Traditional calibration method for the digital inclinometer relies on manual inspection,and results in its disadvantages of complicated process,low-efficiency and human errors easy to be introduced.To improve both the...Traditional calibration method for the digital inclinometer relies on manual inspection,and results in its disadvantages of complicated process,low-efficiency and human errors easy to be introduced.To improve both the calibration accuracy and efficiency of digital inclinometer,an automatic digital inclinometer calibration system was developed in this study,and a new display tube recognition algorithm was proposed.First,a high-precision automatic turntable was taken as the reference to calculate the indication error of the inclinometer.Then,the automatic inclinometer calibration control process and the digital inclinometer zero-setting function were formulated.For display tube recognition,a new display tube recognition algorithm combining threading method and feature extraction method was proposed.Finally,the calibration system was calibrated by photoelectric autocollimator and regular polygon mirror,and the calibration system error and repeatability were calculated via a series of experiments.The experimental results showed that the indication error of the proposed calibration system was less than 4",and the repeatability was 3.9".A digital inclinometer with the resolution of 0.1°was taken as a testing example,within the calibration points'range of[-90°,90°],the repeatability of the testing was 0.085°,and the whole testing process was less than 90 s.The digital inclinometer indication error is mainly introduced by the digital inclinometer resolution according to the uncertainty evaluation.展开更多
LiDAR and camera are two of the most common sensors used in the fields of robot perception,autonomous driving,augmented reality,and virtual reality,where these sensors are widely used to perform various tasks such as ...LiDAR and camera are two of the most common sensors used in the fields of robot perception,autonomous driving,augmented reality,and virtual reality,where these sensors are widely used to perform various tasks such as odometry estimation and 3D reconstruction.Fusing the information from these two sensors can significantly increase the robustness and accuracy of these perception tasks.The extrinsic calibration between cameras and LiDAR is a fundamental prerequisite for multimodal systems.Recently,extensive studies have been conducted on the calibration of extrinsic parameters.Although several calibration methods facilitate sensor fusion,a comprehensive summary for researchers and,especially,non-expert users is lacking.Thus,we present an overview of extrinsic calibration and discuss diverse calibration methods from the perspective of calibration system design.Based on the calibration information sources,this study classifies these methods as target-based or targetless.For each type of calibration method,further classification was performed according to the diverse types of features or constraints used in the calibration process,and their detailed implementations and key characteristics were introduced.Thereafter,calibration-accuracy evaluation methods are presented.Finally,we comprehensively compare the advantages and disadvantages of each calibration method and suggest directions for practical applications and future research.展开更多
In data communication,limited communication resources often lead to measurement bias,which adversely affects subsequent system estimation if not effectively handled.This paper proposes a novel bias calibration algorit...In data communication,limited communication resources often lead to measurement bias,which adversely affects subsequent system estimation if not effectively handled.This paper proposes a novel bias calibration algorithm under communication constraints to achieve accurate system states of the interested system.An output-based event-triggered scheme is first employed to alleviate transmission burden.Accounting for the limited-communication-induced measurement bias,a novel bias calibration algorithm following the Kalman filtering line is developed to restrain the effect of the measurement bias on system estimation,thereby achieving accurate system state estimates.Subsequently,the Field Programmable Gate Array(FPGA)implementation of the proposed algorithm is also realized with the hope of providing fast bias calibration in practical scenarios.A simulation about a numerical example and a practical example(for gyroscope’s angular velocity bias calibration)on MATLAB is provided to demonstrate the feasibility and effectiveness of the proposed algorithm.展开更多
With the continuous progress of automatic driving technology,automatic driving technology standards are gradually affecting the determination of criminal responsibility for traffic accidents in China.At present,the ch...With the continuous progress of automatic driving technology,automatic driving technology standards are gradually affecting the determination of criminal responsibility for traffic accidents in China.At present,the characteristics and tendency of China's automatic driving technology standards present the situation of high policy relevance coexisting with low normative binding,professionalism coexist with barriers,forefront coexist with ambiguity.Therefore,challenges are presented both theoretically and practically on the determination of criminal responsibility based on automatic driving technology standard..In this regard,the misunderstanding should be clarified in theory:The legal order under the automatic driving technology standard has constitutionality and systematic,and there is a balance between the frontier of automatic driving technology development and the lagging of criminal law.The automatic driving technology risk level system should be built to clarify the boundary of the effectiveness of criminal law norms,seeking fora breakthrough in the application of the establishment of a comprehensive judgment system of the risks and accidents and the system of evidence to prove the system,which clarifies the determination of criminal responsibility under the automatic driving technology standard.This essay hopes to pursue breakthroughs in the application-to establish a comprehensive judgment system of risks and accidents as well as an evidence proof system,so as to clarify the determination of criminal responsibility under automatic driving technology standards.展开更多
We present the preparation and measurement of the radioactive isotope^(37)Ar,which was produced using thermal neutrons from a reactor,as a calibration source for liquid xenon time projection chambers.^(37)Ar is a low-...We present the preparation and measurement of the radioactive isotope^(37)Ar,which was produced using thermal neutrons from a reactor,as a calibration source for liquid xenon time projection chambers.^(37)Ar is a low-energy calibration source with a half-life of 35.01 days,making it suitable for calibration in the low-energy region of liquid xenon dark-matter experiments.Radioactive isotope^(37)Ar was produced by irradiating ^(36)Ar with thermal neutrons.It was subsequently measured in a gaseous xenon time projection chamber(GXe TPC)to validate its radioactivity.Our results demonstrate that^(37)Ar is an effective and viable calibration source that offers precise calibration capabilities in the low-energy domain of xenon-based detectors.展开更多
Automation and intelligence have become the primary trends in the design of investment casting processes.However,the design of gating and riser systems still lacks precise quantitative evaluation criteria.Numerical si...Automation and intelligence have become the primary trends in the design of investment casting processes.However,the design of gating and riser systems still lacks precise quantitative evaluation criteria.Numerical simulation plays a significant role in quantitatively evaluating current processes and making targeted improvements,but its limitations lie in the inability to dynamically reflect the formation outcomes of castings under varying process conditions,making real-time adjustments to gating and riser designs challenging.In this study,an automated design model for gating and riser systems based on integrated parametric 3D modeling-simulation framework is proposed,which enhances the flexibility and usability of evaluating the casting process by simulation.Firstly,geometric feature extraction technology is employed to obtain the geometric information of the target casting.Based on this information,an automated design framework for gating and riser systems is established,incorporating multiple structural parameters for real-time process control.Subsequently,the simulation results for various structural parameters are analyzed,and the influence of these parameters on casting formation is thoroughly investigated.Finally,the optimal design scheme is generated and validated through experimental verification.Simulation analysis and experimental results show that using a larger gate neck(24 mm in side length) and external risers promotes a more uniform temperature distribution and a more stable flow state,effectively eliminating shrinkage cavities and enhancing process yield by 15%.展开更多
Large-volume presses(LVPs)are widely utilized in diverse research fields—including high-pressure physics,chemistry,materials science,and Earth and planetary sciences—to investigate the physical and chemical properti...Large-volume presses(LVPs)are widely utilized in diverse research fields—including high-pressure physics,chemistry,materials science,and Earth and planetary sciences—to investigate the physical and chemical properties of materials under extreme high-pressure and hightemperature conditions.A prerequisite for achieving reproducible property measurements is the determination and control of pressure within experimental setups.However,the lack of precise pressure calibration in LVPs hinders the broader application of such devices in ultrahigh-pressure studies.This study employs a suite of standard phase transition-based pressure markers—comprising metallic conductors,semiconductors,and minerals—through both in situ and ex situ identification approaches,to establish pressure calibration curves ranging from 0.4 to>30 GPa for various types of LVP installed at the Center for High Pressure Science and Technology Advanced Research(HPSTAR),Beijing,including piston–cylinder,cubic,and multi-anvil presses.The results provide a unified and traceable pressure reference for highpressure experiments conducted at HPSTAR,while also offering technical guidance and calibration standards for other researchers utilizing similar LVP systems,thereby enabling more consistent comparison between different laboratories.This work facilitates the advancement of LVP research toward broader applications in higher-pressure regimes.展开更多
An automatic IQ phase calibration method implemented in a 2.4GHz direct conversion receiver is proposed. It uses a delay locked loop （DLL） with a proposed quadrature phase detector to greatly reduce the phase error....An automatic IQ phase calibration method implemented in a 2.4GHz direct conversion receiver is proposed. It uses a delay locked loop （DLL） with a proposed quadrature phase detector to greatly reduce the phase error. The receiver is fabricated in a 0.18μm CMOS process. Measurements show that the IQ phase error can be calibrated within 1°,which satisfies the system requirement.展开更多
Desktop calibration of automatic transmission(AT) is a method which can reduce cost, enhance efficiency and shorten the development periods of a vehicle effectively. We primary introduced the principle and approach of...Desktop calibration of automatic transmission(AT) is a method which can reduce cost, enhance efficiency and shorten the development periods of a vehicle effectively. We primary introduced the principle and approach of desktop calibration of AT based on the condition of coupling characteristics between engine and torque converter and obtained right point exactly. It is shown to agree with experimental measurements reasonably well. It was used in different applications abroad based on AT technology and achieved a good performance of the vehicle compared with traditional AT technology which primary focuses on the drivability, performance and fuel consumption.展开更多
A novel algorithm for vehicle average velocity detection through automatic and dynamic camera calibration based on dark channel in homogenous fog weather condition is presented in this paper. Camera fixed in the middl...A novel algorithm for vehicle average velocity detection through automatic and dynamic camera calibration based on dark channel in homogenous fog weather condition is presented in this paper. Camera fixed in the middle of the road should be calibrated in homogenous fog weather condition, and can be used in any weather condition. Unlike other researches in velocity calculation area, our traffic model only includes road plane and vehicles in motion. Painted lines in scene image are neglected because sometimes there are no traffic lanes, especially in un-structured traffic scene. Once calibrated, scene distance will be got and can be used to calculate vehicles average velocity. Three major steps are included in our algorithm. Firstly, current video frame is recognized to discriminate current weather condition based on area search method （ASM）. If it is homogenous fog, average pixel value from top to bottom in the selected area will change in the form of edge spread function （ESF）. Secondly, traffic road surface plane will be found by generating activity map created by calculating the expected value of the absolute intensity difference between two adjacent frames. Finally, scene transmission image is got by dark channel prior theory, camera s intrinsic and extrinsic parameters are calculated based on the parameter calibration formula deduced from monocular model and scene transmission image. In this step, several key points with particular transmission value for generating necessary calculation equations on road surface are selected to calibrate the camera. Vehicles pixel coordinates are transformed to camera coordinates. Distance between vehicles and the camera will be calculated, and then average velocity for each vehicle is got. At the end of this paper, calibration results and vehicles velocity data for nine vehicles in different weather conditions are given. Comparison with other algorithms verifies the effectiveness of our algorithm.展开更多
Measurement error of unbalance's vibration response plays a crucial role in calibration and on-line updating of influence coefficient(IC).Focusing on the two problems that the moment estimator of data used in cali...Measurement error of unbalance's vibration response plays a crucial role in calibration and on-line updating of influence coefficient(IC).Focusing on the two problems that the moment estimator of data used in calibration process cannot fulfill the accuracy requirement under small sample and the disturbance of measurement error cannot be effectively suppressed in updating process,an IC calibration and on-line updating method based on hierarchical Bayesian method for automatic dynamic balancing machine was proposed.During calibration process,for the repeatedly-measured data obtained from experiments with different trial weights,according to the fact that measurement error of each sensor had the same statistical characteristics,the joint posterior distribution model for the true values of the vibration response under all trial weights and measurement error was established.During the updating process,information obtained from calibration was regarded as prior information,which was utilized to update the posterior distribution of IC combined with the real-time reference information to implement online updating.Moreover,Gibbs sampling method of Markov Chain Monte Carlo(MCMC)was adopted to obtain the maximum posterior estimation of parameters to be estimated.On the independent developed dynamic balancing testbed,prediction was carried out for multiple groups of data through the proposed method and the traditional method respectively,the result indicated that estimator of influence coefficient obtained through the proposed method had higher accuracy;the proposed updating method more effectively guaranteed the measurement accuracy during the whole producing process,and meantime more reasonably compromised between the sensitivity of IC change and suppression of randomness of vibration response.展开更多
An on-machine measuring(OMM)system with a laser displacement sensor(LDS)is designed for measuring free-form surfaces of hypersonic aircraft’s radomes.To improve the measurement accuracy of the OMM system,a novel Iter...An on-machine measuring(OMM)system with a laser displacement sensor(LDS)is designed for measuring free-form surfaces of hypersonic aircraft’s radomes.To improve the measurement accuracy of the OMM system,a novel Iteratively Automatic machine learning Boosted hand-eye Calibration(IABC)method is proposed.Both the hand-eye relationship and LDS measurement errors can be calibrated in one calibration process without any hardware changes via IABC.Firstly,a new objective function is derived,containing analytical parameters of the handeye relationship and LDS errors.Then,a hybrid calibration model composed of two kernels is proposed to solve the objective function.One kernel is the analytical kernel designed for solving analytical parameters.Another kernel is the automatic machine learning(AutoML)kernel designed to model LDS errors.The two kernels are connected with stepwise iterations to find the best calibration results.Compared with traditional methods,hand-eye experiments show that IABC reduces the calibration RMSE by about 50%.Verification experiments show that IABC reduces the measurement deviations by about 25%-50%and RMSEs within 40%.Even when the training data are obviously less than the test data,IABC performs well.Experiments demonstrate that IABC is more accurate than traditional hand-eye methods.展开更多
In the calibration of hydrological models, evaluation criteria are explicitly and quantitatively defined as single-or multi-objective functions when utilizing automatic calibration approaches.In most previous studies,...In the calibration of hydrological models, evaluation criteria are explicitly and quantitatively defined as single-or multi-objective functions when utilizing automatic calibration approaches.In most previous studies, there is a general opinion that no single-objective function can represent all important characteristics of even one specific hydrological variable(e.g., streamflow).Thus hydrologists must turn to multi-objective calibration.In this study, we demonstrated that an optimized single-objective function can compromise multi-response modes(i.e., multi-objective functions) of the hydrograph, which is defined as summation of a power function of the absolute error between observed and simulated streamflow with the exponent of power function optimized for specific watersheds.The new objective function was applied to 196 model parameter estimation experiment(MOPEX) watersheds across the eastern United States using the semi-distributed Xinanjiang hydrological model.The optimized exponent value for each watershed was obtained by targeting four popular objective functions focusing on peak flows, low flows, water balance, and flashiness, respectively.Results showed that the optimized single-objective function can achieve a better hydrograph simulation compared to the traditional single-objective function Nash-Sutcliffe efficiency coefficient for most watersheds, and balance high flow part and low flow part of the hydrograph without substantial differences compared to multi-objective calibration.The proposed optimal single-objective function can be practically adopted in the hydrological modeling if the optimal exponent value could be determined a priori according to hydrological/climatic/landscape characteristics in a specific watershed.展开更多
Automated control and calibration are important components in industrial process and in artificial intelligence system and robotics.In order to solve the problem of contact high-temperature strain precision measuremen...Automated control and calibration are important components in industrial process and in artificial intelligence system and robotics.In order to solve the problem of contact high-temperature strain precision measurement,this paper established an automatic calibration device for high-temperature strain gauges.The temperature of the high-temperature furnace is automatically controlled by the temperature control device.The electric cylinder is driven by the servo motor to apply the load to the calibration beam.The output signal of the high-temperature strain gauge,the thermocouple signal,and the displacement signal of the grating ruler are collected at the same time.The deformation measurement results obtained after temperature correction are used to calculate the theoretical mechanical strain,which are fed back to control the loading action to complete the automatic calibration process.Based on the above calibration device,the hightemperature strain measurement accuracy correction software is developed to calibrate the high-temperature strain gauge with multiparameters,and the curves of sensitivity coefficient,thermal output,zero drift,and creep characteristics with temperature are obtained,and a strain measurement accuracy compensation model is established.The high-temperature strain measurement experiment is carried out to verify that the modified model can meet the requirements in each temperature range.展开更多
Thanks to its light weight,low power consumption,and low price,the inertial measurement units(IMUs)have been widely used in civil and military applications such as autopilot,robotics,and tactical weapons.The calibrati...Thanks to its light weight,low power consumption,and low price,the inertial measurement units(IMUs)have been widely used in civil and military applications such as autopilot,robotics,and tactical weapons.The calibration is an essential procedure before the IMU is put in use,which is generally used to estimate the error parameters such as the bias,installation error,scale factor of the IMU.Currently,the manual one-by-one calibration is still the mostly used manner,which is low in efficiency,time-consuming,and easy to introduce mis-operation.Aiming at this issue,this paper designs an automatic batch calibration method for a set of IMUs.The designed automatic calibration master controller can control the turntable and the data acquisition system at the same time.Each data acquisition front-end can complete data acquisition of eight IMUs one time.And various scenarios of experimental tests have been carried out to validate the proposed design,such as the multi-position tests,the rate tests and swaying tests.The results illustrate the reliability of each function module and the feasibility automatic batch calibration.Compared with the traditional calibration method,the proposed design can reduce errors caused by the manual calibration and greatly improve the efficiency of IMU calibration.展开更多
The wobble errors caused by the imperfect integration of motion sensors and transducers in multibeam echo-sounder systems(MBES)manifest as high-frequency wobbles in swaths and hinder the accurate expression of high-re...The wobble errors caused by the imperfect integration of motion sensors and transducers in multibeam echo-sounder systems(MBES)manifest as high-frequency wobbles in swaths and hinder the accurate expression of high-resolution seabed micro-topography under a dynamic marine environment.There are many types of wobble errors with certain coupling among them.However,those current calibration methods ignore the coupling and are mainly manual adjustments.Therefore,we proposed an automatic calibration method with the coupling.First,given the independence of the transmitter and the receiver,the traditional georeferenced model is modified to improve the accuracy of footprint reduction.Secondly,based on the improved georeferenced model,the calibration model associated with motion scale,time delay,yaw misalignment,lever arm errors,and soundings is constructed.Finally,the genetic algorithm(GA)is used to search dynamically for the optimal estimation of the corresponding error parameters to realize the automatic calibration of wobble errors.The simulated data show that the accuracy of the calibrated data can be controlled within 0.2%of the water depth.The measured data show that after calibration,the maximum standard deviation of the depth is reduced by about 5.9%,and the mean standard deviation of the depth is reduced by about 11.2%.The proposed method has significance in the precise calibration of dynamic errors in shallow water multibeam bathymetrie s.展开更多
Models are tools widely used in the prediction of hydrological phenomena. The present study aims to contribute to the implementation of an automatic optimization strategy of parameters for the calibration of a hydrolo...Models are tools widely used in the prediction of hydrological phenomena. The present study aims to contribute to the implementation of an automatic optimization strategy of parameters for the calibration of a hydrological model based on the least action principle (HyMoLAP). The Downhill Simplex method is also known as the Nelder-Mead algorithm, which is a heuristic research method, is used to optimize the cost function on a given domain. The performance of the model is evaluated by the Nash Stucliffe Efficiency Index (NSE), the Root Mean Square Error (RMSE), the coefficient of determination (R2), the Mean Absolute Error (MAE). A comparative estimation is conducted using the Nash-Sutcliffe Modeling Efficiency Index and the mean relative error to evaluate the performance of the optimization method. It appears that the variation in water balance parameter values is acceptable. The simulated optimization method appears to be the best in terms of lower variability of parameter values during successive tests. The quality of the parameter sets obtained is good enough to impact the performance of the objective functions in a minimum number of iterations. We have analyzed the algorithm from a technical point of view, and we have carried out an experimental comparison between specific factors such as the model structure and the parameter’s values. The results obtained confirm the quality of the model (NSE = 0.90 and 0.75 respectively in calibration and validation) and allow us to evaluate the efficiency of the Nelder-Mead algorithm in the automatic calibration of the HyMoLAP model. The developed hybrid automatic calibration approach is therefore one of the promising ways to reduce computational time in rainfall-runoff modeling.展开更多
In-situ calibrations of weather stations are usually performed by positioning standard instruments close to the station under calibration and comparing the obtained results. This procedure could be useful to evaluate ...In-situ calibrations of weather stations are usually performed by positioning standard instruments close to the station under calibration and comparing the obtained results. This procedure could be useful to evaluate the proper functioning of the monitoring equipments, but do not allowed the determination of a calibration curve that allow the corrections of the acquired parameters. Thus, the development of a dedicated facility for in-situ calibration of weather stations, enabling simultaneous generation of a wide range of temperatures and pressures could offer important improvements in this framework, particularly if this facility is applied to high mountains monitoring stations where the weather stations calibrations could be very difficult. This paper will present the calibration chamber developed in the framework of the EMRP-METEOMET (Metrology for Meteorology) Project, which aims is to bring metrological traceability to high altitude meteorological instruments and through this experience will provide a general overview on the importance of the application of this methodology at different levels.展开更多
Traffic microsimulation is an essential tool in urban transportation and road planning. Its calibration is essential to attain representative results validated with real-world conditions. VISSIM (Verkehr in St&aum...Traffic microsimulation is an essential tool in urban transportation and road planning. Its calibration is essential to attain representative results validated with real-world conditions. VISSIM (Verkehr in Städten—SIMulationsmodell) operates with the Wiedemann’s psycho-physical car-following model for freeway travel that considers safety distances (standstill and movement) during simulation. Calibration in this paper was achieved by using two different approaches: a) manual and b) genetic algorithm (with the GEH statistic formula) calibration techniques. Calibration and validation of this model were performed at the Periferico de la Juventud expressway in Chihuahua City, in northern Mexico. The Periferico de la Juventud (PDJ) has a N-S orientation and a length of ca. 20 km, with its northern section being its most congested portion. Its highest vehicle volume occurs at noon, with 3700 vehicles per hour, with 95% being passenger cars and the other 5% heavy goods vehicles. PDJ’s speed limit is 70 km·h-1, but the driver’s behavior has a tendency towards the aggressive performance. A total of 82 standstill and 82 look-ahead distances were obtained from unmanned aerial vehicles (UAV) images, with values ranging from 0.8 to 4.7 m and from 0.2 to 28 m, respectively. VISSIM calibrated parameter values were calculated for this expressway, being slightly above than the VISSIM default ones;and was validated with travel times and look-ahead distances. Results contribute information for the city’s future installment of public transportation systems, and should help decision makers deal with future urban planning.展开更多
Back-analysis is broadly used for approaching geotechnical problems when monitoring data are available and information about the soils properties is of poor quality.For landslide stability assessment back-analysis cal...Back-analysis is broadly used for approaching geotechnical problems when monitoring data are available and information about the soils properties is of poor quality.For landslide stability assessment back-analysis calibration is usually carried out by time consuming trial-and-error procedure.This paper presents a new automatic Decision Support System that supports the selection of the soil parameters for three-dimensional models of landslides based on monitoring data.The method considering a pool of possible solutions,generated through permutation of soil parameters,selects the best ten configurations that are more congruent with the measured displacements.This reduces the operator biases while on the other hand allows the operator to control each step of the computation.The final selection of the preferred solution among the ten best-fitting solutions is carried out by an operator.The operator control is necessary as he may include in the final decision process all the qualitative elements that cannot be included in a qualitative analysis but nevertheless characterize a landslide dynamic as a whole epistemological subject,for example on the base of geomorphological evidence.A landslide located in Northeast Italy has been selected as example for showing the system potentiality.The proposed method is straightforward,scalable and robust and could be useful for researchers and practitioners.展开更多
基金the National Natural Science Foundation of China(No.61927822)。
文摘Traditional calibration method for the digital inclinometer relies on manual inspection,and results in its disadvantages of complicated process,low-efficiency and human errors easy to be introduced.To improve both the calibration accuracy and efficiency of digital inclinometer,an automatic digital inclinometer calibration system was developed in this study,and a new display tube recognition algorithm was proposed.First,a high-precision automatic turntable was taken as the reference to calculate the indication error of the inclinometer.Then,the automatic inclinometer calibration control process and the digital inclinometer zero-setting function were formulated.For display tube recognition,a new display tube recognition algorithm combining threading method and feature extraction method was proposed.Finally,the calibration system was calibrated by photoelectric autocollimator and regular polygon mirror,and the calibration system error and repeatability were calculated via a series of experiments.The experimental results showed that the indication error of the proposed calibration system was less than 4",and the repeatability was 3.9".A digital inclinometer with the resolution of 0.1°was taken as a testing example,within the calibration points'range of[-90°,90°],the repeatability of the testing was 0.085°,and the whole testing process was less than 90 s.The digital inclinometer indication error is mainly introduced by the digital inclinometer resolution according to the uncertainty evaluation.
基金Supported by Beijing Natural Science Foundation(Grant No.L241012)the National Natural Science Foundation of China(Grant No.62572468).
文摘LiDAR and camera are two of the most common sensors used in the fields of robot perception,autonomous driving,augmented reality,and virtual reality,where these sensors are widely used to perform various tasks such as odometry estimation and 3D reconstruction.Fusing the information from these two sensors can significantly increase the robustness and accuracy of these perception tasks.The extrinsic calibration between cameras and LiDAR is a fundamental prerequisite for multimodal systems.Recently,extensive studies have been conducted on the calibration of extrinsic parameters.Although several calibration methods facilitate sensor fusion,a comprehensive summary for researchers and,especially,non-expert users is lacking.Thus,we present an overview of extrinsic calibration and discuss diverse calibration methods from the perspective of calibration system design.Based on the calibration information sources,this study classifies these methods as target-based or targetless.For each type of calibration method,further classification was performed according to the diverse types of features or constraints used in the calibration process,and their detailed implementations and key characteristics were introduced.Thereafter,calibration-accuracy evaluation methods are presented.Finally,we comprehensively compare the advantages and disadvantages of each calibration method and suggest directions for practical applications and future research.
基金support from the National Natural Science Foundation of China(Grant Nos.U2330206,U2230206,62173068)Sichuan Science and Technology Program(Grants Nos.2024NSFSC1483,2024ZYD0156,2023NSFC1962,DQ202412).
文摘In data communication,limited communication resources often lead to measurement bias,which adversely affects subsequent system estimation if not effectively handled.This paper proposes a novel bias calibration algorithm under communication constraints to achieve accurate system states of the interested system.An output-based event-triggered scheme is first employed to alleviate transmission burden.Accounting for the limited-communication-induced measurement bias,a novel bias calibration algorithm following the Kalman filtering line is developed to restrain the effect of the measurement bias on system estimation,thereby achieving accurate system state estimates.Subsequently,the Field Programmable Gate Array(FPGA)implementation of the proposed algorithm is also realized with the hope of providing fast bias calibration in practical scenarios.A simulation about a numerical example and a practical example(for gyroscope’s angular velocity bias calibration)on MATLAB is provided to demonstrate the feasibility and effectiveness of the proposed algorithm.
基金The National Social Science Foundation Youth Project of China:Research on the collaborative govemance path of administrative law and criminal law against dangerous driving behaviors in the digital-intelligent society(25CFX108)。
文摘With the continuous progress of automatic driving technology,automatic driving technology standards are gradually affecting the determination of criminal responsibility for traffic accidents in China.At present,the characteristics and tendency of China's automatic driving technology standards present the situation of high policy relevance coexisting with low normative binding,professionalism coexist with barriers,forefront coexist with ambiguity.Therefore,challenges are presented both theoretically and practically on the determination of criminal responsibility based on automatic driving technology standard..In this regard,the misunderstanding should be clarified in theory:The legal order under the automatic driving technology standard has constitutionality and systematic,and there is a balance between the frontier of automatic driving technology development and the lagging of criminal law.The automatic driving technology risk level system should be built to clarify the boundary of the effectiveness of criminal law norms,seeking fora breakthrough in the application of the establishment of a comprehensive judgment system of the risks and accidents and the system of evidence to prove the system,which clarifies the determination of criminal responsibility under the automatic driving technology standard.This essay hopes to pursue breakthroughs in the application-to establish a comprehensive judgment system of risks and accidents as well as an evidence proof system,so as to clarify the determination of criminal responsibility under automatic driving technology standards.
基金supported by National Key R&D grant from the Ministry of Science and Technology of China(Nos.2021YFA1601600,2023YFA1606200)National Science Foundation of China(Nos.12090062,12105008)the Major State Basic Research Development Program of China.
文摘We present the preparation and measurement of the radioactive isotope^(37)Ar,which was produced using thermal neutrons from a reactor,as a calibration source for liquid xenon time projection chambers.^(37)Ar is a low-energy calibration source with a half-life of 35.01 days,making it suitable for calibration in the low-energy region of liquid xenon dark-matter experiments.Radioactive isotope^(37)Ar was produced by irradiating ^(36)Ar with thermal neutrons.It was subsequently measured in a gaseous xenon time projection chamber(GXe TPC)to validate its radioactivity.Our results demonstrate that^(37)Ar is an effective and viable calibration source that offers precise calibration capabilities in the low-energy domain of xenon-based detectors.
基金financially supported by the National Key Research and Development Program of China (2022YFB3706802)。
文摘Automation and intelligence have become the primary trends in the design of investment casting processes.However,the design of gating and riser systems still lacks precise quantitative evaluation criteria.Numerical simulation plays a significant role in quantitatively evaluating current processes and making targeted improvements,but its limitations lie in the inability to dynamically reflect the formation outcomes of castings under varying process conditions,making real-time adjustments to gating and riser designs challenging.In this study,an automated design model for gating and riser systems based on integrated parametric 3D modeling-simulation framework is proposed,which enhances the flexibility and usability of evaluating the casting process by simulation.Firstly,geometric feature extraction technology is employed to obtain the geometric information of the target casting.Based on this information,an automated design framework for gating and riser systems is established,incorporating multiple structural parameters for real-time process control.Subsequently,the simulation results for various structural parameters are analyzed,and the influence of these parameters on casting formation is thoroughly investigated.Finally,the optimal design scheme is generated and validated through experimental verification.Simulation analysis and experimental results show that using a larger gate neck(24 mm in side length) and external risers promotes a more uniform temperature distribution and a more stable flow state,effectively eliminating shrinkage cavities and enhancing process yield by 15%.
基金supported by the National Science Foundation of China(Grant Nos.U1530402 and U1930401).
文摘Large-volume presses(LVPs)are widely utilized in diverse research fields—including high-pressure physics,chemistry,materials science,and Earth and planetary sciences—to investigate the physical and chemical properties of materials under extreme high-pressure and hightemperature conditions.A prerequisite for achieving reproducible property measurements is the determination and control of pressure within experimental setups.However,the lack of precise pressure calibration in LVPs hinders the broader application of such devices in ultrahigh-pressure studies.This study employs a suite of standard phase transition-based pressure markers—comprising metallic conductors,semiconductors,and minerals—through both in situ and ex situ identification approaches,to establish pressure calibration curves ranging from 0.4 to>30 GPa for various types of LVP installed at the Center for High Pressure Science and Technology Advanced Research(HPSTAR),Beijing,including piston–cylinder,cubic,and multi-anvil presses.The results provide a unified and traceable pressure reference for highpressure experiments conducted at HPSTAR,while also offering technical guidance and calibration standards for other researchers utilizing similar LVP systems,thereby enabling more consistent comparison between different laboratories.This work facilitates the advancement of LVP research toward broader applications in higher-pressure regimes.
文摘An automatic IQ phase calibration method implemented in a 2.4GHz direct conversion receiver is proposed. It uses a delay locked loop （DLL） with a proposed quadrature phase detector to greatly reduce the phase error. The receiver is fabricated in a 0.18μm CMOS process. Measurements show that the IQ phase error can be calibrated within 1°,which satisfies the system requirement.
文摘Desktop calibration of automatic transmission(AT) is a method which can reduce cost, enhance efficiency and shorten the development periods of a vehicle effectively. We primary introduced the principle and approach of desktop calibration of AT based on the condition of coupling characteristics between engine and torque converter and obtained right point exactly. It is shown to agree with experimental measurements reasonably well. It was used in different applications abroad based on AT technology and achieved a good performance of the vehicle compared with traditional AT technology which primary focuses on the drivability, performance and fuel consumption.
基金supported by National High Technology Research and Development Program of China(863 Program)(No. 2011AA110301)National Natural Science Foundation of China(No. 61079001)the Ph. D. Programs Foundation of Ministry of Education of China(No. 20111103110017)
文摘A novel algorithm for vehicle average velocity detection through automatic and dynamic camera calibration based on dark channel in homogenous fog weather condition is presented in this paper. Camera fixed in the middle of the road should be calibrated in homogenous fog weather condition, and can be used in any weather condition. Unlike other researches in velocity calculation area, our traffic model only includes road plane and vehicles in motion. Painted lines in scene image are neglected because sometimes there are no traffic lanes, especially in un-structured traffic scene. Once calibrated, scene distance will be got and can be used to calculate vehicles average velocity. Three major steps are included in our algorithm. Firstly, current video frame is recognized to discriminate current weather condition based on area search method （ASM）. If it is homogenous fog, average pixel value from top to bottom in the selected area will change in the form of edge spread function （ESF）. Secondly, traffic road surface plane will be found by generating activity map created by calculating the expected value of the absolute intensity difference between two adjacent frames. Finally, scene transmission image is got by dark channel prior theory, camera s intrinsic and extrinsic parameters are calculated based on the parameter calibration formula deduced from monocular model and scene transmission image. In this step, several key points with particular transmission value for generating necessary calculation equations on road surface are selected to calibrate the camera. Vehicles pixel coordinates are transformed to camera coordinates. Distance between vehicles and the camera will be calculated, and then average velocity for each vehicle is got. At the end of this paper, calibration results and vehicles velocity data for nine vehicles in different weather conditions are given. Comparison with other algorithms verifies the effectiveness of our algorithm.
基金supported by National Hi-tech Research and Development Program of China(863 Program,Grant No.2008 AA04Z114)
文摘Measurement error of unbalance's vibration response plays a crucial role in calibration and on-line updating of influence coefficient(IC).Focusing on the two problems that the moment estimator of data used in calibration process cannot fulfill the accuracy requirement under small sample and the disturbance of measurement error cannot be effectively suppressed in updating process,an IC calibration and on-line updating method based on hierarchical Bayesian method for automatic dynamic balancing machine was proposed.During calibration process,for the repeatedly-measured data obtained from experiments with different trial weights,according to the fact that measurement error of each sensor had the same statistical characteristics,the joint posterior distribution model for the true values of the vibration response under all trial weights and measurement error was established.During the updating process,information obtained from calibration was regarded as prior information,which was utilized to update the posterior distribution of IC combined with the real-time reference information to implement online updating.Moreover,Gibbs sampling method of Markov Chain Monte Carlo(MCMC)was adopted to obtain the maximum posterior estimation of parameters to be estimated.On the independent developed dynamic balancing testbed,prediction was carried out for multiple groups of data through the proposed method and the traditional method respectively,the result indicated that estimator of influence coefficient obtained through the proposed method had higher accuracy;the proposed updating method more effectively guaranteed the measurement accuracy during the whole producing process,and meantime more reasonably compromised between the sensitivity of IC change and suppression of randomness of vibration response.
基金supported by the National Natural Science Foundation of China (Nos. 51875406 and 51805365)
文摘An on-machine measuring(OMM)system with a laser displacement sensor(LDS)is designed for measuring free-form surfaces of hypersonic aircraft’s radomes.To improve the measurement accuracy of the OMM system,a novel Iteratively Automatic machine learning Boosted hand-eye Calibration(IABC)method is proposed.Both the hand-eye relationship and LDS measurement errors can be calibrated in one calibration process without any hardware changes via IABC.Firstly,a new objective function is derived,containing analytical parameters of the handeye relationship and LDS errors.Then,a hybrid calibration model composed of two kernels is proposed to solve the objective function.One kernel is the analytical kernel designed for solving analytical parameters.Another kernel is the automatic machine learning(AutoML)kernel designed to model LDS errors.The two kernels are connected with stepwise iterations to find the best calibration results.Compared with traditional methods,hand-eye experiments show that IABC reduces the calibration RMSE by about 50%.Verification experiments show that IABC reduces the measurement deviations by about 25%-50%and RMSEs within 40%.Even when the training data are obviously less than the test data,IABC performs well.Experiments demonstrate that IABC is more accurate than traditional hand-eye methods.
基金Under the auspices of National Key Research and Development Program of China(No.2016YFC0402701)National Natural Science Foundation of China(No.51825902)
文摘In the calibration of hydrological models, evaluation criteria are explicitly and quantitatively defined as single-or multi-objective functions when utilizing automatic calibration approaches.In most previous studies, there is a general opinion that no single-objective function can represent all important characteristics of even one specific hydrological variable(e.g., streamflow).Thus hydrologists must turn to multi-objective calibration.In this study, we demonstrated that an optimized single-objective function can compromise multi-response modes(i.e., multi-objective functions) of the hydrograph, which is defined as summation of a power function of the absolute error between observed and simulated streamflow with the exponent of power function optimized for specific watersheds.The new objective function was applied to 196 model parameter estimation experiment(MOPEX) watersheds across the eastern United States using the semi-distributed Xinanjiang hydrological model.The optimized exponent value for each watershed was obtained by targeting four popular objective functions focusing on peak flows, low flows, water balance, and flashiness, respectively.Results showed that the optimized single-objective function can achieve a better hydrograph simulation compared to the traditional single-objective function Nash-Sutcliffe efficiency coefficient for most watersheds, and balance high flow part and low flow part of the hydrograph without substantial differences compared to multi-objective calibration.The proposed optimal single-objective function can be practically adopted in the hydrological modeling if the optimal exponent value could be determined a priori according to hydrological/climatic/landscape characteristics in a specific watershed.
文摘Automated control and calibration are important components in industrial process and in artificial intelligence system and robotics.In order to solve the problem of contact high-temperature strain precision measurement,this paper established an automatic calibration device for high-temperature strain gauges.The temperature of the high-temperature furnace is automatically controlled by the temperature control device.The electric cylinder is driven by the servo motor to apply the load to the calibration beam.The output signal of the high-temperature strain gauge,the thermocouple signal,and the displacement signal of the grating ruler are collected at the same time.The deformation measurement results obtained after temperature correction are used to calculate the theoretical mechanical strain,which are fed back to control the loading action to complete the automatic calibration process.Based on the above calibration device,the hightemperature strain measurement accuracy correction software is developed to calibrate the high-temperature strain gauge with multiparameters,and the curves of sensitivity coefficient,thermal output,zero drift,and creep characteristics with temperature are obtained,and a strain measurement accuracy compensation model is established.The high-temperature strain measurement experiment is carried out to verify that the modified model can meet the requirements in each temperature range.
基金This work was supported by the National Natural Science Foundation of China(No.61803203).
文摘Thanks to its light weight,low power consumption,and low price,the inertial measurement units(IMUs)have been widely used in civil and military applications such as autopilot,robotics,and tactical weapons.The calibration is an essential procedure before the IMU is put in use,which is generally used to estimate the error parameters such as the bias,installation error,scale factor of the IMU.Currently,the manual one-by-one calibration is still the mostly used manner,which is low in efficiency,time-consuming,and easy to introduce mis-operation.Aiming at this issue,this paper designs an automatic batch calibration method for a set of IMUs.The designed automatic calibration master controller can control the turntable and the data acquisition system at the same time.Each data acquisition front-end can complete data acquisition of eight IMUs one time.And various scenarios of experimental tests have been carried out to validate the proposed design,such as the multi-position tests,the rate tests and swaying tests.The results illustrate the reliability of each function module and the feasibility automatic batch calibration.Compared with the traditional calibration method,the proposed design can reduce errors caused by the manual calibration and greatly improve the efficiency of IMU calibration.
基金Supported by the National Natural Science Foundation of China(Nos.41930535,41830540)the National Key R&D Program of China(No.2018YFC1405900)the SDUST Research Fund(No.2019TDJH103)。
文摘The wobble errors caused by the imperfect integration of motion sensors and transducers in multibeam echo-sounder systems(MBES)manifest as high-frequency wobbles in swaths and hinder the accurate expression of high-resolution seabed micro-topography under a dynamic marine environment.There are many types of wobble errors with certain coupling among them.However,those current calibration methods ignore the coupling and are mainly manual adjustments.Therefore,we proposed an automatic calibration method with the coupling.First,given the independence of the transmitter and the receiver,the traditional georeferenced model is modified to improve the accuracy of footprint reduction.Secondly,based on the improved georeferenced model,the calibration model associated with motion scale,time delay,yaw misalignment,lever arm errors,and soundings is constructed.Finally,the genetic algorithm(GA)is used to search dynamically for the optimal estimation of the corresponding error parameters to realize the automatic calibration of wobble errors.The simulated data show that the accuracy of the calibrated data can be controlled within 0.2%of the water depth.The measured data show that after calibration,the maximum standard deviation of the depth is reduced by about 5.9%,and the mean standard deviation of the depth is reduced by about 11.2%.The proposed method has significance in the precise calibration of dynamic errors in shallow water multibeam bathymetrie s.
文摘Models are tools widely used in the prediction of hydrological phenomena. The present study aims to contribute to the implementation of an automatic optimization strategy of parameters for the calibration of a hydrological model based on the least action principle (HyMoLAP). The Downhill Simplex method is also known as the Nelder-Mead algorithm, which is a heuristic research method, is used to optimize the cost function on a given domain. The performance of the model is evaluated by the Nash Stucliffe Efficiency Index (NSE), the Root Mean Square Error (RMSE), the coefficient of determination (R2), the Mean Absolute Error (MAE). A comparative estimation is conducted using the Nash-Sutcliffe Modeling Efficiency Index and the mean relative error to evaluate the performance of the optimization method. It appears that the variation in water balance parameter values is acceptable. The simulated optimization method appears to be the best in terms of lower variability of parameter values during successive tests. The quality of the parameter sets obtained is good enough to impact the performance of the objective functions in a minimum number of iterations. We have analyzed the algorithm from a technical point of view, and we have carried out an experimental comparison between specific factors such as the model structure and the parameter’s values. The results obtained confirm the quality of the model (NSE = 0.90 and 0.75 respectively in calibration and validation) and allow us to evaluate the efficiency of the Nelder-Mead algorithm in the automatic calibration of the HyMoLAP model. The developed hybrid automatic calibration approach is therefore one of the promising ways to reduce computational time in rainfall-runoff modeling.
文摘In-situ calibrations of weather stations are usually performed by positioning standard instruments close to the station under calibration and comparing the obtained results. This procedure could be useful to evaluate the proper functioning of the monitoring equipments, but do not allowed the determination of a calibration curve that allow the corrections of the acquired parameters. Thus, the development of a dedicated facility for in-situ calibration of weather stations, enabling simultaneous generation of a wide range of temperatures and pressures could offer important improvements in this framework, particularly if this facility is applied to high mountains monitoring stations where the weather stations calibrations could be very difficult. This paper will present the calibration chamber developed in the framework of the EMRP-METEOMET (Metrology for Meteorology) Project, which aims is to bring metrological traceability to high altitude meteorological instruments and through this experience will provide a general overview on the importance of the application of this methodology at different levels.
文摘Traffic microsimulation is an essential tool in urban transportation and road planning. Its calibration is essential to attain representative results validated with real-world conditions. VISSIM (Verkehr in Städten—SIMulationsmodell) operates with the Wiedemann’s psycho-physical car-following model for freeway travel that considers safety distances (standstill and movement) during simulation. Calibration in this paper was achieved by using two different approaches: a) manual and b) genetic algorithm (with the GEH statistic formula) calibration techniques. Calibration and validation of this model were performed at the Periferico de la Juventud expressway in Chihuahua City, in northern Mexico. The Periferico de la Juventud (PDJ) has a N-S orientation and a length of ca. 20 km, with its northern section being its most congested portion. Its highest vehicle volume occurs at noon, with 3700 vehicles per hour, with 95% being passenger cars and the other 5% heavy goods vehicles. PDJ’s speed limit is 70 km·h-1, but the driver’s behavior has a tendency towards the aggressive performance. A total of 82 standstill and 82 look-ahead distances were obtained from unmanned aerial vehicles (UAV) images, with values ranging from 0.8 to 4.7 m and from 0.2 to 28 m, respectively. VISSIM calibrated parameter values were calculated for this expressway, being slightly above than the VISSIM default ones;and was validated with travel times and look-ahead distances. Results contribute information for the city’s future installment of public transportation systems, and should help decision makers deal with future urban planning.
基金financed by the CNR-IRPI in the context of the SinoItalian Laboratory on Geological and Hydrological Hazards(CUPB96J16001430005)between the National Research Council of Italy(CNR-IRPI)and the Chinese Academy of Sciences(CAS-IMHE)。
文摘Back-analysis is broadly used for approaching geotechnical problems when monitoring data are available and information about the soils properties is of poor quality.For landslide stability assessment back-analysis calibration is usually carried out by time consuming trial-and-error procedure.This paper presents a new automatic Decision Support System that supports the selection of the soil parameters for three-dimensional models of landslides based on monitoring data.The method considering a pool of possible solutions,generated through permutation of soil parameters,selects the best ten configurations that are more congruent with the measured displacements.This reduces the operator biases while on the other hand allows the operator to control each step of the computation.The final selection of the preferred solution among the ten best-fitting solutions is carried out by an operator.The operator control is necessary as he may include in the final decision process all the qualitative elements that cannot be included in a qualitative analysis but nevertheless characterize a landslide dynamic as a whole epistemological subject,for example on the base of geomorphological evidence.A landslide located in Northeast Italy has been selected as example for showing the system potentiality.The proposed method is straightforward,scalable and robust and could be useful for researchers and practitioners.
