Análisis de un brazo robótico con Gazebo y ROS para tareas de inspección remota en el CERN

Con el devenir de los tiempos e incentivado por el desarrollo tecnológico, la cantidad y complejidad de los experimentos realizados en el conocido laboratorio de física de partículas, C.E.R.N, ha alcanzado límites insospechados. Además, su evolución se acentúa y motiva con cada nuevo descubrimiento. Prueba de estas ansias por desvelar las entrañas y secretos del universo se encuentra en el choque de 13 TeV que tuvo lugar el pasado mes de mayo. Con él, no sólo se marcaban inequívocamente las expectativas del complejo para este nuevo ciclo de funcionamiento, sino que además se daba el pistoletazo de salida a la carrera que culminaría con el descubrimiento de los pentaquarks. A nivel ingenieril, esta mejora de las capacidades del complejo implica un exponencial endurecimiento de las exigencias impuestas a los sistemas empleados. Por consiguiente y de forma inevitable, las condiciones del interior del acelerador migran hacia baremos cada vez más drásticos. Tanto es así que los niveles de radiación alcanzados actualmente limitan notablemente el acceso de personal al acelerador; lo que se traduce en un incremento de los tiempos de mantenimiento y reparación. Actualmente estos retardos tratan de ser mitigados mediante el uso de robots móviles operados remotamente. De entre ellos, llama la atención aquél conocido bajo el acrónimo T.I.M (Train for RP Survey and visual inspection in LHC). Este tren, constituido por 5 vagones, se desplaza a lo largo del acelerador de partículas midiendo los niveles de radiación y oxígeno al tiempo que proporciona realimentación visual. En el presente proyecto se propone la mejora de las tareas de inspección y mantenimiento mediante la integración de un manipulador robótico de 6 grados de libertad en uno de los vagones del citado tren. De este modo, se consigue un sistema capaz de trasladarse a cualquier punto del acelerador, en un tiempo record, y realizar una gran cantidad de tareas de mantenimiento que comprenden desde simples inspecciones visuales a complejas labores como puede ser desatornillado o extracción de componentes dañados. Por otro lado, se plantea un segundo desarrollo sobre el que sustentar el diseño propuesto: “Construcción de un simulador robótico de alta fiabilidad, basado en ROS y Gazebo”. Adicionalmente, esta herramienta Software atiende a otros fines complementarios: sirve de trampolín para futuros desarrollos encauzados a la mejora del sistema mecánico; entrega una herramienta de bajo coste con la que analizar la integración de nuevos hitos en robótica y, por último, permite evaluar la adopción de un nuevo paradigma de programación en el que ROS se encuentre inmerso.

Measurements of π±, K±, K0s, Λ and proton production in proton–carbon interactions at 31 GeV/c with the NA61/SHINE spectrometer at the CERN SPS

Measurements of hadron production in p+C interactions at 31 GeV/c are performed using the NA61/SHINE spectrometer at the CERN SPS. The analysis is based on the full set of data collected in 2009 using a graphite target with a thickness of 4% of a nuclear interaction length. Inelastic and production cross sections as well as spectra of π±, K±, p, K0s and Λ are measured with high precision. These measurements are essential for improved calculations of the initial neutrino fluxes in the T2K long-baseline neutrino oscillation experiment in Japan. A comparison of the NA61/SHINE measurements with predictions of several hadroproduction models is presented.

Coherent method of acceleration of particle bunches : paper presented at CERN symposium, 1956 /

"European Organization for Nuclear Research."

Signatures of doubly charged Higgs in the SU(3)(L) circle times U(1)(N) model at the CERN LHC

The scalar sector of the simplest version of the 3-3-1 electroweak model is constructed with three Higgs triplets only. We show that a relation involving two of the constants of the model, two vacuum expectation values of the neutral scalars, and the mass of the doubly charged Higgs boson leads to important information concerning the signals of this scalar particle.

Misura del flusso neutronico per reazioni indotte da neutroni su 155Gd e 157Gd nell'esperimento nTOF al CERN

Questa tesi è incentrata sullo studio e la determinazione del flusso neutronico della facility nTOF (neutron Time Of Flight) del CERN di Ginevra nel corso della campagna sperimentale del 2016. L'esperimento è finalizzato alla misura della sezione d'urto della reazione di cattura neutronica da parte degli isotopi dispari di gadolinio, 155Gd e 157Gd. In particolare l'analisi verrà condotta in modo da ottenere dati sperimentali nello spettro di energie da neutroni termici (10-2 eV) a 1.0 eV e migliorare i dati già esistenti per energie fino a 1.0 MeV. Dopo aver ricordato le motivazioni scientifiche e tecnologiche che sono alla base del progetto di ricerca, si descrivono le caratteristiche della facility nTOF e si trattano i fondamenti delle reazioni nucleari e le tecniche del tempo di volo, di misura di flusso e di cattura utilizzate nel corso dell'esperimento. Nella parte finale del lavoro si presentano i dati sperimentali acquisiti sul flusso neutronico, la cui accurata conoscenza è fondamentale per la misura di sezioni d'urto di reazioni indotte da neutroni. I risultati ottenuti sono quindi stati elaborati e confrontati con i dati precedenti per poter essere validati e per poter verificare eventuali discrepanze. Dalle analisi dei dati si deduce come la precisione ottenuta sulla determinazione del flusso sia ottimale per i successivi studi che verranno condotti sulla sezione d'urto degli isotopi dispari di gadolinio.

An integrated library system on the CERN document server

O CERN - a Organização Europeia para a Investigação Nuclear - é um dos maiores centros de investigação a nível mundial, responsável por diversas descobertas na área da física bem como na área das ciências da computação. O CERN Document Server, também conhecido como CDS Invenio, é um software desenvolvido no CERN, que tem como objectivo fornecer um conjunto de ferramentas para gerir bibliotecas digitais. A fim de melhorar as funcionalidades do CDS Invenio foi criado um novo módulo, chamado BibCirculation, para gerir os livros (e outros itens) da biblioteca do CERN, funcionando como um sistema integrado de gestão de bibliotecas. Esta tese descreve os passos que foram dados para atingir os vários objectivos deste projecto, explicando, entre outros, o processo de integração com os outros módulos existentes bem como a forma encontrada para associar informações dos livros com os metadados do CDS lnvenio. É também possível encontrar uma apresentação detalhada sobre todo o processo de implementação e os testes realizados. Finalmente, são apresentadas as conclusões deste projecto e o trabalho a desenvolver futuramente. ABSTRACT: CERN - The European Organization for Nuclear Research - is one of the largest research centers worldwide, responsible for several discoveries in physics as well as in computer science. The CERN Document Server, also known as CDS Invenio, is a software developed at CERN, which aims to provide a set of tools for managing digital libraries. ln order to improve the functionalities of CDS Invenio a new module was developed, called BibCirculation, to manage books (and other items) from the CERN library, and working as an Integrated Library System. This thesis shows the steps that have been done to achieve the several goals of this project, explaining, among others aspects, the process of integration with other existing modules as well as the way to associate the information about books with the metadata from CDS lnvenio. You can also find detailed explanation of the entire implementation process and testing. Finally, there are presented the conclusions of this project and ideas for future development.

Gravitational signature of Schwarzschild black holes in dynamical Chern-Simons gravity

Dynamical Chern-Simons gravity is an extension of general relativity in which the gravitational field is coupled to a scalar field through a parity-violating Chern-Simons term. In this framework, we study perturbations of spherically symmetric black hole spacetimes, assuming that the background scalar field vanishes. Our results suggest that these spacetimes are stable, and small perturbations die away as a ringdown. However, in contrast to standard general relativity, the gravitational waveforms are also driven by the scalar field. Thus, the gravitational oscillation modes of black holes carry imprints of the coupling to the scalar field. This is a smoking gun for Chern-Simons theory and could be tested with gravitational-wave detectors, such as LIGO or LISA. For negative values of the coupling constant, ghosts are known to arise, and we explicitly verify their appearance numerically. Our results are validated using both time evolution and frequency domain methods.

Heavy quark production in deep inelastic electron-nucleus scattering

Heavy quark production has been very well studied over the last years both theoretically and experimentally. Theory has been used to study heavy quark production in ep collisions at HERA, in pp collisions at Tevatron and RHIC, in pA and dA collisions at RHIC, and in AA collisions at CERN-SPS and RHIC. However, to the best of our knowledge, heavy quark production in eA has received almost no attention. With the possible construction of a high energy electron-ion collider, updated estimates of heavy quark production are needed. We address the subject from the perspective of saturation physics and compute the heavy quark production cross section with the dipole model. We isolate shadowing and nonlinear effects, showing their impact on the charm structure function and on the transverse momentum spectrum.

Detailed study of the K(L)->pi(0)pi(0)pi(0) Dalitz plot

Using a sample of 68.3x10(6) K(L)->pi(0)pi(0)pi(0) decays collected in 1996-1999 by the KTeV (E832) experiment at Fermilab, we present a detailed study of the K(L)->pi(0)pi(0)pi(0) Dalitz plot density. We report the first observation of interference from K(L)->pi(+)pi(-)pi(0) decays in which pi(+)pi(-) rescatters to pi(0)pi(0) in a final-state interaction. This rescattering effect is described by the Cabibbo-Isidori model, and it depends on the difference in pion scattering lengths between the isospin I=0 and I=2 states, a(0)-a(2). Using the Cabibbo-Isidori model, and fixing (a(0)-a(2))m(pi)(+)=0.268 +/- 0.017 as measured by the CERN-NA48 collaboration, we present the first measurement of the K(L)->pi(0)pi(0)pi(0) quadratic slope parameter that accounts for the rescattering effect: h(000)=(+0.59 +/- 0.20(stat)+/- 0.48(syst)+/- 1.06(ext))x10(-3), where the uncertainties are from data statistics, KTeV systematic errors, and external systematic errors. Fitting for both h(000) and a(0)-a(2), we find h(000)=(-2.09 +/- 0.62(stat)+/- 0.72(syst)+/- 0.28(ext))x10(-3), and m(pi)(+)(a(0)-a(2))=0.215 +/- 0.014(stat)+/- 0.025(syst)+/- 0.006(ext); our value for a(0)-a(2) is consistent with that from NA48.

Detailed measurement of the e(+)e(-) pair continuum in p plus p and Au plus Au collisions at root s(NN)=200 GeV and implications for direct photon production

PHENIX has measured the e(+)e(-) pair continuum in root s(NN) = 200 GeV Au+Au and p+p collisions over a wide range of mass and transverse momenta. The e(+)e(-) yield is compared to the expectations from hadronic sources, based on PHENIX measurements. In the intermediate-mass region, between the masses of the phi and the J/psi meson, the yield is consistent with expectations from correlated c (c) over bar production, although other mechanisms are not ruled out. In the low-mass region, below the phi, the p+p inclusive mass spectrum is well described by known contributions from light meson decays. In contrast, the Au+Au minimum bias inclusive mass spectrum in this region shows an enhancement by a factor of 4.7 +/- 0.4(stat) +/- 1.5(syst) +/- 0.9(model). At low mass (m(ee) < 0.3 GeV/c(2)) and high p(T) (1 < p(T) < 5 GeV/c) an enhanced e(+)e(-) pair yield is observed that is consistent with production of virtual direct photons. This excess is used to infer the yield of real direct photons. In central Au+Au collisions, the excess of the direct photon yield over the p+p is exponential in p(T), with inverse slope T = 221 +/- 19(stat) +/- 19(syst) MeV. Hydrodynamical models with initial temperatures ranging from T(init) similar or equal to 300-600 MeV at times of 0.6-0.15 fm/c after the collision are in qualitative agreement with the direct photon data in Au+Au. For low p(T) < 1 GeV/c the low-mass region shows a further significant enhancement that increases with centrality and has an inverse slope of T similar or equal to 100 MeV. Theoretical models underpredict the low-mass, low-p(T) enhancement.

Inclusive cross section and double helicity asymmetry for pi(0) production in p plus p collisions at root s=62.4 GeV

The PHENIX experiment presents results from the RHIC 2006 run with polarized p + p collisions at root s = 62.4 GeV, for inclusive pi(0) production at midrapidity. Unpolarized cross section results are measured for transverse momenta p(T) = 0.5 to 7 GeV/c. Next-to-leading order perturbative quantum chromodynamics calculations are compared with the data, and while the calculations are consistent with the measurements, next-to-leading logarithmic corrections improve the agreement. Double helicity asymmetries A(LL) are presented for p(T) = 1 to 4 GeV/c and probe the higher range of Bjorken x of the gluon (x(g)) with better statistical precision than our previous measurements at root s = 200 GeV. These measurements are sensitive to the gluon polarization in the proton for 0.06 < x(g) < 0.4.

Identified charged hadron production in p plus p collisions at root s=200 and 62.4 GeV

Transverse momentum distributions and yields for pi(+/-), K(+/-), p, and (p) over bar in p + p collisions at root s = 200 and 62.4 GeV at midrapidity are measured by the PHENIX experiment at the Relativistic Heavy Ion Collider (RHIC). These data provide important baseline spectra for comparisons with identified particle spectra in heavy ion collisions at RHIC. We present the inverse slope parameter T(inv), mean transverse momentum < p(T)>, and yield per unit rapidity dN/dy at each energy, and compare them to other measurements at different root s in p + p and p + (p) over bar collisions. We also present the scaling properties such as m(T) scaling and x(T) scaling on the p(T) spectra between different energies. To discuss the mechanism of the particle production in p + p collisions, the measured spectra are compared to next-to-leading-order or next-to-leading-logarithmic perturbative quantum chromodynamics calculations.

Probing neutrino oscillations in supersymmetric models at the Large Hadron Collider

The lightest supersymmetric particle may decay with branching ratios that correlate with neutrino oscillation parameters. In this case the CERN Large Hadron Collider (LHC) has the potential to probe the atmospheric neutrino mixing angle with sensitivity competitive to its low-energy determination by underground experiments. Under realistic detection assumptions, we identify the necessary conditions for the experiments at CERN's LHC to probe the simplest scenario for neutrino masses induced by minimal supergravity with bilinear R parity violation.