Bluelining robot has The SAM team’s back

Bluelining robot has The SAM team’s back

Bluelining robot’s work during the test

A bluelining robot is invented at MAX IV, bringing the Survey, Alignment, and Mechanical Stability (SAM) team one step closer to automate the floor-marking process for equipment installation. It is a promising progress to leaving behind the previous manual, labor-intensive, and time-consuming process.

The robot is a result of collaboration between Lisa Klinghav, a master’s student from the Department of Automatic Control at the Faculty of Engineering, Lund University, and Alina Andersson, a research engineer of the SAM team, MAX IV, through a thesis titled ‘Mobile Floor-Marking Robot, utilizing feedback from Laser Tracker’. A thorough and structured working plan has made it possible for Klinghav and Andersson to conduct the work and test it through 2020.

(L-R) Lisa Klinghav and Alina Andersson celebrating the robot’s first bluelining in the lab (credit: Lisa Klinghav)

When Klinghav started the project, she made it her goal to develop a mobile floor-marking robot to ease the engineers’ bluelining works at the SAM team. Bluelining is the first step of equipment installation at MAX IV that requires accuracy and precision to micrometers. It projects reference points from the 3D model into the floor in the physical space. Currently, the process is carried out by the SAM team engineers working on the floor for hours and days to achieve the precision desired.

Klinghav then used MAX IV’s laser tracker and movable reflector equipment to design a robotic solution consisting of a mobile robot on omni wheels and a modified 3D printer. This robot will help, for example, to draw the positioning of the drill marks for bolts of an optic table.

“Alina was highly involved and very engaged in the thesis. She provided the expertise in laser tracking and took part in all the practical testing of the robot. I was able to get instant feedback and support from her. And when the handover was done in December, the transition was very smooth,” said Klinghav.

Compared to the previous method, the proposed robotic solution improves the SAM team’s working condition.

Continuous development of off-the-shelves robot application

The next step of this project is currently under development by students at the Faculty of Engineering, Lund University. Klinghav’s main program is being used to control a custom-fit robot, designed as part of a course in Applied Mechatronics.

“The robot used was built from “off-the-shelf” products, and there is currently a group of students designing a custom-fit robot that is planned to run with the main program developed in my thesis,” explained Klinghav. “There is still a lot of improvement to be done around accuracy, precision, and robustness. But there is a good chance that the bluelining robot will be able to perform the task fully in the near future. Hopefully, there will be interest from other accelerator sites around the world to implement a similar concept”.



Klinghav, Lisa. Mobile Floor-Marking Robot, utilizing Feedback from Laser Tracker. Master’s thesis report TFRT 6123. Department of Automatic Control, Lund University, 2021.

Related article

Happy holidays from the newest MAX IV helper

Mobile floor-marking robot unburdens employees during installation at MAX IV

Video interview with Alina Andersson (in English) and Lisa Klinghav (in Swedish) for Lund University