The end magnets of the IFUSP race-track microtron booster

The end magnets of the IFUSP race-track microtron booster, second stage of the electron accelerator under construction at the Linear Accelerator Laboratory, are presented. They deflect, focus and return the beam to the accelerating section. Details about the project are discussed, Poisson code was used to give the final geometry of the end magnets. The end magnets incorporate auxiliary pole pieces (clamps) which create a reverse fringe field region that avoids the beam vertical defocusing and reduces the horizontal displacement produced by extended fringe fields (EFF). The small gap height used for the clamps provided reverse field distributions with fringe fields of short extensions, avoiding the traditional use of inactive clamps. Measurements and calculations concerning particle trajectories and reverse field distribution are presented. The floating wire technique, employing an original procedure to register orbits, was used to corroborate the calculated beam trajectories and represents a good experimental option in the lack of the accelerator beam. The experimental results showed agreement of about 0.1% with the calculations.

The IFUSP race-track microtron booster accelerator end magnets antisymmetric perturbations

We will present measurements and calculations related to the antisymmetric perturbations, and comparisons with the symmetric ones, of the IFUSP race-track microtron booster accelerator end magnets. These perturbations were measured in planes situated at +/-12 mm of the middle plane, in a gap height of 4 cm, for a field distribution of about 0.1 T. The measurements were done in 1170 points, separated by a distance of 8 mm, using an automated system with a +/-1.5 mu T differential Hall probe. The race-track microtron booster is the second stage of the 30.0 MeV electron accelerator under construction at the Linear Accelerator Laboratory in which the required uniformity for the magnetic field is of about 10(-3). The method of correction employed to homogenize the IFUSP race-track microtron booster accelerator magnets assures uniformity of 10(-5) in an average field of 0.1 T, over an area of 700 cm(2). This method uses the principle of attaching to the pole pieces correction coils produced by etching techniques, with copper leads shaped like the isofield lines of the normal component of the magnetic field measured. The ideal planes, in which these measurements are done, are calculated and depend on the behavior of the magnetic field perturbations: symmetric or antisymmetric with reference to the middle plane of the magnet gap. These calculations are presented in this work and show that for antisymmetric perturbations there is no ideal plane for the correction of the magnetic field; for the symmetric one, these planes are at +/-60% of the half gap height, from the middle plane. So this method of correction is not feasible for antisymmetric perturbations, as will be shown. Besides, the correction of the symmetric portion of the field distribution does not influence the antisymmetric one, which almost does not change, and corroborates the theoretical predictions. We found antisymmetric perturbations of small intensity only in one of the two end magnets. However, they are not detected at +/- 1 mm of the middle plane and will not damage the electron beam.

BACKGROUND THERMAL CONTRIBUTIONS IN TESTING THE UNRUH EFFECT

We consider inertial and accelerated Unruh-DeWitt detectors moving in a background thermal bath and calculate their excitation rate. It is shown that for fast moving detectors such a thermal bath does not affect substantially the excitation probability. Our results are discussed in connection with a possible proposal of testing the Unruh effect in high energy particle accelerators.

Pressure field in a tube with a general and arbitrary time- and position-dependent gas source

In this article we present analytical and numerical results for a pressure profile along the axis of a tube with a general and arbitrary time- and position-dependent gas source. The model is able to determine the pressure values along the tube, once the pumping speed at each extremity and the gas sources are specified. The time evolution of the pressure along a tube is presented for situations commonly found in high-vacuum applications, such as particle accelerators, colliders, storage rings, and synchrotron light sources. (C) 2004 American Vacuum Society.

Pressure field distribution in a conical tube with transient and outgassing gas sources

This work presents and describes in detail the pressure profile in a conical tube with the unavoidable steady-state outgassing, plus a transient gas source, like, for instance, in an accelerator, when particles from the beam hit the walls. Mathematical and physical formulations are given and detailed; specific conductance, specific throughput and a detailed discussion about the boundary conditions are presented. These concepts and approach are applied to usual realistic cases, such as conical tubes, with typical laboratory dimensions. © 2005 IEEE.

Suche nach einem leichten Higgs-Boson im Kanal WH ev e bb in pp-Kollisionen bei s=1.96 TeV am DO-Detektor des Tevatron

Eine wichtige Komponente des Standardmodells der Teilchenphysik bildet der Higgs-Mechanismus, der benötigt wird um den vom Standardmodell beschriebenen Teilchen Masse zu verleihen. Dieser Mechanismus beinhaltet jedoch ein weiteres schweres Elementarteilchen das bislang noch nich beobachtet werden konnte. Die Suche nach diesem Teilchen ist eines Hauptziele der derzeitigen Forschung an Teilchenbeschleunigern. Diese Arbeit untersucht die vom D0-Detektor am Tevatron des Fermi National Accelerator Laboratory (FNAL) aufgezeichneten Daten von ppbar-Kollisionen bei einer Schwerpunktsenergie von sqrt{s}=1.96 TeV, um im Kanal WH -> enu bb nach einem leichten Higgs-Boson zu suchen. Darüber hinaus wird der Produktionswirkungsquerschnitt der Wbb-Produktion ermittelt. Für die Analyse stand eine integrierte Luminosität von L=255pb^{-1} zur Verfügung. Zur Selektion dieser Prozesse, werden Ereignisse ausgewählt, die Elektronen und fehlenden Transversalimpuls enthalten, sowie mindestens zwei Jets, die sich als b-Jets identifizieren lassen. Um eine effiziente Selektion zu erhalten, wurden Schnitte auf verschiedene Kenngrößen entwickelt, getestet und optimiert. Aus den selektierten Ereignissen wird der Wbb-Wirkungsquerschnitt ermittelt, der für Ereignisse angegeben wird, in denen die b-Quarks p_T>8 GeV und |eta|<3 erfüllen. Der unter Berücksichtigung des Verzweigungsverhältnisses BR(W->enu)=0.108 errechnete Wert ist sigma(Wbb)=21.8 pb (+15.5; -20.0 pb(sys+stat)). Wegen der geringen Signifikanz der Messung von etwa 1.2sigma wurden die Ereigniszahlen auch zur Berechnung einer oberen Grenze auf den Wirkungsquerschnitt verwendet, die sich bei einem Konfidenzniveau von 95% zu sigma^95(Wbb)=60.9pb ergibt. Ebenso wurden Grenzen auf den WH-Produktionswirkungsquerschnitt ermittelt. Dafür wurde die statistische Methode von Feldman und Cousins angewandt, nachdem sie nach den Vorschlägen von Conrad et al. erweitert worden war, um systematische Unsicherheiten zu berücksichtigen. Für ein Standardmodell Higgs-Boson der Masse 115 GeV kann eine obere Grenze auf den Produktionswirkungsquerschnitt von sigma^{95} (WH)=12.2pb angegeben werden. Für höhere Massen bis 135 GeV werden ähnliche Grenzen ermittelt.

Proprioceptive force estimation and control for teleoperation in radioactive environments

A medida que se incrementa la energía de los aceleradores de partículas o iones pesados como el CERN o GSI, de los reactores de fusión como JET o ITER, u otros experimentos científicos, se va haciendo cada vez más imprescindible el uso de técnicas de manipulación remota para la interacción con el entorno sujeto a la radiación. Hasta ahora la tasa de dosis radioactiva en el CERN podía tomar valores cercanos a algunos mSv para tiempos de enfriamiento de horas, que permitían la intervención humana para tareas de mantenimiento. Durante los primeros ensayos con plasma en JET, se alcanzaban valores cercanos a los 200 μSv después de un tiempo de enfriamiento de 4 meses y ya se hacía extensivo el uso de técnicas de manipulación remota. Hay una clara tendencia al incremento de los niveles de radioactividad en el futuro en este tipo de instalaciones. Un claro ejemplo es ITER, donde se esperan valores de 450 Sv/h en el centro del toroide a los 11 días de enfriamiento o los nuevos niveles energéticos del CERN que harán necesario una apuesta por niveles de mantenimiento remotos. En estas circunstancias se enmarca esta tesis, que estudia un sistema de control bilateral basado en fuerza-posición, tratando de evitar el uso de sensores de fuerza/par, cuyo contenido electrónico los hace especialmente sensitivos en estos ambientes. El contenido de este trabajo se centra en la teleoperación de robots industriales, que debido a su reconocida solvencia y facilidad para ser adaptados a estos entornos, unido al bajo coste y alta disponibilidad, les convierte en una alternativa interesante para tareas de manipulación remota frente a costosas soluciones a medida. En primer lugar se considera el problema cinemático de teleoperación maestro-esclavo de cinemática disimilar y se desarrolla un método general para la solución del problema en el que se incluye el uso de fuerzas asistivas para guiar al operador. A continuación se explican con detalle los experimentos realizados con un robot ABB y que muestran las dificultades encontradas y recomendaciones para solventarlas. Se concluye el estudio cinemático con un método para el encaje de espacios de trabajo entre maestro y esclavo disimilares. Posteriormente se mira hacia la dinámica, estudiándose el modelado de robots con vistas a obtener un método que permita estimar las fuerzas externas que actúan sobre los mismos. Durante la caracterización del modelo dinámico, se realizan varios ensayos para tratar de encontrar un compromiso entre complejidad de cálculo y error de estimación. También se dan las claves para modelar y caracterizar robots con estructura en forma de paralelogramo y se presenta la arquitectura de control deseada. Una vez obtenido el modelo completo del esclavo, se investigan diferentes alternativas que permitan una estimación de fuerzas externas en tiempo real, minimizando las derivadas de la posición para minimizar el ruido. Se comienza utilizando observadores clásicos del estado para ir evolucionando hasta llegar al desarrollo de un observador de tipo Luenberger-Sliding cuya implementación es relativamente sencilla y sus resultados contundentes. También se analiza el uso del observador propuesto durante un control bilateral simulado en el que se compara la realimentación de fuerzas obtenida con las técnicas clásicas basadas en error de posición frente a un control basado en fuerza-posición donde la fuerza es estimada y no medida. Se comprueba como la solución propuesta da resultados comparables con las arquitecturas clásicas y sin embargo introduce una alternativa para la teleoperación de robots industriales cuya teleoperación en entornos radioactivos sería imposible de otra manera. Finalmente se analizan los problemas derivados de la aplicación práctica de la teleoperación en los escenarios mencionados anteriormente. Debido a las condiciones prohibitivas para todo equipo electrónico, los sistemas de control se deben colocar a gran distancia de los manipuladores, dando lugar a longitudes de cable de centenares de metros. En estas condiciones se crean sobretensiones en controladores basados en PWM que pueden ser destructivas para el sistema formado por control, cableado y actuador, y por tanto, han de ser eliminadas. En este trabajo se propone una solución basada en un filtro LC comercial y se prueba de forma extensiva que su inclusión no produce efectos negativos sobre el control del actuador. ABSTRACT As the energy on the particle accelerators or heavy ion accelerators such as CERN or GSI, fusion reactors such as JET or ITER, or other scientific experiments is increased, it is becoming increasingly necessary to use remote handling techniques to interact with the remote and radioactive environment. So far, the dose rate at CERN could present values near several mSv for cooling times on the range of hours, which allowed human intervention for maintenance tasks. At JET, they measured values close to 200 μSv after a cooling time of 4 months and since then, the remote handling techniques became usual. There is a clear tendency to increase the radiation levels in the future. A clear example is ITER, where values of 450 Sv/h are expected in the centre of the torus after 11 days of cooling. Also, the new energetic levels of CERN are expected to lead to a more advanced remote handling means. In these circumstances this thesis is framed, studying a bilateral control system based on force-position, trying to avoid the use of force/torque sensors, whose electronic content makes them very sensitive in these environments. The contents of this work are focused on teleoperating industrial robots, which due its well-known reliability, easiness to be adapted to these environments, cost-effectiveness and high availability, are considered as an interesting alternative to expensive custom-made solutions for remote handling tasks. Firstly, the kinematic problem of teloperating master and slave with dissimilar kinematics is analysed and a new general approach for solving this issue is presented. The solution includes using assistive forces in order to guide the human operator. Coming up next, I explain with detail the experiments accomplished with an ABB robot that show the difficulties encountered and the proposed solutions. This section is concluded with a method to match the master’s and slave’s workspaces when they present dissimilar kinematics. Later on, the research studies the dynamics, with special focus on robot modelling with the purpose of obtaining a method that allows to estimate external forces acting on them. During the characterisation of the model’s parameters, a set of tests are performed in order to get to a compromise between computational complexity and estimation error. Key points for modelling and characterising robots with a parallelogram structure are also given, and the desired control architecture is presented. Once a complete model of the slave is obtained, different alternatives for external force estimation are review to be able to predict forces in real time, minimizing the position differentiation to minimize the estimation noise. The research starts by implementing classic state observers and then it evolves towards the use of Luenberger- Sliding observers whose implementation is relatively easy and the results are convincing. I also analyse the use of proposed observer during a simulated bilateral control on which the force feedback obtained with the classic techniques based on the position error is compared versus a control architecture based on force-position, where the force is estimated instead of measured. I t is checked how the proposed solution gives results comparable with the classical techniques and however introduces an alternative method for teleoperating industrial robots whose teleoperation in radioactive environments would have been impossible in a different way. Finally, the problems originated by the practical application of teleoperation in the before mentioned scenarios are analysed. Due the prohibitive conditions for every electronic equipment, the control systems should be placed far from the manipulators. This provokes that the power cables that fed the slaves devices can present lengths of hundreds of meters. In these circumstances, overvoltage waves are developed when implementing drives based on PWM technique. The occurrence of overvoltage is very dangerous for the system composed by drive, wiring and actuator, and has to be eliminated. During this work, a solution based on commercial LC filters is proposed and it is extensively proved that its inclusion does not introduce adverse effects into the actuator’s control.

A High magnetic field bubble chamber : report of ORINS-ORNL Committee.

"ORINS-40; Particle accelerators and high-voltage machines."

Specifications for the beam transport systems to end Stations A and B /

"June 1964."

Report on Arkansas 400 KV Cockcroft-Walton accelerator and nuclear chemistry research /

"Reprinted from Annual Progress Report, AEC Contract AT(40-1)--277, March 1, 1958."

The neutron producing mechanism in transverse pinches,

"Prepared for the Air Force Ballistic Missile Division, Headquarters Air Research and Development Command, under contract AF 04(647)-309, Thermornuclear Propulsion Research."

Functional description of the trigger system fro the Stanford two-mile accelerator /

"January 1965."

HIgh repetition rate pulser for beam switching magnet /

"AEC Contract AT(04-3)-400."

Magnetic field measurement and spectroscopy in multipole fields /

"February 1965."

High velocity electric accelerator systems

"Materials Central, Contract No. AF 33(616)-5730, Project Nos. 7360 and 7351."