Calibration of Parallel Kinematic Machines: theory and applications

Introduction As already stated in the chapter addressing the calibration of serial manipulators, kinematic calibration is a procedure for the identification and the consequent compensation of the geometrical pose errors of a robot. This chapter extends the discussion to Parallel Manipulators (also called PKM Parallel Kinematic Machines). As described in the following (Section 2) this extension is not obvious but requires special care. Although for serial manipulators some procedures for the calibration based on automatic generation of a MCPC (Minimum Complete Parametrically Continuos) model exist, for PKMs only methodologies for individual manipulators have been proposed but a general strategy has not been presented since now. A few examples of the numerous approaches for the calibration of individual PKMs are proposed in (Parenti-Castelli & Di Gregorio, 1995), (Jokiel et al., 2000) for direct calibration and (Neugebauer et al., 1999), (Smollett, 1996) for indirect or self calibration techniques. This paper makes one significant step integrating available results with new ones and reordering them in simple rules that can be automatically applied to any PKM with general kinematic chains. In all the cases a MCPC kinematic model for geometrical calibration is automatically obtained. In Section 2 the main features of PKMs calibration is pointed out and the total number of the necessary parameters is determined; this is an original contribution. In Sections 3 and 4 two novel approaches for the generation of a MCPC model are described. Sections 5 and 6 are dedicated to the analysis of the singular cases and to the procedure for the elimination of the redundant parameters respectively; actual cases are discussed. Section 7 presents several examples of application of the two proposed procedures to many existing PKMs. Section 8 eventually draws the conclusions

Investigation of top mass measurements with the ATLAS detector at LHC

Several methods for the determination of the mass of the top quark with the ATLAS detector at the LHC are presented. All dominant decay channels of the top quark can be explored. The measurements are in most cases dominated by systematic uncertainties. New methods have been developed to control those related to the detector. The results indicate that a total error on the top mass at the level of 1 GeV should be achievable.Comment: 47 pages, 40 figure

Manipulation of micro-components using vacuum grippers.

SUMMARY. During the past decades several microproducts have been fabricated for a great variety of applications in the traditional fields, including the medical and biomedical sectors, automotive, aeronautics and aerospace, Information Technology and telecommunication as well as in more innovative areas, such as household appliances, entertainment and sport equipment. Nevertheless, hybrid three dimensional micro products have still great difficulty in penetrating the market, mainly due to the limits of the fabrication processes that require manipulation and final assembly of microcomponents. These processes, being not yet automated, strongly affect the cost of products. Therefore, new market perspectives can be reached automating the assembly phase. The main challenge is due to the new physical scenario that appears when dealing with the assembly of millimetric and sub-millimetric parts. Indeed, at the microscale the high surface to volume ratio leads to the predominance of the superficial forces (e.g. electrostatic, van der Waals and surface tension forces) over the gravitational force; this results in an unpredictable behaviour of the traditional manipulating mechanisms, whereas an efficient and precise control of the grasp and release of thousands of microscopic and fragile parts is required. For this reason the downscaling of traditional handling strategies and the development of new handling techniques require further studies. Several solutions can be found in literature, with their advantages and limitations, i.e.: friction and jaw microgrippers, magnetic and electrical fields used to levitate objects, adhesive grippers exploiting capillary force. Also vacuum grippers can be miniaturized. Due to their intrinsic simplicity, vacuum grippers are very cheap and appear a promising solution for industrial applications, if some improvements are carried out. In this context, an experimental setup for the automatic manipulation of microcomponents through some vacuum grippers was developed. Moreover, an innovative design of a nozzle for a vacuum gripper was fabricated and tested, comparing its performance with traditional needles. The design was conceived in order to reduce the frequency of occlusions of the nozzle and handle a wide range of particles. The tests described in this paper concern mainly the success and the precision of the release of objects from the gripper. Indeed, this is one the crucial aspect of micromanipulation because microparts tend to stick to the gripper preventing the successful performance of manipulation tasks

First measurement of the polarization observable E in the (p)over-right-arrow((gamma)over-right-arrow, pi(+))n reaction up to 2.25 GeV

First results from the longitudinally polarized frozen-spin target (FROST) program are reported. The double-polarization observable E, for the reaction (p) over right arrow((gamma) over right arrow, pi( + ))n, has been measured using a circularly polarized tagged-photon beam, with energies from 0.35 to 2.37 GeV. The final-state pions were detected with the CEBAF Large Acceptance Spectrometer in Hall B at the Thomas Jefferson National Accelerator Facility. These polarization data agree fairly well with previous partial-wave analyses at low photon energies. Over much of the covered energy range, however, significant deviations are observed, particularly in the high-energy region where high-L multipoles contribute. The data have been included in new multipole analyses resulting in updated nucleon resonance parameters. We report updated fits from the Bonn-Gatchina, Jfilich-Bonn, and SAID groups. (C) 2015 The Authors. Published by Elsevier B.V

Assessing the Relationships between Interdigital Geometry Quality and Inkjet Printing Parameters

Drop on demand (DoD) inkjet printing is a high precision, non-contact, and maskless additive manufacturing technique employed in producing high-precision micrometer-scaled geometries allowing free design manufacturing for flexible devices and printed electronics. A lot of studies exist regarding the ink droplet delivery from the nozzle to the substrate and the jet fluid dynamics, but the literature lacks systematic approaches dealing with the relationship between process parameters and geometrical outcome. This study investigates the influence of the main printing parameters (namely, the spacing between subsequent drops deposited on the substrate, the printing speed, and the nozzle temperature) on the accuracy of a representative geometry consisting of two interdigitated comb-shape electrodes. The study objective was achieved thanks to a proper experimental campaign developed according to Design of Experiments (DoE) methodology. The printing process performance was evaluated by suitable geometrical quantities extracted from the acquired images of the printed samples using a MATLAB algorithm. A drop spacing of 140 µm and 170 µm on the two main directions of the printing plane, with a nozzle temperature of 35◦C, resulted as the most appropriate parameter combination for printing the target geometry. No significant influence of the printing speed on the process outcomes was found, thus choosing the highest speed value within the investigated range can increase productivity

Exclusive πᵒ Electroproduction at W \u3e 2 GeV with CLAS

Exclusive neutral-pion electroproduction (ep → e\u27p\u27π0 was measured at Jefferson Lab with a 5.75-GeV electron beam and the CLAS detector. Differential cross sections d4σ/dtdQ2dxBdΦπ and structure functions σT+ ϵσL, σTT, and σLT as functions of t were obtained over a wide range of Q2 and xB. The data are compared with Regge and handbag theoretical calculations. Analyses in both frameworks find that a large dominance of transverse processes is necessary to explain the experimental results. For the Regge analysis it is found that the inclusion of vector meson rescattering processes is necessary to bring the magnitude of the calculated and measured structure functions into rough agreement. In the handbag framework, there are two independent calculations, both of which appear to roughly explain the magnitude of the structure functions in terms of transversity generalized parton distributions

OBLIQUE PHOTOGRAMMETRY SUPPORTING 3D URBAN RECONSTRUCTION OF COMPLEX SCENARIOS

Accurate 3D city models represent an important source of geospatial information to support various “smart city” applications, such as space management, energy assessment, 3D cartography, noise and pollution mapping as well as disaster management. Even though remarkable progress has been made in recent years, there are still many open issues, especially when it comes to the 3D modelling of complex urban scenarios like historical and densely-built city centres featuring narrow streets and non-conventional building shapes. Most approaches introduce strong building priors/constraints on symmetry and roof typology that penalize urban environments having high variations of roof shapes. Furthermore, although oblique photogrammetry is rapidly maturing, the use of slanted views for façade reconstruction is not completely included in the reconstruction pipeline of state-of-the-art software. This paper aims to investigate state-of-the-art methods for 3D building modelling in complex urban scenarios with the support of oblique airborne images. A reconstruction approach based on roof primitives fitting is tested. Oblique imagery is then exploited to support the manual editing of the generated building models. At the same time, mobile mapping data are collected at cm resolution and then integrated with the aerial ones. All approaches are tested on the historical city centre of Bergamo (Italy)

WEB PLATFORMS FOR CULTURAL HERITAGE MANAGEMENT: THE PARCO ARCHEOLOGICO DEL COLOSSEO CASE STUDY

This paper describes the digitization test of Fonte Giuturna (Giuturna spring) in the Roman Forum area, from survey to data management through the in-use monitoring system, the WebApp SyPEAH of the Parco Archeologico del Colosseo. The location of Giuturna Spring, characterized by the presence of heterogeneous archaeological remains from different ages, was surveyed in May 2022 as part of a research project that aimed to superintend the entire Cultural Heritage digitization pipeline to provide the Archaeological Park Administration the digitization guidelines as a tool to standardize future surveys and data deliveries.Inspired by the desire to build a system of protection and conservation at the service of sustainable exploitation, SyPEAH is a web platform based on open-source modules designed to manage archaeological records with a WebGIS approach. It supports the use of several 3D data formats, including point clouds. The paper focuses on the web platform, describing the web app’s main features, especially in terms of point cloud data management. Moreover, possible future development of the platform intended to implement usability for single archaeological objects is described.</p

Rapid prototyping of plastic lab-on-a-chip by femtosecond laser micromachining and removable insert microinjection molding

We have introduced a new hybrid fabrication method for lab-on-a-chip devices through the combination of femtosecond laser micromachining and removable insert micro-injection molding. This method is particularly suited for the fast prototyping of new devices, while maintaining a competitive low cost. To demonstrate the effectiveness of our approach, we designed, fabricated, and tested a completely integrated flow cytometer coupled to a portable media device. The system operation was tested with fluorescent plastic micro-bead solutions ranging from 100 beads/?L to 500 beads/?L. We demonstrated that this hybrid lab-on-a-chip fabrication technology is suitable for producing low-cost and portable biological microsystems and for effectively bridging the gap between new device concepts and their mass production