MEDSI2020 - List of Authors (Mistri, G.K.)

Paper	Title	Page
TUPC10	Modular Nanopositioning Flexure Stages Development for APS Upgrade K-B Mirror Nanofocusing Optics	199
	D. Shu, J.W.J. Anton, L. Assoufid, S.J. Bean, D. Capatina, V. De Andrade, E.M. Dufresne, T. Graber, R. Harder, D. Haskel, K. Jasionowski, S.P. Kearney, A.A. Khan, B. Lai, W. Liu, J. Maser, S.T. Mashrafi, G.K. Mistri, S. Narayanan, C.A. Preissner, M. Ramanathan, L. Rebuffi, R. Reininger, O.A. Schmidt, X. Shi, J.Z. Tischler, K.J. Wakefield, D. Walko, J. Wang, X. Zhang ANL, Lemont, Illinois, USA
	Funding: Work supported by the U.S. Department of Energy, Office of Science, under Contract No. DE-AC02-06CH11357. Kirkpatrick and Baez (K-B) mirror-based nanofocusing optics* will be applied to many beamlines endstation instruments for the APS-Upgrade (APS-U) project. Precision nanopositioning stages with nanometer-scale linear positioning resolution and nanoradian-scale angular stability are needed as alignment apparatus for the K-B mirror hard X-ray nanofocusing optics. For instance, at the APS-U 19-ID In Situ Nanoprobe beamline endstation, to maintain stability of a 20-nm focal spot on the sample, nanofocusing K-B mirror system with 5-nrad angular stability is required. Similar angular resolution and stability are also required for APS-U 9-ID CSSI, APS-U 34-ID ATOMIC*** and other beamline endstation instruments. Modular nanopositioning flexure stages have been developed for the K-B mirror nanofocusing optics, which includes: linear vertical and horizontal flexure stages, tip-tilting flexure stages, and flexure mirror benders for bendable nanofocusing K-B mirrors, to overcome the performance limitations of precision ball-bearing-based or roller-bearing-based stage systems. The mechanical design and preliminary test results are described in this paper. * Kirkpartrick and Baez, JOSA. 1948; 38(9): 766-773. S. Kearney et al., this conference. * J. Anton et al., this conference. **** C. Preissner et al., this conference.
DOI •	reference for this paper ※ https://doi.org/10.18429/JACoW-MEDSI2020-TUPC10
About •	paper received ※ 02 August 2021 paper accepted ※ 21 October 2021 issue date ※ 31 October 2021
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TUPC08	Design and Development of AI Augmented Robot for Surveillance of High Radiation Facilities	192
	K.J. Suthar, M. White ANL, Lemont, Illinois, USA G.K. Mistri MSB, Naperville, Illinois, USA A.K. Suthar, S.K. Suthar NVHS, Naperville, Illinois, USA
	Scientific instruments and utility equipment during the operation of high radiation facilities such as the Advanced Photon Source at the Argonne National laboratory express a challenge to monitor. To solve this, we are developing a self-guided artificially intelligent robot that can allow us to take images to create a thermal and spatial 3D map of its surroundings while being self-driven or controlled remotely. The overall dimension of the robotic vehicle is 20 in length, 7 in width, and 10 in height, which carries a depth perception camera to guide the path, an IR camera for thermography, as well as a cluster of sensors to assist in navigation and measure temperature, radiation, and humidity of the surrounding space. This inexpensive robot is operated by an Nvidia Jetson NanoTM. All controlling and image acquisition programs and routines are written in python for ease of integration with institution-specific operating systems such as EPICS.
DOI •	reference for this paper ※ https://doi.org/10.18429/JACoW-MEDSI2020-TUPC08
About •	paper received ※ 26 July 2021 paper accepted ※ 02 November 2021 issue date ※ 05 November 2021
Export •	reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml)

Paper

Title

Page

Modular Nanopositioning Flexure Stages Development for APS Upgrade K-B Mirror Nanofocusing Optics

199

D. Shu, J.W.J. Anton, L. Assoufid, S.J. Bean, D. Capatina, V. De Andrade, E.M. Dufresne, T. Graber, R. Harder, D. Haskel, K. Jasionowski, S.P. Kearney, A.A. Khan, B. Lai, W. Liu, J. Maser, S.T. Mashrafi, G.K. Mistri, S. Narayanan, C.A. Preissner, M. Ramanathan, L. Rebuffi, R. Reininger, O.A. Schmidt, X. Shi, J.Z. Tischler, K.J. Wakefield, D. Walko, J. Wang, X. Zhang
ANL, Lemont, Illinois, USA

Funding: Work supported by the U.S. Department of Energy, Office of Science, under Contract No. DE-AC02-06CH11357.
Kirkpatrick and Baez (K-B) mirror-based nanofocusing optics* will be applied to many beamlines endstation instruments for the APS-Upgrade (APS-U) project. Precision nanopositioning stages with nanometer-scale linear positioning resolution and nanoradian-scale angular stability are needed as alignment apparatus for the K-B mirror hard X-ray nanofocusing optics. For instance, at the APS-U 19-ID In Situ Nanoprobe beamline endstation**, to maintain stability of a 20-nm focal spot on the sample, nanofocusing K-B mirror system with 5-nrad angular stability is required. Similar angular resolution and stability are also required for APS-U 9-ID CSSI***, APS-U 34-ID ATOMIC**** and other beamline endstation instruments. Modular nanopositioning flexure stages have been developed for the K-B mirror nanofocusing optics, which includes: linear vertical and horizontal flexure stages, tip-tilting flexure stages, and flexure mirror benders for bendable nanofocusing K-B mirrors, to overcome the performance limitations of precision ball-bearing-based or roller-bearing-based stage systems. The mechanical design and preliminary test results are described in this paper.
* Kirkpartrick and Baez, JOSA. 1948; 38(9): 766-773.
** S. Kearney et al., this conference.
*** J. Anton et al., this conference.
**** C. Preissner et al., this conference.

DOI •

reference for this paper ※ https://doi.org/10.18429/JACoW-MEDSI2020-TUPC10

About •

paper received ※ 02 August 2021 paper accepted ※ 21 October 2021 issue date ※ 31 October 2021

Export •

reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml)

TUPC08

Design and Development of AI Augmented Robot for Surveillance of High Radiation Facilities

192

K.J. Suthar, M. White
ANL, Lemont, Illinois, USA
G.K. Mistri
MSB, Naperville, Illinois, USA
A.K. Suthar, S.K. Suthar
NVHS, Naperville, Illinois, USA

Scientific instruments and utility equipment during the operation of high radiation facilities such as the Advanced Photon Source at the Argonne National laboratory express a challenge to monitor. To solve this, we are developing a self-guided artificially intelligent robot that can allow us to take images to create a thermal and spatial 3D map of its surroundings while being self-driven or controlled remotely. The overall dimension of the robotic vehicle is 20 in length, 7 in width, and 10 in height, which carries a depth perception camera to guide the path, an IR camera for thermography, as well as a cluster of sensors to assist in navigation and measure temperature, radiation, and humidity of the surrounding space. This inexpensive robot is operated by an Nvidia Jetson NanoTM. All controlling and image acquisition programs and routines are written in python for ease of integration with institution-specific operating systems such as EPICS.

DOI •

reference for this paper ※ https://doi.org/10.18429/JACoW-MEDSI2020-TUPC08

About •

paper received ※ 26 July 2021 paper accepted ※ 02 November 2021 issue date ※ 05 November 2021

Export •

reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml)