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.

Optimised Pattern Recognition for Robotic Weldment Geometry Measuring

Today, automated robot welding of components with low tolerances in series production is state-of-the-art. But turning to small batch production particularly of parts with high tolerances, engineering and construction of automated solutions is just at the beginning of providing economic efficiency. While weld seam tracking is well established for the described problem, geometric recognition of weldments is not yet solved satisfactorily. This paper will present an optimisation approach of a laser sensor guided and programmed robot welding system which was developed within the project ROPROF at the TU Dortmund. With this development, a working prototype of a robot weld system was built by a steel construction company as well as additional demonstration software showing the potential and transferability of adjusted geometric location of weldments for industrial applications.

Automated pavement horizontal curve measurement methods based on inertial measurement unit and 3D profiling data

Pavement horizontal curve is designed to serve as a transition between straight segments, and its presence may cause a series of driving-related safety issues to motorists and drivers. As is recognized that traditional methods for curve geometry investigation are time consuming, labor intensive, and inaccurate, this study attempts to develop a method that can automatically conduct horizontal curve identification and measurement at network level. The digital highway data vehicle （DHDV） was utilized for data collection, in which three Euler angles, driving speed, and acceleration of survey vehicle were measured with an inertial measurement unit （IMU）. The 3D profiling data used for cross slope calibration was obtained with PaveVision3D Ultra technology at 1 mm resolution. In this study, the curve identification was based on the variation of heading angle, and the curve radius was calculated with ki- nematic method, geometry method, and lateral acceleration method. In order to verify the accuracy of the three methods, the analysis of variance （ANOVA） test was applied by using the control variable of curve radius measured by field test. Based on the measured curve radius, a curve safety analysis model was used to predict the crash rates and safe driving speeds at horizontal curves. Finally, a case study on 4.35 km road segment demonstrated that the proposed method could efficiently conduct network level analysis.

Nominal geometry and force measures for solids and fluids

Understanding solid‐and fluid‐inertia forces and their coupling with the gravity potential in complex motion scenarios is necessary for evaluating system stability and identifying root causes of system failure and accidents.Because solids and fluids have an infinite number of degrees of freedom and distributed inertia and elasticity,having meaningful qualitative and quantitative nominal measures of the kinematics and forces will contribute to a better understanding of the system dynamics.This paper proposes developing new continuum‐based nominal measures for the characterization of the oscillations and forces.By using a material‐point approach,these new nominal measures,which have their roots in the continuum‐mechanics partial‐differential equations of equilibrium and Frenet geometry,are independent of the formulation or generalized coordinates used to develop the dynamic equations of motion.The paper proposes a data‐driven‐science approach to define a nominal continuum space‐curve geometry with nominal curvature and torsion;a nominal instantaneous motion plane(IMP),which contains the resultant of all forces including the inertia forces;and a nominal instantaneous zero‐force axis(IZFA)along which the resultant of all forces vanishes.While using the material‐point approach eliminates the need for introducing moment equations associated with orientation coordinates,the IMP and IZFA concepts can be used to define the instantaneous axis of significant moment components,which can lead to accidents such as in the case of vehicle rollovers.

Quantum measurement in coherence-vector representation

We consider the quantum measurements on a finite quantum system in coherence-vector representation. In this representation, all the density operators of an N-level(N≥2) quantum system constitute a convex set M^(N)embedded in an(N^2- 1)-dimensional Euclidean space R^((N^2)-1), and we find that an orthogonal measurement is an(N- 1)-dimensional projector operator on R^((N^2)-1). The states unchanged by an orthogonal measurement form an(N- 1)-dimensional simplex, and in the case when N is prime or power of prime, the space of the density operator is a direct sum of(N + 1) such simplices. The mathematical description of quantum measurement is plain in this representation, and this may have further applications in quantum information processing.