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Autonomous Topography Detection and Traversal for an Inspection Robot Within the Beamline of Particle Accelerators

Schweizer, Nicolai and Pongrac, Ivan (2021):
Autonomous Topography Detection and Traversal for an Inspection Robot Within the Beamline of Particle Accelerators. (Publisher's Version)
In: Proceedings of the 9th International Particle Accelerator Conference, pp. 3943-3945,
Geneva, JACoW Publishing, 9. International Particle Accelerator Conference (IPAC2018), Vancouver, Kanada, 29.04.-04.05.2018, ISBN 978-3-95450-184-7,
DOI: 10.26083/tuprints-00017646,
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Item Type: Conference or Workshop Item
Origin: Secondary publication service
Status: Publisher's Version
Title: Autonomous Topography Detection and Traversal for an Inspection Robot Within the Beamline of Particle Accelerators
Language: English
Abstract:

Particle accelerators feature ultra-high vacuum pipe systems with unique topography, i.e. with a multitude of different vacuum chambers of varying dimensions and varying pipe apertures. In order to be able to examine the interior of the entire vacuum system, even those parts which are not accessible without disassembling large parts of the accelerator, a semi-autonomous robot is being developed which shall traverse and visually inspect the vacuum system of particle accelerators. We present a generic concept based on distance sensors for the inspection robot to detect steps between vacuum chambers and gaps in the beamline. Movement strategies to autonomously overcome these basic obstacles are introduced. For evaluation we use simulations of ideal environments with flat surfaces as well as realistic beam pipe environments of the SIS100 particle accelerator. Additionally, a prototype of our robot concept confirms the implementation of all maneuvers. Results show that obstacles of previously unknown dimensions can be detected and reliably traversed.

Title of Book: Proceedings of the 9th International Particle Accelerator Conference
Place of Publication: Geneva
Publisher: JACoW Publishing
Classification DDC: 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: 9. International Particle Accelerator Conference (IPAC2018)
Event Location: Vancouver, Kanada
Event Dates: 29.04.-04.05.2018
Date Deposited: 07 Apr 2021 08:44
Last Modified: 07 Apr 2021 08:44
DOI: 10.26083/tuprints-00017646
Corresponding Links:
URN: urn:nbn:de:tuda-tuprints-176463
URI: https://tuprints.ulb.tu-darmstadt.de/id/eprint/17646
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