Automated robotic system for the assembly, fine-alignment, and characterization of optical setups

Abstract

A robotic system comprising a robotic arm can be used to rapidly setup and prototype precision systems on a platform. For an optical system, an optical component is held by mounting hardware within a framework that is marked for identification, manipulation, and alignment by the robotic system. A fine alignment tool can be deployed by the robotic system to engage with adjustment mechanisms in the assembled unit and make fine adjustments to align the optical components. A beam characterization tool and other optical components can be deployed by the robotic arm to characterize an optical beam (e.g., determine beam direction, polarization profile, intensity profile, power) and to make spectroscopic measurements.

Description

Attorney Docket No. MIT-26276WO01Automated Robotic System for the Assembly, Fine- Alignment, and Characterization of Optical SetupsCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] The present application claims a priority benefit, under 35 U.S.C. §119(e), to U.S. provisional application serial No. 63 / 745,115 filed on January 14, 2025, titled “Automated Robotic System for the Assembly, Fine-Alignment, and Characterization of Optical Setups,” which provisional application is incorporated by reference herein in its entirety.STATEMENT OF GOVERNMENT SUPPORT

[0002] This invention was made with government support under W91 INF -23 -2-0121 awarded by the Army Research Office. The government has certain rights in the invention.BACKGROUND

[0003] In academic and industrial settings, the construction and alignment of optical setups are time-consuming processes. Research and development in fields such as photonics, telecommunications, laser manufacturing, biomedical imaging, and precision measurement often use highly intricate optical systems composed of mirrors, lenses, beam splitters, nonlinear crystals and other components. The alignment of components in these optical systems to achieve a desired performance can be particularly demanding, with even minute deviations potentially causing substantial errors or inefficiencies in experimental results. Consequently, setting up these optical systems can involve significant expertise, manual precision, and time.

[0004] Manual alignment of optical components is not only labor-intensive but also prone to inconsistencies. Small environmental disturbances, human error, or slight variations in adjustments can lead to misalignment, necessitating repeated fine-tuning. This issue becomes even more pronounced in setups where multiple components interact, such as in interferometers or complex beam-path configurations. The reliance on skilled operators for assembly and fine adjustment further limits scalability and the ability to maintain reproducibility across multiple setups.Attorney Docket No. MIT-26276WO01SUMMARY

[0005] The present disclosure relates to automated assembly, alignment, and characterization of precision systems, such as multi-component optical and / or mechanical systems that involve fine alignment of components. Such systems can be used in academic and industrial settings for research and development purposes. For example, an optical system may be prototyped on an optical bench or table for testing and refinement before being moved to production and packaging. The inventors have recognized and appreciated that artificial intelligence (Al) can aid in research and development (e.g., reviewing literature in the field, analyzing results, suggesting optical systems), but a bottleneck in the development process can be manual, labor-intensive setup and alignment of the precision systems under development.

[0006] To overcome this bottleneck and accelerate research and development, a robotic system is designed to automatically identify components for a precision system, pick-and-place the components to form the system, align the system with high accuracy, and characterize the precision system. Although the following description is primarily about the alignment and development of optical systems, the technology described herein can be used for non-optical precision systems (e.g., mechanical and electrical systems).

[0007] Some implementations relate to systems system for automated alignment and configuration of a plurality of optical components on a platform. Such systems can comprise: a framework to support mounting hardware that holds an optical component of the plurality of optical components such that a feature of the optical component is positionally referenced to a visible feature on the framework; a robotic arm to grip the framework and position the framework and the optical component on the platform; a computer vision system comprising at least one camera to detect the visible feature on the framework and determine a location and orientation of the optical component supported by the framework on the platform; and a controller communicatively coupled to the robotic arm and to the computer vision system to cause the robotic arm, based at least in part on feedback from the computer vision system, to position and orient the framework such that the feature of the optical component is in an initial aligned position.

[0008] Some implementations relate to methods for automated alignment and configuration of a plurality of optical components on a platform. Such methods can comprise acts of: gripping, with a robotic arm, a framework that supports mounting hardware, the mountingAttorney Docket No. MIT-26276WO01hardware holding an optical component of the plurality of optical components such that a feature of the optical component is positionally referenced to a visible feature on the framework; detecting, with a computer vision system, the visible feature on the framework, wherein the computer vision system comprises at least one camera; determining, by a controller communicatively coupled to the robotic arm and to the computer vision system, a location and orientation of the optical component; and operating, by the controller, the robotic arm based at least in part on feedback from the computer vision system, to position and orient the framework such that the feature of the optical component is in an initial aligned position.

[0009] Some implementations relate to methods of determining a beam propagation ratio M2of an optical beam using the robotic system described above and described further below. Such methods can comprise acts of: locating, with the robotic arm, a spherical lens in an optical beam such that the optical beam passes through the spherical lens and is focused by the spherical lens; moving a beam-imaging camera with the robotic arm along a portion of an optical path of the optical beam to record a set of images of the optical beam, the portion of the optical path passing through a focal point of the optical beam caused by the spherical lens; and processing, by the controller, the set of images to determine the beam propagation ratio M2.

[0010] Some implementations relate to methods of determining beam quality parameters of an optical beam using the system described above and described further below. Such methods can comprise acts of: locating, with the robotic arm, a cylindrical lens in an optical beam in a first orientation such that the optical beam passes through the cylindrical lens and is focused by the cylindrical lens along a first transverse beam direction; moving a beamimaging camera with the robotic arm along a portion of an optical path of the optical beam to record a first set of images of the optical beam, the portion of the optical path passing through a focal point of the optical beam caused by the cylindrical lens; locating, with the robotic arm, the cylindrical lens in the optical beam in a second orientation such that the optical beam passes through the cylindrical lens and is focused by the cylindrical lens along a second transverse beam direction that is orthogonal to the first transverse beam direction; moving the beam-imaging camera with the robotic arm along the portion of an optical path of the optical beam to record a second set of images of the optical beam; and analyzing, by the controller, the first set of images and the second set of images to evaluate at least one beam quality parameter for the optical beam.Attorney Docket No. MIT-26276WO01

[0011] Some implementations relate to methods of characterizing polarization across the wavefront of an optical beam using the system described above and described further below. Such methods can comprise acts of: positioning, with the robotic arm, a camera to receive an optical beam; locating, with the robotic arm, a quarter-wave plate such that the optical beam passes through the quarter-wave plate before being received by the camera; locating, with the robotic arm, a linear polarizer along an optical path traversed by the optical beam between the quarter-wave plate and the camera such that the optical beam passes through the linear polarizer; rotating, with the robotic arm, the quarter-wave plate while recording a set of images of the optical beam with the camera and corresponding rotation angles of the quarterwave plate; and processing, by the controller, the set of images and corresponding rotation angles to determine polarization states across the wavefront of the optical beam.

[0012] All combinations of the foregoing concepts and additional concepts discussed in greater detail below (provided such concepts are not mutually inconsistent) are part of the inventive subject matter disclosed herein. In particular, all combinations of subject matter appearing in this disclosure are part of the inventive subject matter disclosed herein. The terminology used herein that also may appear in any disclosure incorporated by reference should be accorded a meaning most consistent with the particular concepts disclosed herein.BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The skilled artisan will understand that the drawings primarily are for illustrative purposes and are not intended to limit the scope of the inventive subject matter described herein. The drawings are not necessarily to scale; in some instances, various aspects of the inventive subject matter disclosed herein may be shown exaggerated or enlarged in the drawings to facilitate an understanding of different features. In the drawings, like reference characters generally refer to like features (e.g., functionally and / or structurally similar elements). The robotic system can comprise robotic control, computer vision, fine alignment tools, and a multifunctional beam characterization capability. In some implementations, the robotic system can align optical components to sub-mm accuracy.

[0014] FIG. 1 depicts a robotic system for automated assembly, alignment, and characterization of precision systems.

[0015] FIG. 2A is a perspective view of a fine alignment tool that can be manipulated by the robotic system of FIG. 1.Attorney Docket No. MIT-26276WO01

[0016] FIG.2B is an elevation view of the fine alignment tool of FIG.2A.

[0017] FIG.2C depicts another example of a fine alignment tool and shows actuator motors on the backside of the tool.

[0018] FIG.2D depicts a front perspective view of the fine alignment tool of FIG.2C.

[0019] FIG.2E depicts a fine alignment adapter that can attach to an adjustable mount.

[0020] FIG.2F depicts a rear, perspective view of the fine alignment adapter of FIG.2E.

[0021] FIG.2G depicts further details and circuitry of the fine alignment adapter of FIG. 2E

[0022] FIG.3A is a perspective view of a beam characterization tool that can be manipulated by the robotic system of FIG. 1.

[0023] FIG.3B is an exploded view of the beam characterization tool of FIG.3A.

[0024] FIG.3C depicts an example beam characterization tool.

[0025] FIG.3D depicts optical beam alignment and misalignment detected with the beam characterization tool of FIG.3C.

[0026] FIG. 4A depicts a set-up for testing alignment of a two-lens beam expander with the robotic system.

[0027] FIG. 4B depicts alignment processes and measured beam-size errors during alignment of the two-lens beam expander of FIG. 4A.

[0028] FIG. 4C shows the original beam size, misaligned beam sizes, and aligned beam sizes for two alignment runs using the apparatus depicted in FIG. 4A.

[0029] FIG. 4D depicts an optical arrangement for measuring a beam path with the robotic system of FIG. 1 and further plots measurement results for an optical beam.

[0030] FIG. 5A depicts an optical arrangement for measuring a beam propagation ratio M2with the robotic system of FIG. 1 and further plots measurement results of beam width for an optical beam.

[0031] FIG. 5B plots the beam profile used for a series of beam parameter measurements made using the beam characterization tool of FIG.3C.

[0032] FIG. 5C plots beam waist values measured with the beam characterization tool of FIG. 3C as a function of distance from the optical source.Attorney Docket No. MIT-26276WO01

[0033] FIG. 5D plots the four polarization Stokes parameters for the beam of FIG. 5B as measured with the beam characterization tool of FIG.3C.

[0034] FIG. 5E plots the polarization ellipse based on the Stokes parameters of FIG. 5D.

[0035] FIG. 6 depicts an optical arrangement for analyzing polarization states across the wavefront of an optical beam with the robotic system of FIG. 1 and further plots measurement results.

[0036] FIG. 7 depicts an optical arrangement for making spectroscopic measurements with the robotic system of FIG. 1 and further plots measurement results.

[0037] FIG. 8A is a photograph of a Michelson interferometer that has been set up using the robotic system.

[0038] FIG. 8B is a screen shot of an interactive visual display rendered on a display screen by a computer program that provides remote operation of the robotic system of FIG. 8A.

[0039] FIG. 9A depicts an implementation of a stackable framework within which an adjustable mount and optical component can be installed.

[0040] FIG. 9B depicts an implementation of the framework having heat dissipation elements thermally coupled to the underside of the framework.

[0041] FIG. 9C depicts an implementation of the framework having vibration-damping elements coupled to the framework.

[0042] FIG. 9D depicts an implementation of the framework having light-blocking side panels.

[0043] FIG. 9E depicts an implementation of the framework having a protective environment within the framework.

[0044] FIG. 9F depicts an implementation of the framework having an antenna for wireless communication and identification of the framework and components mounted therein.

[0045] FIG. 10A depicts a base for supporting the framework that incorporates an electromagnetic coil.

[0046] FIG. 10B depicts a base that can have detachable anti-slip pads.Attorney Docket No. MIT-26276WO01DETAILED DESCRIPTION

[0047] The inventors have recognized and appreciated that robotic arms of moderate cost and computer vision can be used to implement a robotic system to automate setup, alignment, and characterization of precision systems under development. Such systems under development may be intended for applications in optics, photonics, telecommunications, laser manufacturing, biomedical imaging, environmental monitoring, and precision measurements. The inventors have also recognized and appreciated that fully automated setup, alignment, and characterization of systems under development in combination with artificial intelligence (Al) can accelerate the pace of research and development. The robotic system described below offers a versatile, scalable, and efficient solution that is useful for both high-precision research environments and scalable industrial applications.

[0048] 1. Overview of Robotic System

[0049] FIG. 1 depicts a robotic system 100 for automated assembly, alignment, and characterization of precision systems. Placement and alignment of an optical component is depicted in the drawing. The robotic system 100 comprises at least two cameras 110 disposed on at least one mounting structure 120, a robotic arm 130, a gripper 135 mounted at the end of the robotic arm 130, and a LiDAR head 138 mounted at the end of the robotic arm. The cameras 110 and the LiDAR head 138 can be part of a computer-vision system that includes a system controller 180. The computer-vision system may further include a camera disposed in the LiDAR head 138. The inset shows the gripper 135 positioned by the robotic arm 130 over an assembly containing optical component 150. The mounting structure 120 and robotic arm 130 can be mounted on a platform 105 (such as an optical bench) on which a system under development is to be set up.

[0050] A further aspect of the robotic system 100 is a framework 140 that supports the optical component 150. For example, an adjustable mount or other mounting hardware 168 can hold the optical component 150 and can mount to the framework 140. Supporting hardware 160 (which can include a post or other stand-off and a base 162) can attach to the framework 140 and support the framework on the platform 105. In some implementations, the framework 140 can include a base 162 or otherwise be configured to mount directly on the platform 105 without additional supporting hardware 160.Attorney Docket No. MIT-26276WO01

[0051] The framework 140 includes a marking 145 (such as a data matrix code, an ArUco marker, or QR code) for use in identifying and locating the optical component 150 supported by the framework 140. There can be one or more markings 145 located on the top and optionally on at least one side of the framework 140. The framework 140 also includes an upper region 142 adapted for grasping of the framework 140 by the gripper 135. The framework 140, optical component 150, and supporting hardware 160 below the framework can be assembled as a unit. The optical component can be any optical component such as, but not limited to, an optical source (such as a laser diode, LED, diode-pumped laser, fiber laser, efc.), a mirror, a lens, a grating, a polarizing optical element, a half-wave plate, a quarter- wave plate, an acousto-optic modulator, a Faraday rotator, a graded-refractive index lens, etc. The system under development can comprise many optical components, each mounted within a framework 140.

[0052] The mounting hardware 168 can comprise an adjustable mount to hold the optical component 150. The adjustable mount can include one or more adjustment mechanisms (e.g., adjustment screws, thumb screws, c / c.) for adjusting an orientation of the optical component 150. An example of an adjustable mount is an adjustable mirror mount which can provide for tilting of a mirror about two orthogonal axes (e.g., adjustment of pitch and yaw). Another example of an adjustable mount is a rotation mount (e.g., for rotating a half-wave plate or linear polarizer).

[0053] In some implementations, the framework 140 can include two mechanical registration features to register the mounting hardware 168 in two orthogonal directions. A first registration feature can be a base 149 of the framework 140 on which the mounting hardware 168 rests. This can register the adjustable mount (and optical component 150) to the framework 140 in a first direction (e.g., the ±z direction in FIG. 1). A second registration feature can be a raised lip, wall, posts, pins or other feature(s) against which the adjustable mount abuts in at least one orthogonal direction (e.g., the ±x and / or ±y directi on(s) in FIG.1). In this manner, the mounting hardware 168 (adjustable mount) and optical component 150 supported by the mounting hardware can be accurately registered to the framework 140 and, by extension, to the marking 145.

[0054] The robotic system 100 can further comprise a controller 180 in communication with the robotic arm 130, the cameras 110, and the LiDAR head 138. In some cases, the controller 180 can be implemented as two or more controllers. The controller(s) 180 can comprise atAttorney Docket No. MIT-26276WO01least one processor. A processor can comprise a microcontroller, a microprocessor, a programmable logic unit (PLU), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), custom digital circuitry, or some combination thereof. The controller(s) 180 can each be a packaged, stand-alone device included with the robotic system 100 and can communicatively couple to one or more components of the robotic system 100 with a wired or wireless link. In some implementations, system control can be implemented, at least in part, with a single, packaged, stand-alone device (e.g., circuity comprising a microcontroller or microprocessor and a touchscreen). In some implementations, system control can be implemented, at least in part, with a personal computer or laptop computer via a communication link to the robotic system 100. The personal computer or laptop can be adapted with a computer program designed to operate the robotic system 100 to perform functionalities described herein. In some cases, system control can be implemented with a distributed controller, with at least some components located at different and separated physical locations from each other but communicating over a network. In some implementations, a first controller can be used to control the robotic arm 130 and a second controller can be used to control image acquisition by the cameras 110. The first controller and / or the second controller can be configured to process the acquired images.

[0055] In operation, the controller 180 can obtain, using two cameras 110, a stereographic image of the work environment which includes any frameworks 140 located on the platform 105. The controller 180 can process the stereographic image to identify (via the marking 145) a target optical component 150 to be positioned in a system under development. The controller 180 can also determine the location and orientation of the framework 140 and its optical component 150 from the stereographic image. The controller 180 can then provide instructions to move the robotic arm 130 such that the robotic arm positions its gripper 135 above the framework 140, as depicted in the drawing of FIG. 1 and its inset. When positioned over the framework 140, the controller 180 can scan the LiDAR head 138 over the framework 140 and its marking 145 to determine the distance to, center of, and rotational orientation of, the framework 140 with high accuracy (e.g., within ±1 mm, ±0.5 mm, and within ±0.1 degree, respectively). The controller 180 can then instruct the robotic arm to accurately position the gripper 135 to securely grasp the upper region 142 of the framework 140, so that the robotic arm can lift, move, position, and orient the target optical component 150 at its intended location in an initial aligned position for the system under development.Attorney Docket No. MIT-26276WO01An initial aligned position may be a position and orientation for the optical component 150 that is close to a final aligned position, which can be achieved by fine-tuning adjustment mechanisms on the mounting hardware 168. By locating, grasping, positioning and orienting other optical components similarly, the robotic system 100 can set up the system under development on the platform 105 in an initial, approximately aligned configuration.

[0056] The framework 140 and marking 145 have several desirable aspects. The optical component 150 can be accurately registered to the framework 140, such that the location of an optical feature (e.g., center of a lens, center of a reflective surface, center of a grating, c / c.) can be known to high accuracy (less than ±0.25 mm) with respect to one or more features on the framework 140 (such as one or more top corners of the framework, a top center of the framework 140, a feature of a marking 145 on the framework 140, efc.). The marking 145 affixed to or imprinted on the framework 140 can provide a distinctive visual guide to aid computer vision in determining the location(s) of the one or more features on the framework 140 to high accuracy. In some implementations, the framework 140 can be 3D printed from a polymer to form a polymeric structure. Further, the marking 145 can be 3D printed on top of the framework 140, such that the marking 145 is accurately registered to the framework 140 with high accuracy (e.g., registered to top comers of the framework to less than ±1 mm, less than ±0.5 mm, or even less than ±0.2 mm in the x and j' directions indicated in FIG. 1).

[0057] More accurate alignment for an optical system under development can be implemented with fine-alignment tools held by the robotic arm 130, as described further below. Characterization of the optical system can be implemented with detectors or other analytic apparatus held by the robotic arm 130, as described further below.

[0058] 2. Further Details of the Robotic System

[0059] The robotic system 100 integrates advanced computer vision technologies and at least one robotic arm 130 to identify and manipulate optical components 150 with high accuracy. The robotic system 100 can employ at least one pair of cameras (for stereo vision) (cameras 110) and a LiDAR sensor (LiDAR head 138) to accurately identify and locate components on the platform 105. In some implementations, the robotic system 100 can comprise a single camera 110. The single camera may be used with additional processing for depth perception, such as using machine learning based methods or using pre-calibration. The robotic arm 130 is adapted with the gripper 135 to grab and position frameworks 140 holding optical components 150 for an optical setup.Attorney Docket No. MIT-26276WO01

[0060] 2.1 Coarse Positioning of the Gripper

[0061] The identification of an optical component 150 is accomplished by viewing (with the cameras 110) a marking 145 (such as a data matrix code, QR code, an ArUco marker, or a label) on the framework 140. The marking 145 can encode information that identifies the optical component mounted within the framework 140. An ArUco marker, which supports 1,000 unique IDs, can provide unique labeling for up to 1,000 optical components 150 for distinct recognition by the cameras 110. This amount of unique identification eliminates collision errors and provides a scalable system capable of handling a large array of optical components 150. The markings 145 can be scalable, enhancing the robustness of the detection system and enabling the robotic system 100 to accommodate components of varying sizes. This scalability allows for future expansion, including the creation of custom mounts for smaller or differently sized optical components 150.

[0062] In some implementations, markings 145 may not be used. Instead, identification and location of the optical components 150 can be implemented using advanced computer vision and machine learning solutions. Images of the framework 140, mounting hardware 168, and optical component 150 can be captured and processed by the controller to identify at least the optical component 150. In some implementations, the robotic arm 130 can pick up a framework 140 for which the optical component 150 is unknown and present (by holding and rotating) different views of the framework and optical component to the cameras 110 for image analysis and identification of the optical component 150.

[0063] An advantage of using matrix type codes is that they can provide both identifying information and quite precise spatial information for image analysis and alignment of the framework 140 and optical component 150. When using ArUco markers, image-processing methods can be used to find the center of the marking 145 and an angular orientation of the marking with respect to reference coordinates for a camera used to image the marking 145. The reference coordinates could be orthogonal axes determined from rows and columns of pixels in the camera’s imaging array, for example. Some image-processing methods may be available from open-source software online, such as a “find center” method for finding the center of ArUco markers and a “solvePNP” for finding the orientation of an ArUco marker. By obtaining translation vectors from the cameras 110, calculated using the apparent size of the markings and / or the parallax from the stereo images, along with pre-calibrated distortion parameters, the controller 180 can calculate initial position estimates for frameworks 140 andAttorney Docket No. MIT-26276WO01their optical components 150 on the platform 105. This approach yields a relatively accurate initial prediction of a target framework’s location on the platform 105 with an average deviation of about ±0.5 mm.

[0064] 2.2 Fine Positioning of the Gripper

[0065] While the initial prediction of the framework’s position may be suitable for grasping the framework 140 by the gripper 135 to move the framework 140 into place, higher positioning accuracy of the gripper 135 may be desired in some cases. For example, higher accuracy (< 0.1 mm) may be used when deploying a fine alignment tool, described further below, to make fine adjustments to optical components within frameworks that have been positioned in an optical set-up. A subsequent process can be executed to improve the position estimation.

[0066] Once the initial position is estimated for the gripper, the LiDAR head 138 is positioned by the controller 180 and robotic arm 130 above and close to the initially-estimated center of the optical component 150, center of the framework 140, or center or a marking 145. For example, the LiDAR head 138 (which can contain a LiDAR camera) may be positioned directly over and within 50 mm of the marking 145. This proximity can reduce distortion, allowing the robotic system 100 to accurately identify the pixel of the LiDAR camera that is capturing the center of the marking 145.

[0067] Detection of corners or outer edges of the marking 145 or of the framework 140 can be used by the robotic system 100 to determine the rotation of the marking 145, framework 140, and optical component 150 with respect to coordinate axes (e.g., rows and columns of pixels) of the LiDAR camera in the LiDAR head 138. For example, the controller 180 can construct vectors between ordered comers of the marking 145 (e.g., from the first corner to the second corner and from the second corner to the third comer) to define two orthogonal coordinate axes of the marking 145.

[0068] Once the orientation of the marking 145 and the marking’s center are determined with respect to the LiDAR camera, the controller 180 can rotate and move the gripper 135 to an aligned position over the framework 140 or next to the framework 140 (to deploy the fine alignment tool). For example, the center of the gripper 135 can be positioned directly over the center of the marking 145 and the gripper 135 can be rotated such that grasping surfaces on the gripper 135 are essentially parallel to surfaces on the framework 140 that will be grasped. The highly-accurate movement and rotation of the robotic arm 130 is aided by theAttorney Docket No. MIT-26276WO01resolution of the LiDAR camera, which can provide feedback to the controller 180. A built-in LiDAR sensor in the LiDAR head 138 measures the distance to the center of the marking 145 (such as an ArUco tag), determining the height of the framework 140 and optical component 150 with high accuracy, so that the gripper 135 can be lowered to grip the framework 140 or can be precisely positioned next to the framework 140 to deploy a fine-alignment tool to engage adjustment mechanisms on the mounting hardware 168 that holds the optical component 150.

[0069] 3. Fine Alignment Tool

[0070] The robotic system 100 can further comprise a fine alignment tool 200, which is depicted in the perspective view of FIG. 2A. FIG. 2B illustrates, in elevation view, the fine alignment tool 200 moved into a position to engage in fine alignment of an optical component 150 (e.g., a mirror). FIG. 2C and FIG. 2D depict another implementation of the fine alignment tool 200. The fine alignment tool 200 comprises a frame 210 having a raised portion 220 for gripping by the gripper 135 of the robotic arm 130. One or more actuators 230 (stepper motors in this example) can be mounted to the frame 210. For the example implementation of FIG. 2A, a drive shaft and gear (both not shown) can mount to the frame 210 via the two holes shown in side plates 215 of the frame 210 and engage with a drive gear 235 of the actuator 230. The drive shaft can be used to turn adjustment knobs or screws on the mounting hardware 168 (e.g., an adjustable mount) that holds the optical component 150. The actuators 230 can be operated by the controller 180 via wired or wireless communication links. The actuators 230 can comprise any motion transducer such as, but not limited to, an electromagnetic motor, a stepper motor, a voice coil, a solenoid, a piezoelectric transducer, etc.

[0071] The fine alignment tool 200 represents a significant advancement in achieving accurate, robotic alignment in complex optical setups. This example implementation depicted in FIG. 2A and FIG. 2B is a compact device comprising two stepper motors with bevel gear configurations. The actuators 230 and bevel gears 235 can drive two axles that have hex drivers at their ends. These hex drivers can interface directly with the fine adjustment knobs of standard optical mounts, allowing for high-precision tuning of an optical component 150. The fine alignment tool 200 can be gripped and manipulated by the robotic arm 130 so that the process of fine-tuning optical components can be automated, reducing the need for manual intervention and providing more consistent and reproducible levels ofAttorney Docket No. MIT-26276WO01accuracy when setting up optical systems. The size of the fine alignment tool 200 can be scaled to interface with adjustable mounts for standard optical component sizes (e.g., 1-inch and 2-inch diameter optics) and for smaller and larger adjustable mounts.

[0072] Another example of a fine alignment tool 200 is depicted with a rear perspective view in FIG. 2C and front perspective view of FIG. 2D. The fine alignment tool 200 of FIG. 2C and FIG. 2D also includes a frame 210, a raised portion 220, actuators 230, and marking 145. In this implementation, the actuators 230 are oriented such that their drive shafts are approximately or exactly in line or parallel with shafts of adjustment mechanisms of the mounting hardware 168 (e.g., an adjustable mount) with which the fine alignment tool can engage. For example, each actuator 230 can rotate a driver 232 (e.g., a hex driver) that engages with the adjustment mechanism on the mounting hardware 168.

[0073] The fine alignment tool 200 can further comprise a camera 240 to aid in positioning the fine alignment tool 200 when deploying the fine alignment tool. For example, the camera can help guide the drivers 232 on the fine alignment tool 200 to engage with adjustment mechanisms on the mounting hardware 168. In some implementations, the camera 240 can communicatively couple to the controller 180 via a wireless link, though the camera 240 can communicatively couple to the controller 180 with a wired link. When coupled with a wired link, there can be just one cable (e.g., a USB cable) connecting to the fine alignment tool 200 that can provide electrical power and at least one communication link. In some implementations, there can be a marking 145 located additionally on a side (e.g., rear) of the framework 140 housing any component for viewing by the camera 240 of the fine alignment tool 200.

[0074] FIG. 2E, FIG. 2F, and FIG. 2G depict a fine alignment adapter 201 that can be attached to the mounting hardware 168 temporarily or for the duration of an optical set-up. The framework 140 is omitted from the drawings of FIG. 2E and FIG. 2F, though it would be present in an implementation. The fine alignment adapter 201 can be located outside the framework 140 in some cases, within the framework 140 in some cases, or partially within and partially extending outside the framework in some cases.

[0075] In some cases, the fine alignment adapter 201 can press-fit onto the mounting hardware 168 and / or be retained on the mounting hardware 168 with at least one fastener and can be removed from the mounting hardware by pulling off or removing the fastener(s). The fine alignment adapter 201 comprises three actuators 230 mounted to a PCB 250, though itAttorney Docket No. MIT-26276WO01could comprise only one or two actuators for one or two adjustments. Circuitry 252 for controlling the actuator(s) 230 can be located on the PCB. The actuators 230 can each have a driver 232 to engage with an adjustment mechanism 165 (e.g., an adjustment screw) on the mounting hardware 168. Two of the actuators 230 can be used to control pitch and yaw of the optical component held by the mounting hardware 168. The third actuator 230 can be used with the other two actuators to translate the optical component and / or increase the range of pitch and yaw adjustment.

[0076] The circuitry 252 can communicatively couple to the controller 180 by a wired or wireless link. If coupled by a wire, only one cable (e.g., a USB cable) may connect to the circuitry 252 and PCB 250. The single cable can carry power and digital signals. Having only one cable can reduce coupling of mechanical perturbations through cabling to the mounting hardware 168. The circuitry 252 can include an on-board processor 254 or other logic control device that can issue commands to operate the actuators 230. In some implementations, the fine alignment adapter includes on-board power (e.g., a rechargeable battery). In some cases, the circuitry 252 can include an inductive coil for wireless charging of the on-board power source.

[0077] 3.1 Integration and Detection Capabilities

[0078] The fine alignment tool 200 can be uniquely identified by a reserved marking 145 and / or ID tag. The computer vision of the robotic system 100 can reliably detect this reserved marking to differentiate it from other components. The reserved marking 145 may be smaller, the same size, or larger than other markings 145 deployed in the optical system. The fine alignment tool 200 can be initially recognized and its location on the platform stored, streamlining future operations by enabling the robot to easily locate and pick up the tool from the same position after use.

[0079] 3.2 Operational Workflow for Fine Alignment

[0080] An example fine alignment process can begin with the robotic system 100 identifying an optical component 150 for which fine adjustment is to be made (e.g., to adjust the position of an optical beam reflected from the optical component 150). The robotic arm 130 then picks up the fine alignment tool 200 with the gripper 135 and positions the fine alignment tool 200 into an aligned position with adjustment mechanisms of the mounting hardware 168 holding the optical component 150. The robotic arm 130 then moves the fine alignment tool 200 such that the two motor-driven hex drives are inserted into the fine adjustment knobs orAttorney Docket No. MIT-26276WO01screws of the mounting hardware 168. The fine alignment tool 200 can then provide controlled, fine adjustments of the optical component 150. By rotating the hex drivers, the fine alignment tool 200 can rotate the fine adjustment knobs of the mounting hardware 168 clockwise and / or counterclockwise to accurately orient the position of the optical component 150.

[0081] 3.3 Feedback Mechanism and Continuous Adjustment

[0082] The open frame 210 of the fine alignment tool 200 allows optical beams to pass unobstructed through the tool. This design can allow for the placement of a camera or other optical detector behind the tool so that real-time optical feedback during continuous adjustment of the optical component 150 is possible. In some implementations, the camera can capture beam data, feeding it to the controller 180 for processing, which interprets the feedback and commands the actuators 230 to make incremental adjustments. This closed-loop system can improve the efficiency of the fine-alignment process and achieve dep submillimeter accuracy of beam position.

[0083] 3.4 Efficiency and Repeatability

[0084] The initial location of the fine alignment tool 200 can be saved in memory by the controller 180. After the robotic arm uses the fine alignment tool 200, it can be returned to the same location. Returning the tool to the same location makes future retrievals of the tool efficient, minimizing search time and speeding up the overall workflow. By automating fine alignment tasks, the robotic system 100 not only improves the speed and accuracy of optical setups but also reduces the cognitive and manual load on human operators, paving the way for more complex and large-scale optical configurations to be assembled and aligned with minimal human intervention.

[0085] Additional aspects that can be implemented with the fine alignment tool 200 are listed below.

[0086] Additional Actuators: Integration of additional actuators for multi-axis control (e.g., pitch, yaw, and roll adjustments simultaneously).

[0087] Grippers: Integration of adjustment grippers connected to actuators of the fine alignment tool. The adjustment grippers can grasp fine-alignment adjustment knobs on standard optical components to perform fine alignment instead of inserting drivers intoAttorney Docket No. MIT-26276WO01screws. In some cases, the adjustment grippers can operate screwdrivers, hex keys, ball drivers.

[0088] Interchangeable Drivers: The type of driver at the end of the drive shaft for the fine alignment tool 200 and fine alignment adapter 201 can be interchangeable (e.g., swappable between hex drive, square drive, star drive, Phillips head, flat head, Torx drive, efc.)

[0089] Alternative Implementation of Fine Alignment Tool: A variant of the fine alignment tool 200 (such as the fine alignment adapter 201 of FIG. 2E, FIG. 2F, and FIG.2G) can be implemented that attaches to the optical components and / or the framework 140, as opposed to being deployed repeatedly by the robotic arm. The fine alignment adapter 201 can comprise attachment hardware (e.g., clips that clip onto lips or edges of the framework 140, fasteners such as screws that secure the fine alignment adapter 201 to the framework 140, magnets and ferromagnetic material to secure the fine alignment adapter 201 to the framework 140, and / or press-fit features that engage with adjustment mechanisms on the mounting hardware 168 within the framework 140) or other attachment mechanisms. The fine alignment adapter 201 can include actuators 230 and drivers that engage with adjustment mechanisms 165 on the mounting hardware 168 within the framework 140. The fine alignment adapter 201 can include an on-board processor 254 (e.g., a microcontroller, a Raspberry Pi available from Raspberry Pi Holdings of Cambridge, England, an Arduino® Nano, available from Arduino AG of Ivrea, Italy, a programmable logic controller, c / c.) to control the actuators 230. The on-board processor 254 can communicate with the system controller 180 via a wired or wireless link. Power can be provided from a battery attached to or electrically coupled to the fine alignment adapter 201. The battery can be rechargeable (e.g., via wireless charging) and / or can be replaceable. Components of the fine alignment adapter 201 can be mounted within a housing, which can, at least in part, be machined from a metal, assembled from separate parts, injection molded, or 3D printed. The fine alignment adapter 201 can be provided as an add-on accessory for hands-free fine alignment of at least some optical components in an optical setup. One or more fine alignment adapters 201 can be implemented in the optical setup.

[0090] Modular Head: Modular head attachments can be provided with the fine alignment tool 200 and fine alignment adapter 201 to accommodate different mount types and screw sizes. This is made possible by incorporating a receptacle onto the drive shaft (such as by welding) that allows for interchangeable screwdriver / Allen key bits to be used with the tool.Attorney Docket No. MIT-26276WO01

[0091] Position Encoders: Position encoders can be integrated in the fine alignment tool 200 and fine alignment adapter 201 for closed-loop feedback and position tracking. In some implementations, pressure sensors can be incorporated onto driver mechanisms of the fine alignment tool 200 and the sensor data used to determine if the fine alignment tool is correctly engaged with the mounting hardware 168 when deployed. One possible implementation can comprise comparing the sensor data with previously determined calibration values to know if the drive shaft has gone all the way in and engaged with the adjustment knobs correctly.

[0092] Added Computer Vision: Addition of computer vision can be implemented with the fine-alignment tool (such as the added camera 240 in FIG. 2D) for automated alignment verification. A small camera 240 can be incorporated into the fine alignment tool 200 that monitors the insertion of the drive shafts into the alignment screws and determines whether drivers on the fine alignment tool have inserted or engaged properly with adjustment mechanisms on the optical mount.

[0093] 4. Multifunctional Beam Characterization Tool

[0094] The robotic system 100 can further comprise a multifunctional beam characterization tool 300, an example of which is depicted in FIG. 3A. An exploded view of the beam characterization tool 300 is shown in FIG. 3B. The beam characterization tool 300 comprises a camera 310, a lens system 320, a PCB 330 supporting control circuitry, and may further comprise a display screen 340. Some implementations of the beam characterization tool may not include a display screen 340. The multifunctional beam characterization tool 300 can be picked up with the gripper 135, held, and positioned by the robotic arm 130 for analysis of an optical system.

[0095] FIG. 3C is a photograph of an example implementation of the beam characterization tool 300 where most of the components have been mounted on an optical breadboard. The beam characterization tool 300 is arranged to characterize the optical output from an optical source 360, such as a laser. The beam characterization tool 300, in this example, includes optional lenses 322, 324 (to resize and / or change the divergence or convergence of the optical beam from the optical source 360). The lenses 322, 324 can be omitted if the full beam matrix parameters are not needed. For example, only one lens and a knife-edge plate 350 are needed to obtain the M2beam matrix parameter. The beam characterization tool 300 further includes a quarter-wave plate 338, one or more wave plates 332, 334 located between theAttorney Docket No. MIT-26276WO01quarter- wave plate 338 and the camera 310, and a linear polarizer 336 located between the wave plates 332, 334 and the quarter-wave plate 338. The wave plates 332, 334, lenses 322, 324, polarizers 336, and other optical components that operate on the phase of the optical field can be implemented as meta-optical components having one or more metasurfaces. The knife-edge plate 350 can be mounted on a translation stage such that it can be slid or translated into the optical beam path and cut across the optical beam from the optical source 360. The knife-edge plate 350 can be located between the camera 310 and a lens 322 in the beam characterization tool 300.

[0096] The multifunctional beam characterization tool 300 is an advanced, integrated system designed for comprehensive analysis and alignment of optical beams (such as laser beams). Unlike conventional setups that rely on specialized, single-function equipment, this tool consolidates multiple beam characterization functions into a single, versatile device. Built around a core comprising a Raspberry Pi, a camera 310, and an optical lens system 320, 322, 324, this tool facilitates tasks such as beam alignment, polarization measurement, back focal plane imaging, and M2measurement. Its flexible design allows for operation by both automated robotic systems and human users, with an attached LCD screen providing realtime feedback for users. The beam characterization tool 300 can communicate with the controller 180.

[0097] 4.1 Optical Lens System

[0098] The beam characterization tool 300 comprises adjustable lenses or metalenses in the lens system 320 for collimating or focusing the laser beam, enabling precise measurement of beam properties. The lens system 320 performs an optical transformation akin to a Fourier transform, allowing for detailed beam profile analysis. Lenses can be convex, concave, or adjustable focal lenses, mounted in tunable holders for fine adjustments. The lens system 320 can comprise a first lens 322 and a second lens 324. Polarizers (such as the linear polarizer 336), analyzers and wave plates (such as the quarter-wave plate 338 and / or the wave plates 332, 334) can be placed to further analyze the beam from the optical source 360.

[0099] 4.2 Raspberry Pi

[0100] The control of the beam characterization tool 300 can be handled by an onboard processor, such as a Raspberry Pi processor or other embedded processor, that interfaces with the camera 310 to capture real-time images and perform computations for beam alignment and characterization. The processor can process image data using customAttorney Docket No. MIT-26276WO01Python-based software that leverages libraries like OpenCV for image analysis and feedback generation, according to some implementations. Other software can be used in some implementations, and the invention is not limited to Python and OpenCV software.

[0101] 4.3 Camera

[0100] The camera 310 can be a high-resolution camera that is sensitive to visible and / or infrared wavelengths, so that the camera 310 can capture detailed images of the laser beam profile. Positioned within the beam path, the camera 310 provides input for real-time processing and feedback for the robotic system 100. Placement of the camera 310 can be carefully aligned by the robotic arm 130 to the optical system to provide accurate data capture.

[0101] 4.4 Motorized Positioners (Optional)

[0102] For applications involving automated fine-tuning, the system includes motorized positioners controlled by the on-board processor via GPIO pins. These positioners adjust the position of internal components, such as mirrors, lenses 322, 324 and / or the knife-edge plate 350, for various beam characterization tasks (e.g. moving the knife-edge plate 350 across the beam to measure beam waist).

[0103] 4.5 Beam Alignment Software

[0104] The software running on the on-board processor of the beam characterization tool 300 can comprise code for real-time beam analysis. Features include, but are not limited to, live beam profile display, Gaussian fitting for beam centering, and a UI for user feedback. The beam characterization tool 300 can operate in both manual mode for user operation and automated mode for operation by the robotic system 100.

[0105] 4.6 Detector (Optional)

[0106] A photodetector can be incorporated into the beam characterization tool 300 to measure beam power and alignment accuracy, enhancing feedback to the on-board processor for more accurate adjustments.

[0107] 4.7 Meta-optics (Optional)

[0108] Meta-optical elements (optical components having one or more metasurfaces) can be integrated into the beam characterization tool 300 for added beam characterization or modification functionalities. Metasurfaces transcend the dynamic range and angularAttorney Docket No. MIT-26276WO01resolution limitations of traditional convex lenses, enabling compact, high-resolution beam characterization. When combined with machine learning techniques, these metasurfacebased tools can achieve superior speed and resolution compared to conventional optical systems.

[0109] 4.8 Description of Operation

[0110] The operation of the beam characterization tool 300 begins with deploying the tool by the robotic arm 130 somewhere in an optical system disposed on the platform 105. In some cases, the beam characterization tool 300 can be deployed and held in place by the robotic arm 130. In some implementations, the beam characterization tool 300 can be deployed on supporting hardware 160 that supports the beam characterization tool 300 at a location on the platform 105, so that the robotic arm is free for other tasks.[OHl] A laser source in the optical system can emit a beam that passes through or is acted on by the optical components 150 of the optical system. The optical components 150 can include, for example, lenses, polarizers, scannable knife-edges, mirrors, gratings, prisms, nonlinear optical elements, etc.. The camera 310 of the beam characterization tool 300 captures the beam profile, and the on-board processor processes this image data to calculate beam parameters per instructions stored in memory. Resulting data from the image processing can be communicated to the controller 180 of the robotic system 100 (e.g., for beam alignment and / or other operations to affect the beam).

[0112] Data received by the controller 180 from the on-board processor of the beam characterization tool 300 can be used by the robotic system 100 to make fine adjustments to one or more optical components 150 in the optical system on the platform 105. For example, the robotic arm 130 can retrieve the fine alignment tool 200 and use it (or issue commands to at least one fine alignment adapter 201) to make fine adjustments to one or more optical components 150 that affect one or more beam characteristics (e.g., position, shape, polarization, intensity, wavelength, efc.) while receiving updated data from the beam characterization tool 300. This feedback loop, facilitated by continuous monitoring from the on-board processor of the beam characterization tool 300, can improve efficiency of alignment and configuration of the optical system. In some implementations, the feedback loop can be employed while the optical system is operating to maintain alignment and / or monitor beam characteristics during operation of the optical system. In some cases, theAttorney Docket No. MIT-26276WO01display screen 340 can provide human users with visual feedback for manual adjustments if desired.

[0113] FIG. 3D is a superposition of beam images acquired with the beam characterization tool 300 of FIG. 3C for five different beam alignment conditions. A first image 370 corresponds to a beam alignment condition where an output beam from the optical source 360 is aligned centrally with an optical axis of the beam characterization tool 300. When the beam from the optical source 360 moves in a direction away from the optical axis, the image of the beam moves in the same or opposite direction (depending on the lensing used in the beam characterization tool 300) and distorts. For the example misalignments recorded in FIG. 3D, the beam moved upward producing the first distorted beam image 372 near the top of the field-of-view 380 observable by the beam characterization tool 300. Moving the beam from the optical source 360 downward produced the second distorted beam image 374 near the bottom of the field-of-view 380. Similar actions occurred when moving the beam left (producing the third distorted beam image 376) and right (producing the fourth distorted beam image 378). As the beam is moved in each direction, the beam translates and morphs into the distorted image. As such, real-time feedback of beam alignment and beam quality can be detected with the beam characterization tool 300 and corrected. Correction of beam alignment and / or beam quality can be done by issuing commands by an on-board processor of the beam characterization tool 300 to the controller 180 of the robotic system 100. The controller 180 can then deploy the fine alignment tool 200 to make adjustments to one or more optical components in the system and / or issue commands to one or more fine alignment adapters 201 to make adjustments to one or more optical components in the system.

[0114] 4.9 Software and Control System

[0115] Software executing on the on-board processor of the beam characterization tool 300 can provide a variety of functionality for the tool. Some of the software can be customized for a particular application. By executing the software, the beam characterization tool 300 can perform real-time image capture and analysis, display the beam profile, and implement alignment processes that adjust the internal optical elements in the beam characterization tool 300 based on feedback from the camera for various beam characterization tasks. Some software implemented features include error detection, real-time centroid calculations, and visual or audio alerts when alignment to a desired degree of accuracy is achieved. TheAttorney Docket No. MIT-26276WO01software can output information for controlling hardware components, such as servo or stepper motors, through the on-board processor’s GPIO pins.

[0116] Some desirable aspects of the beam characterization tool 300 are listed below.• Full Automation: The beam characterization tool 300 can operate without human intervention when controlled by the robotic system 100, streamlining and aiding complex optical alignments.• Real-Time Feedback: The attached display screen 340 can provide immediate visual feedback for human users, facilitating manual adjustments if desired.• Versatility: The beam characterization tool 300 can perform multiple beam characterization tasks (e.g., alignment, beam shape, intensity profile, polarization analysis) with standard components, making it adaptable and cost-effective.• Compactness: The beam characterization tool 300 incorporates functionalities of multiple commercially available beam characterization devices into a single package that can be held in the hand (e.g., a package with approximate dimensions 100x50x100 mm and approximate weight of 400 g).• High Accuracy: The beam characterization tool 300 can achieve alignment and measurement accuracy comparable to specialized commercial instruments.• Flexibility: The beam characterization tool 300 can operate in both manual and automated modes, useful for a wide range of user preferences and applications.

[0117] 4.10 Additional Features for the Beam Characterization Tool

[0118] The beam characterization tool 300 may be implemented with additional features in some cases. For example, the beam characterization tool 300 can include real-time data logging by the on-board processor. The beam characterization tool 300 can further include remote access for monitoring laser alignment over the internet, for example. An ultra-high resolution (e.g., greater than 30 megapixel) camera 310 can be used for increased alignment accuracy and beam analysis. In some cases, the lens system 320 can include zoom lensing to provide different fields of view (e.g., to adjust for alignment accuracy versus dynamic range of view). The beam characterization tool 300 can be battery powered and communicate wirelessly in some cases. In such cases, at least one inductive coil for wireless charging can be included in the beam characterization tool 300.Attorney Docket No. MIT-26276WO01

[0119] 5. Various Implementations of the Robotic System

[0120] The robotic system 100 can be implemented in various ways with various features. Some of these implementations are described below.

[0121] Dual Robotic Arm System: The robotic system 100 can be implemented as a two-arm robot system or multi-robot system to handle complex assembly tasks more efficiently, enabling collaborative handling of large components or simultaneous multi-component adjustments or extending the range of operation across a single platform or multiple platforms. A multi -arm coordination system can be implemented for simultaneous manipulation of multiple components. Each robotic arm 130 can be controlled by a dedicated controller 180 and the controllers for the different robotic arms can communicate with each other to coordinate the simultaneous manipulation of multiple components. In other implementations, a single controller 180 can control all robotic arms 130 in the robotic system and coordinate movement and operation of all the arms.

[0122] QR-Free Identification: In some cases, the markings 145 can be omitted by using advanced computer vision and machine learning techniques for direct component recognition, enabling identification based solely on visual characteristics and shapes. Integration of deep learning models such as convolutional neural networks (CNNs) for markerless component recognition and pose estimation, eliminate the need for markings 145 on each framework 140. Such CNNs may be trained by using images captured in the laboratory environment in which the system is deployed and using techniques such as data augmentation for images.

[0123] Multi-Spectral Vision System: In some cases, the cameras 110 can have sensitivity to different selected wavelengths (e.g., infrared, ultraviolet) to identify a wider range of components and materials, which could be helpful in unique environments or with optically sensitive parts.

[0124] Remote Monitoring and Control: Remote control capabilities can be implemented via cloud or wireless technology, allowing the system to be monitored and adjusted from anywhere, enabling remote laboratories or multi-site collaboration. This can include remote control of the robotic arm 130 using a device that provides haptic feedback to the user to simulate touch.

[0125] Self-Calibrating System: Self-calibrating functionality can be implemented where the robotic system 100 periodically checks and adjusts any sensors, cameras, and positioningAttorney Docket No. MIT-26276WO01apparatus deployed in the robotic system to maintain accurate and reliable system operation, reducing the need for manual external calibration or system checks.

[0126] Nonlinear Optical Component Handling: The robotic system 100 can handle nonlinear optical components that involve very fine alignment, such as nonlinear optical crystals for frequency conversion. Dedicated sub-micron adjustment mounts can be used as mounting hardware 168 for these optical components. These mounts can be adjusted by the fine alignment tool 200 or fine alignment adapters 201.

[0127] Expanded Use of Al and Error-Reduction for Alignment Optimization: AI-driven processes such as diffusion and reinforcement learning can be used that continually improve and refine identification of components, pickup, and alignment procedures by learning from previous setups and / or data, thereby enhancing efficiency over time. Non-AI processes can also be used to improve alignment, such as feedback, error-reduction, and / or gradient-descent.

[0128] Mobile Robotic Platform: The robotic arm 130, stereo cameras 110, and controller 180 can be implemented in a mobile assembly (e.g., using rails, wheels, cranes, and / or translation stages) that can move or be moved between different optical tables or workstations, allowing a single system to serve multiple setups or areas in a lab or production floor.

[0129] Augmented Reality (AR) or Virtual Reality (VR) Interface: An AR or VR interface (e.g, goggles or a display screen) can be implemented for remote control of setup. The controller 180 can use information about the setup and available optical components 150 to overlay component information, setup instructions, or alignment guides in a display for human operators to view for telecontrol and / or monitoring of the automated setup. The augmented reality or virtual reality visualization can be used for human oversight and intervention.

[0130] Scalability to Non-Optical Assemblies: The system’s capabilities can be adapted to include assembly and alignment of mechanical, electrical, or biological components, broadening its utility across different scientific fields. For example, the robotic system 100 can be adapted for optical characterization (such as measuring absorption spectra) of chemical, biological and material samples in liquid, solid, powder, thin film forms or to assemble mechanical or optical components with high precision (e.g, sub-millimeter to sub-10 micron precision).Attorney Docket No. MIT-26276WO01

[0131] Multiple Wavelength and Power Level Adaptability: The system can be equipped with interchangeable sensors or cameras to accommodate lasers of varying wavelengths and power levels, making it adaptable to different experimental setups.

[0132] 6. Example Operations of the Robotic System

[0133] 6.1 Beam Direction / Alignment

[0134] FIG. 4A depicts an arrangement used to demonstrate automated alignment of an optical lens in a beam path. A first lens 405 was fixed in the optical path of a laser beam 410, between the laser and a camera 430. A second lens 420 of a two-lens beam expander was positioned in the optical path of the laser beam 410 and then subsequently moved to produce the desired magnification (approximately a factor of 2 in this example). At the desired magnification, the distance between the two lenses is equivalent to the sum of their focal lengths fi + f2. Images of the laser beam 410 were acquired with a camera 430 first without any lenses in the beam path (shown at the left in FIG. 4C) and after each positioning attempt of the second lens 420 by the robotic arm 130. The images were processed to determine the difference between the measured beam waist and desired beam waist. The robotic arm 130 repositioned the second lens 420 based on the difference and using gradient descent until the error in the measured beam waist was less than 1 micron from the desired beam waist. Two runs were made with the start position being on opposite sides of the final, preferred location for the second lens 420. FIG. 4B shows the number of positioning attempts made by the robotic arm 130 for each run. In about 12 iterations, the error in beam size (due to the position of the second lens) was reduced from about 1 mm to less than 1 micron. FIG. 4C shows images of the original beam, starting beam size for each run, and final beam size for each run.

[0135] FIG. 4D depicts an example diagram and measured results showing how the robotic system 100 can be used to accurately track the path of an optical beam to determine a beam’s direction (e.g., for optical alignment purposes). The robotic arm 130 holds the beam characterization tool 300 and moves the tool to detect 3D spatial positions of the optical beam with each repositioning of the beam characterization tool 300. The beam characterization tool 300 can accurately determine the location of the beam center on its camera 310 after each movement. The 3D plot shows the detected beam center positions (x, y, z coordinates) and also plots the changes for each coordinate component. The inset in the 3D plot shows an example of how the beam characterization tool 300 detects the center of the optical beam.Attorney Docket No. MIT-26276WO01

[0136] Traditional systems for measuring laser beam position and direction often rely on specialized position-sensitive devices (PSDs) and detectors, such as quadrant photodiodes coupled with custom electronics. These setups generally integrate feedback mechanisms for beam direction control. They typically employ manual alignment, significant human intervention, and are typically tailored for single-purpose applications, which restricts their versatility and increases setup time. The reliance on dedicated and often expensive hardware further constraints their adaptability for broader applications.

[0137] The robotic system 100 introduces an automated, versatile method for laser beam position and direction measurement, and can eliminate continuous human oversight. The robotic system leverages image processing and accurate positioning capabilities to perform comprehensive beam characterization efficiently and accurately.

[0138] The beam-tracking process can comprise the robotic arm 130 deploying the beam characterization tool 300 or another digital camera / sensor, which follows a programmed search pattern across a plane approximately perpendicular to the anticipated optical path of the laser beam 410. The beam characterization tool 300 detects the laser beam spot on its camera 310, achieving high accuracy in locating the beam’s position.

[0139] The system can operate in two modes for detecting the beam center. When the robotic arm 130 actively holds the beam characterization tool 300 during measurement, the accuracy is determined mainly by the robot’s positioning capabilities, typically around 100 micrometers with standard commercially-available robotic arms. For enhanced accuracy, the robotic arm 130 can also place the beam characterization tool 300 in a fixed location after detecting the beam. In this mode, the measurement accuracy improves significantly (e.g., sigma values as low as 50 microns in some cases, as low as 10 microns in some cases, as low as 5 microns in some cases) which is mainly dependent on the pixel resolution of modem high-resolution cameras.

[0140] After the position of the beam center is determined, the robotic system 100 transitions to measuring the beam's direction. The robotic arm 130 can move the beam characterization tool 300 linearly, along an expected optical path for the beam, while recording the movement of the beam’s center on the camera’s imaging array. The central computer processes this video data, determining the trajectory of the beam spot across image frames to calculate the beam’s direction vector. This automated method can achieve angular resolution comparableAttorney Docket No. MIT-26276WO01to or exceeding commercial autocollimators, with accuracy better than 5 arc seconds, all without specialized equipment.

[0141] Beam direction can also be measured using a lens with a known focal length and the beam characterization tool 300. The robotic arm 130 positions the lens in the path of the beam after determining the center of the beam, as described above. The center of the lens is located at the detected center of the beam. The beam characterization tool 300 is then moved to the back focal plane of the lens, utilizing the full sensor pixel array (e.g., exceeding 1,000 pixels) to achieve microradian-level angular resolution. This setup allows for fully automated high-precision measurement of the beam direction, complementing the direct method above.

[0142] In some implementations, the system controller 180 handles real-time data analysis, including beam spot centroid calculation, trajectory tracking, angular computation, and error estimation. The system controller 180 integrates data from camera sensor characteristics, optical component specifications, and robot positioning accuracy while compensating for environmental variables to maintain robust performance.

[0143] Additional aspects and implementations of beam direction characterization with the robotic system are listed below.

[0144] Full and Efficient Automation: The system can characterize beam direction without human intervention, streamlining complex measurements. Beam characterization can be completed in less than 5 minutes.

[0145] Dual-Mode Accuracy: Different operational modes can be selected, depending on the desired level of measurement accuracy.

[0146] Competitive Performance: The robotic system 100 can achieve measurement accuracy and precision on par with or superior to commercial beam characterization instruments.

[0147] Broad Compatibility: The robotic system 100 can be readily adapted to different laser wavelengths and power levels through the selection of appropriate camera types and addition of optical attenuators placed in the beam path.

[0148] Real-Time Monitoring of Laser Systems: The robotic system can be integrated with existing laser setups for continuous, real-time beam direction and position feedback.

[0149] 6.2 Beam Quality CharacterizationAttorney Docket No. MIT-26276WO01

[0150] The robotic system 100 can also be used to make beam quality measurements. FIG.5A depicts an arrangement to measure the beam quality from a laser 530. A lens 510 having a known focal length is placed to focus the laser beam 410. The robotic arm 130 can scan the beam characterization tool 300 along the optical path of the laser beam and through the focus while recording a cross-sectional set of images of the laser beam 410 with a beam -imaging camera, which show the beam’s transverse intensity profile (measured in a transverse beam direction, across the beam). These images (some of which are shown on the plot in FIG. 5A) can be analyzed to determine the beam width as a function of position along the optical path after the lens 510, and thereby used to calculate at least one beam quality parameter, such as the beam propagation ratio M2.

[0151] The beam propagation ratio, M2, is a useful parameter in laser beam quality assessment, representing the deviation of a beam from an ideal Gaussian TEM00 mode. A perfect Gaussian beam is characterized by an M2value of 1, with increasing values signifying greater deviation from this ideal state. However, while M2is widely recognized and used in the industry, it alone does not provide a complete picture of beam quality. Comprehensive characterization, as outlined in the ISO / DIS 11146 standard, involves the measurement of a complete 4^4 beam quality matrix, which encapsulates both spatial and angular beam properties and their correlations.

[0152] Current commercial solutions for beam quality assessment are predominantly limited to measuring M2, requiring dedicated equipment that consumes substantial optical table space and involves manual alignment. These traditional methods do not provide a full 4x4 beam quality matrix and involve considerable operator expertise and intervention. The absence of an automated system capable of measuring the complete beam quality matrix limits the ability to obtain a comprehensive understanding of beam properties efficiently.

[0153] The robotic system 100 can address these limitations by offering a fully-automated method for measuring the complete 4x4 beam quality matrix as defined by the ISO / DIS 11146 standard. The robotic system 100 uses high-precision positioning, optical component manipulation, and real-time data analysis to measure and characterize beam quality beyond conventional M2assessments. This automated process can eliminate human intervention, reduce alignment errors, and make more optical table space available that would otherwise be used to mount an instrument for 4x4 beam quality matrix determination.Attorney Docket No. MIT-26276WO01

[0154] To make measurements for the 4x4 beam quality matrix, the robotic system 100 uses very few additional components. These components include a laser-quality spherical lens, a laser-quality cylindrical lens, and quality lens mounts to stably hold these lenses on the platform 105 during beam measurements.

[0155] Beam quality measurements were made with the breadboard version of the beam characterization tool 300 shown in FIG. 3C. Results from these measurements, made on an output beam from a packaged laser diode, are shown in FIG. 5B, FIG. 5C, FIG. 5D, and FIG. 5E. The transverse intensity profile detected with the beam characterization tool 300 is plotted in FIG. 5B, showing an oblong beam profile. FIG. 5C plots the normalized beam waist values measured at 0.5-inch intervals as a function of distance from the output of the laser diode. The measured values are fitted with two curves. The waist values were measured in orthogonal (x-lateral and j'- vertical) directions across the beam. Polarization of the beam was also evaluated with the beam characterization tool 300. FIG. 5D shows the measured Stokes parameters for the beam. The normalized Stokes values are as follows: So = 1, Si = 0.94, S2 = 0.21, and S3 = 0.04. FIG. 5E plots the polarization ellipse for the beam.

[0156] Spherical Lens Characterization: Measurements for the 4x4 beam quality matrix can involve the robotic arm 130 positioning a spherical lens of known focal length into the pre-characterized beam path (which can be measured as described above in connection with FIG. 4A). The system controller 180 can instruct the robotic arm 130 to place the spherical lens (and its lens mount) such that the lens is concentric with the laser beam 410 and perpendicular to the central axis or optical path of the laser beam 410. The beam characterization tool 300 can be moved along the optical path behind the lens, capturing video data or frames of data while being moved along the optical path. The system controller 180 can analyze received video data or captured frames of data in real-time to record variations in beam spot size, intensity distributions, centroid positions, and phase front curvature. The phase front curvature can be measured by placing a knife’s edge or slit across the beam at different positions and measuring the beam waist and divergence from the camera images.

[0157] Cylindrical Lens Characterization: For a more detailed characterization of other beam matrix parameters, the robotic system 100 can use cylindrical lenses. The cylindrical lens can be first positioned for horizontal focusing. The beam characterization tool 300 follows the beam along the optical axis, collecting video data for analysis of horizontal beamAttorney Docket No. MIT-26276WO01properties. The cylindrical lens is then rotated 90 degrees for vertical focusing of the optical beam. The robotic system repeats the positioning and measurement sequence with the beam characterization tool 300 to capture vertical beam characteristics.

[0158] Data Integration and Beam Quality Matrix Construction: The controller 180 of the robotic system 100 can integrate data from the spherical lens and cylindrical lens measurements to construct the complete 4x4 beam quality matrix. This matrix includes comprehensive characterization of beam behavior in both spatial and angular domains, detailed interaction analysis between spatial and angular beam components, and full representation of the beam’s phase space characteristics.

[0159] From the computed 4x4 beam quality matrix, traditional M2values can be extracted along with additional parameters that provide a deeper insight into beam quality. Automated error analysis and uncertainty quantification can be performed by the controller 180 to provide reliable and reproducible results. This is done, for example, by taking multiple measurements and / or doing error analysis with known uncertainties in the properties of the optical components used for characterization.

[0160] There are several desirable features of using the robotic system 100 and beam characterization tool 300 for optical beam analysis and characterization. Full beam quality characterization can be done by the robotic system 100 without manual intervention. The robotic system 100 can capture data beyond traditional M2values (e.g., in accordance with ISO / DIS 11146 standards). Use of the beam characterization tool 300 and robotic arm 130 for dynamic positioning avoids optical table space usage for a separate beam characterization tool. The robotic arm 130 and beam characterization tool 300 can be incorporated into existing laser setups for real-time quality monitoring. The robotic system 100 can characterize an optical beam with accurate, consistent performance and can document uncertainty levels for the measurements (e.g., based on known uncertainties in mechanical positioning by the robotic arm). The robotic system 100 can be used for analyzing optical beams at different wavelengths (e.g., by choosing a camera 310 for the beam characterization tool 300 and optical components having an appropriate wavelength sensitivity and response). Optical attenuators and lensing configurations can be used to handle a range of beam dimensions and beam energies. The robotic system can be used for pulsed and CW laser sources. By using more than one robotic arm 130 and beam characterization tool 300, the robotic system 100 can measure multiple beams simultaneously for complex optical systems.Attorney Docket No. MIT-26276WO01

[0161] Optical Component Characterization: The robotic system can also be used to characterize optical components. For this, a reference laser beam with a known and / or measured beam matrix is used. The optical beam is then passed through or reflected from an optical component under test. The robotic system measures the beam matrix for the optical beam after transmission through or reflection from the optical component under test. The comparison of the two beam quality matrices can be used to characterize the quality of the optical component under test.

[0162] 6.3. Beam Power Characterization

[0163] Calibrated power and / or energy measurement devices can be held and positioned in an optical system by the robotic arm 130. Accordingly, the robotic system 100 can provide comprehensive beam power characterization across a variety of laser applications, from low-power continuous wave (CW) lasers to high-power pulsed systems.

[0164] The robotic arm 130 can be configured to access various calibrated power and / or energy sensors. The sensors can be marked for recognition by the computer vision system and controller 180 and placed within reach of the robotic arm 130 on, above, or adjacent to the platform 105. The power and / or energy sensors can include thermal power meters for continuous wave laser measurements, pyroelectric sensors for pulsed energy readings, photodiode-based power meters for low-power lasers, and high-power measurement devices with built-in heat dissipation mechanisms. The robotic system’s choice of sensor is based on pre-configured laser parameters that include power or energy range, wavelength compatibility, temporal characteristics (CW vs. pulsed), and beam size and / or power density constraints.

[0165] Once the appropriate sensor is selected, the robotic system 100 uses known beam position and direction vectors to position the sensor at the desired measurement point. This accurate placement is achieved through inverse kinematics calculations, which determine detector positioning, and real-time position verification via robot encoders. To provide placement accuracy, optional visual feedback can confirm the correct alignment before taking measurements.

[0166] The robotic system 100 can obtain measurements at multiple points along the beam path to map out power or energy stability over distance. This feature enables the system to identify atmospheric absorption effects or losses from system components, assess beam divergence, and create a spatial distribution map of the beam’s power or energy. SuchAttorney Docket No. MIT-26276WO01capabilities are useful for applications involving comprehensive beam diagnostics and stability analysis over extended distances. Fully automated power and energy measurements can be made by the robotic system 100 without human intervention.

[0167] Optical energy and / or power measurements with the robotic system 100 can further include features that enhance accuracy and reliability. An example feature is automated calibration verification through known reference power sources, which can be used to maintain measurement accuracy. Periodically, a sensor can be manipulated by the robotic system to measure power and / or energy from a known reference source (which outputs a known amount of optical power and / or energy per pulse, for example) to verify the accuracy of the sensor. Another example feature is real-time temperature monitoring of sensors.Temperature sensing can be integrated with the optical sensors to manage thermal effects and prevent inaccuracies due to overheating of an optical sensor. In some cases, the robotic system 100 can automatically adjust measurement ranges (e.g., by deploying optical attenuators) to accommodate varying power levels for a sensor and improve measurement accuracy (e.g., by keeping power levels within the dynamic range of a sensor).

[0168] In some implementations, power and / or energy measurements can be processed by the controller 180 with beam profiling data from the beam characterization tool 300 to provide a detailed analysis of the beam’s power distribution. Environmental condition logging can be used to track variations in temperature, humidity, or other factors during measurements.

[0169] Safety Considerations: The robotic system 100 can implement safety measures during power measurements. For example, prior to deploying a sensor, the robotic system 100 can turn off the laser beam (or safely block the beam). The robotic system 100 can then deploy a beam dump to capture any reflection from the sensor. The robotic system 100 can issue warnings when power or energy levels exceed pre-set thresholds, triggering emergency shut-off protocols.

[0170] 6.4 Beam Polarization Characterization

[0171] The complete characterization of electromagnetic radiation polarization involves the measurement of four Stokes parameters. Conventional polarimeters, which commonly employ rotating-wave-plate methodologies, are effective for collimated, monochromatic coherent light sources but come with notable limitations. These instruments typically provide bulk polarization properties of the entire beam and terminate the input light within the measurement module. Further, these instruments cannot resolve spatial variations inAttorney Docket No. MIT-26276WO01polarization states across the beam profile, limiting their applicability in modern laser applications.

[0172] The robotic system 100 can offer an automated approach for high-resolution spatial mapping of polarization states across laser beam profiles. The robotic system 100 can be adapted to measure the full set of Stokes parameters as a function of position within the beam, delivering millions of independent polarization state measurements simultaneously. This capability is possible through the combination of accurate robotic manipulation and high-resolution imaging.

[0173] The robotic system 100 can be adapted readily for beam polarization characterization with a linear polarizer with a known transmission axis, a quarter-wave plate with angular positioning, a birefringent film, and associated optical mounts. An optical arrangement for polarization analysis is depicted in FIG. 6. The optical components can be placed on the platform 105 by the robotic arm 130 and managed by the controller 180 that oversees the measurement process, involving synchronization, data collection, and analysis.

[0174] Polarization characterization can begin with the robotic arm 130 positioning a linear polarizer 620 in the path of the optical beam 610 to be analyzed. A high-resolution camera (e.g., the camera 310 of the beam characterization tool 300) is placed downstream of the linear polarizer 620 to capture beam intensity that passes through the linear polarizer.Upstream of the linear polarizer 620, a quarter-wave plate 640 is positioned by the robotic arm 130. For the example in the illustrations, a birefringent film 630 is also located upstream of the quarter-wave plate 640. The birefringent film 630 creates spatial variations in polarization across the laser beam wavefront for purposes of demonstrating polarization analysis of the optical beam. To analyze polarization of a laser beam’s wavefront, the birefringent film 630 may not be used.

[0175] The robotic system 100 can rotate the quarter- wave plate 640 through a predetermined angular range while continuously capturing video frames. Each captured frame corresponds to a wave plate angle determined by the robotic system 100. Real-time monitoring of the optical beam 610 can be done to verify beam stability and component alignment.

[0176] For each pixel on the camera sensor, intensity variations with respect to wave plate rotation can be extracted and analyzed to calculate the complete set of Stokes parameters for the optical beam 610 for each pixel. This analysis is used to generate a spatial polarization map of the optical beam 610 that display the degree of polarization, ellipticity, orientationAttorney Docket No. MIT-26276WO01angles, and handedness across the beam profile. An example polarization map is shown in FIG. 6. Data analysis can further include statistical examination of spatial polarization distributions. The robotic system 100 can identify polarization singularities and structures, allowing for detailed vector beam characterization and polarization gradient analysis. Data can be acquired non-destructively and analyzed in real time without altering the optical beam in its optical system on the platform 105.

[0177] Use of an 8K resolution camera can enable simultaneous measurement of millions of independent polarization states across an optical beam 610, providing very high spatial resolution, higher than currently available polarization characterization tools. Additional features of beam polarization characterization by the robotic system 100 can include three-dimensional reconstruction of polarization structures, temporal tracking of polarization state evolution, and integration with beam profiling and power measurements. Automated calibration and verification procedures can further enhance the system’s reliability. As with other applications, polarization characterization can be done without human intervention.

[0178] Beam polarization characterization can be used in different applications, e.g., quality control in laser manufacturing processes, development and testing of polarization devices, verification of polarization-maintaining systems, and for research in fields like quantum optics and communications.

[0179] 6.5 Spectral Characterization

[0180] Conventional Optical Spectrum Analyzers (OSAs) are limited by their rigid input requirements, often necessitating specific beam geometries or fiber-coupled inputs. These constraints significantly reduce their effectiveness in dynamic laboratory settings where beam parameters and delivery methods are highly variable. Traditional OSAs also involve careful manual alignment and ongoing user optimization, which makes them incompatible with automated processes. This level of dependency on human intervention limits their utility in high-throughput or fully automated research environments.

[0181] The robotic system 100 can further be adapted to provide spectral analysis for various beam geometries, sizes, and beam delivery methods. The robotic system’s integration of robotic positioning, automated component handling, and real-time data analysis allows it to perform both free-space and fiber-coupled spectral measurements without human input.Attorney Docket No. MIT-26276WO01

[0182] The robotic system 100 can be adapted for spectral analysis with diffraction gratings of various groove densities, fiber coupling assemblies, and at least one digital camera (such as the camera 310 of the beam characterization tool 300). The gratings can be mounted on adjustable mounts. In some cases, the camera can have enhanced spectral sensitivity to detect wavelengths of interest. The controller 180 can coordinate measurement activities, analyze data in real-time, and adjust system parameters during spectral measurement. In some cases, the robotic system 100 can implement an optical connection to a commercial, fiber-coupled spectrometer by placing down on the platform 105 and aligning a fiber coupler connected to an optical fiber that connects to the spectrometer. The robotic system 100 can execute fine alignment adjustments for coupling optical power into the fiber.

[0183] FIG. 7 depicts an example optical arrangement for a spectral measurement that can be performed by the robotic system 100. In an example spectral measurement, the robotic arm autonomously selects a diffraction grating 720 based on an expected wavelength range of interest, desired spectral resolution, and beam characteristics such as size and power density. The diffraction grating 720 can be positioned in the optical path of an optical beam 710. The grating can be placed at a predetermined angle relative to the incident beam 710, and the camera (or the beam characterization tool 300) is positioned to capture the diffracted light. The robotic system 100 can automatically adjust the grating angle and camera location to improve diffraction efficiency for better detection of the optical spectrum. A white light source can be used as the optical source 750 to provide a wide range of wavelengths, though other narrower band sources can be used corresponding to wavelengths of interest. The controller 180 can control the camera exposure settings for suitable dynamic range and can detect multiple diffraction orders for extended wavelength coverage. A sample 730 can be placed in the optical beam 710 and transmitted or reflected spectra captured by the beam characterization tool 300 for sample analysis. The robotic arm 130 can rotate the sample 730 over a range of incident angles (from 90 degrees to about 35 degrees) to capture additional spectral data as a function of incident angle for analysis of the sample 730.

[0184] Fiber-Coupled Configuration: For fiber-optic applications, the robotic system 100 can position a fiber coupling assembly into the beam path and adjust the fiber coupling assembly to improve optical coupling into the fiber (e.g., fine-tuning the fiber position with respect to a focusing lens and adjusting the angle of the fiber). An optical fiber from the fiber coupling assembly can then be connected to a conventional OSA to achieve high-precision spectral measurements. As such, the robotic system 100 can be used for both rapidAttorney Docket No. MIT-26276WO01assessments (with a diffraction grating and camera) and detailed spectral analysis (with fiber coupling to an OSA).

[0185] Adaptive Configuration: The system can select a measurement strategy based on the characteristics of the beam, such as its power level, size, and wavelength range. The central computer makes real-time adjustments to measurement parameters, so that each spectral analysis is both efficient and accurate.

[0186] Multi-Modal Operation: The system is capable of conducting simultaneous measurements using multiple gratings to extend the spectral range. This flexibility enables combined free-space and fiber-coupled analyses, allowing the user to conduct comprehensive assessments without reconfiguring the system. Additionally, the spectral analysis can be integrated with other beam characterization tools, creating a holistic approach to beam diagnostics.

[0187] Calibration and Verification: To maintain high measurement accuracy, the system performs automated wavelength calibration using known reference sources. Real-time verification processes check the accuracy of measurements and compensate for any environmental factors that could affect performance.

[0188] Example Advantages:• Universal compatibility with various beam geometries and sizes.• Flexible configurations adaptable to a range of applications.• Fully automated optimization of measurement parameters.• Cost-effective use of standard optical components.• Rapid reconfiguration for different spectral measurements.• Integration capability with existing laser systems.• Option for high-precision measurements with fiber-coupled OSA.• Self-calibrating capability using known reference positions.

[0189] Implementation Variations:• Configurable grating options for different spectral ranges.• Selection of detectors for specific sensitivity needs.Attorney Docket No. MIT-26276WO01• Resolution adjustments based on grating and camera setup.• Adaptable for use with both pulsed and continuous wave sources.• Scalability for varying power levels.

[0190] Applications: The system’s versatility and automated configuration make it useful across multiple fields. In research and development laboratories, it offers flexible spectral measurements of biological, chemical, nanophotonic samples while also accommodating varying beam geometries and setups, reducing manual intervention and enhancing experimental efficiency. In manufacturing, the system supports quality control processes for laser and photonic devices by providing rapid and accurate alignment and spectral analysis. It is equally effective for laser system diagnostics, where real-time monitoring and automated adjustments are desired for performance improvement. Additionally, the system serves scientific research needs through comprehensive spectroscopic analysis and wavelength verification, providing accuracy and repeatability. This innovative technology integrates into existing laser setups, making it a useful tool for real-time wavelength monitoring and advanced spectral assessments.

[0191] Extensions to this system: The robotic system can implement a wide variety of spectrometer, resonator, and interferometer setups that have distinct applications. This includes (but is not limited to):• Interferometers and resonators (such as Michelson interferometers, Mach-Zehnder interferometers, Fabry-Perot cavities, laser cavities, efc.). FIG. 8A and FIG. 8B include photographs of an optical bench on which a Michelson interferometer has been set up and aligned with the robotic arm 130. A plan view of the interferometer is shown in the inset of FIG. 8A at the lower left. The Michelson interferometer comprises two mirrors 810, 812, a beamsplitter 814, and a camera 816 to obtain an image of the interfering optical beams. An image of the aligned and interfering beams from a laser is shown in the inset at the upper right of the photograph in FIG.8A, showing good alignment and a concentric circular fringe pattern due to a difference in radius of curvature of the beams reflected from the two mirrors 810, 812 and combined by the beamsplitter 814.• Diffraction grating spectrometer (diffraction grating, slit, collimating lens, focusing lens, and a camera or photodetector) for measuring absorption / reflection / transmissionAttorney Docket No. MIT-26276WO01spectra of photonic / chemical / biological / material samples; characterizing light sources such as LEDs and lasers; and environmental monitoring such as detecting pollutants.• Prism spectrometer (prism, slit, collimator, focusing optics, and detector) for measuring refractive indices of materials; analyzing absorption or emission spectra; and general spectroscopy focused on specific wavelength ranges.• Fourier transform infrared (FTIR) spectrometer (beamsplitter, mirrors, infrared light source, interferometer, and detector) for material analysis including identifying organic compounds; gas detection; and protein and polymer characterization.• Raman spectrometer (laser source, beam splitter, mirror, focusing optics, diffraction grating, and CCD camera) for chemical fingerprinting; biomedical diagnostics; and quality control in manufacturing.• Echelle spectrometer (echelle diffraction grating, cross-disperser such as a prism or secondary grating, focusing optics, and detector) for high-resolution spectroscopy; astronomy, including studying stellar atmospheres; and plasma diagnostics.• Imaging spectrometer (imaging optics, slit, diffraction grating or prism, and 2D camera) for remote sensing applications such as satellite imaging for agriculture or mining; biomedical imaging; and art conservation for pigment analysis.• Time-resolved spectrometer (pulsed light source, monochromator, and fast detector such as a photomultiplier tube or streak camera) for photophysics and photochemistry studies; fluorescence lifetime analysis; and dynamic material characterization.• Multi-channel or array -based spectrometer (array of diffraction gratings, focusing optics, and detector array) for high-throughput analysis; process monitoring in industrial settings; and parallel spectral imaging.• Tunable filter spectrometer (tunable optical filters such as liquid crystal or acoustooptic filters, lenses, and detector) for hyperspectral imaging; precision biomedical diagnostics; and environmental sensing.• Cavity-enhanced spectrometer (highly reflective mirrors, laser source, and detector) for trace gas detection; precision absorption spectroscopy; and atmospheric studies.

[0192] 6.6 Beam Temporal CharacterizationAttorney Docket No. MIT-26276WO01

[0193] Interferometric autocorrelation is a useful technique for the characterization of ultrashort laser pulses, providing insight into their temporal profiles. However, traditional implementations of this method are complex, involving meticulous manual assembly and alignment of Michelson interferometers, accurate positioning of nonlinear crystals, and careful configuration of detection systems. These conventional setups involve substantial expertise, time, and regular maintenance, making them less accessible for routine use. The intricate nature of these assemblies limits their versatility and poses challenges for researchers needing consistent, accurate, and highly reliable results.

[0194] Automated System for Beam Temporal Characterization: The robotic system 100 improves upon prior systems by incorporating an automated robotic arm 130 into the setup capable of assembling and operating interferometric autocorrelators. The system automates the construction, alignment, and operation of these optical assemblies, enabling ultrashort pulse characterization without human intervention. This automation not only provides faster setup times but also improves measurement repeatability and reliability.

[0195] System Configuration: The system's automated construction of a Michelson interferometer includes the accurate placement of components such as beam splitters and retroreflectors. The robotic system 100 implements a variable delay mechanism to facilitate the fine control of path lengths and provides collinear beam propagation with equal polarization states, which is useful for accurate pulse measurements. The integration of these automated assembly and alignment procedures significantly reduces the complexity for a human who may only monitor operation of the robotic system.

[0196] For the nonlinear conversion setup, the system positions focusing optics such as lenses or curved mirrors in the optical setup. It accurately places the nonlinear crystal at the phase-matching angle and positions the crystal relative to the focal point of the lenses.Additionally, the system automates the alignment of a detector, so that it is correctly positioned to capture the frequency-doubled signal generated during the measurement.

[0197] Measurement Methodology: The measurement process begins with the system generating two beams of pulses with the interferometer. The pulses propagate into the nonlinear crystal. This results in the generation of a frequency-doubled signal, which is then detected and analyzed. The system’s approach allows for a comprehensive examination of temporal interference features, which include rapid oscillations with periods of A / 2 and an envelope structure that represents the pulse's temporal profile. The detected signal's peak andAttorney Docket No. MIT-26276WO01background levels, with a characteristic 8:1 peak-to-background ratio, are automatically validated, confirming the setup’s accuracy and the proper operation of the system.

[0198] Advanced Features and Data Analysis: The system can incorporate real-time optimization capabilities, such as adjusting delay scanning speeds, signal averaging, and managing the dynamic range to improve the quality of measurements. Automated error detection mechanisms monitor alignment deviations, track phase-matching efficiency, and reduce the signal-to-noise ratio for enhanced reliability. The central computer handles realtime data analysis, calculating pulse width, performing temporal phase analysis, and characterizing chirp and coherence time.

[0199] Advantages:• Fully automated assembly and alignment.• High measurement repeatability.• Continuous system optimization.• Real-time validation checks.• Integration with other pulse characterization methods.• Adaptable for different wavelength ranges.• Variable temporal resolution capabilities.

[0200] Implementation Variations:• Use of different nonlinear crystals for various pulse wavelengths.• Customizable focusing geometries for specific beam profiles.• Integration of multiple detection schemes based on experimental needs.• Adjustable delay ranges for various temporal scales.• Configurable scan rates for different levels of measurement detail.

[0201] Applications: The automated system is beneficial for ultrafast laser diagnostics, providing a reliable tool for pulse compression and facilitating laser system development. It can be employed in quality control for laser manufacturing and supports research in ultrafast phenomena. By offering automated assembly and real-time feedback, the system providesAttorney Docket No. MIT-26276WO01accuracy and ease of use, advancing the capabilities of laboratories engaged in high-speed optical research.

[0202] 6.7 Assembly of Optical Systems

[0203] A desirable capability of the robotic system 100 is its ability to autonomously assemble complex and varied optical systems, including (but not limited to) interferometers, optical cavities, lasers, and optical parametric oscillators (OPOs). This system’s combination of computer vision, precision movement, and alignment tools enables it to set up and / or replicate sophisticated optical configurations that traditionally require significant human expertise and time to set up and operate. The automation of optical setups by the robotic system 100 provides consistent, reproducible results while dramatically reducing setup time and the potential for human error.

[0204] Step-by-Step Assembly Process:

[0205] 1. Identifying Parts and Their Location: The assembly process can begin with the system identifying the correct optical components on the platform 105 for the specific setup. Using the robust computer vision system equipped with stereo cameras 110 and a LiDAR sensor on the LiDAR head 138, the robotic system 100 scans the work area, locating and recognizing components by detecting the markings 145 (or distinguishing features if markings are not used). The markings 145, providing a unique ID, allow the system to differentiate between a wide array of optical parts, providing accurate identification. The vision techniques also determine the orientation and current position of each framework 140 and its optical component 150, preparing the robot for accurate handling and placement. In some implementations, the locations and orientations of specific optical components (and their supporting framework 140) can be stored in memory accessed by the controller 180, such that computer vision is not needed to retrieve the desired optical components.

[0206] 2. Picking Up and Placing Parts with Accuracy: Once the optical components are identified, the robotic arm 130 picks them up and places them in the work area, one at a time, by gripping the framework 140 that houses the optical component. Each framework 140 and optical component 150 is moved to the coordinates specified by the optical setup plan, where the framework 140 and its optical component 150 are placed with an accuracy of less than 1 mm. The optical setup plan can be stored in memory that is accessed by the controller 180. The robotic system 100 can orient the parts correctly according to the configuration of the optical setup plan, providing accurate coarse alignment of the optical system.Attorney Docket No. MIT-26276WO01

[0207] 3. Placing Cameras / Detectors for Beam Tracking: After the initial assembly, the robotic system 100 autonomously positions cameras and / or detectors at strategic points within the setup to locate the laser beam as it propagates through the optical system. This positioning allows for the beam to be detected, tracked, and analyzed in real time, allowing the system to verify alignment and functionality before proceeding to fine-tuning. By automatically finding the beam’s path, the system streamlines the process of identifying areas that may involve further adjustments, a task that would traditionally be labor-intensive.

[0208] 4. Utilizing Fine Alignment and Multifunctional Beam Characterization Tools:To achieve the desired target properties of the setup — such as producing specific interference patterns, maximizing optical signal strength, or selecting a particular mode — the system deploys its fine alignment tool 200 and multifunctional beam characterization tool 300. The fine alignment tool 200, with a dual-motor bevel gear and Allen key attachments, can make accurate micro-adjustments to standard optical components (such as adjusting thumb screws of mirror mounts), such that the optical components can be aligned to sub-millimeter accuracy. In some implementations, one or more fine alignment adaptors 201 can be installed in the optical system and controlled by the controller 180 to make fine adjustments to optical components 150. Simultaneously, the beam characterization tool 300 can provide real-time feedback on the system’s performance, measuring properties such as beam direction, position, and mode structure.

[0209] This feedback loop allows the system to iteratively refine the alignment and positioning of optical components 150 until the target specifications are met. The process is automated, reducing human input to oversight and system initiation. The integration of image processing and real-time data analysis by the central controller 180 can make adjustments that are both rapid and accurate.

[0210] 5. Automated / Remote Operation

[0211] The robotic system 100 is capable of remote operation. The robotic system 100 can support remote monitoring and control via cloud or wireless connectivity, enabling users to supervise and adjust experiments from anywhere, including operating the robotic arm 130 through haptic-feedback devices to simulate touch. Beyond simple teleoperation, the robotic system 100 can be extended into a full optics cloud laboratory, where physical experiments gain capabilities traditionally associated with software environments: users can copy and paste optical components within a virtual planner, trigger undo / redo actions that the roboticAttorney Docket No. MIT-26276WO01arm 130 physically executes on the optical table, and manage rich version control for experiments — allowing branching, forking, and restoration to earlier states. Such a system can merge advanced robotics with an intuitive cloud interface, enabling collaborative, distributed, and reversible manipulation of real optical setups.

[0212] FIG. 8B is a screen shot of an example visual interactive display 800 produced by a computer program comprising machine-readable instructions that adapts at least one computer, such as the central controller 180 and a remote computing device, to allow remote and / or automated operation of the robotic system 100. The remote computing device (e.g., a desktop computer, a laptop computer, a smartphone, a tablet, c / c.) can be communicatively coupled to the controller 180 over a network. The controller 180 can issue instructions for rendering the visual interactive display 800 on a screen of the remote computing device so that a user can lay out an arrangement of optical components for an optical system remotely, thereby providing instructions to the controller 180 to arrange the optical components on the platform 105 in the laboratory or other setting.

[0213] The visual interactive display 800 includes a laboratory view panel 802, a set-up planning panel 804, and a version display 806. The set-up planning panel 804 allows a user to add, position, and remove virtual optical components 840, 842, 844, 846 to and from an intended optical set-up. The optical set-up can be arranged in the set-up planning panel 804 before any real optical components are moved on the platform 105. Once the optical components are arranged to the user’s satisfaction in the set-up planning panel 804, the actual arrangement of the corresponding real optical components (mirrors 810, 812, beamsplitter 814, camera 816) can be initiated with the robotic arm 130 (e.g., by clicking on a button 801 (Set Up) in the visual interactive display 800 or responding to a prompt 803 to confirm placement of the optical component). The laboratory view panel 802 can comprise a video feed from the laboratory that allows the user to see optical component positioning in real time and system operation. The version display 806 can correspond to a historical record (maintained in memory of the controller 180 or elsewhere) of present and former arrangements (specific set-ups) of optical components in an experimental or prototype optical system. Nodes 860 in the version display 806 can represent former set-ups that may have been tried while developing an optical system. Positions of optical components, alignment information, and other related information (such as any data obtained while testing the system) can be stored in memory and associated with each node 860 for later retrieval and comparison with other set ups. In some implementations, selecting a node 860 and providingAttorney Docket No. MIT-26276WO01an instruction (such as pressing the Set Up button 801) can revert the optical system to the former set-up. An optical system under development can be labeled by a user (e.g., labeled as “Michelson Interferometer”) for aiding in identifying the set up, storing data for the set up, and retrieving information associated with the optical system. Live sensor feed from certain components including but not limited to cameras, photodiodes, detectors, oscilloscopes may be directly and remotely accessed by the user through the interface. The fine alignment tools 201 may also be remotely controlled by the users through this interface.

[0214] Example Advantages:

[0215] The robotic system’s ability to assemble and fine-tune arbitrary optical setups offers numerous benefits:• Reduced Setup Time: What might take skilled technicians hours or even days to assemble can be completed in a fraction of that time with robotic automation.• High Accuracy: With better than 1 mm placement accuracy and fine alignment capabilities achieving sub-0.1 mm accuracy, the system can provide highly accurate alignment of the optical setup.• Consistency and Reproducibility: The robotic approach minimizes human error, leading to highly reproducible setups that can be replicated exactly for subsequent experiments or applications.• Scalability: The system’s modular design allows it to handle different optical systems and configurations, making it versatile for various research and industrial purposes.• Complex Multi-stage Setups: The system can be programmed to assemble and align multi-stage optical setups involving multiple subsystems or advanced beam pathways.• Adaptive Reconfiguration: The robot can disassemble and reconfigure optical components to transition between different experimental setups or adapt to new research conditions without human assistance.• Integration with Real-Time Monitoring: The system can be connected to live data analysis software, enabling researchers to make decisions on further adjustments or reconfiguration remotely.• Safety: By reducing human interaction with high-powered lasers, this system reduces laser exposure risks to humans, including those arising from stray reflections.Attorney Docket No. MIT-26276WO01

[0216] The robotic system’s capabilities in assembling and adjusting complex optical systems represent a breakthrough in laboratory automation. By automating the identification, accurate placement, camera positioning, and iterative fine-tuning of optical components, this technology transforms how optical experiments are designed and conducted. It enables faster experimental turnarounds, reduces reliance on expert manual labor, and provides a higher degree of accuracy and reproducibility that is useful for modern research and industry applications.

[0217] Applications:

[0218] The robotic system 100 can be used for quantum optics experimentation, providing accurate assembly and alignment of single-photon sources, beam splitters, and detectors used for quantum entanglement and quantum key distribution. By aligning to sub-millimeter accuracy and integrating polarization characterization tools, the system enhances reproducibility and experimental consistency, reducing setup time and minimizing human alignment errors in quantum research.

[0219] The system is well-suited for adaptive laser systems, where frequent adjustments of mirrors, cavities, and nonlinear components are often used to maintain beam quality and stability. With its real-time feedback integration, the robotic system 100 can dynamically improve parameters like power, mode structure, and spectral output, improving the reliability and efficiency of adaptive lasers used in applications like biomedical imaging and industrial machining.

[0220] The system is useful for laser manufacturing and testing, streamlining the alignment and characterization of components like modulators, nonlinear crystals, and laser cavities. Its ability to automate the measurement of beam quality (Af2), polarization, and power stability enhances production efficiency, provides consistency, and supports stringent quality control in the manufacturing process.

[0221] The system can be deployed for constructing space-based optical systems, which involve accurate assembly and alignment under conditions where manual adjustments are impractical. By automating the preparation of optical instruments for satellite and space telescope deployment, the system reduces pre-launch preparation time, provides accuracy, and supports potential in-mission adjustments in future space exploration.Attorney Docket No. MIT-26276WO01

[0222] The system is useful for customizable optical prototyping, enabling iterative assembly and fine-tuning of new optical designs. By automating prototyping workflows and recording configurations for replication, the system accelerates innovation processes, provides accuracy, and enhances the reliability of optical research and product development.

[0223] 7 Framework and Base

[0224] Various implementations of the framework 140 and base 162 are possible.

[0225] 7.1 Framework

[0226] The framework 140 which can be assembled in a unit with an optical component 150 and mounting hardware 168 integrates well with the robotic arm 130 and computer vision system. The framework 140 can bring a standardized form factor (for the robotic arm 130 and gripper 135) to a wide range of mounting hardware 168 and optical components 150 having a wide variety of sizes and shapes. The framework 140 allows for facile and accurate manipulation of diverse tabletop optical components 150 such as lenses, mirrors, gratings, prisms, and beamsplitters, photodetectors, cameras, as well as non-standard optical or other components 150 (such as custom detectors, sensors, microchannel plates, custom beam dumps, optical gain medium and cooling apparatus, nonlinear optical elements, efc.) which can be affixed to the framework 140 (with or without mounting hardware 168). The supporting hardware 160 can comprise a solid supporting structure (e.g., manufactured from metal) that rigidly and stably supports the framework 140 and the optical component 150 on the platform 105. In some implementations, the supporting hardware 160 comprises magnets or magnetic material to hold the integrated unit to the platform 105. In some implementations, the supporting hardware 160 includes holes and / or flanges in a base 162 to allow for bolting and / or clamping of the supporting hardware 160 to the platform 105. The assembled unit of framework 140, optical component 150, and supporting hardware 160 can provide structural stability, magnetic support, and anti-slip properties, while remaining compatible with the existing optical table infrastructure.

[0227] The framework 140 can be a cuboidal structure, or other shaped structure, designed to fit securely around standard and non-standard optical components 150 and accommodate their mounting hardware 168. This framework 140, which can be manufactured via 3D printing or precision machining, has several desirable features that facilitate reliable robotic handling and accurate identification. The framework 140 can include an upper region 142 that allows the robotic arm 130 to grip the framework 140 securely without disturbing theAttorney Docket No. MIT-26276WO01alignment or positioning of the optical component 150 itself. This grip-ready design enables the robotic arm 130 to pick up, place, and finely adjust optical components 150 during setup and adjustment of an optical system. The top face of the framework can provide a flat area for the marking 145, which is inspected with the computer vision system (cameras 110, LiDAR camera on the LiDAR head 138, and controller 180) to identify and position each optical component 150 accurately. The consistent presentation of markings 145 (on flat surfaces of similar sizes, facing in a same direction) simplifies identification and tracking within the optical setup, allowing for quick recognition and reduction of setup errors.

[0228] While initially designed for 3D printing, the framework’s design is flexible enough to allow for precision machining and / or assembly from various materials, including metal or durable plastics. Metal may be used when higher alignment accuracy and stability are desired. This flexibility in materials allows the framework to be adapted to a wide range of research and industrial environments having different specifications in terms of strength, durability, and / or temperature tolerance, for example.

[0229] Additional aspects that can be implemented with the framework 140 are listed below.

[0230] Modular, Adjustable Frameworks: Frameworks with adjustable sizing to hold a variety of component sizes, allowing a single framework design to accommodate lenses, mirrors, and other optics with different dimensions. Development of modular framework designs that can be quickly adapted for different component sizes and shapes.

[0231] Stackable Framework Structures: Frameworks designed to stack vertically, enabling multi-layer optical setups or allowing the system to hold multiple components in a compact arrangement and transport. FIG. 9A depicts an example of a framework 140 designed to be stacked on and / or under another framework of similar design in an ordered stacking arrangement wherein each stacked framework registers in a self-aligning way to an adjacent framework in the stack. For example, the framework 140 can have two or more recessed ledges 910 formed at the top of the framework which mate with topographical features (e.g., recesses or protrusions on the base of an adjacent framework stacked on top of the lower framework 140.

[0232] Registration Features: There can be registration features on the framework 140 to aid in mounting and aligning the mounting hardware 168 and optical components 150 to the framework 140 and, in some cases, also to the supporting hardware 160. For example, a slot 920 can be formed in the framework’s base 149 to allow attachment (e.g., with one or moreAttorney Docket No. MIT-26276WO01machine screws) of the mounting hardware 168 and / or supporting hardware 160 to the framework 140 (see FIG. 1). The slot 920 can allow for some movement of the mounting hardware 168 with respect to the framework 140. The slot 920 comprises a first mechanical registration feature that registers the mounting hardware 168 (and optical component held by the mounting hardware) in the ±x direction in the drawing with respect to the framework 140 and any marking 145 or alignment feature on the framework 140. There can also be at least one second mechanical registration feature 922 formed at or attached to the framework’s base 149 that can register the mounting hardware 168 and its optical component in the ±y direction with respect to the framework 140 and any marking 145 or alignment feature on the framework 140. The mounting hardware 168 (e.g., an adjustable mount) when mounted in the framework 140, can abut to the registration feature 922 to locate, in a repeatable and predictable manner, an optical component held by the mounting hardware 168 with respect to the framework 140 and / or with respect to the marking 145 disposed on the framework 140. Additionally, the base 149 of the framework 140 can provide a third mechanical registration feature that registers the mounting hardware 168 and optical component 150 in the ±z direction indicated in the drawing with respect to the framework 140 and / or the marking 145 disposed on the framework 140. The supporting hardware 160, if used, can further register the mounting hardware 168 and optical component 150 in the ±z direction with respect to the platform 105. Thus, the mounting hardware 168 can be registered in three orthogonal directions with respect to the framework 140 and marking 145.

[0233] Integrated Marking-Free Frameworks: Frameworks embedded with features or geometries that allow computer vision to identify components without requiring data matrix codes, which could simplify component recognition further.

[0234] Temperature-Controlled Frameworks: Frameworks 140 can include embedded heating or cooling elements to stabilize temperature-sensitive optical components such as nonlinear crystals or gain medium, maintaining alignment accuracy in temperature-variable environments. FIG. 9B illustrates a framework having passive heat dissipation elements 930 thermally coupled to the framework’s base 149. In some implementations, the passive heat dissipation elements 930 are formed from a material with high thermal conductivity, such as aluminum or copper or alloys thereof. The passive heat dissipation elements 930 can further thermally couple to the supporting hardware 160 (or directly to the platform 105 if the supporting hardware 160 is not used) when the framework 140 is deployed in the optical system. In some cases, the supporting hardware 160 can include active thermal control (e.g.,Attorney Docket No. MIT-26276WO01Peltier cooling, fluidic cooling, thermoelectric heating, etc to control the temperature of the component mounted within the framework 140.

[0235] Vibration-Damping Frameworks: FIG. 9C depicts a framework 140 with damping elements 940. Frameworks 140 can be assembled with shock absorbers or damping elements 940 to counteract micro-vibrations, providing added stability and precision for highly sensitive optics. This involves incorporating passive solutions such as shock absorbing sheets / pads to dampen vibrations placed at the framework’s base 149 and / or on other parts of the framework. In some implementations, the registration features 922 can additionally provide damping of vibrations. The registration features 922 may not span the slot 920 (as depicted in FIG. 9A) or may span the slot 920 (as depicted in FIG. 9C). The damping elements 940 (which can include a registration feature 922) can be made of a damping material (a metal / polymer composite, a soft metal, a soft polymer such as rubber, a metal) or another material different than that used for the framework 140. The damping elements 940, 922 may be bonded to the framework (wherein the bonding agent may provide added damping) or attached to the framework with screws.

[0236] Light-Blocking Framework Extensions: FIG. 9D depicts a framework 140 having light-blocking features to reduce ambient light within the framework. Frameworks 140 can be made with installable and removable side panels 913 to reduce stray light or reflections during beam alignment and to enhance measurement accuracy. In some cases, the side panel 913 can snap into place (e.g., for experimentation) and subsequently be removed for accessing the adjustable mount within the framework 140 for alignment. In some implementations, one or more non-removable light-blocking sides 915 can be integrally formed as part of the framework 140 and can also provide structural stability to reduce coupling of vibrations into the framework. Openings 917 can be formed in the light-blocking sides 915 and in the removable side panels 913 to allow passage of optical beams into and out of the framework 140.

[0237] Protective Environment: Frameworks 140 can be made with integrated environmental protection features (e.g., dust covers and humidity control). The dust resistance is achieved by creating a nearly full enclosure that reduces exposure to dust while incorporating holes that serve as laser beam pass throughs. The side panels of the framework 140 of FIG. 9D provide a protective environment for optical components mounted within the framework. FIG. 9E depicts another implementation of a framework 140 having a protectiveAttorney Docket No. MIT-26276WO01environment within side panels 914, which can be installed and removed from the framework 140. At least one of the side panels 914 is transparent or semitransparent to permit viewing of components within the protective environment. For humidity control, a desiccant (in the form of a packet, pad or gel) can be placed in a compartment within the framework to absorb moisture (e.g., placed within the protective environment). In some implementations, optical windows 950 can be sealed to the openings 917 to make an air-tight, or nearly air-tight protective environment within the framework 140.

[0238] Wireless ID: RFID or NFC tags can be added to the framework 140 for identification and tracking of optical components. FIG. 9F depicts a framework 140 having an antenna 960 for wireless communication. The antenna 960 can couple to RFID or NFC circuitry disposed on or in the framework 140. Such identification can be used instead of, or in addition to, identification via the computer vision system. The robotic system 100 can further include one or more RF readers that wirelessly identify the RFID or NFC tags on the framework 140. In some cases, multiple radio-frequency readers (which can be located on the mounting structure 120) are used to determine the position and orientation of an identified tag and associated framework 140 (e.g., by trilateration). In some implementations, circuitry connected to the antenna 960 can include writeable memory, such that information about components mounted within the framework can be written to the memory and stored for subsequent retrieval.

[0239] Adjustable Features for Gripping: Some implementations of the framework 140 can include adjustable grip points to accommodate various robotic end effectors.

[0240] Improved Markings: Some implementations of the framework 140 can include alignment fiducials or reference markings for enhanced positioning accuracy.

[0241] Self-Diagnostics: Some implementations of the framework 140 can include built-in diagnostics and LEDs for status indication and troubleshooting. This can involve integrating compact sensors, e.g, to detect stray motion (accelerometers, gyrosensors), temperature sensors for elements that may heat up due to power draw or laser irradiation, humidity sensors, light sensors to detect stray light from the environment or unwanted reflections, hall effect sensors for measuring ambient magnetic fields. The sensors can communicate via wired or wireless links with the controller 180.

[0242] 7.2 Base for the Supporting HardwareAttorney Docket No. MIT-26276WO01

[0243] In some implementations, the portion of the supporting hardware 160 that anchors the assembled unit to the platform 105 comprises a base 162 that is magnetic. However, as described elsewhere herein, the supporting hardware 160 may not include magnets in some implementations and can be secured to the platform with machine screws, bolts, a weighted base, and / or by clamping. When implemented with magnets, the magnetic base 162 can be a cylindrical structure with a flat base that provides stability and precision control for accurate alignment while allowing the robotic arm to easily pick up and place components without disturbing the rest of the optical setup. The magnetic base 162 can include a series of holes around its circumference where strong Nd magnets are embedded. These magnets provide a magnetic attraction to the platform 105 (e.g., an optical table with a ferromagnetic surface material), securing the supporting hardware 160, optical component 150, and framework 140 to the platform 105 such that the assembled unit remains stable and does not accidentally shift during operation of the robotic system 100 and optical system. However, the magnetic strength implemented is less than the maximum lifting force of the robotic arm so that the robotic arm can pick up and move the assembled unit. In some cases, to prevent unintended movement of the base 162 with respect to the platform 105 during fine alignment, the underside of the magnetic base 162 is coated with a thin neoprene sheet. This anti-slip surface provides the necessary counterforce to resist small forces applied to the optical component 150 by the robotic arm 130 during a fine alignment process. A low-profile base 162 can integrate well with standard optical posts and mounts, maintaining compatibility with traditional lab setups while offering enhanced stability and accuracy. The compactness of the base 162 can reduce or avoid interference and spatial conflicts with neighboring assembled units on the optical table, allowing for dense, complex optical setups.

[0244] Together, the framework 140 and supporting hardware 160 provide a reliable solution for automated handling, identification, and alignment of tabletop optical components 150. The components assembled into a unit can enhance the accuracy, stability, and functionality of the robotic system 100, allowing the robotic arm 130 to set up optical systems on the platform 105 with minimal manual intervention and with increased accuracy across a wide range of optical setups.

[0245] Additional aspects that can be implemented with the base 162 are listed below.Attorney Docket No. MIT-26276WO01

[0246] Toggleable Magnetic Base (for robot use): A base with a lever or switch to activate or deactivate the magnetic field, enabling the user to “turn on” the magnetic attraction only when desired, making lifting of the assembled unit easier for the robotic arm 130.

[0247] Electromagnetic Base with Variable Strength: A base 162 can include one or more electromagnets to allow control over the magnetic force via current modulation, giving the system or operator control over the magnetic grip strength of the base 162 to the platform 105. This can involve incorporating small, low-profile electromagnets, instead of permanent magnets, that can be turned on or off and controlled, together or individually, to provide the necessary force and torque resistance for accurate pick-and-place. Power for the electromagnets can be provided by an onboard rechargeable battery and circuitry, or by a wired link. FIG. 10A depicts a base 162 that contains an electromagnetic coil 1010. The electromagnetic coil 1010 can fit within a recess 1007 within the base 162 and be covered with a lid 1020. There can be one or more holes 1022 in the lid 1020 for wires to connect the electromagnetic coil 1010 to a power source and / or to provide control signals for controlling the amount of current flow to the electromagnetic coil 1010 and magnetic gripping strength. In some cases, the power source can be a rechargeable battery disposed outside the base 162 (e.g., within the framework 140). In some cases, the battery can fit within the recess 1007.

[0248] Rotatable Magnetic Base: A magnetic base with a built-in rotation mechanism, allowing components to be turned to specific angles while remaining fixed to the table, useful for accurate angular adjustments.

[0249] Detachable Anti-Slip Layer: Interchangeable anti-slip pads 1050 (e.g., friction pads) that can be selected based on the type of optical table or component weight can be attached to the base 162 as depicted in FIG. 10B, allowing improved grip and stability under different conditions. The anti-slip pads 1050 can be selected for different surface conditions. In some implementations, an anti-slip pad 1050 can comprise a polymer surface (e.g., rubber, neoprene, or silicone). In some cases, an anti-slip pad 1050 can comprise a roughened or knurled surface. When the anti-slip pads 1050 accumulate dust or when the surface wears, they can be replaced.

[0250] Weighted Base with Swappable Weights: A base that can accommodate the addition of swappable weights for further stability.Attorney Docket No. MIT-26276WO01

[0251] 8. Commercial Applications

[0252] Advanced automation in tabletop optical setups is significant advancement across various industries that involve complex and customizable configurations. While integrated optics have seen mature and specialized automation solutions, the field of tabletop optical automation remains relatively untapped. This technology offers substantial potential to streamline operations in sectors where precision optical alignment and characterization are desired. Below are several industries where this system can make a significant impact.

[0253] Laser Manufacturing and Testing: The production of high-power lasers, optical parametric amplifiers (OP As), and optical parametric oscillators (OPOs) involves accurate alignment of components such as mirrors, lenses, and nonlinear crystals. Automation in these setups can enhance consistency, accuracy, and efficiency, ultimately reducing the time needed for manual configuration. The robotic system 100 provides a comprehensive solution for assembly, alignment, and beam characterization, useful for maintaining high standards in laser production processes.

[0254] Defense and Aerospace: Optical systems are integral to defense applications, including targeting, sensing, and laser guidance systems. In the aerospace sector, optical setups play an important role in technologies such as LiDAR and satellite communications. These often involve modular and adjustable table-mounted optical assemblies. Automating these setups can significantly reduce manual intervention, improve alignment accuracy, and enhance reliability in mission-critical environments.

[0255] Biomedical Imaging and Diagnostics: Advanced imaging techniques such as optical coherence tomography (OCT), confocal microscopy, and multi-photon microscopy involve accurate optical alignment for effective imaging. Automating these processes can enhance image quality, decrease setup time, and facilitate the rapid deployment of diagnostic systems in clinical and research settings. The ability to quickly configure and reconfigure these systems also supports the development of customizable biomedical equipment.

[0256] Photonics and Telecommunications: The telecommunications industry relies on photonics systems that involve accurate optical alignment for components such as modulators, couplers, and splitters. Automating tabletop optical setups can improve the precision and throughput of photonic device testing and assembly, enhancing the efficiency of telecom infrastructure development and maintenance.Attorney Docket No. MIT-26276WO01

[0257] Research Laboratories: In experimental research settings, optical tables are used for a wide range of applications, including interferometry, spectroscopy, and laser-based studies. Automating these complex setups can boost reproducibility, minimize labor costs, and enhance safety. The flexibility to quickly assemble, align, and reconfigure setups enables researchers to focus on experimentation without the burden of prolonged manual adjustments. Furthermore, tabletop optical systems form the backbone for various fields in fundamental science, including quantum optics, atomic physics, and material science. By automating the assembly and fine-tuning of these setups, researchers can push the boundaries of experimental precision and throughput, facilitating faster progress in fundamental discoveries.

[0258] Precision Manufacturing: Industries engaged in high-precision manufacturing, such as semiconductor fabrication and electronics, use optical systems for inspection, alignment, and metrology. Automated tabletop setups offer a reliable way to conduct component assembly and optical characterization, streamlining quality control processes, increasing production consistency, and reducing material waste. This capability supports the high standards involved in precision manufacturing and helps maintain competitiveness in the market.

[0259] Overall Market Relevance: This automated system meets the needs of industries where manual alignment is still prevalent and necessary for the quality and accuracy of results. By integrating this technology, organizations can achieve enhanced operational efficiency, improved measurement consistency, and reduced reliance on highly specialized human expertise. The versatility of this system positions it as a useful solution for any sector relying on optical tables for intricate, high-precision tasks.

[0260] 9. Conclusion

[0261] While various inventive embodiments have been described and illustrated herein, those of ordinary skill in the art will readily envision a variety of other means and / or structures for performing the function and / or obtaining the results and / or one or more of the advantages described herein, and each of such variations and / or modifications is deemed to be within the scope of the inventive embodiments described herein. More generally, those skilled in the art will readily appreciate that all parameters, dimensions, materials, and configurations described herein are meant to be exemplary and that the actual parameters, dimensions, materials, and / or configurations will depend upon the specific application orAttomey Docket No. MIT-26276WO01applications for which the inventive teachings is / are used. Those skilled in the art will recognize or be able to ascertain, using no more than routine experimentation, many equivalents to the specific inventive embodiments described herein. It is, therefore, to be understood that the foregoing embodiments are presented by way of example only and that inventive embodiments may be practiced otherwise than as specifically described. Inventive embodiments of the present disclosure are directed to each individual feature, system, article, material, kit, and / or method described herein. In addition, any combination of two or more such features, systems, articles, materials, kits, and / or methods, if such features, systems, articles, materials, kits, and / or methods are not mutually inconsistent, is included within the inventive scope of the present disclosure.

[0262] Also, various inventive concepts may be embodied as one or more methods, of which an example has been provided. The acts performed as part of the method may be ordered in any suitable way. Accordingly, embodiments may be constructed in which acts are performed in an order different than illustrated, which may include performing some acts simultaneously, even though shown as sequential acts in illustrative embodiments.

[0263] All definitions, as defined and used herein, should be understood to control over dictionary definitions, definitions in documents incorporated by reference, and / or ordinary meanings of the defined terms.

[0264] Unless stated otherwise, the terms “approximately” and “about” are used to mean within ± 20% of a target (e.g., dimension or orientation) in some embodiments, within ± 10% of a target in some embodiments, within ± 5% of a target in some embodiments, and yet within ± 2% of a target in some embodiments. The terms “approximately” and “about” can include the target. The term “essentially” is used to mean within ± 3% of a target.

[0265] The indefinite articles “a” and “an,” as used herein, unless clearly indicated to the contrary, should be understood to mean “at least one.”

[0266] The phrase “and / or,” as used herein, should be understood to mean “either or both” of the elements so conjoined, i.e., elements that are conjunctively present in some cases and disjunctively present in other cases. Multiple elements listed with “and / or” should be construed in the same fashion, i.e., “one or more” of the elements so conjoined. Other elements may optionally be present other than the elements specifically identified by the “and / or” clause, whether related or unrelated to those elements specifically identified. Thus, as a non-limiting example, a reference to “A and / or B”, when used in conjunction with open-Attorney Docket No. MIT-26276WO01ended language such as “comprising” can refer, in one embodiment, to A only (optionally including elements other than B); in another embodiment, to B only (optionally including elements other than A); in yet another embodiment, to both A and B (optionally including other elements); etc.

[0267] As used herein, “or” should be understood to have the same meaning as “and / or” as defined above. For example, when separating items in a list, “or” or “and / or” shall be interpreted as being inclusive, i.e., the inclusion of at least one, but also including more than one, of a number or list of elements, and, optionally, additional unlisted items. Only terms clearly indicated to the contrary, such as “only one of’ or “exactly one of’ or “consisting of,” will refer to the inclusion of exactly one element of a number or list of elements. In general, the term “or” as used herein shall only be interpreted as indicating exclusive alternatives (i.e., “one or the other but not both”) when preceded by terms of exclusivity, such as “either,” “one of,” “only one of,” or “exactly one of.” “Consisting essentially of,” shall have its ordinary meaning as used in the field of patent law.

[0268] As used herein, the phrase “at least one,” in reference to a list of one or more elements, should be understood to mean at least one element selected from any one or more of the elements in the list of elements, but not necessarily including at least one of each and every element specifically listed within the list of elements and not excluding any combinations of elements in the list of elements. This definition also allows that elements may optionally be present other than the elements specifically identified within the list of elements to which the phrase “at least one” refers, whether related or unrelated to those elements specifically identified. Thus, as a non-limiting example, “at least one of A and B” (or, equivalently, “at least one of A or B,” or, equivalently “at least one of A and / or B”) can refer, in one embodiment, to at least one, optionally including more than one, A, with no B present (and optionally including elements other than B); in another embodiment, to at least one, optionally including more than one, B, with no A present (and optionally including elements other than A); in yet another embodiment, to at least one, optionally including more than one, A, and at least one, optionally including more than one, B (and optionally including other elements); etc.

[0269] In the specification above, all transitional phrases such as “comprising,” “including,” “carrying,” “having,” “containing,” “involving,” “holding,” “composed of,” and the like are to be understood to be open-ended, i.e., to mean including but not limited to. Only theAttorney Docket No. MIT-26276WO01transitional phrases “consisting of’ and “consisting essentially of’ shall be closed or semiclosed transitional phrases, respectively, as set forth in the United States Patent Office Manual of Patent Examining Procedures, Section 2111.03.

Claims

Attorney Docket No. MIT-26276WO01CLAIMS1. A system for automated alignment and configuration of a plurality of optical components (150) on a platform (105), the system comprising:a framework (140) to support mounting hardware (168) that holds an optical component (150) of the plurality of optical components such that a feature of the optical component is positionally referenced to a visible feature on the framework;a robotic arm (130) to grip the framework and position the framework and the optical component on the platform;a computer vision system (180, 110, 138) comprising at least one camera (110) to detect the visible feature on the framework and determine a location and orientation of the optical component supported by the framework on the platform; anda controller (180) communicatively coupled to the robotic arm and to the computer vision system to cause the robotic arm, based at least in part on feedback from the computer vision system, to position and orient the framework such that the feature of the optical component is in an initial aligned position.

2. The system of claim 1, wherein the framework comprises two mechanical registration features to mechanically register the mounting hardware and optical component in two orthogonal directions with respect to the framework.

3. The system of claim 1, further comprising a marking (145) to identify the optical component disposed on the framework.

4. The system of claim 3, wherein the marking comprises a visual code patterned into the framework.

5. The system of claim 1, wherein the framework is a 3D printed polymeric structure.

6. The system of claim 1, wherein the robotic arm comprises a gripper (135) to engage with the framework and lift the framework, mounting hardware, and optical component above the platform.

7. The system of claim 1, wherein the robotic arm comprises a LiDAR head to sense a distance between the LiDAR head and the optical component.Attorney Docket No. MIT-26276WO018. The system of claim 1, wherein the robotic arm mounts to the platform.

9. The system of claim 1, further comprising supporting hardware to mount the framework on the platform, wherein the supporting hardware comprises a magnetic base to secure the supporting hardware and the framework to the platform.

10. The system of claim 1, wherein the mounting hardware includes an adjustment mechanism to adjust an orientation of the optical component.

11. The system of claim 10, further comprising a fine alignment tool that can be lifted and positioned by the robotic arm to engage with and adjust the adjustment mechanism of the mounting hardware, the fine alignment tool comprising:an actuator; anda driver coupled to the actuator to engage with the adjustment mechanism.

12. The system of claim 10, further comprising a fine alignment tool attached to the framework to engage with and adjust the adjustment mechanism of the mounting hardware, the fine alignment tool comprising:an actuator; anda driver coupled to the actuator to engage with the adjustment mechanism.

13. The system of claim 1, further comprising:a mounting structure (120) to support the at least one camera over a work area on the platform, such that the at least one camera provides a view of the work area.

14. The system of claim 1, further comprising a beam characterization tool that can be lifted and positioned by the robotic arm to record an image of an optical beam.

15. The system of claim 14, wherein the beam characterization tool comprises:a camera to capture the image of the optical beam;a lens system optically coupled to the camera to form an image of the optical beam captured by the camera; anda processor disposed on a printed circuit board to process the image captured by the camera.

16. A method for automated alignment and configuration of a plurality of optical components (150) on a platform (105), the method comprising:Attorney Docket No. MIT-26276WO01gripping, with a robotic arm (130), a framework (140) that supports mounting hardware (168), the mounting hardware holding an optical component (150) of the plurality of optical components such that a feature of the optical component is positionally referenced to a visible feature on the framework;detecting, with a computer vision system (180, 110, 138), the visible feature on the framework, wherein the computer vision system comprises at least one camera (110);determining, by a controller (180) communicatively coupled to the robotic arm and to the computer vision system, a location and orientation of the optical component; and operating, by the controller, the robotic arm based at least in part on feedback from the computer vision system, to position and orient the framework such that the feature of the optical component is in an initial aligned position.

17. The method of claim 16, further comprising:operating, by the controller, a fine alignment tool that is engaged with an adjustment mechanism of the mounting hardware to operate the adjustment mechanism and orient the optical component in an aligned position.

18. The method of claim 16, further comprising:receiving, by the controller, instructions for arranging the plurality of optical components on the platform from a remote computing device, wherein the controller and remote computing device are communicatively coupled over a network.

19. The method of claim 18, further comprising:providing, by the controller, instructions for rendering a visual interactive display on a screen of the remote computing device.

20. The method of claim 16, further comprising:locating, with the robotic arm, a spherical lens in a path of an optical beam such that the optical beam passes through the spherical lens and is focused by the spherical lens;moving a beam-imaging camera with the robotic arm along a portion of the path of the optical beam to record a set of images of the optical beam, the portion of the path passing through a focal point of the optical beam caused by the spherical lens; andprocessing, by the controller, the set of images to determine a beam propagation ratio M2for the optical beam.Attorney Docket No. MIT-26276WO0121. The method of claim 16, further comprising:locating, with the robotic arm, a cylindrical lens in a path of an optical beam in a first orientation such that the optical beam passes through the cylindrical lens and is focused by the cylindrical lens along a first transverse beam direction;moving a beam-imaging camera with the robotic arm along a portion of the path of the optical beam to record a first set of images of the optical beam, the portion of the path passing through a focal point of the optical beam caused by the cylindrical lens;locating, with the robotic arm, the cylindrical lens in the path of the optical beam in a second orientation such that the optical beam passes through the cylindrical lens and is focused by the cylindrical lens along a second transverse beam direction that is orthogonal to the first transverse beam direction;moving the beam-imaging camera with the robotic arm along the portion of an optical path of the optical beam to record a second set of images of the optical beam; and analyzing, by the controller, the first set of images and the second set of images to evaluate at least one beam quality parameter for the optical beam.

22. The method of claim 21, further comprising computing, by the controller, a 4x4 beam quality matrix for the optical beam based, at least in part, on the at least one beam quality parameter.

23. The method of claim 16, further comprising:positioning, with the robotic arm, a camera to receive an optical beam;locating, with the robotic arm, a quarter-wave plate such that the optical beam passes through the quarter-wave plate before being received by the camera;locating, with the robotic arm, a linear polarizer along an optical path traversed by the optical beam between the quarter-wave plate and the camera such that the optical beam passes through the linear polarizer;rotating, with the robotic arm, the quarter-wave plate while recording a set of images of the optical beam with the camera and corresponding rotation angles of the quarter-wave plate; andprocessing, by the controller, the set of images and corresponding rotation angles to determine polarization states across a transverse profile of the optical beam.Attorney Docket No. MIT-26276WO0124. The method of claim 23, further comprising:generating a polarization map of the optical beam, the polarization map showing polarization states of the optical beam at a plurality of locations across the optical beam.

Images