26/10/20051 barrel alignment: list of parameters required for the positioning and the calibration of...
TRANSCRIPT
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BARREL ALIGNMENT: LIST OF PARAMETERS REQUIRED FOR THE POSITIONING
AND THE CALIBRATION OF THE VARIOUS ELEMENTS
•Praxial system:- Platforms- Praxial sensors- Axial sensors
•Projective system:- Platforms- Extension plates- RASNIK systems
•Reference system/Chamber to Chamber Connection:- Plates on toroid ribs- Platforms on chambers- LED sources on chambers- Cameras/LED on plates and chambers
•BIM-BIR connections: - Platforms - RASNIK systems
•B sensors platforms•Appendix: Coordinate system defined by a 3 balls triplet
C.Guyot (Saclay)
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26/10/2005 2
Praxial system: Platforms on BIS, BML, BMS, BOL, BOS
xch
ych
x
z
x
zch
xch
z
x
z z
x
x y x y
Local reference frame built out of the 6 balls mounted on the praxial sensor mechanics. Balls 1-2-3 define (x’P z) plane Balls 5-6 define (x’P y) plane Ball 4 defines the z axis
+ translation x,z (fixed numbers) to bring the origin P close to the centre of the platform
Platform parameters:
- Identification number (chamber id, corner location) - Nominal coordinates (x,y,z) of the platform origin P in the local frame of the chamber - Angular corrections (x,y z) given by the control towers at the end of the chamber assembly
X’
Z
X2
3
4
5 6
1P
Z’
52
67
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Praxial system: Platforms on BIL
xch
ych
x
z
x
zch
xch
z
x
z z
x
x y x y
Local reference frame built out of the 6 balls mounted on the praxial sensor mechanics. Balls 1-2-3 define (x’P z) plane Balls 5-6 define (x’P y) plane Ball 4 defines the z axis
+ translation x,z (fixed numbers) to bring the origin P close to the centre of the platform
Platform parameters:
- Identification number (chamber id, corner location) - Nominal coordinates (x,y,z) of the platform origin P in the local frame of the chamber - Angular corrections (x,y z) given by the control towers at the end of the chamber assembly
X’
Z
X2
3
4
5 6
1P
Z’
52
67
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Praxial system: Praxial sensor
•Local frame identical to the platform frame•Two orientations (mask at x<0 or at x>0)
Mask Image sensor
lens
x
z
z
x
•Parameter list: Identification number- Proximity part:
Type (orientation, gap size…)(x,y,z) of mask centermask line /x axis
(x,y,z) of image sensor centerpixel line/x axis
(x,y,z) of lens optical axis
RASNIKcalibration
x
z
- Axial part:RASNIK element type: 1=mask, 2=lens, 3=image sensor
Type(x,y,z)
line /x axis
Type(x,y,z) line/x axis
Proximity sensor
Axialsensor
RASNIK element at x<0
RASNIK element at x>0
Calipraxcalibration
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Projective system: Platforms on BIL
xch
ych
yp
x
y
The local reference frame of the platform is defined by the centres of the 3 balls mounted on the extension plate mechanics.
Platform parameters:
- Identification number (chamber id, side location) - Nominal coordinates (x,y,z) of the platform origin P in the
local frame of the chamber - Angular corrections (x,y z) (provisional)
xp
zp
Elongated cone
cone
flat
P
xp
zch
xch
xp
zp
zp
xp
Templatesquare
The z axis is defined by the cone ball (origin P) and the elongated cone ball. Then the flat ball defines the (z,x) plane. The x axis is perpendicular to the z axis.
xp
yp
HV RO
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Projective system: Platforms on BML,BOL
xch
ych
yp
x
y
The local reference frame of the platform is defined by the centres of the 3 balls mounted on the extension plate mechanics.
Platform parameters:
- Identification number (chamber id, side location) - Nominal coordinates (x,y,z) of the platform origin P in the
local frame of the chamber - Angular corrections (x,y z) (provisional)
xp
zch
xch
Templatesquare
The z axis is defined by the cone ball (origin P) and the elongated cone ball. Then the flat ball defines the (z,x) plane. The x axis is perpendicular to the z axis. See appendix with df = 0.
HVROxp
zp
Elongated cone
cone
flat
P
xp
yp
xp
zp
zp
xp
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Projective system: Extension plate, rays# 2,3,4
The local reference frame of the extension plate (P,xp,yp,zp) is identical to the platform local frame. It is defined by the centre of the 3 balls. The local reference frame of the RASNIK element support (R,xr,yr,zr) is defined by the surface defined by 3 steel balls (plane xr,zr), a large ball and a pin.
For RASNIK support
zr
yr
zr
yp
xp
xr
zr axis in the direction of the projective ray light
R
R
Extension plate parameters :
- Identification number (chamber id, side location) - Nominal coordinates (x,y,z)R of the RASNIK origin R in the local frame of the extension plate - Three angles: y and z define xr , xr defines yr w.r.t. zp
P
CMM
pin
Large precise ball
Steel ballsBall on platform flat
Ball on platform cone
zp
xp
P
Ball on platform elongated coneBIL extension plate
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Projective system: Extension plate, ray# 1 (=0)
The local reference frame of the extension plate (P,xp,yp,zp) is identical to the platform local frame. It is defined by the centre of the 3 balls. The local reference frame of the RASNIK element support (R,xr,yr,zr) is defined by the surface defined by 3 steel balls (plane xr,zr), a large ball and a pin.
For RASNIK support
zr
yr
zr
yp
zp
zr axis parallel to the projective ray trajectory
R
Extension plate parameters :
- Identification number (chamber id, side location) - Nominal coordinates (x,y,z)R of the RASNIK origin R in the local frame of the extension plate - Three angles: y and z define xr , xr defines yr w.r.t. xp
P
CMM
pinLarge precise ball
Steel balls
Ball on platform flat
Ball on platform cone
xp
zpP
Ball on elongated cone
xr
BML extension plate
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Projective system: RASNIK element
yr
xr
R
xM
yM
M
Extension plate
RASNIK mask The local reference frame of the RASNIK element support (R,xr,yr,zr) is identical to its counterpart on the extension plate. The local reference frame of the RASNIK element (mask as an example) (M,xM,yM,zM) is ideally identical to the support frame, up to a translation.
RASNIK elementsupport
RASNIK element parameters:
- Identification number and type (mask/lens/image sensor ) - Nominal coordinates (x,y,z)M of the RASNIK element M in the local frame of the support - One angle: z = angle of mask or pixel lines w.r.t. xr axis
RASNIKcalibration
Holes
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Reference system: Toroid plates
Reference plates on toroid ribs : The local reference frame of the reference plate (P,xP,yP,zP) is defined by 3 balls glued on the plate. The local reference frame of each camera (Ci,xci,yci,zci) is defined by the ball triplets(See appendix with df > 0).
Ball triplet for camera support yP
xPP
Toroid rib
Ball to definethe local frame of the plate
Reference plate parameters for each ball triplet:
- Identification number (plate id, camera location id = i) - Nominal coordinates (x,y,z)R of the camera triplet origin Ci in the local frame of the reference plate - Three angles: x and y define yc , yc defines zc w.r.t. xP
CMM
+ Measured distance between the 2 plates (e.g. the 2 upper balls) on the same coil on 2 neighbouring ribs ( parameter per coil)
yc
zc
xc
Ci
zci
xci
Ball on elongated cone
Ball on cone
Ball on flat
Camera axis
yc
Ci
zciCi
Ball on flat
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Platform parameters:
- Identification number (chamber id, side) - Nominal coordinates (x,y,z)P of the platform origin P in the local frame of the chamber - Three angles: x and z define yP , y defines xP w.r.t. zch
zp
xp
P
flatElongated cone
The local reference frame of the platform (P,xP,yP,zP) is defined by the 3 balls triplet (See appendix with df > 0). The V underneath the platform is always put on the tube at large |z|.
ByConstruction
or CMM
zch
xch
xp
zp
cone
Reference system: Platforms for Sacled (BIL)
zp
yp
xp
yp
xp
zp
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Platform parameters:
- Identification number (chamber id, side) - Nominal coordinates (x,y,z)P of the platform origin P in the local frame of the chamber - Three angles: x and z define yP , y defines xP w.r.t. zch
zp
xp
P
flatElongated cone
The local reference frame of the platform (P,xP,yP,zP) is defined by the 3 balls triplet (See appendix with df > 0).
ByConstruction
or CMM
zch
xch
xp
zp
zp
xp
cone
Reference system : Platforms for Sacled (BIL H8 only)
zp
yp
xp
yp
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Platform parameters:
- Identification number (chamber id, side) - Nominal coordinates (x,y,z)P of the platform origin P in the local frame of the chamber - Three angles: x and z define yP , y defines xP w.r.t. zch
zp
xp
P
flatElongated cone
The local reference frame of the platform (P,xP,yP,zP) is defined by the 3 balls triplet (See appendix with df > 0). The V underneath the platform is always put on the tube at large |z|.
ByConstruction
or CMM
zch
xch
xp
zp
cone
zp
yp
xp
yp
xp
zp
CCC: Platforms for Sacled (BIL)
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Platform parameters:
- Identification number (chamber id, side) - Nominal coordinates (x,y,z)P of the platform origin P in the local frame of the chamber - Three angles: x and z define yP , y defines xP w.r.t. zch
zp
xp
P
flatElongated cone
The local reference frame of the platform (P,xP,yP,zP) is defined by the 3 balls triplet (like for the BIL CCC platform). (See appendix with df > 0). The V underneath the platform is always put on the tube at large |z|.
ByConstruction
or CMM
zch
xch
xp
zp
zp
yp
xp
yp
cone
CCC: Platforms for camera extension plates (BIS)
xp
zp
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zp
Elongated cone
cone
flat
P
xp
Reference system: Platforms for Sacled extension plates (BML)CCC: Platforms for camera extension plates (BMS,BOS)
The local reference frame of the platform (P,xP,yP,zP) is defined by the 3 balls triplet (See appendix with df=0). The V underneath the platform is always put on the tube at large |z|.
Platform parameters:
- Identification number (chamber id, side) - Nominal coordinates (x,y,z)P of the platform origin P in the local frame of the chamber - Three angles: x and z define yP , y defines xP w.r.t. zch
ByConstruction
or CMM
zch
xch
xp
zp
zpyp
xp
yp
xp
zp
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zpElongated cone
cone
flat
P xp
Reference system: Platforms for Sacled extension plates (BML H8 only)
The local reference frame of the platform (P,xP,yP,zP) is defined by the 3 balls triplet (See appendix with df=0).
Platform parameters:
- Identification number (chamber id, side) - Nominal coordinates (x,y,z)P of the platform origin P in the local frame of the chamber - Three angles: x and z define yP , y defines xP w.r.t. xch
ByConstruction
or CMM
zch
xch
xp
zp
zp
xp
xpyp zp
yp
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CCC: Platforms for Sacled extension plates (BML/BOL)
The V underneath the platform is always put on the edge tube. The local reference frame of the platform (P,xP,yP,zP) is defined by the 3 balls triplet (See appendix with df > 0).
Platform parameters:
- Identification number (chamber id, side) - Nominal coordinates (x,y,z)P of the platform origin P in the local frame of the chamber - Three angles: x and z define yP , y defines xP w.r.t. zch
ByConstruction
or CMM
zch
xch
zp
xp
P
flat
Elongated conecone
zp
xp
zp
xp
zp
xp
zp
xp
zpyp
xp
yp
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xp
The local reference frame of the transfer plate (P,xp,yp,zp) is identical to the platform local frame. It is defined by the 3 ball triplets.The local reference frame of the Sacled (S,xs,ys,zs) is also defined by 3 balls.
Extension plate parameters:
- Identification number (chamber id, side location) - Nominal coordinates (x,y,z)S of the origin S in the local
frame of the extension plate - Three angles: x and x define ys , y defines xs w.r.t. xp
CMM
The z axis is defined by the cone ball (origin S) and the elongated cone ball. Then the flat ball defines the (x,z) plane (see appendix with df>0). The x axis is perpendicular to the z axis.
Reference system/CCC: Transfer plate for Sacled supports (BIL)
xp
yp
xs
ys S
P
Bottom face
Pzp
zscone ball
flat
S
xs
xp
Pzp
cone ball
S
xs
zs
cone ball
Ref : Type R (xch>0)CCC: Type L (xch<0)
Ref : Type L (xch<0)CCC: Type R (xch>0)
Top views:
There are 2 types of extension plates which differ only by the orientation of the C frame w.r.t. the P frame.
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Extension plate parameters:
- Identification number (chamber id, side location) - Nominal coordinates (x,y,z)S of the origin S in the local frame of the extension plate - Three angles: x and y define ys , z defines xs w.r.t. xp
The local reference frame of the extension plate
(P,xp,yp,zp) is identical to the platform local frame.
It is defined by the 3 balls triplet.The local reference frame of the Sacled (S,xs,ys,zs) is also defined by 3 balls.
CMM
The z axis is defined by the cone ball (origin S) and the elongated cone ball. Then the flat ball defines the (x,z) plane (df>0). The x axis is perpendicular to the z axis.
Reference system: Extension plate for Sacled supports (BML)
zs
xs
S
Ball on platform cone
zp
xp
P
Type L(xch<0)
zs
xs
SCone ball
Elongated cone ball
Flat ball
Ball on platform flat
Ball on platform cone
zp
xp
P
Type R(xch>0)
yp
zpP
zs
ys
Type L
There are 2 types of extension plates which differ only by the orientation of the S frame w.r.t. the P frame.
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Reference system: Extension plate for Sacled supports (BML H8 only)
The local reference frame of the extension plate
(P,xp,yp,zp) is identical to the platform local frame.
It is defined by the 3 balls triplet.
The local reference frame of the Sacled (S,xs,ys,zs) is also defined by 3 balls.
Extension plate parameters:
- Identification number (chamber id, side location) - Nominal coordinates (x,y,z)S of the origin S in the local frame of the extension plate - Three angles: y and z define ys , x defines xs w.r.t. zp
CMM
The z axis is defined by the cone ball (origin S) and the elongated cone ball. Then the flat ball defines the (x,z) plane (df>0). The x axis is perpendicular to the z axis.
yp
xp
P
zs
ys
zs
xs
S
Cone ballElongated cone ball
Flat ball
Ball on platform flatBall on
platform cone
zp
xp
P
Elongated cone ball
Bottom view
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CCC: Extension plate for camera supports (BIS, BMS, BOS)
The local reference frame of the extension plate
(P,xp,yp,zp) is identical to the platform local frame. It
is defined by the 3 balls triplet.The local reference frame of the camera (C,xc,yc,zc) is also defined by 3 balls.
Extension plate parameters:
- Identification number (chamber id, side location) - Nominal coordinates (x,y,z)C of the origin C in the local frame of the extension plate - Three angles: x and y define yc , z defines xc w.r.t. xp
CMM
The z axis is defined by the cone ball (origin C) and the elongated cone ball. Then the flat ball defines the (x,z) plane (df>0). The x axis is perpendicular to the z axis.
zc
xc
C
Cone ball
Flat ball
Ball on platform flat
Ball on platform cone
zp
xp
PType L(xch<0)
zc
xc
C
zp
xp
P
Type R(xch>0)
Ball on platform cone
yp
zpP
zc
yc
Type L (xch<0)
There are 2 types of extension plates which differ only by the orientation of the C frame w.r.t. the P frame.
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CCC: BML, BOL extension plate for Sacled support
The local reference frame of the extension plate (P,xp,yp,zp) is identical to the platform local frame. It is defined by the 3 ball triplets.
The local reference frame of the Sacled (S,xs,ys,zs) is also defined by 3 balls.
Extension plate parameters:
- Identification number (chamber id, side location) - Nominal coordinates (x,y,z)S of the origin S in the local
frame of the extension plate - Three angles: x and x define ys , y defines xs w.r.t. xp
CMM
zs
xsS
Cone ball
Elongated cone ball
Flat
The z axis is defined by the cone ball (origin S) and the elongated cone ball. Then the flat ball defines the (x,z) plane (see appendix with df>0). The x axis is perpendicular to the z axis.
Ball on platform flat
Ball on platform cone
zp
xp P
xp
yp
RPC
xs
ys
S
zs
xs S
Type R(xch>0)
Type L(xch<0)
Type R (xch>0)
zp
xp P
There are 2 types of extension plates which differ only by the orientation of the S frame w.r.t. the P frame.
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Reference system: Cameras (except for ref-BML connection)
zcyc
Camera parameters:
- Identification number - Lens optical center coordinates (xL,yL,zL) in the reference frame of the plate- Image sensor center coordinates (xs,ys,zs) in the reference frame of the plate- Angle s of the pixel lines w.r.t. the x axis
- Coordinates (x1,y1,z1) and (x2,y2,z2) of the LED holes in the local frame of the platform
Camera calibration
Plate
Cameras on toroid rib plates: The local reference frame of the camera is given by the ball triplet frame on the toroid plate (C,xc,yc,zc) .
C
4 LED Holes
Diffusorzc
xc
coneElongated cone
Flat Image sensor
By construction or from calibration
Bottom view
C
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CCC + Ref-BML connections: Cameras
zcyc
Camera parameters:
- Identification number - Lens optical center coordinates (xL,yL,zL) in the reference frame of the plate- Image sensor center coordinates (xs,ys,zs) in the reference frame of the plate- Angle s of the pixel lines w.r.t. the x axis
- Coordinates (x1,y1,z1) and (x2,y2,z2) of the LED holes in the local frame of the platform
Camera calibration
Plate
Cameras on the CCC extension plates or on the reference plates: The local reference frame of the camera is given by the extension plate reference frame (C,xc,yc,zc) .
C
zc
xc
cone
Elongated cone
Flat
By construction or from calibration
Bottom view
C
Image sensor
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Reference system:Sacled support (BIL H8 only)
The local reference frame of the support is given by the 3 balls and hence by the platform reference frame (P,xP,yP,zP) .
zpyp
4 Holes
Diffusor
SACLED support parameters:
- Identification number - Coordinates (x1,y1,z1) to (x4,y4,z4) of the 4 LED holes in the local frame of
the platform
Platform
tube
By construction or from calibration
Ball on platform cone
zp
xp
P
Ball on platform flat
Bottom view
LED
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Reference system (BIL,BML),
CCC(BIL,BML,BOL):
Sacled supports
The local reference frame of the support is given by the extension plate reference frame (C,xc,yc,zc) or (S,xs,ys,zs).
4 Holes
Diffusor
SACLED support parameters:
- Identification number, type L/R - Coordinates (x1,y1,z1) to (x4,y4,z4) of the 4 LED holes in the local frame
of the extension plate
Extension plate
LED
By construction or from calibration
S
conezs
xs
S
flat
Bottom view
ys zs
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BIM-BIR connection:
zch
xch
xp
zp
zp
xp
MaskLens-support
Image sensor
BIM
BIR
The BIM-BIR connection platform is identical to the projective platform. The local reference frame is defined via the 3 balls on the platform.
BIM-BIR connection platform parameters:
- Identification number (chamber id, side location) - Nominal coordinates (x,y,z) of the platform origin P in the local frame of
the chamber - Angular corrections (x,y z) (provisional)
Templatesquare
(= proj. square)
BIM-BIR RASNIK parameters:
- Identification number- Zero of the RASNIK: (xc,yc, c,mag)- Angle of the mask w.r.t platform (m)
BIM-BIR calibration
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Platform parameters:
- Identification number (chamber id, side) - Nominal coordinates (x,y,z)P of the platform origin P in the local frame of the chamber - Coordinates of the unit vectors xp and zp in the local coordinate frame of the chamber
(-1,0,0) and (0,0,1) in the above example
The local reference frame of the platform (P,xP,yP,zP) is defined by the platform edge and the V-shape at the connector side.
ByConstruction
zch
xch
B field sensors : Platforms
zp
yp
xp
yp xp
zp
P
xp
x
pP xp
x
pP
P P
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Appendix: Coordinate system defined by a 3 balls triplet
Ball on platform flat
Ball on platform cone
x
Ball on platform elongated cone
z
F
EC
Unit vectors (ux,uz) coordinates as a function of the ball center coordinates measured by a CMM (all expressed in the CMM coordinate frame):
uz = (E-C)/||E-C||
f = (F-C)/||F-C||
ux = [ f – uz.f *uz]/sqrt[1.-(uz.f)2]
uy = uz x ux
If df > 0 then iterate:
F’ = F – df uy
f = (F’-C)/||F’-C||
ux = [ f – uz.f *uz]/sqrt[1.-(uz.f)2]
uy = uz x ux
zEC
y
F
df = nominal flat ball offset (from the drawings)