAN
7
Main Tasks Year 1 D# =deliverables
HEP Detectors Interfaces to Robotic Systems J F M A M J J A S O N D
STATE OF THE ART at CERN: LHC Exp EN-SMM-MRO …
Report on at ITER, at ESA/NASA… …
State of the art for robotic solutions Ex of Remote Handling, • AMS_02 SUMA
D1 D1 • ALICE ITS RMS
in harsh environment Connection and Inspection in HEP…
• LHCB Velo RMS
• Study LHC Experiments detectors and services layout
REQUIREMENTS LHC LS3
• Study CMS, ATLAS detectors replacement/maintenance needs
Report on LHC HL run • Maintenance needs
Detectors maintenance requirements
in harsh environment D2 Beyond LHC D2 • Experiment layouts
• Maintenance needs
• IRHCoP ITER Remote
BEST PRACTICE DESIGN Handling Code of Practice
Methods to ensure compatibility
• HL-LHC ITHACA Baseline strategies and design standards
Report on
Best Practice Design for HEP Detectors • KUKA,… Suitable Robotics System
Interfaces to Robotic Systems
D3 • Case Study FCC hh Impact on Experiments layout D38
Main Tasks Year 1 D# =deliverables
HEP Detectors Interfaces to Robotic Systems J F M A M J J A S O N D
Kick-off
STATE OF THE ART meeting
ALICE (ITS inst), LHCb (Velo constr.)
Report on CERN EN NMO laboratory …
State of the art for robotic solutions
D1 Meeting with AMS
in harsh environment
REQUIREMENTS Meeting with ATLAS, CMS Tracker Engineers
Report on Meeting with LHC Project Engineers
Detectors maintenance requirements
in harsh environment D2 Meeting with FCC hh, HE LHC,…
BEST PRACTICE DESIGN Visit ITER Project
Meeting with ITHACA Collaboration
Report on
Best Practice Design for HEP Detectors Visit NASA JSC Robotics
Interfaces to Robotic Systems
D3
Visit Robotics Industries (KUKA)
COLLABORATIONS AND RESOURCES
EN-SMM-MRO
NASA
ESA
Tampere University
University Of Sheffield
10SOME ALREADY ACHIEVED RESULTS AT CERN
ROBOTIC INTERVENTION IN THE TUNNEL IN THE CERNTAURO FRAMEWORK
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
11MAIN AUTOMATION SYSTEMS
REMOTE MANIPULATOR SYSTEM- RMS
FCC-hh
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 mainly
from 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.
KUKA robotics NASA
12MAIN AUTOMATION SYSTEMS
ON DETECTOR ROBOT SYSTEMS - ODRS
Limit
human intervention
for
Detectors’ maintenance
Robots at CERN
(EN-SMM-MRO)
TIM: Built at CERN, used Telemax: environment
for inspection, radiation inspection, teleoperation.
mapping of LHC Un/screwing
LHC TDE inspection
SPS TIDVC
13MAIN AUTOMATION SYSTEMS
SERVICES UMBILICAL MECHANISM ASSEMBLY - SUMA
ATLAS Pixel has 1 connector per module at PP0
AMS_02 has 1 connector for the entire Experiment
Umbilical Mechanism Assembly (UMA)
The UMA is the way the power is supplied from
the ISS to AMS-02
14DELIVERIES
EXAMPLES OF REPORTS
On the Alignment System an Electrical
Connection Can Be Mounted To be Correctly
Connected. Courtesy of ITER..
Example of an alignment system compatible with a robotic Robotic Handling Approved Connectors.
manipulator. The system is taught to have the desired Courtesy of ITHACA.
alignment tolerances independently from the accuracy of the
manipulator. Courtesy of ITER.
15TOOLS
A NEW RADIATION DOSE ESTIMATION TOOL
“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)
16THANK YOU FOR YOUR ATTENTION
THE MAIN AUTOMATION SYSTEMS
17BACKUP
1819
backup
NEW
TRACKER CRYOTANK ROBOTICS
COOLANTS
Year Sta Fello Stude Fun Sta Fello Stude Fun Sta Fello Stude Fun Sta Fello Stude Fund
ff w nt ds ff w nt ds ff w nt ds ff w nt s
202 0. 0. 0.
1 1 150 1 25 1 25
0 9 5 5
202 0. 0. 0. 0.
1 1 200 1 50 1 1 50 1 75
1 9 5 5 2
202 0. 0. 0. 0.
1 1 200 1 75 1 1 75 1 25
2 9 5 5 2
202 0. 0. 0. 0.
1 1 100 1 75 1 1 100 1 50
3 9 5 5 2
202 0. 0. 0. 0.
1 1 100 1 25 1 1 100 1 50
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