Unknown Environment Measurement Mapping by Unmanned Aerial Vehicle Using Kalman Filter-Based Low-Cost Estimated Parallel 8-Beam LIDAR

The measurement and mapping of objects in the outer environment have traditionally been conducted using ground-based monitoring systems,as well as satellites.More recently,unmanned aerial vehicles have also been employed for this purpose.The accurate detection and mapping of a target such as buildings,trees,and terrains are of utmost importance in various applications of unmanned aerial vehicles(UAVs),including search and rescue operations,object transportation,object detection,inspection tasks,and mapping activities.However,the rapid measurement and mapping of the object are not currently achievable due to factors such as the object’s size,the intricate nature of the sites,and the complexity of mapping algorithms.The present system introduces a costeffective solution for measurement and mapping by utilizing a small unmanned aerial vehicle(UAV)equipped with an 8-beam Light Detection and Ranging(LiDAR)system.This approach offers advantages over traditional methods that rely on expensive cameras and complex algorithm-based approaches.The reflective properties of laser beams have also been investigated.The system provides prompt results in comparison to traditional camerabased surveillance,with minimal latency and the need for complex algorithms.The Kalman estimation method demonstrates improved performance in the presence of noise.The measurement and mapping of external objects have been successfully conducted at varying distances,utilizing different resolutions.

SPOT BEAM JUDGEMENT ALGORITHM IN LEO SATELLITE BASED ON OPNET

Low earth orbit（LEO）satellite constellation networks have a predominance of global coverage with low propagation delays.A new spot beam judgement algorithm is presented in LEO satellite constellation.At first,judgement of central spot beam is considered.Then the judgement of outlying spot beam is achieved by two algorithms.One is 2-D space judgement algorithm and the other is 3-D space judgement algorithm.Based on these algorithms,an Iridium model implemented on OPNET with dynamic topology nodes and network layer protocols is presented and simulation results are obtained.The simulation results show that the satellite serving time has obviously increased through the method of longest visible time criterion and the equal beam width model is validated.

Novel Method for Spatial Angle Measurement Based on Rotating Planar Laser Beams

Spatial angle measurement, especially the measurement of horizontal and vertical angle, is a basic method used for industrial large-scale coordinate measurement. As main equipments in use, both theodolites and laser trackers can provide very high accuracy for spatial angle measurement. However, their industrial applications are limited by low level of automation and poor parallelism. For the purpose of improving measurement efficiency, a lot of studies have been conducted and several alternative methods have been proposed. Unfortunately, all these means are either low precision or too expensive. In this paper, a novel method of spatial angle measurement based on two rotating planar laser beams is proposed and demonstrated. Photoelectric receivers placed on measured points are used to receive the rotating planner laser signals transmitted by laser transmitters. The scanning time intervals of laser planes were measured, and then measured point＇s horizontal/vertical angles can be calculated. Laser plane＇s angle parameters are utilized to establish the abstract geometric model of transmitter. Calculating formulas of receiver＇s horizontal/vertical angles have been derived. Measurement equations＇ solvability conditions and judgment method of imaginary solutions are also presented after analyzing. Proposed method for spatial angle measurement is experimentally verified through a platform consisting of one laser transmitter and one optical receiver. The transmitters used in new method are only responsible for providing rotating light plane signals carrying angle information. Receivers automatically measure scanning time of laser planes and upload data to the workstation to calculate horizontal angle and vertical angle. Simultaneous measurement of multiple receivers can be realized since there is no human intervention in measurement process .Spatial angle measurement result indicates that the repeatable accuracy of new method is better than 10＂. Proposed method can improve measurement＇s automation degree and speed while ensuring measurement accuracy.

Beam dynamics,RF measurement,and commissioning of a CW heavy ion IH-DTL

A 53.667 MHz CW(continuous-wave) heavy ion IH-DTL has been designed for the SSC-LINAC injector of HIRFL-CSR(Heavy Ions Research Facility at Lanzhou-Cooling Storage Ring). It accelerates ions with maximum mass-to-charge ratio of 7.0 from 143 to 295 ke V/u. Low-power RF measurement of the IH-DTL1 has been taken to investigate the RF performance and the quality of the electric field distribution on the beam axis.The measured Q_0 value and the shunt impedance are 10,400 and 198 MX/m, respectively. The electric field distributions on and around the beam axis were evaluated and compared with the design value. By a new approach,the dipole field component is also estimated. The beam dynamics simulation using measured field distribution was presented in this paper. Based on the dynamics analysis in both transverse and longitudinal phase space, the field distribution can meet the design requirement. Finally, the RF conditioning and very first beam commissioning on the IH-DTL1 were finished. The beam test results agree well with the simulation results; what's more, the property of the variable output beam energy about the separated functions DTL was verified.

Performance measurement of broadband, wide-angle polarizing beam splitter

Polarizing beam splitter (PBS) is a critical optical component in projection display system because PBS performance greatly influences the contrast and brightness of the system. PBS performance is usually measured by spectrophotometer after coating and cementing, but the measured result cannot represent the actual performance in practice because people usually change the incident angle in one plane (horizontal plane) and do not consider the other plane (vertical plane). Geometrical polarization rotation occurring at reduced F-number influences the measuring precision of s-polarization transmittance (Ts) and p-polarization reflectance (Rp). A more accurate and practical way to measure the performance of broadband, wide-angle PBS is presented in this paper.

Spot beam handover trigger and channel allocation scheme in GEO mobile satellite communication

An effective spot beam handover trigger and channel allocation scheme is proposed for GEO mobile satellite communication based on its characteristic and application. By using both signal strength and terminal location information, necessary handover is triggered promptly and accurately to reduce the negative effect of long signaling delay. Then handover decision is made with the handover queuing and channel allocation strategy. An adaptive channel resource allocation scheme is considered to optimize resource utilization with guarantee of emergency communication, which is significant for emergency rescue and disaster relief. Simulation results show that the proposed scheme prevents unnecessary handover effectively and has favorable adaptability to emergent requirement of satellite communication.

Bunch-by-bunch beam size measurement during injection at Shanghai Synchrotron Radiation Facility

Fast beam profile measurement is important in fast beam dynamic behavior investigations. A bunch-bybunch beam size measurement system, which is presently used to measure horizontal profile, has been developed at the Shanghai Synchrotron Radiation Facility(SSRF) and is capable of measuring bunches within a separation of 2 ns.The system is based on a direct-imaging optical system and high-speed photomultiplier array detector. A high-bandwidth linear signal amplifier and acquisition module have also been designed to process bunch-by-bunch multichannel signals from the detector. The software resampling technique and principal component analysis method were developed to obtain the synchronized data and enhance the signal-to-noise ratio. The fast injection of transients was successfully captured and analyzed. Moreover, the bunchby-bunch positions and sizes exhibited strong oscillation after the injection at the horizontal betatron oscillation frequency of the SSRF storage ring, and this demonstrated the bunch-by-bunch measurement capability of our system.

Periodic Measurements of Passive Proton Beam Width Using Radiochromic Film in Fixed Gantry System

Background and Aim: Irradiation methods such as double scattering method and spot scanning method have been used in proton beam treatment devices. In the scattering method, a ridge filter or a range modulation wheel is used to create a spread-out Bragg peak, but the distribution at the patient position may change due to positional deviation of the incident beam. Therefore, assessment of the incident position of the beam is very important even in the scattering method. To investigate the width and distribution of the proton beam before entering the RMW, a radiochromic film was installed at the outlet of the transport pipe and the entrance of the profile-monitoring detector. Methods: In this study, the distributions of the beam at the exit of the transport pipe and the entrance of the monitor detector were measured using films. The beam width was measured from the full width at half maximum of the profile obtained from the distribution. Measurements were conducted every month for 10 months. Results: Beams of widths ranging from 1.82 to 2.30 mm in the horizontal direction and 4.25 to 5.33 mm in the vertical direction were outputted from the exit of the transport pipe. Beams of widths ranging from 2.16 to 2.67 mm in the horizontal direction and 4.06 to 5.31 mm in the vertical direction were outputted from the entrance of the monitor detector. The maximum width fluctuation for 10 months was 0.55 mm in the horizontal direction and 1.26 mm in the vertical direction at the entrance of the monitor detector. Conclusions: The distribution was obtained before the proton beam was scattered by the scatterer, and then we propose a method to periodically measure and monitor the changes in the beam distributions every month.

A beam position measurement system of fully digital signal processing at SSRF

This fully digital beam position measurement instrument is designed for beam position monitoring and machine research in Shanghai Synchrotron Radiation Facility. The signals received from four position-sensitive detectors are narrow pulses with a repetition rate up to 499.654 MHz and a pulse width of around 100 ps, and their dynamic range could vary over more than 40 dB in machine research. By the employment of the under-sampling technique based on high-speed high-resolution A/D conversion, all the processing procedure is performed fully by the digital signal processing algorithms integrated in one single Field Programmable Gate Array. This system functions well in the laboratory and commissioning tests, demonstrating a position resolution (at the turn by turn rate of 694 kHz) better than 7 μm over the input amplitude range of -40 dBm to 10 dBm which is well beyond the requirement.

Techniques trend analysis of propagating laser beam quality measurement

Different methods of measuring a propagating laser beam quality are summarized.The disadvantages in traditional way in measuring a laser beam quality is analyzed and the insufficiencies of the Shack-Hartmannin method which is commonly using wave front technique at present is pointed out.Finally,the transmission intensity equation based(TIE-based)measuring way in a laser beam quality evaluation and the corresponding advantages are discussed,which is believed to be a deve-l oping trend in laser beam evaluation.

Settled fast measurement of topological charge by direct extraction of plane wave from vortex beam

A method of measuring the vortex beam topological charge(TC)is proposed based on a device that can directly extract the plane wave form from the vortex beam in which the different propagation angles of the plane waves are uniquely related to the different TCs.Then the TC can be obtained by simply comparing the energy values perceived by two fixed sensors in the detection location with the help of twin omnidirectional energy absorbers(OEAs).Because the settled detection relies only on the simple quantitative value at two fixed positions,neither pattern recognition nor field analysis procedure is applied,thus allowing faster measurement.Some features of the methodology are investigated,and the numerical simulations verify the feasibility and robustness of the system.

Creation of Multiple Subwavelength Focal Spot Segments Using Phase Modulated Radially Polarized Multi Gaussian Beam

Based on the vector diffraction theory, the effect of complex phase filters on intensity distribution of a radially polarized multi Gaussian beam in the focal region of high NA lens is theoretically investigated. It is observed that a properly designed multi belt complex phase filter can generate subwavelength novel focal patterns including splitting of focal spots and generation of multiple focal spot segments such as eight, six and four focal spots along the optical axis are obtained. We expect that such an investigation is useful for optical manipulation and material processing, multiple high refractive index particle trapping technologies.

Analytical Solution for Model-Based Dynamic Power Factor Measurement in AC Resistance Spot Welding

On the basis of welding transformer circuit model, a new measuring method was proposed. This method measures the peak angle of the welding current, and then calculates the dynamic power factor in each half-wave. An artificial neural network is trained and used to generate simulation data for the analytical solution, i.e. a high-order binary polynomial, which can be easily adopted to calculate the power factor online. The tailored sensing and computing system ensures that the method possesses a real-time computational capacity and satisfying accuracy. A DSP-based resistance spot welding monitoring system was developed to perform ANN computation. The experimental results suggest that this measuring method is feasible.

Numerical investigation of multi-beam laser heterodyne measurement with ultra-precision for linear expansion coefficient of metal based on oscillating mirror modulation

This paper proposes a novel method of multi-beam laser heterodyne measurement for metal linear expansion coefficient. Based on the Doppler effect and heterodyne technology, the information is loaded of length variation to the frequency difference of the multi-beam laser heterodyne signal by the frequency modulation of the oscillating mirror, this method can obtain many values of length variation caused by temperature variation after the multi-beam laser heterodyne signal demodulation simultaneously. Processing these values by weighted-average, it can obtain length variation accurately, and eventually obtain the value of linear expansion coefficient of metal by the calculation. This novel method is used to simulate measurement for linear expansion coefficient of metal rod under different temperatures by MATLAB, the obtained result shows that the relative measurement error of this method is just 0.4%.

A Prototype of beam position and phase measurement electronics for the LINAC in ADS

This article presents a prototype of beam position and phase measurement(BPPM)electronics designed for the LINAC in China Accelerator Driven Sub-critical system(ADS).The signals received from the Beam Position Monitor(BPM)detectors are narrow pulses with a repetition frequency of 162.5 MHz and a dynamic range more than40 dB.Based on the high-speed high-resolution Analog-to-Digital conversion technique,the input RF signals are directly converted to In-phase and Quadrature-phase(IQ)streams through under-sampling,which simplifies both the analog and digital processing circuits.All signal processing is integrated in one single FPGA,in which real-time beam position,phase and current can be obtained.A series of simulations and tests have been conducted to evaluate the performance.Initial test results indicate that this prototype achieves a phase resolution better than 0.1 degree and a position resolution better than 20μm over a 40 dB dynamic range with the bandwidth of 780 kHz,which is well beyond the application requirements.

Lifetime measurement of the 3d^(9) ^(2)D_(3/2) metastable level in Mo^(15+)at an electron beam ion trap

An experimental measurement of the lifetime of 3d^(9) ^(2)D_(3/2) metastable level in Mo^(15+)is reported in this work.The Mo^(15+)ions are produced and trapped in an electron beam ion trap with a magnetic field of 0.65 T.The decay photons emitted from 3d^(9) ^(2)D_(3/2) level are subsequently recorded via a cooled photomultiplier tube.Through meticulous scrutiny of potential systematic uncertainties affecting the measurement outcomes,we have determined the lifetime of Mo^(15+)3d^(9)2D_(3/2)metastable level to be 2.83(22)ms.The experimental result provides a clear distinguishment from existing calculations based on various theoretical approaches.

A fast emittance measurement unit for high intensity DC beam

A combined unit, which has the ability to measure the current and emittance of the high intensity direct current（DC）ion beam, is developed at Peking University（PKU）. It is a multi-slit single-wire（MSSW）-type beam emittance meter combined with a water-cooled Faraday Cup, named high intensity beam emittance measurement unit-6（HIBEMU-6）. It takes about 15 seconds to complete one measurement of the beam current and its emittance. The emittance of a 50-mA@50-kV DC proton beam is measured.

Improvement of Beam Energy Measurement System for BES-III

The beam energy measurement system is significant and profit for both BES-III detector and BEPC-II accelerator. The detection of the high energy scattering photons is realized by virtue of the Compton backscattering principle. Many advanced techniques and precise instruments are employed to acquire the highly accurate measurement of positron/electron beam energy. During five years’ running period, in order to satisfy the requirement of data taking and enhance the capacity of measurement itself, the upgradation of system is continued, which involves the components reformation of laser and optics subsystem, replacement of view-port of the laser to vacuum insertion subsystem, the usage of electric cooling system for high purity germanium detector, and the refinement of data acquisition and processing subsystem. The upgrading of system guarantees the smooth and effective measuring of beam energy at BEPC-II and accommodates the accurate offline energy values for further physics analysis at BES-III.

Pulsed intense electron beam emittance measurement

Recently we measured with the Modified Three Gradient Method(MTGM) the beam emittance of an injector constructed in 2012, which was designed to provide a 2.4 kA, 2.6 MeV electron beam. The MTGM is a non-intercept indirect method, which is based on the three gradient type measurements of beam profiles and subsequent data processing which helps to get the least square solution to the beam emittance. Beam profiles under different currents of guiding coil are measured using Cerenkov radiation given off by a piece of quartz glass in the beam tube, which is recorded with a CCD camera. MTGM Code is developed to realize the data fitting as well as beam transport simulation, in which both the σ matrix method and the numerical solution of root-mean-square beam envelope equation are used. The error is also analyzed.

Determining beam transverse absolute position by triangulation of multi-electrode signal phase differences

Accurate measurement of the transverse position of a beam is crucial in particle accelerators because it plays a key role in determining the beam parameters.Existing methods for beam-position measurement rely on the detection of image currents induced on electrodes or narrow-band wake field induced by a beam passing through a cavity-type structure.However,these methods have limitations.The indirect measurement of multiple parameters is computationally complex,requiring external calibration to determine the system parameters in advance.Furthermore,the utilization of the beam signal information is incomplete.Hence,this study proposes a novel method for measuring the absolute electron beam transverse position.By utilizing the geometric relationship between the center position of the measured electron beam and multiple detection electrodes and by analyzing the differences in the arrival times of the beam signals detected by these electrodes,the absolute transverse position of the electron beam crossing the electrode plane can be calculated.This method features absolute position measurement,a position sensitivity coefficient independent of vacuum chamber apertures,and no requirement for a symmetrical detector electrode layout.The feasibility of this method is validated through numerical simulations and beam experiments.