Master thesis

The Finite State Machine in the Detector Control System for
the ALICE Muon Forward Tracker

Hiroshima University, Graduate School of Science
Department of Physical Science
Quark Physics Laboratory
M163823

Tomoki Kobayashi

Supervisor : Assoc. Prof. Kenta Shigaki
Chief Examiner : Assoc. Prof. Kenta Shigaki
Vice-Examiner : Prof. Kouji Kawabata

February, 26, 2018

Abstract
Heavy ion collisions at ultra-relativistic energy produce a hot and dense medium, called
the Quark Gluon Plasma (QGP). In order to investigate and reveal the property of the
QGP, we have been performing the ALICE experiment. For the third and the fourthexperimental periods (Run3 and Run4) from 2021, we are proceeding with plans to upgrade
the ALICE detector. Installing the Muon Forward Tracker (MFT) is one of the plans. The
MFT will allow us to distinguish between prompt and non-prompt J/ψ, to measure heavy
flavours to lower pT , and to investigate Chiral symmetry breaking and restoration.
In order to enable to study these research subjects, I am engaged in the developmentof the MFT and I have contributed to the development of the Detector Control System(DCS). The DCS is a system for detector control and it is needed in the experiment. In the
DCS, the Finite State Machine (FSM) is a software used to control/monitor experimental
devices as an interface to supervise experimental equipment and it allows us to handle a
lot of experimental equipment easily and simultaneously by simplification and automationof both control and monitoring. The FSM is composed of a tree like control hierarchy andthe state transition on each node of the tree. In the state transition, the FSM concept isused. Behavior of each node is modeled into ”states” of FSM. A state changes into anotherstate by an external event. Device’s condition is modeled and state transition is implemented using this concept so that simplification and automation of control/monitoringare enabled. I have designed and mostly implemented the FSM for the MFT control:
the control hierarchy and FSM on each node. The control hierarchy of the MFT mainly
consists of three sub-trees: LVPS (Low Voltage Power Supply) for controlling the CAEN
power supply modules, Cooling for monitoring the cooling system, and Detector forcontrolling CAEN low voltage channels and DCDC converters supplying power to thedevices, temperature sensors, and so on. I also have carried out actual machine tests of
the FSM with CAEN power supply equipment and a temperature sensor, which are basic
components for the MFT control. Through these tests simulating the real MFT control, I
confirmed that turning channels ON/OFF by the FSM commands and state transition by
the commands and/or device’s condition work well. I have been expanding the hierarchy
into the real MFT’s one and it will be finalized in 2018.
CU

Control Unit

DU

Device Unit

TEST_DCS
LVPS

Detector
Temp.

Caen
ChannelPower
Converter

CaenCrate

Caen
Channel

CaenCrate

EasyBoard
EasyBoard

Channels

Caen
Caen
Caen
ChannelChannelChannelFigure 1: The control hierarchy of the FSM for the actual machine test

Contents
1 Introduction
1.1 Quark Gluon Plasma . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 High Energy Heavy Ion Collisions . . . . . . . . . . . . . . . . . . . . . . . .
1.3 The ALICE Experiment . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4 Muon measurements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5 The ALICE Upgrade Plans . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.6 The Muon Spectrometer and the Muon Forward Tracker . . . . . . . . . . .
1.7 Hardware components of the MFT . . . . . . . . . . . . . . . . . . . . . . .
1.7.1 Low Voltage distribution . . . . . . . . . . . . . . . . . . . . . . . . .
1.7.2 Readout electronics . . . . . . . . . . . . . . . . . . . . . . . . . . .
GBT-SCA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Readout Unit (RU) . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.7.3 Temperature sensors . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.7.4 Cooling devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.8 Purpose of this thesis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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2 Detector Control System
2.1 Overview of the Detector Control System . . . . . . . . . . . . . . . . . . .
2.2 DCS Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.1 SCADA system and WinCC OA . . . . . . . . . . . . . . . . . . . .
2.2.2 JOint Control Project Framework . . . . . . . . . . . . . . . . . . .
2.2.3 OPC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.4 Distributed Information Management system . . . . . . . . . . . . .
2.3 The Finite State Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.1 The Control Hierarchy . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.2 Finite State Machine concept . . . . . . . . . . . . . . . . . . . . . .
2.3.3 Partitioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.4 State Management Interface . . . . . . . . . . . . . . . . . . . . . . .
2.3.5 State Manager Language . . . . . . . . . . . . . . . . . . . . . . . .

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3 The design of the Finite State Machine for the MFT
3.1 The Control Hierarchy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 Implementation Strategy . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 The State Diagram for the ALICE DCS . . . . . . . . . . . . . . . . . . . .
3.4 MFT DCS, The top node of the MFT . . . . . . . . . . . . . . . . . . . .
3.5 Infrastructure and the sub-tree . . . . . . . . . . . . . . . . . . . . . . . .
3.5.1 Cooling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.2 LVPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CaenCrate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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PowerConverter . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EasyBoard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Detector and the sub-tree . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.6.1 Half Plane and below . . . . . . . . . . . . . . . . . . . . . . . . .
GBT SCA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Back bias . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Temp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Zone . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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4 The FSM for the Actual Machine Tests
4.1 The Architecture of the Actual Machine Tests . . . . . . . . . . . . . . . . .
4.1.1 Hardware Components . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1.2 The Control Hierarchy of the Actual Machine Tests . . . . . . . . .
4.2 Design of FSMs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1 TEST DCS for the Actual Machine Tests . . . . . . . . . . . . . .
4.2.2 LVPS for the Actual Machine Tests . . . . . . . . . . . . . . . . . .
4.2.3 Detector for the Actual Machine Tests . . . . . . . . . . . . . . . .
4.3 Implementation of the FSM for the Actual Machine Tests . . . . . . . . . .
4.4 Results of the Actual Machine Tests . . . . . . . . . . . . . . . . . . . . . .
4.4.1 Normal Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.2 Software Interlock . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5 Expanding the FSM for the Actual Machine Tests . . . . . . . . . . . . . .

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5 Summary and Outlook

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3.6

A

58
A.1 The JCOP FSM Panel of LVPS in the actual machine tests . . . . . . . . . 59
A.2 The JCOP FSM Panel of Detector in the actual machine tests . . . . . . . 60

2

List of Figures
1

The control hierarchy of the FSM for the actual machine test . . . . . . . .

1.1
1.2
1.3
1.4

The ALICE detector [2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Schematic of the ALICE Muon Spectrometer [7] . . . . . . . . . . . . . . . 8
The MFT structure [8, 34, 35] . . . . . . . . . . . . . . . . . . . . . . . . . . 9
The schematic drawing of the CAEN system architecture . . . . . . . . . . 10

2.1
2.2
2.3
2.4
2.5
2.6
2.7
2.8
2.9

Architecture of the DCS [10] . . . . . . . . . . . . . . . . . . . . . . . . . .
Architecture of WinCC OA [11] . . . . . . . . . . . . . . . . . . . . . . . . .
Distributed Systems on WinCC OA [11] . . . . . . . . . . . . . . . . . . . .
An example of DPT [11] . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
An example of DP [11] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Architecture of OPC communication . . . . . . . . . . . . . . . . . . . . . .
A Sample Tree . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A Sample State Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Partitioning modes available in the JCOP FSM [25] . . . . . . . . . . . . .

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3.1 Hardware architecture of the MFT DCS [38] . . . . . . . . . . . . . . . . . .
3.2 Control Hierarchy for the MFT . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 MFT top level FSM nodes . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4 The State Diagram for MFT DCS . . . . . . . . . . . . . . . . . . . . . .
3.5 The Sub-tree structure below Infrastructure . . . . . . . . . . . . . . . . .
3.6 The State Diagram for Infrastructure . . . . . . . . . . . . . . . . . . . .
3.7 The State Diagram for Cooling CU and DU . . . . . . . . . . . . . . . . .
3.8 The State Diagram for LVPS . . . . . . . . . . . . . . . . . . . . . . . . . .
3.9 The State Diagram for CaenCrate CU . . . . . . . . . . . . . . . . . . . .
3.10 The State Diagram for CaenCrate DU . . . . . . . . . . . . . . . . . . . .
3.11 The State Diagram for PowerConverter . . . . . . . . . . . . . . . . . . .
3.12 The State Diagram for CaenChannel . . . . . . . . . . . . . . . . . . . . .
3.13 The State Diagram for EasyBoard (CU) . . . . . . . . . . . . . . . . . . .
3.14 The State Diagram for EasyBoard (DU) . . . . . . . . . . . . . . . . . . .
3.15 The State Diagram for Channels . . . . . . . . . . . . . . . . . . . . . . .
3.16 The Sub-tree structure below Detector . . . . . . . . . . . . . . . . . . . .
3.17 The State Diagram for Detector, Half MFT, and Half Disk . . . . . . .
3.18 The Sub-tree structure of Half Plane . . . . . . . . . . . . . . . . . . . . .
3.19 The State Diagram for Half Plane . . . . . . . . . . . . . . . . . . . . . .
3.20 The State Diagram for GBT SCA, LV, Back bias, and Zone . . . . . . .
3.21 The State Diagram for DCDC converter . . . . . . . . . . . . . . . . . . . .
3.22 The State Diagram for On-board Temperature Sensor . . . . . . . . . . . .
3.23 The Sub-tree structure of GBT SCA . . . . . . . . . . . . . . . . . . . . .

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3

1

3.24 The Sub-tree structure of LV . . . . . . . . . . . . . . . . . . . . . . . . . .
3.25 The State Diagram for Temp . . . . . . . . . . . . . . . . . . . . . . . . . .
3.26 The State Diagram for Inverter amp . . . . . . . . . . . . . . . . . . . . .
3.27 The Sub-tree structure of Back bias . . . . . . . . . . . . . . . . . . . . . .
3.28 The Sub-tree structure of Zone . . . . . . . . . . . . . . . . . . . . . . . . .
3.29 The State Diagram for ChipTemp . . . . . . . . . . . . . . . . . . . . . . .
3.30 The State Diagram for Ladder . . . . . . . . . . . . . . . . . . . . . . . . .
3.31 The Sub-tree structure below Ladder . . . . . . . . . . . . . . . . . . . . .
3.32 The Sub-tree structure below RU . . . . . . . . . . . . . . . . . . . . . . .
3.33 The State Diagram for Switches(DU, CU) . . . . . . . . . . . . . . . . . . .
3.34 The Sub-tree structure below Switch . . . . . . . . . . . . . . . . . . . . .
3.35 The State Diagram for Current Sensor . . . . . . . . . . . . . . . . . . . . .
3.36 The State Diagram for Latch Up detector . . . . . . . . . . . . . . . . . . .
4.1

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41

The test bench of the CAEN power supply system for the MFT constructed by K. Yamakawa [39] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2
4.3
4.4
4.5

43
The Control Hierarchy of the FSM for the Actual Machine Test . . . . . . . . . . . . 43
The State Diagram of TEST DCS . . . . . . . . . . . . . . . . . . . . . . . . . . 44
The State Diagram of Detector . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
The FSM Tree for the Actual Machine test implemented in JCOP Fw. left: All CUs in. . . . . . . . . . . . . . . . .
The FSM Configuration panel of LVPS in the JCOP . . . . . . . . . . . . . . . . .
The FSM Configuration panel of CaenChannel in the JCOP . . . . . . . . . . . . .
The JCOP Control Panel when TEST DCS is OFF . . . . . . . . . . . . . . . . .
the tree, Right: All DUs below LVPS and Detector

4.6
4.7
4.8
4.9

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The JCOP Control Panel when TEST DCS is OFF, GO READY can be selected in the. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.10 The JCOP Control Panel when TEST DCS is OFF and LVPS is STANDBY . . . . .
4.11 The JCOP Control Panel when TEST DCS is OFF and LVPS is MOVING READY .
4.12 The JCOP Control Panel when TEST DCS is STANDBY . . . . . . . . . . . . . .
4.13 The JCOP Control Panel when TEST DCS is STANDBY, GO READY can be selectedin the pull-down menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.14 The JCOP Control Panel when TEST DCS is MOVING READY . . . . . . . . . .
4.15 The JCOP Control Panel when TEST DCS is READY . . . . . . . . . . . . . . .
4.16 The JCOP Control Panel when TEST DCS is READY . . . . . . . . . . . . . . .
4.17 The JCOP Control Panel when TEST DCS is ERROR . . . . . . . . . . . . . . .
4.18 The JCOP Control Panel when TEST DCS is RECOVERING . . . . . . . . . . . .
4.19 The JCOP Control Panel when TEST DCS is OFF . . . . . . . . . . . . . . . . .
4.20 The Control Hierarchy already implemented . . . . . . . . . . . . . . . . . . . . . .

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A.1
A.2
A.3
A.4
A.5
A.6
A.7

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pull-down menu

. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . .
The JCOP Control Panel when LVPS is MOVING READY . . . . . . . . . . . . . .
The JCOP Control Panel when LVPS is READY . . . . . . . . . . . . . . . . . . .
The JCOP Control Panel when Detector is OFF . . . . . . . . . . . . . . . . . . .
The JCOP Control Panel when Detector is MOVING READY . . . . . . . . . . . .
The JCOP Control Panel when LVPS is READY. . . . . . . . . . . . . . . . . .
The JCOP Control Panel when LVPS is NOT READY
The JCOP Control Panel when LVPS is STANDBY

4

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List of Tables
1.1

The CAEN supply devices used in the MFT . . . . . . . . . . . . . . . . . . 10

3.1
3.2
3.3
3.4
3.5
3.6
3.7
3.8

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The synchronization table for MFT DCS . . . . . . . . . . . . . . . . . . .
The synchronization table for Infrastructure . . . . . . . . . . . . . . . .
The synchronization table for Cooling . . . . . . . . . . . . . . . . . . . . .
The synchronization table for LVPS . . . . . . . . . . . . . . . . . . . . . .
The synchronization table for CaenCrate . . . . . . . . . . . . . . . . . . .
The synchronization table for PowerConverter . . . . . . . . . . . . . . .
The synchronization table for EasyBoard . . . . . . . . . . . . . . . . . . .
The synchronization table for Channels, TH is the threshold number andn is the number of the DUs in ERROR state . . . . . . . . . . . . . . . . .
3.9 The synchronization table for Detector . . . . . . . . . . . . . . . . . . . .
3.10 The synchronization table for Half MFT . . . . . . . . . . . . . . . . . . .
3.11 The synchronization table for Half Disk . . . . . . . . . . . . . . . . . . .
3.12 The synchronization table for Half Plane . . . . . . . . . . . . . . . . . . .
3.13 The synchronization table for GBT SCA . . . . . . . . . . . . . . . . . . .
3.14 The synchronization table for LV . . . . . . . . . . . . . . . . . . . . . . . .
3.15 The synchronization table for Back bias . . . . . . . . . . . . . . . . . . .
3.16 The synchronization table for Zone . . . . . . . . . . . . . . . . . . . . . .
3.17 The synchronization table for Ladder . . . . . . . . . . . . . . . . . . . . .
3.18 The synchronization table for RU . . . . . . . . . . . . . . . . . . . . . . .
3.19 The synchronization table for Switch . . . . . . . . . . . . . . . . . . . . .
4.1

The synchronization table for TEST DCS

5

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38
39
39
40
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. . . . . . . . . . . . . . . . . . . . . . 44

Chapter 1

Introduction
1.1

Quark Gluon Plasma

Quantum Chromodynamics (QCD) explains quarks and gluons are bounded in hadrons
and we cannot take them out alone from hadrons at low temperature and density. However,at extremely high temperature and/or density, QCD expects that they are released fromthe confinement and move freely. The hot and dense medium like this is a state of matter
which is called the Quark Gluon Plasma (QGP).

1.2

High Energy Heavy Ion Collisions

The hot and dense matter can be made by high energy heavy ion collisions. At the
LHC, which is the world’s largest particle collider and operated from 2009 in European
Organization for Nuclear Research (CERN), the hot and dense matter is made by colliding
lead nuclei at 99.7% of light speed or faster and a lot of researchers are studying it.

1.3

The ALICE Experiment

The ALICE experiment we are taking part in stands for A Large Ion Collider Experiment.
ALICE is aiming for heavy ion collisions only in the LHC experiments. When colliding
heavy nuclei, thousands of particles are produced. The ALICE detector is designed todetect a lot of particles in wide transverse momentum range. The ALICE detector can bedivided into three parts: (i) central barrel, which covers near the collision point (|η| < 0.9),(ii) muon arm, which detects muons at forward rapidity (−4 < η < −2.5), (iii) global
detector, which characterizes of the collision [1, 2]. (Figure1.1)

6

Figure 1.1: The ALICE detector [2]1.4

Muon measurements

Photons and electrons are widely used as probes to study QGP. That’s because photons
and electrons have no strong interaction with QGP, so that they can take out the information of it. However, highly accurate analysis is diﬃcult because there are a lot ofbackground particles produced by pion decays due to their very light masses. Analysis
with muons, which are leptons as same as electrons but have heavier masses, allows highly
accurate analysis with very small background produced by pions.

1.5

The ALICE Upgrade Plans

The ALICE collaboration has plans to upgrade the ALICE detector and readout technologies during LHC Long Shutdown 2 (LS2, 2019-2020) [4, 3]. Even though a lot of physics
data was accumulated and analyzed from the beginning of the LHC operation, there remains studies which can be hardly measured due to statistics and measurement accuracy.
In addition, LHC is targeting to increase the luminosity up to 6×1027 cm−2 s−1 and the collision rate up to 50 kHz in Pb-Pb collisions at the third experimental period (Run3) from2021 [4] . However, current detectors’s readout system and data taking method cannot
cope with these. Therefore, we are going to upgrade the ALICE detector and introduce a
new data acquisition method. The main upgrade plans are shown in following:• ITS: The impact parameter resolution, tracking performance, momentum resolution,and readout rate will be improved. [5]• TPC: The present MWPC based readout chambers will be replaced by GEM to
improve readout rate. [6]• TOF, TRD, Muon Spectrometer, ZDC, PHOS, EMCal, and HMPID: The readout
electronics will be upgraded to cope with 50kHz Pb-Pb collisions. [4]• MFT: The new muon detector will be added between the interaction point and theMuon Spectrometer’s front absorber in order to improve tracking resolution. [7, 8]
7• O2 : The estimated data amount of Run3 will be 3.4 TB/s. The O2 system allows
partial calibration and data reconstruction online and compresses the original raw
data to reduce the data amount.[9]1.6

The Muon Spectrometer and the Muon Forward Tracker

The Muon Spectrometer is currently operated as a muon detector in ALICE. It is locatedin front of the interaction point covering the pseud-rapidity region −4 < η < −2.5. It
consists of the front absorber, the dipole magnet, the tracking system, the iron wall, andthe trigger system. The front absorber, made of carbon, concrete, and steel, rejects all
charged particles except muons coming from the interaction point. The dipole magnet
provides a magnetic field. The tracking system consists of five tracking stations, each one
is made of two cathode pad chambers with a spatial resolution of about 100 µm in thebending direction. The iron wall rejects the residual secondary particles. It is assumed
that particles detected by the trigger system are muons since only muons can arrive at
the trigger system through the absorbers [1].

Figure 1.2: Schematic of the ALICE Muon Spectrometer [7]Only muons can be selected by the front absorber, but the details of the vertex region
are smeared out due to multiple scattering induced on the muon tracks in the absorber.
Thus, for example, it is diﬃcult to distinguish between prompt and non-prompt J/ψ andmass reconstruction since muons’ generated points and the angle of the muon pair can be
hardly measured. To resolve these problems, we are going to install a new detector, theMFT, stands for Muon Forward Tracker.
The main purpose of installing the MFT is to measure the interaction point accurately.
For this purpose the MFT will be installed between the interaction point and the front
absorber, so that it will become possible to measure muons’ generated points by avoiding
the multiple scattering in the absorber. Though the MFT detects all charged particles since
it will be located in front of the absorber, only muon tracks are identified with requiring
matching tracks measured by the MFT with tracks measured by the Muon Spectrometer.
The MFT will cover the pseud-rapidity region −3.6 < η < −2.5. The MFT will enable
the following measurements [7]:– Heavy flavour• Separating prompt J/ψ from non-prompt J/ψ (J/ψ coming from b-hadron feeddown). This allows us to measure prompt J/ψ RAA , and to investigate quarkonium
8

production process and J/ψ excess at very low pT in ultra-peripheral collisions.
• Separating between muons from heavy flavour and from pion and kaon. This allows
measurement of heavy flavour at lower pT .
– Light flavour• Mass reconstruction with higher mass resolution. This allows us to investigate chiralsymmetry breaking and restoration.

1.7

Hardware components of the MFTThe MFT detector consists of two Half MFTs: the upper Half MFT and the lower one,which have a same structure. A Half MFT is composed of five Half Disks and a Power
Supply Unit (PSU). Each Half Disk can be divided into two Half Planes: the front Half
Plane and the back one. The PSU can be divided into the front and the back plane aswell. The Heat Exchanger (HE) is located between two Half Planes to cool the equipment.
Ladders are located on each Half Plane, while DCDC converters, providing power for
ALPIDEs, and GBT-SCAs are installed on the PSU. Ladders on each Half Plane is divided
into four Zones. Power is supplied Zone by Zone. 2-5 ALPIDEs are installed on each
Ladder. The ALPIDE, stands for ALICE pixel detector, is a new pixel sensor developed
for the ALICE sub-detectors.

Figure 1.3: The MFT structure [8, 34, 35]

1.7.1

Low Voltage distribution

The power supply equipment used in the MFT mainly consists of the CAEN EASY (Embedded Assembly SYstem) system [18]. It is summarized in the following table (Table
1.1) and Schematic drawings (Figure 1.4). EASY BUS is used for communication between
CAEN modules, and Ethernet is used to connect SY4527 with a computer.

9Model
SY4527A1676A
A3486
EASY3000
A3006
A3009
A3100

Table 1.1: The CAEN supply devices used in the MFT
Type
Description
Crate
Universal multichannel power supply system
Controller
Branch controller for the EASY system
Power Converter 48 V power supply for the EASY system
Easy Crate
Magnetic field and radiation tolerant crate for hostile area,
the crate for the EASY system
Easy Board
6 channels ±(4-16)V/6A/90W power supply board,used for the ALPIDEs’ Back-bias and GBT-SCA power source
Easy Board
12 channels 2-8V/9A/45W power supply board,used for the ALPIDEs LV power source
Easy Board
1 channel 2-8V/100A/600W power supply board,used for the RU board power source

The output voltages from the channels of A3009, A3006 and A3100 are changed by a
DCDC converter or an inverter amplifier so that it is supplied to devices as following [36]:PC• The power source for the ALPIDEs
A3009 → DCDC converter → Zone

Ethernet

SY4527A1676A• The reverse substrate bias voltage of the ALPIDEs
A3006 → Inverter amp → ALPIDEs• The power source of the GBT-SCAs
A3006 → DCDC converter → GBT-SCA• The power source of the RU boards
A3100 → DCDC converter → RU board

1.7.2

EASY BUS

A3486(48V PS)
48V

EASY3000
A3009
ChannelChannelChannel…
Figure 1.4:
The schematic
drawing of the CAEN systemarchitecture

Readout electronics

GBT-SCA
GBT-SCA is an ASIC (application specific integrated circuit) for detector operation
and/or the devices monitoring. It has 1 I2 C master, 1 SPI master, 1 JTAG master,
32 general I/O, 32 analog input, 4 analog output ports for connecting to the devices [21].
Readout Unit (RU)
The RU board has FPGAs, GBTXs (a flexible link interface chip and responsible for highspeed bidirectional optical link) and a GBT-SCA to receive detector data including physics
data and DCS data from the connected pixel sensors and control them [37].

101.7.3Temperature sensors

The MFT has a lot of temperature sensors. These are important for both software andhardware safety interlock systems. A temperature sensor will install in each Half Plane andeach DCDC converter cooling block, and each GBT-SCA and RU board has a on-board
temperature sensor.

1.7.4

Cooling devices

MFT will be cooled by both water-cooling and air-cooling system. The FSM also reflects
the system condition and monitor it. Concerning the cooling system, EN-CV Detector
Cooling Section is in charge of the cooling system development and its FSM design andcurrently developing and designing by them. At the moment, therefore, temporary states(READY, NOT READY, ERROR) have been designed in the FSM.

1.8

Purpose of this thesis

Physics that can be reached with the MFT from the LHC Run3 is very interesting and inorder to enable to study them, I have decided to engage myself in the development of the
MFT and I have contributed to the development of the Finite State Machine (FSM) in
the Detector Control System (DCS), which is important to control the detector eﬃciently
and carry out reliable and safety experiment.

11

Chapter 2

Detector Control System
2.1

Overview of the Detector Control System

The ALICE detector is located underground and we cannot control it in person not to
be exposed to radiation and strong magnetic field around the detector. That’s why wehave to control and monitor it remotely. Moreover, each sub-detector consists of a lot ofexperimental equipment. In the case of the MFT, it consists of more than 1000 devices: 920
detection sensors, LV equipment, temperature sensors and more. Therefore a supervisionsystem by which we can control them easily is needed. The DCS allows us to control a
lot of equipment remotely and easily. For instance, we can configure voltages applied todetection sensors and monitor devices’ condition by the DCS.
DCS consists of three layers: the supervision layer, the process management layer andthe field management layer. The supervision layer is in the ALICE control room. We
control and monitor detectors with the FSM and GUI control panels from there. The
process management layer is in the counting room, which is located between the control
room and the cavern, and it contains computing systems such as SCADA system andcommunication protocols, power supply systems, and so on. The field management layer
is in the cavern. It consists of sensors, readout electronics, power supply systems, field
busses, and so on.

Figure 2.1: Architecture of the DCS [10]

12

2.2

DCS Software

2.2.1

SCADA system and WinCC OASCADA, stands for Supervisory Control and Data Acquisition, is one of the industrial
control systems, which carries out supervision of a system and process control. In afactory, for instance, it allows us to manage conditions of power supply and production
centrally, to operate equipment, and to handle alarms [11].
WinCC OA, stands for WinCC Open Architecture, is a SCADA application designed
by ETM, a company of the Siemens group. WinCC OA provides following main components and tools [11]:• A run time database
Data coming from the devices is stored, and can be visualized and processed byaccessing it.
• Archiving
Data in the run-time database can be stored in long term storage, and users canretrieve it later by user interfaces or other processes.
• Alarm Generation & Handling
Alarms can be generated by defining error situation in advance. Alarms are archived
in an alarm database and can be displayed on an alarm display.
• A Graphical Editor
Allows users to design their own user interface.
• A Scripting Language
Allows users to handle data stored in a database from user interfaces and/or abackground processes. The language is called CTRL(read control) scripts.
• A Graphical Parameterization tool
Allows users to define structure of a database, which data should be archived andso on.
WinCC OA is composed of several processes, which are called Managers. WinCC OA
is composed of the following Managers (Figure 2.2) [11]:• The Event Manager (EVM) is responsible for all communications. It receives datafrom any Drivers (D) and stores it in a database.
• The Data Base Manager (DBM) provides us an interface to a database.
• User Interface Managers (UIM) can acquire device’s data from a database and senddata to a database which is to be sent to device. They can also request to keepan ”open” connection to the database and be informed (for example to update thescreen) when new data arrives from device.
• Ctrl Managers (Ctrl) provide for any data processing as ”background” processes, byrunning a scripting language. The language is like ”C” with extensions.
• API Managers (API) allow users to write their own programs in C++ using an
API(Application Programing Interface) to access the data in the database.
13• Drives (D) provide the interface to the devices to be controlled. These can be WinCCOA provided drivers like Profibus, OPC, etc.
WinCC OA can run on both Windows and Linux and it can be used as a distributed
system by connecting machines by a network (Figure 2.3).

Figure 2.3: Distributed Systems on WinCC
OA [11]Figure 2.2: Architecture of WinCC OA [11]Data from devices is handled as Data Point Element (DPE), which is used to get
values by the FSM and/or user interface panels and to configure devices. Data Point
Type (DPT) describes a structure of device data. Users can define their own DPTs
depending on devices they use. Here, Figure 2.4 is an example of HvChannel’s DPT. Data
Point (DP) is hierarchical structure which consists of DPTs. Figure 2.5 is an example of
HaChannel’s DP. This DP consists of two DPTs, which are Channel1 and Channel2. In
this figure, DPEs are v0, state, currentLimit, status, vMon and iMon.

Figure 2.4: An example of DPT [11]Figure 2.5: An example of DP [11]2.2.2

JOint Control Project Framework

In order to reduce manpower and costs to develop the DCS, CERN’s IT/CO group developed JOint Control Project Framework (JCOP, JCOP Fw) as a common framework
to the four LHC experiment. This framework is based on WinCC OA and the purposeof this framework is to provide common guidelines and tools to develop the DCS. We can
14control experimental equipment such as power supply and readout devices by using JCOP
Fw [13].

2.2.3

OPC

OPC, stands for OLE for Process Control, is a standard specification for safe and reliabledata exchange. OPC is developed and supported by OPC Foundation [14, 15]. An OPC
client such as WinCC OA and an OPC server, which is developed and provided by thedevice maker, are needed to use OPC communication. An OPC client communicate with
devices through an OPC server. In this thesis, OPC is used to connect with the CAEN
power supply devices.
OPC Client

OPC Server
PC
DeviceFigure 2.6: Architecture of OPC communication

2.2.4

Distributed Information Management system

Distributed Information Management system (DIM) is a communication protocol developed by CERN [16]. In this thesis, DIM is used to connect with ELMB.

2.3

The Finite State Machine

In the DCS, the Finite State Machine (FSM) is a software used to control/monitor detectors and experimental devices. I have designed and implemented the FSM in the MFT
DCS development. The FSM is a interface to control/monitor experimental equipment
and it allows us to control/monitor a lot of experimental equipment easily and simultaneously by simplification and automation of control/monitoring. The FSM is composed of
the tree like control hierarchy and the state transition on each node of the tree hierarchy.

2.3.1

The Control Hierarchy

In the ALICE DCS, sub-detectors are controlled and monitored by using tree like control
hierarchy modeling sub-systems and devices. This tree structure is composed of nodes
and all the nodes except the top node have only one parent node. There are two kinds ofnodes: Control Unit (CU) and Device Unit (DU) [23, 24, 25].
• Device Unit
DUs have a role as an interface between software world and real world’s devices.
DUs have no children nodes. They do not implement logic behavior. They receive:– ”commands” and act on the device– device data and translate it into a ”state”.
15• Control Unit
CUs are defined logically and they model and control the sub-trees below them. Theirown state are determined by the children’s states, and they can send commands tochildren depending the children’s states. The logic behavior of a Control Unit isexpressed in terms of Finite State Machines. State transition can be triggered by:– command reception(either from its parent of from an operator)– state changes of its children.
The number and kinds of DUs are decided by the number and kinds of controlled devices
and the values of them. The hierarchy can have an arbitrary number of levels and CUs as
necessary. An operator can control devices by sending commands by the top node. The
commands are sent to DUs through CUs below the top node and devices are controlled.
Conversely, DUs’ states reflecting the devices’ condition is propagated to the top nodethrough CUs above the DUs. We can control the whole detector, recover from error situations, and automize operation by using this mechanism. The functions and the behavior
are modeled and implemented by Finite State Machine (FSM) concept.

DU

Device Unit

DCS

LV

HV

Cooling

LVCh
Ch
LV

HVCh
Ch
HV

Cooling
Cooling

State

Control Unit

CommandCU

Figure 2.7: A Sample Tree

2.3.2

Finite State Machine concept

In controlling detectors, Finite State Machine (FSM) concept is used to control and monitor experimental equipment and the whole system by modeling them. FSM is a mathematical model of computation. It is an abstract machine that can be in exactly one of afinite number of states at any time. In this concept, input values from real world’s devices
are modeled as states and one of the states are chosen. The FSM can change from one
state to another in response to actions that executed by the operator and/or some external
events. The change from one state to another is called transition.
The transition of states is visualized by means of state diagrams (Figure 2.8).

OFF
SWITCH_ON

SWITCH_OFF

ON
Figure 2.8: A Sample State Diagram

See Figure 2.8. In this sample state diagram, for example, the SWITCH ON (SWITCH OFF)command can be executed when the state is OFF (ON). The diagram shows that the FSM
16changes the state between ON and OFF by commands reflecting the device’s power condition. In the DCS, we define FSM on each node in the control hierarchy, and control andmonitor the whole system by using the FSM.
By using FSM connecting with the devices, we can:• control the devices (e.g. turn on/oﬀ the devices, recover from error situation)• configure the devices (e.g. configure the voltage/current of the power supply andthe thresholds of them)• automize operation of the devices (e.g. automize the order of turning the devices
on, turn the devices oﬀ automatically when error situation)• monitor the devices (e.g. load the values of temperature sensors, translate the devices’ condition into state)
As I explained above, the software for control/monitoring of the detector, consistingof the tree like control hierarchy and a state transition as FSM on each node is called the
FSM.

2.3.3

Partitioning

It is possible to control and/or monitor a part of the whole system or a sub-system independently and concurrently by cutting oﬀ a sub-tree from the whole tree. Operators andexperts can control a (sub-)tree by becoming the ”owner”. There are four partitioning
modes in the JCOP FSM. (Figure 2.9)
• Included
A child is fully controlled by its parent.
• Excluded
A child is not controlled by its parent.
• Manual
A parent does not send commands to its child.
• Ignored
A parent ignores its child’s state.
The owner operator has released ownership by excluding the sub-tree so that anotheroperator can control the sub-tree. This is, for example, made good use of in the case of
ERROR in a sub-tree. The expert can work with the sub-tree to handle the ERROR by
excluding the sub-tree by the operator. After the work by the expert, the operator can
include the sub-tree so that the experiment restarts with the whole system .

17Partitioning Modes
Included

Excludedchild fully controlled by parent

child not controlled by parent

Parentstatescommands

Child

ManualChildcommandsChildparent does not send commands
statesParentstatesParentIgnoredparent ignores the child‟s statesstatescommands

Child

Parentcommands

Figure 2.9: Partitioning modes available in the JCOP FSM [25]2.3.4State Management Interface

State Management Interface (SMI++) is a software framework to design and implement
the distributed control system. This is based on the ”State Manager” concept developed by
the DELPHI experiment. In this concept, the real-world system is described as a collectionof objects behaving as FSMs. The real-system is controlled by received commands thattrigger actions and FSM’s transitions on the SMI++ objects [29, 30, 31].

2.3.5

State Manager Language

State Manager Language (SML) is used to describe the object model of the experiment.
SML allows for detailed specification design of the objects such as their states, actions andassociated conditions. The main characteristics of this language are:• Finite State Logic
Objects are described as FSMs. The main attribute of an object is its state. Commands sent to an object trigger actions that can change its state.
• Sequencing
An action performed by an abstract object is specified by a sequence of instructions
which mainly consist of commands sent to other objects and logical tests on statesof other objects.
• Asynchrounous
Several actions proceed in parallel. A command sent by object A to objectB does
not suspend the instruction sequence of object A. Only a test by object A on thestate of object B suspend the instruction sequence of object A if object B is still intransition.
• AI-like rules

18Each object can specify logical conditions based on states of other objects. Whensatisfied, these will trigger an action on the local object. This provides the mechanism for an object to respond to unsolicited state changes of its environment.
An example SML code is shown in the following:
Object : LVPS
state : ON
action: GO OFF
do GO OFF $ALL$FwCaenChannel
move to MOVING OFF...
state : MOVING OFF
when ( $ALL$FwCaenChannel in state OFF ) move to OFF...
state : OFF
action: GO ON
do GO ON $ALL$FwCaenChannel
move to MOVING ON...
state : MOVING ON
when ( $ALL$FwCaenChannel in state ON ) move to ON...
Object : FwCaenChannel
state : ON
action: GO OFF...
state : OFF
action: GO ON...
In this example, two objects are declared: LVPS and FwCaenChannel. LVPS is a
CU that controls the CAEN low voltage channel at the supervisory layer, while FwCaenChannel is a DU representing the corresponding physical low voltage channel. In bothobjects, the list of available states and transition conditions are shown. For example, inobject LVPS, the action ”GO OFF” can be executed when the state is ON. The action
consists of sending the command ”GO OFF” to object FwCaenChannel and the state ischanged into MOVING OFF. In MOVING OFF state, the state moves to OFF when all
the objects FwCaenChannel have reached the OFF state [29, 30].

19

Chapter 3

The design of the Finite State
Machine for the MFTThe FSM I have designed for MFT control is described in this chapter.

3.1

The Control Hierarchy

I have designed the control hierarchy of the MFT in reference to the hardware architecture (Figure 3.1) [10, 38], summarized by K. Yamakawa, a member of the Quark physics
Laboratory. Figure 3.2 is the control hierarchy. A green elliptic node indicates Control
Unit and a blue rectangular node indicates Device Unit. MFT DCS is the top node of
the hierarchy and it has two children: Detector and Infrastructure. Infrastructure
has LVPS (Low Voltage Power Supply) for controlling the CAEN power supply modules
and Cooling for monitoring the cooling system as children. Otherwise in the sub-tree below Detector, CAEN low voltage channels and DCDC converters supplying power to thedevices, temperature sensors, etc. are controlled and monitored. The sub-tree structure
follows the basic MFT hardware structure: Half MFTs, Half Disks, Half Planes, Zones,
Ladders, and ALPIDEs. The nodes controlling the devices are added to the sub-treewith taking into account the area which they can aﬀect so that detector operation anddevices control becomes easy. For instance, GBT-SCA is installed into each Half Plane.
If the GBT-SCA gets unusable due to extreme high temperature or damage, the Half
Plane becomes unusable. In the FSM, each Half Plane has one GBT SCA node and if
GBT SCA moves to ERROR, Half Plane moves to ERROR automatically, indicatingthat the Half Plane cannot be used, and turning oﬀ the power source to all the devices inthe Half Plane can be implemented easily. The modules such as DCDC converters and low
voltage channels are controlled in units of Half Planes, thus their CUs are implemented
below Half Planes. Otherwise ALPIDEs power source can be controlled in units of Zones
because each DCDC converter or each inverter amplifier output is split into 4 Zones andthere are corresponding switches. Each Zone also has one RU board. Thus, Zone has
their nodes as children and it allows us to control them in units of Zones.

20

Supervision

Process Management

21

LV

Field Management

Figure 3.1: Hardware architecture of the MFT DCS [38]
80+80

ADC/
GPIO

8

A3100
LV

3

80

e-linkPSUInterface

RU Crate

4

4

1

ADC

ADC

20

Sensors

96

320

20

RU
Board

4

80

e-link

CRU

60

60

4

Sensors
Air Temp.

Sensors

80

FLP
11

6

FRED

DC-DC
DC-DC Converter ALPIDE
Converters Cooling Block Temp. Status

Converters

GPIO

96

E

DIM server

GBT-SCA
I2C/
DAC

80+80

2+2

Back-Bias Generator& Latch-up detection

20

20

LV

A3006

DC-DC
Converters

4

3

2

CR1

DIM client

DIM
server
DIMserver

1

Air Flow

0-1

Input Water
Pressure

Sensors

12+1

Sensors
Water Flow

12+5

52

Sensors

?

68

1

4

Input Water
Temp.

Sensor1

Sensor1?

?

1

Cooling
Plant

Chilled Water Tank Pressure
Flow Temp.

1

Pump
Pressure

Sensor4

1

Database

20180119-01

SensorHeater Temp.

Sensor4

E

Modbus/TCP

12+1

?

PLC

Output Water
Temp.

Sensor

0-6

0-24

Control Room

Circuits

40

4+2

1
C
2

1

EASY3000

C1

1

WinCC-OA

CR3

WinCC-OA

CR3[Operator Node]CavernConverters

LV

A3009

48V

48V PS
A3486

A1676ASY4527

CR4

E

E

DIM client

CAEN OPC server

OPC client

CR3

WinCC-OA

E

WinCC-OA

CR3

UI

User Interface

Counting Room
L3 Magnet

MFT_DCS

Infrastructure

DetectorVer. 20180204_1
CU

Control Unit

DU

Device Unit

Half_MFT
Half_MFT
Half_Disk
Half_Disk
Half_Disk
Half_Disk
Half_Diskx5

Cooling

LVPS

x2

Power
Power
Converter
Converter

CaenCrate
x1(SY4527)

EasyBoard
EasyBoard
EasyBoardx4(A3009)
x2(A3006)
x4(A3100)x2(A3486)

Half_Plane
Half_Plane

x2

Caen
Caen
ChannelChannel

CaenCrate

EasyBoard

Zone
Zone
Zone
Zone
LadderLadder

Chip
Chip
Chip
Temp.
Temp.
Temp

Current
SensorRU

x4

LatchUp

GBT_SCA

Temp

SwitchCaen
Channel

DCDC_
Converter

LV
LV

On-board
Temp.

SwitchSwitchSwitchCaen
Channel

DCDC_
Converter

x2-5

Caen
Channel

DCDC
DCDC_
Converter
Converter

Channels
Caen
Caen
Caen
ChannelChannelChannelx1-2

x1(Analog)x1(Digital)

Temp

x2(Analog)
x2-4(Digital)

Back_bias

Caen
Caen
ChannelChannelInverterAmp

x2

x3

On-board
On-board
On-board
Temp
Temp
Temp
x3

Figure 3.2: Control Hierarchy for the MFT

3.2

Implementation Strategy

In order to construct the complex control system, I designed the control hierarchy at first,
and the possible states, their transition, transition conditions, and commands executing
actions secondly. In the ALICE DCS, the top node FSMs of all the sub-detectors haveto use common states based on guidelines provided by the ALICE controls coordination[27, 28], so that everyone can control the sub-detectors easily. On the other hand, the statesin all the nodes except the top one can be determined freely since each sub-detector has
specific equipment and requirements for operation. When designing the control hierarchy,
I started it from the top level node to lowest level (DU), i.e. top-down approach, in order
to come up with the overall tree-like structure. When designing the hierarchical FSMs, incontrast, I designed firstly possible states and their transitions of DUs taking into accounttheir behaviour and values which are controlled/monitored, and secondly FSMs of CUs
between DUs and the top node keeping consistency with the top level FSM, i.e. bottom-up
approach. Thus, during implementation phase, a combination of bottom-up and top-down
strategies have been used for improving system performance. To describe the MFT FSM,
I started it from the top node, MFT DCS, to lower level.

3.3

The State Diagram for the ALICE DCS

In the FSM of the ALICE DCS, the state name stands for the condition of the devices ora set of them, e.g. OFF, ON, ERROR, etc. To indicate the condition clearly, then, thestates are shown with common coluours in the ALICE DCS when the state are shown inthe state diagram or the control panel. The colours used here are grey, blue, green, yellow,
orange, and red [22].

• DEAD(grey)
The FSM is not running. Control is not available for this unit.
22

Coolingx10(A3009)
x4(A3006)
x1(A3100)

State example: DEAD
• OK NOT PHYSICS(blue)
The unit is in a correct and stable state, but it is not ready for physics.
State example: OFF, STANDBY• OK PHYSICS(green)
The unit is ready for physics.
State example: READY• ALERT1(yellow)
The unit is in a transition, normal state. It will change automatically to a stablestate.
State example: RAMPING UP, MOVING READY, MIXED• ALERT2(orange)
The unit or its tree is in a error or bad state. It can recover also automatically.
State example: WARNING, HOT• ALERT3(red)The unit or its tree is in a fatal error or bad state. It requires manual intervention
for recovering.
State example: ERROR, NO CONTROL, TOO HOT

3.4

MFT DCS, The top node of the MFTThe MFT control system has been designed as a detector oriented hierarchy, i.e. basedon the physical components of the detector. The top node of the hierarchy (MFT DCS)
is the main control unit (Figure 3.3). The commands are sent from this node to all the
sub-trees below in parallel, and they report their states to the top node to reflect theoverall state of the MFT. MFT DCS has Infrastructure and Detector as children.
Infrastructure consists of the external system, the devices controlled before or after
detector operation, and the equipment whose operation can aﬀect whole the detector.
The sub-tree structure below Detector follows the hardware structure of the MFT, andit includes all the detector equipment, i.e. low voltage power supply modules, temperature
sensors, and so on.
Figure 3.4 is the state diagram of MFT DCS. It describes the possible states in
MFT DCS and the possible commands executing actions and/or triggering state transition. The states are divided into synchronous states used in normal operation (left)
and asynchronous states appeared in error situations (center and right). The top nodestates follows the ALICE standard states [27]. The meaning of each synchronous state in
MFT DCS is following:• OFF
The CAEN power supply equipment is not ready. The cooling system condition iseither ready or not ready.

23• STANDBY
The CAEN power supply equipment are ready for supplying power to the ALPIDEs
and the readout boards. The cooling system are ready. The ALPIDEs and thereadout boards power have not been supplied yet.
• DOWNLOADINGAll configuration data is being downloaded from database to the devices.
• STBY CONFIGURED
The devices are configured. The condition of equipment and systems are same as
one in STANDBY.
• BEAM TUNING
A safe parking condition to face the LHC beam injection. The condition of equipment
and systems are same as one in STANDBY.
• MOVING READY
The ALPIDEs and the readout boards power are ramping up.
• MOVING STBY CONF
The ALPIDEs and the readout boards power are ramping down.
• READY
The ALPIDEs and the readout boards power are supplied and the experiment canbe started.
The meaning of each asynchronous state generally used in MFT is following:• MIXED
If the children are not all the same state (e.g. some low voltage channels are on.
Others are oﬀ), then the parent goes to the MIXED state.
• ERRORIf any children are ERROR or some error state, the parent goes to ERROR. If theparent is DU connecting a device and the device is in some error situations, theparent goes to ERROR.
• NO CONTROL
When connection between the device and the WinCC OA is lost, its DU goes to
NO CONTROL.
• INTERLOCK and INTERLOCK WENT
When hardware safety interlock system is activated, the device’s DU goes to INTERLOCK. Once the interlock conditions are removed, the state automatically changes
to INTERLOCK WENT. In that state, RESET INTERLOCK command can be
executed and then it moves to OFF.

24

The correspondence between the parent’s state transition and the children’s is described in the synchronization table (Table 3.1). For example, the first state of MFT DCS
is OFF, then Detector is OFF and Infrastructure is NOT READY. When MFT DCS
is OFF state, GO READY command can be executed from MFT DCS written in the
diagram and it occurs a transition from NOT READY to READY in Infrastructure,then MFT DCS goes to STANDBY since Infrastructure is READY and Detector isOFF. State goes down from OFF to READY in the table in normal operation. At thistime, the state having ▽ in its left side (e.g. DOWNLOADING and MOVING READY)
is appeared only during transition OFF to READY, and the state having ▲ (e.g. MOVING STBY CONF) is done during READY to OFF. The possible states in MFT DCS
are lined up in the most left line and the states in the children are in the right sidelines of the thick line. The upper rows than the empty row (OFF to READY) are synchronous states and lower (MIXED and below) are asynchronous states. And the empty
cell means that there can be any synchronous state. For example, when Infrastructure is
NO CONTROL, MFT DCS goes to NO CONTROL regardless of the state of Detector.
I will describe FSM on each node by using state diagrams and synchronization tables.
MFT_DCS

Detector

Infrastructure

Figure 3.3: MFT top level FSM nodes
OFF

CHILDREN: MIXEDERROR

GO_STANDBY

NO_CONTROLINTERLOCKRESETGO_OFF

STANDBYRESET_INTERLOCK

GO_READY
GO_OFFDOWNLOADING
GO_STANDBY

INTERLOCK_WENTMIXEDCONFIGURE

An appropriate state

OFF

CONFIGURE
GO_STBY_CONF

STBY_CONFIGURED

BEAM_TUNING

An appropriate state

GO_BEAM_TUNE
GO_READY
GO_READY
GO_STBY_CONF

MOVING_STBY_CONF

MOVING_READY
GO_READY

GO_STBY_CONF

READY

Figure 3.4: The State Diagram for MFT DCS

25

"

 





 

 

 

 















   "!

     

 





















 



 

 

  

 

 




  

 



 
 









 

  

 

 



   

Table 3.1: The synchronization table for MFT DCS

3.5

Infrastructure and the sub-tree

In this section, FSMs on Infrastructure and below are described. Figure 3.5 shows
the sub-tree. Infrastructure has Cooling and LVPS so that it reflects the coolingsystem and the LVPS conditions. Figure 3.6 is the state diagram of Infrastructure andTable 3.2 is the synchronization table. By sending GO READY in NOT READY, LVPS
automatically executes SWITCH ON triggering transition from NOT READY to READY
in LVPS. Only when Cooling is READY, LVPS can accept the GO READY commandfrom Infrastructure and send the SWITCH ON command to children. Infrastructuregoes to READY when both Cooling and LVPS are READY.
Infrastructure
Cooling

LVPS
Power
Power
Converter
Converter

CaenCrate
x1(SY4527)

EasyBoard
EasyBoard
EasyBoardx2(A3486)

Caen
Caen
ChannelChannel

CaenCrate

EasyBoardx1-2

x4(A3009)
x2(A3006)
x4(A3100)

Cooling

Channels
Caen
Caen
Caen
ChannelChannelChannelx10(A3009)
x4(A3006)
x1(A3100)

Figure 3.5: The Sub-tree structure below Infrastructure26

NOT_READY
GO_OFFERROR

GO_READY

NO_CONTROLINTERLOCK

RESET

READY

INTERLOCK_WENT

NOT_READY

An appropriate state

Figure 3.6: The State Diagram for Infrastructure ! ! 









 

 















 




 
 



 

 



 




 
 



  

Table 3.2: The synchronization table for Infrastructure

3.5.1

Cooling

EN-CV Detector Cooling Section is in charge of the development of the cooling system
including the design and implementation of the FSM. At this time, therefore, a simple FSM
was designed and adopted temporary. The possible states are only READY, NOT READY
and ERROR, and this FSM allows only monitoring it since the cooling system of the MFT
is shared to use with other sub-detectors and the MFT DCS will not control it. So far,
NOT READY supposes the condition which the cooling system have not worked yet or thedetector is not suﬃciently cooled. READY supposes that it is suﬃciently cooled. ERROR
supposes that the system is damaged or some kinds of error are detected.

NOT_READYERROR
NO_CONTROL

ON

Figure 3.7: The State Diagram for Cooling Table 3.3:
CU and DU
Cooling

3.5.2

) (

) (

(

(
)(

)(

(( (

(( (

The synchronization table for

LVPS

The sub-tree of LVPS supervises the CAEN power supply devices: the main crate SY4527,
EASY boards A3006, A3009, and A3100 supplying power to the ALPIDEs and the readoutboards, and the power converter A3486 supplying 48 power to the EASY boards. The
state diagram is Figure 3.8 and the synchronization table is Table 3.4. When GO READY
is sent from the parent to LVPS in NOT READY, LVPS executes SWITCH ON forward

27

PowerConverter. The command turns on the A3486’s channels, and after that, LVPS
automatically sends the CLEAR ALARM to CaenCrate to clear alarms on the devices
connected with SY4527 and moves to MOVING READY. Then, EASY boards becomes
ready for supplying power and EasyBoards goes to READY. Eventually, LVPS goes to
READY.
ERROR

NOT_READYINTERLOCKNO_CONTROLRESETSWITCH_ON

INTERLOCK_WENT

STANDBYRESET_INTERLOCK
CLEAR_ALARM

MOVING_READY

NOT_READYSWITCH_OFF

An appropriate state

READY

Figure 3.8: The State Diagram for LVPS

)

A
A

)

)

)

)

)

)

)
)
)

)

(

(

)
)

(

(

Table 3.4: The synchronization table for LVPS
CaenCrate
CaenCrate (DU) controls the CAEN crate SY4527, and it monitors the connection statusbasically. If the connection is lost, it moves to NO CONTROL. In addition, if alarms are
generated in the devices connected with SY4527, they can be reset by CLEAR ALARM
command sent from this DU. The CU reflects the state of the DU directly. The state
diagram of the CU and the DU is Figure 3.9 and Figure 3.10. The synchronization table
is Table 3.5.
READY

READY

NO_CONTROL

CLEAR_ALARM

CLEAR_ALARM

ALARM_CLEARING

NO_CONTROL

Figure 3.9: The State Diagram for Caen- Figure 3.10: The State Diagram for CaenCrate CU
Crate DU

28

(
)

)
)

)

)

Table 3.5: The synchronization table for CaenCrate
PowerConverter
In PowerConverter, the power converter A3486s supplying 48V power to EASY boards
are controlled and PowerConverter has CaenChannel DUs which control the low voltage channels of A3486. The state diagrams are Figure 3.11 and Figure 3.12. CaenChanel
has OFF and ON states, and the low voltage channels supply power to EASY boards.
CaenChannel moves to TRIPPED or OVERCURRENT when the voltage or current of
the corresponding channel exceeds the threshold value. In addition to these, there are
NO CONTROL for connection lost and ERROR for other error situations. OVERCURRENT, TRIPPED, and ERROR are united into ERROR in PowerConverter.
STANDBY

ERROR

NO_CONTROLINTERLOCKRESETGO_READY
GO_OFF

RAMPING_DOWN

RAMPING_UP

INTERLOCK_WENT

GO_READYRESET_INTERLOCK

GO_OFFREADY

STANDBY

An appropriate state

Figure 3.11: The State Diagram for PowerConverter
TRIPPEDRESETOVERCURRENT

RESET

OFF
SWITCH_ON

SWITCH_OFF

RESET

ERROR
INTERLOCKNO_CONTROL

ON

Figure 3.12: The State Diagram for CaenChannel29 

 

"  !

   







 



 

 

  

 




  

 

 

 

  

Table 3.6: The synchronization table for PowerConverter
EasyBoard
The state diagram of EasyBoard (CU) is Figure 3.13 and the synchronization table isTable 3.7. It has EasyBoard (DU) which monitors the condition of the EASY board andChannels for monitoring the conditions of its low voltage channels.
The state diagram of EasyBoard (DU) is Figure 3.14. It monitors the temperature
sensor in the board and the condition of the 48V power from A3486. When 48V power is
supplied and CLEAR ALARM command are sent to SY4527, the state moves to READY
from NOT READY. If the value of the temperature sensor exceeds the threshold values(Thot orTtoo hot ), it moves to either HOT or TOO HOT. In the most left column andthe 7th row in the synchronization table, there is a blank cell. This means that even if
EasyBoard (DU) goes to HOT, the CU does not reflect the state.
Channels has CaenChannels as children to only monitor their states. The state
diagram is Figure 3.15 and the synchronization table is Table 3.8. Here, CaenChannel FWMAJ means the majority device unit of CaenChannels. When a lot of DUs
which have same parent (CaenChannels in this case) moves to ERROR (or kinds of error
states), the majority DU moves to MAJORITY ERROR (if the number of the DUs in ERROR state exceeds the threshold number defined in advance) or MAJORITY WARNING(if the number is between 1 and the threshold).
NOT_READYRESETNOT_READY

ERROR

READY

NO_CONTROL

HOT

ON

Figure 3.13: The State Diagram for EasyBoard (CU)TOO_HOT

Figure 3.14: The State Diagram for EasyBoard (DU)30

NO_CONTROL

ERROR
RESET

OK

Figure 3.15: The State Diagram for Channels

<<

<

<<

<

<<

1)
1)
1

(
(
)

1
)

)

Table 3.7: The synchronization table for
EasyBoard

1

1)

1 )

1)

1 )

)

11 1

1
<

1)

1 )

1)

<

1)

1 )

1

)

<

(

11

<

1

( <

1)

11 1

11 1

1)

11 1

11 1

( <

11 1

1)

11 1

1)

( <

11 1

1)

11 1

1

11

Detector and the sub-tree

The sub-tree below Detector is described here. The structure is Figure 3.16. It reflects
the real MFT hardware structure: Half MFTs, Half Disks, Half Planes, Ladders, and the
ALPIDEs, and low voltage distribution so that it enables us to operate each part of the
MFT separately. GBT-SCA power, LV power of the ALPIDEs and Back-bias power aresupplied by voltage transformation from the CAEN channel of the EASY boards using
either DCDC converters or inverter amplifiers, and there is each of the transformers par
one Half Plane. Thus, there are CUs controlling the power supply devices below every
Half Plane. In addition to this, Half Plane has a DU of a temperature sensor since
there is a temperature sensor on each Half Plane. On the other hand, the power is split
into 4 Zones and there is switch on each line to turn it oﬀ Zone by Zone when either
over-current or latch up is detected by current sensor or latch up detector. Therefore,a CU controlling the switches and DUs of the current sensor and the latch up detector
exist below each Zone. Zone also has a CU of RU (Readout Unit) since there is one RU
board for each Zone. The upper nodes than Half Plane reflects the state of Half Plane
directly unless there is partitioning.
Figure 3.17 is the state diagram for Detector, Half MFT, and Half Disk in common. The state changes from OFF to STBY CONFIGURED by the CONFIGURE command, and GO READY makes it moves to READY. The synchronization table for thesenodes are Table 3.9, 3.10, and 3.11. These tables describes the relation between the parent’s state and the children’s. In addition to these tables, the state moves to MIXED
if some of children are READY and the others are OFF and/or STBY CONFIGURED.
When all of the children moves to the same state, parent goes to an appropriate state
automatically. This MIXED state handling is common to all other nodes. If children
moves to ERROR or NO CONTROL, the parent reflects the state and after the children
moves to normal state, the parent moves to an appropriate state via OFF state.
31

(

11 1

Table 3.8: The synchronization table for
Channels, TH is the threshold number andn is the number of the DUs in ERROR state

3.6

(
(

( <

Detector
Half_MFT
Half_MFT
x2

Half_Disk
Half_Disk
Half_Disk
Half_Disk
Half_Diskx5

Half_Plane
Half_Plane

Zone
Zone
Zone
Zone
LadderLadderCurrent
SensorRU

GBT_SCA

Temp.

x4

LatchUpx2

Caen
ChannelSwitch

LV
LV

DCDC_
Converter

Caen
ChannelOn-board
Temp.

Caen
Channel

DCDC_
Converter

Temp.

Caen
Caen
ChannelChannelInverterAmp

x2

x3

On-board
On-board
On-board
Temp
Temp
Temp.

x2-5

DCDC
DCDC_
Converter
Converter
x2(Analog)
x2-4(Digital)

SwitchSwitchSwitch
Chip
Chip
Chip
Temp.
Temp.
Temp.

Back_bias

x1(Analog)x1(Digital)

x3

Figure 3.16: The Sub-tree structure below Detector
CHILDREN: MIXED,READY/OFF(STBY_CONF)

OFF

ERROR

NO_CONTROLINTERLOCKRESETCONFIGUREDOWNLOADINGINTERLOCK_WENTMIXEDRESET_INTERLOCK

GO_READY
GO_OFF

GO_OFF
CONFIGURE

OFF

An appropriate state

STBY_CONFIGURED
GO_READY
GO_STBY_CONF

MOVING_STBY_CONF

An appropriate state

MOVING_READY
GO_READY

GO_STBY_CONF

READY

Figure 3.17: The State Diagram for Detector, Half MFT, and Half Disk 


!










  
!






 






  


 






 

         





Table 3.9: The synchronization table for Detector32  











  








 






"









  



"







"

 !

 



!



   












     
 






 

   

 

         





      





Table 3.10: The synchronization table for
Table 3.11: The synchronization table forHalf MFT
Half Disk

3.6.1

Half Plane and below

The sub-tree structure below Half Plane is Figure 3.18. Half Plane has a DU monitoring a temperature sensor and CUs of GBT-SCA, LV, Back bias, and Zone
Figure 3.19 is the state diagram for Half Plane. The state changes from OFF
to STBY CONFIGURED by CONFIGURE. GO READY makes the power supply devices start supplying with the GBT-SCA’s power and then the state moves to MOVING READY READOUT. After the GBT-SCA become ready, LV and Back-bias power
supply are started and it moves to MOVING READY LV. When both LV and Back bias
are READY, it moves to READY.
Half_Plane
Half_Plane

Zone
Zone
Zone
Zone

x4

Temp.

x2

GBT_SCA

LV
LV

Figure 3.18: The Sub-tree structure of Half Plane33

x1(Analog)x1(Digital)

Back_bias

CHILDREN: MIXED,READY/OFF(STBY_CONF)

OFF

ERROR

INTERLOCKNO_CONTROLRESETCONFIGUREDOWNLOADINGINTERLOCK_WENTMIXEDRESET_INTERLOCK

GO_READY
GO_OFF

GO_OFF
CONFIGURE

GO_STBY_CONF

MOVING_OFF_READOUTRECOVERING

An appropriate state

STBY_CONFIGURED
GO_READY

An appropriate state

MOVING_READY_READOUTGO_READY

MOVING_OFF_LV

GO_ST
BY
_CONF

MOVING_READY_LV

GO_READY
GO_STBY_CONF

READY

Figure 3.19: The State Diagram for Half Plane

A

C

E
E
E
D
D

Table 3.12: The synchronization table for Half Plane
GBT SCA
GBT SCA is a CU for supervising the power supply devices of GBT-SCA and the onboard temperature sensor. It has DUs for the CAEN low voltage channel, the DCDC converter, and the on-board temperature sensor. The state diagrams are Figure 3.12 (CaenChannel), 3.21 (DCDC Converter), 3.22 (On-boardTemp), and 3.20 (GBT SCA).
The synchronization table is Table 3.13.

34

B

DCDC Converter has OFF, ON, and ERROR for error situations (e.g. the device
is damaged). On-boardTemp reads the value which is measured by the GBT-SCA
on-board temperature sensor and the state changes in READY, HOT and TOO HOT
depending on the temperature value. In addition to these states, it has NO CONTROL
for connection lost and ERROR for other error situations.The state diagram in Figure
3.20 is also used in CUs of LV, Back bias, and Zone in common.
Then, Configurator is a DU which loads configuration recipe of the devices (e.g. setting values of the voltage and the current, threshold values of them) from the configuration
database and inputs them into DPEs of the devices’ DUs [32]. The setting values input
into DPEs are applied to the devices via a communication protocol (e.g. OPC, DIM). The
CU which has DUs that have setting values to be configured has a Configurator and it
manages configuration of the DUs.
OFF

NO_CONTROLERRORCONFIGURE

INTERLOCKRESETINTERLOCK_WENTDOWNLOADINGRESET_INTERLOCK
GO_OFF

CONFIGURERECOVERING

STBY_CONFIGURED
GO_READY
GO_STBY_CONF

MOVING_STBY_CONF

An appropriate state

MOVING_READY
GO_READY

GO_STBY_CONF

READY

Figure 3.20: The State Diagram for GBT SCA, LV, Back bias, and Zone
OK

OFF

RESET

SWITCH_ON

ERROR

ERROR
NO_CONTROLHOTSWITCH_OFF

ON
TOO_HOT

Figure 3.21: The State Diagram for DCDC
Figure 3.22: The State Diagram for Onconverter
board Temperature Sensor
GBT_SCA

Caen
Channel

DCDC_
Converter

On-board
Temp

Configurator

Figure 3.23: The Sub-tree structure of GBT SCA

35

A F CD C

A C

B

A

EC DAC

H
H
G--

Table 3.13: The synchronization table for GBT SCA
LVThe power supply devices for Analog and Digital power source to the ALPIDEs are controlled in LV. It has DUs for CAEN low voltage channels (CaenChannel), DCDC converters (DCDC Converter), and the temperature sensor for the DCDC converter’s cooling block (Temp). The state diagrams are Figure 3.12 (CaenChannel), 3.21 (DCDC Converter),
3.25 (Temp) The state diagram for LV is Figure 3.20 and the synchronization table isTable 3.14.
LV

Caen
Channel

DCDC
DCDC_
Converter
Converter
x2(Analog)
x2-4(Digital)

OK

HOT

Temp.
Configurator

TOO_HOT

Figure 3.24: The Sub-tree structure of LV

36

Figure 3.25: The State Diagram for Temp

C A

B A

E
E
D

Table 3.14: The synchronization table for LV
Back bias
The power supply devices for the Back-bias voltage of the ALPIDEs are controlled in
Back bias. It has DUs for the CAEN low voltage channels (CaenChannel) and theinverter amplifier (InverterAmp) used for voltage transformation. The state diagramsof Back bias and InverterAmp are Figure 3.20 and 3.26. The synchronization table isTable 3.15.
OK

ERROR

RESET

NO_CONTROL

Figure 3.26: The State Diagram for Inverter amp
Back_bias

Caen
Caen
ChannelChannelInverterAmp
Configurator

x2

Figure 3.27: The Sub-tree structure of Back bias

37

C

F BD BAEB D BG

Table 3.15: The synchronization table for Back bias
Temp
There is a temperature sensor on each Half Plane and it is monitored in Temp. The
State diagram is Figure 3.25. If the state is TOO HOT, the state of Half Plane becomes
ERROR and the power supply devices below the Half Plane are automatically turned oﬀ.
Zone
The sub-tree structure below Zone is Figure 3.28. The state diagram of Zone is Figure
3.20 and the synchronization table is Table 3.16. It has CUs of Ladder, RU, Switch and
DUs of CurrentSensor, LatchUp.
Zone
LadderLadderRU

Current
SensorLatchUp

SwitchFigure 3.28: The Sub-tree structure of Zone

38

BA

K

J

1

1((

1

1

1

1
1

1

1

1 ()

)

1

1

)

1

1

1

1

1

1

)

1

D

1

1

K

D (

1((

1 (

1

GDD AF
1((
1

1

1

F<
1

1

1

C

H F<
1((

1

1

1

1 ()

1

1

1

)

1

1

1

1

1

1

1

1

1

1

)

AEBD

1

)

1 (

1

1

1

1
1

1

1
1

1

1
1

1
1

1

1

1

1
1

1

1
1

1
)

1
1

1

)

1

)
1

IAI
)

1

1

A

IAI
1

A

Table 3.16: The synchronization table for Zone
• LadderThere are ChipTemps for the ALPIDEs on-board temperature sensors below Ladder. If the value of the temperature sensor exceeds the threshold values (Thot orTtoo hot ),it moves to either HOT or TOO HOT. The state of Ladder changes depending on
the state transition of ChipTemp. When the state of Ladder is ERROR, it moves
back to READY if ChipTemp moves to OK in order to avoid a states oscillation
around the threshold value of temperature. The state diagram of ChipTemp andLadder are Figure 3.29 and Figure 3.30, and the synchronization table is Table 3.17
OK

READY
HOT

WARNING

TOO_HOT

Figure 3.29:
ChipTemp

ERROR

The State Diagram for

Figure 3.30: The State Diagram for Ladder

Ladder

Chip
Chip
Chip
Temp.
Temp.
Temp.



 








 




x2-5

Table 3.17: The synchronization table for
Figure 3.31: The Sub-tree structure below Ladder
Ladder• RU
The state diagram of RU is Figure 3.20, and it manages the power supply devices to
the RU board and the RU on-board temperature sensor. RU has DUs for the CAEN
39

low voltage channel (CaenChannel), the DCDC converter (DCDC Converter),and the on-board temperature sensor (On-boardTemp). The state diagrams are
Figure 3.12 (CaenChannel), 3.21 (DCDC Converter), 3.22 (On-boardTemp),
and 3.20 (RU). The synchronization table is Table 3.18.
RU

Caen
Channel

DCDC_
Converter

On-board
On-board
On-board
Temp
Temp
Temp.

Configurator
x3

Figure 3.32: The Sub-tree structure below RU

A F CD C

A C

B

A

EC DAC

H
H
G--

Table 3.18: The synchronization table for RU• Switch
There are switches on power supply lines of LV and Back-bias split into 4 Zones.
Switch DUs control them and Switch (CU) unites the DUs. The state diagram for
Switch of both CU and DU is Figure 3.33.
OFF

RESET

SWITCH_ON

ERROR

SwitchNO_CONTROL

SwitchSwitchSwitchSWITCH_OFFON

x3

Figure 3.33:
The State Diagram for Figure 3.34: The Sub-tree structure below
Switches(DU, CU)
Switch

40

)

)

(

(

(( (

(( (

Table 3.19: The synchronization table for Switch• CurrentSensor
CurrentSensor is a DU for monitoring the current values of LV and Back-bias. If
the value of the current sensor exceeds the threshold, hardware interlock turns OFF
the switches of LV and Back-bias voltage lines automatically and the state moves to
ERROR. The state diagram is Figure 3.35.
• LatchUp
LatchUp is a DU for monitoring latch-up on the power supply circuits of LV and
Back-bias. If latch-up occurs, hardware safety interlock turns oﬀ the switches of LV
and Back-bias voltage lines automatically and the state moves to ERROR. The state
diagram is Figure 3.36.
OK

OK
RESET

ERROR

ERROR

Figure 3.35: The State Diagram for Current Figure 3.36: The State Diagram for Latch Up
detector
Sensor41

Chapter 4

The FSM for the Actual Machine
Tests
The actual machine tests have been carried out to test the FSM. In this chapter, the FSM
for the tests is described.

4.1

The Architecture of the Actual Machine Tests

The hardware components used in the tests and the FSM are described in this section.

4.1.1

Hardware Components

The CAEN power supply equipment and a temperature sensor are used in the tests. The
CAEN power supple system has been constructed by K. Yamakawa at CERN. SY4527(CAEN crate), A1676A (crate controller), A3486 (power converter), EASY3000 (EASY
crate), and A3009 (EASY board) are used in the tests, and the structure is same as
the structure of power supply to the ALPIDEs in the real MFT design. The temperature
sensor is a Pt100, a platinum resistance thermometer sensor, connected by the ELMB. The
ELMB is an ASIC developed in ATLAS experiment and the purpose is same as the GBTSCA. The GBT-SCA will be used in the MFT, however it has not been enough developed
yet. Therefore, the ELMB is used in the actual machine tests. The resistance value ofthe Pt100 is measured with the ELMB, and the value is translated into temperature. The
way to construct the CAEN system follows [19] and to connect with ELMB is describedin [10].

42

Figure 4.1: The test bench of the CAEN power supply system for the MFT constructed by K. Yamakawa
[39]

4.1.2

The Control Hierarchy of the Actual Machine Tests

The control hierarchy for the tests is Figure 4.2. This is a simplified hierarchy of the real
MFT’s: Cooling and the detailed structure below Detector are taken oﬀ. The structure
below LVPS is same as the real MFT’s. There are CaenChannel and Temp below
Detector. It simulates the power source to the ALPIDEs and the ALPIDE’s on-board
temperature sensor. This sub-tree is designed to automatically turn the CAEN low voltage
channels oﬀ when an abnormal rise in temperature is detected.
CU

Control Unit

DU

Device Unit

TEST_DCS

Detector
Temp

LVPS
Caen
Caen
ChannelChannelPower
Converter

CaenCrate

Caen
Channel

CaenCrate

EasyBoard
EasyBoard

Channels
Caen
Caen
Caen
ChannelChannelChannelFigure 4.2: The Control Hierarchy of the FSM for the Actual Machine Test

4.2

Design of FSMs

Design of a state transition on each node is described in this section.

43

4.2.1TEST DCS for the Actual Machine Tests

The top node of the FSM is TEST DCS. The state diagram is Figure 4.3 and the synchronization table is Figure 4.1. The state diagram of TEST DCS is same as one of
MFT DCS except BEAM TUNING since the devices condition is same as in STANDBY,
and DOWNLOADING and STANDBY CONFIGURED since the device configurations
from the FSM have not been implemented yet.
CHILDREN: MIXED

OFF

ERROR

NO_CONTROLRESETGO_STANDBY
GO_OFF

STANDBYOFF

MIXEDGO_READY

GO_READY
GO_OFF

GO_STANDBY

MOVING_STANDBY
GO_STANDBY

MOVING_READY

An appropriate state

An appropriate state

GO_READYREADY

Figure 4.3: The State Diagram of TEST DCS



 





     



 
 












 



 
  





 





 

Table 4.1: The synchronization table for TEST DCS

4.2.2

LVPS for the Actual Machine Tests

The structure and FSMs below LVPS are same as the MFT’s. The detail is described in
Section 3.5.2.

4.2.3

Detector for the Actual Machine Tests

The state diagram of Detector is Figure 3.17. Detector has DUs: CaenChannel
and Temp. Each state diagram is same as the MFT’s. The diagrams are Figure 3.12
(CaenChannel), 3.25 (Temp). OFF/READY in Detector corresponds to OFF/ON
in CaenChannel. When the temperature exceeds the threshold values, the state ofTemp moves to either HOT or TOO HOT. If it moves to TOO HOT, Detector goes to
ERROR and then, Detector sends RESET command to CaenChannel to turn oﬀ the
CAEN channels.

44

CHILDREN: ON/OFF

OFF
GO_READY

MOVING_READYRECOVERINGMIXED
GO_READY
GO_OFF

GO_READY
GO_OFFREADY

NO_CONTROLRESETGO_OFF

MOVING_OFF

ERROR

An appropriate state

An appropriate state

Figure 4.4: The State Diagram of Detector

4.3

Implementation of the FSM for the Actual Machine
Tests

The FSM designed for the actual machine tests are implemented with JCOP. The tree
structure implemented in JCOP is in Figure 4.5. The left panel shows only the CUs andthe right panel shows all the CUs and the DUs only below LVPS and Detector due torestriction of the window size. The JCOP allows us to implement the FSM with simple
GUI panels. Figure 4.6 is an example of the FSM configuration panel of CUs. In thispanel, possible states of LVPS are written in ”State list”, and possible actions and statetransition conditions of the corresponding state are in ”Action list” and ”When list”. In
this example, the NOT READY state is selected, therefore possible actions and transition
conditions when the state is NOT READY are written in the corresponding lists. Then,the panel makes the SML code of LVPS. Figure 4.7 is an example of the FSM configuration
panel of DUs. In this panel, the possible states of CaenChannel are written in ”Statelist”, and possible actions of the corresponding state are written in ”Action list”. The
actions can be implemented in ”Configure Device Actions” which is in the drop-down listof the ”Configure Device” box by writing the SML code in which the actions are described.
The state transition conditions also can be in ”Configuration Device States” by writing
one in which the transition conditions are described. The detailed information about
implementation of the FSM can be reached in [23, 24, 26, 29, 30].
And then, the CAEN devices and the temperature sensor are connected and the functions of the FSM is tested.

45

Figure 4.5: The FSM Tree for the Actual Machine test implemented in JCOP Fw. left: All CUs in thetree, Right: All DUs below LVPS and Detector

Figure 4.6: The FSM Configuration panel of LVPS

Figure 4.7: The FSM Configuration panel of Caen-in the JCOP

Channel in the JCOPThe SML codes of Detector and CaenChannel are shown as examples of a CU anda DU. The SML code of Detector is shown in the following. Possible states, codes andstate transition conditions on each node in Detector are written in the code. Please refer
the example in Section 2.3.5 to read this code.

46

The SML code of Detector
state : OFF
when ( $ANY$FwCHILDREN in state {ERROR,OVERCURRENT,TRIPPED,TOO HOT,O CONTROL} ) move to ERROR
when ( ( $ALL$FwCaenChannel in state ON ) and ( $ALL$FwElmbAi in state OK ) ) move to READY
when ( ( $ANY$FwCHILDREN in state OFF ) and ( $ANY$FwCHILDREN in state ON ) ) move to MIXED
action: GO READY
do SWITCH ON $ALL$FwCaenChannel
move to MOVING READY
state : MOVING READY
when ( $ANY$FwCHILDREN in state {ERROR,OVERCURRENT,TRIPPED,TOO HOT,NO CONTROL} ) move to ERROR
when ( $ALL$FwCaenChannel in state OFF ) move to OFF
when ( ( $ALL$FwCaenChannel in state ON ) and ( $ALL$FwElmbAi in state OK ) ) move to READY
when ( ( $ANY$FwCHILDREN in state OFF ) and ( $ANY$FwCHILDREN in state ON ) ) move to MIXED
action: GO OFF
do SWITCH OFF $ALL$FwCaenChannel
move to MOVING OFF
state : MOVING OFF
when ( $ANY$FwCHILDREN in state {ERROR,OVERCURRENT,TRIPPED,TOO HOT,NO CONTROL} ) move to ERROR
when ( $ALL$FwCaenChannel in state OFF ) move to OFF
when ( ( $ALL$FwCaenChannel in state ON ) and ( $ALL$FwElmbAi in state OK ) ) move to READY
when ( ( $ANY$FwCHILDREN in state OFF ) and ( $ANY$FwCHILDREN in state ON ) ) move to MIXED
action: GO READY
do SWITCH ON $ALL$FwCaenChannel
move to MOVING READY
state : READY
when ( $ANY$FwCHILDREN in state {ERROR,OVERCURRENT,TRIPPED,TOO HOT,NO CONTROL} ) move to ERROR
when ( $ALL$FwCaenChannel in state OFF ) move to OFF
when ( ( $ANY$FwCHILDREN in state OFF ) and ( $ANY$FwCHILDREN in state ON ) ) move to MIXED
action: GO OFF
do SWITCH OFF $ALL$FwCaenChannel
move to MOVING OFF
state : ERROR
when ( $ANY$FwCHILDREN not in state {ERROR,OVERCURRENT,TRIPPED,TOO HOT,NO CONTROL} ) move to OFF
when ( $ANY$FwElmbAi in state TOO HOT ) do RESET
action: RESET
do SWITCH OFF $ALL$FwCaenChannel
move to RECOVERING
state : RECOVERING
when ( $ANY$FwCHILDREN not in state {ERROR,OVERCURRENT,TRIPPED,TOO HOT,NO CONTROL} ) move to OFF
state: MIXEDwhen ( $ANY$FwCHILDREN in state {ERROR,OVERCURRENT,TRIPPED,TOO HOT,NO CONTROL} ) move to ERROR
when ( $ALL$FwCaenChannel in state OFF ) move to OFF
when ( $ALL$FwCHILDREN in state ON, OK ) move to READY
action: GO OFF
do SWITCH OFF $ALL$FwCaenChannel
action: GO READY
do SWITCH ON $ALL$FwCaenChannel

47

The SML code of CaenChannel’s actions
FwCaenChannel doCommand(string domain, string device, string command){if (command == ”SWITCH OFF”){
dpSet(device+”.settings.onOﬀ”,0);fwDU startTimeout(30, domain, device, ”NO CONTROL”, ”OFF”);}
if (command == ”SWITCH ON”){
dpSet(device+”.settings.onOﬀ”,1);
fwDU startTimeout(30, domain, device, ”NO CONTROL”, ”ON”);}
if (command == ”RESET”){
dpSet(device+”.settings.onOﬀ”, 0);
fwDU startTimeout(30, domain, device, ”NO CONTROL”, ”ON”);}}

The possible actions of CaenChannel are defined in this SML code. For example, theif statement in line 3 defines the action in case the SWITCH ON command is executed.
In the case, ”dpSet(device+”.settings.onOﬀ”,0)” inputs 0 into ”settings.onOﬀ” which is a
DPE for control of the device’s power. It is designed by CAEN to turn it on if settings.onOﬀ== 1 and to turn it oﬀ if settings.onOﬀ == 0 [20]. Then, ”fwDU startTimeout(30, domain,
device, ”NO CONTROL”, ”OFF”)” defines that the state moves to NO CONTROL if noreaction are shown from the devices in 30 seconds after the SWITCH OFF command are
executed and to OFF if the command works [33].

48The SML code of CaenChannel’s states
FwCaenChannel valueChanged(string domain, string device, int actual dot status, string &fwState){bool isOn= getBit(actual dot status, 0);bool ramping up= getBit(actual dot status, 1);bool ramping down
= getBit(actual dot status, 2);bool OvC= getBit(actual dot status, 3);bool Trip= (getBit(actual dot status, 8) ∥ getBit(actual dot status, 9));bool NoCon= getBit(actual dot status, 11);}

if(Trip){
fwState = ”TRIPPED”;}
else if(OvC){
fwState = ”OVERCURRENT”;}
else if(isOn){
fwState = ”ON”;}
else if (NoCon){
fwState = ”NO CONTROL”;}
else if(actual dot status != 0){
fwState = ”ERROR”;}
else{
fwState = ”OFF”;}

When the state of CaenChannel changes is described here. The ”getBit” function acquires the Most Significant Bit (MSB) in the DPE value of ”actual.status”. For instance,”bool isOn = getBit(actual dot status, 0)” in line 3 determines if the MSB is 0. In thiscode, ”else if(isOn)” determine if ”isOn” is true, and in the case of true, the state moves
to ON by ”fwState = ”ON”.

4.4

Results of the Actual Machine Tests

In this section, the results of the tests are described. Control of the whole system fromthe top node (Normal Operation) and a safety interlock with the FSM in the case of anabnormal rise in temperature (Software Interlock) were confirmed.

4.4.1

Normal Operation

Figure 4.8 - 4.15 are the control panels of TEST DCS in JCOP. The devices are controlledusing the panel. The upper box shows the state of TEST DCS and the two boxes below
are children’s states. By clicking the box of TEST DCS state when the state is OFF (4.8),
GO STANDBY command can be selected in the pull-down menu (Figure 4.9). Firstly,Power Converter A3486’s channel turns on and the EASY board A3009 become readyby GO STANDBY. Reflecting the devices’ condition, the state of LVPS moves fromNOT READY to READY via STANDBY (Figure 4.9 - 4.12). Then, TEST DCS moves
to STANDBY and GO READY can be selected (Figure 4.13). Executing the command,
GO READY is sent to Detector and the state of MFT DCS goes to MOVING READY.
(Figure 4.14) Then, Detector sent SWITCH ON to CaenChannel. When the channel
49

turns on, CaenChannel moves to ON, then Detector and TEST DCS go to READY(Figure 4.15). To turn oﬀ the devices, the commands should be executed in the reverse
order. Through these tests, I have confirmed that the devices below LVPS and Detector
have been controlled by only the commands from the top node.

4.4.2

Software Interlock

The CAEN channels are turned oﬀ when an abnormal rise in temperature is detected bythis FSM implementation. Figure 4.16 - 4.19 are the panels. In the tests, the temperature
sensor was warmed up with hands, and if the value exceeds the threshold of TOO HOT(Ttoo hot = 30◦ C at this time), Temp moves to TOO HOT. In these panels, channel000
and channel001 are CaenChannels and PT 4W 0 1 is Temp. In Figure 4.16, channels
were on and the temperature value was room temperature (22.7 ◦ C). Then, warming
up the sensor made Temp moves to TOO HOT, and Detector went to ERROR. The
temperature at that time was 33.6◦ C due to the reading rate of the ELMB. Immediately
after that, Detector sent the RESET command to CaenChannel automatically and thestate moved to RECOVERING (Figure 4.18) so that ERROR state in Detector and thepossible command in ERROR cannot seen but in actually the panel like Figure 4.17 existed
in an moment and then moved to RECOVERING. When the temperature went below thethreshold of HOT (Thot = 25◦ C at this time), Tmp went back to OK, and Detector
moved to READY. In the tests, I have confirmed that the software safety interlock bymeasured temperature value have been implemented.

50

Figure 4.8: The JCOP Control Panel when TEST DCS is OFF Figure 4.9: The JCOP Control Panel when TEST DCS is OFF,GO READY can be selected in the pull-down menu

Figure 4.10: The JCOP Control Panel when TEST DCS is OFF Figure 4.11: The JCOP Control Panel when TEST DCS is OFF
and LVPS is STANDBY
and LVPS is MOVING READY

Figure 4.12: The JCOP Control Panel when TEST DCS is Figure 4.13: The JCOP Control Panel when TEST DCS is
STANDBY

STANDBY, GO READY can be selected in the pull-down menu

Figure 4.14: The JCOP Control Panel when TEST DCS is Figure 4.15: The JCOP Control Panel when TEST DCS is
MOVING READY

READY

51

Figure 4.16:

The JCOP Control Panel when
TEST DCS is READY

Figure 4.17:

Figure 4.18:

Figure 4.19:

The JCOP Control Panel when
TEST DCS is ERRORThe JCOP Control Panel when
TEST DCS is RECOVERINGThe JCOP Control Panel when
TEST DCS is OFF

52

4.5

Expanding the FSM for the Actual Machine Tests

The implementation of the FSM for the real MFT has been implementing by expanding the FSM
for the actual machine tests. The part of control hierarchy which have been already implemented
is Figure 4.20. There remains the devices whose hardware design has not been completed such as
the GBT-SCA, the DCDC converter, etc and whose frameworks interfacing hardware and software
have not been developed yet, so that either general analog or digital input is used in place of thedevices and their frameworks to enable state transitions in the DUs. The device configurationfrom the FSM also has not been implemented yet. To complete implementation, the naming ruleof equipment is needed. For example, there is Half Plane in the control hierarchy but the MFT
has 20 Half Planes in all since the MFT has 2 Half MFT, and each Half MFTs have 5 Half Disks,and each Half Disks have 2 Half Planes (2 × 5 × 2 = 20). Therefore each Half Plane must have a
specific name. The rule has been partly decided, but not completely [40]. After the completion, thespecific names have to be decided following the rule. The FSM for the MFT has to be completed
in 2018 including the remaining implementation.
MFT_DCS

Infrastructure

DetectorVer. 20180204_1
CU

Control Unit

DU

Device Unit

Half_MFT

Cooling

LVPS

Half_Disk
Half_Plane

Power
Converter

CaenCrate

Caen
Caen
ChannelChannel

CaenCrate

Cooling

EasyBoard
EasyBoard

Channels
Caen
Caen
Caen
ChannelChannelChannel

Zone
Zone

LadderLadder

Chip
Chip
Chip
Temp.
Temp.
Temp

RU

Current
Sensor

DCDC_
Converter

On-board
On-board
On-board
Temp
Temp
Temp.

GBT_SCA

Temp

LatchUp

SwitchCaen
Channel

DCDC_
Converter

LV
LV

Temp

Caen
Channel

DCDC
DCDC_
Converter
Converter

x1(Analog)x1(Digital)

Temp

SwitchSwitchSwitchCaen
ChannelFigure 4.20: The Control Hierarchy already implemented

53

Chapter 5

Summary and Outlook
I have designed the FSM for the MFT: the control hierarchy and the state transitions. The designof the FSM has been completed. I have also carried out the actual machine tests of the FSM with
the CAEN power supply equipment and a temperature sensor. Through the tests, I confirmed that
the FSM works well. I have been implementing the FSM for the MFT by expanding the FSM for
this test.
In the tests, the configuration of the devices have not been implemented. Moreover, there
remain devices to be implemented and tested such as the GBT-SCA and the DCDC converters
since their hardware and their JCOP frameworks are currently developing. The MFT will be
installed in 2019, so that the MFT DCS including the FSM will be completed in 2018.

54

Acknowledgement
I would like to express my appreciate to supervisor Assoc. Prof. K. Shigaki. He gave me adviceson the design of the FSM and supported my workshops participation. I would like to express mygratitude to staﬀs in Hiroshima University, Prof. T. Sugitate, Asst. Prof. K. Homma, and Asst.
Prof. T. Miyoshi for their comments on my presentation. I would like to express my appreciate toK. Yamakawa. He gave me a lot of advices on the MFT FSM. I would like to thank O. Pinazza,
P. Chochula, and the other members of the ALICE DCS group. They gave me a lot of advices
and information for designing the FSM. I also would like to thank all of the members of the Quark
Physics Laboratory for support my academic life.

55

Bibliography[1] ALICE Collaboration, ”The ALICE experiment at the CERN LHC”, JINST 3 (2008) S08002[2] ALICE, http://aliceinfo.cern.ch/Public/Welcome.html[3] Longer
term
LHC
schedule,commissioning/schedule/LHC-long-term.htm

https://lhc-commissioning.web.cern.ch/lhc-[4] ALICE Collaboration, ”Upgrade of the ALICE Experiment: Letter of Intent”, CERN-LHCC2012-012 (2012)[5] ALICE Collaboration, ”Technical Design Report for the Upgrade of the ALICE Inner Tracking
System”, CERN-LHCC-2013-024 (2014)[6] ALICE Collaboration, ”Addendum to the Technical Design Report for the Upgrade of the
ALICE Time Projection Chamber”, CERN-LHCC-2015-002 (2015)[7] ALICE Collaboration, ”Addendum of the Letter of Intent for the upgrade of the ALICE
experiment: The Muon Forward Tracker”, CERN-LHCC-2013-014 (2013)[8] ALICE Collaboration, ”Technical Design Report for the Muon Forward Tracker”, CERNLHCC-2015-001 (2015)[9] ALICE Collaboration, ”Technical Design Report for the Upgrade of the Online-Oﬄine Computing System”, CERN-LHCC-2015-006 (2015)[10] K. Yamakawa, ”Development of the Detector Control System for the Muon Forward Tracker
at ALICE”, http://www.quark.hiroshima-u.ac.jp/thesis/master/17yamakawa thesis.pdf[11] Softech, SCADA system construction, http://www.softech.co.jp/scada main.htm[12] The LHCb collaboration,
PVSS Introduction
online.web.cern.ch/lhcb-online/ecs/PVSSIntro.htm

forNewcomers,

https://lhcb-[13] About JCOP, http://jcop.web.cern.ch/[14] OPC Foundation, https://opcfoundation.org/[15] OPC Foundation (Japanese Page), https://jp.opcfoundation.org/[16] C. Gaspar et al., DIM, http://dim.web.cern.ch/dim/[17] B. Hallgren et al., The Embedded Local Monitor Board (ELMB) in the LHC Front-end I/OControl System, 7th Workshop on Electronics for LHC Experiments, Stockholm, Sweden, 10- 14 Sep 2001, pp.325-330, CERN-2001-005[18] CAEN, http://www.caen.it/csite[19] CAEN, Technical Information Manual (A1676A), http://www.caen.it/servlet/checkCaenManualFile?Id=10067[20] CAEN, Technical Information Manual (A3009), http://www.caen.it/servlet/checkCaenManualFile?Id=5402[21] A. Caratelli et al., ”The GBT-SCA, a radiation tolerant ASIC for detector control and monitoring applications in HEP experiments”, Journal of Instrumentation 10 (2015) C03034[22] P. Chochula, ”The ALICE DCS Training v.1.8”, an internal document56

[23] C. Gaspar, ”JCOP Framework Hierarchical Controls Configuration & Operation”,
https://edms.cern.ch/ui/file/1035382/6/FSMConfig.pdf[24] P.C.Burkimsher, ”JCOP Framework Introductory demonstration for the Finite State Machine(FSM) component”, https://edms.cern.ch/ui/file/1035382/6/fsmDemoInstructions.pdf[25] O.
Holme,S.
Schmeing,”The
FSM
Toolkithttps://edms.cern.ch/ui/file/1035382/6/FSM General Usage.pdf

GeneralUsage”,[26] O. Holme, ”FSM Panel Reference Guide”,
https://edms.cern.ch/ui/file/1035382/6/FSM Reference Guide.pdf[27] M. Boccioli, G. De Cataldo, ”Alice DCS FSM integration guidelines”, an internal document[28] G. De Cataldo, et al., Finite State Machines for integration and control in ALICE , Proc.
ICALEPCS07, Knoxville, USA 650 (2007)[29] SMI++ -State Manager Interface, http://smi.web.cern.ch/smi/index.html[30] O.
Holme,S.
Schmeling,”SML
Language&
PVSS”https://edms.cern.ch/ui/file/1035382/6/FSM SML and PVSS Libraries.pdf”[31] C. Gaspar, ”The Finite State Machine toolkit ofhttps://edms.cern.ch/file/1035382/6/FSM Presentation.ppt

the

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Libraries,
Framework”,[32] F. Calheiros, ”FSM Configuration DB Tool”,
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57

Appendix A

58

A.1

The JCOP FSM Panel of LVPS in the actual machine tests

Figure A.1:
NOT READY

The JCOP Control Panel when LVPS is Figure A.2: The JCOP Control Panel when LVPS is STANDBY

Figure A.3: The JCOP Control Panel when LVPS is MOVING READY

59

Figure A.4: The JCOP Control Panel when LVPS is READYA.2

The JCOP FSM Panel of Detector in the actual machine tests

Figure A.6: The JCOP Control Panel when Detector is MOVFigure A.5: The JCOP Control Panel when Detector is OFF ING READY

Figure A.7: The JCOP Control Panel when LVPS is READY

60