Improved sample manipulation at the STRESS-SPEC neutron diffractometer using an industrial 6-axis robot for texture and strain analyses

Randau, C.; Brokmeier, Heinz Günter; Gan, Weimin; Hofmann, M.; Voeller, M.; Tekouo, W.; Al-Hamdany, Nowfal; Seidl, Günter; Schreyer, A.

doi:10.1016/j.nima.2015.05.014

Cited by 12 publications

(4 citation statements)

References 25 publications

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“…Therefore with this arrangement 5 tilt angles of χ are necessary to cover complete pole figures with sufficient overlap. Intensity data were obtained by continuous scanning of ϕ with data storage at every 2° [12]. The speed of the ϕ rotation was 10 seconds/5° so that for the total counting time of 1.8 h, 648 detector images were collected.…”

Section: Texture Measurementsmentioning

confidence: 99%

Texture Characterization of Stainless Steel Cladded Layers of Process Vessels

Rebelo-Kornmeier

Gan

Marques

et al. 2016

MSF

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In this study local texture of process vessels made of carbon steel cladded by protective layers of stainless steel by submerged arc welding (SAW) were investigated by neutron diffraction using the diffractometer STRESSSPEC at FRM 2 (Garching, Germany). Different samples were prepared: as welded and as welded plus relevant industrial heat treatment. Local texture measurements with a gauge volume of 3 x 3 x 2 mm3 of the three cladding layers (at depths of 2 mm, 5 mm and 7.5 mm) for each sample were determined. Texture results indicated that there exists an annealed cube component in all the studied samples. Based on the measured pole figures at each depth and sample, the calculated orientation distribution functions data were used to calculate the Young's modulus with respect to the main welding directions. The calculated local and bulk anisotropic Young’s modulus in depth is presented and discussed.

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Section: Texture Measurementsmentioning

confidence: 99%

Texture Characterization of Stainless Steel Cladded Layers of Process Vessels

Rebelo-Kornmeier

Gan

Marques

et al. 2016

MSF

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“…In 2011 it was decided that a 6 axis robot, capable of texture analysis would be purchased. At that time few if any facilities had this capability, we are currently aware of 2 facilities that can now do this, STRESS-SPEC at FRM II in Munich [4] and at the LANCSE facility in Los Alamos [5]. An Epson C3 6 axis robot was selected.…”

Section: Figure 4 Intensity (A) and Fwhm (B) Of The Measured Peak Vsmentioning

confidence: 99%

Neutron Optics Upgrades to the Residual Stress Diffractometer, KOWARI

Reid

Olsen

Luzin

et al. 2016

Residual Stresses 2016

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Abstract. In the last 5 years a number of significant enhancements have been implemented on the neutron beam strain scanner Kowari at the OPAL reactor in Sydney Australia. These changes have resulted in reduced beam time losses when conducting experiments due to sample and stage alignment, and optics and sample changes. There have been 3 projects, starting in 2011 with a new manual slit system design and collision recovery system, in 2013 with a series of radial collimators and finally with the delivery of a 6 axis robot capable of texture measurements and of running up to 20 samples automatically. IntroductionThe thermal neutron residual strain scanner, Kowari, has been operational since 2007. On the residual strain stress scanning instrument KOWARI the spatial resolution ranges from 0.2 to 1000 mm 3 . The resolution in lattice strain is of the order 0.01% giving a stress resolution in steels of ~ 20 MPa. The instrument has been operated accordingly to ISO/TS 21432-2005 to achieve reproducible and reliable stress measurements [1,2]. Initially sample alignment and changes to the neutron optics were both slow and ergonomically challenging.A project commenced in 2011 to design and manufacture a new neutron optics exchange system, to improve the slit system through improved collision protection and appature control and to allow much faster change over between configurations of the neutron optics (currently, three options are available: slit system, radial collimator, open detector). The new system allows for rectangular gauge volumes of quite a large size range, and has extended toolkit for accurate alignment and built-in anticollision system. After a successfully series of tests with collimators borrowed from the JRR-3M reactor a project commenced in 2013 to design and purchase a series of collimators.Texture measurements have been undertaken for many years using a standard Euler cradle. Sample changes were thus manually made every 4-8 hours depending on sample and conditions. To increase productivity and lower exposures for users a 6 axis robotic sample changer began operating on KOWARI in 2015 which allows automated testing of 20 (in some cases more) samples.

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“…However, the first real installment at a neutron beamline was initiated by Brokmeier et al [4,5] at the materials science diffractometer STRESS-SPEC at the research reactor FRM II. Since 2010, the heavy load robot at STRESS-SPEC has been in full user operation as the main option for texture measurements at the diffractometer and occasionally for strain determination in larger objects [6]. A similar system was implemented later also by [7] at the HIPPO instrument of the spallation neutron source LANSCE.…”

Section: Introductionmentioning

confidence: 99%

High-Precision Visual Servoing for the Neutron Diffractometer STRESS-SPEC at MLZ

Landesberger,

Kedilioglu,

Wang

et al. 2024

Sensors

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With neutron diffraction, the local stress and texture of metallic components can be analyzed non-destructively. For both, highly accurate positioning of the sample is essential, requiring the measurement at the same sample location from different directions. Current sample-positioning systems in neutron diffraction instruments combine XYZ tables and Eulerian cradles to enable the accurate six-degree-of-freedom (6DoF) handling of samples. However, these systems are not flexible enough. The choice of the rotation center and their range of motion are limited. Industrial six-axis robots have the necessary flexibility, but they lack the required absolute accuracy. This paper proposes a visual servoing system consisting of an industrial six-axis robot enhanced with a high-precision multi-camera tracking system. Its goal is to achieve an absolute positioning accuracy of better than 50μm. A digital twin integrates various data sources from the instrument and the sample in order to enable a fully automatic measurement procedure. This system is also highly relevant for other kinds of processes that require the accurate and flexible handling of objects and tools, e.g., robotic surgery or industrial printing on 3D surfaces.

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Improved sample manipulation at the STRESS-SPEC neutron diffractometer using an industrial 6-axis robot for texture and strain analyses

Cited by 12 publications

References 25 publications

Texture Characterization of Stainless Steel Cladded Layers of Process Vessels

Texture Characterization of Stainless Steel Cladded Layers of Process Vessels

Neutron Optics Upgrades to the Residual Stress Diffractometer, KOWARI

High-Precision Visual Servoing for the Neutron Diffractometer STRESS-SPEC at MLZ

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