Train for RP survey and visual inspection in LHC

RadWG meeting - 8th May 2013Bruno 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 Monorail8 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:

8 May 2013B. Feral - RadWG meeting

Outline

Mission of TIM series

TIM main characteristics

TIM tests in LHC early 2013

TIM components

6 8 May 2013B. Feral - RadWG meeting

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 May 2013B. Feral - RadWG meeting

8

General view looking upstream (low resolution)

TIM 30-30 visual inspection of DFBM

8 May 2013B. Feral - RadWG meeting

9

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 May 2013B. Feral - RadWG meeting

RP Data transmission systemRP wagon

PCMX sensor«Dose rate

value»

Ethernet

NI Compact RIO ETIC 3G Modem

Ethernet

ETIC 3G Modem

Laptop reception data

10 8 May 2013B. Feral - RadWG meeting

11

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 May 2013B. Feral - RadWG meeting

Current situation: 1 train & 1 garagePoint 5 by pass is a natural garage for TIM.

12

TIM

8 May 2013B. Feral - RadWG meeting

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.

13 8 May 2013B. Feral - RadWG meeting

14

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 May 2013B. Feral - RadWG meeting

15

TIM 30-30 CCC operation

8 May 2013B. Feral - RadWG meeting

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Communication network

8 May 2013B. Feral - RadWG meeting

SurfaceTunnel 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 LHCTrain

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-G12 réseau 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

mun

icatio

n Ne

twor

k in

mor

e de

tails

8 May 2013B. Feral - RadWG meeting17

18

TIM control: phone & computer network

Upgraded to UMTS Upgraded to UMTS Upgraded to UMTS

Upgraded to UMTS

Upgraded to UMTS

8 May 2013B. Feral - RadWG meeting

Outline

Mission of TIM series

TIM main characteristics

TIM tests in LHC early 2013

TIM components

19 8 May 2013B. Feral - RadWG meeting

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

20 8 May 2013B. Feral - RadWG meeting

21 8 May 2013B. Feral - RadWG meeting

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DS R5

ARC

DS L6

23 8 May 2013B. Feral - RadWG meeting

RA47 – UJ47 UJ62

LSS5L & Collimator

Outline

Mission of TIM series

TIM main characteristics

TIM tests in LHC early 2013

TIM components

24 8 May 2013B. Feral - RadWG meeting

TIM componentsMotor wagon

Reconnaissance wagon

RP wagon Battery wagon

Control wagon

10.2 meters

Bar c

ode

read

er

posit

ion

8.84 meters 1.36 meters

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Motor Wagon

SSD Parvex gearbox + Hengstler incremental encoder

Ethernet

Ethernet

Reconnaissance wagon

Waldmann LED operation unit

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Reconnaissance WagonEthernet

Motor wagon RP wagon

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RP WagonEthernet

Reconnaissance wagon

Battery wagon

PCMX sensor«Dose rate value»

Ethernet

NI Compact RIO ETIC 3G Modem

VEXTA Brushless DC motor – movingthe arm

RP arm

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Battery WagonEthernet

RP wagon Control wagon

Current transducer

Voltage

Battery controller

+24V 0V

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Control Wagon

Ethernet

Battery wagon

Remote switch

Waldmann LED operation unitPXT-10 Temperature converter

Battery charger

Ethernet

WiFi

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