An investigation of singularities in robot kinematic chains aiming at building robot calibration models for off-line programming

Robot Calibration is a term applied to the procedures used in determining actual values that describe the geometric dimensions and mechanical characteristics of a robot or multibody structure. A robot calibration system must consist of appropriate robot modeling techniques, accurate measurement equipment, and reliable model parameter determination methods. For practical improvement of a robot's absolute accuracy, error compensation methods are required that use calibration results. Important to robot calibration methods is an accurate kinematic model that has identifiable parameters. This parameterized kinematic model must be complete, continuous and minimal. This work concerns to the implementation of techniques to optimize kinematic models for robot calibration through numerical optimization of the mathematical model. The optimized model is then used to compensate the model errors in an off-line programming system, enhancing significantly the robot kinematic model accuracy. The optimized model can be constructed in an easy and straight operation, through automatic assignment of joint coordinate systems and geometric parameter to the robot links. Assignment of coordinate systems by this technique avoids model singularities that usually spoil robot calibration results

An indirect estimation of automotive demister performance

Motor vehicle users expect greater comfort and refinement in vehicle performance. Demisting systems are often considered to produce uncomfortable air flows and noisy operation. To prevent the user simply switching off the system and compromising occupant safety, manufacturers are investing more in demisting and climate control to improve detailed performance, whilst maintaining comfort and refinement. An indirect performance estimation would be extremely desirable, using less climatic test facility time and allowing prediction of end performance for a range of conditions An experimental investigation has been carried out to reproduce glass misting in a purpose built environmental facility, at conditions representative of typical car markets. [Continues.

QUANTITATIVE METHODS AND DETECTION TECHNIQUES IN HYPERSPECTRAL IMAGING INVOLVING MEDICAL AND OTHER APPLICATIONS

This research using Hyperspectral imaging involves recognizing targets through spatial and spectral matching and spectral un-mixing of data ranging from remote sensing to medical imaging kernels for clinical studies based on Hyperspectral data-sets generated using the VFTHSI [Visible Fourier Transform Hyperspectral Imager], whose high resolution Si detector makes the analysis achievable. The research may be broadly classified into (I) A Physically Motivated Correlation Formalism (PMCF), which places both spatial and spectral data on an equivalent mathematical footing in the context of a specific Kernel and (II) An application in RF plasma specie detection during carbon nanotube growing process. (III) Hyperspectral analysis for assessing density and distribution of retinopathies like age related macular degeneration (ARMD) and error estimation enabling the early recognition of ARMD, which is treated as an ill-conditioned inverse imaging problem. The broad statistical scopes of this research are two fold- target recognition problems and spectral unmixing problems. All processes involve experimental and computational analysis of Hyperspectral data sets is presented, which is based on the principle of a Sagnac Interferometer, calibrated to obtain high SNR levels. PMCF computes spectral/spatial/cross moments and answers the question of how optimally the entire hypercube should be sampled and finds how many spatial-spectral pixels are required precisely for a particular target recognition. Spectral analysis of RF plasma radicals, typically Methane plasma and Argon plasma using VFTHSI has enabled better process monitoring during growth of vertically aligned multi-walled carbon nanotubes by instant registration of the chemical composition or density changes temporally, which is key since a significant correlation can be found between plasma state and structural properties. A vital focus of this thesis is towards medical Hyperspectral imaging applied to retinopathies like age related macular degeneration targets taken with a Fundus imager, which is akin to the VFTHSI. Detection of the constituent components in the diseased hyper-pigmentation area is also computed. The target or reflectance matrix is treated as a highly ill-conditioned spectral un-mixing problem, to which methodologies like inverse techniques, principal component analysis (PCA) and receiver operating curves (ROC) for precise spectral recognition of infected area. The region containing ARMD was easily distinguishable from the spectral mesh plots over the entire band-pass area. Once the location was detected the PMCF coefficients were calculated by cross correlating a target of normal oxygenated retina with the de-oxygenated one. The ROCs generated using PMCF shows 30% higher detection probability with improved accuracy than ROCs based on Spectral Angle Mapper (SAM). By spectral unmixing methods, the important endmembers/carotenoids of the MD pigment were found to be Xanthophyl and lutein, while β-carotene which showed a negative correlation in the unconstrained inverse problem is a supplement given to ARMD patients to prevent the disease and does not occur in the eye. Literature also shows degeneration of meso-zeaxanthin. Ophthalmologists may assert the presence of ARMD and commence the diagnosis process if the Xanthophyl pigment have degenerated 89.9%, while the lutein has decayed almost 80%, as found deduced computationally. This piece of current research takes it to the next level of precise investigation in the continuing process of improved clinical findings by correlating the microanatomy of the diseased fovea and shows promise of an early detection of this disease

An Induced Environment Contamination Monitor for the Space Shuttle

The Induced Environment Contamination Monitor (IECM), a set of ten instruments integrated into a self-contained unit and scheduled to fly on shuttle Orbital Flight Tests 1 through 6 and on Spacelabs 1 and 2, is described. The IECM is designed to measure the actual environment to determine whether the strict controls placed on the shuttle system have solved the contamination problem. Measurements are taken during prelaunch, ascent, on-orbit, descent, and postlanding. The on-orbit measurements are molecular return flux, background spectral intensity, molecular deposition, and optical surface effects. During the other mission phases dew point, humidity, aerosol content, and trace gas are measured as well as optical surface effects and molecular deposition. The IECM systems and thermal design are discussed. Preflight and ground operations are presented together with associated ground support equipment. Flight operations and data reduction plans are given

What can be done with an embedded stereo-rig in urban environments?

International audienceThe development of the Autonomous Guided Vehicles (AGVs) with urban applications are now possible due to the recent solutions (DARPA Grand Challenge) developed to solve the Simultaneous Localization And Mapping (SLAM) problem: perception, path planning and control. For the last decade, the introduction of GPS systems and vision have been allowed the transposition of SLAM methods dedicated to indoor environments to outdoor ones. When the GPS data are unavailable, the current position of the mobile robot can be estimated by the fusion of data from odometer and/or Inertial Navigation System (INS). We detail in this article what can be done with an uncalibrated stereo-rig, when it is embedded in a vehicle which is going through urban roads. The methodology is based on features extracted on planes: we mainly assume the road at the foreground as the plane common to all the urban scenes but other planes like vertical frontages of buildings can be used if the features extracted on the road are not enough relevant. The relative motions of the coplanar features tracked with both cameras allow us to stimate the vehicle ego-motion with a high precision. Futhermore, the features which don't check the relative motion of the considered plane can be assumed as obstacles

Viking '75 spacecraft design and test summary. Volume 1: Lander design

The Viking Mars program is summarized. The design of the Viking lander spacecraft is described

Vehicle Trajectory from an Uncalibrated Stereo-Rig with Super-Homography

International audienceWe present in this article an original manner to estimate the trajectory of a vehicle running in urban-like areas. The method consists in extracting then tracking features (points, lines) with an uncalibrated stereo-rig from the road assumed as a plane to compute homographies relative to the camera(s) motions. The purposed method copes with the dense traffic conditions: the free space required (first ten meters in front of the vehicle) is slightly equivalent to the security distance between two vehicles. Experimental issues from real data are presented and discussed

Coronagraph particulate measurements. Skylab flight experiment T025

Major results of the Skylab T025 Coronagraph experiment designed to monitor the particulate contamination about the spacecraft and to study the earth's atmospheric aerosol distribution are presented. A model for comet outbursts based on the properties of amorphous ice and ground based narrow-band and white light photography of comet Kohoutek ten days to perihelion are included. The effect of atmospheric refraction on the analysis of the T025 atmospheric data was also investigated