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Title: ROAM: A Remotely Operated Accelerator Monitor

Conference · · IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)
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  1. SLAC National Accelerator Laboratory (SLAC), Menlo Park, CA (United States)

Monitoring accelerators in operation is a well known challenge due to the radiation environment. However, there are significant benefits in being able to deploy particular sensors in specific locations of accelerator enclosures for monitoring or troubleshooting purposes. Learning from experience at other labs, we used Commercial Off The Shelf (COTS) components and an open source robot control software framework (ROS) to build a remotely controlled robot platform including a standard suite of instruments such as cameras, LIDAR, and ultrasound, with the ability to incorporate other ad-hoc sensors for specific measurements, such as a Gamma radiation monitor. Special attention was given to the robot's ability to maintain safety in the high risk environment of an accelerator, with multiple failure contingencies in place to ensure collision free operation. Testing was performed to prove the platform's viability and showcase its capability for accelerator monitoring.

Research Organization:
SLAC National Accelerator Lab., Menlo Park, CA (United States)
Sponsoring Organization:
USDOE Office of Science (SC)
DOE Contract Number:
AC02-76SF00515
OSTI ID:
1958299
Journal Information:
IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), Conference: 18. IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), Taipei City (Taiwan), 28-30 Nov 2022
Country of Publication:
United States
Language:
English

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