An Integrated Remote Target Handling System for CERN’s MEDICIS Radioactive Isotope Production Facility Keith Kershaw, Stefano Marzari, Jean-Louis Grenard Matteo Vagnoni, Yury Gavrikov, Vincent Barozier Thanks to: ISOLDE / MEDICIS teams The 6th High Power Targetry Workshop hosted by the Rutherford Appleton Laboratory 11-15 April 2016

MEDICIS Integrated Target Remote Handling System Keith Kershaw CONTENTS Introduction ISOLDE MEDICIS Target handling robots Target shuttle transfer system Automated shielding doors and air locks Conclusions MEDICIS Integrated Target Remote Handling System Keith Kershaw

ISOLDE isotope production method spallation fragmentation fission 1.4 GeV protons ISOLDE Target Mass separation FLUKA simulation MEDICIS Integrated Target Remote Handling System Keith Kershaw

MEDICIS Integrated Target Remote Handling System Keith Kershaw What will MEDICIS do? Produce a wide range of made-to-order isotopes for hospital research labs Research into use of isotopes for therapy and diagnostics MEDICIS will use leftover “waste” protons from ISOLDE MEDICIS must not interfere with ISOLDE operation Symbiotic relationship – as we will see… MEDICIS Integrated Target Remote Handling System Keith Kershaw

MEDICIS Integrated Target Remote Handling System Keith Kershaw MEDICIS will use ISOLDE waste protons 90 % of proton beam passes through ISOLDE target into beam dump Need to be able to remotely position MEDICIS targets here Then remotely move them to a mass separator for collection of isotopes; Then store them. MEDICIS Integrated Target Remote Handling System Keith Kershaw

MEDICIS Integrated Target Remote Handling System Keith Kershaw Objects to be handled MEDICIS target (~10 kg) and ISOLDE target (~30 kg) Radiation levels during proton pulse 2 minutes after irradiation MEDICIS Integrated Target Remote Handling System Keith Kershaw

Early ideas and tests for target transfers Large scale model train system None of these were used in the end! Autonomous vehicle Pneumatic “rabbit” system MEDICIS Integrated Target Remote Handling System Keith Kershaw

ISOLDE and MEDICIS Facilities MEDICIS Integrated Target Remote Handling System Keith Kershaw

Facility layout Existing ISOLDE lab + target buildings+robots Protons from PS booster Existing ISOLDE lab + target buildings+robots Extension for MEDICIS and storage ISOLDE and MEDICIS irradiation points MEDICIS laboratory Target shuttle transfers Target handling in Medicis MEDICIS hot cell MEDICIS mass separator MEDICIS chemical lab Radioactive target storage Additional shielding New nuclear ventilation Fire / ventilation doors

MEDICIS Integrated Target Remote Handling System Keith Kershaw ISOLDE Target Robots Risk and failure analyses Electronics removed Cables replaced Safe robot technology means no additional sensors in target area (beam pipe!) 20 year old ISOLDE target handling robots replaced two years ago. New robots suspended from ceiling for better access MEDICIS will use the same type Kuka robots during installation in ISOLDE MEDICIS Integrated Target Remote Handling System Keith Kershaw

ISOLDE robot testing and operation Full mock-up testing of the system including recovery methods New gripper design to give more possibilities of remote recovery “Collision” detection Operational experience has led to improved controls – MEDICIS will benefit from this MEDICIS Integrated Target Remote Handling System Keith Kershaw

MEDICIS Integrated Target Remote Handling System Keith Kershaw Target shuttle transfer system Main exchange station Shuttle for Medicis Shuttle for Isolde Shuttle for Rescue & inspection Irradiation point for Medicis Exchange point for Isolde Decay point for Medicis Fire door Ventilation doors MEDICIS Integrated Target Remote Handling System Keith Kershaw

MEDICIS Integrated Target Remote Handling System Keith Kershaw Monorail shuttle system Based on industrial product (Montrac) Main constraints: Radiation tolerant Reliable – proven Simple remote control Fail safe Recovery possible (redundant locomotive + redundant power rails) Mock up tests with DC motors MEDICIS Integrated Target Remote Handling System Keith Kershaw

Shuttle monorail – ISOLDE + chicane MEDICIS Integrated Target Remote Handling System Keith Kershaw

Monorail positioning MEDICIS target in ISOLDE proton beam MEDICIS Target (on right) in position before locomotive disconnects MEDICIS Target will be outside faraday cage MEDICIS Integrated Target Remote Handling System Keith Kershaw

MEDICIS Integrated Target Remote Handling System Keith Kershaw Ventilation air lock between ISOLDE and MEDICIS allowing target shuttle passage MEDICIS Integrated Target Remote Handling System Keith Kershaw

MEDICIS Integrated Target Remote Handling System Keith Kershaw Fluka simulation for design of MEDICIS shielding and shielding doors During robot transfer On the mass separator MEDICIS Integrated Target Remote Handling System Keith Kershaw

Automated shielding doors in front of storage shelves MEDICIS Target storage area – same principle Robot + rail ISOLDE Target area shielded doors Pneumatically operated MEDICIS Integrated Target Remote Handling System Keith Kershaw

MEDICIS Integrated Target Remote Handling System Keith Kershaw Automated shielding hatch for robot arm to install target on mass separator front end MEDICIS Integrated Target Remote Handling System Keith Kershaw

As-Built: Automated shielding doors + robot + hatch Shielding doors around robot rail open to let whole robot pass Shielded hatch opens for robot arm to install target MEDICIS Integrated Target Remote Handling System Keith Kershaw

As built: Ventilation airlock and monorail Track switching points to simplify fire door seal Door seals around monorail MEDICIS Integrated Target Remote Handling System Keith Kershaw

MEDICIS Integrated Target Remote Handling System Keith Kershaw Medicis Schedule Work has to fit in with ISOLDE scheduled shutdowns Civil engineering started Sept 2013 (CERN long shutdown) Work inside ISOLDE during 2015/16 shutdown complete Work in Medicis continues for 2017 start up Civil Engineering Separator bunker shielding wall and doors (laboratory side) Monorail installation in ISOLDE MEDICIS Integrated Target Remote Handling System Keith Kershaw

MEDICIS Integrated Target Remote Handling System Keith Kershaw Conclusions Minimal disruption to ISOLDE Symbiotic relationship works Key things we needed: Learning from previous operational experience in ISOLDE 3-D integration and simulations (movements and Fluka) Failure and risk analyses (led to rail-based systems) Use of mock ups Time needed to try out and iterate ideas Whole system commissioning lies ahead… Same monorail now used in Charm facility MEDICIS Integrated Target Remote Handling System Keith Kershaw

MEDICIS Integrated Target Remote Handling System Keith Kershaw Any Questions? MEDICIS Integrated Target Remote Handling System Keith Kershaw