| 1. |
- Poley, L., et al.
(författare)
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The ABC130 barrel module prototyping programme for the ATLAS strip tracker
- 2020
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Ingår i: Journal of Instrumentation. - : IOP PUBLISHING LTD. - 1748-0221. ; 15:9
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Tidskriftsartikel (refereegranskat)abstract
- For the Phase-II Upgrade of the ATLAS Detector [1], its Inner Detector, consisting of silicon pixel, silicon strip and transition radiation sub-detectors, will be replaced with an all new 100% silicon tracker, composed of a pixel tracker at inner radii and a strip tracker at outer radii. The future ATLAS strip tracker will include 11,000 silicon sensor modules in the central region (barrel) and 7,000 modules in the forward region (end-caps), which are foreseen to be constructed over a period of 3.5 years. The construction of each module consists of a series of assembly and quality control steps, which were engineered to be identical for all production sites. In order to develop the tooling and procedures for assembly and testing of these modules, two series of major prototyping programs were conducted: an early program using readout chips designed using a 250 nm fabrication process (ABCN-250) [2, 3] and a subsequent program using a follow-up chip set made using 130 nm processing (ABC130 and HCC130 chips). This second generation of readout chips was used for an extensive prototyping program that produced around 100 barrel-type modules and contributed significantly to the development of the final module layout. This paper gives an overview of the components used in ABC130 barrel modules, their assembly procedure and findings resulting from their tests.
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| 2. |
- Benitez, V., et al.
(författare)
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Sensors for the End-cap prototype of the Inner Tracker in the ATLAS Detector Upgrade
- 2016
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Ingår i: Nuclear Instruments and Methods in Physics Research Section A. - : Elsevier BV. - 0168-9002 .- 1872-9576. ; 833, s. 226-232
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Tidskriftsartikel (refereegranskat)abstract
- The new silicon microstrip sensors of the End-cap part of the HL-LHC ATLAS Inner Tracker (ITk) present a number of challenges due to their complex design features such as the multiple different sensor shapes, the varying strip pitch, or the built-In stereo angle. In order to investigate these specific problems, the "petalet" prototype was defined as a small End-cap prototype. The sensors for the petalet prototype include several new layout and technological solutions to investigate the issues, they have been tested in detail by the collaboration. The sensor description and detailed test results are presented in this paper. New software tools have been developed for the automatic layout generation of the complex designs. The sensors have been fabricated, characterized and delivered to the institutes in the collaboration for their assembly on petalet prototypes. This paper describes the lessons learnt from the design and tests of the new solutions implemented on these sensors, which are being used for the full petal sensor development. This has resulted in the ITIc strip, community acquiring the necessary expertise to develop the full End-cap structure, the petal.
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| 3. |
- Koschny, D, et al.
(författare)
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Scientific planning and commanding of the Rosetta payload
- 2007
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Ingår i: Space Science Reviews. - : Springer Science and Business Media LLC. - 0038-6308 .- 1572-9672. ; 128:1-4, s. 167-188
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Tidskriftsartikel (refereegranskat)abstract
- ESA’s Rosetta mission was launched in March 2004 and is on its way to comet 67P/Churyumov-Gerasimenko, where it is scheduled to arrive in summer 2014. It comprises a payload of 12 scientific instruments and a Lander. All instruments are provided by Principal Investigators, which are responsible for their operations.As for most ESA science missions, the ground segment of the mission consists of a Mission Operations Centre (MOC) and a Science Operations Centre (SOC). While the MOC is responsible for all spacecraft-related aspects and the final uplink of all command timelines to the spacecraft, the scientific operations of the instruments and the collection of the data and ingestion into the Planetary Science Archive are coordinated by the SOC. This paper focuses on the tasks of the SOC and in particular on the methodology and constraints to convert the scientific goals of the Rosetta mission to operational timelines.
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| 4. |
- Valera, Angel, et al.
(författare)
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A car-seat example of automated anthropomorphic testing of fabrics using force-controlled robot motions
- 2011
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Ingår i: IEEE Transactions on Automation Science and Engineering. - 1545-5955. ; 8:2, s. 280-291
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Tidskriftsartikel (refereegranskat)abstract
- For the last years, automation is widely used to relieve humans from repetitive tasks, primarily and firstly within manufacturing. However, for products with less ideal (or hard to model) properties, and when forces depends on human interaction, automated testing has not been explored until now. This work presents the analysis of the (human-dependent) motions/forces based on a fully implemented test case for car-seat testing. For emulation of the corresponding mechanical wear, an experimental test bench was developed. A sensor mat with a pressure gauge net was used in the test bench to determine the relevant loads, and the corresponding movements performed by the humans when sitting in a car seat were acquired by means of a photogrammetry system. Finally, to automate the reproduction of such movements by means of a dummy held by a robot, several controllers have been developed to regulate the force applied by the dummy on the seat. Simplicity and force-control performance for the human replication was also investigated in this work, showing the benefit of freely programmable (open) force control. The developed system has many practical applications, as allowing the analysis of the wearing caused by these movements on the seat upholstery. Thus, force controlled testing of fabrics using robots is a viable option. Note to Practitioners-In this paper, an experimental test bench is presented for the analysis of the mechanical response in car seats. It consists in a force control application in which the robot, by means of a dummy, must apply a controlled force on a car seat, simulating the movements of a human sitting on and standing up from the seat. This simulation is limited by the fact that normalized dummies used in tests are usually conceived to reproduce a sitting position and do not have the mobility of the human body. Furthermore, the simulation with a six axes robot limits to six the degrees of freedom the movements that can be performed with the dummy. Hence, an important part of this study consists in simplifying the human movements in order that they can be performed with the described components and still adequately reproduces the interaction between the body and the seat. In order to develop and validate this experimental test bench, the movements performed by passengers sitting on or standing up from the seat in an actual car have been firstly acquired. Therefore, a four-camera photogrammetry system and a pressure mat have been used. This paper also describes the procedures used to capture and reproduce the human body movements and their forces. In this work, an ABB IRB140 industrial robot has been used, as well as a six degree of freedom JR3 industrial force sensor. For the development of this test bench, two control architectures have been used. The first one is based on a commercial ABB software so, it can be used for application development with any ABB industrial robot. The second control architecture proposed is an open architecture allowing access to the robot state variables, much more complex motion and/or force controllers can be implemented.
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| 5. |
- Valera, Angel, et al.
(författare)
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Desarrollo de un banco de pruebas experimental mediante control de fuerza con ro bot industrial para el análisis de la respuesta mecánica de asientos de coche
- 2009
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Ingår i: Revista Iberoamericana de Automática e Informática Industrial. - 1697-7912. ; 6:2, s. 49-58
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Tidskriftsartikel (refereegranskat)abstract
- Abstract in Undetermined Este trabajo presenta el desarrollo de un banco de pruebas experimental para el análisis de la respuesta mecánica de los asientos de vehículos durante la entrada y salida de pasajeros. Para realizar este desarrollo, se consideran dos fases: la primera fase es la captura de datos, realizada mediante una manta sensorizada con una red de galgas de presión y un sistema de fotogrametría a fin de capturar el movimiento realizado por una persona al sentarse en el asiento de un automóvil. La segunda fase consiste en reproducir dicho movimiento de forma automática mediante un maniquí acoplado a un robot, controlando la fuerza que ejerce el maniquí sobre el asiento. El desarrollo debe permitir aplicar diferentes estrategias de control de fuerza con robots industriales, utilizando para ello una plataforma de prueba consistente en el robot IRB140 de ABB y un sensor de fuerza industrial JR3 de 6 grados de libertad. Como arquitectura de control, se presentan dos alternativas. La primera utiliza la aplicación software WebWare SDK de ABB. En la segunda solución, se ha modificado el controlador original S4CPlus del robot, proporcionando una arquitectura abierta de control que permite la implementación de nuevos algoritmos de control de movimiento y fuerza en el robot industrial. Con esta aplicación, se simula el proceso realizado por una persona al sentarse y levantarse del asiento de un automóvil, monitorizándose y controlándose la fuerza que ejerce un maniquí sobre un asiento para garantizar igualdad de condiciones con el caso real. El sistema desarrollado tiene numerosas aplicaciones prácticas, como por ejemplo la de poder analizar el desgaste que estos movimientos ocasionan en la tapicería de los asientos.
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| 6. |
- Valera, Angel, et al.
(författare)
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Development of an Experimental Test Bench by Means of Force Control in an Industrial Robot for the Analysis of the Mechanical Response in Car Seats
- 2009
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Ingår i: Revista Iberoamericana de Automática e Informática Industrial. - 1697-7912. ; 6:2, s. 49-49
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Tidskriftsartikel (refereegranskat)abstract
- In this work the design of an experimental test Platform analysis of the mechanical behavior of car seats during passenger ingress and egress is presented. This development has been performed in two steps: the first Step is data acquisition. by means of a mat sensorized with a pressure gauge net and a photogrammetry system so as to acquire the movements performed by a human during ingress and egress. The Second Step Consists in reproducing these movements automatically by means of a dummy held by a robot. controlling the force applied by the dummy on the seat. This development must allow applying different force control strategies with industrial robots. therefore using I test platform consisting in an ABB IRB140 robot and a JR3 industrial force sensor with 6 degrees of freedom. As control architecture, two alternatives are presented. The first one uses the ABB Web Ware SDK software application. In the second one, the original S4CPlus controller has been modified. providing an open control architecture that allows the implementation of new motion and force control algorithms in the industrial robot. With this application the process performed by a human during and egress simulated, monitoring, and controlling the force applied by the dummy on the seat in order to ensure the Same conditions as in a real situation. The developed System has Several Practical applications, namely allowing the analysis of the wearing produced in the seat upholstery. Copyright (C) 2009 CEA.
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| 7. |
- Valera, Angel, et al.
(författare)
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Experimental test-bench development using force control with industrial robots for the analysis of the mechanical response in car seats
- 2008
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Ingår i: ; , s. 777-783
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Konferensbidrag (refereegranskat)abstract
- Modern safe and high-quality products not only need to have desired properties in terms of geometry, material, features, etc. from a position-interaction point of view. Also compliance, deflection, impact and safety features depending on force-interacting properties are of (increasing) importance. As a key such example, the mechanical response of car seats has been studied, including the contact force between humans and the seat. The question is if or how the usage of the product can be simulated by using a dummy in combination with a robot that accomplishes realistic movements including the forces acting on the product. Since robots today are not designed for such force-interaction schemes, the topic involves the extension of robot controllers for force control. The developed platform, including novel force control strategies and tools, includes an industrial robot system that was extended by sensors and interfaces for force/torque and vision feedback. To improve usability and programmability, ActiveX controls and testing application were developed. The experimental results show good performance for testing of the studied product, indicating a wider applicability of robots for product testing.
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