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David Tshilumba

This project aims to increase the range and improve the performance of a nanopositioning system for pre-alignment of LINAC quadrupole in a laboratory setting. The research includes analytical modeling, finite element simulations, and experimental validation.

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David Tshilumba

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  1. David Tshilumba ESR3.3, WP3

  2. Background / MSc in Mechanical engineering from University of Brussels (André Jaumotte Award) Master thesis: “Contrôle des électro-aimantsfinaux d’un collisionneurlinéaire” Member of LSC (LIGO Scientific Collaboration) Main author of 1 article, Co-author of 2 articles published in refereed journals and 3 publications in conference proceedings LIGO: www.ligo.org SLAC: http://www.linearcollider.org/ILC

  3. ESR3.3, WP3 / Contract start date: 1stApril 2014 PACMAN subject: Nano-Positioning of the main LINAC quadrupole as   means of laboratory pre-alignment PhD Institution: Delft University of Technology Secondment: Delft University + TNO (6M ) David TSHILUMBA, ESR3.3 PACMAN Mid-term review 28-29/05/2015

  4. PhD thesis/ Starting date: 1stApril 2014 Thesis title: Nano-Positioning of the main LINAC quadrupole as   means of laboratory pre-alignment Statuts: Admitted to the doctoral school (Go/No Go meeting) Credits: 45 GS credits are required; 12.5 GS credits acquired. David TSHILUMBA, ESR3.3 PACMAN Mid-term review 28-29/05/2015

  5. To upgrade the existing type 1 prototype for nanopositioningand vibration isolation • Cross check betweendifferentcomponents • To study the possibility to increase the range of the nanopositioningstage Project / Piezostackactuator: Stiffness: 480 N/µm Stroke: 15 µm Resolution: 0.15 nm Flexural joints: Axial stiffness: 300 N/µm Rotationalstiffness: 220 Nm/rad Objectives David TSHILUMBA, ESR3.3 PACMAN Mid-term review 28-29/05/2015

  6. Typical applications • Atomic force microscopy • Semiconductor test equipment • Scanning interferometry State of the art Typical specifications David TSHILUMBA, ESR3.3 PACMAN Mid-term review 28-29/05/2015

  7. State of the art Performances: Range: 10mm x 10mm Parasitic in-plane rotation: ≤ 100rad Resolution: ≤4nm Low stiffness Courtesy of S.Awtar, G. Parmar David TSHILUMBA, ESR3.3 PACMAN Mid-term review 28-29/05/2015

  8. Research gap/ • Functions : • Nanopositioning • Vibration isolation • Alignment Study of an integrated positioning system with high stiffness (>100N/m) capable of moving heavy loads (>100 kg) with high resolution (<1nm) over a large range (≥1mm) David TSHILUMBA, ESR3.3 PACMAN Mid-term review 28-29/05/2015

  9. Range increase concept: inverted lever mechanism • Possible monolithic design • No friction • No backlash • No wear • Avoid plastic deformation! Project / Range increase concept n<1 Stiffness amplification Resolutionimprovement David TSHILUMBA, ESR3.3 PACMAN Mid-term review 28-29/05/2015

  10. Analytic simplified model (Matlab) 3D CAD modelling (CATIA-Smart Team) Static and dynamic Finite Element simulations (ANSYS) Finite Element simulation results + Full dynamic model Positioning control algorithms Experimental validation of positioning performances Project / Method followed David TSHILUMBA, ESR3.3 PACMAN Mid-term review 28-29/05/2015

  11. State of the art PACMAN nano-positioning system Development of a long range actuator Project / Requirements definition: March 15 System review and upgrade: Apr 15 Design of concept 1DOF: Aug 15 Adaptation of the type 1 setup of the PACMAN bench: Aug 15 Performance characterization: Oct 15 Positioning strategies comparison Tasks description Extrapolation to 2 DOFs: Sept 16 Positioning test in CMM David TSHILUMBA, ESR3.3 PACMAN Mid-term review 28-29/05/2015

  12. Parasitic resonance modes • Design target: 1st resonance ≥100Hz • Unexpectedeigen modes detected by EMA between 30Hz and 50Hz • Suspect root cause: • connectionstiffnessbetween components • Bolting: up to 40% drop in eigenfrequency • Gluing: up to 8.5% drop in eigenfrequency Project / Results Courtesy of M. Guinchard David TSHILUMBA, ESR3.3 PACMAN Mid-term review 28-29/05/2015

  13. Parasitic resonance modes Project / Results • Furtherimprovement: • Monolithic base plate design • Additionalstiffeners Otherroot cause: variable contact on a supporting point modify interface withcam stage David TSHILUMBA, ESR3.3 PACMAN Mid-term review 28-29/05/2015

  14. 1 Longitudinal + plate bend Project / 1. 48.135 Hz 2. 70.269 Hz 3. 123.35 Hz 4. 195.11 Hz 5. 236.4 Hz 6. 256.81 Hz 3 Torsion Results 2 side mode + bend • Adjustable jack for system equilibrium • Optimizedfiniteelement model (1 hour) • Bending of baseplate • Lowest modes lateral and vertical components • issue David TSHILUMBA, ESR3.3 PACMAN Mid-term review 28-29/05/2015

  15. 1 Longitudinal mode 1. 91.6 Hz 2. 117.2 Hz 3. 167.14 Hz 4. 244 Hz 5. 270.39 Hz 6. 278.4 Hz Project / 2 Side mode 3 Torsion Results • Larger flat contact surface withground • Base plate reinforcement (longitudinal) • Lowest mode in longitudinal direction • Not an issue David TSHILUMBA, ESR3.3 PACMAN Mid-term review 28-29/05/2015

  16. Project / • Results Improvement: first lateral mode at 100Hz David TSHILUMBA, ESR3.3 PACMAN Mid-term review 28-29/05/2015

  17. Roll motion reduction: parallel kinematics • Permissible roll displacement: 100μrad • Aluminumeccentricshear pins • 5.15μrad/μmcoupling • Alternative: rotationalsymmetryhinges • 0.47μrad/μmcoupling • Features: • Less components • Tunabletranslationalstiffness • Design optimizationrequired (Spaceavailability) Project / Results David TSHILUMBA, ESR3.3 PACMAN Mid-term review 28-29/05/2015

  18. Training in CATIA-SmartTeam • Basic principles of metrology • Experimental modal analysis • Making Presentations • CERN guide training • Team building Training / David TSHILUMBA, ESR3.3 PACMAN Mid-term review 28-29/05/2015

  19. Secondmentin TUDelft and TNO • Thesis background • High performance mechatronic system design • Modal analysis measurement on support structure of large mirror of a large telescope Training / David TSHILUMBA, ESR3.3 PACMAN Mid-term review 28-29/05/2015

  20. Conferences & workshop: • PACMAN workshop, 02-04.02.2015 one presentation • MEDSI 2016 (Mechanical Engineering Design of Synchrotron Radiation Equipment and Instrumentation) • ICM 2016 (International Conference on Mechatronics) • ICMRE (International Conference on Mechatronics and Robotics Engineering) • ICMMR(International Conference on Mechanics and Mechatronics Research) • ICROM (International Conference on Robotics and Mechatronics ) Outreach & Dissemination / David TSHILUMBA, ESR3.3 PACMAN Mid-term review 28-29/05/2015

  21. Networking Opportunities / • ACTUATOR conference (May 2014) • Precision Fair Eindhoven (November 2014) • Secondment at TUDelft and TNO • EUSPEN (European Society of Precision Engineering) David TSHILUMBA, ESR3.3 PACMAN Mid-term review 28-29/05/2015

  22. Impact / • Mechatronic system designer • Modelling of complex mechanical assemblies • Improve employability • Networking David TSHILUMBA, ESR3.3 PACMAN Mid-term review 28-29/05/2015

  23. Thank you for your attention

  24. Current system overview/ • Limitations: • precision of coarse stage (>10µm) • insufficient stroke of fine stage • for thermal load in tunnel ( >100µm) • Coarsestage (cams) • lockedafterpre-alignment • Resolution : 0.35µm • Stroke: 3mm • Fine stage (piezostacks) • Resolution: 0.15nm • Stiffness : 480N/um(piezo) • Useful Stroke: 5µm Increase of range of fine stage David TSHILUMBA, ESR3.3 PACMAN Mid-term review 28-29/05/2015

  25. CLIC: Nano-positioning Field gradients K for restoring force in quadrupole Beam steering / K=dBy/dx K=dBx/dy Beamtrajectory technique Lorentz Force Control of beam oscillation Collision qualityoptimized Courtesy of J. Pfingstner D. Tshilumba, Delft, 15 April 2015

  26. Type 1 magnet nano-positioning: Inter-pulse sequence Time (ms) t1 t2 0 20 Nanopositioning/ Stage 1 2 3 4 • Beam divided into trains • Calculation of new positions by global controller • Positioning step of magnet • check of actual new position (machine protection) 30 David TSHILUMBA, ESR3.3 PACMAN Mid-term review 28-29/05/2015

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