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LHC Collimator Survey Train Concept / Development / Status Patrick Bestmann CERN BE/ABP/SU IWAA2010 14/09/2010 Remote Controlled Measurements in the LHC
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LHC Collimator Survey Train
Concept / Development / Status
Patrick BestmannCERN BE/ABP/SU
IWAA2010 14/09/2010
Remote Controlled Measurements in the LHC
Overview
1
•Motivation
•Task Definition
2
•The Train
•The Concept
3
•Sensor Systems
•Calculations
4
•Operation
•Status
Remanent dose rate map between D4 and Q5 after 180 days of continious operation with one month of cooling time
Motivation
MotivationTask Definition
The TrainThe Concept
Sensor Systems
Calculations
OperationStatus
Significant activation of material by the beam cleaning process in Point 3 and 7
High Dose rates for peronnel in Place (4mSv/h)
500m of Beamline concerned at Point 7 26 Quadrupoles and 37 Collimators Conventional measurements ~90h
Control of the Collimator Alignment using a remote controlled system
Motivation
MotivationTask Definition
The TrainThe Concept
Sensor Systems
Calculations
OperationStatus
Task definition
MotivationTask Definition
The TrainThe Concept
Sensor Systems
Calculations
OperationStatus
Control of the collimator alignment in vertical and horizontal direction
Relative to the neigbouring quadrupoles Requested precision 0.2 mm Respecting the ALARA principle (As Low As
Reasonably Achievable)
How to bring the equipment in place? Train based on the modular TIM concept Train for visual inspections
Traction Module Battery Module Sensor Module Control Module
The train is controlled either by the user Interface or the measurement program
„TIM“ Train Inspection Monorail
MotivationTask Definition
The TrainThe Concept
Sensor Systems
Calculations
OperationStatus
„TIM“ Train Inspection Monorail
Sensor unit
Control unit
Battery unit
Traction unit
MotivationTask Definition
The TrainThe Concept
Sensor Systems
Calculations
OperationStatus
Digital close range photogrammetry Fast and non contact measurement of the
activated collimators Wire offset measurements to detect train position
and link the different aquisition volumes. Reliable straight reference over long distances Precise model for the wire sag is needed
Concept
Quad Quad
Collimators
MotivationTask Definition
The TrainThe Concept
Sensor Systems
Calculations
OperationStatus
Concept
MotivationTask Definition
The TrainThe Concept
Sensor Systems
Calculations
OperationStatus
Cameras
Targets
Wire Sensor
Collimator
Quad Quad
Inclination sensor
Targets
External lights
Reference Pin
Wire
MotivationTask Definition
The TrainThe Concept
Sensor Systems
Calculations
OperationStatus
Concept
AEROEL XLS35-XY laser micrometer as wire measurement system Open sensor configuration Large field of view 35mm Commercial on the market
AICON MoveInspect HR Photogrammetric system WYLER Zerotronic Inclination Sensors
Sensors
MotivationTask Definition
The TrainThe Concept
Sensor Systems
Calculations
OperationStatus
Optical Laser Micrometer Measurement of dark/light transistions Relative position of 2 wires to the reference pin 200Hz aquisition frequency Linearity of ±2.5µm Repeatability of ±2µm
XLS-35 Micrometer
MotivationTask Definition
The TrainThe Concept
Sensor Systems
Calculations
OperationStatus
Photogrammetric System
MoveInspect HR
Commercial Photogrammetric system AICON MoveInspect HR
4 AVT Marlin F-201B Cameras in industrial housing
Syncbox Calibration Panel MoveInspect HR software Custom modifications
MotivationTask Definition
The TrainThe Concept
Sensor Systems
Calculations
OperationStatus
Single shot synchronised aquisition Automatic image measurement and calculations We obtain a set of 3D coordinates with identified
point groups for collimator and wire sensor systems
No simultaneous calibration; adjusted intersections
MotivationTask Definition
The TrainThe Concept
Sensor Systems
Calculations
OperationStatus
Photogrammetric System
Targets
Retro targets are sensitive to radiation Use of non retro targets
Production of special aluminium targets whole body made of black matt aluminium with light grey aluminium insert
MotivationTask Definition
The TrainThe Concept
Sensor Systems
Calculations
OperationStatus
Calculations
3 different coordiante systems Left arm with measured wire Right arm with measured wire Photogrammetric system with arms and
collimator 7P transformations of the arm systems into
the photo system Axis alignment to the wire using 3
translations and 2 rotations Rotation of the y axis (wire axis) using the
measured inclination of the two arms
MotivationTask Definition
The TrainThe Concept
Sensor Systems
Calculations
OperationStatus
Systems
Camera System
Arm System
MotivationTask Definition
The TrainThe Concept
Sensor Systems
Calculations
OperationStatus
Results are 3D coodinates for each collimator and quadrupole in following coordinate system:
Aligned with the inclined wire Z axis in a vertical plane
Generating LGC++ file using the x coordinates as horizontal offsets using the z coordinates as vertical distances
(reduced by the slope and the wire sag) Online LGC++ calculation and comparison with
theoretical values
MotivationTask Definition
The TrainThe Concept
Sensor Systems
Calculations
OperationStatus
Operation
Autonomous system after the startup procedure Startup; Calibration; Sequence definition
Controlled by the LabView Software Sequencer running on the train Remote Panel informing the operator
MotivationTask Definition
The TrainThe Concept
Sensor Systems
Calculations
OperationStatus
Status
Sensorsystems are running All Subroutines are running Tunnelinstallation completed
Finalising Software Finalising Hardware configuration Tests.....
MotivationTask Definition
The TrainThe Concept
Sensor Systems
Calculations
OperationStatus
