ICALEPCS2023 - List of Authors (Di Castro, M.)

Paper	Title	Page
MO3AO07	Control Design Optimisations of Robots for the Maintenance and Inspection of Particle Accelerators	153
	A. Díaz Rosales, M. Di Castro, H. Gamper CERN, Meyrin, Switzerland
	Automated maintenance and inspection systems have become increasingly important over the last decade for the availability of the accelerators at CERN. This is mainly due to improvements in robotic perception, control and cognition and especially because of the rapid advancement in artificial intelligence. The robotic service at CERN performed the first interventions in 2014 with robotic solutions from external companies. However, it soon became clear that a customized platform needed to be developed in order to satisfy the needs and in order to efficiently navigate through the cluttered, semi-structured environment. This led to the formation of a robotic fleet of about 20 different robotic systems that are currently active at CERN. In order to increase the efficiency and robustness of robotic platforms for future accelerators it is necessary to consider robotic interventions at the early design phase of such machines. Task specific solutions tailored to the specific needs can then be designed, which in general show higher efficiency than multipurpose industrial robotic systems. This paper presents current advances in the design and development of task specific robotic system for maintenance and inspection in particle accelerators, taking the 100 km long Future Circular Collider main tunnel as a use case. The requirements on such a robotic system, including the applied control strategies, are shown, as well as the optimization of the topology and geometry of the robotic system itself.
	Slides MO3AO07 [3.560 MB]
DOI •	reference for this paper ※ doi:10.18429/JACoW-ICALEPCS2023-MO3AO07
About •	Received ※ 29 September 2023 — Revised ※ 10 October 2023 — Accepted ※ 14 November 2023 — Issued ※ 26 November 2023
Cite •	reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml)

TUMBCMO25	Operational Controls for Robots Integrated in Accelerator Complexes	423
	S.F. Fargier, M. Donzé European Organization for Nuclear Research (CERN), Geneva, Switzerland M. Di Castro CERN, Meyrin, Switzerland
	The fourth industrial revolution, the current trend of automation and data interconnection in industrial technologies, is becoming an essential tool to boost maintenance and availability for space applications, warehouse logistics, particle accelerators and for harsh environments in general. The main pillars of Industry 4.0 are Internet of Things (IoT), Wireless Sensors, Cloud Computing, Artificial Intelligence (AI), Machine Learning and Robotics. We are finding more and more way to interconnect existing processes using technology as a connector between machines, operations, equipment and people. Facility maintenance and operation is becoming more streamlined with earlier notifications, simplifying the control and monitor of the operations. Core to success and future growth in this field is the use of robots to perform various tasks, particularly those that are repetitive, unplanned or dangerous, which humans either prefer to avoid or are unable to carry out due to hazards, size constraints, or the extreme environments in which they take place. To be operated in a reliable way within particle accelerator complexes, robot controls and interfaces need to be included in the accelerator control frameworks, which is not obvious when movable systems are operating within a harsh environment. In this paper, the operational controls for robots at CERN is presented. Current robot controls at CERN will be detailed and the use case of the Train Inspection Monorail robot control will be presented.
	Slides TUMBCMO25 [47.070 MB]
	Poster TUMBCMO25 [2.228 MB]
DOI •	reference for this paper ※ doi:10.18429/JACoW-ICALEPCS2023-TUMBCMO25
About •	Received ※ 05 October 2023 — Revised ※ 29 November 2023 — Accepted ※ 11 December 2023 — Issued ※ 16 December 2023
Cite •	reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml)

TH2BCO04	SAMbuCa: Sensors Acquisition and Motion Control Framework at CERN	1179
	A. Masi, O.Ø. Andreassen, M. Arruat, M. Di Castro, R. Ferraro, I. Kozsar, E.W. Matheson, J.P. Palluel, P. Peronnard, J. Serrano, J. Tagg, F. Vaga, E. Van der Bij CERN, Meyrin, Switzerland S. Danzeca, M. Donzé, S.F. Fargier, M. Gulin, E. Soria European Organization for Nuclear Research (CERN), Geneva, Switzerland
	Motion control systems at CERN often have challenging requirements, such as high precision in extremely radioactive environments with millisecond synchronization. These demanding specifications are particularly relevant for Beam Intercepting Devices (BIDs) such as the collimators of the Large Hadron Collider (LHC). Control electronics must be installed in safe areas, hundreds of meters away from the sensors and actuators while conventional industrial systems only work with cable lengths up to a few tens of meters. To address this, several years of R&D have been committed to developing a high precision motion control system. This has resulted in specialized radiation-hard actuators, new sensors, novel algorithms and actuator control solutions capable of operating in this challenging environment. The current LHC Collimator installation is based on off-the-shelf components from National Instruments. During the Long Shutdown 3 (LS3 2026-2028), the existing systems will be replaced by a new high-performance Sensors Acquisition and Motion Control system (SAMbuCa). SAMbuCa represents a complete, in-house developed, flexible and modular solution, able to cope with the demanding requirements of motion control at CERN, and incorporating the R&D achievements and operational experience of the last 15 years controlling more than 1200 axes at CERN. In this paper, the hardware and software architectures, their building blocks and design are described in detail.
	Slides TH2BCO04 [5.775 MB]
DOI •	reference for this paper ※ doi:10.18429/JACoW-ICALEPCS2023-TH2BCO04
About •	Received ※ 05 October 2023 — Revised ※ 12 October 2023 — Accepted ※ 19 December 2023 — Issued ※ 20 December 2023
Cite •	reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml)

Paper

Title

Page

Control Design Optimisations of Robots for the Maintenance and Inspection of Particle Accelerators

153

A. Díaz Rosales, M. Di Castro, H. Gamper
CERN, Meyrin, Switzerland

Automated maintenance and inspection systems have become increasingly important over the last decade for the availability of the accelerators at CERN. This is mainly due to improvements in robotic perception, control and cognition and especially because of the rapid advancement in artificial intelligence. The robotic service at CERN performed the first interventions in 2014 with robotic solutions from external companies. However, it soon became clear that a customized platform needed to be developed in order to satisfy the needs and in order to efficiently navigate through the cluttered, semi-structured environment. This led to the formation of a robotic fleet of about 20 different robotic systems that are currently active at CERN. In order to increase the efficiency and robustness of robotic platforms for future accelerators it is necessary to consider robotic interventions at the early design phase of such machines. Task specific solutions tailored to the specific needs can then be designed, which in general show higher efficiency than multipurpose industrial robotic systems. This paper presents current advances in the design and development of task specific robotic system for maintenance and inspection in particle accelerators, taking the 100 km long Future Circular Collider main tunnel as a use case. The requirements on such a robotic system, including the applied control strategies, are shown, as well as the optimization of the topology and geometry of the robotic system itself.

Slides MO3AO07 [3.560 MB]

DOI •

reference for this paper ※ doi:10.18429/JACoW-ICALEPCS2023-MO3AO07

About •

Received ※ 29 September 2023 — Revised ※ 10 October 2023 — Accepted ※ 14 November 2023 — Issued ※ 26 November 2023

Cite •

reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml)

TUMBCMO25

Operational Controls for Robots Integrated in Accelerator Complexes

423

S.F. Fargier, M. Donzé
European Organization for Nuclear Research (CERN), Geneva, Switzerland
M. Di Castro
CERN, Meyrin, Switzerland

The fourth industrial revolution, the current trend of automation and data interconnection in industrial technologies, is becoming an essential tool to boost maintenance and availability for space applications, warehouse logistics, particle accelerators and for harsh environments in general. The main pillars of Industry 4.0 are Internet of Things (IoT), Wireless Sensors, Cloud Computing, Artificial Intelligence (AI), Machine Learning and Robotics. We are finding more and more way to interconnect existing processes using technology as a connector between machines, operations, equipment and people. Facility maintenance and operation is becoming more streamlined with earlier notifications, simplifying the control and monitor of the operations. Core to success and future growth in this field is the use of robots to perform various tasks, particularly those that are repetitive, unplanned or dangerous, which humans either prefer to avoid or are unable to carry out due to hazards, size constraints, or the extreme environments in which they take place. To be operated in a reliable way within particle accelerator complexes, robot controls and interfaces need to be included in the accelerator control frameworks, which is not obvious when movable systems are operating within a harsh environment. In this paper, the operational controls for robots at CERN is presented. Current robot controls at CERN will be detailed and the use case of the Train Inspection Monorail robot control will be presented.

Slides TUMBCMO25 [47.070 MB]

Poster TUMBCMO25 [2.228 MB]

DOI •

reference for this paper ※ doi:10.18429/JACoW-ICALEPCS2023-TUMBCMO25

About •

Received ※ 05 October 2023 — Revised ※ 29 November 2023 — Accepted ※ 11 December 2023 — Issued ※ 16 December 2023

Cite •

reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml)

TH2BCO04

SAMbuCa: Sensors Acquisition and Motion Control Framework at CERN

1179

A. Masi, O.Ø. Andreassen, M. Arruat, M. Di Castro, R. Ferraro, I. Kozsar, E.W. Matheson, J.P. Palluel, P. Peronnard, J. Serrano, J. Tagg, F. Vaga, E. Van der Bij
CERN, Meyrin, Switzerland
S. Danzeca, M. Donzé, S.F. Fargier, M. Gulin, E. Soria
European Organization for Nuclear Research (CERN), Geneva, Switzerland

Motion control systems at CERN often have challenging requirements, such as high precision in extremely radioactive environments with millisecond synchronization. These demanding specifications are particularly relevant for Beam Intercepting Devices (BIDs) such as the collimators of the Large Hadron Collider (LHC). Control electronics must be installed in safe areas, hundreds of meters away from the sensors and actuators while conventional industrial systems only work with cable lengths up to a few tens of meters. To address this, several years of R&D have been committed to developing a high precision motion control system. This has resulted in specialized radiation-hard actuators, new sensors, novel algorithms and actuator control solutions capable of operating in this challenging environment. The current LHC Collimator installation is based on off-the-shelf components from National Instruments. During the Long Shutdown 3 (LS3 2026-2028), the existing systems will be replaced by a new high-performance Sensors Acquisition and Motion Control system (SAMbuCa). SAMbuCa represents a complete, in-house developed, flexible and modular solution, able to cope with the demanding requirements of motion control at CERN, and incorporating the R&D achievements and operational experience of the last 15 years controlling more than 1200 axes at CERN. In this paper, the hardware and software architectures, their building blocks and design are described in detail.

Slides TH2BCO04 [5.775 MB]

DOI •

reference for this paper ※ doi:10.18429/JACoW-ICALEPCS2023-TH2BCO04

About •

Received ※ 05 October 2023 — Revised ※ 12 October 2023 — Accepted ※ 19 December 2023 — Issued ※ 20 December 2023

Cite •

reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml)