A novel holistic design optimisation algorithm for the ironless inductive position sensor

The Ironless Inductive Position Sensor (I2PS) is a state-of-the-art high precision linear position sensor, which is designed to be radiation hard and immune to magnetic fields. This sensor is built for the Large Hadron Collider collimation system at the European Organization for Nuclear Research. It is continuously monitored to assess the precision, accuracy and drifts during the machine’s operation. The ironless inductive position sensor was previously designed and optimised manually on a programmed electromagnetic model and simulated using a finite element model simulator. This sensor has the potential to be used extensively in industry, especially in areas with high radiation and high electro-magnetic interference. To industrialise it, an automated design procedure is required that offers the possibility to a user with minimal knowledge to design and optimise the sensor. This paper identifies the optimisation parameters and constants required in the manual design. It hence presents an automated design procedure which uses a multi-objective optimisation algorithm to automatically produce ironless inductive position sensors tailor-made to the user’s specifications.peer-reviewe

Telerobotic radiation protection tasks in the Super Proton Synchrotron using mobile robots

Ponència presentada en la 19th International Conference on Informatics in Control, Automation and Robotics. 14-16 de juliol de 2022, Lisboa, Portugal.In this paper a complete robotic solution is presented, which allows the teleoperation of the radiation survey in the Super Proton Synchrotron (SPS) accelerator at CERN. Firstly, an introduction to radiation protection is given. Subsequently, the execution of the radiation survey in person is described and the potential of robotic solutions for such missions is outlined. After providing a brief state of the art on the subject, the development of the robot base, as well as its component selection and design is shown. Hereafter, the software implementation is explained. The test procedure of this project includes the most important requirements for a correct execution of the survey, as well as the operational steps and data treatment in detail. The results underline the correct execution of the mission, and show the advantages of the teleoperated robotic solution, such as the improved and unified measurement conditions. Thus, this robotic system will allow to significantly reduce the radiation dose of the radiation protection staff. For further development, the automation of this task is planned, which presupposes the gradual autonomization of the robotic system from assisting the user to the self-reliant execution of the survey

From 2D to 3D Mixed Reality Human-Robot Interface in Hazardous Robotic Interventions with the Use of Redundant Mobile Manipulator

Part de la conferència: ICINCO 2021: 18th International Conference on Informatics in Control, Automation and Robotics (juliol 2021)3D Mixed Reality (MR) Human-Robot Interfaces (HRI) show promise for robotic operators to complete tasks more quickly, safely and with less training. The objective of this study is to assess the use of 3D MR HRI environment in comparison with a standard 2D Graphical User Interface (GUI) in order to control a redundant mobile manipulator. The experimental data was taken during operation with a 9 DOF manipulator mounted in a robotized train, CERN Train Inspection Monorail (TIM), used for the Beam Loss Monitor robotic measurement task in a complex hazardous intervention scenario at CERN. The efficiency and workload of an operator were compared with the use of both types of interfaces with NASA TLX method. The usage of heart rate and Galvanic Skin Response parameters for operator condition and stress monitoring was tested. The results show that teleoperation with 3D MR HRI mitigates cognitive fatigue and stress by improving the operators understanding of both the robot’s pose and the surr ounding environment or scene

Frequency response characterization of ironless inductive position sensors with long cables

The two linear position sensors used to determine the position of the European Organization for Nuclear Research; Large Hadron Collider collimator's jaws with respect to the beam are the linear variable differential transformer and the ironless inductive position sensor. The latter was designed as an alternative to the former since the linear variable differential transformer exhibits a position error in magnetic environments. The ironless inductive position sensor is an air cored, high-precision linear position sensor, which is by design immune to external DC or slowly varying magnetic fields. Since the ironless inductive position sensor is required to have no on-board electronics, the raw signal has to be carried through long cable lengths and this may lead to performance degradation. This paper focuses on a set of experimental measurements conducted to assess the ironless inductive position sensor's sensitivity at different frequencies with long cable lengths. This is critical for the sensor's correct operation in the Large Hadron Collider's collimators. Furthermore, to gain a better understanding, the ironless inductive position sensor's frequency response is compared with a commercial off-the-shelf linear variable differential transformer.peer-reviewe

Monocular Robust Depth Estimation Vision System for Robotic Tasks Interventions in Metallic Targets

Robotic interventions in hazardous scenarios need to pay special attention to safety, as in most cases it is necessary to have an expert operator in the loop. Moreover, the use of a multi-modal Human-Robot Interface allows the user to interact with the robot using manual control in critical steps, as well as semi-autonomous behaviours in more secure scenarios, by using, for example, object tracking and recognition techniques. This paper describes a novel vision system to track and estimate the depth of metallic targets for robotic interventions. The system has been designed for on-hand monocular cameras, focusing on solving lack of visibility and partial occlusions. This solution has been validated during real interventions at the Centre for Nuclear Research (CERN) accelerator facilities, achieving 95% success in autonomous mode and 100% in a supervised manner. The system increases the safety and efficiency of the robotic operations, reducing the cognitive fatigue of the operator during non-critical mission phases. The integration of such an assistance system is especially important when facing complex (or repetitive) tasks, in order to reduce the work load and accumulated stress of the operator, enhancing the performance and safety of the mission

Cooperative and Multimodal Capabilities Enhancement in the CERNTAURO Human–Robot Interface for Hazardous and Underwater Scenarios

The use of remote robotic systems for inspection and maintenance in hazardous environments is a priority for all tasks potentially dangerous for humans. However, currently available robotic systems lack that level of usability which would allow inexperienced operators to accomplish complex tasks. Moreover, the task’s complexity increases drastically when a single operator is required to control multiple remote agents (for example, when picking up and transporting big objects). In this paper, a system allowing an operator to prepare and configure cooperative behaviours for multiple remote agents is presented. The system is part of a human–robot interface that was designed at CERN, the European Center for Nuclear Research, to perform remote interventions in its particle accelerator complex, as part of the CERNTAURO project. In this paper, the modalities of interaction with the remote robots are presented in detail. The multimodal user interface enables the user to activate assisted cooperative behaviours according to a mission plan. The multi-robot interface has been validated at CERN in its Large Hadron Collider (LHC) mockup using a team of two mobile robotic platforms, each one equipped with a robotic manipulator. Moreover, great similarities were identified between the CERNTAURO and the TWINBOT projects, which aim to create usable robotic systems for underwater manipulations. Therefore, the cooperative behaviours were validated within a multi-robot pipe transport scenario in a simulated underwater environment, experimenting more advanced vision techniques. The cooperative teleoperation can be coupled with additional assisted tools such as vision-based tracking and grasping determination of metallic objects, and communication protocols design. The results show that the cooperative behaviours enable a single user to face a robotic intervention with more than one robot in a safer way

Type III pleuropulmonary blastoma in a 7-month-old female baby with impending respiratory failure: a case report

INTRODUCTION: Pleuropulmonary blastoma is a very rare, aggressive, embryonal pulmonary neoplasm which mostly affects children under the age of 5. According to the histopathological features, three subtypes of pleuropulmonary blastoma have been recognized: type I (purely cystic), type II (grossly visible cystic and solid elements) and type III (purely solid). Characteristics of type I and type II blastoma allow an earlier diagnosis compared with type III. Here we present a case report of an unusual presentation of type III pleuropulmonary blastoma. CASE PRESENTATION: We describe the case of a 7-month-old female baby of Italian mother and Kurdish father who was diagnosed with type III pleuropulmonary blastoma, which entirely occupied her right hemithorax. CONCLUSIONS: The reported case is an unusual presentation because type III pleuropulmonary blastoma typically occurs in older children. The complete re-expansion of her residual, previously totally compressed, right lung observed immediately after the resection of the lesion suggests an atypical rapid growth of this embryonal tumor in the late phase of gestation or after delivery. This case report suggests that, in addition to other childhood tumors, type III pleuropulmonary blastoma should be included in the differential diagnosis of solid nonhomogeneous thoracic large masses, compressing the mediastinal and chest wall structures in infants. This is an original case report of interest for several specialities such us pediatrics, radiology, surgery and oncology

MiniCERNBot Educational Platform: Antimatter Factory Mock-up Missions for Problem-Solving STEM Learning

Mechatronics and robotics appeared particularly effective in students’ education, allowing them to create non-traditional solutions in STEM disciplines, which have a direct impact and interaction with the world surrounding them. This paper presents the current state of the MiniCERNBot Educational Robotic platform for high-school and university students. The robot provides a comprehensive educative system with tutorials and tasks tuned for different ages on 3D design, mechanical assembly, control, programming, planning, and operation. The system is inspired to existing robotic systems and typical robotic interventions performed at CERN, and includes an education mock-up that follows the example of a previous real operation performed in CERN’s Antimatter Factory. The paper describes the learning paths where the MiniCERNBot platform can be used by students, at different ages and disciplines. In addition, it describes the software and hardware architecture, presenting results on modularity and network performance during education exercises. In summary, the objective of the study is improving the way STEM educational and dissemination activities at CERN Robotics Lab are performed, as well as their possible synergies with other education institutions, such as High-Schools and Universities, improving the learning collaborative process and inspiring students interested in technical studies. To this end, a new educational robotic platform has been designed, inspired on real scientific operations, which allows the students practice multidisciplinary STEM skills in a collaborative problem-solving way, while increasing their motivation and comprehension of the research activities

Parametric field modeling for the LHC main magnets in operating conditions

The first beam injections and current ramps in the LHC will require a prediction of the settings of the magnet current as well as the main correctors. For this reason we are developing a parametric model of the magnetic field generated by the LHC magnets that will provide the field dependence on current, ramp-rate, time, and history. The model of the field is fitted on magnetic field measurements performed during the acceptance tests of the magnets before their installation in the machine. In this paper we summarize the different steps necessary to select the relevant data and identify the parameters: the data extraction, the filtering and the validation of the measurements, and the fitting procedure that is used to obtain the parameters from the experimental results. The main result reported is a summary of the value of the parameters obtained with the above procedure, and describing the behavior of the magnetic field in the LHC main dipoles and quadrupoles.peer-reviewe

Recovery of gastric function in patients affected by chronic atrophic gastritis using L-cysteine (Acetium®): one year survey in comparison with a control group

Background and aim: Chronic Atrophic Gastritis (CAG) is a precancerous condition for gastric cancer (GC) as single risk factor, being a consequence of a previous Helicobacter pylori (Hp) infection or based on autoimmune mechanisms. Achlorhydria plays an important role towards the formation of a class I carcinogen, acetaldehyde, after food intake. L-cysteine has been claimed to be able to bind in a covalent way acetaldehyde when administered at meals. Methods: In this study we enrolled two CAG groups of patients, one treated whit 300 mg/daily of L-cysteine for one year, the other one untreated. We assessed gastric function lasting the one-year follow-up by using noninvasive surrogates, i.e. Pepsinogen I (PGI) and gastrin 17 (G17). Results: In the group of 77 CAG on therapy we found a statistically significant increase in PGI values and a decrease in G17 levels, in comparison with unchanged values in control group. Conclusions: L-cysteine seems able to provide a recovery in gastric function when administered in CAG patients and could be proposed as a possible therapy in such patients. (www.actabiomedica.it)