3D DOPs for Positioning Applications Using Range Measurements

For terrestrial positioning, some applications require three dimensional coordinates. The Dilution of precisions (DOPs) for position systems using range measurement are reviewed and the average values of DOPs for different deployments of base station geometries are examined. It is shown that to obtain the lowest DOPs, the base stations for different types of positioning systems need to be deployed differently. Changing the N-sided regular polygon to an (N - 1)-sided polygon with one base station in the centre of the polygon can decrease the value of DOP in general for a pseudorange time of arrival (TOA) system but not for an absolute range TOA system. The height of the base station in the centre can also change the DOP significantly. The finding can be used to optimize the deployment of the base stations for range measurement positioning systems.

Multi-View Structured Light 3D Measurement System

Vision-based measurement technology benefits high-quality manufacturers through improved dimensional precision,enhanced geo-metric tolerance,and increased product yield.The monocular 3D structured light visual sensing method is popular for detecting online parts since it can reach micron-meter depth accuracy.However,the line-of-sight requirement of a single viewpoint vision system often fails when hiding occurs due to the object’s surface structure,such as edges,slopes,and holes.To address this issue,a multi-view 3D structured light vi-sion system is proposed in this paper to achieve high accuracy,i.e.,Z-direction repeatability,and reduce hiding probability during mechani-cal dimension measurement.The main contribution of this paper includes the use of industrial cameras with high resolution and high frame rates to achieve high-precision 3D reconstruction.Moreover,a multi-wavelength(heterodyne)phase expansion method is employed for high-precision phase calculation.By leveraging multiple industrial cameras,the system overcomes field of view occlusions,thereby broadening the 3D reconstruction field of view.Finally,the system achieves a Z-axis repetition accuracy of 0.48µm.

Development of Lever Positioning Manipulation (LPM) from the Perspective of Information Interaction

The benefits of Lever Positioning Manipulation (LPM) in the treatment of lumbar disc herniation have been widely recognized. The emergence of virtual reality (VR) technology in the field of medicine and the successful application of augmented reality (AR) technology in the field of surgery have brought new thinking to manipulation researchers on the treatment of lumbar disc herniation (LDH) in the era of artificial intelligence (AI). In this study, the development trend and clinical efficacy of VR technology were discussed from the development process of this technology, and the combination of information interaction technology in the field of chiropractic was found from the existing research approach of lever positioning treatment of LDH, in order to provide a useful reference for researchers.

Design of 3D Space Following Positioning System Based on ZigBee

The research on positioning system and spatial alignment is a big topic. In this paper, we proposed a design (that) studies two issues. One is the study of range positioning algorithm based on ZigBee communication system. The other one is spatial alignment platform which is controlled with two servos. Hardware and software control system was realized, which also consists of two parts, ZigBee network positioning system and automatic orientation platform.

Auto-measuring System of 3-Dimensional Human Body

To realize the automation of fashion industry measuring,designing and manufacturing, the auto-measurement of 3D size of human body is of great importance. The auto measurement system of 3D human body based on Charge Coupled Devices (CCD) and infrared sensors is presented in this paper. The system can measure the bare size of human body that excludes the effect of clothing quickly and accurately.

Development of Flexible Spherical Actuator with 3D Coordinate Measuring Device

Rehabilitation devices help to recover the physical abilities of patients. This study aims to develop a portable rehabilitation device that is safe to use when?patients are holding it by hands. In a previous study, to realize a home rehabilitation device, a flexible spherical actuator that can provide motion to patients was developed. In this study, to measure the relative position between both handling stages, a 3D coordinate measuring device using three wire-type linear potentiometers and an embedded controller was proposed and tested. In this paper, the spherical actuator with built-in 3D coordinate measuring device is described. The measuring method and experimental results obtained are also presented. The tracking position control of the actuator using the measuring device was carried out. As a result, the position of the handling stages can be successfully controlled using the feedback signal from the tested?measuring device.

An Analysis on Position Estimation, Drifting and Accumulated Error Accuracy during 3D Tracking in Electronic Handheld Devices

This work focuses on a brief discussion of new concepts of using smartphone sensors for 3D painting in virtual or augmented reality. Motivation of this research comes from the idea of using different types of sensors which exist in our smartphones such as accelerometer, gyroscope, magnetometer etc. to track the position for painting in virtual reality, like Google Tilt Brush, but cost effectively. Research studies till date on estimating position and localization and tracking have been thoroughly reviewed to find the appropriate algorithm which will provide accurate result with minimum drift error. Sensor fusion, Inertial Measurement Unit (IMU), MEMS inertial sensor, Kalman filter based global translational localization systems are studied. It is observed, prevailing approaches consist issues such as stability, random bias drift, noisy acceleration output, position estimation error, robustness or accuracy, cost effectiveness etc. Moreover, issues with motions that do not follow laws of physics, bandwidth, restrictive nature of assumptions, scale optimization for large space are noticed as well. Advantages of such smartphone sensor based position estimation approaches include, less memory demand, very fast operation, making them well suited for real time problems and embedded systems. Being independent of the size of the system, they can work effectively for high dimensional systems as well. Through study of these approaches it is observed, extended Kalman filter gives the highest accuracy with reduced requirement of excess hardware during tracking. It renders better and faster result when used in accelerometer sensor. With the aid of various software, error accuracy can be increased further as well.

THEORETICAL ANALYSIS OF COORDINATES MEASUREMENT BY FLEXIBLE 3D MEASURING SYSTEM

The system mathematical model of flexible 3D measuring system is built by theoretical analysis, and the theoretical formula for measuring space point coordinate is also derived. Frog-jumping based coordinate transform method is put forward in order to solve measuring problem for large size parts. The frog-jumping method is discussed, and the coordinate transform mathematical model is method of the space point coordinate compared to original value, and an advanced method is provided, Form the space point coordinate transform formula can derive the calculation measuring method for measuring large size parts.

Measuring 3D face deformations from RGB images of expression rehabilitation exercises

Background The accurate(quantitative)analysis of 3D face deformation is a problem of increasing interest in many applications.In particular,defining a 3D model of the face deformation into a 2D target image to capture local and asymmetric deformations remains a challenge in existing literature.A measure of such local deformations may be a relevant index for monitoring the rehabilitation exercises of patients suffering from Par-kinson’s or Alzheimer’s disease or those recovering from a stroke.Methods In this paper,a complete framework that allows the construction of a 3D morphable shape model(3DMM)of the face is presented for fitting to a target RGB image.The model has the specific characteristic of being based on localized components of deformation.The fitting transformation is performed from 3D to 2D and guided by the correspondence between landmarks detected in the target image and those manually annotated on the average 3DMM.The fitting also has the distinction of being performed in two steps to disentangle face deformations related to the identity of the target subject from those induced by facial actions.Results The method was experimentally validated using the MICC-3D dataset,which includes 11 subjects.Each subject was imaged in one neutral pose and while performing 18 facial actions that deform the face in localized and asymmetric ways.For each acquisition,3DMM was fit to an RGB frame whereby,from the apex facial action and the neutral frame,the extent of the deformation was computed.The results indicate that the proposed approach can accurately capture face deformation,even localized and asymmetric deformations.Conclusion The proposed framework demonstrated that it is possible to measure deformations of a reconstructed 3D face model to monitor facial actions performed in response to a set of targets.Interestingly,these results were obtained using only RGB targets,without the need for 3D scans captured with costly devices.This paves the way for the use of the proposed tool in remote medical rehabilitation monitoring.

Simulation of seafloor electrical resistivity measuring equipment based on 3D finite element method

In order to explore the mineral resources buried in sea mud,it is necessary to use seabed resistivity measuring equipment,which works closer to the sediments than ordinary ship-based geophysical measuring equipment. Because of the harsh environment of seafloor,high pressure and highly conductive seawater,marine magnetotelluric method developed slowly. The sea floor environment is similar to the environment of logging, According to the design of dual lateral logging equipment,a new equipment for seafloor electrical resistivity measurement is designed. Four 3D FEM models that contain resistivity abnormal targets are built to test the ability of this equipment to locate different shape of shallow buried resistivity abnormal targets in sea mud. The authors propose the method to correct the response curve while the bottom surface of this equipment is suspended or not parallel to the seafloor. The resistivity of targets can be calculated accurately.

3D LDV MEASUREMENTS OF ROTOR BLADE TIP VORTEX IN HOVER

An investigation made on the rotor blade tip vortex through use of a Three Dimensional Laser Doppler Velocimetry(3D LDV) is described. The experiment is conducted with a 2 m in diameter model helicopter rotor. By a series of measurements near blade tip, the velocity field near blade tip is documented, and through which, the tip vortex rollup and development are presented. The radial distribution of instantaneous velocities at various levels above and under the rotor disc is also measured in this investigation. Using this distribution, the influence of the tip vortex from the preceding blade on the follow up blade is discussed.

Development of Multi-Agent-Based Indoor 3D Reconstruction

Large-scale indoor 3D reconstruction with multiple robots faces challenges in core enabling technologies.This work contributes to a framework addressing localization,coordination,and vision processing for multi-agent reconstruction.A system architecture fusing visible light positioning,multi-agent path finding via reinforcement learning,and 360°camera techniques for 3D reconstruction is proposed.Our visible light positioning algorithm leverages existing lighting for centimeter-level localization without additional infrastructure.Meanwhile,a decentralized reinforcement learning approach is developed to solve the multi-agent path finding problem,with communications among agents optimized.Our 3D reconstruction pipeline utilizes equirectangular projection from 360°cameras to facilitate depth-independent reconstruction from posed monocular images using neural networks.Experimental validation demonstrates centimeter-level indoor navigation and 3D scene reconstruction capabilities of our framework.The challenges and limitations stemming from the above enabling technologies are discussed at the end of each corresponding section.In summary,this research advances fundamental techniques for multi-robot indoor 3D modeling,contributing to automated,data-driven applications through coordinated robot navigation,perception,and modeling.

Experimental Study on Full-Surface Buckling of Variable Curvature Cylindrical Shell Using Multi-camera 3D-DIC System

To achieve full-surface strain measurement of variable curvature objects,a 360°3D digital image correlation(DIC)system is proposed.The measurement system consists of four double-camera systems,which capture the object’s entire surface from multiple angles,enabling comprehensive full-surface measurement.To increase the stitching quality,a hierarchical coordinate matching method is proposed.Initially,a 3D rigid body calibration auxiliary block is employed to track motion trajectory,which enables preliminary matching of four 3D-DIC sub-systems.Subsequently,secondary precise matching is performed based on feature points on the test specimen’s surface.Through the hierarchical coordinate matching method,the local 3D coordinate systems of each double-camera system are unified into a global coordinate system,achieving 3D surface reconstruction of the variable curvature cylindrical shell,and error analysis is conducted on the results.Furthermore,axial compression buckling experiment is conducted to measure the displacement and strain fields on the cylindrical shell’s surface.The experimental results are compared with the finite element analysis,validating the accuracy and effectiveness of the proposed multi-camera 3D-DIC measuring system.

MULTIPARAMETER MEASUREMENT FOR RACEWAY GROOVE OF BEARING BASED ON 3D RECONSTRUCTION WITH DIGITAL STRUCTURED LIGHT

A fast 3D reconstruction method based on structured light to measure various parameters of the raceway groove is presented. Digital parallel grating stripes distributed with sine density are projected onto the raceway groove by a DLP projector, and distorting of stripes is happened on the raceway. Simultaneously, aided by three-step phase-shifting approach, three images covered by different stripes are obtained by a high-resolution CCD camera at the same location, thus a more accuracy local topography can be obtained. And then the bearing is rotated on a high precision computer controlled rotational stage. Three images are also obtained as the former step at next planned location triggered by the motor. After one cycle, all images information is combined through the mosaics. As a result, the 3D information of raceway groove can be gained. Not only geometric properties but also surface flaws can be extracted by software. A preliminary hardware system has been built, with which some geometric parameters have been extracted from reconstructed local topography.

复杂环境下GPS+BDS-3 PPP/INS紧组合算法性能分析

针对城市复杂环境下精密单点定位(PPP)连续高精度定位受限的问题,本文基于北斗三号全球卫星导航系统(BDS-3)与全球定位系统(GPS)双系统,利用PPP与惯性导航系统(INS)紧组合算法来改善城市复杂环境下定位性能。通过构建GPS+BDS-3双系统PPP/INS紧组合滤波模型,分别对GPS PPP、GPS+BDS-3 PPP、GPS PPP/INS紧组合、GPS+BDS-3PPP/INS紧组合4种方案在城区开阔、复杂环境下的定位、测速、定姿性能进行了分析和评估。实验结果表明,开阔环境下PPP/INS紧组合相比PPP定位精度略有提升;而在复杂环境下PPP/INS紧组合可显著解决PPP定位结果连续性和有效性较差的问题;引入BDS-3后,PPP/INS紧组合导航性能进一步提升,GPS+BDS-3 PPP/INS紧组合相比GPS PPP/INS紧组合,在东、北、天方向上,开阔环境下定位精度分别提升18.5%、32.7%、43.2%,复杂环境下定位精度分别提升35.9%、49.1%、56.5%。

Dynamic Modelling of a Hybrid Variable Reluctance Machine Using the 3D Finite Element Method

This paper presents the work carried out to evaluate the dynamic performance of the Hybrid Variable Reluctance Motor (HVRM). The fourth-order Runge-Kutta integration algorithm was employed to solve the equations of the dynamic model, in conjunction with the three-dimensional finite element method. The 3D numerical data was calculated using Comsol Multiphysics, which accounts for the nonlinearity of the ferromagnetic material and the 3D nature of the HVRM. The outcomes of this study are precise and accurately predict the dynamic behaviour of the HVRM in terms of rotor position response, rotational speed and torque. The distinctive contribution of this work lies in the 3D numerical modelling of the HVRM and the subsequent evaluation and analysis of its dynamic operation. Analytical and numerical 2D studies are less resource-intensive and time-consuming, and are more straightforward and rapid to analyse and interpret. However, they are constrained in their capacity to examine spatial, volumetric interactions and intricate dynamics such as flux studies where three 3D effects cannot be disregarded, winding end effects and the configuration and positioning of the interposed permanent magnet.

In-situ 3D contour measurement for laser powder bed fusion based on phase guidance

In-situ layerwise imaging measurement of laser powder bed fusion(LPBF)provides a wealth of forming and defect data which enables monitoring of components quality and powder bed homogeneity.Using high-resolution camera layerwise imaging and image processing algorithms to monitor fusion area and powder bed geometric defects has been studied by many researchers,which successfully monitored the contours of components and evaluated their accuracy.However,research for the methods of in-situ 3D contour measurement or component edge warping identification is rare.In this study,a 3D contour mea-surement method combining gray intensity and phase difference is proposed,and its accuracy is verified by designed experiments.The results show that the high-precision of the 3D contours can be achieved by the constructed energy minimization function.This method can detect the deviations of common ge-ometric features as well as warpage at LPBF component edges,and provides fundamental data for in-situ quality monitoring tools.

Accurate 3D geometry measurement for non-cooperative spacecraft with an unfocused light-field camera

This work explores an alternative 3D geometry measurement method for non-cooperative spacecraft guiding navigation and proximity operations.From one snapshot of an unfocused light-field camera, the 3D point cloud of a non-cooperative spacecraft can be calculated from sub-aperture images with the epipolar plane image(EPI) based light-field rendering algorithm.A Chang'e-3 model(7.2 cm×5.6 cm×7.0 cm) is tested to validate the proposed technique.Three measurement distances(1.0 m, 1.2 m, 1.5 m) are considered to simulate different approaching stages.Measuring errors are quantified by comparing the light-field camera data with a high precision commercial laser scanner.The mean error distance for the three cases are 0.837 mm, 0.743 mm, and 0.973 mm respectively, indicating that the method can well reconstruct 3D geometry of a non-cooperative spacecraft with a densely distributed 3D point cloud and is thus promising in space-related missions.

Fast Profilometry of 360° Spinning 3D Measurement

A technique of fast 360° spinning 3D measurement is realized.A laser diode used as light source produces 0.5 mm wide slit which is projected onto the surface of an object via a groupe of optical lenses.A CCD camera can grab the reflect curve line and its video output is processed by special hardware circuitries.Then the surface height value which the slit directs to will be directly obtained.The spinning table turns one degree each time and totally 360° 3D information acquisition need only 15 s.The result and conclusion are presented.

A conoscopic holography-based 3D measurement system for analyzing defects in steel plate surface

A conoscopic holography-based 3D measurement system for analyzing the defects on the surface of steel plates was introduced in this paper. The hardware, which is automated through software, performs sampling of the steel plate surface. Through the software interface,point-cloud data of the steel plate surface are obtained and reconstructed to form a 3D image of the steel plate surface. The software allows automatic analysis of steel plate surface detects through identification of the bulges and depressions. In addition, the software can also automatically calculate the defect information ,such as the deepest point, volume, opening area, opening length, and so on, thereby determining the defect size. The results determined by this 3D measurement system were found to be in good agreement with the actual values.