Title
Adaptive Radiation Survey Using an Autonomous Robot Executing LiDAR Scans in the Large Hadron Collider
Author
Gamper, Hannes (CERN; Johannes Kepler University Linz)
Forkel, David (CERN; Universitat Jaume I)
Diaz Rosales, A. (TU Delft Human-Robot Interaction; CERN)
Garai, Jorge Playán (CERN)
Almagro, Carlos Veiga (CERN; Universitat Jaume I)
Buonocore, Luca Rosario (CERN)
Matheson, Eloise (CERN)
Di Castro, Mario (CERN)
Contributor
Billard, Aude (editor)
Asfour, Tamim (editor)
Khatib, Oussama (editor)
Date
2023
Abstract
At CERN, radiation surveys of equipment and beam lines are important for safety and analysis throughout the accelerator complex. Radiation measurements are highly dependent on the distance between the sensor and the radiation source. If this distance can be accurately established, the measurements can be used to better understand the radiation levels of the components and can be used for calibration purposes. When surveys are undertaken by the Train Inspection Monorail (TIM) robot, the sensor is at a constant distance from the rail, which means that it is at a known distance and height from the centre of the beam line. However, the distance of the sensor to the closest surface of the beam line varies according to what kind of equipment is installed on the beam line at this point. Ideally, a robotic survey would be completed with online adaption of the sensor position according to the equipment present in the LHC. This new approach establishes a scan of the surface with a 2D LiDAR while moving along the tunnel axis in order to obtain a 3D scan of the environment. This 3D scan will be used to generate online trajectories that will allow the robot to accurately follow the beam line and thus measure the radiation levels.
Subject
Autonomous inspection
Hazardous environment
LiDAR
Radiation
To reference this document use:
http://resolver.tudelft.nl/uuid:7c67fc60-d946-40e3-ac2e-59ce77fe7511
DOI
https://doi.org/10.1007/978-3-031-25555-7_20
Publisher
Springer Nature
Embargo date
2023-09-07
ISBN
978-3-031-25554-0
Source
Robotics Research
Event
18th International Symposium of Robotics Research, ISRR 2022, 2022-09-25 → 2022-09-30, Geneva, Switzerland
Series
Springer Proceedings in Advanced Robotics, 2511-1256, 27 SPAR
Bibliographical note
Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.
Part of collection
Institutional Repository
Document type
conference paper
Rights
© 2023 Hannes Gamper, David Forkel, A. Diaz Rosales, Jorge Playán Garai, Carlos Veiga Almagro, Luca Rosario Buonocore, Eloise Matheson, Mario Di Castro