This document provides an overview of Queensgate, a company that develops nanopositioning systems. Some key points: - Queensgate was spun off from Imperial College London in 1978 and manufactures precision positioning systems. - They have worked on numerous space projects including providing sensors for the Canadarm robotic arms on the Space Shuttle and International Space Station. - Their technologies include high-precision tip/tilt mirrors, piezo actuators, and capacitive sensors designed for applications in space, vacuum environments, and cryogenic conditions. - Queensgate offers customized solutions and has experience designing products that meet the stringent requirements of applications in labs, manufacturing, and space exploration.

1. Queensgate – solutions for space
John Clarke Applications Engineer Queengate.
Alison Raby Business Manager Queensgate

2. Company Profile
•Spin-off of the Imperial College of London
•Delivering Nanopositioning Systems since 1978
•Close relationships with Educational Institutions and National Labs
•Manufactured in United Kingdom
•Part of Elektron Technology (EKT, London Stock Exchange)
- 10 brands
- 1,200 people globally
- Distribution network in 125 countries
- Developer & manufacturer of technologies within the Fast Moving
Engineered Products (FMEP) sector
- Global manufacturing and sales. Products used in all 7 continents
and in space
- Cambridge UK based R&D and HQ
- Growing through international expansion and new product
development

3. Working with Queensgate
Proven engagement model for advanced and custom requirements
• Rapid opportunity analysis qualification
• 1-2 day intensive feasibility studies - focus on full system requirements
• Accelerated design and prototyping using state of art modelling and
FEA optimisation
• Innovative automated test and characterisation
• Scalable OEM manufacture and support

4. Shuttle Remote Manipulator System
(SRMS) or (Canadarm 1)
• Robotic arms on the Space
Shuttle orbiters
• to deploy, manoeuvre and capture
payloads.
• Upgraded mid 90’s to increase their
loading capacity from 330Kg to
3300Kg.
• Upgraded with new loading
sensors developed and
produced by Queensgate
Instruments.
• To allow monitoring of movements
in the joints of the arm.
• 300 channel capacitive sensor
system.
• Retired with the shuttle in 2011.

5. Mobile Servicing System (MSS) or
Canadarm 2
• A robotic system on the
International Space Station (ISS)
• Launched to the ISS in 2001
• Supports astronauts working in space,
instruments and other payloads attached to
the ISS by moving equipment and supplies
around the station
• MSS is composed of:
• Arm - Space Station Remote Manipulator
System (SSRMS)
• Mobile Remote Servicer Base System
(MBS)
• Special Purpose Dexterous Manipulator
(SPDM, Dextre or Canada hand).
• Uses same Queensgate 300
channel capacitive sensing
system, as for Candarm 1
update.

6. Dextre - Special Purpose Dexterous
Manipulator (SPDM),
• Dextre - Two armed robot on
International Space Station (ISS)
• Does repairs otherwise requiring
spacewalks.
• Launched March 11, 2008 on
mission STS-123.
• Queensgate Instruments produced
50 channel capacitive sensing
system to monitor strains in the
robotic system; to prevent
overstressing of the components.

7. WINDII Upper Atmosphere Research Satellite
(UARS)
• A NASA -operated orbital
observatory deployed September
1991 - June 2004.
• Doppler Michelson Interferometer
• Moving mirror assembly and control electronics
produced by Queensgate Instruments
• Moving mirror cemented to three piezoelectric
pillars which are in turn cemented to arm
• Position and tilt of the mirror sensed by 3
capacitors
• An sister project WAMDII was also
developed. It was for a NASA/ESA
Spacelabs Space Shuttle Mission.
Developed from 1984 to 1989 incorporating
a Queensgate Piezo mirror system. The
mission was planned for to be launched in
the early 90’s but was cancelled in 1989.

8. SILEX - SPOT 4 & ARMEMIS Satellites
European Space Agency (ESA)
• The SELEX system is a laser based
communication system for inter-satellite
links. The system operated between SPOT
4 (1998) and Armemis (2001) satellites.
• The laser based communication was made
possible with the use of a PAA (Point
Ahead Mechanism). This predicted where
the laser would need to be pointed as the
satellite moved.
• The PAA system was jointly developed
with Marconi Space and Queensgate. The
system was made of a piezo actuated
pointing mechanism (PAM) and the control
electronics (PADE).

9. Hinodi (Sunrise) mission
• Launched by the Japanese
Exploration Agency in 2006.
Produced with collaboration of
the US and UK to Observe the
Sun
• Queensgate were chosen after an
extensive space-qualification program
including a long-term life test at high
temperature and in vacuum, was
implemented at NAOJ. The piezo
devices are used for the two-axis
control of the mirror so that even if one
of devices or drivers fails, the image
stabilization could still work, just with a
smaller stroke angle. The CTM-E on
board software supports this
contingency mode for uninterrupted
observations.

10. OICETS, the Optical Inter-Orbit
Communications Engineering Test Satellite
(other name Kirari)
• Experimental satellite launched
by the Japan Aerospace
Exploration Agency in 2005.
• Laser communicates with ESA
Armemis.
• Queensgate developed a
special space piezo actuator for
the JAXA Japanese Space
Agency.

11. Technologies
Beam Steering Mechanism:
• Tip mechanisms – A single axis of
rotation with highest operational
bandwidth and nanoradian levels
of resolution.
• Tip Tilt Mechanisms – Two axis of
rotation with nanoradian levels of
resolution.
• Rotation – Single axis system - the
axis of ratio is perpendicular to the
stage platform. For rotation prisms
or side mounted mirrors where the
axis of rotation can be aligned to
pass through the reflective face.
NPS-θγ-2B
> 2 milliradians of travel with
nano radian resolution.

12. Next Generation Tip Tilt Mechanisms.
Longer Ranges - up to 8mrad
Mirrors - up to 100mm
Higher positioning resolutions with
latest generation of Queensgate
Control Electronics and improved
sensor design.
Higher resonant frequencies with
material selection and optimised
designs
Higher bandwidths with patented
‘Dual sensor technology’
Plug and play full calibration

13. Enabling Technology
Dual Sensor Technology
• Addition of a force sensor in the
stage with additional circuitry in
the controller.
• Dual sensor technology predicts
that higher bandwidths can be
achieved than with PID and
Notch filters.
• Can extend the operational
bandwidth; for example if we
could operate at 40% of the
resonant frequency this would
allow bandwidths up to 672 Hz..
-100
0
100
200
300
400
500
600
-0.001 0 0.001 0.002 0.003 0.004 0.005
Displacement(nm)
Time (s)
Dual Sensor Technology
500nm Step Response of NPS-X-15A
DST
PID
PID + Notch

14. Technologies - Sensors
Zerodur Sensors
• Extremely low Coefficient of Thermal Expansion over a wide temperature range
• Excellent homogeneity throughout.
• Very low level of imperfection
• A wide range of precise geometric designs possible using grinding processes.
• Smooth surface with residual smoothness of < 1nm possible
• Chemical stability
• Reproducibility

15. Technologies - Sensors
Challenge
• Ultra High Vacuum (10-10 Torr).
• Non Magnetic Construction.
• Shielding from Electromagnetic interference
• Radiation stable
• Cryogenic operating conditions.
• Range
Solution.
• Sensors provide measurement 5mm to 15mm
• Materials chosen for non magnetic, UHV,
radiation and cryogenic environment
• Screened cabling to protect from
electromagnetic interference
• Cabling and Feed through UHV compliant
• Range is determined by the surface area.

16. Technologies - Actuators
• DPT-D and DPT-E series closed Loop, preloaded
piezoactuators.
• Incorporate Queensgate capacitive sensing
technology to deliver cutting-edge resolution, linearity
and repeatability.
• Range 20µm, up to 120µm range
• Super Invar for temperature stability
• 1ms settling time
• UHV versions available, Space versions and sealed
gas filled – bespoke options

17. NPS-Z-15B Flexure guided 15 micron actuator
with sub nanometre resolution and
reproducibility. Designed to have extremely
low angular deviation as it scans, for use
where purity of motion is important
The NPS-Z-15L Ultra High Load 15
Micron Actuator with sub-nanometer
resolution and reproducibility.
Designed for high stiffness to move large
loads of up to 15KG. Blocking forces of
up to 35kN.
Piezoactuators- for additional performance
Bespoke options for challenging environments; UHV, Space

18. Custom Solutions
Queensgate sensors have been used in this robot
“Dextre” through MDA Canada to NASA.
Queensgate has a long experience
making custom/OEM solutions.
Leading Hard Drive manufacturers
•A large proportion of all hard drives are
tested using Queensgate stages and
control electronics
Leading microscope manufactures
•Queensgate capacitive sensors have
been used for nano sensing
Labs
•Queensgate have a long experience
making products to suit all conditions,
from ultra high vacuum to hard radiation
Space
•Our Nano sensors have been designed
and built for use on space station robots.
Working in cryogenic conditions with
high stability and reliability.