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MD2 Micro-Diffractometer Control Software MiniKappa Collision Control

MD2 Micro-Diffractometer Control Software MiniKappa Collision Control. Alexandre Gobbo. Minikappa Collisions. Objective. Method to avoid collisions: Controlled at high-level (MD2 PC software). Low CPU consumption. Easy to configure. MiniKappa is usable:

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MD2 Micro-Diffractometer Control Software MiniKappa Collision Control

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  1. MD2 Micro-Diffractometer Control SoftwareMiniKappa Collision Control Alexandre Gobbo

  2. Minikappa Collisions

  3. Objective • Method to avoid collisions: • Controlled at high-level (MD2 PC software). • Low CPU consumption. • Easy to configure. • MiniKappa is usable: • Allows to center a sample with a standard pin for any K. • Protects all kinds of motor movements: • Defined position (single or multiple move). • Jogging - joystick (scrollbar) controls.

  4. Strategy • I=f(K, Ω, Y, X, Z, CX, CY, fluo, scint, light, cryo). • Dynamic changes of the software limit positions. • Hill-climbing on I • Prevent motors to go to forbidden region. • Blocking interlock detection (forbidden region): • Provide a way to came back to a safe position. • For every move command, check path to destination. • Movements can be multiple but commands are always sync. • Path check done in proportional steps for all motors. • Methodology to define I: • Model relation between Y and the Kmax (camera,light). • Evaluate contribution by X. • Analyze safety of regions defined by Ω. • Verify restrictions by other devices (cryo,scintillator,…)

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