Ultrasonic positioning system for the calibration of central detector

A thorough detector response calibration using radioactive sources is necessary for the Jiangmen Underground Neutrino Observatory. Herein, we discuss the design of a source positioning system based on ultrasonic technology, aiming for a 3-cm precision over the entire35-m diameter detector sphere. A prototype system is constructed and demonstrated for the experiment.

Calibration of GNSS positioning receivers

Nowadays global navigation satellite system(GNSS)receivers are the primary tool not only for precision surveying but also for geodesy,geophysics and many other industrial applications worldwide.The only way to assure the accuracy,universality and longevity of GNSS measurements is by calibration of its receivers.The parameters affecting the calibration accuracy of a single GNSS receiver are discussed in this paper.And a geodetic basepoint is established according to previous empirical studies to serve as a reference for calibration.Additionally,the traceability to the systeme international(SI)unit of such kind of calibrations is discussed.Stability of the base point is also verified through long-term measurements over three years.Eventually,a calibration of a sample single GNSS receiver is performed and the uncertainty budget is derived.

Multi-camera calibration method based on minimizing the difference of reprojection error vectors

In order to achieve a high precision in three-dimensional（3D） multi-camera measurement system, an efficient multi-cameracalibration method is proposed. A stitching method of large scalecalibration targets is deduced, and a fundamental of multi-cameracalibration based on the large scale calibration target is provided.To avoid the shortcomings of the method, the vector differencesof reprojection error with the presence of the constraint conditionof the constant rigid body transformation is modelled, and mini-mized by the Levenberg-Marquardt （LM） method. Results of thesimulation and observation data calibration experiment show thatthe accuracy of the system calibrated by the proposed methodreaches 2 mm when measuring distance section of 20 000 mmand scale section of 7 000 mm × 7 000 mm. Consequently, theproposed method of multi-camera calibration performs better thanthe fundamental in stability. This technique offers a more uniformerror distribution for measuring large scale space.

STUDY ON A PRECISE ON-SPOT CALIBRATION METHOD FOR DISTRIBUTED STEREO REFERENCE POSITION-SETTING

A high precision method used for on-spot calibration of distributed stereoreference position setting is presented. The high measuring accuracy in stereo reference calibrationis derived from using a high precision water level instrument and an accurate height verniercaliper. It settles the problem of reference calibration effectively and accurately, without usinglarge coordinate measuring machines (CMM). It is more adaptable and precise than traditionalcalibration methods applying theodolites or autocollimators. The error sources of this method areanalyzed in detail and several methods are developed to eliminate the calibration error.Anoptimizing swallowtail-like anchor target is developed. Experiments show that the calibrationaccuracy can be limited within 0.06 mm in the range of 3～5 m and 0.03 mm with optimizing anchortarget. This method can be widely used in on-spot calibration.

New multi-camera calibration algorithm based on 1D objects

A new calibration algorithm for multi-camera systems using 1D calibration objects is proposed. The algorithm inte- grates the rank-4 factorization with Zhang (2004)'s method. The intrinsic parameters as well as the extrinsic parameters are re- covered by capturing with cameras the 1D object's rotations around a fixed point. The algorithm is based on factorization of the scaled measurement matrix, the projective depth of which is estimated in an analytical equation instead of a recursive form. For more than three points on a 1D object, the approach of our algorithm is to extend the scaled measurement matrix. The obtained parameters are finally refined through the maximum likelihood inference. Simulations and experiments with real images verify that the proposed technique achieves a good trade-off between the intrinsic and extrinsic camera parameters.

CALIBRATION OF A 6-DOF SPACE ROBOT USING GENETIC ALGORITHM

The kinematic error model of a 6-DOF space robot is deduced, and the cost function of kinematic parameter identification is built. With the aid of the genetic algorithm （GA） that has the powerful global adaptive probabilistic search ability, 24 parameters of the robot are identified through simulation, which makes the pose （position and orientation） accuracy of the robot a great improvement. In the process of the calibration, stochastic measurement noises are considered. Lastly, generalization of the identified kinematic parameters in the whole workspace of the robot is discussed. The simulation results show that calibrating the robot with GA is very stable and not sensitive to measurement noise. Moreover, even if the robot＇s kinematic parameters are relative, GA still has strong search ability to find the optimum solution.

Performance Calibration Using Cosmic Rays for the Multi-Neutron Correlation Spectrometer

Efficient calibration methods have been applied to a complex neutron detector array by using the cosmic-ray muons. Through a differential operation on the time difference spectrum, the two edges of this spectrum can be precisely determined, corresponding to the geometrical two ends of the bar, and therefore the relationship between the position and time difference spectrum can be deduced for each bar. The alignment between different bars is realized by choosing cosmic- rays which are perpendicular to the bars. The position resolutions are extracted through a track fitting procedure which uses all tracks detected coincidently by the whole system, together with a simulation analysis. A method is also developed to calibrate the deposited energy by using cosmic-rays at different incident angles.

An approach to measure the pose of RHJD4-1 arc welding robot for calibration

A measurement setup used for robot calibration was designed to meet the requirement of off line programming technique. The robot end effector pose (position and orientation) can be calculated indirectly by using this setup. The setup has been applied to RHJD4 1 arc welding robot. The experimental results show the method of pose measuring using the measurement setup is simple and reliable to finish pose measuring for robot calibration. In addition, the setup can measure the position repeatability of robot.

Calibration method for electrode gains in an axially symmetric stripline BPM

The four electrodes in the stripline beam position monitor(BPM) for Hefei Light Source(HLS II) storage ring are of axially symmetric type. We have derived a new calibration method of electrode gains for this type stripline BPM. The gain fit error of different data grids was analyzed, and the ±5 mm by ±5 mm grid is the best.The electrode gains of two stripline BPMs(HLS II SR-BD-STLB1 and HLS II SR-BD-STLB2) were obtained based on offline calibrated data. The results show that data after fitting gains are improved, with the electrode gains being between 0.94 and 1.15.

Implementation and integration of a systematic DBPM calibration with PLL frequency synthesis and FPGA

Beam current dependence resulted from nonlinearity and asymmetry of the four channels of digital BPM(Beam Position Monitor) processor deteriorates the BPM performance.A systematic solution based on signal source calibration tactics has been carried out to rectify this defect.It is optimized for implementation in FPGA.Mathematical illustrations of the calibration method,hardware and software design and implementation are presented.A signal source circuit using frequency synthesis technique is designed as calibration standard.Data acquisition system using JAVA web technology and Ethernet is introduced.Integrated FPGA implementation code architecture is presented,and experimental test results show that the method implemented in FPGA is feasible.Compared to other methods,our approach can rectify the nonlinearity and asymmetry simultaneously.The whole solution is integrated into the DBPM processor and can be executed online.

Study on Calibration of L-band Radar by a Drone

A new calibration method of L-band radar accuracy using a rotary-wing drone equipped with"GPS"satellite positioning system was proposed.The L-band radar calibration system scheme based on this method was designed.The theoretical basis required for system realization was studied,and the system calibration method was given.The calibration results referred to the domestic new generation weather radar antenna beam pointing calibration technical indicator(≤0.3°),and its accuracy met relevant business requirement.It show that this method can easily and quickly complete the radar system calibration.Compared with the traditional radar calibration method,it is more convenient,less affected by surrounding environment,and has low requirements on the weather.

高精度小区播种机自校正系统研究

在小区育种试验的播种环节过程中,小区行长和间隔的精准控制尤为关键,现常用的控制方式为北斗定位系统控制和编码器控制,但目前民用的北斗定位模块经过差分处理后,基本上接收北斗卫星发送的信号频率只能达到20 Hz,造成整个控制过程不是连续的。根据编码器的基本原理可知,控制精度虽低于北斗卫星,但编码器两个脉冲发送间隔低于北斗定位系统接收频率。为此,将编码器与北斗定位系统相互融合,设计了一种高净度的小区播种机自校正系统。大量田间试验结果表明:所研究的小区播种机自校正系统能够将小区长度误差精度控制在0.67%以内,相较于传统的编码器和北斗定位模式而言精度大大提升。

A high precision calibration method for long baseline acoustic positioning systems

To solve the problem that traditional long baseline（LBL） positioning system is easily affected by severe sound speed varying results in low calibration precision, low efficiency and inconsistent position using different references, we propose a high precision array calibration method. We use distances between beacons to build error adjustment model. This model improves the calibration performance of traditional calibration method. The theory shows this method can achieve equal calibration precision with distance measurement precision in horizon. This method can improve the calibration efficiency, solve position ambiguity and achieve high precision especially in deep ocean. The shallow water experiment shows this method has millimeter calibration precision which is equal to distance measurement error. The calibration precision improves from centimeter to millimeter compared to traditional calibration method.The method also decreases the operation complexity. The localized positions are more close to GPS compared to traditional method, which has great application values.

Novel method to calibrate kinematic parameters for mobile robots

In order to reduce the system errors of dead reckoning and improve the localization accu- racy, a new model for systematic error of mobile robot was defined and a UMBmark-based method for calibrating and compensating systematic error was presented. Three dominant reasons causing systematic errors were considered： imprecise average wheel diameter, uncertainty about the effec- tive wheelbase and unequal wheel＇ s diameter. The new model for systematic errors is considering the coupling effect of the three factors during the localization of mobile robot. Three coefficients to calibrate average wheel diameter, effective wheelbase, left and right wheels＇ diameter were ob- tained. Then these three coefficients were used to make improvements on robot kinematic equations. The experiments on the dual-wheel drive mobile robot DaNI show that the presented method has achieveda significant improvement in the location accuracy compared with the UMBmark calibration.

Positioning error compensation for parallel mechanism with two kinematic calibration methods

Compared with serial mechanisms, the parallel mechanism(PM) theoretically exhibited higher positioning accuracy, dynamic performance, strength-to-weight ratio, and lower manufacturing cost, but they had not been widely used in the practical application. One key issue, positioning accuracy, which directly affected their performance and was greatly influenced by the errors of kinematic structure parameters was analyzed. To effectively enhance the positioning precision of PMs, a novel modeless kinematic calibration method, namely the split calibration, was presented and its compensation effect of the positioning error was comprehensively compared with that of an integrated method on two different types of PMs. A strange phenomenon-correct and incorrect identified results were derived from two different PMs by the same integrated method, respectivelywhich had not been reported yet was discovered, and the origin of it was revealed utilizing numerical simulations. Finally, respective merits and drawbacks of these two methods obtained in this paper provided underlying insights to guide the practical application of the kinematic calibration for PMs.

A method of initial welding position guiding for arc welding robot based on visual servo control

In order to solve the visual guiding task of initial welding position for arc welding robot, this paper presents a practice prone image based visual servo control strategy without calibration, and we perform validating experiments on a nine DOF arc welding robot system. Experimental results illustrate presented method has the function to fulfill the task of welding robot initial positioning with certain anti jamming ability. This method provides a basis for guiding welding gun to initial welding pose with real typical seam’s image properties to replace flag block properties, and is a significant exploit to realize visual guiding of initial welding position and seam tracing in robot welding system.

Application of 2-D Position Sensitive Detector in Spatial Straightness Measurement of Guide Rails

A laser collimating system based on 2-D position sensitive detector (PSD) is presented in this paper. The working principle of PSD is depicted in detail. A calibration device was developed to check the nonlinearity errors of PSD and a multilayer feedforward neural network based on error back-propagation algorithm was used to compensate errors. With the aid of computer-based data acquisition system, an automatic dynamic measuring process was realized. A series of experiments, including comparison tests with laser interferometer, were done to evaluate the performance of the measuring system. The experimental results show that the spatial straightness errors of guide rails can be measured with high accuracy. The maximum differences between the device and laser interferometer are 0.027 mm in Y direction, and 0.053 mm in X direction in the measuring distance of 6 m.

Alignment of ADS beta cryostat with wire position monitor

Wire position monitor(WPM)is designed to monitor contraction of the cold masses during the cooling-down operation in an accelerator driven system.Because of material difference,machining error,assembly error,etc.,each WPM has to be calibrated.The sensing voltage and wire position are of a nonlinear relationship,which is expressed by high order polynomial.Root mean square(RMS)of the polynomial fitting error were 3.8μm and 7.4μm at x and y directions,respectively.The alignment test was carried out on the beta cryostat.Optical instruments were used to verify the WPM measuring results.The differences between WPM measuring results and optical measurements were 0.044 and 0.05 mm in x and y direction,respectively.A significant asymmetric contraction was detected,and asymmetry of material was taken as the main reason through analysis.

Estimation of CARA Preferences and Positive Mathematical Programming

The purpose of this paper is to combine the estimation of output price risk and positive mathematical programming (PMP). It reconciles the risk programming presented by Freund with a consistent estimate of the constant absolute risk aversion (CARA) coefficient. It extends the PMP approach to calibration of realized production outputs and observed input prices. The results of this specification include 1) uniqueness of the calibrating solution, 2) elimination of the tautological calibration constraints typical of the original PMP procedure, 3) equivalence between a phase I calibrating solution and a solution obtained by combining phase I and phase II of the traditional PMP procedure. In this extended PMP framework, the cost function specification involves output quantities and input prices—contrary to the myopic cost function of the traditional PMP approach. This extension allows for a phase III calibrating model that replaces the usual linear technology with relations corresponding to Shephard lemma (in the primal constraints) and the marginal cost function (in the dual constraints). An empirical example with a sample of farms producing four crops illustrates the novel procedure.

Development of a PSD-based photon beam position measurement system

As an important part of the beam diagnostic system, the synchrotron light beam position measurement has a very high value in the high quality and high stability light source applied research. A new photon beam position monitor based on position-sensitive detector (PSD) has been developed to measure the photon beam position in vertical and horizontal directions at the same time at HLS (Hefei Light Source). The new PBPM based on the PSD has fast response speed, high sensitivity and wide dynamic range. This PBPM system also includes the C4674 signal processing circuit, NI USB-9215 data acquisition device and the LABVIEW data acquisition program. This PBPM system has been calibrated vertically and horizontally on-line, and then has been applied in the beam line B3EA of HLS to measure the position of the synchrotron light. As the results shown, the resolution of the system is better than 3 mm.