Adaptive Radiation Survey Using an Autonomous Robot Executing LiDAR Scans in the Large Hadron Collider

Hannes Gamper; David Forkel; Alejandro Díaz Rosales; Jorge Playán Garai; Carlos Veiga Almagro; Luca Rosario Buonocore; Eloise Matheson; Mario Di Castro

doi:10.1007/978-3-031-25555-7_20

Adaptive Radiation Survey Using an Autonomous Robot Executing LiDAR Scans in the Large Hadron Collider

Hannes Gamper^*, David Forkel, Alejandro Díaz Rosales, Jorge Playán Garai, Carlos Veiga Almagro, Luca Rosario Buonocore, Eloise Matheson, Mario Di Castro

^*Corresponding author for this work

Human-Robot Interaction

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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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.

Original language	English
Title of host publication	Robotics Research
Editors	Aude Billard, Tamim Asfour, Oussama Khatib
Publisher	Springer Nature
Pages	295-303
ISBN (Electronic)	978-3-031-25555-7
ISBN (Print)	978-3-031-25554-0
DOIs	https://doi.org/10.1007/978-3-031-25555-7_20
Publication status	Published - 2023
Event	18th International Symposium of Robotics Research, ISRR 2022 - Geneva, Switzerland Duration: 25 Sept 2022 → 30 Sept 2022

Publication series

Name	Springer Proceedings in Advanced Robotics
Volume	27 SPAR
ISSN (Print)	2511-1256
ISSN (Electronic)	2511-1264

Conference

Conference	18th International Symposium of Robotics Research, ISRR 2022
Country/Territory	Switzerland
City	Geneva
Period	25/09/22 → 30/09/22

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.

Keywords

Autonomous inspection
Hazardous environment
LiDAR
Radiation

Access to Document

10.1007/978-3-031-25555-7_20

978-3-031-25555-7_20Final published version, 3.04 MB

Cite this

Gamper, H., Forkel, D., Rosales, A. D., Garai, J. P., Almagro, C. V., Buonocore, L. R., Matheson, E., & Di Castro, M. (2023). Adaptive Radiation Survey Using an Autonomous Robot Executing LiDAR Scans in the Large Hadron Collider. In A. Billard, T. Asfour, & O. Khatib (Eds.), Robotics Research (pp. 295-303). (Springer Proceedings in Advanced Robotics; Vol. 27 SPAR). Springer Nature. https://doi.org/10.1007/978-3-031-25555-7_20

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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.",

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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.; 18th International Symposium of Robotics Research, ISRR 2022 ; Conference date: 25-09-2022 Through 30-09-2022",

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Gamper, H, Forkel, D, Rosales, AD, Garai, JP, Almagro, CV, Buonocore, LR, Matheson, E & Di Castro, M 2023, Adaptive Radiation Survey Using an Autonomous Robot Executing LiDAR Scans in the Large Hadron Collider. in A Billard, T Asfour & O Khatib (eds), Robotics Research. Springer Proceedings in Advanced Robotics, vol. 27 SPAR, Springer Nature, pp. 295-303, 18th International Symposium of Robotics Research, ISRR 2022, Geneva, Switzerland, 25/09/22. https://doi.org/10.1007/978-3-031-25555-7_20

Adaptive Radiation Survey Using an Autonomous Robot Executing LiDAR Scans in the Large Hadron Collider. / Gamper, Hannes; Forkel, David; Rosales, Alejandro Díaz et al.
Robotics Research. ed. / Aude Billard; Tamim Asfour; Oussama Khatib. Springer Nature, 2023. p. 295-303 (Springer Proceedings in Advanced Robotics; Vol. 27 SPAR).

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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