Low-Cost, High-Performance Monocular Vision System for Air Bearing Table Attitude Determination

2014 ◽  
Vol 51 (1) ◽  
pp. 66-75 ◽  
Author(s):  
Yun-Hua Wu ◽  
Yang Gao ◽  
Jia-Wei Lin ◽  
Robin Raus ◽  
Shi-Jie Zhang ◽  
...  
Aerospace ◽  
2020 ◽  
Vol 7 (3) ◽  
pp. 31 ◽  
Author(s):  
Dario Modenini ◽  
Anton Bahu ◽  
Giacomo Curzi ◽  
Andrea Togni

To enable a reliable verification of attitude determination and control systems for nanosatellites, the environment of low Earth orbits with almost disturbance-free rotational dynamics must be simulated. This work describes the design solutions adopted for developing a dynamic nanosatellite attitude simulator testbed at the University of Bologna. The facility integrates several subsystems, including: (i) an air-bearing three degree of freedom platform, with automatic balancing system, (ii) a Helmholtz cage for geomagnetic field simulation, (iii) a Sun simulator, and (iv) a metrology vision system for ground-truth attitude generation. Apart from the commercial off-the-shelf Helmholtz cage, the other subsystems required substantial development efforts. The main purpose of this manuscript is to offer some cost-effective solutions for their in-house development, and to show through experimental verification that adequate performances can be achieved. The proposed approach may thus be preferred to the procurement of turn-key solutions, when required by budget constraints. The main outcome of the commissioning phase of the facility are: a residual disturbance torque affecting the air bearing platform of less than 5 × 10−5 Nm, an attitude determination rms accuracy of the vision system of 10 arcmin, and divergence of the Sun simulator light beam of less than 0.5° in a 35 cm diameter area.


2021 ◽  
Vol 2021 ◽  
pp. 1-8
Author(s):  
Saúl Martínez-Díaz

Estimation of distance from objects in real-world scenes is an important topic in several applications such as navigation of autonomous robots, simultaneous localization and mapping (SLAM), and augmented reality (AR). Even though there is a technology for this purpose, in some cases, this technology has some disadvantages. For example, GPS systems are susceptible to interference, especially in places surrounded by buildings, under bridges or indoors; alternatively, RGBD sensors can be used, but they are expensive, and their operational range is limited. Monocular vision is a low-cost suitable alternative that can be used indoor and outdoor. However, monocular odometry is challenging because the object location can be known up a scale factor. Moreover, when objects are moving, it is necessary to estimate the location from consecutive images accumulating error. This paper introduces a new method to compute the distance from a single image of the desired object, with known dimensions, captured with a monocular calibrated vision system. This method is less restrictive than other proposals in the state-of-the-art literature. For the detection of interest points, a Region-based Convolutional Neural Network combined with a corner detector were used. The proposed method was tested on a standard dataset and images acquired by a low-cost and low-resolution webcam, under noncontrolled conditions. The system was tested and compared with a calibrated stereo vision system. Results showed the similar performance of both systems, but the monocular system accomplished the task in less time.


2018 ◽  
Vol 8 (11) ◽  
pp. 2118 ◽  
Author(s):  
Tianlong Yang ◽  
Qiancheng Zhao ◽  
Xian Wang ◽  
Quan Zhou

This work describes a novel approach to localize sub-pixel chessboard corners for camera calibration and pose estimation. An ideally continuous chessboard corner model is established, as a function of corner coordinates, rotation and shear angles, gain and offset of grayscale, and blurring strength. The ideal model is evaluated by a low-cost and high-similarity approximation for sub-pixel localization, and by performing a nonlinear fit to input image. A self-checking technique is also proposed by investigating qualities of the model fits, for ensuring the reliability of addressing perspective-n-point problem. The proposed method is verified by experiments, and results show that it can share a high performance. It is also implemented and examined in a common vision system, which demonstrates that it is suitable for on-site use.


2020 ◽  
Vol 16 (3) ◽  
pp. 246-253
Author(s):  
Marcin Gackowski ◽  
Marcin Koba ◽  
Stefan Kruszewski

Background: Spectrophotometry and thin layer chromatography have been commonly applied in pharmaceutical analysis for many years due to low cost, simplicity and short time of execution. Moreover, the latest modifications including automation of those methods have made them very effective and easy to perform, therefore, the new UV- and derivative spectrophotometry as well as high performance thin layer chromatography UV-densitometric (HPTLC) methods for the routine estimation of amrinone and milrinone in pharmaceutical formulation have been developed and compared in this work since European Pharmacopoeia 9.0 has yet incorporated in an analytical monograph a method for quantification of those compounds. Methods: For the first method the best conditions for quantification were achieved by measuring the lengths between two extrema (peak-to-peak amplitudes) 252 and 277 nm in UV spectra of standard solutions of amrinone and a signal at 288 nm of the first derivative spectra of standard solutions of milrinone. The linearity between D252-277 signal and concentration of amironone and 1D288 signal of milrinone in the same range of 5.0-25.0 μg ml/ml in DMSO:methanol (1:3 v/v) solutions presents the square correlation coefficient (r2) of 0,9997 and 0.9991, respectively. The second method was founded on HPTLC on silica plates, 1,4-dioxane:hexane (100:1.5) as a mobile phase and densitometric scanning at 252 nm for amrinone and at 271 nm for milrinone. Results: The assays were linear over the concentration range of 0,25-5.0 μg per spot (r2=0,9959) and 0,25-10.0 μg per spot (r2=0,9970) for amrinone and milrinone, respectively. The mean recoveries percentage were 99.81 and 100,34 for amrinone as well as 99,58 and 99.46 for milrinone, obtained with spectrophotometry and HPTLC, respectively. Conclusion: The comparison between two elaborated methods leads to the conclusion that UV and derivative spectrophotometry is more precise and gives better recovery, and that is why it should be applied for routine estimation of amrinone and milrinone in bulk drug, pharmaceutical forms and for therapeutic monitoring of the drug.


2021 ◽  
Vol 0 (0) ◽  
Author(s):  
Robert Christie

Abstract This paper presents an overview of the general chemical principles underlying the structures, synthesis and technical performance of azo pigments, the dominant chemical class of industrial organic pigments in the yellow, orange, and red shade areas, both numerically and in terms of tonnage manufactured. A description of the most significant historical features in this group of pigments is provided, starting from the discovery of the chemistry on which azo colorants are based by Griess in the mid-nineteenth century, through the commercial introduction of the most important classical azo pigments in the early twentieth century, including products known as the Hansa Yellows, β-naphthol reds, including metal salt pigments, and the diarylide yellows and oranges, to the development in the 1950s and 1960s of two classes of azo pigments that exhibit high performance, disazo condensation pigments and benzimidazolone-based azo pigments. A feature that complicates the description of the chemical structures of azo pigments is that they exist in the solid state as the ketohydrazone rather than the hydroxyazo form, in which they have been traditionally been illustrated. Numerous structural studies conducted over the years on an extensive range of azo pigments have demonstrated this feature. In this text, they are referred to throughout as azo (hydrazone) pigments. Since a common synthetic procedure is used in the manufacture of virtually all azo (hydrazone) pigments, this is discussed in some detail, including practical aspects. The procedure brings together two organic components as the fundamental starting materials, a diazo component and a coupling component. An important reason for the dominance of azo (hydrazone) pigments is that they are highly cost-effective. The syntheses generally involve low cost, commodity organic starting materials and are carried out in water as the reaction solvent, which offers obvious economic and environmental advantages. The versatility of the approach means that an immense number of products may be prepared, so that they have been adapted structurally to meet the requirements of many applications. On an industrial scale, the processes are straightforward, making use of simple, multi-purpose chemical plant. Azo pigments may be produced in virtually quantitative yields and the processes are carried out at or below ambient temperatures, thus presenting low energy requirements. Finally, provided that careful control of the reaction conditions is maintained, azo pigments may be prepared directly by an aqueous precipitation process that can optimise physical form, with control of particle size distribution, crystalline structure, and surface character. The applications of azo pigments are outlined, with more detail reserved for subsequent papers on individual products.


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