MEDSI2023 - List of Keywords (framework)

Paper	Title	Other Keywords	Page
TUPYP045	Usability Study to Qualify a Maintenance Robotic System for Large Scale Experimental Facility	experiment, target, radiation, hardware	93
	J.Y. Zhang, L. Kang IHEP, 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)

THPPP026	Motorized Universal Adjustment Platform for Micrometric Adjustment of Accelerator Components	alignment, luminosity, collider, hadron	316
	M.N. Noir, D.B. Baillard, P.B. Biedrawa, L. Gentini, J.W. Jasonek, F.-X. Nuiry, V. Rude, R. Seidenbinder, M. Sosin, K. Widuch CERN, Meyrin, Switzerland P.B. Biedrawa, J.W. Jasonek AGH University of Science and Technology, Kraków, Poland A. Gothe Aarhus University, Aarhus, Denmark
	In order to optimize alignment activities in a highly radioactive environment, the Geodetic Metrology Group at CERN has developed a standardized featuring 6 degree of freedom (DoF) Universal Adjustment Platform (UAP). After a first prototyping phase in 2021 with a manual UAP, the design has been consolidated and is now compatible with the installation of motorized actuators to form a remotely adjustable 5-6 DoF platform able to perform positioning with micrometre resolution. This paper presents the UAP and related motorized actuator development, elaborated in the frame of the High-Luminosity Large Hadron Collider project. The mechanical integration approach, design solutions, and test results are discussed.
	Poster THPPP026 [1.494 MB]
DOI •	reference for this paper ※ doi:10.18429/JACoW-MEDSI2023-THPPP026
About •	Received ※ 26 October 2023 — Revised ※ 03 November 2023 — Accepted ※ 07 November 2023 — Issued ※ 28 November 2023
Cite •	reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml)

Paper

Title

Other Keywords

Page

TUPYP045

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

experiment, target, radiation, hardware

93

J.Y. Zhang, L. Kang
IHEP, 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)

THPPP026

Motorized Universal Adjustment Platform for Micrometric Adjustment of Accelerator Components

alignment, luminosity, collider, hadron

316

M.N. Noir, D.B. Baillard, P.B. Biedrawa, L. Gentini, J.W. Jasonek, F.-X. Nuiry, V. Rude, R. Seidenbinder, M. Sosin, K. Widuch
CERN, Meyrin, Switzerland
P.B. Biedrawa, J.W. Jasonek
AGH University of Science and Technology, Kraków, Poland
A. Gothe
Aarhus University, Aarhus, Denmark

In order to optimize alignment activities in a highly radioactive environment, the Geodetic Metrology Group at CERN has developed a standardized featuring 6 degree of freedom (DoF) Universal Adjustment Platform (UAP). After a first prototyping phase in 2021 with a manual UAP, the design has been consolidated and is now compatible with the installation of motorized actuators to form a remotely adjustable 5-6 DoF platform able to perform positioning with micrometre resolution. This paper presents the UAP and related motorized actuator development, elaborated in the frame of the High-Luminosity Large Hadron Collider project. The mechanical integration approach, design solutions, and test results are discussed.

Poster THPPP026 [1.494 MB]

DOI •

reference for this paper ※ doi:10.18429/JACoW-MEDSI2023-THPPP026

About •

Received ※ 26 October 2023 — Revised ※ 03 November 2023 — Accepted ※ 07 November 2023 — Issued ※ 28 November 2023

Cite •

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