26/10/20051 barrel alignment: list of parameters required for the positioning and the calibration of...

26/10/2005 1

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)

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

26/10/2005 3

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


- 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

26/10/2005 4

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

26/10/2005 5

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.


- 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

26/10/2005 6

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.


- 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

26/10/2005 7

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

26/10/2005 8

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


xp

zpP

Ball on elongated cone

xr

BML extension plate

26/10/2005 9

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

26/10/2005 10

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

26/10/2005 11


- 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

26/10/2005 12



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

26/10/2005 13



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)

26/10/2005 14



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

26/10/2005 15

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|.



ByConstruction

or CMM

zch

xch

xp

zp

zpyp

xp

yp

xp

zp

26/10/2005 16

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).


- 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

26/10/2005 17

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).



ByConstruction

or CMM

zch

xch

zp

xp

P

flat

Elongated conecone

zp

xp

zp

xp

zp

xp

zp

xp

zpyp

xp

yp

26/10/2005 18

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.

26/10/2005 19


- 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


zp

xp

P

Type L(xch<0)

zs

xs

SCone ball

Elongated cone ball

Flat ball



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.

26/10/2005 20

Reference system: Extension plate for Sacled supports (BML H8 only)


(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.


- 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

26/10/2005 21

CCC: Extension plate for camera supports (BIS, BMS, BOS)


(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.


- 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



zp

xp

PType L(xch<0)

zc

xc

C

zp

xp

P

Type R(xch>0)


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.

26/10/2005 22

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.


- 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.



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.

26/10/2005 23

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

26/10/2005 24

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


Bottom view

C

Image sensor

26/10/2005 25

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



zp

xp

P


Bottom view

LED

26/10/2005 26

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


S

conezs

xs

S

flat

Bottom view

ys zs

26/10/2005 27

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

26/10/2005 28


- 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

26/10/2005 29

Appendix: Coordinate system defined by a 3 balls triplet



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)

26/10/20051 barrel alignment: list of parameters required for the positioning and the calibration of...

Documents

chamber assembly x z

x plane

z line x axis type x

z axis translation x

bil x ch y ch ypyp x

bol x ch y ch ypyp x

gap size x

image sensor type x