CMS Inspection Robot

This project focused on the development of a CMS Inspection Robot for the Compact Muon Solenoid (CMS) experimental cavern at the Large Hadron Collider (LHC). The cavern's harsh conditions, including high radiation, strong magnetic fields, and cryogenic gases, make human access restricted during beam operation. To overcome this limitation, the project aimed to design and deploy a surveillance robot capable of conducting visual inspections and maintenance during beam operation. The project aimed to create a foundational platform for future summer student projects, allowing them to continue building upon the existing design. The prototype robot was designed to be compact, lightweight, and made from non-flammable materials to withstand hostile cavern conditions. It featured mecanum wheels for omnidirectional movement, and the hardware design included components such as Jetson Nano, OAK-D lite camera, Arduino Mega, DC motors, and DC motor drivers. The software/control system was implemented using Arduino interfacing with the hardware, enabling serial communication with the Jetson Nano acting as the main controller programmed with ROS2. The web interface, developed with Flask and React.js, allowed manual robot control via Wi-Fi. Testing of the prototype robot demonstrated its successful operation in normal conditions. Additionally, a test deployment in the experimental CMS caverns revealed that the robot performed well under the influence of magnetic fields up to 45 mT. However, improvements were suggested for future iterations, including addressing motor-shaft connection issues and implementing a method of measuring speed and localizing the robot using other environmental cues. Overall, the Summer Student Program achieved a significant milestone in designing and deploying the CMS Inspection Robot, paving the way for further advancements in future student projects. The robot's capabilities in visual inspections and maintenance during beam operation offer potential contributions to the efficient maintenance of the CMS experimental cavern at the LHC.