An improved model of the Earth's gravitational field: GEM-T1

Goddard Earth Model T1 (GEM-T1), which was developed from an analysis of direct satellite tracking observations, is the first in a new series of such models. GEM-T1 is complete to degree and order 36. It was developed using consistent reference parameters and extensive earth and ocean tidal models. It was simultaneously solved for gravitational and tidal terms, earth orientation parameters, and the orbital parameters of 580 individual satellite arcs. The solution used only satellite tracking data acquired on 17 different satellites and is predominantly based upon the precise laser data taken by third generation systems. In all, 800,000 observations were used. A major improvement in field accuracy was obtained. For marine geodetic applications, long wavelength geoidal modeling is twice as good as in earlier satellite-only GEM models. Orbit determination accuracy has also been substantially advanced over a wide range of satellites that have been tested

Feature-based hybrid inspection planning for complex mechanical parts

Globalization and emerging new powers in the manufacturing world are among many challenges, major manufacturing enterprises are facing. This resulted in increased alternatives to satisfy customers\u27 growing needs regarding products\u27 aesthetic and functional requirements. Complexity of part design and engineering specifications to satisfy such needs often require a better use of advanced and more accurate tools to achieve good quality. Inspection is a crucial manufacturing function that should be further improved to cope with such challenges. Intelligent planning for inspection of parts with complex geometric shapes and free form surfaces using contact or non-contact devices is still a major challenge. Research in segmentation and localization techniques should also enable inspection systems to utilize modern measurement technologies capable of collecting huge number of measured points. Advanced digitization tools can be classified as contact or non-contact sensors. The purpose of this thesis is to develop a hybrid inspection planning system that benefits from the advantages of both techniques. Moreover, the minimization of deviation of measured part from the original CAD model is not the only characteristic that should be considered when implementing the localization process in order to accept or reject the part; geometric tolerances must also be considered. A segmentation technique that deals directly with the individual points is a necessary step in the developed inspection system, where the output is the actual measured points, not a tessellated model as commonly implemented by current segmentation tools. The contribution of this work is three folds. First, a knowledge-based system was developed for selecting the most suitable sensor using an inspection-specific features taxonomy in form of a 3D Matrix where each cell includes the corresponding knowledge rules and generate inspection tasks. A Travel Salesperson Problem (TSP) has been applied for sequencing these hybrid inspection tasks. A novel region-based segmentation algorithm was developed which deals directly with the measured point cloud and generates sub-point clouds, each of which represents a feature to be inspected and includes the original measured points. Finally, a new tolerance-based localization algorithm was developed to verify the functional requirements and was applied and tested using form tolerance specifications. This research enhances the existing inspection planning systems for complex mechanical parts with a hybrid inspection planning model. The main benefits of the developed segmentation and tolerance-based localization algorithms are the improvement of inspection decisions in order not to reject good parts that would have otherwise been rejected due to misleading results from currently available localization techniques. The better and more accurate inspection decisions achieved will lead to less scrap, which, in turn, will reduce the product cost and improve the company potential in the market

River flow monitoring: LS-PIV technique, an image-based method to assess discharge

The measurement of the river discharge within a natural ort artificial channel is still one of the most challenging tasks for hydrologists and the scientific community. Although discharge is a physical quantity that theoretically can be measured with very high accuracy, since the volume of water flows in a well-defined domain, there are numerous critical issues in obtaining a reliable value. Discharge cannot be measured directly, so its value is obtained by coupling a measurement of a quantity related to the volume of flowing water and the area of a channel cross-section. Direct measurements of current velocity are made, traditionally with instruments such as current meters. Although measurements with current meters are sufficiently accurate and even if there are universally recognized standards for the current application of such instruments, they are often unusable under specific flow conditions. In flood conditions, for example, due to the need for personnel to dive into the watercourse, it is impossible to ensure adequate safety conditions to operators for carrying out flow measures. Critical issue arising from the use of current meters has been partially addressed thanks to technological development and the adoption of acoustic sensors. In particular, with the advent of Acoustic Doppler Current Profilers (ADCPs), flow measurements can take place without personnel having direct contact with the flow, performing measurements either from the bridge or from the banks. This made it possible to extend the available range of discharge measurements. However, the flood conditions of a watercourse also limit the technology of ADCPs. The introduction of the instrument into the current with high velocities and turbulence would put the instrument itself at serious risk, making it vulnerable and exposed to damage. In the most critical case, the instrument could be torn away by the turbulent current. On the other hand, considering smaller discharges, both current meters and ADCPs are technologically limited in their measurement as there are no adequate water levels for the use of the devices. The difficulty in obtaining information on the lowest and highest values of discharge has important implications on how to define the relationships linking flows to water levels. The stage-discharge relationship is one of the tools through which it is possible to monitor the flow in a specific section of a watercourse. Through this curve, a discharge value can be obtained from knowing the water stage. Curves are site-specific and must be continuously updated to account for changes in geometry that the sections for which they are defined may experience over time. They are determined by making simultaneous discharge and stage measurements. Since instruments such as current meters and ADCPs are traditionally used, stage-discharge curves suffer from instrumental limitations. So, rating curves are usually obtained by interpolation of field-measured data and by extrapolate them for the highest and the lowest discharge values, with a consequent reduction in accuracy. This thesis aims to identify a valid alternative to traditional flow measurements and to show the advantages of using new methods of monitoring to support traditional techniques, or to replace them. Optical techniques represent the best solution for overcoming the difficulties arising from the adoption of a traditional approach to flow measurement. Among these, the most widely used techniques are the Large-Scale Particle Image Velocimetry (LS-PIV) and the Large-Scale Particle Tracking Velocimetry. They are able to estimate the surface velocity fields by processing images representing a moving tracer, suitably dispersed on the liquid surface. By coupling velocity data obtained from optical techniques with geometry of a cross-section, a discharge value can easily be calculated. In this thesis, the study of the LS-PIV technique was deepened, analysing the performance of the technique, and studying the physical and environmental parameters and factors on which the optical results depend. As the LS-PIV technique is relatively new, there are no recognized standards available for the proper application of the technique. A preliminary numerical analysis was conducted to identify the factors on which the technique is significantly dependent. The results of these analyses enabled the development of specific guidelines through which the LS-PIV technique could subsequently be applied in open field during flow measurement campaigns in Sicily. In this way it was possible to observe experimentally the criticalities involved in applying the technique on real cases. These measurement campaigns provided the opportunity to carry out analyses on field case studies and structure an automatic procedure for optimising the LS-PIV technique. In all case studies it was possible to observe how the turbulence phenomenon is a worsening factor in the output results of the LS-PIV technique. A final numerical analysis was therefore performed to understand the influence of turbulence factor on the performance of the technique. The results obtained represent an important step for future development of the topic

Inverted Fluorescence Microscope

Team F13 is composed of Trevor Blythe, Spencer Hann, Matthew Pfeiffer, and Thomas Eggenberger. We are all majoring in mechanical engineering and in our final year of study here at Cal Poly San Luis Obispo. This project is a continuation of a 2019-2020 senior project. The previous team designed and built a functioning inverted fluorescence microscope (IFM) from scratch. This device was created as a lab tool for undergraduate students to be able to perform experiments on microfluidic devices constructed in Cal Poly’s Microfabrication Laboratory. Although substantially functional, several design constraints had not yet been met. Our team has improved microscope robustness and functionality for practical undergraduate lab use. To do this, we set overarching goals including decreasing microscope footprint, increasing the accuracy of microscope positional repeatability, and improving user-friendliness. Within this Final Design Review report, the full design, manufacturing, and testing processes of this project are explicitly detailed, as well as project logistics, future suggestions, and project management

Virtual reality based creation of concept model designs for CAD systems

This work introduces a novel method to overcome most of the drawbacks in traditional methods for creating design models. The main innovation is the use of virtual tools to simulate the natural physical environment in which freeform. Design models are created by experienced designers. Namely, the model is created in a virtual environment by carving a work piece with tools that simulate NC milling cutters. Algorithms have been developed to support the approach, in which the design model is created in a Virtual Reality (VR) environment and selection and manipulation of tools can be performed in the virtual space. The desianer\u27s hand movements generate the tool trajectories and they are obtained by recording the position and orientation of a hand mounted motion tracker. Swept volumes of virtual tools are generated from the geometry of the tool and its trajectories. Then Boolean operations are performed on the swept volumes and the initial virtual stock (work piece) to create the design model. Algorithms have been developed as a part of this work to integrate the VR environment with a commercial CAD/CAM system in order to demonstrate the practical applications of the research results. The integrated system provides a much more efficient and easy-to-implement process of freeform model creation than employed in current CAD/CAM software. It could prove to be the prototype for the next-generation CAD/CAM system

Self-Calibration of Multi-Camera Systems for Vehicle Surround Sensing

Multikamerasysteme werden heute bereits in einer Vielzahl von Fahrzeugen und mobilen Robotern eingesetzt. Die Anwendungen reichen dabei von einfachen Assistenzfunktionen wie der Erzeugung einer virtuellen Rundumsicht bis hin zur Umfelderfassung, wie sie für teil- und vollautomatisches Fahren benötigt wird. Damit aus den Kamerabildern metrische Größen wie Distanzen und Winkel abgeleitet werden können und ein konsistentes Umfeldmodell aufgebaut werden kann, muss das Abbildungsverhalten der einzelnen Kameras sowie deren relative Lage zueinander bekannt sein. Insbesondere die Bestimmung der relativen Lage der Kameras zueinander, die durch die extrinsische Kalibrierung beschrieben wird, ist aufwendig, da sie nur im Gesamtverbund erfolgen kann. Darüber hinaus ist zu erwarten, dass es über die Lebensdauer des Fahrzeugs hinweg zu nicht vernachlässigbaren Veränderungen durch äußere Einflüsse kommt. Um den hohen Zeit- und Kostenaufwand einer regelmäßigen Wartung zu vermeiden, ist ein Selbstkalibrierungsverfahren erforderlich, das die extrinsischen Kalibrierparameter fortlaufend nachschätzt. Für die Selbstkalibrierung wird typischerweise das Vorhandensein überlappender Sichtbereiche ausgenutzt, um die extrinsische Kalibrierung auf der Basis von Bildkorrespondenzen zu schätzen. Falls die Sichtbereiche mehrerer Kameras jedoch nicht überlappen, lassen sich die Kalibrierparameter auch aus den relativen Bewegungen ableiten, die die einzelnen Kameras beobachten. Die Bewegung typischer Straßenfahrzeuge lässt dabei jedoch nicht die Bestimmung aller Kalibrierparameter zu. Um die vollständige Schätzung der Parameter zu ermöglichen, lassen sich weitere Bedingungsgleichungen, die sich z.B. aus der Beobachtung der Bodenebene ergeben, einbinden. In dieser Arbeit wird dazu in einer theoretischen Analyse gezeigt, welche Parameter sich aus der Kombination verschiedener Bedingungsgleichungen eindeutig bestimmen lassen. Um das Umfeld eines Fahrzeugs vollständig erfassen zu können, werden typischerweise Objektive, wie zum Beispiel Fischaugenobjektive, eingesetzt, die einen sehr großen Bildwinkel ermöglichen. In dieser Arbeit wird ein Verfahren zur Bestimmung von Bildkorrespondenzen vorgeschlagen, das die geometrischen Verzerrungen, die sich durch die Verwendung von Fischaugenobjektiven und sich stark ändernden Ansichten ergeben, berücksichtigt. Darauf aufbauend stellen wir ein robustes Verfahren zur Nachführung der Parameter der Bodenebene vor. Basierend auf der theoretischen Analyse der Beobachtbarkeit und den vorgestellten Verfahren stellen wir ein robustes, rekursives Kalibrierverfahren vor, das auf einem erweiterten Kalman-Filter aufbaut. Das vorgestellte Kalibrierverfahren zeichnet sich insbesondere durch die geringe Anzahl von internen Parametern, sowie durch die hohe Flexibilität hinsichtlich der einbezogenen Bedingungsgleichungen aus und basiert einzig auf den Bilddaten des Multikamerasystems. In einer umfangreichen experimentellen Auswertung mit realen Daten vergleichen wir die Ergebnisse der auf unterschiedlichen Bedingungsgleichungen und Bewegungsmodellen basierenden Verfahren mit den aus einer Referenzkalibrierung bestimmten Parametern. Die besten Ergebnisse wurden dabei durch die Kombination aller vorgestellten Bedingungsgleichungen erzielt. Anhand mehrerer Beispiele zeigen wir, dass die erreichte Genauigkeit ausreichend für eine Vielzahl von Anwendungen ist

Flow Characterization Under Idealized Stenosis Geometry and Performance Assessment of the Hemodynamic Flow Facility

It is well known that regions inside the human arterial network susceptible to atherosclerosis experience a complex flow environment. Endothelial Cells (ECs) lining the inner wall of arteries are sensors to spatially and temporally varying shear stress (i.e. wall shear stress gradients). This complex force-loading can disrupt local cell-to-cell attachment regions triggering a cascade of biological events leading to the formation of atherosclerotic lesions. Consequently, researchers predominantly use a Parallel Plate Flow Chamber (PPFC) to study the hemodynamic-cell cycle relationship due to its simplicity and ability to achieve a two-dimensional fully-developed steady laminar flow across the cell monolayer. Researchers also resort to a PPFC with a vertical step to disrupt the incoming steady and/or pulsatile flow and, thus, generate a complex force-loading on the live ECs. The present study is focused on the development and validation (by means of quantifying all elements of the design, performance and experimental uncertainty) of a hemodynamic flow facility allowing two-component ( ) Laser Doppler Velocimetry (LDV) measurements as close as 40 µm from the cell monolayer inside the PPFC. The study uses a backward-facing step (BFS) with 50% area reduction to model an idealized stenosis and, hence, disturb the incoming steady and pulsatile laminar flow. To provide insight not only into the fluid dynamic comparison but also on how the BFS models wall shear stress (WSS) and its spatial and temporal gradient (along with the oscillatory shear index, OSI) in a stenosed tube representing an artery, a detailed quantitative comparison with more realistic models of stenosis is provided (i.e. carotid artery phantom). To the best of the author’s knowledge such a quantitative comparison is not available in the literature. In addition, the present study provides mean flow and turbulence statistics downstream of the BFS, thereby adding knowledge to stenosed cases (away from the wall in the developing shear layer) allowing Computational Fluid Dynamics (CFD) modelers to reference experimental data when simulating intermittent turbulent flows. The results indicate that despite the simplicity of the chosen geometry, the measured flow downstream of the BFS under steady and pulsatile flow exhibits a number of features that are documented in previous work with more realistic configurations of stenoses (i.e. asymmetric tube stenosis). The author believes this simple geometry will set the stage for more advanced studies in the PPFC with more realistic geometrical configurations of stenoses. Lastly, additional work with live ECs cultured inside the PPFC can be undertaken under disturbed flow conditions reported in the present investigation