177 dB linear dynamic range pixels of interest DSLR CAOS camera

For the first time, demonstrated is an extreme linear Dynamic Range (DR) Pixels of Interest (POI) [i.e., Coded Access Optical Sensor (CAOS)] Digital Single Lens Reflex (DSLR) camera design that engages three different types of photosensors within one optomechanical assembly to smartly identify POI across a one billion to one light irradiance range. A pixelated CMOS sensor provides a limited DR and linearity image by engaging a moveable mirror placed between the Digital Micromirror Device (DMD) and the frontend imaging lens. Next using DMD control, non-POI light is directed away from the chosen point photodetector (PD) engaged for high DR POI image recovery, giving the PD an improved use of quantum well capacity. For brighter POI, a solid state photodiode point PD with an electronic gain controlled amplifier is engaged while for weaker light POI, a photomultiplier tube (PMT) with variable optical gain is deployed. POI imaging is achieved using time-frequency CAOS modes via DMD control and time-frequency correlation and spectral digital signal processing. A 123.4 dB linear DR POI recovery is achieved for a custom incoherent white light 36-patch target while a record 177 dB linear DR recovery is demonstrated for a single patch 633 nm laser target. For the first time, a 1023 POI frame, real-time 48 frames/s update rate CAOS imaging is demonstrated for tracking a changing focal spot moving laser target

Optical joint correlator for real-time image tracking and retinal surgery

A method for tracking an object in a sequence of images is described. Such sequence of images may, for example, be a sequence of television frames. The object in the current frame is correlated with the object in the previous frame to obtain the relative location of the object in the two frames. An optical joint transform correlator apparatus is provided to carry out the process. Such joint transform correlator apparatus forms the basis for laser eye surgical apparatus where an image of the fundus of an eyeball is stabilized and forms the basis for the correlator apparatus to track the position of the eyeball caused by involuntary movement. With knowledge of the eyeball position, a surgical laser can be precisely pointed toward a position on the retina

Robot-sensor synchronization for real-time seamtracking in robotic laser welding

The accuracy requirements of laser welding put high demands on the manipulator that is used. To use industrial six-axis robots for manipulating the laser welding optics, sensors measuring the seam trajectory close to the focal spot are required to meet the accuracy demands. When the measurements are taken while the robot is moving, it is essential that they are synchronized with the robot motion. This paper presents a synchronization mechanism between a seam-tracking sensor and an industrial 6-axis robot, which uses Ethernet-based UDP communication. Experimental validation is carried out to determine the accuracy of the proposed synchronization mechanism. Furthermore, a new control architecture, called trajectory-based control is presented, which embeds the synchronization method and allows various sensor-based applications like teaching of a seam trajectory with a moving robot and real-time seam-tracking during laser welding

Digitisation of a moving assembly operation using multiple depth imaging sensors

Several manufacturing operations continue to be manual even in today’s highly automated industry because the complexity of such operations makes them heavily reliant on human skills, intellect and experience. This work aims to aid the automation of one such operation, the wheel loading operation on the trim and final moving assembly line in automotive production. It proposes a new method that uses multiple low-cost depth imaging sensors, commonly used in gaming, to acquire and digitise key shopfloor data associated with the operation, such as motion characteristics of the vehicle body on the moving conveyor line and the angular positions of alignment features of the parts to be assembled, in order to inform an intelligent automation solution. Experiments are conducted to test the performance of the proposed method across various assembly conditions, and the results are validated against an industry standard method using laser tracking. Some disadvantages of the method are discussed, and suggestions for improvements are suggested. The proposed method has the potential to be adopted to enable the automation of a wide range of moving assembly operations in multiple sectors of the manufacturing industry

A Novel Real-Time Moving Target Tracking and Path Planning System for a Quadrotor UAV in Unknown Unstructured Outdoor Scenes

A quadrotor unmanned aerial vehicle (UAV) should have the ability to perform real-time target tracking and path planning simultaneously even when the target enters unstructured scenes, such as groves or forests. To accomplish this task, a novel system framework is designed and proposed to accomplish simultaneous moving target tracking and path planning by a quadrotor UAV with an onboard embedded computer, vision sensors, and a two-dimensional laser scanner. A support vector machine-based target screening algorithm is deployed to select the correct target from multiple candidates detected by single shot multibox detector. Furthermore, a new tracker named TLD-KCF is presented in this paper, in which a conditional scale adaptive algorithm is adopted to improve the tracking performance for a quadrotor UAV in cluttered outdoor environments. According to distance and position estimation for a moving target, our quadrotor UAV can acquire a control point to guide its fight. To reduce the computational burden, a fast path planning algorithm is proposed based on elliptical tangent model. A series of experiments are conducted on our quadrotor UAV platform DJI M100. Experimental video and comparison results among four kinds of target tracking algorithms are given to show the validity and practicality of the proposed approach

Experimental comparison of dynamic tracking performanceof iGPS and laser tracker

External metrology systems are increasingly being integrated with traditional industrial articulated robots, especially in the aerospace industries, to improve their absolute accuracy for precision operations such as drilling, machining and jigless assembly. While currently most of the metrology assisted robotics control systems are limited in their position update rate, such that the robot has to be stopped in order to receive a metrology coordinate update, some recent efforts are addressed toward controlling robots using real-time metrology data. The indoor GPS is one of the metrology systems that may be used to provide real-time 6DOF data to a robot controller. Even if there is a noteworthy literature dealing with the evaluation of iGPS performance, there is, however, a lack of literature on how well the iGPS performs under dynamic conditions. This paper presents an experimental evaluation of the dynamic measurement performance of the iGPS, tracking the trajectories of an industrial robot. The same experiment is also repeated using a laser tracker. Besides the experiment results presented, this paper also proposes a novel method for dynamic repeatability comparisons of tracking instrument

Vibration measurements using continuous scanning laser vibrometry: Advanced aspects in rotor applications

This paper builds on previous work concerned with the development of a comprehensive velocity sensitivity model for continuous scanning Laser Vibrometry. This versatile model predicts the measured velocity for arbitrary mirror scan angles and arbitrary target motion and it has been especially valuable in revealing the sources of additional components seen in continuous scanning and tracking measurements on rotors. The application to vibration measurements on rotors is the particular focus of this paper which includes, for the first time, a three-dimensional consideration of the incident point on the target and validation of the DC component of measured velocity leading to evaluation of the individual components of the small but inevitable misalignments between the rotor and optical axes. This has not previously been possible. Misalignments in the region 0.5 mm and 0.5° were found and the model shows how additional components of the order 10-20 mm/s result for typical measurements. Such levels are significant as they are comparable with vibration levels likely in real applications and, if unexpected, may lead to data misinterpretation. The first thorough analysis of laser speckle effects in scanning Laser Vibrometer measurements on rotors is presented in the form of a speckle repeat map, together with experimental data quantifying the dramatic reduction in speckle noise found in tracking measurements. Finally, the velocity sensitivity model and the description of laser speckle effects are used to enable confident interpretation of data from a series of measurements on a rotating bladed disc. © 2005 Elsevier Ltd. All rights reserved