Cleanroom Assembly and Cavity Testing
A tutorial about the cleanroom assembly and cavity testing. The presentation discusses how-tos, best practices, and lessons learned.
Wu, Genfa [Fermilab]↗
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Characterization of Additive Manufacturing Materials for String Assembly in Cleanroom
Beamline components, such as superconducting radio frequency cavities and focusing lenses, need to be assembled together in a string while in a cleanroom environment. The present contribution identifies and characterizes materials for additive manufacturing that can be used in a cleanroom. The well known advantages of additive manufacturing processes would highly benefit the design and development of tooling needed for the mechanical support and alignment of string components. Cleanliness, mechanical properties, and leak tightness of the chosen materials are the main focus of this contribution, which also paves the way for the integration of such materials in cryomodule assemblies. Results reported here were obtained in the framework of the PIP-II project at Fermilab.
43 PARTICLE ACCELERATORS↗
Robotic Systems integration for cleanroom SRF assembly at Fermilab
Superconducting Radio Frequency (SRF) cryomodule assembly is a critical process that demands the highest levels of contamination control in a cleanroom to ensure product quality and reliability. Within the cleanroom environment, human-driven activities remain the major source of uncontrolled particulate. Moreover, the precise manual alignment of components often exceeds expected timeframes, increasing the risk of particulate migration into the critical inner space of the SRF resonant cavity, and causing extended discomfort for workers. Automation comes as a natural solution to address these challenges. The goal of this activity is to set up and integrate a robotic system to support cavity coupler installation in the cleanroom environment. Initially, remote control of a 6-axis collaborative robot arm will be implemented as an introductory step towards automation in the cleanroom. Subsequently, the system will be further enhanced by integrating manipulation capabilities through an appropriate end-effector, and computer vision technology to enable accurate pose estimation. This comprehensive approach aims to achieve a fully automated and adaptable assembly process in the partially structured cleanroom environment, thereby enhancing efficiency and mitigating existing challenges for better product quality and workers safety.
42 ENGINEERING↗
Vision based robotic assembly in cleanroom environment
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Vivai, Andrea [Fermilab]↗
Robotic Systems Integration for Cleanroom SRF Assembly at Fermilab
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Ciaramella, Alessandro↗
Machine Learning for Automated Alignment of Cleanroom Robotic Assembly
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Vivai, Andrea [Pisa U.]↗
Robotic Assembly of SRF Cavity Pair
Superconducting Radio Frequency (SRF) cavities for particle accelerators require tight tolerances, ultrahigh vacuum, and strict cleanliness during assembly. As in the semiconductor industry, defects such as particles and residues are deleterious to performance, possibly rendering a cavity unfit for use. This problem is addressed primarily through cleanroom assembly during sensitive steps and rigorous chemical processing to prevent and remove such defects. Human workers are often the largest source of contamination, even with proper gowning and practices. The semiconductor industry has long integrated robots in cleanroom operation, but this has not occurred for SRF cavity production; SRF cavities, unlike wafers, are complex shapes, require more hands-on mechanical assembly, and are low-volume production items. At Jefferson Laboratory, a co-operative robot (cobot) has been setup to overcome these problems. Cobots are safe for use alongside human workers and can integrate new tools such as a 3D camera part detection and gripper for item manipulation. Therefore, cobots represent a promising avenue for reducing particulate generated during a variety of assembly tasks. A mockup of a cavity pair and coupler was setup and the cobot programmed to automatically pick up the coupler and place on the mating cavity flange. Particle counting methods were setup to measure human vs cobot assembly particulate generation inside a cavity mockup. Other potential uses will be discussed for further improving SRF cavity assembly steps, where a cobot can replace or assist a human operator, and what potential gains are expected.
Duzik, Adam [Thomas Jefferson National Accelerator↗
Field Emission Analysis in SRF Cavities for PIP-II Using GEANT4
Field emission (FE) remains a significant hurdle for achieving optimal performance and reliability in superconducting radiofrequency (SRF) cavities used in accelerator cryomodules. A thorough understanding of the generation and propagation of FE-induced radiation is therefore essential to mitigate this problem. The absence of standardized measurement protocols further complicates the comparison of radiation data across different testing phases and facilities. This highlights the need for a precise quantitative method to diagnose and analyze FE-induced radiation. Such efforts could prove beneficial for improving cavity preparation and cleanroom assembly techniques during the prototype and production stages of Fermilab's Proton Improvement Plan-II (PIP-II) project. This study presents the initial steps of detailed Geant4 simulations aimed at analyzing FE-induced radiation in the low-beta 650 MHz 5-cell elliptical (LB650) cavity. Our goal is to combine these results with radiation diagnostics to enhance diagnostic accuracy and optimize detector positioning. This integrated approach ultimately aims to improve the preparation, assembly, and testing procedures for PIP-II SRF cavities, ensuring the delivery of FE-free cryomodules.
Wijethunga, Sajini A.K. [Fermilab] (ORCID:00000002↗
Field Emission Analysis in SRF Cavities for PIP-II Using GEANT4
Field emission (FE) remains a significant hurdle for achieving optimal performance and reliability in super-conducting radiofrequency (SRF) cavities used in accelerator cryomodules. A thorough understanding of the generation and propagation of FE-induced radiation is therefore essential to mitigate this problem. The absence of standardized measurement protocols further complicates the comparison of radiation data across different testing phases and facilities. This highlights the need for a precise quantitative method to diagnose and analyze FE-induced radiation. Such efforts could prove beneficial for improving cavity preparation and cleanroom assembly techniques during the prototype and production stages of Fermilab's Proton Improvement Plan-II (PIP-II) project. This study presents the initial steps of detailed Geant4 simulations aimed at analyzing FE-induced radiation in the low-beta 650 MHz 5-cell elliptical (LB650) cavity. Our goal is to combine these results with radiation diagnostics to enhance diagnostic accuracy and optimize detector positioning. This integrated approach ultimately aims to improve the preparation, assembly, and testing procedures for PIP-II SRF cavities, ensuring the delivery of FE-free cryomodules.
Wijethunga, S. A.K. [Fermilab] (ORCID:000000028765↗
Computer Vision Techniques Used to Monitor the Alignment of Cavities and Solenoids in the PIP-II Prototype SSR1 Cryomodule
The alignment of the SRF PIP-II string components is studied as the acceptable beam deflection, offset and defocusing, which may otherwise cause beam loss. Simulations and measurements established that the maximum deviation of the beam pipe from the reference orbit should not exceed a small fraction of the beam aperture. To observe the translations and rotations of each single component within the cryomodule, optical instruments (H-BCAM) surveying highly reflective targets, installed in the internal assembly of the module were used. The alignment monitoring concept for the PIP II SSR1 prototype cryomodule, along with relevant measurements of the components’ position monitoring during coldmass cooldown is presented in this contribution. This development paves the way to new computer vision applications in the field of cryomodule assemblies in cleanroom environment, in which robotically-assisted operations have the potential to dramatically reduce the risk of chemical and particulate contamination.
43 PARTICLE ACCELERATORS↗
Application Of The ASME Boiler And Pressure Vessel Code In The Design Of SSR Cryomodule Beamlines For PIP-II Project At Fermilab
This contribution reports the design of the main components used to interconnect SRF cavities and superconducting focusing lenses in the SSR Cryomodule beamlines, developed in the framework of the PIP-II project at Fermilab. The focus of the present contribution is on the design and testing of the edge-welded bellows according to ASME Boiler and Pressure Vessel Code. The activities performed to qualify the bellows to be assembled in cleanroom, for operation in high vacuum, cryogenic environments, and their characterization from magnetic standpoint, will also be presented.
43 PARTICLE ACCELERATORS↗
Cleanroom Automation of SRF Cavity String Assembly [Poster]
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46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
Autonomous Coupler Alignment Using Position-Based Visual Servoing in a ROS 2 Framework
As robotic arms are becoming increasingly common alongside humans as collaborative robots, their high precision in motion enables tasks to be performed at significantly higher speeds with reduced disruption in the environment. The Fermi National Accelerator Laboratory is exploring this application by incorporating a UR16e from Universal Robots in a cleanroom setting during assembly of couplers to superconducting radio frequency cavities as part of the PIP-II project. The goal of the robotic assembly process is to precisely position the UR16e robot so that the coupler flange, mounted on the robot’s end-effector, is accurately aligned with and pressed against the cavity flange, requiring only final fastening by a lab technician. This thesis builds upon an initial system in which the robotic process was limited to the alignment phase using position-based visual servoing with an eye-in-hand camera to only align the coupler to the cavity with an offset distance. The objective of this thesis is to further advance autonomous robotic assembly by extending the process. To this end, the entire software framework was reconstructed, as the previous development environment posed significant challenges in modifying the software and adapting to hardware changes. The main contributions of this thesis are as follows: (i) a modular and scalable software framework based on ROS~2 was developed to facilitate performance expansion and interchangeability of software and hardware components; (ii) the desired alignment position for position-based visual servoing was parameterized to enable flexible configuration; and (iii) a methodology was developed to close the offset distance between the coupler and cavity utilizing the internal force-torque sensing capability of the UR16e, as visual feedback is not available during the offset-closing phase. The proposed autonomous robotic assembly reduces assembly time and technician involvement, thereby minimizing the risk of airborne particulate contamination, which is essential in the cleanroom setting. Moreover, the ROS~2-based framework provides a foundation for further expansion and continued advancement of robotic automation in Fermilab.
Giffen, Nickolas [Northern Illinois U.]↗
Contactless Position Measurement System for Remote Alignment of Highly Reflective Objects
The Contactless Position Measurement System (CPMS) permits automatic alignment of highly-reflecting components that cannot or should not be touched by human hands, such as those used in SRF cavities. CPMS also has application during maintenance of fusion reactors, when the components in the reactor are radioactive. The length of time for which humans can handle the components in order to carry out maintenance or repairs is limited. We would like to measure the relative positions of such objects so we can bring them into alignment with motorized stages, thus eliminating the need for human contact. The CPMS is a computer vision system that measures the location of highly reflective components to within a fraction of a millimeter by finding the edges of silhouette images. This is done by placing a uniform, infrared backlight behind the components, and viewing each component with two low-aberration, infrared cameras. Each of these stereoscopic cameras are located within a coordinate system we set up with reference platforms, light sources, and survey cameras distributed around the perimeter of the string assembly room, or fusion reactor. We obtain stereoscopic silhouette images of each component, and we use these to determine the position of the component within our string assembly coordinate system. The CPMS combines the silhouette images with knowledge of the dimensions of the objects to obtain the relative positions of components in its field of view. These position measurements then allow us to mechanically maneuver the components into contact. Once we know where they are, we can move the components to where they are supposed to be with motorized stages or other mechanical means, check they are in the right place, and bolt them together. In Phase I, we built a prototype infrared backlights and cameras, tested it, wrote an analysis program to fit the images. At a range of 50 cm, we are able to measure the relative positions of two stainless steel flanges with an accuracy of 150 μm rms. The next steps are to test the analysis program with motorized stages, build a full-size prototype, and implement it in an cleanroom with SRF cavity assembly. This can be done in a cost effective way given the materials with which the system is designed. As Open Source Instruments achieved more in Phase I than anticipated, despite not receiving a Phase II SBIR grant, we hope to move forward with product development and sales with a testing partner.
43 PARTICLE ACCELERATORS↗
HE Production Update at JLab - Introducing an Enhanced Nitrogen Purge for Clean String Assembly
A major limitation to cryomodule performance is field emission caused by particulates within the superconducting cavities. To reduce contamination of the inner surfaces during assembly in a cleanroom, the whole string can be connected to a purge system, which maintains a constant overpressure of dry, clean nitrogen gas. Following successes of similar systems at XFEL and Fermilab, Jefferson Lab followed this example for the production of LCLS-II HE cryomodules. Implementing this system required new procedures, infrastructure, and hardware, as well as significant testing of the system before production began. This paper will summarize the implemented controls and procedures, including lessons learned from Fermilab, as well as the results of mock-up tests. Based on the latter, the system was used to assemble the first article string in April 2022, and was also used during a rework required due to issues with cold FPC ceramics two months later. The benefits of using a purge system with regards to procedure, time savings, and added flexibility for potential rework have already proven to provide a significant improvement for the production of LCLS-II-HE cryomodules at Jefferson Lab.
Owen, P. D.↗
Developing a Digital Twin for SRF Cavity Assembly at Fermilab
When assembling Superconducting Radio Frequency (SRF) Cavities, maintaining an environment devoid of particulates like dust and other small particles is essential. If a single spec of dust enters the cavity a significant degradation of performance can occur. To avoid a cavity failure Fermilab assembles the SRF cavities within a ISO-4 (Class 10) environment. This environment though is still susceptible to foreign contaminants when technicians enter and new components are added to the cleanroom. To reduce the risk even more Fermilab has introduced a cobot manipulator into the cleanroom environment to speed up the assembly time which will reduce the time that the technicians operate in the cleanroom. But, this still leaves the potential of contaminants to enter the cleanroom if new components need to be tested within the cleanroom. This project aims to lay the groundwork to develop a Digital Twin environment of the cleanroom to aid in manufacturing processes and testing. In its simplest form, a digital twin is a bidirectional link between a physical system and its digital counterpart or twin. NVIDIA Isaac Sim is used as the digital twin foundation for the digital representation of the cleanroom, specifically for the UR16e assembly area. A simulated UR16e was used to validate the performance of Isaac Sim as a testing environment by comparing the tool center points (TCP) positional data between the simulated and digital representation of the UR16e. Due to a new vision based robotic assembly process being introduced to the cleanroom a digital representation of the physical camera was tested and validated to ensure that it will produce close to the same outcome as the physical environment. The TCP comparison results showed a peak translational error of approximately 0.1mm and rotational errors of up to 8 between the simulated and digital UR16es. While the camera validation performed with high repeatability across multiple runs, it still requires minor tuning before it can accurately replicate a physical camera.
Imburgia, Joseph [Northern Illinois U.]↗
Standardization of ancillary installation tooling for SRF cavities at Fermilab
For assemblies of cavities in cleanrooms, single-use tooling systems are made for the alignment and installation of ancillary components such as couplers and bellows. To minimize the number of tooling sets created, a design has been created to standardize alignment features to allow for assembly of different components with one set of tooling. A prototype set of tooling has been developed to with the required degrees of freedom for multiple assemblies while minimizing deformation during the assembly process. Prototype designs have been created for PIP-II SSR2 and 650 Cavities and for AUP Crab Cavities. Using 3D printing, this tooling can be quickly adjusted to allow for different ancillary components. The development process and status of the design will be discussed.
Narug, C. [Fermilab]↗
Standardization of Ancillary Installation Tooling for SRF Cavities at Fermilab
For assemblies of cavities in cleanrooms, single-use tooling systems are made for the alignment and installation of ancillary components such as couplers and bellows. To try and minimize the amount of tooling sets used, a design has been created to standardize alignment features to allow for assembly of different components with one set of tooling. A prototype set of tooling has been developed to with the required degrees of freedom for multiple assemblies while minimizing deformation during the assembly process. Prototype designs have been created for PIP-II SSR2 and 650 Cavities and for AUP Crab Cavities. Using 3D printing, this tooling can be quickly adjusted to allow for different ancillary components. The development process and status of the design will be discussed.
Narug, Colin↗