FUTURE DETECTORS ROBOTICS INTERFACES

Lorenzo Teofili, Corrado Gargiulo

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CERN 13 March 2020

PRESENTATION SUMMARY

Motivations and Goal of the R&D

Detector Main Automation Systems Interface

• Remote Manipulator System- RMS

• Services Umbilical Mechanism Assembly – SUMA

• On Detector Robot Systems - ODRS

• …

The Five-Year Project Plan

The Detailed One Year Project Plan

WHY ROBOTICS SOLUTIONS?

INTRODUCTION

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HIGH RADIATION ENVIRONMENT IN DETECTORSMOTIVATIONS OF THE R&D

The current CERN accelerator upgrading projects (HL-LHC) and the possible future accelerators for HEP (FCC as Example) are going towards higher beams intensities (number of particles in thebeam). This will increase the material activation and the consequent radiations, especially in the experimental detectors. Thus, in the future, installation maintenance handling and dismounting ofactivated materials in detectors will be done by automated systems to minimized the dose delivered to human operators.

Define New detector interfaces and services architectures for automated installation, maintainability and disposal.

THE MAIN AUTOMATION SYSTEMS

THE FIVE-YEARS PROJECT PLAN

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New must be designed to be easily maintained and possibly to maximize detectoraccessibility and . RMS, SUMA, ODRS.

EP/DT, C. Gargiulo, A.Onnela, A,Catinaccio, M.Jaekel , A. Perez, …EN/SMM/MRO M.DiCastro, …

TAMPERE UNV & EN/SMM/MRO, NASA, ESA,

Hardware construction for design validation, if the program will be extended

0.5 1 25

0.5 1 1 50

0.5 1 1 75

0.5 1 1 1000.5 1 1 100

2020

2021

2022

20232024

Deliverables

( LS3, HL, and beyond).

Reports, State of the art for robotic. Detectors maintenance req. Best practice design.

robotic system for detector’s remote handling andmaintenanceReport.

for (RMS, SUMA,ODRS)

Breadboard Model design

Engineering Model design

based on Engineering Model

THE FIVE –YEARS PROJECT PLAN

THE ONE-YEARS DETAILED PROJECT PLAN

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Main Tasks Year 1

HEP Detectors Interfaces to Robotic Systems J F M A M J J A S O N D

STATE OF THE ART

REQUIREMENTS

BEST PRACTICE DESIGN

D1

D3

D# =deliverables

at CERN:

at ITER, at ESA/NASA…

Ex of Remote Handling, Connection and Inspection in HEP…

D2

LHC LS3

LHC HL run

Beyond LHC

• Study LHC Experiments detectors and services layout• Study CMS, ATLAS detectors replacement/maintenance needs

Methods to ensure compatibility

Baseline strategies and design standards

Suitable Robotics System

Impact on Experiments layout

• Maintenance needs

Report on State of the art for robotic solutions in harsh environment

Report on Detectors maintenance requirementsin harsh environment

Report on Best Practice Design for HEP Detectors Interfaces to Robotic Systems

D1

D2

D3

• Experiment layouts• Maintenance needs

• IRHCoP ITER Remote Handling Code of Practice

• AMS_02 SUMA • ALICE ITS RMS• LHCB Velo RMS

• HL-LHC ITHACA

• KUKA,…

• Case Study FCC hh

…EN-SMM-MROLHC Exp

…

HEP Detectors Interfaces to Robotic Systems J F M A M J J A S O N D

STATE OF THE ART

REQUIREMENTS

BEST PRACTICE DESIGN

Main Tasks Year 1 D# =deliverables

Report on State of the art for robotic solutions in harsh environment

Report on Detectors maintenance requirementsin harsh environment

Report on Best Practice Design for HEP Detectors Interfaces to Robotic Systems

D1

D2

D3

Kick-off meeting

Meeting with ATLAS, CMS Tracker Engineers

Meeting with LHC Project Engineers

Meeting with FCC hh, HE LHC,…

Meeting with AMS

Visit NASA JSC Robotics

Meeting with ITHACA Collaboration

Visit ITER Project

Visit Robotics Industries (KUKA)

CERN EN NMO laboratory

ALICE (ITS inst), LHCb (Velo constr.)

…

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COLLABORATIONS AND RESOURCES

EN-SMM-MRO

NASA

ESA

Tampere University

University Of Sheffield

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ROBOTIC INTERVENTION IN THE TUNNEL IN THE CERNTAURO FRAMEWORKSOME ALREADY ACHIEVED RESULTS AT CERN

Images Courtesy of M. Di Castro, “A novel robotic framework for safe inspection and telemanipulation in hazardous and

unstructured environments”, Ph.D. thesis, 2019, University of Madrid

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REMOTE MANIPULATOR SYSTEM- RMSMAIN AUTOMATION SYSTEMS

At at the end of the FCC-hh operation, the dose rate levels 1 mSv/h in the entire tracker cavity values do not decrease significantly for 1 month or 1 year of cooling time. This radiation comes mainlyfrom the highly activated forward calorimeters, so an opening scenario must foresee an automated displacement of this object into a shielded garage or bunker in order to limit the dose for personnel.

FCC-hh

KUKA robotics NASA

Robots at CERN (EN-SMM-MRO)

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ON DETECTOR ROBOT SYSTEMS - ODRS

TIM: Built at CERN, used for inspection, radiation mapping of LHC

Telemax: environment inspection, teleoperation.

Un/screwingLHC TDE inspection

SPS TIDVC

Limit human intervention

forDetectors’ maintenance

MAIN AUTOMATION SYSTEMS

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SERVICES UMBILICAL MECHANISM ASSEMBLY - SUMA

Umbilical Mechanism Assembly (UMA)The UMA is the way the power is supplied from the ISS to AMS-02

ATLAS Pixel has 1 connector per module at PP0AMS_02 has 1 connector for the entire Experiment

MAIN AUTOMATION SYSTEMS

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EXAMPLES OF REPORTS

Example of an alignment system compatible with a robotic manipulator. The system is taught to have the desired alignment tolerances independently from the accuracy of the manipulator. Courtesy of ITER.

DELIVERIES

On the Alignment System an Electrical Connection Can Be Mounted To be Correctly Connected. Courtesy of ITER..

Robotic Handling Approved Connectors.Courtesy of ITHACA.

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A NEW RADIATION DOSE ESTIMATION TOOLTOOLS

“An Advanced Radiation Dose Estimation Tool

for Decommissioning of HEP Experiments”M.R.Jäkel, K.L. Veale

(CERN)A. Cryer, R. French, G. Kapellmann, H.Marin-

Reyes, (Sheffield)A. Steel (CERN

Summer Student)

THE MAIN AUTOMATION SYSTEMS

THANK YOU FOR YOUR ATTENTION

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BACKUP

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TRACKER CRYOTANK ROBOTICS NEW

COOLANTS

Year Staff

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Student

Funds

Staff

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Student

Funds

Staff

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Student

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Staff

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Student

Funds

2020

0.9

1 1 1500.5

1 250.5

1 25

2021

0.9

1 1 2000.5

1 500.5

1 1 500.2

1 75

2022

0.9

1 1 2000.5

1 750.5

1 1 750.2

1 25

2023

0.9

1 1 1000.5

1 750.5

1 1 1000.2

1 50

2024

0.9

1 1 1000.5

1 250.5

1 1 1000.2

1 50

tota 4.5 5 750

2.4 1 250

2.5 4 350

2.0 4 200