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, Melbourne, Australien, 19.-24.05.2019, ISBN 978-3-95450-208-0,
DOI: 10.25534/tuprints-00014326,
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Item Type: | Conference or Workshop Item |
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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 |
Uncontrolled Keywords: | controls, dipole, experiment, vacuum, simulation |
Classification DDC: | 600 Technik, Medizin, angewandte Wissenschaften > 600 Technik 600 Technik, Medizin, angewandte Wissenschaften > 620 Ingenieurwissenschaften |
Divisions: | 18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik > Control Methods and Robotics |
Event Title: | 10th International Particle Accelerator Conference |
Event Location: | Melbourne, Australien |
Event Dates: | 19.-24.05.2019 |
Date Deposited: | 30 Nov 2020 13:14 |
Last Modified: | 01 Dec 2020 20:23 |
DOI: | 10.25534/tuprints-00014326 |
Corresponding Links: | |
URN: | urn:nbn:de:tuda-tuprints-143262 |
URI: | https://tuprints.ulb.tu-darmstadt.de/id/eprint/14326 |
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