Train for RP survey and visual inspection in LHC RadWG meeting - 8th May 2013 Bruno FERAL EDMS:...

Train for RP survey and visual inspection in LHC

RadWG meeting - 8th May 2013

Bruno FERAL

EDMS: 1284415

Section EN-HE-HT

B. Feral2

Our main task:

Design and development of remote handling equipment for interventions in radioactive areas at CERN.

The TIM* 30 x 30: a remote controlled inspection vehicle for LHC tunnel :

• Radiation + oxygen measurements• Visual Inspection with cameras (HD, infrared, etc) • Autonomous: Battery powered• Additional payload on demand

3

30cm

30cm

*TIM: Train Inspection Monorail

8 May 2013B. Feral - RadWG meeting

Outline

Mission of TIM series

TIM main characteristics

TIM tests in LHC early 2013

TIM components

4 8 May 2013B. Feral - RadWG meeting

Development of TIM pre-series and series

To provide remote inspections, radiological surveys in the entire LHC tunnel when the machine is not in access mode.

Establish a reliable service that is fully automated and fully integrated in the LHC operational procedures and controls software and contributes to the full exploitation of the physics potential of the LHC.

5

Mission:


Outline




TIM components


7

TIM 30-30: main characteristics

• Visual Inspection • Radiation + oxygen measurements• Parks in P5 by-pass• Pass from P5 - P2 and from P5 - P8• Max speed 8km/h• Control from CERN Control Centre


8

General view looking upstream (low resolution)

TIM 30-30 visual inspection of DFBM


9




RP Data transmission system

RP wagon

PCMX sensor«Dose rate

value»

Ethernet

NI Compact RIO ETIC 3G Modem

Ethernet

ETIC 3G Modem

Laptop reception data


http://www.google.ch/url?sa=i&source=images&cd=&cad=rja&docid=VzqGY6DSTeg9YM&tbnid=YRZUyHqvxbmLyM:&ved=0CAgQjRwwAA&url=http://www.ni.com/white-paper/8151/fr&ei=MWovUZzwCI_14QTktYDYAQ&psig=AFQjCNHU1B0GA3sPhyNlLD3WaDATBgtYlA&ust=1362148273187069

http://www.google.ch/url?sa=i&rct=j&q=&esrc=s&frm=1&source=images&cd=&cad=rja&docid=AerHOQ6gVUucOM&tbnid=KYsmrS7jjIysSM:&ved=0CAUQjRw&url=http://images-et-photos.com/ordinateur-pc-portable.html&ei=X28vUcrXCMKdtQaUl4HABg&bvm=bv.42965579,d.Yms&psig=AFQjCNFbOCLnRHfQ-PTgpf6PCg10JRvXFQ&ust=1362149591154980

11




Current situation: 1 train & 1 garage

Point 5 by pass is a natural garage for TIM.

12

TIM


Train1

Train2 Train3

Train4

Proposal: 4 trains & 4 garages:

2 new garages shall be built on each side of point 1. It shall be possible to dismantle them during technical stop or shutdown.


14




15

TIM 30-30 CCC operation


16

Communication network


Surface

Tunnel LHC

TIM 30 x 30

Leaky feeder cable installed in the LHC tunnel – Sunrise network

Modem Sunrise network

Modem

(CCC/CCR)

Surface (CCC/CCR)

Tunnel LHC

Train

Cable rayonnant installé dans tout le tunnel – réseau Sunrise

PLC Siemenscontrol

RadiationData acquisition

WebcamAxis 213

IPL-3G IPL-3G IPL-G12 IPL-G12

PC control

PC vision

PC acquisition données Radiation

PLC Siemenscontrol

IPL-3G réseau Sunrise

Internet

IPL-G12réseau Sunrise

6

1

2

3 4 5

VPN to 4

VPN to 5

VPN to 1 VPN to 2

Vers modems 3 et 6

WebcamAxis 213

Com

mu

nic

ati

on

Netw

ork

in

more

deta

ils

8 May 2013B. Feral - RadWG meeting17

18

TIM control: phone & computer network

Upgraded to UMTSUpgraded to UMTS Upgraded to UMTS

Upgraded to UMTS

Upgraded to UMTS


Outline




TIM components


Results of tests in LHC:

• Basic functionalities for the vehicle confirmed and tested.

• Basic RP survey functionality available and tested.

• TIM was operational for 20 days in LHC.• 12 successful surveys from point 5.• Number of hours of operation: 22 hours and 22

minutes.• Total distance covered during the tests: 48 km.• Time needed to survey a sector : 2 hours and 15

minutes• Almost 100% availability !

Start/End



DS R5

ARC

DS L6


RA47 – UJ47 UJ62

LSS5L & Collimator

Outline




TIM components


TIM components

Motor wagon

Reconnaissance wagon

RP wagon Battery wagon

Control wagon

10.2 meters

Bar

code r

eader

posi

tion

8.84 meters 1.36 meters


Motor Wagon

SSD Parvex gearbox + Hengstler incremental encoder

Ethernet

Ethernet


Waldmann LED operation unit


Reconnaissance Wagon

Ethernet

Motor wagon RP wagon


RP Wagon

Ethernet


Battery wagon

PCMX sensor«Dose rate value»

Ethernet

NI Compact RIO ETIC 3G Modem

VEXTA Brushless DC motor – movingthe arm

RP arm


http://www.google.ch/url?sa=i&source=images&cd=&cad=rja&docid=VzqGY6DSTeg9YM&tbnid=YRZUyHqvxbmLyM:&ved=0CAgQjRwwAA&url=http://www.ni.com/white-paper/8151/fr&ei=MWovUZzwCI_14QTktYDYAQ&psig=AFQjCNHU1B0GA3sPhyNlLD3WaDATBgtYlA&ust=1362148273187069

Battery Wagon

Ethernet

RP wagon Control wagon

Current transducer

Voltage

Battery controller

+24V 0V


Control Wagon

Ethernet

Battery wagon

Remote switch

Waldmann LED operation unit

PXT-10 Temperature converter

Battery charger

Ethernet

WiFi


Train for RP survey and visual inspection in LHC RadWG meeting - 8th May 2013 Bruno FERAL EDMS:...

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