1. 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

2. 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

3. 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

4. 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

5. 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

6. 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

7. 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

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

9. 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

10. 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

11. 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

12. 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

13. 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

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

15. 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

16. 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

17. 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

18. 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

19. 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

20. 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

21. 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

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

23. 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

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