3D printing robot:model optimization and image compensation

A novel 7-axis robot for industrial large 3D printing applications is presented in this paper, which is developed by Institute of Robotics and Automatic Information System, Nankai University. Base on the prototype, the mechanism on three-dimensional printing is deeply dissected. By investigating the reason of color distortions in 3D printing, a novel multistep compensation algorithm based on model optimization and image compensation is developed. Finally, the experimental results show the performance of the 3D printing robot platform and the proposed algorithms.

Image Motion Compensation of Off-Axis TMA Three-Line ArrayAerospace Mapping Cameras

To enhance the image motion compensation accuracy of off-axis three-mirror anastigmatic( TMA)three-line array aerospace mapping cameras,a new method of image motion velocity field modeling is proposed in this paper. Firstly,based on the imaging principle of mapping cameras,an analytical expression of image motion velocity of off-axis TMA three-line array aerospace mapping cameras is deduced from different coordinate systems we established and the attitude dynamics principle. Then,the case of a three-line array mapping camera is studied,in which the simulation of the focal plane image motion velocity fields of the forward-view camera,the nadir-view camera and the backward-view camera are carried out,and the optimization schemes for image motion velocity matching and drift angle matching are formulated according the simulation results. Finally,this method is verified with a dynamic imaging experimental system. The results are indicative of that when image motion compensation for nadir-view camera is conducted using the proposed image motion velocity field model,the line pair of target images at Nyquist frequency is clear and distinguishable. Under the constraint that modulation transfer function( MTF) reduces by 5%,when the horizontal frequencies of the forward-view camera and the backward-view camera are adjusted uniformly according to the proposed image motion velocity matching scheme,the time delay integration( TDI) stages reach 6 at most. When the TDI stages are more than 6,the three groups of camera will independently undergo horizontal frequency adjustment. However, when the proposed drift angle matching scheme is adopted for uniform drift angle adjustment,the number of TDI stages will not exceed 81. The experimental results have demonstrated the validity and accuracy of the proposed image motion velocity field model and matching optimization scheme,providing reliable basis for on-orbit image motion compensation of aerospace mapping cameras.

A convenient look-up-table based method for the compensation of non-linear error in digital fringe projection

Although the structured light system that uses digital fringe projection has been widely implemented in three-dimensional surface profile measurement, the measurement system is susceptible to non-linear error. In this work, we propose a convenient look-up-table-based （LUT-based） method to compensate for the non-linear error in captured fringe patterns. Without extra calibration, this LUT-based method completely utilizes the captured fringe pattern by recording the full-field differences. Then, a phase compensation map is established to revise the measured phase. Experimental results demonstrate that this method works effectively.

Reference-driven method for MR image reconstruction based on wavelet sparsity and nonlocal total variation

A novel reference-driven method for MR image reconstruction based on wavelet sparsity and nonlocal total variation（NLTV）is proposed.Utilizing the sparsity of the difference image between the target image and the motion-compensated reference image in wavelet transform domain,the proposed method does not need to estimate contrast changes and therefore increases computational efficiency.Additionally,NLTV regularization is applied to preserve image details and features without blocky effects.An efficient alternating iterative algorithm is used to estimate motion effects and reconstruct the difference image.Experimental results demonstrate that the proposed method can significantly reduce sampling rate or improve the quality of the reconstructed image alternatively.