针对大型装备智能制造中的机器人在线位姿激光跟踪测量与实时引导需求,提出了一种机器人坐标系与激光测量坐标系标定转换和解算方法。设计了基于距离原则的机器人末端光学工具中心点TCP(Tool Center Point)位置标定算法。通过运用空间...针对大型装备智能制造中的机器人在线位姿激光跟踪测量与实时引导需求,提出了一种机器人坐标系与激光测量坐标系标定转换和解算方法。设计了基于距离原则的机器人末端光学工具中心点TCP(Tool Center Point)位置标定算法。通过运用空间点坐标重心化配置算法和基于罗德里格矩阵变换的最小二乘优化算法解算出了具有单位正交性的位姿变换旋转矩阵。进行了机器人坐标系位姿变换激光测量标定和优化对比实验,旋转矩阵初值和正交优化值进行点坐标转换后的综合RMSE分别为0.579 0mm和0.501 5mm。结果表明该方法能够有效改进姿态旋转矩阵正交性,并提高位姿变换解算精度。展开更多
Based on a comprehensive study of various algorithms, the automatic recognition of traditional ocular optical measuring instruments is realized. Taking a universal tools microscope(UTM) lens view image as an example, ...Based on a comprehensive study of various algorithms, the automatic recognition of traditional ocular optical measuring instruments is realized. Taking a universal tools microscope(UTM) lens view image as an example, a 2-layer automatic recognition model for data reading is established after adopting a series of pre-processing algorithms. This model is an optimal combination of the correlation-based template matching method and a concurrent back propagation(BP) neural network. Multiple complementary feature extraction is used in generating the eigenvectors of the concurrent network. In order to improve fault-tolerance capacity, rotation invariant features based on Zernike moments are extracted from digit characters and a 4-dimensional group of the outline features is also obtained. Moreover, the operating time and reading accuracy can be adjusted dy-namically by setting the threshold value. The experimental result indicates that the newly developed algorithm has optimal recognition precision and working speed. The average reading ratio can achieve 97.23%. The recognition method can automatically obtain the results of optical measuring instruments rapidly and stably without modifying their original structure, which meets the application requirements.展开更多
Group theory(GT) provides a rigorous framework for studying symmetries in various disciplines in physics ranging from quantum field theories and the standard model to fluid mechanics and chaos theory. To date, the app...Group theory(GT) provides a rigorous framework for studying symmetries in various disciplines in physics ranging from quantum field theories and the standard model to fluid mechanics and chaos theory. To date, the application of such a powerful tool in optical physics remains limited. Over the past few years however, several quantum-inspired symmetry principles(such as parity-time invariance and supersymmetry) have been introduced in optics and photonics for the first time. Despite the intense activities in these new research directions, only few works utilized the power of group theory. Motivated by this status quo, here we present a brief overview of the application of GT in optics, deliberately choosing examples that illustrate the power of this tool in both continuous and discrete setups. We hope that this review will stimulate further research that exploits the full potential of GT for investigating various symmetry paradigms in optics, eventually leading to new photonic devices.展开更多
文摘针对大型装备智能制造中的机器人在线位姿激光跟踪测量与实时引导需求,提出了一种机器人坐标系与激光测量坐标系标定转换和解算方法。设计了基于距离原则的机器人末端光学工具中心点TCP(Tool Center Point)位置标定算法。通过运用空间点坐标重心化配置算法和基于罗德里格矩阵变换的最小二乘优化算法解算出了具有单位正交性的位姿变换旋转矩阵。进行了机器人坐标系位姿变换激光测量标定和优化对比实验,旋转矩阵初值和正交优化值进行点坐标转换后的综合RMSE分别为0.579 0mm和0.501 5mm。结果表明该方法能够有效改进姿态旋转矩阵正交性,并提高位姿变换解算精度。
文摘Based on a comprehensive study of various algorithms, the automatic recognition of traditional ocular optical measuring instruments is realized. Taking a universal tools microscope(UTM) lens view image as an example, a 2-layer automatic recognition model for data reading is established after adopting a series of pre-processing algorithms. This model is an optimal combination of the correlation-based template matching method and a concurrent back propagation(BP) neural network. Multiple complementary feature extraction is used in generating the eigenvectors of the concurrent network. In order to improve fault-tolerance capacity, rotation invariant features based on Zernike moments are extracted from digit characters and a 4-dimensional group of the outline features is also obtained. Moreover, the operating time and reading accuracy can be adjusted dy-namically by setting the threshold value. The experimental result indicates that the newly developed algorithm has optimal recognition precision and working speed. The average reading ratio can achieve 97.23%. The recognition method can automatically obtain the results of optical measuring instruments rapidly and stably without modifying their original structure, which meets the application requirements.
基金support from the Photonics and Mathematical Optics Group at Tecnologico de Monterrey and Consorcio enóptica Aplicada through CONACYT FORDECYT#290259 project grantsupport from Henes Center for Quantum Phenomena,Michigan Technological Universitysupport from Spanish MINECO projects FIS2014-57387-C3-3P and DPI2013-47100-C2-1-P
文摘Group theory(GT) provides a rigorous framework for studying symmetries in various disciplines in physics ranging from quantum field theories and the standard model to fluid mechanics and chaos theory. To date, the application of such a powerful tool in optical physics remains limited. Over the past few years however, several quantum-inspired symmetry principles(such as parity-time invariance and supersymmetry) have been introduced in optics and photonics for the first time. Despite the intense activities in these new research directions, only few works utilized the power of group theory. Motivated by this status quo, here we present a brief overview of the application of GT in optics, deliberately choosing examples that illustrate the power of this tool in both continuous and discrete setups. We hope that this review will stimulate further research that exploits the full potential of GT for investigating various symmetry paradigms in optics, eventually leading to new photonic devices.
