Super-FRS components Presenter: F. Amjad Contributors: H. Weick, C. - - PowerPoint PPT Presentation

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Super-FRS components Presenter: F. Amjad Contributors: H. Weick, C. - - PowerPoint PPT Presentation

Oct 18, 2023 185 likes •675 views

t Remote handling for the Super-FRS components Presenter: F. Amjad Contributors: H. Weick, C. Karagiannis, C. Schloer, N. Nociforo Partner institutions: KVI-CART university of Groningen CSIR- CMERI, Durgapur Accelerator Seminar, Darmstadt,

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Remote handling for the Super-FRS components

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Presenter: F. Amjad Contributors: H. Weick, C. Karagiannis, C. Schloer, N. Nociforo Partner institutions: KVI-CART university of Groningen CSIR- CMERI, Durgapur Accelerator Seminar, Darmstadt, March 15, 2018

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  • Introduction to Remote handling
  • Remote handling at particle accelerator facilities
  • Remote handling classes for Super-FRS components
  • Super-FRS components remote handling
  • Summary
  • Future outlook

Presentation Outline

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  • Combination of technology and engineering systems to

enable operators to safely, reliably and repeatedly perform transportation and manipulation of hazardous items without being in personal contact with the handled items.

  • Remote Handling enables an operator to do handling

work at a particular work site without being physically present at that work site.

  • “Human in the Loop": Unlike conventional robotics,

Remote Handling always involves a human being with in the process.

Remote Handling introduction and Background

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Remote Handling introduction and Background: Philosophy

  • What is remote

handling?

  • Handling items from

distance and safety

  • “Nuclear” association
  • Unknown vs Hazardous
  • What is important in

remote handling?

  • Task identification
  • Remote viewing
  • Recovery (RAMS)
  • Design for remote

handling

Remote control unit Master unit Remote handling unit Slave unit

feedback

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  • Where to use remote handling?
  • It is used in hazardous environment with radioactive components

where hands-on inspection and maintenance is not possible.

  • Remote handling categories:
  • Inspection of hazardous environment
  • Transportation (Transfer of activated parts)
  • Manipulation (Maintenance / disposal of activated parts)

Remote Handling introduction

Remote Handling Inspection remote handling Transportation remote handling Manipulation remote handling

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Remote handling at particle accelerator facilities(1/4): Closed tunnel facility (PSI)

Overhead crane Plug/ Concrete Retrival Working Platform

Vertical Plug Vertical Plug Concrete Concrete Concrete Iron Iron Alignment Support Removable Concrete

Vertical Cross-Section of PSI Beam Line Shielding flask on top of beam line Shielding flask on top of hot cell Target lowered down in hot cell for maintenance

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Remote handling at particle accelerator facilities(2/4): Integrated hotcell and target area JSNS

JSNS target area hotcell cross-sectional view JSNS target and cart assembly

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Remote handling at particle accelerator facilities(3/4): HEP facilities (CERN)

TIM inspection robot

  • monorail system

Remote controlled trailer crane (collimator handling) lifting capacities: 1t - Max speed : 3km/h (2600mm x 780mm x 2010mm) TELEMAX used for inspection and visual support

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Remote handling at particle accelerator facilities(1/4): Open tunnel facility

GSI FRS RH KUKA KR 350 robots ISOLDE (KR 60L45) robots for remote handling

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Classification of facilities based on remote handling setup

  • Four main type of remote handling facilites
  • Closed tunnel: facility is developed with a closed tunnel design

concept and a vertical plug system (e.g. PSI, J-PARC)

  • Integrated hotcell and target area: facility builds the hotcell on top of

the target area (e.g. SNS, JSNS, SPIRAL 2, FRIB )

  • HEP facilities: facility uses very high-energy beams (LHC) are built

with open underground tunnels to provide natural shielding as shielding.

  • Open tunnel: facility was developed with an open tunnel that uses

localized shielding around the target area (e.g. FRS, ISOLDE)

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Remote handling equipment classification

Remote Handling Equipment

  • 1. Transporters
  • Overhead bridges/ guiderails
  • Suspended lifting units
  • Mobile platform ground based
  • Shielding flasks
  • Cranes
  • 2. Manipulators
  • Mechanical MSM
  • Power Manipulators
  • Tele-manipulators
  • Autonomous industrial

manipulators

  • 3. Tooling
  • Cutting
  • Grinding
  • Handling
  • Clampers
  • Screwdrivers
  • 3. Supporting systems
  • Communication /controls /visual
  • CAD/CAM mockup
  • Material packing/ storage
  • Decontamination
  • 1:1 mockup test
  • Radiation detection
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Remote handling classes for Super-FRS components

RH classes for components RH Class Description

1 Components requiring regular planned replacement. 2 Components that are Likely to require repairs and replacements. 3 Components that are not expected to require maintenance or replacement during life time of facility but would need to be replaced remotely in case if they fail. 4 Components that do not require remote maintenance

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Super-FRS Remote handling scenario

Hotcell Open tunnel Remote Handling (Main tunnel building) Closed tunnel Remote Handling (Target Area building)

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Target area buidling

Target Hot cell Iron shielding concrete shield (bars removed) height = 5-6m beam catchers

The beamline inserts must be moved to hotcell and vice versa for remote maintenance

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Radiation Shielding

Removable concrete bars

2.26m 6.5m 3.45m

Concrete shielding

Iron shielding 1.640m

4.04m 6m

Concrete shielding

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Radiation Shielding

Activation after beam times, but access to maintenance tunnel possible thanks to integrated shielding. Also shielding becomes activated.

concrete bars iron concrete soil

~ 10 mSv/h 7 Sv/h

PSI Switzerland same concept, top of chamber

H.Weick

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Super-FRS target area beamline remote handling positions for shielding flask (60t)

Target Chamber Beam catcher chambers Pillow seals Chamber 1 Chamber 2 Chamber 3 7 positions 4 positions 4 positions 4 positions 4 positions

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Target Chamber plugs

Target chamber Michel Lindemulder, Henk Smit, KVI-CART Detector plugs Target plug Collimator plug Pillow seal plug Target vacuum chamber 2.675m 2.108m

C.Karagiannis

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Target Chamber plugs Design for remote handling

Target vacuum chamber

1.5m 3.990m

  • The target station plugs have the same height, approximately 4000 mm.
  • The 1,5 m shielding length is achieved by stacking 15 blocks of 100 mm thickness each.
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required: ± 20mm shift, 2 mrad tilt tested up to 70mm and 7 mrad

Plug Test Setup

Self-seeking plug guidance

  • Four tapered legs.
  • Fourth plate of the plug is

equipped with tapered insert parts.

  • Interchangeable brass

sections to adjust the final positioning.

  • Interchangeable plates.

Tapered legs Tapered insert section Brass sections

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Detector ladder with slots for single detectors Target vacuum chamber 2.675m 2.108m

Target chamber Detector plug

Detachable ladder

MSM gripping location

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unreacted primary beam wanted fragment beam

magnets

Beam Catchers

contribution of India to FAIR

H.Weick Target Wheel Beam catcher chamber and Plug

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Beam Catchers contribution of India to FAIR

Sextupole Exit Pillow seal alignment support

BC3 chamber Assembly

Beam catcher plugs collar Vacuum chamber pumping duct Graphite Copper shielding Plug Plug CSIR-CMERI Durgapur

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Beam catcher Remote handling concept (Modular design)

Fixed plate Vertical drive Moveable plate Hooking arrangement 1 2 3 4 5 6

CSIR-CMERI Durgapur

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1 Release the connectors beam absorber assembly 2 & 3 disconnect the water cooling pipe connections 4 Disengage the beam absorber assembly 5 Uncouple the rods holding the graphite blocks in the absorber assembly 6 & 7 Remove the graphite absorber part 8 install new graphite parts and carryout assembly process.

Beam absorber assembly Linear Drive

assembly

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Super-FRS target area plug remote handling requirements

Target Plug Collimator plug Detector Plug Beam Catcher Plug Target wheel

3990 mm 3948 mm 3900 mm

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Super-FRS Shielding flask (1/4)

5800 mm 3900 mm 1820 mm

  • Design and develop according to legal (KTA) standards
  • Shielding flask height: ~5.8m (including internal carne installation)
  • Foot print of shielding flask: 3.9m x 1.820 m (including the sliding door

frame)

  • Internal dimensions 5.1m x .820m x .904m
  • Estimate weight of 66t
  • In the designs (DN500) round pillow seal diagonal direction (tilted by ~30°)
  • The design goal is a maximum dose rate of 10 µSv/h on the outside

surface in all normal operation.

Hotcell interface Emergency access window Hall (80t) crane interface 9t internal crane

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Super-FRS Shielding flask (2/4) Examples / Arrangement

PSI shielding Flask J-PARC shielding Flask

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Super-FRS Shielding flask (3/4) Traverse platform

Shielding Flask

Frame 7500mm x 24000mm x 200mm (27tons) Shielding plate

  • Air gap cover to prevent contamination
  • Detachable control unit
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Super-FRS Shielding flask (4/4) control signals

E E E E

Gear Box Shielding door driver motor Linear screw jack drive Shielding door Interface with hall crane Lever mechanism for locking with hall crane End switches to monitor door position End switches to monitor door position Contact signal interface with hotcell / platform End switches to monitor hall crane locking Pos 1 Pos 2 Pos 3 Pos 4 Pos 5 Pos 6 Pos 7 Pos 32 End switch for hook position Potentiometer Horizontal positioning End switches for hook end position Motor for the guide rails Encoder and current measurement End switch for guide rails Gripper Guide rails

P P P P E E E E

Linear drive for guide rails

E E

Load Measuring Pins and Load Cell Sensors

E E E E

Measuring tape (cable rounds) Gripper status end switch Control unit box shielding flask To mobile control unit Pos 8 Pos 21

E E E

Pos 9 Pos 20 Pos 18 Pos 13 Pos 10 Pos 11 Pos 12 Pos 16 Pos 17 Pos 19 Pos 22 Pos 23 Pos 24 Pos 25 Pos 26 Pos 27 Pos 29 Pos 28 Pos 31 Pos 30 Pos 33

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Super-FRS Remote handling scenario (Closed tunnel)

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Power manipulator Indoor overhead crane MT200 MSM Detector plug Modular Design Plug Holder

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Super-FRS Hot cell

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Storage Cell Barrel storage Overhead crane Power Manipulator Storage cell Shielding Flask Plug fixed support inside hotcell Target plug

Roller belt to transfer barrel

Barrel

Super-FRS Hot cell

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Shielding flask parking cell interaction

Plug parking cell design Parking cell top view

  • H. Weick

Shielding Flask resting location on top of hotcell

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Target Chamber plugs Design for remote handling

Target vacuum chamber

Linear drive maintenance at the top of the plug. Target wheel and target ladder maintenance in hot-cell. Target cooling system. C.Karagiannis

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Target Wheel remote maintenance

Fixed target ladder Target wheel swivel movement Target wheel and motor in vacuum (regular replacement) Controlled area (operator) Hot cell Wall Target wheel Master-Slave Manipulator Driving motor Gripper Remote maintenance tools Tool adopted to fit MSM C.Karagiannis

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Remote Handling (video 1)

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Remote Handling (video 2)

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Super-FRS Remote handling scenario (open tunnel)

FPF 3 FPF 2 FPF 4 FMF2

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Super-FRS Remote handling scenario (open tunnel)

IV planner screen shots of the FLUKA simulations for the Super-FRS tunnel

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Super-FRS Remote handling scenario (open tunnel)

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Super-FRS Remote handling scenario (open tunnel) Concept design

Main tunnel RH system

  • Six axis (KUKA titan ) robot to perform

remote manipulation.

  • Mobile platform (KUKA Omnimove / AGV)

that can transport robot in-between parking position to maintenance region.

  • Mobile shielding container to transport

activated beamline inserts.

  • Power supply, navigation and parking

system.

  • Automatic media board connection

KUKA Omnimove

Mobile Storage/ Shielding box

Remote Handling of beamline inserts (X and Y slits) example

Automatic media board disconnection Robot tools

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  • Remote handling is required for Super-FRS facility to ensure the

maintenance and operation of the facility.

  • Super-FRS has both close tunnel and open tunnel remote

handling scenarios.

  • Super- FRS has both Transportation manipulation and Dexterity

manipulation.

  • Closed tunnel remote handling
  • Shielding flask will be used to for handling and transfer of activated

beamline parts

  • Hotcell will be used to conduct remote maintenance
  • Open tunnel remote handling
  • Industrial robotic systems will be used to manipulate and handle

beamline inserts

  • maintenance / transfer task sequence needs detailed definition (shielding

flask)

  • Hot cell will be primary location to maintain, exchange, upgrade

and store the beamline inserts activated parts.

  • Automatic media board has been developed at GSI.

Summary

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  • Target area chamber design is in advance stage and will

be go through CDR review.

  • Beam catcher and detector ladder designs needs to be

verified for remote handling using the MSM setup at GSI.

  • Shielding flask specification are updated and MOU talks

has been agreed to design and develop the Finland in- kind contribution to FAIR.

  • Open tunnel remote handling system specification and

design parameter are under development.

  • Analyze - from the start - the assembly, failure and

maintenance scenarios

  • Analyze the big picture – do not rely on a mystic remote

handling device Future outlook

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Thanks / Questions

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Super-FRS target area plug remote handling requirements

Beamline Plug Length Width Thickness Detector Plug 3565mm

(500 mm stroke)

457mm 330mm Target Plug 3653mm

(500 mm stroke)

767mm 465mm Target wheel 450mm Ø Beam Catcher 3623mm 806.5mm 480mm Pillow seal 500mm Ø 2761mm 900mm 90mm Pillow seal 1200mm Ø 2635mm 1600mm 90mm Target Area Hotcell Parking cell

shielding flask

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Target Plug dimensions

Plug dimension with 500mm stroke 4150mmx747mmx430mm Plug dimension 3801mmx747mmx430mm X-section of the target plug at top will be 770mmx465mm

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Detector / collimator plugs dimensions

Plug dimension 3948mmx426mmx295mm X-section of the target plug at top will be 465mmx350mm