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DOE OSTI2023

A New Modeling Approach for a Priori Uncertainties of Laser Tracker Angle Measurements

Methods for modeling the uncertainty in laser tracker angle measurements vary within the metrology industry, leading to confusion and questionable stochastic modeling for survey network adjustments and error propagation analysis. Interpreting the published laser tracker manufacturer performance specifications to determine an a priori sigma value for weighting azimuth and zenith angle measurements can be confusing and has led to differing implementations. Furthermore, this paper proposes a unique way to model survey network a priori laser tracker angular uncertainties based on laser tracker manufacturers’ published maximum permissible error (MPE) values referenced to current standards for weighting survey network measurements. This paper’s proposed model takes into account the disparate effects that pointing errors, target centering errors, and leveling errors have on azimuth and zenith angular uncertainties for measurements with steep sightings and at near ranges.

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DOE OSTI2021

Three-Dimensional Network Adjustment of Laser Tracker Measurements for Large-Scale Metrology Applications

The adjustment of laser tracker network measurements for large-scale metrology applications has unique considerations not commonly encountered in the network adjustment approaches generally used in either standard metrology or in traditional geodetic surveying. Many applications that require the measurement accuracy of a laser tracker are confined to small working areas to measure the dimensional quality of manufactured parts. Large-scale metrology applications require the same high measurement accuracy, but over a comparatively larger working area. This paper describes a unified least-squares approach to adjust three-dimensional survey network measurements that takes into account the unique considerations of large-scale metrology networks. The impetus for these unique considerations arises from an application that falls neatly between the disciplines of metrology and geodesy—resembling a mixture of the conditions and requirements from both. In conclusion, this paper will also describe a case study of a large-scale metrology survey network used to align the particle accelerator at Michigan State University’s Facility for Rare Isotope Beams (FRIB).

42 ENGINEERING↗

NASA NTRS2018

Laser Tracker Utilization Methodology in Measuring Truth Trajectories for INS Testing on 6 Degree of Freedom Table at the Marshall Space Flight Center's Contact Dynamics Simulation Laboratory with Lessons Learned

When performing Inertial Navigation System (INS) testing at the Marshall Space Flight Center's (MSFC) Contact Dynamics Simulation Laboratory (CDSL) early in 2017, a Leica Geosystems AT901 Laser Tracker system (LLT) measured the twist & sway trajectories as generated by the 6 Degree Of Freedom (6DOF) Table in the CDSL. These LLT measured trajectories were used in the INS software model validation effort. Several challenges were identified and overcome during the preparation for the INS testing, as well as numerous lessons learned. These challenges included determining the position and attitude of the LLT with respect to an INS-shared coordinate frame using surveyed monument locations in the CDSL and the accompanying mathematical transformation, accurately measuring the spatial relationship between the INS and a 6DOF tracking probe due to lack of INS visibility from the LLT location, obtaining the data from the LLT during a test, determining how to process the results for comparison with INS data in time and frequency domains, and using a sensitivity analysis of the results to verify the quality of the results. While many of these challenges were identified and overcome before or during testing, a significant lesson on test set-up was not learned until later in the data analysis process. It was found that a combination of trajectory-dependent gimbal locking and environmental noise introduced non-negligible noise in the angular measurements of the LLT that spanned the evaluated frequency spectrum. The lessons learned in this experiment may be useful for others performing INS testing in similar testing facilities.

Leggett, Jared O.↗

NASA NTRS1977

NASA laser tracker

Beginning in July of 1976, flight tests have been on the Microwave Scanning Beam Landing System (MSBLS) built for NASA. The MSBLS is designed to supply accurate guidance information to the Space Shuttle as it returns from orbit to an aircraft-type runway. Because of the broad coverage (30 by 30 degrees) and high accuracy (0.05 degree in angle, 100 feet in range) of the MSBLS, a flexible reference system with higher accuracy was required. The laser tracker has been fulfilling this requirement.

Perkins, H.↗

NASA NTRS1985

Microprocessor-controlled laser tracker for atmospheric sensing

An optical tracking system comprising a visible HeNe laser, an imaging detector, and a microprocessor-controlled mirror, has been designed to track a moving retroreflector located up to 500 m away from an atmospheric instrument and simultaneously direct spectrally tunable infrared laser radiation to the retroreflector for double-ended, long-path absorption measurements of atmospheric species. The tracker has been tested during the recent flight of a balloon-borne tunable diode laser absorption spectrometer which monitors the concentrations of stratospheric species within a volume defined by a 0.14-m-diameter retroreflector lowered 500 m below the instrument gondola.

Johnson, R. A.↗

NASA NTRS1979

Calibration of the Space Shuttle Microwave Scanning Beam Landing System using a laser tracker

Verification tests of the Space Shuttle Microwave Scanning Beam Landing System (MSBLS) performed with respect to the Precision Laser Tracking System are reported. MSBLS ground station measurements of the azimuth, elevation and range of a NASA Jetstar aircraft equipped with a laser retroreflector, a MSBLS antenna and commissioning instruments including a MSBLS navigation set of the type installed in the Orbiter, during the performance of radial, orbital and glideslope runs with respect to the ground station were compared with laser ground station measurements of aircraft position. Data obtained from flight testing at Shuttle landing sites reveal MSBLS distance measuring equipment performance to be very good, with elevation errors found at very low elevation angles and azimuth errors as a function of aircraft attitude. The Precision Laser Tracking System has thus proven to be a satisfactory instrument for determining MSBLS performance, and an ideal instrument for its calibration.

Ford, K.↗

NASA NTRS2011

Radius of Curvature Measurement of Large Optics Using Interferometry and Laser Tracker

The determination of radius of curvature (ROC) of optics typically uses either a phase measuring interferometer on an adjustable stage to determine the position of the ROC and the optics surface under test. Alternatively, a spherometer or a profilometer are used for this measurement. The difficulty of this approach is that for large optics, translation of the interferometer or optic under test is problematic because of the distance of translation required and the mass of the optic. Profilometry and spherometry are alternative techniques that can work, but require a profilometer or a measurement of subapertures of the optic. The proposed approach allows a measurement of the optic figure simultaneous with the full aperture radius of curvature.

Hagopian, John↗

NASA NTRS2011

Brief, Why the Launch Equipment Test Facility Needs a Laser Tracker

The NASA Kennedy Space Center Launch Equipment Test Facility (LETF) supports a wide spectrum of testing and development activities. This capability was originally established in the 1970's to allow full-scale qualification of Space Shuttle umbilicals and T-O release mechanisms. The LETF has leveraged these unique test capabilities to evolve into a versatile test and development area that supports the entire spectrum of operational programs at KSC. These capabilities are historically Aerospace related, but can certainly can be adapted for other industries. One of the more unique test fixtures is the Vehicle Motion Simulator or the VMS. The VMS simulates all of the motions that a launch vehicle will experience from the time of its roll-out to the launch pad, through roughly the first X second of launch. The VMS enables the development and qualification testing of umbilical systems in both pre-launch and launch environments. The VMS can be used to verify operations procedures, clearances, disconnect systems performance &margins, and vehicle loads through processing flow motion excursions.

Yue, Shiu H.↗

DOE OSTI2020

Installation of the Dark Energy Spectroscopic Instrument at the Mayall 4-meter telescope

The Dark Energy Spectroscopic Instrument (DESI) is a Stage IV ground-based dark energy experiment that will measure the expansion history of the Universe using the Baryon Acoustic Oscillation technique. The spectra of 35 million galaxies and quasars over 14000 square degrees will be measured during the life of the experiment. We describe the installation of the major elements of the instrument at the Mayall 4m telescope, completed in late 2019. The previous prime focus corrector, spider vanes, and upper rings were removed from the Mayall’s Serrurier truss and replaced with the newlyconstructed DESI ring, vanes, cage, hexapod, and optical corrector. The new corrector was optically aligned with the primary mirror using a laser tracker system. The DESI focal plane system was integrated to the corrector, with each of its ten 500-fiber-positioner petal segments installed using custom installation hardware and the laser tracker. Ten DESI spectrographs with 30 cryostats were installed in a newly assembled clean room in the Large Coude Room. The ten cables carrying 5000 optical fibers from the positioners in the focal plane were routed down the telescope through cable wraps at the declination and hour angle axes, and their integral slitheads were integrated with the ten spectrographs. The fiber view camera assembly was installed to the Mayall’s primary mirror cell. Servers for the instrument control system replaced existing computer equipment. The fully integrated instrument has been commissioned and is ready to start its operations phase.

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NASA NTRS2019

Portable Laser Guided Robotic Metrology System

This paper introduces the new Portable Laser Guided Robotic antenna range (PLGR) at the National Aeronautics and Space Administration's (NASA) Glenn Research Center. Previous work used industrial robots in fixed facilities to characterize antennas and required fixtures that do not lend themselves to portable applications.NASA's PLGR system is designed for in-situ antenna measurements at a remote site. The system consists of a robot arm mounted on a vertical lift and a laser tracker, each on a portable base. The lift and laser tracker enable scanning a surface larger than the robot's reach. To accomplish this the robot first collects all points within its reach, then the system is moved and the laser tracker is used to relocate the robot before additional points are captured.The PLGR architecture will be discussed including how safety systems and path planning are combined to effectively characterize antennas. Software was written in high level languages for flexible integration of vector network analyzers and antenna controllers. Lastly, data will be shown to demonstrate the system functionality and accuracy.

Slater, Peter A.↗

NASA NTRS2010

Optical Testing of Retroreflectors for Cryogenic Applications

A laser tracker (LT) is an important coordinate metrology tool that uses laser interferometry to determine precise distances to objects, points, or surfaces defined by an optical reference, such as a retroreflector. A retroreflector is a precision optic consisting of three orthogonal faces that returns an incident laser beam nearly exactly parallel to the incident beam. Commercial retroreflectors are designed for operation at room temperature and are specified by the divergence, or beam deviation, of the returning laser beam, usually a few arcseconds or less. When a retroreflector goes to extreme cold (.35 K), however, it could be anticipated that the precision alignment between the three faces and the surface figure of each face would be compromised, resulting in wavefront errors and beam divergence, degrading the accuracy of the LT position determination. Controlled tests must be done beforehand to determine survivability and these LT coordinate errors. Since conventional interferometer systems and laser trackers do not operate in vacuum or at cold temperatures, measurements must be done through a vacuum window, and care must be taken to ensure window-induced errors are negligible, or can be subtracted out. Retroreflector holders must be carefully designed to minimize thermally induced stresses. Changes in the path length and refractive index of the retroreflector have to be considered. Cryogenic vacuum testing was done on commercial solid glass retroreflectors for use on cryogenic metrology tasks. The capabilities to measure wavefront errors, measure beam deviations, and acquire laser tracker coordinate data were demonstrated. Measurable but relatively small increases in beam deviation were shown, and further tests are planned to make an accurate determination of coordinate errors.

Ohl, Raymond G.↗

DOE OSTI2022

Software Architecture and Hardware Organization in Mu2e Solenoid Field Mapping System

Herein, the Mu2e field mapping system is designed to produce high accuracy field maps of the detector solenoid used in the experiment. The data acquisition system is mobile and uses a self-propelled mapper with rotating arms equipped with 3D Hall probes. The measurements require not only accurate magnetic field readouts, but also accurate locations of all Hall probes while measuring data. The latter is accomplished by using the laser tracker to measure positions of several retroreflectors on the field mapper during data acquisition. The measurement process requires scanning the whole space inside the large solenoid and takes many hours to complete, which necessitates its full automation. The automation software includes control of the mapper, readout of Hall and NMR probes and control of a laser tracker, including prediction of retroreflector positions and execution of quality control checks. The software architecture and data acquisition hardware of the field mapping system are described, with special attention given to control of the laser tracker and its integration with the rest of the system.

3d hall probes↗

NASA NTRS2020

Demonstration of Deployment Accuracy of the Starshade Inner Disk Subsystem

We present experimental results that demonstrate the required in-plane deployment accuracy of the starshade Inner Disk Subsystem (IDS). This effort was to address Milestone 7C of the Starshade Technology Activity S5, which requires that the in-plane deployment accuracy of the petal interfaces on the IDS be within +/-300um. A full-scale 10m-diameter IDS prototype was constructed. This prototype comprised a medium-fidelity perimeter truss, medium-fidelity spokes, and a low-fidelity optical shield (OS). The testbed also included gravity compensation systems and a laser tracker metrology system. The post-processed measurement uncertainties of the laser tracker were less than 30um at the 3 sigma level. Design, engineering and fabrication of these components was done by JPL, Tendeg, and Roccor. Testing was performed at the Tendeg facility in Louisville, Colorado. The IDS prototype was deployed 22 times and the locations of petal interfaces on the IDS were measured after each deployment. Based on this data, tolerance intervals were calculated that would contain 99.73% of future deployment accuracy errors with 90% confidence. These tolerance intervals are conservative estimates for 3 sigma bounds. The tolerance intervals for the three pertinent error components were found to be within the required allocations, with at least 19% margin.

Turse, Dana↗

NASA NTRS2019

Portable Laser Guided Robotic Metrology (PLGRM) System

This paper introduces the new Portable Laser Guided Robotic Metrology (PLGRM) system at the National Aeronautics and Space Administration's (NASA) Glenn Research Center. Previous work used industrial robots in fixed facilities to characterize antennas and required fixtures that do not lend themselves to portable applications. NASA's PLGRM system is designed for in-situ antenna measurements at a remote site.The system consists of a collaborative robot arm mounted on a vertical lift and a laser tracker, each on a mobile base. Together,they enable scanning a surface larger than the robot's reach.To accomplish this, the robot first collects all points within its reach, then the system is moved and the laser tracker is used to relocate the robot before additional points are captured. The PLGRM implementation will be discussed including how safety and planning are combined to effectively characterize antennas.Software defined triggering is a feature, for flexible integration of vector network analyzers and antenna controllers. Lastly, data will be shown to demonstrate system functionality and accuracy.

Slater, Peter A.↗

NASA NTRS2007

Photogrammetric Metrology for the James Webb Space Telescope Integrated Science Instrument Module

The James Webb Space Telescope (JWST) is a 6.6m diameter, segmented, deployable telescope for cryogenic IR space astronomy (approximately 40K). The JWST Observatory architecture includes the Optical Telescope Element and the Integrated Science Instrument Module (ISIM) element that contains four science instruments (SI) including a Guider. The ISM optical metering structure is a roughly 2.2x1.7x2.2m, asymmetric frame that is composed of carbon fiber and resin tubes bonded to invar end fittings and composite gussets and clips. The structure supports the SIs, isolates the SIs from the OTE, and supports thermal and electrical subsystems. The structure is attached to the OTE structure via strut-like kinematic mounts. The ISIM structure must meet its requirements at the approximately 40K cryogenic operating temperature. The SIs are aligned to the structure's coordinate system under ambient, clean room conditions using laser tracker and theodolite metrology. The ISIM structure is thermally cycled for stress relief and in order to measure temperature-induced mechanical, structural changes. These ambient-to-cryogenic changes in the alignment of SI and OTE-related interfaces are an important component in the JWST Observatory alignment plan and must be verified. We report on the planning for and preliminary testing of a cryogenic metrology system for ISIM based on photogrammetry. Photogrammetry is the measurement of the location of custom targets via triangulation using images obtained at a suite of digital camera locations and orientations. We describe metrology system requirements, plans, and ambient photogrammetric measurements of a mock-up of the ISIM structure to design targeting and obtain resolution estimates. We compare these measurements with those taken from a well known ambient metrology system, namely, the Leica laser tracker system. We also describe the data reduction algorithm planned to interpret cryogenic data from the Flight structure. Photogrammetry was selected from an informal trade study of cryogenic metrology systems because its resolution meets sub-allocations to ISIM alignment requirements and it is a non-contact method that can in principle measure six degrees of freedom changes in target location. In addition, photogrammetry targets can be readily related to targets used for ambient surveys of the structure. By thermally isolating the photogrammetry camera during testing, metrology can be performed in situ during thermal cycling. Photogrammetry also has a small but significant cryogenic heritage in astronomical instrumentation metrology. It was used to validate the displacement/deformation predictions of the reflectors and the feed horns during thermal/vacuum testing (90K) for the Microwave Anisotropy Probe (MAP). It also was used during thermal vacuum testing (100K) to verify shape and component alignment at operational temperature of the High Gain Antenna for New Horizons. With tighter alignment requirements and lower operating temperatures than the aforementioned observatories, ISIM presents new challenges in the development of this metrology system.

Nowak, Maria↗

DOE OSTI2024

Innovative approaches to neutron beam optimization: A case study of FP14 at LANSCE

This paper describes an experimental method to acquire high resolution energy- and spatially- resolved neutron beam spots using the time-gated neutron imaging system with Teledyne Pi-MAX4 camera. These experimental data offer a unique opportunity for benchmarking beam spot simulations. High-quality simulations depend significantly on a high-fidelity geometry model, which can be challenging for legacy facilities. We informed our MCNPX geometry model by latest metrology survey employing Leica laser tracker ATS600. It gave us a high fidelity description of our facility geometry. Such a robust integration of novel tools and methods yields a previously unattainable level of accuracy in both predicting and capturing neutron beam spots, marking a notable advancement over traditional methods reliant on static image plates. Here, to demonstrate the practical application of these tools, we are showing a non-uniform beam spot challenge at our Flight Path 14 (FP14) at the Los Alamos Neutron Science Center (LANSCE). Our precise MCNPX prediction of beam spot shifting as function of neutron energy was confirmed by experimental beam spot measured with extremely high level of detail. Results of this research demonstrate a significant leap in neutron beam optimization at LANSCE and set a new benchmark in beam spot characterization. The advanced methods presented here have potential for adoption at similar research facilities worldwide, aiming at substantial improvement in neutron beam delivery for experiments.

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NASA NTRS1987

Spaceborne laser ranging from EOS

High precision laser ranging measurements from an Earth Observing System (EOS) platform would provide data for conducting a variety of basic geoscience investigations. For example, range data to retroreflectors arranged in grids located at tectonic plate boundaries could be used to study the spatial and temporal distribution of the crustal movements associated with stress accumulation and release in an earthquake cycle. The Geodynamics Laser Ranging System (GLRS) is a proposed facility instrument for EOS that can perform the ranging function as well as simple height-measurement altimetry over ice sheets. This instrument is the derivative of several generations of ground-based laser trackers and prototype laboratory systems. The Geoscience Laser Altimetry/Ranging System (GLARS) is an advanced laser ranging system which would provide higher accuracy ranging observations and detailed altimetric mapping of surface height distributions over land and ice sheets.

Cohen, Steven C.↗

DOE OSTI2020

Design of target irradiation and diagnostic chamber to study ps-laser generated plasma as a source of singly charged ions for external injection into an electron beam ion source

High repetition-rate (~10 kHz) ps-lasers are becoming available on the market with reasonable cost and may offer several advantages compared to ns-lasers by generating nearly continuous beams of singly charged ions appropriate for the “slow” injection mode into the Electron Beam Ion Source (EBIS). To evaluate these advantages, we will perform studies of a ps-laser generated plasma using a laser with a pulse duration of 8 ps and energy up to 5 mJ per pulse. A vacuum chamber equipped with a 3D target positioner, a focusing lens, and a Faraday Cup has been designed and built for this study. Lens-to-target distance variations have been measured using a laser tracker over the whole range of horizontal and vertical translation for all five targets we will use. The variations were found to be within ±150 µm. This level of “target flatness” should be acceptable for our experimental conditions. Ion currents and ion pulse durations of various elements (from Al to Ta) will be measured for different target irradiation conditions (focal spot size and laser pulse energy). The results obtained will allow us to specify all parameters and geometry of a laser ion source based on a ps-laser to provide external ion injection into the relativistic heavy ion collider EBIS

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