1. 2 nd Supervisory Board Package 3.1 Summary OUTLINE University Secondment PACMAN alignment bench 25/09/2015 by Iordan Doytchinov

2. University 2  1 st year University review passed.  Advancing literature review for thesis. Topics in state of art literature reviewed: PhD title: “Measurement Uncertainty Budget for future particle accelerators alignment bench” -Standards for Uncertainty Evaluation, GUM, ISO, ASME as applied to various metrology systems -Error budgets in precision machine design -Uncertainty budgets in Metrology CT evaluation systems -Uncertainty budgets in Articulated CMM arms Uncertainty Evaluation -Uncertainty budgets in Task Specific CMM Uncertainty Evaluation, The Virtual CMM’s During Secondment as part of project assigned -Current state of art in accelerator pre-alignment uncertainty budgets papers Gap of knowledge

3. Secondment 3 2) Registration B to C Experiments Clamp common fiducial Requirements: U(A-B) <= 300 µm? U(B-C) <= 100 µm at real time? Fluoroscopy and CT Surgical robot Planned trajectory Location on bone A C 1)Registration of location of A to B Experiment B 1 st June – 11 th of September 3+ months

4. Secondment Measurement Traceability? Metrology systems 1 st June – 11 th of September 3+ months -Reviewed relevant ISO, ASME and state of art -Developed artefacts and measurement methods for uncertainty evaluation via the ‘substitution method’ of both arm and CT -Written Monte Carlo Error based error budget MATLAB tool. errorEncoders Q2 and Q3 = +- 3 arc minutes or +- 0.05deg (at Q mean = 280deg) (Gaussian distribution) errorEncoders Q4, Q5, Q6 = +- 6 arc minutes or +-0.1deg (at Q mean 60deg) (Gaussian distribution Polar Coordinates future design error propagation of angle based Gaussian errors: Up to 6DoF with 3DoF wrist joint at the end of the polar coordinate x,y,z arm errorEncoders Angles = +- 6 arc minutes or +-0.1deg (at Q mean 60deg) (Gaussian distribution error on Linear Encoder = +-1 micro meter STDX = 0.0085 mm STDY = 0.0148mm STDY = 0.0148mm Error PCT VS CMM Zehatz Fiducial Error CT VS CMM Zehatz Fiducial Error PCT VS CMM Iordan Fiducial +- 3 to +-6 arc minutes or +- 0.05deg Gaussian distribution angle Err. STD Y = 0.3611mm

5. 5 PACMAN alignment bench BPM axis determination Wire Sensor GUM Supplement 1, 2008 ISO GPS part 2 Reproduction  Version 1 of Error sources completed by 2 nd of October  To apply Virtual CMM and ‘substitution’ method with artefacts to study CMM Uncertainty (both with none contact and tactile sensor of CMM.  Highest error sources expected: -Thermal Issues -Magnetic influence -Uncertainties based on methodology  To perform series of experiments in order to map the PDE distributions of the biggest contributors. To evaluate various measurement strategies expected uncertainty

6. Thank you for listening 6