CMS Inspection Robot

This project aims to create an inspection robot for the challenging conditions in the Compact Muon Solenoid (CMS) experimental cavern (UXC55). The robot, designed for visual inspections during active beam operations, employs a compact, lightweight design with mecanum wheels. Hardware components include Jetson Nano, OAK-D lite camera, Arduino Mega, and DC motors, controlled via ROS2. The software and control system are established by interfacing Arduino with the hardware, enabling serial communication with the Jetson Nano, serving as the primary controller programmed with ROS2. A user-friendly web interface, developed using Flask and React.js, enables manual control of the robot via Wi-Fi. Successful testing and deployment in the cavern under magnetic fields up to 45 mT highlight its potential for enhancing maintenance efficiency during beam operation. This project marks a significant milestone in the development of the CMS Inspection Robot's software and control system, laying a solid foundation for future advancements.