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

PHOTOGRAMMETRIC SURVEY OF NARROW SPACES IN CULTURAL HERITAGE: COMPARISON OF TWO MULTI-CAMERA APPROACHES

Multi-camera devices are increasingly popular in various metrological applications, including cultural heritage digitalisation, where these devices are adopted as low-cost alternatives to more traditional methods or mobile mapping systems. They can be of two types: panoramic and non-panoramic configurations, with the former usually more compact and ready-made off-The-shelves and the latter usually custom-developed for metrological applications. In the paper, we compare the accuracy and reliability performance of two types of multi-camera: The spherical camera INSTA 360 Pro2 and the custom multi-camera rig Ant3D. The case study is a challenging spiral staircase environment, typical in many cultural heritage survey projects. The processed image datasets were evaluated in the most common constrain scenario (GCPs at both ends of the staircase) and the worst-case scenario (open-ended path, GCPs at the start). The datasets were processed with precalibrated IO and various degrees of multi-camera constraints up to precalibrated relative orientations. The results highlight that the nominal scale 1:50 can be achieved, e.g. an accuracy of <2 cm plus complete and precise point clouds and mesh results

High Availability Train To Wayside Communication System For Subway Application Using 802.11X

International audienceWireless transmission for train to wayside communication is now a reality, including for the train control application. However subway applications entail specific constraints, such as environment, high speed mobility, need for a rugged data communication system with very high availability of the links and specific requirements in terms of quality. In addition, the operation of such system requires more throughputs for offering additional new services such as video or other data communication for other sub-systems. Finally, the life of the system shall be at least of 30 years.The challenge is to design a whole system and an architecture integrating products from the 802.11 family (WiFi). These products should be available on the market and they still have to meet all the requirements mentioned above. The present approach focuses on modularity, redundancy architecture and control of the link budget. Dedicated optimized algorithms address mobility features

Integration of historical GIS data in a HBIM system

The integration between BIM (Building Information Modeling) and GIS (Geographic Information System) is currently a highly debated research topic. However, the effective integration of the two workflows in a unique information system is still an open research field, especially when dealing with Cultural Heritage (CH). The paper describes an ongoing research on the development of a web information system able to integrate BIM and GIS data, with particular focus on the analysis of the historicized city and its main buildings over time. Three main aspects, in particular, are considered more relevant: (i) conceptual data organization to integrate GIS and BIM in a single environment; (ii) integration of data belonging to different historical periods for analyses over time (4D); (iii) integration into the system of datasets already structured in pre-existing HGIS and HBIM. Most (if not all) of the attributes must be linked with both 2D and 3D entities. The system should be queryable and with the possibility to edit the information regardless of the actual focus of the current user, either if he is more BIM or GIS oriented. This is one of the main requirement for the system not to be just a simple viewer of BIM and GIS data in a unique software environment. The system can manage, from a spatial point of view, different scales of detail, allowing the connection between data from the architectural scale to the territorial one and, from a temporal point of view, data belonging to different periods. All these features have been designed to meet, in particular, the requirements of CH and realize a Historical BIM-GIS system. Besides, the web architecture allows sharing information even between actors with different digital skills, without the need for specific software installed, and ensures portability and access from mobile devices

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

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

Transverse polarization of Sigma(+)(1189) in photoproduction on a hydrogen target in CLAS

Experimental results on the Sigma(+)(1189) hyperon transverse polarization in photoproduction on a hydrogen target using the CLAS detector at Jefferson Laboratory are presented. The Sigma(+)(1189) was reconstructed in the exclusive reaction gamma + p -\u3e K-s(0) + Sigma(+)(1189) via the Sigma(+) -\u3e p pi(0) decay mode. The K-s(0) was reconstructed in the invariant mass of two oppositely charged pions with the pi(0) identified in the missing mass of the detected p pi(+)pi(-) final state. Experimental data were collected in the photon energy range E-gamma = 1.0-3.5 GeV (root s range 1.66-2.73 GeV). We observe a large negative polarization of up to 95%. As the mechanism of transverse polarization of hyperons produced in unpolarized photoproduction experiments is still not well understood, these results will help to distinguish between different theoretical models on hyperon production and provide valuable information for the searches of missing baryon resonances

Near-threshold neutral pion electroproduction at high momentum transfers and generalized form factors

We report the measurement of near-threshold neutral pion electroproduction cross sections and the extraction of the associated structure functions on the proton in the kinematic range Q(2) from 2 to 4.5 GeV2 and W from 1.08 to 1.16 GeV. These measurements allow us to access the dominant pion-nucleon s-wave multipoles E0+ and S0+ in the near-threshold region. In the light-cone sum-rule framework (LCSR), these multipoles are related to the generalized form factors G(1)(pi 0p) (Q(2)) and G(2)(pi 0p) (Q(2)). The data are compared to these generalized form factors and the results for G(1)(pi 0p) (Q(2)) are found to be in good agreement with the LCSR predictions, but the level of agreement with G(2)(pi 0p) (Q(2)) is poor. DOI: 10.1103/PhysRevC.87.04520

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