Concept / Development / Status
LHC Collimator Survey Train
Remote Controlled Measurements in the LHC
Patrick Bestmann
CERN BE/ABP/SU
IWAA2010 14/09/2010
Overview
1
• Motivation
• Task Definition
2
• The Train
• The Concept
3
• Sensor Systems
• Calculations
4
• Operation
• Status
Motivation
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Remanent dose rate map between D4 and Q5 after
180 days of continious operation with one month of
cooling time
Motivation
Task Definition
The Train
The Concept
Sensor Systems
Calculations
Operation
Status
Motivation
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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
Task Definition
The Train
The Concept
Sensor Systems
Calculations
Operation
Status
Task definition
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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)
Motivation
Task Definition
The Train
The Concept
Sensor Systems
Calculations
Operation
Status
„TIM“ Train Inspection Monorail
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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
Motivation
Task Definition
The Train
The Concept
Sensor Systems
Calculations
Operation
Status
„TIM“ Train Inspection Monorail
Traction unit
Sensor unit
Control unit
Battery unit
Motivation
Task Definition
The Train
The Concept
Sensor Systems
Calculations
Operation
Status
Concept
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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
Collimators
Quad
Motivation
Task Definition
Quad
The Train
The Concept
Sensor Systems
Calculations
Operation
Status
Concept
Collimator
Quad
Quad
Targets
Wire Sensor
Cameras
Motivation
Task Definition
The Train
The Concept
Sensor Systems
Calculations
Operation
Status
Concept
Targets
External lights
Wire
Reference Pin
Inclination sensor
Motivation
Task Definition
The Train
The Concept
Sensor Systems
Calculations
Operation
Status
Sensors
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AEROEL XLS35-XY laser micrometer as wire
measurement system
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Open sensor configuration
Large field of view 35mm
Commercial on the market
AICON MoveInspect HR Photogrammetric system
WYLER Zerotronic Inclination Sensors
Motivation
Task Definition
The Train
The Concept
Sensor Systems
Calculations
Operation
Status
XLS-35 Micrometer
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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
Motivation
Task Definition
The Train
The Concept
Sensor Systems
Calculations
Operation
Status
Photogrammetric System
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Commercial Photogrammetric
system AICON MoveInspect HR
4 AVT Marlin F-201B Cameras
in industrial housing
Syncbox
Calibration Panel
MoveInspect HR software
Custom modifications
Motivation
Task Definition
The Train
The Concept
Sensor Systems
Calculations
MoveInspect HR
Operation
Status
Photogrammetric System
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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
Motivation
Task Definition
The Train
The Concept
Sensor Systems
Calculations
Operation
Status
Targets
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Retro targets are sensitive to radiation
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Use of non retro targets
Production of special aluminium targets
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whole body made of black matt aluminium
with light grey aluminium insert
Motivation
Task Definition
The Train
The Concept
Sensor Systems
Calculations
Operation
Status
Calculations
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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
Motivation
Task Definition
The Train
The Concept
Sensor Systems
Calculations
Operation
Status
Systems
Arm System
Camera System
Motivation
Task Definition
The Train
The Concept
Sensor Systems
Calculations
Operation
Status
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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
Motivation
Task Definition
The Train
The Concept
Sensor Systems
Calculations
Operation
Status
Operation
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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
Motivation
Task Definition
The Train
The Concept
Sensor Systems
Calculations
Operation
Status
Status
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Sensorsystems are running
All Subroutines are running
Tunnelinstallation completed
Finalising Software
Finalising Hardware configuration
Tests.....
Motivation
Task Definition
The Train
The Concept
Sensor Systems
Calculations
Operation
Status