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RIS citation export for WE3AO06: Deployment and Operation of the Remotely Operated Accelerator Monitor (ROAM) Robot

TY  - CONF
AU  - Thayer, T.C.
AU  - Balakrishnan, N.
AU  - Montironi, M.A.
AU  - Ratti, A.
ED  - Schaa, Volker RW
ED  - Götz, Andy
ED  - Venter, Johan
ED  - White, Karen
ED  - Robichon, Marie
ED  - Rowland, Vivienne
TI  - Deployment and Operation of the Remotely Operated Accelerator Monitor (ROAM) Robot
J2  - Proc. of ICALEPCS2023, Cape Town, South Africa, 09-13 October 2023
CY  - Cape Town, South Africa
T2  - International Conference on Accelerator and Large Experimental Physics Control Systems
T3  - 19
LA  - english
AB  - Monitoring the harsh environment within an operating accelerator is a notoriously challenging problem. High radiation, lack of space, poor network connectivity, or extreme temperatures are just some of the challenges that often make ad-hoc, fixed sensor networks the only viable option. In an attempt to increase the flexibility of deploying different types of sensors on an as-needed basis, we have built upon the existing body of work in the field and developed a robotic platform to be used as a mobile sensor platform. The robot is constructed with the objective of minimizing costs and development time, strongly leveraging the use of Commercial-Off-The-Shelf (COTS) hardware and open-source software (ROS). Although designed to be remotely operated by a user, the robot control system incorporates sensors and algorithms for autonomous obstacle detection and avoidance. We have deployed the robot to a number of missions within the SLAC LCLS accelerator complex with the double objective of collecting data to assist accelerator operations and of gaining experience on how to improve the robustness and reliability of the platform. In this work we describe our deployment scenarios, challenges encountered, solutions implemented and future improvement plans. 
PB  - JACoW Publishing
CP  - Geneva, Switzerland
SP  - 1077
EP  - 1082
KW  - controls
KW  - software
KW  - radiation
KW  - hardware
KW  - network
DA  - 2024/02
PY  - 2024
SN  - 2226-0358
SN  - 978-3-95450-238-7
DO  - doi:10.18429/JACoW-ICALEPCS2023-WE3AO06
UR  - https://jacow.org/icalepcs2023/papers/we3ao06.pdf
ER  -