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Control Design Optimisations of Robots for the Maintenance and Inspection of Particle Accelerators / Díaz Rosales, Alejandro (CERN ; Delft Tech. U.) ; Di Castro, Mario (CERN) ; Gamper, Hannes (CERN ; Linz U.)
Automated maintenance and inspection systems have become increasingly important over the last decade for the availability of the accelerators at CERN. This is mainly due to improvements in robotic perception, control and cognition and especially because of the rapid advancement in artificial intelligence. [...]
2023 - 7 p. - Published in : JACoW ICALEPCS 2023 (2023) MO3AO07 Fulltext: PDF;
In : 19th International Conference on Accelerator and Large Experimental Physics Control Systems (ICALEPCS 2023), Cape Town, South Africa, 7 - 13 Oct 2023, pp.MO3AO07

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Adaptive Radiation Survey Using an Autonomous Robot Executing LiDAR Scans in the Large Hadron Collider / Gamper, Hannes (CERN ; JKU, Linz) ; Forkel, David (CERN ; Jaume I U.) ; Rosales, Alejandro Díaz (CERN ; Delft Tech. U.) ; Garai, Jorge Playán (CERN) ; Almagro, Carlos Veiga (CERN ; Jaume I U.) ; Buonocore, Luca Rosario (CERN) ; Matheson, Eloise (CERN) ; Di Castro, Mario (CERN)
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. [...]
2023 - Published in : Springer Proceedings in Advanced Robotics 27 (2023) 295-303
In : 20th International Symposium on Robotics Research (ISRR 2022), Geneva, Switzerland, 25 - 30 Sep 2022, pp.295-303

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Kinematic Model Pruning: A Design Optimization Technique for Simultaneous Optimization of Topology and Geometry / Gamper, Hannes (CERN ; Linz U.) ; Luthi, Adrien (CERN) ; Gattringer, Hubert (Linz U.) ; Mueller, Andreas (Linz U.) ; Di Castro, Mario (CERN)
This paper presents a method of optimizing the design of robotic manipulators using a novel kinematic model pruning technique. The optimization departs from an predefined candidate linkage consisting of a initial topology and geometry. [...]
2022 - 21 p. - Published in : Robotics 11 (2022) 31 Fulltext: PDF;

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Camera Placement in a Short Working Distance Optical Inspection System for RF Cavities / Macpherson, Alick (CERN) ; Buonocore, Luca Rosario (CERN) ; Di Castro, Mario (CERN) ; Gamper, Hannes (CERN ; Linz U.) ; Luthi, Adrien (CERN)
Inspection of the RF surface of cavities for the purpose of detecting surface anomalies has been well established, and is typically based on long working distance optical systems using on-axis camera and mirror systems to scan the cavity surface. In order to improve the systematic inspection of the full RF surface of large area cavities, a novel short working distance inspection system is being developed at CERN. [...]
2022 - 5 p. - Published in : JACoW SRF 2021 (2022) 503-507 Fulltext: PDF;
In : 20th International Conference on RF Superconductivity (SRF 2021), Online, US, 28 Jun - 2 Jul 2021, pp.503-507

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REMOTE - Robotics activities at CERN - Optimisation techniques, kinematics and designs / Gamper, Hannes (speaker) (Johannes Kepler University (AT))
Optimisation techniques, kinematics and designs This talk will give an overview about the mathematical description of rigid mechanical structures in terms of kinematics and dynamics, such that the derived models can be used to predict the behaviour and thus control these systems or robots. An emphasis will be put on a very common problem in robotics: finding the necessary configuration of a robot, such that its end-effector reaches the desired position, called inverse kinematics [...]
2022 - 3900. Academic Training Lecture Regular Programme, 2021-2022 External link: Event details In : REMOTE - Robotics activities at CERN - Optimisation techniques, kinematics and designs

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