ICALEPCS2021 - List of Authors (Horita, A.Y.)

Paper	Title	Page
MOBR03	Hexapod Control System Development Towards Arbitrary Trajectories Scans at Sirius/LNLS	84
	A.Y. Horita, F.A. Del Nero, G.N. Kontogiorgos, M.A.L. Moraes LNLS, Campinas, Brazil G.G. Silva UNICAMP, Campinas, São Paulo, Brazil
	Modern 4th generation synchroton facilities demand high precision and dynamic manipulation systems capable of fine position control, aiming to improve the resolution and perfomance of their experiments. In this context, hexapods are widely used to obtain a flexible and accurate 6 Degrees of Freedom (DoF) positioning system, as they are based on Parallel Kinematic Mechanisms (PKM). Aiming the customization and governability of this type of motion control system, a software application was entirely modeled and implemented at Sirius. A Bestec hexapod was used and the control logic was embedded into an Omron Delta Tau Power Brick towards the standardization of Sirius control solutions with features which completely fill the beamline scan needs, e.g. tracing arbitrary trajectories. Newton-Raphson numerical method was applied to implement the PKM. Besides, the kinematics was implemented in C language, targeting a better runtime performance when comparing to script languages. This paper describes the design and implementation methods used in this control application development and presents its resulting performance.
	Slides MOBR03 [3.545 MB]
DOI •	reference for this paper ※ https://doi.org/10.18429/JACoW-ICALEPCS2021-MOBR03
About •	Received ※ 10 October 2021 Revised ※ 17 October 2021 Accepted ※ 20 November 2021 Issue date ※ 19 January 2022
Cite •	reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml)

TUPV001	The Mirror Systems Benches Kinematics Development for Sirius/LNLS	358
	G.N. Kontogiorgos, A.Y. Horita, L. Martins dos Santos, M.A.L. Moraes, L.F. Segalla LNLS, Campinas, Brazil
	Funding: Ministry of Science, Technology and Innovation (MCTI) At Sirius, many of the optical elements such as mirror systems, monochromators, sample holders and detectors are attached to the ground with high stiffnesses to reduce disturbances at the beam during experiments. Granite benches were developed to couple the optical device to the floor and allow automatic movements, via com-manded setpoints on EPICS that runs an embedded kinematics, during base installation, alignment, commis-sioning and operation of the beamline. They are com-posed by stages and each application has its own geome-try, a set number of Degrees-of-Freedom (DoF) and mo-tors, all controlled by Omron Delta Tau Power Brick LV. In particular, the mirror system was the precursor motion control system for other benches. Since the me-chanical design aims on stiffness, the axes of mirror are not controlled directly, the actuators are along the granite bench. A geometric model was created to simplify the mirror operation, which turn the actuators motion trans-parent to the user and allow him to directly control the mirror axes.
	Poster TUPV001 [1.229 MB]
DOI •	reference for this paper ※ https://doi.org/10.18429/JACoW-ICALEPCS2021-TUPV001
About •	Received ※ 10 October 2021 Revised ※ 18 October 2021 Accepted ※ 20 November 2021 Issue date ※ 22 January 2022
Cite •	reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml)

TUPV004	The FPGA-Based Control Architecture, EPICS Interface and Advanced Operational Modes of the High-Dynamic Double-Crystal Monochromator for Sirius/LNLS	370
	R.R. Geraldes, J.L. Brito Neto, E.P. Coelho, L.P. Do Carmo, A.Y. Horita, S.A.L. Luiz, M.A.L. Moraes LNLS, Campinas, Brazil
	Funding: Ministry of Science, Technology and Innovation (MCTI) The High-Dynamic Double-Crystal Monochromator (HD-DCM) has been developed since 2015 at Sirius/LNLS with an innovative high-bandwidth mechatronic architecture to reach the unprecedented target of 10 nrad RMS (1 Hz - 2.5 kHz) in crystals parallelism also during energy fly-scans. After the initial work in Speedgoat’s xPC rapid prototyping platform, for beamline operation the instrument controller was deployed to NI’s CompactRIO (cRIO), as a rugged platform combining FPGA and real-time capabilities. Customized libraries needed to be developed in LabVIEW and a heavily FPGA-based control architecture was required to finally reach a 20 kHz control loop rate. This work summarizes the final control architecture of the HD-DCM, highlighting the main hardware and software challenges; describes its integration with the EPICS control system and user interfaces; and discusses its integration with an undulator source. *Geraldes, R. R., et al. "The status of the new High-Dynamic DCM for Sirius." Proc. MEDSI 2018 (2018).
	Poster TUPV004 [2.549 MB]
DOI •	reference for this paper ※ https://doi.org/10.18429/JACoW-ICALEPCS2021-TUPV004
About •	Received ※ 13 October 2021 Accepted ※ 20 November 2021 Issue date ※ 27 November 2021
Cite •	reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml)

Paper

Title

Page

Hexapod Control System Development Towards Arbitrary Trajectories Scans at Sirius/LNLS

84

A.Y. Horita, F.A. Del Nero, G.N. Kontogiorgos, M.A.L. Moraes
LNLS, Campinas, Brazil
G.G. Silva
UNICAMP, Campinas, São Paulo, Brazil

Modern 4th generation synchroton facilities demand high precision and dynamic manipulation systems capable of fine position control, aiming to improve the resolution and perfomance of their experiments. In this context, hexapods are widely used to obtain a flexible and accurate 6 Degrees of Freedom (DoF) positioning system, as they are based on Parallel Kinematic Mechanisms (PKM). Aiming the customization and governability of this type of motion control system, a software application was entirely modeled and implemented at Sirius. A Bestec hexapod was used and the control logic was embedded into an Omron Delta Tau Power Brick towards the standardization of Sirius control solutions with features which completely fill the beamline scan needs, e.g. tracing arbitrary trajectories. Newton-Raphson numerical method was applied to implement the PKM. Besides, the kinematics was implemented in C language, targeting a better runtime performance when comparing to script languages. This paper describes the design and implementation methods used in this control application development and presents its resulting performance.

Slides MOBR03 [3.545 MB]

DOI •

reference for this paper ※ https://doi.org/10.18429/JACoW-ICALEPCS2021-MOBR03

About •

Received ※ 10 October 2021 Revised ※ 17 October 2021 Accepted ※ 20 November 2021 Issue date ※ 19 January 2022

Cite •

reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml)

TUPV001

The Mirror Systems Benches Kinematics Development for Sirius/LNLS

358

G.N. Kontogiorgos, A.Y. Horita, L. Martins dos Santos, M.A.L. Moraes, L.F. Segalla
LNLS, Campinas, Brazil

Funding: Ministry of Science, Technology and Innovation (MCTI)
At Sirius, many of the optical elements such as mirror systems, monochromators, sample holders and detectors are attached to the ground with high stiffnesses to reduce disturbances at the beam during experiments. Granite benches were developed to couple the optical device to the floor and allow automatic movements, via com-manded setpoints on EPICS that runs an embedded kinematics, during base installation, alignment, commis-sioning and operation of the beamline. They are com-posed by stages and each application has its own geome-try, a set number of Degrees-of-Freedom (DoF) and mo-tors, all controlled by Omron Delta Tau Power Brick LV. In particular, the mirror system was the precursor motion control system for other benches. Since the me-chanical design aims on stiffness, the axes of mirror are not controlled directly, the actuators are along the granite bench. A geometric model was created to simplify the mirror operation, which turn the actuators motion trans-parent to the user and allow him to directly control the mirror axes.

Poster TUPV001 [1.229 MB]

DOI •

reference for this paper ※ https://doi.org/10.18429/JACoW-ICALEPCS2021-TUPV001

About •

Received ※ 10 October 2021 Revised ※ 18 October 2021 Accepted ※ 20 November 2021 Issue date ※ 22 January 2022

Cite •

reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml)

TUPV004

The FPGA-Based Control Architecture, EPICS Interface and Advanced Operational Modes of the High-Dynamic Double-Crystal Monochromator for Sirius/LNLS

370

R.R. Geraldes, J.L. Brito Neto, E.P. Coelho, L.P. Do Carmo, A.Y. Horita, S.A.L. Luiz, M.A.L. Moraes
LNLS, Campinas, Brazil

Funding: Ministry of Science, Technology and Innovation (MCTI)
The High-Dynamic Double-Crystal Monochromator (HD-DCM) has been developed since 2015 at Sirius/LNLS with an innovative high-bandwidth mechatronic architecture to reach the unprecedented target of 10 nrad RMS (1 Hz - 2.5 kHz) in crystals parallelism also during energy fly-scans. After the initial work in Speedgoat’s xPC rapid prototyping platform, for beamline operation the instrument controller was deployed to NI’s CompactRIO (cRIO), as a rugged platform combining FPGA and real-time capabilities. Customized libraries needed to be developed in LabVIEW and a heavily FPGA-based control architecture was required to finally reach a 20 kHz control loop rate. This work summarizes the final control architecture of the HD-DCM, highlighting the main hardware and software challenges; describes its integration with the EPICS control system and user interfaces; and discusses its integration with an undulator source.
*Geraldes, R. R., et al. "The status of the new High-Dynamic DCM for Sirius." Proc. MEDSI 2018 (2018).

Poster TUPV004 [2.549 MB]

DOI •

reference for this paper ※ https://doi.org/10.18429/JACoW-ICALEPCS2021-TUPV004

About •

Received ※ 13 October 2021 Accepted ※ 20 November 2021 Issue date ※ 27 November 2021

Cite •

reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml)