ICALEPCS2017 - List of Authors (Lunghi, G.)

Paper	Title	Page
TUPHA127	A Dual Arms Robotic Platform Control for Navigation, Inspection and Telemanipulation	709
	M. Di Castro, L. R. Buonocore, S.S. Gilardoni, R. Losito, G. Lunghi, A. Masi CERN, Geneva, Switzerland M. Ferre ETSII UPM, Madrid, Spain
	High intensity hadron colliders and fixed target experiments at CERN require an increasing amount of robotic tele-manipulation interventions to prevent and reduce excessive exposure of maintenance personnel to the radioactive environment. Tele-manipulation tasks are often required on dated radioactive devices which were not conceived to be maintained and handled using standard one arm robotic solutions. Robotic platforms with a level of dexterity that often requires using two robotic arms with a minimum of six degrees of freedom are instead needed for these purposes. In this paper, the control of a novel robust robotic platform able to host and to carry safely a dual-arms robotic system is presented. The arms and the vehicle controls are fully integrated in order to guarantee simplicity to the operators during the realization of the robotic tasks. A novel high-level control architecture for the new robot is shown, as well as a novel low-level safety layer for anti-collision and recovery scenarios. Preliminary results of the system commissioning are presented using CERN accelerator facilities as a use case.
	Poster TUPHA127 [5.742 MB]
DOI •	reference for this paper ※ https://doi.org/10.18429/JACoW-ICALEPCS2017-TUPHA127
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THPHA061	LHC Train Control System for Autonomous Inspections and Measurements	1507
	M. Di Castro, M.L. Baiguera Tambutti, S.S. Gilardoni, R. Losito, G. Lunghi, A. Masi CERN, Geneva, Switzerland
	Intelligent robotic systems are becoming essential for inspection and measurements in harsh environments, such as the European Organization for Nuclear Research (CERN) accelerators complex. Aiming at increasing safety and machine availability, robots can help to perform repetitive or dangerous tasks, reducing the risk for the personnel as the exposure to radiation. The Large Hadron Collider (LHC) tunnel at CERN has been equipped with fail-safe trains on monorail able to perform autonomously different missions as radiation survey, civil infrastructures monitoring through photogrammetry, fire detection as well as survey measurements of accelerator devices. In this paper, the entire control architecture and the design of the lowlevel control to fulfil the requirements and the challenges of the LHC tunnel are described. The train low-level control is based on a PLC controller that communicates with the surface via 4G through VPN, where a user-friendly graphical user interface allows the operation of the robot. The low-level controller includes a PLC fail-safe program to ensure the safety of the system. The results of the commissioning in the LHC are presented.
	Poster THPHA061 [3.686 MB]
DOI •	reference for this paper ※ https://doi.org/10.18429/JACoW-ICALEPCS2017-THPHA061
Export •	reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml)

Paper

Title

Page

A Dual Arms Robotic Platform Control for Navigation, Inspection and Telemanipulation

709

M. Di Castro, L. R. Buonocore, S.S. Gilardoni, R. Losito, G. Lunghi, A. Masi
CERN, Geneva, Switzerland
M. Ferre
ETSII UPM, Madrid, Spain

High intensity hadron colliders and fixed target experiments at CERN require an increasing amount of robotic tele-manipulation interventions to prevent and reduce excessive exposure of maintenance personnel to the radioactive environment. Tele-manipulation tasks are often required on dated radioactive devices which were not conceived to be maintained and handled using standard one arm robotic solutions. Robotic platforms with a level of dexterity that often requires using two robotic arms with a minimum of six degrees of freedom are instead needed for these purposes. In this paper, the control of a novel robust robotic platform able to host and to carry safely a dual-arms robotic system is presented. The arms and the vehicle controls are fully integrated in order to guarantee simplicity to the operators during the realization of the robotic tasks. A novel high-level control architecture for the new robot is shown, as well as a novel low-level safety layer for anti-collision and recovery scenarios. Preliminary results of the system commissioning are presented using CERN accelerator facilities as a use case.

Poster TUPHA127 [5.742 MB]

DOI •

reference for this paper ※ https://doi.org/10.18429/JACoW-ICALEPCS2017-TUPHA127

Export •

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

THPHA061

LHC Train Control System for Autonomous Inspections and Measurements

1507

M. Di Castro, M.L. Baiguera Tambutti, S.S. Gilardoni, R. Losito, G. Lunghi, A. Masi
CERN, Geneva, Switzerland

Intelligent robotic systems are becoming essential for inspection and measurements in harsh environments, such as the European Organization for Nuclear Research (CERN) accelerators complex. Aiming at increasing safety and machine availability, robots can help to perform repetitive or dangerous tasks, reducing the risk for the personnel as the exposure to radiation. The Large Hadron Collider (LHC) tunnel at CERN has been equipped with fail-safe trains on monorail able to perform autonomously different missions as radiation survey, civil infrastructures monitoring through photogrammetry, fire detection as well as survey measurements of accelerator devices. In this paper, the entire control architecture and the design of the lowlevel control to fulfil the requirements and the challenges of the LHC tunnel are described. The train low-level control is based on a PLC controller that communicates with the surface via 4G through VPN, where a user-friendly graphical user interface allows the operation of the robot. The low-level controller includes a PLC fail-safe program to ensure the safety of the system. The results of the commissioning in the LHC are presented.

Poster THPHA061 [3.686 MB]

DOI •

reference for this paper ※ https://doi.org/10.18429/JACoW-ICALEPCS2017-THPHA061

Export •

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