The upgrade of the ALICE TPC with GEMs and continuous readout

The upgrade of the ALICE TPC will allow the experiment to cope with the high interaction rates foreseen for the forthcoming Run 3 and Run 4 at the CERN LHC. In this article, we describe the design of new readout chambers and front-end electronics, which are driven by the goals of the experiment. Gas Electron Multiplier (GEM) detectors arranged in stacks containing four GEMs each, and continuous readout electronics based on the SAMPA chip, an ALICE development, are replacing the previous elements. The construction of these new elements, together with their associated quality control procedures, is explained in detail. Finally, the readout chamber and front-end electronics cards replacement, together with the commissioning of the detector prior to installation in the experimental cavern, are presented. After a nine-year period of R&D, construction, and assembly, the upgrade of the TPC was completed in 2020.publishedVersio

Article Rapid Characterization of Vegetation Structure with a Microsoft Kinect Sensor

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Registration with the Point Cloud Library A Modular Framework for Aligning in 3-D

The open-source point cloud library (PCL) and the tools available for point cloud registration is presented. Pairwise registration is usually carried out by means of one of the several variants of the ICP algorithm. Due to the nonconvexity of the optimization, ICP-based approaches require initialization with a rough initial transformation to increase the chance of ending up with a successful alignment. Good initialization also speeds up their convergence. Two major classes of registration algorithms can be distinguished, feature-based registration algorithms (path 1) for computing initial alignments, and iterative registration algorithms (path 2) following the principle of the ICP algorithm to iteratively register point clouds. For the feature-based registration, geometric feature descriptors are computed and matched in some high-dimensional space. The more descriptive, unique, and persistent these descriptors are, the higher is the chance that all found matches are pairs of points that truly correspond to one another. In contrast to the feature-based registration, iterative registration algorithms do not match salient feature descriptors to find correspondences between source and target point clouds, but instead search for closest points (matching step) and align the found point pairs. To speed up registration, another common extension to the original ICP algorithm is to register only subsets of the input point clouds sampled in an initial selection step

Registration with the Point Cloud Library: A Modular Framework for Aligning in 3-D

Registration is an important step when processing three-dimensional (3-D) point clouds. Applications for registration range from object modeling and tracking, to simultaneous localization and mapping (SLAM). This article presents the open-source point cloud library (PCL) and the tools available for point cloud registration. The PCL incorporates methods for the initial alignment of point clouds using a variety of local shape feature descriptors, as well as methods for refining initial alignments using different variants of the well-known iterative closest point (ICP) algorithm. This article provides an overview on registration algorithms, usage examples of their PCL implementations, and tips for their application. Since the choice and parameterization of the right algorithm for a particular type of data is one of the biggest problems in 3-D point cloud registration, we present three complete examples of data (and applications) and the respective registration pipeline in the PCL. These examples include dense red-green-blue-depth (RGB-D) point clouds acquired by consumer color and depth cameras, high-resolution laser scans from commercial 3-D scanners, and low-resolution sparse point clouds captured by a custom lightweight 3-D scanner on a microaerial vehicle (MAV)

Correction of the baseline fluctuations in the GEM-based ALICE TPC

To operate the ALICE Time Projection Chamber in continuous mode during the Run 3 and Run 4 data-taking periods of the Large Hadron Collider, the multi-wire proportional chamber-based readout was replaced with gas-electron multipliers. As expected, the detector performance is affected by the so-called common-mode effect, which leads to significant baseline fluctuations. A detailed study of the pulse shape with the new readout has revealed that it is also affected by ion tails. Since reconstruction and data compression are performed fully online, these effects must be corrected at the hardware level in the FPGA-based common readout units. The characteristics of the common-mode effect and of the ion tail, as well as the algorithms developed for their online correction, are described in this paper. The common-mode dependencies are studied using machine-learning techniques. Toy Monte Carlo simulations are performed to illustrate the importance of online corrections and to investigate the performance of the developed algorithms.To operate the ALICE Time Projection Chamber in continuous mode during the Run~3 and Run~4 data-taking periods of the Large Hadron Collider, the multi-wire proportional chamber-based readout was replaced with gas-electron multipliers. As expected, the detector performance is affected by the so-called common-mode effect, which leads to significant baseline fluctuations. A detailed study of the pulse shape with the new readout has revealed that it is also affected by ion tails. Since reconstruction and data compression are performed fully online, these effects must be corrected at the hardware level in the FPGA-based common readout units. The characteristics of the common-mode effect and of the ion tail, as well as the algorithms developed for their online correction, are described in this paper. The common-mode dependencies are studied using machine-learning techniques. Toy Monte Carlo simulations are performed to illustrate the importance of online corrections and to investigate the performance of the developed algorithms