512 research outputs found
An intelligent real time 3D vision system for robotic welding tasks
MARWIN is a top-level robot control system that has been designed for automatic robot welding tasks. It extracts welding parameters and calculates robot trajectories directly from CAD models which are then verified by real-time 3D scanning and registration. MARWIN's 3D computer vision provides a user-centred robot environment in which a task is specified by the user by simply confirming and/or adjusting suggested parameters and welding sequences. The focus of this paper is on describing a mathematical formulation for fast 3D reconstruction using structured light together with the mechanical design and testing of the 3D vision system and show how such technologies can be exploited in robot welding tasks
Robot trajectory planning using OLP and structured light 3D machine vision
This paper proposes a new methodology for robotic offline programming (OLP) addressing the issue of automatic program generation directly from 3D CAD models and verification through online 3D reconstruction. Limitations of current OLP include manufacturing tolerances between CAD and workpieces and inaccuracies in workpiece placement and modelled work cell. These issues are addressed and demonstrated through surface scanning, registration, and global and local error estimation. The method allows the robot to adjust the welding path designed from the CAD model to the actual workpiece. Alternatively, for non-repetitive tasks and where a CAD model is not available, it is possible to interactively define the path online over the scanned surface
Gravitational Lensing by Power-Law Mass Distributions: A Fast and Exact Series Approach
We present an analytical formulation of gravitational lensing using familiar
triaxial power-law mass distributions, where the 3-dimensional mass density is
given by . The deflection angle and magnification factor are
obtained analytically as Fourier series. We give the exact expressions for the
deflection angle and magnification factor. The formulae for the deflection
angle and magnification factor given in this paper will be useful for numerical
studies of observed lens systems. An application of our results to the Einstein
Cross can be found in Chae, Turnshek, & Khersonsky (1998). Our series approach
can be viewed as a user-friendly and efficient method to calculate lensing
properties that is better than the more conventional approaches, e.g.,
numerical integrations, multipole expansions.Comment: 24 pages, 3 Postscript figures, ApJ in press (October 10th
Effects of Strong Gravitational Lensing on Millimeter-Wave Galaxy Number Counts
We study the effects of strong lensing on the observed number counts of mm
sources using a ray tracing simulation and two number count models of unlensed
sources. We employ a quantitative treatment of maximum attainable magnification
factor depending on the physical size of the sources, also accounting for
effects of lens halo ellipticity. We calculate predicted number counts and
redshift distributions of mm galaxies including the effects of strong lensing
and compare with the recent source count measurements of the South Pole
Telescope (SPT). The predictions have large uncertainties, especially the
details of the mass distribution in lens galaxies and the finite extent of
sources, but the SPT observations are in good agreement with predictions. The
sources detected by SPT are predicted to largely consist of strongly lensed
galaxies at z>2. The typical magnifications of these sources strongly depends
on both the assumed unlensed source counts and the flux of the observed
sources
CFHT AO Imaging of the CLASS Gravitational Lens System B1359+154
We present adaptive optics imaging of the CLASS gravitational lens system
B1359+154 obtained with the Canada-France-Hawaii Telescope (CFHT) in the
infrared K band. The observations show at least three brightness peaks within
the ring of lensed images, which we identify as emission from multiple lensing
galaxies. The results confirm the suspected compound nature of the lens, as
deduced from preliminary mass modeling. The detection of several additional
nearby galaxies suggests that B1359+154 is lensed by the compact core of a
small galaxy group. We attempted to produce an updated lens model based on the
CFHT observations and new 5-GHz radio data obtained with the MERLIN array, but
there are too few constraints to construct a realistic model at this time. The
uncertainties inherent with modeling compound lenses make B1359+154 a
challenging target for Hubble constant determination through the measurement of
differential time delays. However, time delays will offer additional
constraints to help pin down the mass model. This lens system therefore
presents a unique opportunity to directly measure the mass distribution of a
galaxy group at intermediate redshift.Comment: 12 pages including 3 figures; ApJL accepte
A New Einstein Cross: A Highly Magnified, Intrinsically Faint Lyman-Alpha Emitter at z=2.7
We report the discovery of a new Einstein cross at redshift z_S = 2.701 based
on Lyman-alpha emission in a cruciform configuration around an SDSS luminous
red galaxy (z_L = 0.331). The system was targeted as a possible lens based on
an anomalous emission line in the SDSS spectrum. Imaging and spectroscopy from
the W. M. Keck Observatory confirm the lensing nature of this system. This is
one of the widest-separation galaxy-scale lenses known, with an Einstein radius
of ~1.84 arcsec. We present simple gravitational lens models for the system and
compute the intrinsic properties of the lensed galaxy. The total mass of the
lensing galaxy within the 8.8 +/- 0.1 kpc enclosed by the lensed images is (5.2
+/- 0.1) x 10^11 M_sun. The lensed galaxy is a low mass galaxy (0.2 L*) with a
high equivalent-width Lyman-alpha line (EW_Lya_rest = 46 +/- 5 Angstroms).
Follow-up studies of this lens system can probe the mass structure of the
lensing galaxy, and can provide a unique view of an intrinsically faint,
high-redshift, star-forming galaxy at high signal-to-noise ratio.Comment: ApJ Letters, in pres
CX3CR1 Polymorphisms are associated with atopy but not asthma in German children
Chemokines and their receptors are involved in many aspects of immunity. Chemokine CX3CL1, acting via its receptor CX3CR1, regulates monocyte migration and macrophage differentiation as well as T cell-dependent inflammation. Two common, nonsynonymous polymorphisms in CX3CR1 have previously been shown to alter the function of the CX3CL1/CX3CR1 pathway and were suggested to modify the risk for asthma. Using matrix-assisted laser desorption/ionization time-of-flight technology, we genotyped polymorphisms Val249Ile and Thr280Met in a cross-sectional population of German children from Munich (n = 1,159) and Dresden ( n = 1,940). For 249Ile an odds ratio of 0.77 (95% confidence interval 0.63-0.96; p = 0.017) and for 280Met an odds ratio of 0.71 ( 95% confidence interval 0.56-0.89; p = 0.004) were found with atopy in Dresden but not in Munich. Neither polymorphism was associated with asthma. Thus, amino acid changes in CX3CR1 may influence the development of atopy but not asthma in German children. Potentially, other factors such as environmental effects may modify the role of CX3CR1 polymorphisms. Copyright (c) 2007 S. Karger AG, Basel
Analytic Time Delays and H_0 Estimates for Gravitational Lenses
We study gravitational lens time delays for a general family of lensing
potentials, which includes the popular singular isothermal elliptical potential
and singular isothermal elliptical density distribution but allows general
angular structure. Using a novel approach, we show that the time delay can be
cast in a very simple form, depending only on the observed image positions.
Including an external shear changes the time delay proportional to the shear
strength, and varying the radial profile of the potential changes the time
delay approximately linearly. These analytic results can be used to obtain
simple estimates of the time delay and the Hubble constant in observed
gravitational lenses. The naive estimates for four of five time delay lenses
show surprising agreement with each other and with local measurements of H_0;
the complicated Q 0957+561 system is the only outlier. The agreement suggests
that it is reasonable to use simple isothermal lens models to infer H_0,
although it is still important to check this conclusion by examining detailed
models and by measuring more lensing time delays.Comment: 16 pages with 2 embedded figures; submitted to Ap
New Modeling of the Lensing Galaxy and Cluster of Q0957+561: Implications for the Global Value of the Hubble Constant
The gravitational lens 0957+561 is modeled utilizing recent observations of
the galaxy and the cluster as well as previous VLBI radio data which have been
re-analyzed recently. The galaxy is modeled by a power-law elliptical mass
density with a small core while the cluster is modeled by a non-singular
power-law sphere as indicated by recent observations. Using all of the current
available data, the best-fit model has a reduced chi-squared of approximately 6
where the chi-squared value is dominated by a small portion of the
observational constraints used; this value of the reduced chi-squared is
similar to that of the recent FGSE best-fit model by Barkana et al. However,
the derived value of the Hubble constant is significantly different from the
value derived from the FGSE model. We find that the value of the Hubble
constant is given by H_0 = 69 +18/-12 (1-K) and 74 +18/-17 (1-K) km/s/Mpc with
and without a constraint on the cluster's mass, respectively, where K is the
convergence of the cluster at the position of the galaxy and the range for each
value is defined by Delta chi-squared = reduced chi-squared. Presently, the
best achievable fit for this system is not as good as for PG 1115+080, which
also has recently been used to constrain the Hubble constant, and the
degeneracy is large. Possibilities for improving the fit and reducing the
degeneracy are discussed.Comment: 22 pages in aaspp style including 6 tables and 5 figures, ApJ in
press (Nov. 1st issue
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