scholarly journals Use of a Weighted ICP Algorithm to Precisely Determine USV Movement Parameters

2019 ◽  
Vol 9 (17) ◽  
pp. 3530 ◽  
Author(s):  
Krzysztof Naus ◽  
Łukasz Marchel
Keyword(s):  
Measurement Data ◽  
Point Clouds ◽  
Precise Determination ◽  
Test Method ◽  
Scan Matching ◽  
Icp Algorithm ◽  
Movement Parameters ◽  
Iterative Closest Point Algorithm ◽  
Weighted Icp

The purpose of this article is to present a study aimed at developing a method for the precise determination of unmanned surface vehicle (USV) movement parameters (heading (HDG), speed over ground (SOG) and rate of turn (ROT)) through appropriate processing. The technique employs a modified weighted ICP (Iterative Closest Point) algorithm and a 2D points layer arranged in the horizon plane obtained from measurements. This is performed with the help of Light Detection and Ranging (LIDAR). A new method of weighting is presented. It is based on a mean error in a given direction and the results of modified weighted ICP tests carried out on the basis of field measurement data. The first part of the paper characterizes LIDAR measuring errors and indicates the possibilities for their use in matching point clouds. The second part of the article deals with a method for determining the SOG and course over ground (COG), based on a modified weighted ICP algorithm. The main part of the paper reviews a test method aimed at evaluating the accuracy of determining the SOG and COG by the scan-matching method using a modified weighted ICP algorithm. The final part presents an analysis comparing the obtained SOG and COG results with reference results of GNSS RTK measurements and the resulting generalised conclusions.

Application of the 'Iterative Closest Point' Algorithm for Determination of Rotation Axis of a Turntable

2013 ◽  
Vol 199 ◽  
pp. 273-278
Author(s):  
Ireneusz Wróbel
Keyword(s):  
Reverse Engineering ◽  
Point Cloud ◽  
Rotation Axis ◽  
Rapid Development ◽  
Point Clouds ◽  
Iterative Closest Point ◽  
Mechanical Parts ◽  
Scanning Process ◽  
Iterative Closest Point Algorithm

Reverse engineering [ is a field of technology which has been under rapid development for several recent years. Optic scanners are basic devices used as reverse engineering tools. Point cloud describes the shape of a scanned object. Automatic turntable is a device which enables a scanning process from different viewing angles. In the paper, the algorithm is described which has been used for determination of rotation axis of a turntable. The obtained axis constitutes the base for an aggregation of particular point clouds into single resultant common cloud describing the shape of the scanned object. Usability of this algorithm for precise scanning of mechanical parts was validated, precision of shape replication was also evaluated.

scholarly journals New Target for Accurate Terrestrial Laser Scanning and Unmanned Aerial Vehicle Point Cloud Registration

Sensors ◽  
2019 ◽  
Vol 19 (14) ◽  
pp. 3179
Author(s):  
Tilen Urbančič ◽  
Žiga Roškar ◽  
Mojca Kosmatin Fras ◽  
Dejan Grigillo
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Laser Scanning ◽  
Point Clouds ◽  
Precise Determination ◽  
Reference Target ◽  
Aerial Vehicle ◽  
Uav Images ◽  
Volume Targets

The main goal of our research was to design and implement an innovative target that would be suitable for accurately registering point clouds produced from unmanned aerial vehicle (UAV) images and terrestrial laser scans. Our new target is composed of three perpendicular planes that combine the properties of plane and volume targets. The new target enables the precise determination of reference target points in aerial and terrestrial point clouds. Different types of commonly used plane and volume targets as well as the new target were placed in an established test area in order to evaluate their performance. The targets were scanned from multiple scanner stations and surveyed with an unmanned aerial vehicle DJI Phantom 4 PRO at three different altitudes (20, 40, and 75 m). The reference data were measured with a Leica Nova MS50 MultiStation. Several registrations were performed, each time with a different target. The quality of these registrations was assessed on the check points. The results showed that the new target yielded the best results in all cases, which confirmed our initial expectations. The proposed new target is innovative and not difficult to create and use.

scholarly journals Technical Note: A simple method for air–sea gas exchange measurements in mesocosms and its application in carbon budgeting

2013 ◽  
Vol 10 (3) ◽  
pp. 1379-1390 ◽  
Author(s):  
J. Czerny ◽  
K. G. Schulz ◽  
A. Ludwig ◽  
U. Riebesell
Keyword(s):  
Gas Exchange ◽  
Simulation Experiment ◽  
Measurement Data ◽  
Precise Determination ◽  
Technical Note ◽  
Turnover Rates ◽  
Experimental Conditions ◽  
Simple Method ◽  
Elemental Mass

Abstract. Mesocosms as large experimental units provide the opportunity to perform elemental mass balance calculations, e.g. to derive net biological turnover rates. However, the system is in most cases not closed at the water surface and gases exchange with the atmosphere. Previous attempts to budget carbon pools in mesocosms relied on educated guesses concerning the exchange of CO2 with the atmosphere. Here, we present a simple method for precise determination of air–sea gas exchange in mesocosms using N2O as a deliberate tracer. Beside the application for carbon budgeting, transfer velocities can be used to calculate exchange rates of any gas of known concentration, e.g. to calculate aquatic production rates of climate relevant trace gases. Using an arctic KOSMOS (Kiel Off Shore Mesocosms for future Ocean Simulation) experiment as an exemplary dataset, it is shown that the presented method improves accuracy of carbon budget estimates substantially. Methodology of manipulation, measurement, data processing and conversion to CO2 fluxes are explained. A theoretical discussion of prerequisites for precise gas exchange measurements provides a guideline for the applicability of the method under various experimental conditions.

Metrological support of individual blood glucose meters in telemedicine

2019 ◽  
pp. 52-56
Author(s):  
Yu.F. Glukhov ◽  
N.V. Krutikov ◽  
A.V. Ivanov ◽  
N.P. Muravskaya
Keyword(s):  
Blood Glucose ◽  
Blood Glucose Level ◽  
Glucose Level ◽  
Measurement Data ◽  
Test Method ◽  
Level Measurement ◽  
Measurement Devices ◽  
Real Practice ◽  
Health Care Centers ◽  
Medical Measurement

We have studied and analyzed status and metrological supervision of blood glucose monitors, individual devices for a person’s blood glucose level measurement. It has been indicated that nowadays blood glucose monitors like other individual devices for medical measurement are not allowed to be involved in telemedicine public service. This accounts for absence of metrological supervision with these measurement devices in telemedicine. In addition, the key problem is absence of safe methods and means of remote verificaition, calibration and transmission of measurement data to health care centers. The article offers a remote test method for blood glucose monitors using a number of resistors with values correlating with measured blood glucose level. The available method has been successfully trialed in real practice.

Tire Treadwear — A Comprehensive Evaluation of the Factors: Generic Type, Aspect Ratio, Tread Pattern, and Tread Composition Part I: Introduction and Details on the Organization of the Program

1986 ◽  
Vol 14 (4) ◽  
pp. 201-218 ◽  
Author(s):  
A. G. Veith
Keyword(s):  
Aspect Ratio ◽  
Comprehensive Evaluation ◽  
Test Method ◽  
Interactive Effects ◽  
Data Analyses ◽  
Main Effect ◽  
Systematic Determination ◽  
Relationship Of ◽  
The Relationship

Abstract This four-part series of papers addresses the problem of systematic determination of the influence of several tire factors on tire treadwear. Both the main effect of each factor and some of their interactive effects are included. The program was also structured to evaluate the influence of some external-to-tire conditions on the relationship of tire factors to treadwear. Part I describes the experimental design used to evaluate the effects on treadwear of generic tire type, aspect ratio, tread pattern (groove or void level), type of pattern (straight rib or block), and tread compound. Construction procedures and precautions used to obtain a valid and functional test method are included. Two guiding principles to be used in the data analyses of Parts II and III are discussed. These are the fractional groove and void concept, to characterize tread pattern geometry, and a demonstration of the equivalence of wear rate for identical compounds on whole tread or multi-section tread tires.

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