1. LHC Collimator Survey Train Concept / Development / Status Patrick Bestmann CERN BE/ABP/SU IWAA2010 14/09/2010 Remote Controlled Measurements in the LHC

2. Overview 1 Motivation Task Definition 2 The Train The Concept 3 Sensor Systems Calculations 4 Operation Status

3.  Remanent dose rate map between D4 and Q5 after 180 days of continious operation with one month of cooling time Motivation Task Definition The Train The Concept Sensor Systems Calculations Operation Status

4.  Significant activation of material by the beam cleaning process in Point 3 and 7  High Dose rates for peronnel in Place (4mSv/h)  500m of Beamline concerned at Point 7  26 Quadrupoles and 37 Collimators  Conventional measurements ~90h  Control of the Collimator Alignment using a remote controlled system Motivation Task Definition The Train The Concept Sensor Systems Calculations Operation Status

5. Task definition Motivation Task Definition The Train The Concept Sensor Systems Calculations Operation Status  Control of the collimator alignment in vertical and horizontal direction  Relative to the neigbouring quadrupoles  Requested precision 0.2 mm  Respecting the ALARA principle (As Low As Reasonably Achievable)

6.  How to bring the equipment in place?  Train based on the modular TIM concept  Train for visual inspections  Traction Module  Battery Module  Sensor Module  Control Module  The train is controlled either by the user Interface or the measurement program „TIM“ T rain I nspection M onorail Motivation Task Definition The Train The Concept Sensor Systems Calculations Operation Status

7. „TIM“ T rain I nspection M onorail Sensor unit Control unit Battery unit Traction unit Motivation Task Definition The Train The Concept Sensor Systems Calculations Operation Status

8.  Digital close range photogrammetry  Fast and non contact measurement of the activated collimators  Wire offset measurements to detect train position and link the different aquisition volumes.  Reliable straight reference over long distances  Precise model for the wire sag is needed Concept Quad Collimators Motivation Task Definition The Train The Concept Sensor Systems Calculations Operation Status

9. Concept Motivation Task Definition The Train The Concept Sensor Systems Calculations Operation Status Cameras Targets Wire Sensor Collimator Quad

10. Inclination sensor Targets External lights Reference Pin Wire Motivation Task Definition The Train The Concept Sensor Systems Calculations Operation Status Concept

11. Tunnel Installation Motivation Task Definition The Train The Concept Sensor Systems Calculations Operation Status  5 overlapping wires  10 pillars  2x 111 m  2x 85 m  1x 146 m

12.  AEROEL XLS35-XY laser micrometer as wire measurement system  Open sensor configuration  Large field of view 35mm  Commercial on the market  AICON MoveInspect HR Photogrammetric system  WYLER Zerotronic Inclination Sensors Sensors Motivation Task Definition The Train The Concept Sensor Systems Calculations Operation Status

13.  Optical Laser Micrometer  Measurement of dark/light transistions  Relative position of 2 wires to the reference pin  200Hz aquisition frequency  Linearity of ±2.5µm  Repeatability of ±2µm XLS-35 Micrometer Motivation Task Definition The Train The Concept Sensor Systems Calculations Operation Status

14. Photogrammetric System MoveInspect HR  Commercial Photogrammetric system AICON MoveInspect HR  4 AVT Marlin F-201B Cameras in industrial housing  Syncbox  Calibration Panel  MoveInspect HR software  Custom modifications Motivation Task Definition The Train The Concept Sensor Systems Calculations Operation Status

15.  Single shot synchronised aquisition  Automatic image measurement and calculations  We obtain a set of 3D coordinates with identified point groups for collimator and wire sensor systems  No simultaneous calibration; adjusted intersections Motivation Task Definition The Train The Concept Sensor Systems Calculations Operation Status Photogrammetric System

16. Targets  Retro targets are sensitive to radiation  Use of non retro targets  Production of special aluminium targets  whole body made of black matt aluminium  with light grey aluminium insert Motivation Task Definition The Train The Concept Sensor Systems Calculations Operation Status

17. Calculations  3 different coordiante systems  Left arm with measured wire  Right arm with measured wire  Photogrammetric system with arms and collimator  7P transformations of the arm systems into the photo system  Axis alignment to the wire using 3 translations and 2 rotations  Rotation of the y axis (wire axis) using the measured inclination of the two arms Motivation Task Definition The Train The Concept Sensor Systems Calculations Operation Status

18. Systems Camera System Arm System Motivation Task Definition The Train The Concept Sensor Systems Calculations Operation Status

19.  Results are 3D coodinates for each collimator and quadrupole in following coordinate system:  Aligned with the inclined wire  Z axis in a vertical plane  Generating LGC++ file  using the x coordinates as horizontal offsets  using the z coordinates as vertical distances (reduced by the slope and the wire sag)  Online LGC++ calculation and comparison with theoretical values Motivation Task Definition The Train The Concept Sensor Systems Calculations Operation Status

20. Operation  Autonomous system after the startup procedure  Startup; Calibration; Sequence definition  Controlled by the LabView Software  Sequencer running on the train  Remote Panel informing the operator Motivation Task Definition The Train The Concept Sensor Systems Calculations Operation Status

21.  Sensorsystems are running  All Subroutines are running  Tunnelinstallation completed  Finalising Software  Finalising Hardware configuration  Tests..... Motivation Task Definition The Train The Concept Sensor Systems Calculations Operation Status