ROAM: A Remotely Operated Accelerator Monitor

Thomas C. Thayer, M. A. Montironi, A. Ratti
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Abstract

Monitoring accelerators in operation is a wellknown challenge due to the radiation environment. However, there are significant benefits in being able to deploy particular sensors in specific locations of accelerator enclosures for monitoring or troubleshooting purposes. Learning from experience at other labs, we used Commercial Off The Shelf (COTS) components and an open source robot control software framework (ROS) to build a remotely controlled robot platform including a standard suite of instruments such as cameras, LIDAR, and ultrasound, with the ability to incorporate other ad-hoc sensors for specific measurements, such as a Gamma radiation monitor. Special attention was given to the robot's ability to maintain safety in the high risk environment of an accelerator, with multiple failure contingencies in place to ensure collision free operation. Testing was performed to prove the platform's viability and showcase its capability for accelerator monitoring.
漫游:远程操作的加速器监视器
由于辐射环境,监测运行中的加速器是一个众所周知的挑战。然而,能够在加速器外壳的特定位置部署特定传感器以进行监控或故障排除,这有很大的好处。借鉴其他实验室的经验,我们使用商用现货(COTS)组件和开源机器人控制软件框架(ROS)来构建远程控制机器人平台,包括一套标准仪器,如相机、激光雷达和超声波,并能够结合其他特定测量的专用传感器,如伽马辐射监视器。特别关注的是机器人在加速器的高风险环境中保持安全的能力,并有多种故障应急措施,以确保无碰撞操作。测试证明了该平台的可行性,并展示了其加速器监测能力。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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