Author: Gamper, H.
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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 icon 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
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