application of robotics methods to neutron and synchrotron diffraction instrumentation jon james,...
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Application of robotics methods to Neutron and Synchrotron
diffraction instrumentation
Jon James, Nov 2008
Department of Design, Development, Environment and Materials (DDEM)
The Open University (UK)
User group software: An example from Engineering diffraction
Strain Scanning Simulation Software
Context: Engineering diffraction
• Measuring residual stress in Engineering samples/objects
1.Aerospace, 2. Power generation,
3.Materials research, 4. Cultural heritage…….
The Problem:
Which measurement points ?
Will it fit on the instrument?
Choice of hardware?
How long will it take?
Instrument control
Possible errors / collisions
Sample repositioning
Counting Neutrons
BeamtimeSScanSS
Typical SScanSS usage - Planning
• Planning– Acquire sample model– Setup measurement points and strain
components– Simulate experiment calculating;
• Instrument movements• Count times• Collisions
– Save measurement plan to HDF file
Typical SScanSS usage - Execution
• Execution– Load measurement plan– Place sample on instrument – measure exact
location and input into software– Run measurement plan simulation and output
• Instrument control file• Collision warnings• Count time estimations
– Archive complete experiment to plan to HDF file
Sample model setup
• Complex sample Articulated arm + Laser head
Setting up Measurement points
• Measurement points are positioned within the sample
Setting up Measurement vectors
• Strain component(s) are defined at each measurement point
Initial sample position
• Touch probe Sample + fiducial balls
Experiment execution
• Simulation of experiment to give:– Instrument motor commands – Neutron path lengths
Robotics
• Common frame-work for variety of systems
• Mathematically compact – minimises code
• Soluble forward and inverse problems
• Very difficult to do any other way
• Limitations….
Robot types
Serial robots Parallel robots
Alignment: The inverse problem
Path length minimisation
• Sample is rotated about Q-vector is search of orientation that minimises path length
Collision Prevention
• Opportunities minimised by: – Training on virtual instrument– Careful planning of experiment – Visual inspection of simulation prior to motor
movements
• + last resort – Numerical Collision detection………
Collision Detection
Bounding box tree -> computationally
economic solution
Collision detected!
Future plans
• Responding to requests from existing collaborators
• New collaborations:– KOWARI (ANSTO), VULCAN (SNS),– JEEP (DIAMOND)
• Special projects– Joint imaging / diffraction instruments (IMAT)– Enable input of tomography models within
SScanSS for locating hidden features
Neutron Tomography models
Using sample models derived from segmented Neutron tomography data will allow access to internal geometric and compositional features.
A cultural heritage illustration 1,2
Ticked boxes ?
• Increases scientific output
• Enables New science
• Unifies user experience across facilities
• Good technical model
• Good collaboration model
• Good funding model
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Thank you for your attention and
support
Jon James
Acknowledgments
1. Dr. Salvatore Siano, Istituto di Fisica Applicata "N. Carrara"- IFAC, CNR-Italy and the Archaeological Museum of Florence, for their kind permission to use the material presented in panels (a), (b) and (c) of Figure 4.
2. Dr Robert van Langh, for kind permission to use the image reproduced in panel (d) of Figure 4, (neutron image from NEUTRA, PSI, Switzerland).
3. Research at ORNL sponsored by the Assistant Secretary for Energy Efficiency and Renewable Energy, Office of FreedomCAR and Vehicle Technologies, as part of the High Temperature Materials Laboratory User Program, Oak Ridge National Laboratory, managed by UT-Battelle, LLC, for the U.S. Department of Energy under contract number DE-AC05-00OR22725. The authors would like to also include an acknowledgement to William Barton Bailey for his efforts on the ORNL-NRSF2 facilities, drawings of the NRSF2 instrument and accessories and contributions to the implementation of SScanSS for NRSF2.
4. The Open University for it’s continued support of this research.