Extrinisic Calibration of a Camera-Arm System Through Rotation Identification

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

Simultaneous Parameter Calibration, Localization, and Mapping

The calibration parameters of a mobile robot play a substantial role in navigation tasks. Often these parameters are subject to variations that depend either on changes in the environment or on the load of the robot. In this paper, we propose an approach to simultaneously estimate a map of the environment, the position of the on-board sensors of the robot, and its kinematic parameters. Our method requires no prior knowledge about the environment and relies only on a rough initial guess of the parameters of the platform. The proposed approach estimates the parameters online and it is able to adapt to non-stationary changes of the configuration. We tested our approach in simulated environments and on a wide range of real-world data using different types of robotic platforms. (C) 2012 Taylor & Francis and The Robotics Society of Japa

Absolute Momentum Calibration of the HARP TPC

In the HARP experiment the large-angle spectrometer is using a cylindrical TPC as main tracking and particle identification detector. The momentum scale of reconstructed tracks in the TPC is the most important systematic error for the majority of kinematic bins used for the HARP measurements of the double-differential production cross-section of charged pions in proton interactions on nuclear targets at large angle. The HARP TPC operated with a number of hardware shortfalls and operational mistakes. Thus it was important to control and characterize its momentum calibration. While it was not possible to enter a direct particle beam into the sensitive volume of the TPC to calibrate the detector, a set of physical processes and detector properties were exploited to achieve a precise calibration of the apparatus. In the following we recall the main issues concerning the momentum measurement in the HARP TPC, and describe the cross-checks made to validate the momentum scale. As a conclusion, this analysis demonstrates that the measurement of momentum is correct within the published precision of 3%.Comment: To be published by JINS

Top Quark Mass Measurements at CDF

The mass of the top quark M_top is interesting both as a fundamental parameter of the standard model and as an important input to precision electroweak tests. The Collider Detector at Fermilab (CDF) has a robust program of top quark mass analyses, including the most precise single measurement, M_top = 173.4 +/- 2.8 GeV/c^2, using 680 pb^-1 of ppbar collision data. A combination of current results from CDF gives M_top = 172.0 +/- 2.7 GeV/c^2, surpassing the stated goal of 3 GeV/c^2 precision using 2 fb^-1 of data. Finally, a combination with current D0 results gives a world average top quark mass of 172.5 +/- 2.3 GeV/c^2.Comment: 8 pages, Contribution to Proceedings of the 41st Rencontres de Moriond: Electroweak Interactions and Unified Theories, La Thuile, Italy, 11-18 March 200

Monitoring the Bi-Directional Relativistic Jets of the Radio Galaxy 1946+708

We report on a multi-frequency, multi-epoch campaign of Very Long Baseline Interferometry observations of the radio galaxy 1946+708 using the VLBA and a Global VLBI array. From these high-resolution observations we deduce the kinematic age of the radio source to be $\sim$4000 years, comparable with the ages of other Compact Symmetric Objects (CSOs). Ejections of pairs of jet components appears to take place on time scales of 10 years and these components in the jet travel outward at intrinsic velocities between 0.6 and 0.9 c. From the constraint that jet components cannot have intrinsic velocities faster than light, we derive H_0 > 57 km s^-1 Mpc^-1 from the fastest pair of components launched from the core. We provide strong evidence for the ejection of a new pair of components in ~1997. From the trajectories of the jet components we deduce that the jet is most likely to be helically confined, rather than purely ballistic in nature.Comment: 20 pages, 8 figures, accepted to Ap

Dynamic Active Constraints for Surgical Robots using Vector Field Inequalities

Robotic assistance allows surgeons to perform dexterous and tremor-free procedures, but robotic aid is still underrepresented in procedures with constrained workspaces, such as deep brain neurosurgery and endonasal surgery. In these procedures, surgeons have restricted vision to areas near the surgical tooltips, which increases the risk of unexpected collisions between the shafts of the instruments and their surroundings. In this work, our vector-field-inequalities method is extended to provide dynamic active-constraints to any number of robots and moving objects sharing the same workspace. The method is evaluated with experiments and simulations in which robot tools have to avoid collisions autonomously and in real-time, in a constrained endonasal surgical environment. Simulations show that with our method the combined trajectory error of two robotic systems is optimal. Experiments using a real robotic system show that the method can autonomously prevent collisions between the moving robots themselves and between the robots and the environment. Moreover, the framework is also successfully verified under teleoperation with tool-tissue interactions.Comment: Accepted on T-RO 2019, 19 Page

Measurement of the production of charged pions by protons on a tantalum target

A measurement of the double-differential cross-section for the production of charged pions in proton--tantalum collisions emitted at large angles from the incoming beam direction is presented. The data were taken in 2002 with the HARP detector in the T9 beam line of the CERN PS. The pions were produced by proton beams in a momentum range from 3 \GeVc to 12 \GeVc hitting a tantalum target with a thickness of 5% of a nuclear interaction length. The angular and momentum range covered by the experiment (100 \MeVc \le p < 800 \MeVc and 0.35 \rad \le \theta <2.15 \rad) is of particular importance for the design of a neutrino factory. The produced particles were detected using a small-radius cylindrical time projection chamber (TPC) placed in a solenoidal magnet. Track recognition, momentum determination and particle identification were all performed based on the measurements made with the TPC. An elaborate system of detectors in the beam line ensured the identification of the incident particles. Results are shown for the double-differential cross-sections ${{\mathrm{d}^2 \sigma}} / {{\mathrm{d}p\mathrm{d}\theta}}$ at four incident proton beam momenta (3 \GeVc, 5 \GeVc, 8 \GeVc and 12 \GeVc). In addition, the pion yields within the acceptance of typical neutrino factory designs are shown as a function of beam momentum. The measurement of these yields within a single experiment eliminates most systematic errors in the comparison between rates at different beam momenta and between positive and negative pion production.Comment: 49 pages, 31 figures. Version accepted for publication on Eur. Phys. J.