MEDSI2023 - List of Authors (Liu, R.H.)

Paper	Title	Page
TUPYP045	Usability Study to Qualify a Maintenance Robotic System for Large Scale Experimental Facility	93
	J.Y. Zhang, L. Kang IHEP, Beijing, People’s Republic of China J.X. Chen, R.H. Liu, J.B. Yu IHEP CSNS, Guangdong Province, People’s Republic of China J.Y. Zhang UCAS, Beijing, People’s Republic of China
	Funding: This work was supported by the National Natural Science Foundation of China (NSFC)[E0113T5C10],and the Institute for High Energy Physics University of Chinese Academy of Sciences. The primary stripper foil device is one of the most critical devices of The China Spallation Neutron Source Project Phase-II (CSNS-II), which requires regular foil replacement maintenance to ensure its stable operation. To mitigate the potential hazards posed to workers by prolonged exposure to high levels of radiation, a maintenance robotic system has been developed to perform repetitive and precise foil changing task. The proposed framework encompasses various aspects of the robotic system, including hardware structure, target detection, manipulator kinematics design, and system construction. The correctness and efficiency of the sys-tem are demonstrated through simulations carried out using ROS Moveit! and GAZEBO.
DOI •	reference for this paper ※ doi:10.18429/JACoW-MEDSI2023-TUPYP045
About •	Received ※ 24 October 2023 — Revised ※ 04 November 2023 — Accepted ※ 10 November 2023 — Issued ※ 28 January 2024
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THPPP005	Development of a Vacuum Chamber Disassembly and Assembly Handcart	277
	X.J. Nie, J.X. Chen, H.Y. He, L. Liu, R.H. Liu, C.J. Ning, G.Y. Wang, J.B. Yu, Y.J. Yu, J.S. Zhang IHEP CSNS, Guangdong Province, People’s Republic of China L. Kang IHEP, Beijing, People’s Republic of China
	This paper developed a dedicated disassembly and assembly handcart for CSNS magnetic alloy cavity vacuum chamber. The optimal supporting section structure was determined by the use of ANSYS to analyze the strength of different sections. The stress situation of the handcart was improved by adding an extension rod at the end of the handcart. The installation position of the handcart was determined by the center position of the associated equipment. The development of the disassembly and assembly handcart structure was completed through structural optimization, disassembly and assembly process analysis, and positioning scheme design. The development of a handcart can improve the positioning accuracy of the vacuum chamber and prevent damage to the vacuum chamber during disassembly and assembly process.
DOI •	reference for this paper ※ doi:10.18429/JACoW-MEDSI2023-THPPP005
About •	Received ※ 24 October 2023 — Revised ※ 06 November 2023 — Accepted ※ 09 November 2023 — Issued ※ 18 November 2023
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THPPP034	Research on the Identification Method of Micro-Vibration Harmonic Signal Based on Kurtosis
	R.H. Liu, G.Y. Wang Institute of High Energy Physics, CAS, Guangdong, People’s Republic of China L. Kang IHEP, Beijing, People’s Republic of China L. Liu, J.S. Zhang IHEP CSNS, Guangdong Province, People’s Republic of China
	Large synchrotron radiation equipment works in complex microvibration environment which includes random vibration and periodic harmonic vibration signals. The harmonic signal will affect the identification of the working mode of the structure, and the identification of the harmonic signal can be used as the identification of the micro-vibration source. In this paper, according to the difference between the statistical characteristics of the system response and the harmonic response, a kurtosis value method based on random variable is applied to identify the harmonic response. The effectiveness of the method is verified by the simulation and the vibration data results of Shenzhen Sager Tower, which provides a new method for eliminating the influence of harmonic response in the following working modal parameter identification and vibration source identification of synchrotron radiation device. Microvibration, Kurtosis value, Harmonic excitation, Modal parameter identification
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Paper

Title

Page

Usability Study to Qualify a Maintenance Robotic System for Large Scale Experimental Facility

93

J.Y. Zhang, L. Kang
IHEP, Beijing, People’s Republic of China
J.X. Chen, R.H. Liu, J.B. Yu
IHEP CSNS, Guangdong Province, People’s Republic of China
J.Y. Zhang
UCAS, Beijing, People’s Republic of China

Funding: This work was supported by the National Natural Science Foundation of China (NSFC)[E0113T5C10],and the Institute for High Energy Physics University of Chinese Academy of Sciences.
The primary stripper foil device is one of the most critical devices of The China Spallation Neutron Source Project Phase-II (CSNS-II), which requires regular foil replacement maintenance to ensure its stable operation. To mitigate the potential hazards posed to workers by prolonged exposure to high levels of radiation, a maintenance robotic system has been developed to perform repetitive and precise foil changing task. The proposed framework encompasses various aspects of the robotic system, including hardware structure, target detection, manipulator kinematics design, and system construction. The correctness and efficiency of the sys-tem are demonstrated through simulations carried out using ROS Moveit! and GAZEBO.

DOI •

reference for this paper ※ doi:10.18429/JACoW-MEDSI2023-TUPYP045

About •

Received ※ 24 October 2023 — Revised ※ 04 November 2023 — Accepted ※ 10 November 2023 — Issued ※ 28 January 2024

Cite •

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

THPPP005

Development of a Vacuum Chamber Disassembly and Assembly Handcart

277

X.J. Nie, J.X. Chen, H.Y. He, L. Liu, R.H. Liu, C.J. Ning, G.Y. Wang, J.B. Yu, Y.J. Yu, J.S. Zhang
IHEP CSNS, Guangdong Province, People’s Republic of China
L. Kang
IHEP, Beijing, People’s Republic of China

This paper developed a dedicated disassembly and assembly handcart for CSNS magnetic alloy cavity vacuum chamber. The optimal supporting section structure was determined by the use of ANSYS to analyze the strength of different sections. The stress situation of the handcart was improved by adding an extension rod at the end of the handcart. The installation position of the handcart was determined by the center position of the associated equipment. The development of the disassembly and assembly handcart structure was completed through structural optimization, disassembly and assembly process analysis, and positioning scheme design. The development of a handcart can improve the positioning accuracy of the vacuum chamber and prevent damage to the vacuum chamber during disassembly and assembly process.

DOI •

reference for this paper ※ doi:10.18429/JACoW-MEDSI2023-THPPP005

About •

Received ※ 24 October 2023 — Revised ※ 06 November 2023 — Accepted ※ 09 November 2023 — Issued ※ 18 November 2023

Cite •

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

THPPP034

Research on the Identification Method of Micro-Vibration Harmonic Signal Based on Kurtosis

R.H. Liu, G.Y. Wang
Institute of High Energy Physics, CAS, Guangdong, People’s Republic of China
L. Kang
IHEP, Beijing, People’s Republic of China
L. Liu, J.S. Zhang
IHEP CSNS, Guangdong Province, People’s Republic of China

Large synchrotron radiation equipment works in complex microvibration environment which includes random vibration and periodic harmonic vibration signals. The harmonic signal will affect the identification of the working mode of the structure, and the identification of the harmonic signal can be used as the identification of the micro-vibration source. In this paper, according to the difference between the statistical characteristics of the system response and the harmonic response, a kurtosis value method based on random variable is applied to identify the harmonic response. The effectiveness of the method is verified by the simulation and the vibration data results of Shenzhen Sager Tower, which provides a new method for eliminating the influence of harmonic response in the following working modal parameter identification and vibration source identification of synchrotron radiation device.
Microvibration, Kurtosis value, Harmonic excitation, Modal parameter identification

Cite •

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