SULI LCLS Ultrafast Science Experiments X-ray Pump Probe ... › suli › 2009 › LECTURES › ...SULI LUSI XPP Engineering June 18, 2009 LCLS-LUSI Instruments LUSI will deliver:

1 J B [email protected]

1SULI LUSI XPP Engineering June 18, 2009

SULI LCLS Ultrafast Science Experiments

X-ray Pump Probe( LCLS-LUSI-XPP)

Engineering Overview

J B Langton – XPP Lead Engineer

June 25, 2009



Outline

SLAC-LCLS SiteNEH – FEH ComplexLCLS - LUSI InstrumentsExperiment LocationsNEH Space AllocationX-Ray Pump Probe (XPP)XPP InstrumentHutch / Environment MeasurementsEngineering RequirementsRobot Work FlowRobot MeasurementsDesign, Analysis EffortsSafety AssesmentValue EngineeringDetector DevelopmentProject Management



SLAC-LCLS Site

Injector (35Injector (35ºº))at 2at 2--km pointkm point

Existing 1/3 Linac (1 km)Existing 1/3 Linac (1 km)(with modifications)(with modifications)

Near Experiment HallNear Experiment Hall

Undulator (130 m)Undulator (130 m)

New New ee−− Transfer Line (340 m)Transfer Line (340 m)

XX--ray ray Transport Transport Line (200 m)Line (200 m)

Far Experiment HallFar Experiment Hall



NEH - FEH Complex

Near Experimental Hall (NEH)

Far Experimental Hall (FEH)

Front End Enclosure (FEE)

X-ray Transport Tunnel (XRT)

Electron Beam Dump (EBD)



LCLS-LUSI InstrumentsLUSI will deliver:

Three X-ray scattering instruments that have been funded by DOE-BES as a “Major Item of Equipment (MIE)” project:

XPP: X-ray Pump ProbeTime resolved (80 femto-second) X-ray scattering / spectroscopy for probing structural dynamics.

CXI: Coherent X-ray ImagingImaging of single samples (non-periodic, bio-molecules) at high resolution

XCS: X-ray Correlation SpectroscopyTime resolved imaging of coherent diffraction patterns for dynamical changes of large groups of atoms, condensed matter

Three other instruments in construction or planning that are not part of LUSI umbrella.AMO: Atomic Molecular and Optical scienceSXR: Soft X-Ray beamlineMEC: Matter in Extreme Conditions



LUSI (& LCLS) Experiment Locations, NEH - FEH

SXR

CXIEndstation

Near Experimental Hall

Far Experimental Hall

X-ray

Transp

ort Tu

nnel

XCSEndstation

XPPEndstation

AMO

MEE

LCLS

X-ray

FEL



NEH Sub-basement Space Allocation

AMO(LCLS)

XPP EndstationHutch 3

XPPControl Room

SXR(LCLS)



XPP (Time Resolved Scattering)



XPP Instrument Overview

X-ray Optics & Diagnostics

Sample Goniometer

Diagnostics

Ultrafast LaserDetector Mover

Detector



XPP Instrument

Granite

Beamline Vac & DCO

Seismic Restraint

Robot

Detector

Goniometer

Goniometer Mounting

Base

Strongbacks

Granite

Strongbacks

Beamline Vac & DCO

Seismic Restraint

Pass Through Vac

System



Hutch Measurements (to date, 1)

Temperature:< ½ deg F for >3 daysNo hutch doors or wall plugs in placeNo special proceduresNo thermal loads in hutch

Absolute floor position:H3 floor is high by 0.2 to 0.7 inchesH2 floor is high 0.1 to 0.2 inchesSupport leg lengths adjusted accordingly



Hutch Measurements (to date, 2)Hutch low frequency dimensions

Measured at multiple positions on floor, wall and ceiling using laser tracker.Relative position measured over the course of several days.Full data analysis in work.

Temp correlation, etc.Measurements ongoing to extend continuous data set.

Hutch high(er) frequency spectrum responseConsistent with stability requirements for XPP

Floor motion well below “concern threshold”.Full analysis TBCLatest measurements with utilities on consistent with baseline measurements (utilities off).



Engineering RequirementsRequirements established-agreed per Engineering Specification Document: SP-391-000-84.

ESD SP-391-000-84 will be revised to include improved definition of positioning requirements.

DCO has completed requirement spec’s, for individual instrument requirements, for sensor actuator stability, resolution, repeatability, etc.

DCO requirements WRT XPP-DCO interface at the strongback.XPP requirements presented below are for “sensor” WRT given datum (IE: DCO specs included)

All translating beamline elements must be under “positive control” at all times.All elements will have fixed (immovable) hard stops defining motion extentsPositive action required to initiate motion NOT to stop motion.Human intervention will not be required to confine elements within their intended range of motion.

High repeatability of translation hardware (IE: girder moves between positions 1 and 2)Requirement:



Engineering RequirementsStable relative optical–diag element position (IE: elements on a girder with respect to other).

Requirement: < 5 micron (+/- 2.5)Assumed sources of deviation:

Thermal gradients within supports, loads across bellows due to remote commanded component motions, Dynamic response to cyclic input loads

This requirement includes effects from all sources and is measured between any instruments on a given support (surface plate), at all frequencies from >0 to 0 to 0 to



Engineering Requirements (Robot)From ESD, Accuracy: 140 micron TIR (+/-70)

Location in robot coordinate system From ESD, Accuracy of pose: 300 micron TIR.From advanced procurement review: “Definitively know the position of all detector pixels to a fraction of the pixel size”.

Pixel size = 100 micronRelationship between accuracy, accuracy of pose and repeatability hard to quantify.

repeatability < accuracy < accuracy of pose.Position robot with Joint 2 center 1600 mm above sample.

3 Meter above the floor (~118”).Provide for robot to be positioned above either sample location.

move 600 mm transversely.Limited physical access.

Maintain maximum accuracy & repeatability.Minimize structural distortions.

Maintain full required detector work envelope.-15 to +90 degree elevation.-15 to +105 degree azimuth at 1.0 M radius max, forward scattering.+90 to +180 degree azimuth at 0.5 M radius max, backward scattering.



Robot System Development Work Flow

Does robot meet motion

requirements?

Spend $$$ and buy triangulating position device

Find best place to mount robot and determine work envelope

Can fixed base robot operate in

both IPs?

Design and build support structure in house

Outsource translating support base design & manufacturing

no

no

yes

yes

Use translating base?

no

yes

Purchase robot(s) from manufacturer

Use dedicated robots to operate in each interaction point

Outsource control software and safety system

SOW #1

SOW #2

Sole Source ?

SOW #3



XPP Detector Mover Comparison

Switzerland2010 mm± 50 μm14 kgRX160LStäubli

Switzerland1710 mm± 50 μm28 kgRX160Stäubli

Japan910 mm± 100 μm20 kgIA20Motoman

Japan3106 mm± 150 μm20 kgHP50-20Motoman

Germany3102 mm± 150 μm16 kgKR 30 L16Kuka

Japan1650 mm± 100 μm20 kgFC20NKawasaki

Germany1840 mm± 300 μm30 kgGL30Fibro

Japan1900 mm± 70 μm15 kgM-710iC/TFanuc

USA1717 mm± 60 μm10 kgViper s1700Adept

Switzerland1500 mm± 60 μm20 kgIRB 2400-16ABB

Manufacturing HeadquartersReachRepetabilityNominal LoadModelManufacturer



Robot Motion Verification - Measurements

Statement of Work: PS-391-000-86Measurements completed at Staubli FacilityTest 1 – Repeatability

Measure repeatability and hysteresis of systemTest 2 – Stability

Measure long term (~ hours) motion drift for various fixed positionsMeasure power cycle position stability

Test 3 – Spherical motion and pointingIs system capable of moving the detector about a spherical surface at a user defined radii while pointing the detector at the interaction region

Test 4 – Detector Clocking AngleMeasure how well the clocking angle can be controlled



XPP Detector Mover Measurements

• Keyence Laser Gauge• Single axis measurement• 1 μm accuracy

• Faro Laser Tracker• 3D measurement• 10 μm accuracy



Robot Measurement ResultsMeasurements established repeatability & motion compatibility (detector roll, radial pointing) for XPP requirements Limited measurement of robot “accuracy of pose”.(IE: alignment of robot co-ord system to globally defined system)No measurement of overall robot motion accuracy.



Robot Base Location DeterminationStudied numerous locations for basing the robot.Studied numerous methods and orientations for attaching the detector.Most locations did not provide detector positioning for total required envelope.Some locations had issues for access to sample, safety for personel or design of support systems.Attempted to base robot so a single location could cover both experimental positions.



Robot Support System Design

Column Weld

Ceiling Plate

Spacer / Shim Plate

4X latchesRail Mount Weld

Linear Rails / Bearings & Rail lock

2X Latch Guides

Robot mount Plate

Lead Screw Asm



Robot Support Analysis (Rail Mount)Worst case angle



Robot Support Analysis (Robot Plate)Baseline distance of robot mounting pattern 60% of rail spacing

Loads at robot attach locations are therefore significantly higher than at rails.Need corresponding smaller distortions / deflections and heavier member to maintain minimal detector deflection.Bolted attachment at robot load concentration issue (?)

As with rail mount models, ANSYS distortions are at sub to single micron levelWorst case angle: ~6.5 micro-rad (ave. closer to 4 micro-rad)Wt: ~280 Lbf

“rigid” robot momenttransfer in model



Safety - Hazard Analysis

XPP unique hazard: remote controlled robot arm

PM-391-001-34 Appendix A, Item 14Diffractometer system detector mover

ITEM HAZARD CAUSEUNMITIGATED RISK

LEVEL PREVENTION / MITIGATION POTENTIAL IMPACT MITIGATED RISK

3 remote controlled robot arm

software or hardware failure

Level 10criticalremote

Robot arm will be designed to be compliant with OSHA technical manual, section IV, chapter4; “Industrial Robot and Robot System Safety” and ANSI/RIA R15.-06; “American National Standard for Industrial Robots and Robot Systems.” The safety measures will include, but are not limited to the following:1. Personnel Protection Systems – proximity sensors, light curtains, pressure mats, emergency stops..2. Hardware systems - docking interlocks to robot power and control systems switching, force sensor interlocks.3. Software system - training & maintenance modes.SLAC safety reviews and acceptance testing of device hardware and controls.

Personnel injury Level 20NegligibleImprobable

Severity-Probaibility catastrophic critical marginal negligible

frequent 1 3 7 13probable 2 5 9 16occasional 4 6 11 18remote 8 10 14 19improbable 12 15 17 20

Unmitigatedmitigated



DCO Support Optimization (value engineering)“Surface plate” configuration criteria met:

1) Easy to accomplish “positive control”.2) Meets all the physics-engineering stability

requirements simultaneously.3) Low thermal expansion (bulk).4) Large thermal time constant.5) Reduced thermal gradient deflections.6) Rail alignment is easy (system position in the

tunnel is not a component of rail relative alignment).

7) Applicable to slit positions as datum. Slits fixed in 6 DOF

8) Ease of fabrication.9) Seismic restraint is easy, can be

accomplished without constraining overall system.

10) Surface plate and pedestal system is per federal spec.

11) Provides datum for future system diagnostic-metrology if desired/needed.

12) System full up assembly, trouble shooting-solving easily accomplished before moving components to hutch.

13) Configuration is easily modified to all three DCO locations....and to CXI-XCS if they want it.

14) Configuration is easily modified should we experience changes in the next couple of months....we are way out in front of most others.

15) Configuration is the baseline for P3 and budget.

CONFIGURATION OPTION LEG S'BACK 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15STL STL N N N N N N N N N N N N N N NSTL GRANITE N N N N Y N N N N N N N N N N

GRANITE STL N N Y Y N N N N N N YN N N N NGRANITE GRANITE N Y Y Y Y N N N N N YN N N N N

STL STL YN N N N YN N YN N N N N N N N NSTL GRANITE YN N N N Y N YN N N N N N N N N

GRANITE STL YN Y Y Y YN N YN N N N YN N N YN NGRANITE GRANITE YN Y Y Y Y N YN N N N YN N N N N

STL STL Y N N N Y N Y N YN N N N N N NSTL GRANITE Y N N N Y N Y N YN N N N N N N

GRANITE STL Y Y Y Y Y N Y N N N YN N N YN NGRANITE GRANITE Y Y Y Y Y N Y N N N YN N N N N

GRANITE STL YN N Y Y N Y N Y Y Y Y Y Y Y Y

GRANITE GRANITE YN Y Y Y Y Y N N Y Y Y Y N N N

GRANITE STL Y Y Y Y Y Y Y Y Y Y Y Y Y Y YN

GRANITE GRANITE YN Y Y Y Y Y Y N Y Y NY Y N N



XPP Detector SystemDeveloped at BNLHigh detector quantum efficiency

Single photon sensitivityLarge dynamic range >103

104 photon dynamic range per pixel120 Hz readout rate 1024 x 1024 square pixels90 µm pixel size

Detector Development-Fabrication



Project Management (Configuration Control)

CAD-CAE system model-documentation hierarchy.

“Drawing Tree”

Hutch Level definitive lay-out and MIE stay-clears .

MIE interface models definedComponent “master-beam” model.



Project Management (Cost Development & Control)

Detailed Engineering & Design Estimates

Instrument – engineer uniqueNot controlled documents

“Basis of Estimate”includes detailed cost breakdown of components, sub-assemblies and system level elements.



Project Management (Scheduling)

Driving MilestonesLL Approval, CD-4

Diffractometer Design Effort

Diffractometer Awards & Vendor

effort



Project Work Flow and Reporting

Resource loaded schedule developed and fully implemented into earned value management system (EVMS)

SLAC EVMS certified by DOE.All engineering-design flows use similar formatXPP reportable milestone stats

140 Level 4 & 5 milestonesL4 = systemsL5 = interface-handoff

35 Level 6 milestonesL6 = commitments-awards

~100 week duration from start of detailed design to start of science>1.5 milestone / week nominal

TYPICAL DESIGN FLOW WITH MILESTONES



End Of Presentation

SULI LCLS Ultrafast Science Experiments X-ray Pump Probe ... › suli › 2009 › LECTURES › ...SULI LUSI XPP Engineering June 18, 2009 LCLS-LUSI Instruments LUSI will deliver:

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