Experimental investigation of radio signal propagation in scientific facilities for telerobotic applications

Understanding the radio signal transmission characteristics in the environment where the telerobotic application is sought is a key part of achieving a reliable wireless communication link between a telerobot and a control station. In this paper, wireless communication requirements and a case study of a typical telerobotic application in an underground facility at CERN are presented. Then, the theoretical and experimental characteristics of radio propagation are investigated with respect to time, distance, location and surrounding objects. Based on analysis of the experimental findings, we show how a commercial wireless system, such as Wi-Fi, can be made suitable for a case study application at CERN

A sensorless virtual slave control scheme for kinematically dissimilar master-slave teleoperation

The use of telerobotic systems is essential for remote handling (RH) operations in radioactive areas of scientific facilities that generate high doses of radiation. Recent developments in remote handling technology has seen a great deal of effort being directed towards the design of modular remote handling control rooms equipped with a standard master arm which will be used to separately control a range of different slave devices. This application thus requires a kinematically dissimilar master-slave control scheme. In order to avoid drag and other effects such as friction or other non-linear and unmodelled slave arm effects of the common position-position architecture in nonbackdrivable slaves, this research has implemented a force-position control scheme. End-effector force is derived from motor torque values which, to avoid the use of radiation intolerant and costly sensing devices, are inferred from motor current measurement. This has been demonstrated on a 1-DOF test-rig with a permanent magnet synchronous motor teleoperated by a Sensable Phantom Omni® haptic master. This has been shown to allow accurate control while realistically conveying dynamic force information back to the operator

Spatial sampling methods for improved communication for wireless relay robots

Having reliable wireless communication in a network of mobile robots is an ongoing challenge, especially when the mobile robots are given tasks in hostile or harmful environments such as radiation environments in scientific facilities, tunnels with large metallic components and complicated geometries as found at CERN. In this paper, we propose a decentralised method for improving the wireless network throughput by optimizing the wireless relay robot position to receive the best wireless signal strength using implicit spatial diversity concepts and gradient-search algorithms. We experimentally demonstrate the effectiveness of the proposed solutions with a KUKA Youbot omni-directional mobile robot. The performance of the algorithms is compared under various scenarios in an underground scientific facility at CERN

Can a single image processing algorithm work equally well across all phases of DCE-MRI?

Image segmentation and registration are said to be challenging when applied to dynamic contrast enhanced MRI sequences (DCE-MRI). The contrast agent causes rapid changes in intensity in the region of interest and elsewhere, which can lead to false positive predictions for segmentation tasks and confound the image registration similarity metric. While it is widely assumed that contrast changes increase the difficulty of these tasks, to our knowledge no work has quantified these effects. In this paper we examine the effect of training with different ratios of contrast enhanced (CE) data on two popular tasks: segmentation with nnU-Net and Mask R-CNN and registration using VoxelMorph and VTN. We experimented further by strategically using the available datasets through pretraining and fine tuning with different splits of data. We found that to create a generalisable model, pretraining with CE data and fine tuning with non-CE data gave the best result. This interesting find could be expanded to other deep learning based image processing tasks with DCE-MRI and provide significant improvements to the models performance

Equipment for tunnel installation of main and insertion LHC cryo-magnet

The installation of about 1700 superconducting dipoles and quadrupoles in the Large Hadron Collider (LHC) is now well underway. The transport and installation of the LHC cryo-magnets in the LEP tunnels originally designed for smaller, lighter LEP magnets have required development of completely new handling solutions. The severe space constraints combined with the long, heavy loads have meant that solutions had to be very sophisticated. The paper describes the procedure of the installation of the main cryo-magnets in the arc as well as the more specific insertion cryo-magnets. The logistics for the handling and transport are monitored with tri-axial acceleration monitoring devices that are installed on each cryo-magnet to ensure their mechanical and geometric integrity. These dynamic results are commented. The paper includes conclusions and some lessons learne

Energy Management Module for Mobile Robots in Hostile Environments

In hostile environments at CERN and other similar scientific facilities, having a reliable mobile robot system is essential for successful execution of robotic missions and to avoid situations of manual recovery of the robots in the event that the robot runs out of energy. Because of environmental constraints, such mobile robots are usually battery-powered and hence energy management and optimization is one of the key challenges in this field. The ability to know beforehand the energy consumed by various elements of the robot (such as locomotion, sensors, controllers, computers and communication) will allow flexibility in planning or managing the tasks to be performed by the robot

Design development and implementation of an irradiation station at the neutron time-of-flight facility at CERN

A new parasitic, mixed-field, neutron-dominated irradiation station has been recently commissioned at the European Laboratory for Particle Physics (CERN). The station is installed within the neutron time-of-flight (n_TOF) facility, taking advantage of the secondary radiation produced by the neutron spallation target, with neutrons ranging from 0.025 eV to several hundreds of MeV. The new station allows radiation damage studies to be performed in irradiation conditions that are closer to the ones encountered during the operation of particle accelerators; the irradiation tests carried out in the station will be complementary to the standard tests on materials, usually performed with gamma sources. Samples will be exposed to neutron-dominated doses in the MGy range per year, with minimal impact on the n_TOF facility operation. The station has 24 irradiation positions, each hosting up to 100 cm3 of sample material. In view of its proximity to the n_TOF target, inside protective shielding, the irradiation station and its operating procedures have been carefully developed taking into account the safety of personnel and to avoid any unwanted impact on the operation of the n_TOF facility and experiments. Due to the residual radioactivity of the whole area around the n_TOF target and of the irradiated samples, access to the irradiation station is forbidden to human operators even when the n_TOF facility is not in operation. Robots are used for the remote installation and retrieval of the samples, and other optimizations of the handling procedures were developed in compliance with radiation protection regulations and the aim of minimizing doses to personnel. The sample containers were designed to be radiation tolerant, compatible with remote handling, and subject to detailed risk analysis and testing during their development. The whole life cycle of the irradiated materials, including their post-irradiation examinations and final disposal, was considered and optimized

Flammable biomes dominated by eucalypts originated at the Cretaceous-Palaeogene boundary

Fire is a major modifier of communities, but the evolutionary origins of its prevalent role in shaping current biomes are uncertain. Australia is among the most fire-prone continents, with most of the landmass occupied by the fire-dependent sclerophyll and savanna biomes. In contrast to biomes with similar climates in other continents, Australia has a tree flora dominated by a single genus, Eucalyptus, and related Myrtaceae. A unique mechanism in Myrtaceae for enduring and recovering from fire damage likely resulted in this dominance. Here, we find a conserved phylogenetic relationship between post-fire resprouting (epicormic) anatomy and biome evolution, dating from 60 to 62 Ma, in the earliest Palaeogene. Thus, fire-dependent communities likely existed 50 million years earlier than previously thought. We predict that epicormic resprouting could make eucalypt forests and woodlands an excellent long-term carbon bank for reducing atmospheric CO2 compared with biomes with similar fire regimes in other continents