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RIS citation export for THPTS014: Visual Inspection of Curved Particle Accelerator Beam Pipes with a Modular Robot

AU  - Schweizer, N.
AU  - Pongrac, I.
ED  - Boland, Mark
ED  - Tanaka, Hitoshi
ED  - Button, David
ED  - Dowd, Rohan
ED  - Schaa, Volker RW
ED  - Tan, Eugene
TI  - Visual Inspection of Curved Particle Accelerator Beam Pipes with a Modular Robot
J2  - Proc. of IPAC2019, Melbourne, Australia, 19-24 May 2019
CY  - Melbourne, Australia
T2  - International Particle Accelerator Conference
T3  - 10
LA  - english
AB  - Inspecting ultra-high vacuum pipe systems of particle accelerators without disassembling the beam pipes is a complex challenge. In particular, curved sections of particle accelerators require a unique approach for the examination of the interior. For the planned heavy ion synchrotron SIS100 at FAIR, an inspection robot is currently under development, featuring an optical imaging system with which the robot can be navigated through the beam pipe. We present the current prototype, which is based on a modular snake-like robot with active wheels and joints. Due to the stipulated low movement velocity, it can be shown that a kinematic model is sufficient to control the robot whereas dynamical effects can be neglected. This concept is proven in experiments with the prototype. At the current development status, the robot is controlled manually by setting the velocity of the first module and its desired turning angle. In simulations we include a CAD model of a dipole chamber of the SIS100 and let an operator successfully navigate the robot through the beam pipe while only observing the camera image.
PB  - JACoW Publishing
CP  - Geneva, Switzerland
SP  - 4135
EP  - 4137
KW  - controls
KW  - dipole
KW  - experiment
KW  - vacuum
KW  - simulation
DA  - 2019/06
PY  - 2019
SN  - 978-3-95450-208-0
DO  - DOI: 10.18429/JACoW-IPAC2019-THPTS014
UR  - http://jacow.org/ipac2019/papers/thpts014.pdf
ER  -