Abstract

Real-time Monitoring Systems for Augmented Reality and Robotics in Particle Accelerators

Nowadays, intelligent robotic systems are becoming essential for industry and harsh environments, such as the CERN accelerator complex. Aiming to increase safety and machine availability, robots can help perform repetitive and dangerous tasks which humans either prefer to avoid or are unable to do because of hazards, size constraints or the extreme environments in which they take place, such as outer space or radioactive experimental areas. In order to be intelligent and effective, robots need real-time sensing capabilities that can be obtainable by using specific sensors and dedicated measurements techniques. In this presentation, the state of the art of real-time measurements for robotic applications and virtual reality is presented, as well as the current status at CERN steered by the EN-SMM group. Several measurements solutions and sensors conditioning algorithms for robotics solutions applied at CERN will be shown. Current and future research and development in robotics based on dedicated measurements and signal conditioning techniques are described, as well as the results from the commissioning of various novel robotic controls based on these measurements solutions.

Mario Di Castro

MARIO DI CASTRO received the M.Sc. degree in electronic engineering from the University of Naples "Federico II", Italy. From 2007 to 2011, he was with DESY in charge of advanced mechatronics solutions for synchrotron beamlines and industrial controls. Since 2011, he has been with CERN. Since 2018, he leads the Measurements, Robotics and Operation Section, Survey, Mechatronics and Measurements Group. The section is responsible for the design, installation, operation, and maintenance of control systems on different platforms (PLC, PXI, and VME) for all the equipment under the group’s responsibility, mainly movable devices characterized by few um positioning accuracy (e.g., scrapers, collimators, shielding, and target) in hard radioactive environment. Important section activities are the robotic support in hazardous environments for the whole CERN accelerators. His research interests are mainly focused on automatic controls, mechatronics, motion control in harsh environment, and robotics.