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

CalculationsOperation

Status

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

CalculationsOperation

Status

Task definition

MotivationTask Definition

The TrainThe Concept

Sensor Systems

CalculationsOperation

Status

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

CalculationsOperation

Status

„TIM“ Train Inspection Monorail

Sensor unit

Control unit

Battery unit

Traction unit

MotivationTask Definition

The TrainThe Concept

Sensor Systems

CalculationsOperation

Status

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

CalculationsOperation

Status

Concept

MotivationTask Definition

The TrainThe Concept

Sensor Systems

CalculationsOperation

Status

Cameras

Targets

Wire Sensor

Collimator

Quad Quad

Inclination sensor

TargetsExternal lights

Reference PinWire

MotivationTask Definition

The TrainThe Concept

Sensor Systems

CalculationsOperation

Status

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

CalculationsOperation

Status

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

CalculationsOperation

Status

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

CalculationsOperation

Status

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

CalculationsOperation

Status

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

CalculationsOperation

Status

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 armsMotivation

Task DefinitionThe Train

The ConceptSensor

SystemsCalculations

OperationStatus

Systems

Camera System

Arm System

MotivationTask Definition

The TrainThe Concept

Sensor Systems

CalculationsOperation

Status

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

CalculationsOperation

Status

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

CalculationsOperation

Status

Status

Sensorsystems are running All Subroutines are running Tunnelinstallation completed

Finalising Software Finalising Hardware configuration Tests.....

MotivationTask Definition

The TrainThe Concept

Sensor Systems

CalculationsOperation

Status