scholarly journals A Parallel Ranging-Based Relative Position and Orientation Measurement Method for Large-Volume Components

2018 ◽  
Vol 2018 ◽  
pp. 1-11 ◽  
Author(s):  
Dian Wu ◽  
Fuzhou Du
Keyword(s):  
Large Volume ◽  
Relative Position ◽  
Measurement Method ◽  
Optimal Solution ◽  
Calibration Method ◽  
Measurement Model ◽  
Accurate Solution ◽  
Orientation Measurement ◽  
De Algorithm ◽  
Position And Orientation

In this paper, a novel relative position and orientation (R-P&O) measurement method for large-volume components is proposed. Based on the method, the parallel distances between the cooperative point pairs (CPPs) are collected by multiple pairs of wireless ranging sensors which are installed on respective components and finally turned into the R-P&O. Accordingly, a measurement model is built and an algorithm is designed to solve the model, in which the radial basis function neural network (RBFNN) produces a preliminary solution by offline training and the differential evolution (DE) strategy finds the accurate solution by online heuristic searching. Furthermore, the crucial parameters and the performance of the algorithm are analyzed through simulating a virtual alignment process which proves that the RBFNN-DE algorithm can quickly and accurately find the global optimal solution in the whole effective workspace. Besides the theory study, a ranging device based on ultrasound has been developed along with a calibration method. Depending on the device, an experiment of actual alignment is implemented to verify the algorithm. Experimental results indicate that the error of R-P&O is no more than 4.1 mm and 0.32° when the ranging error is 0.1 mm, compared with the measurement result of indoor GPS (iGPS).

Proposal of Position and Orientation Measurement Method for UAV Using Projection Markers

2020 ◽  
Vol 2020 (0) ◽  
pp. 1P1-K06
Author(s):  
Shunki KINOSHITA ◽  
Tohru SASAKI ◽  
Takahito NOJIRI ◽  
Toshitaka SAKAI ◽  
Taichi NAKAMURA ◽  
...  
Keyword(s):  
Measurement Method ◽  
Orientation Measurement ◽  
Position And Orientation ◽  
Position And Orientation Measurement

Study on Underwater Dual-Laser Structured-Light System for ROV Guiding

2014 ◽  
Vol 8 (4) ◽  
pp. 584-591 ◽  
Author(s):  
Xi Zhang ◽  
◽  
Laiwei Li ◽  
Junyi Yang ◽  
Keyword(s):  
Calibration Method ◽  
Measurement Model ◽  
Guidance System ◽  
Prototype System ◽  
Underwater Imaging ◽  
Efficient Manner ◽  
Cylindrical Target ◽  
Position And Orientation ◽  
Underwater Camera ◽  
Dual Laser

Remotely Operated underwater Vehicles (ROVs) equipped with manipulators have increasingly been used for underwater operation. An ROV is usually operated manually with the aid of an underwater camera for approaching and grasping a target using its manipulator. Owing to the low quality of underwater imaging, it is quite difficult for the human operator to determine accurate distances and orientations between the ROV and the target of interest. This paper presents a proposal for developing an automatic three-dimensional measurement and guidance system for ROVs in an effort to facilitate this process. Based on optical triangulation principles, dual laser lines and a camera are utilized to calculate the position and orientation of a cylindrical target. A measurement model considering refraction compensation and a joint system calibration method are proposed. The experimental study shows that the proposed system is feasible for automatically determining the position and orientation of a cylindrical target in an accurate and efficient manner. The accuracy of the measurement system is verified in air and underwater, respectively, by a prototype system.

Study on the position and orientation measurement method with monocular vision system

2010 ◽  
Vol 8 (1) ◽  
pp. 55-58 ◽  
Author(s):  
王鹏 Peng Wang ◽  
肖旭 Xu Xiao ◽  
张子淼 Zimiao Zhang ◽  
孙长库 Changku Sun
Keyword(s):  
Measurement Method ◽  
Vision System ◽  
Monocular Vision ◽  
Orientation Measurement ◽  
Position And Orientation ◽  
Position And Orientation Measurement

An Algorithm for Generation of Coordinated Robot Trajectories in Cartesian Space

2013 ◽  
Vol 196 ◽  
pp. 169-180 ◽  
Author(s):  
Adam Słota
Keyword(s):  
Virtual Environment ◽  
Relative Position ◽  
Accuracy Analysis ◽  
Simulation Environment ◽  
Coordinated Motion ◽  
Generation Algorithm ◽  
Cartesian Space ◽  
Position And Orientation ◽  
End Effectors ◽  
Trajectory Generation Algorithm

In the paper a trajectory generation algorithm for two robots’ coordinated motion is presented. Two instances of the algorithm, each for one robot, run in the same time and calculate trajectories’ position and orientation coordinates. Initial and end robots’ end-effectors poses are defined and values of linear and angular speeds are programmed. To minimize relative position and orientation errors an idea of corrective motion is introduced. Trajectory coordinates are calculated as the sum of programmed and corrective motion. The algorithm was implemented in a simulation environment and results of simulation are presented. Static accuracy analysis for general case and stability verification for fixed values of robots’ parameters are described. Finally, an outline of proposed procedure of building a virtual environment for reachability verification and collision checking is presented.

A fast and accurate solution to optimal design of eddy-current PMCs with standard disc type

2021 ◽  
pp. 1-19
Author(s):  
Zheng rong Xia ◽  
Yong chen Pei ◽  
Dong xu Wang ◽  
Shun Wang
Keyword(s):  
Response Surface Methodology ◽  
Response Surface ◽  
Optimal Solution ◽  
Industrial Applications ◽  
Accurate Solution ◽  
Parameter Determination ◽  
Experimental Investigations ◽  
Fe Model ◽  
Contribution Rate ◽  
Standard Disc

Although permanent magnet couplings (PMCs) have been under research for many years and have found successful industrial applications, this is still a technology under development. Accurate parameter determination is of significance for performance analysis and critical decisions on PMC design. However, the determination can often lead to an unacceptable increase in computation, especially when finite elements (FE) are used. The study aims to develop an FE model that is used for the structural design of a standard-disc type PMC for optimal torque. For the quick and accurate design, an integration optimal solution of the response surface methodology (RSM) and the Taguchi’s method was proposed. To verify the simulation, a series of experimental investigations were conducted on a self-developed testing platform. Furthermore, for a minimum set of FE analyses (FEA), a quantitative indicator called contribution rate, which can reflect effect level of structure parameters on the torque, was given based on the Taguchi method. Apart from this, the orthogonal matrix was used for the reduction of the FE calculation. Based on the contribution rate, the response surface methodology was adopted for the optimal torque determination with no increase in the PM volume. According to the optimization results, a fitting formula, which considers the contribution rates of the optimization variables, was presented. The results suggest that the FE simulations agree very well with the experiments, and the fitting formula can be used in the PMC design.

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