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

Schweizer, Nicolai ; Pongrac, Ivan (2020)
Visual Inspection of Curved Particle Accelerator Beam Pipes with a Modular Robot.
10th International Particle Accelerator Conference. Melbourne, Australien (19.-24.05.2019)
doi: 10.25534/tuprints-00014326
Conference or Workshop Item, Secondary publication, Publisher's Version

Copyright Information: CC BY 3.0 de - Creative Commons, Attribution.

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Item Type: Conference or Workshop Item
Type of entry: Secondary publication
Title: Visual Inspection of Curved Particle Accelerator Beam Pipes with a Modular Robot
Language: English
Date: 30 November 2020
Place of Publication: Darmstadt
Year of primary publication: 2019
Place of primary publication: Bristol
Publisher: JACoW Publishing
Issue Number: 10
Book Title: 10th International Particle Accelerator Conference
Series: Journal of physics. Conference Series
Series Volume: 1350
Event Title: 10th International Particle Accelerator Conference
Event Location: Melbourne, Australien
Event Dates: 19.-24.05.2019
DOI: 10.25534/tuprints-00014326
Corresponding Links:
Origin: Secondary publication service

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.

Uncontrolled Keywords: controls, dipole, experiment, vacuum, simulation
Status: Publisher's Version
URN: urn:nbn:de:tuda-tuprints-143262
Classification DDC: 600 Technology, medicine, applied sciences > 600 Technology
600 Technology, medicine, applied sciences > 620 Engineering and machine engineering
Divisions: 18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik > Control Methods and Robotics (from 01.08.2022 renamed Control Methods and Intelligent Systems)
Date Deposited: 30 Nov 2020 13:14
Last Modified: 20 Oct 2023 10:59
URI: https://tuprints.ulb.tu-darmstadt.de/id/eprint/14326
PPN: 474394719
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