11,851 research outputs found

    Sensor enclosures: example application and implications for data coherence

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    Sensors deployed in natural environments, such as rivers, beaches and glaciers, experience large forces and damaging environmental conditions. Sensors need to be robust, securely operate for extended time periods and be readily relocated and serviced. The sensors must be housed in materials that mimic natural conditions of size, density, shape and roughness. We have developed an encasement system for sensors required to measure large forces experienced by mobile river sediment grains. Sensors are housed within two discrete cases that are rigidly conjoined. The inner case exactly fits the sensor, radio components and power source. This case can be mounted within outer cases of any larger size and can be precisely moulded to match the shapes of natural sediment. Total grain mass can be controlled by packing the outer case with dense material. Case design uses Solid-WorksTM software, and shape-matching involved 3D laser scanning of natural pebbles. The cases were printed using a HP DesignjetTM 3D printer that generates high precision parts that lock rigidly in place. The casings are watertight and robust. Laboratory testing produces accurate results over a wider range of accelerations than previously reported

    Extrinisic Calibration of a Camera-Arm System Through Rotation Identification

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    Determining extrinsic calibration parameters is a necessity in any robotic system composed of actuators and cameras. Once a system is outside the lab environment, parameters must be determined without relying on outside artifacts such as calibration targets. We propose a method that relies on structured motion of an observed arm to recover extrinsic calibration parameters. Our method combines known arm kinematics with observations of conics in the image plane to calculate maximum-likelihood estimates for calibration extrinsics. This method is validated in simulation and tested against a real-world model, yielding results consistent with ruler-based estimates. Our method shows promise for estimating the pose of a camera relative to an articulated arm's end effector without requiring tedious measurements or external artifacts. Index Terms: robotics, hand-eye problem, self-calibration, structure from motio
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