To enhance direction of arrival(DOA)estimation accuracy,this paper proposes a low-cost method for calibrating farfield steering vectors of large aperture millimeter wave radar(mmWR).To this end,we first derive the ste...To enhance direction of arrival(DOA)estimation accuracy,this paper proposes a low-cost method for calibrating farfield steering vectors of large aperture millimeter wave radar(mmWR).To this end,we first derive the steering vectors with amplitude and phase errors,assuming that mmWR works in the time-sharing mode.Then,approximate relationship between the near-field calibration steering vector and the far-field calibration steering vector is analyzed,which is used to accomplish the mapping between the two of them.Finally,simulation results verify that the proposed method can effectively improve the angle measurement accuracy of mmWR with existing amplitude and phase errors.展开更多
To address the installation challenges of a 2-m ring Gregorian telescope system,and similar optical systems with a small width-to-radius ratio,we propose a detection method combining local interferometry with a compar...To address the installation challenges of a 2-m ring Gregorian telescope system,and similar optical systems with a small width-to-radius ratio,we propose a detection method combining local interferometry with a comparison model.This method enhances the precision of system calibration by establishing a dataset that delineates the relationship between secondary mirror misalignment and wavefront aberration,subsequently inferring the misalignment from interferometric detection results during the calibration process.For the 2-m ring telescope,we develop a detection model using five local sub-apertures,enabling a root-mean-square detection accuracy of 0:0225λ(λ=632:8 nm)for full-aperture wavefront aberration.The calibration results for the 2-m Ring Solar Telescope system indicate that the root-mean-square value of sub-aperture wavefront aberration reaches 0.104λ,and the root-mean-square value of spliced full-aperture measurement yields reaches 0.112λ.This method offers a novel approach for calibrating small width-toradius ratio telescope systems and can be applied to the calibration of other irregular-aperture optical systems.展开更多
Accurate kinematic calibration is the very foundation for robots'application in industry demanding high precision such as machining.Considering the complex error characteristic and severe ill-posed identification ...Accurate kinematic calibration is the very foundation for robots'application in industry demanding high precision such as machining.Considering the complex error characteristic and severe ill-posed identification issues of a 5-DoF parallel machining robot,this paper proposes an adaptive and weighted identification method to achieve high-precision kinematic calibration while maintaining reliable stability.First,a kinematic error propagation mechanism model considering the non-ideal constraints and the screw self-rotation is formulated by incorporating the intricate structure of multiple chains and a unique driven screw arrangement of the robot.To address the challenge of accurately identifying such a sophisticated error model,a novel adaptive and weighted identification method based on generalized cross validation(GCV)is proposed.Specifically,this approach innovatively introduces Gauss-Markov estimation into the GCV algorithm and utilizes prior physical information to construct both a weighted identification model and a weighted cross-validation function,thus eliminating the inaccuracy caused by significant differences in dimensional magnitudes of pose errors and achieving accurate identification with flexible numerical stability.Finally,the kinematic calibration experiment is conducted.The comparative experimental results demonstrate that the presented approach is effective and has enhanced accuracy performance over typical least squares methods,with maximum position and orientation errors reduced from 2.279 mm to 0.028 mm and from 0.206°to 0.017°,respectively.展开更多
With respect to the gamma spectrum, the energy resolution improves with increase in energy. The counts of full energy peak change with energy, and this approximately complies with the Gaussian distribution. This study...With respect to the gamma spectrum, the energy resolution improves with increase in energy. The counts of full energy peak change with energy, and this approximately complies with the Gaussian distribution. This study mainly examines a method to deconvolve the LaBr_3:Ce gamma spectrum with a detector response matrix constructing algorithm based on energy resolution calibration.In the algorithm, the full width at half maximum(FWHM)of full energy peak was calculated by the cubic spline interpolation algorithm and calibrated by a square root of a quadratic function that changes with the energy. Additionally, the detector response matrix was constructed to deconvolve the gamma spectrum. Furthermore, an improved SNIP algorithm was proposed to eliminate the background. In the experiment, several independent peaks of ^(152)Eu,^(137)Cs, and ^(60)Co sources were detected by a LaBr_3:Ce scintillator that were selected to calibrate the energy resolution. The Boosted Gold algorithm was applied to deconvolve the gamma spectrum. The results showed that the peak position difference between the experiment and the deconvolution was within ± 2 channels and the relative error of peak area was approximately within 0.96–6.74%. Finally, a ^(133) Ba spectrum was deconvolved to verify the efficiency and accuracy of the algorithm in unfolding the overlapped peaks.展开更多
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 pro...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.展开更多
Accurate stereo vision calibration is a preliminary step towards high-precision visual posi- tioning of robot. Combining with the characteristics of genetic algorithm （GA） and particle swarm optimization （PSO）, a ...Accurate stereo vision calibration is a preliminary step towards high-precision visual posi- tioning of robot. Combining with the characteristics of genetic algorithm （GA） and particle swarm optimization （PSO）, a three-stage calibration method based on hybrid intelligent optimization is pro- posed for nonlinear camera models in this paper. The motivation is to improve the accuracy of the calibration process. In this approach, the stereo vision calibration is considered as an optimization problem that can be solved by the GA and PSO. The initial linear values can be obtained in the frost stage. Then in the second stage, two cameras＇ parameters are optimized separately. Finally, the in- tegrated optimized calibration of two models is obtained in the third stage. Direct linear transforma- tion （DLT）, GA and PSO are individually used in three stages. It is shown that the results of every stage can correctly find near-optimal solution and it can be used to initialize the next stage. Simula- tion analysis and actual experimental results indicate that this calibration method works more accu- rate and robust in noisy environment compared with traditional calibration methods. The proposed method can fulfill the requirements of robot sophisticated visual operation.展开更多
This paper deals with the scanner exterior calibration algorithm when the scanner is arranged by the robot and the object scanned is fixed on a rotate device in the Robot Remanufacturing System. The method of calibrat...This paper deals with the scanner exterior calibration algorithm when the scanner is arranged by the robot and the object scanned is fixed on a rotate device in the Robot Remanufacturing System. The method of calibrating the relationship between the scanner coordinate and the robot Tool0, such as the rotation, Rx, Ry, Rz, and the transformation ,Y, Z is studied. The data of Tool0 can be directly obtained from the relationship with the robot base-coordinate. So, the coordinate relationship between the scanner coordinate and the robot base coordinate can be easily gotten. This paper explains the basic algorithm theory, computing method, data collecting process and the resulted data in detail. The calibration algorithm is deduced under the orthogonal coordinate.展开更多
This paper presents a method to calibrate pipe roughness coefficient (i.e., Manning n-factor) with genetic algorithm (GA) under multiple loading conditions. Due to the old pipe age as well as deleting valves and blend...This paper presents a method to calibrate pipe roughness coefficient (i.e., Manning n-factor) with genetic algorithm (GA) under multiple loading conditions. Due to the old pipe age as well as deleting valves and blends in the skeleton of distribution network, most of the pipes in hydraulic model of practical water distribution system (WDS) are rough. The commonly used Hazen-Williams C-factor is therefore replaced by Manning n-factor in calibrating WDS hydraulic model. Adjustment to GA is designed, and the program efficiency is improved. A case study shows that the adjustment can save 60% of the total runtime. About 90% of the relative differences between simulated and observed pressures at monitoring locations are lower than 3%, which suggests that the proposed adjustment to the calibration is efficient and effective.展开更多
An improved self-calibrating algorithm for visual servo based on adaptive genetic algorithm is proposed in this paper. Our approach introduces an extension of Mendonca-Cipolla and G. Chesi＇s self-calibration for the ...An improved self-calibrating algorithm for visual servo based on adaptive genetic algorithm is proposed in this paper. Our approach introduces an extension of Mendonca-Cipolla and G. Chesi＇s self-calibration for the positionbased visual servo technique which exploits the singular value property of the essential matrix. Specifically, a suitable dynamic online cost function is generated according to the property of the three singular values. The visual servo process is carried out simultaneous to the dynamic self-calibration, and then the cost function is minimized using the adaptive genetic algorithm instead of the gradient descent method in G. Chesi＇s approach. Moreover, this method overcomes the limitation that the initial parameters must be selected close to the true value, which is not constant in many cases. It is not necessary to know exactly the camera intrinsic parameters when using our approach, instead, coarse coding bounds of the five parameters are enough for the algorithm, which can be done once and for all off-line. Besides, this algorithm does not require knowledge of the 3D model of the object. Simulation experiments are carried out and the results demonstrate that the proposed approach provides a fast convergence speed and robustness against unpredictable perturbations of camera parameters, and it is an effective and efficient visual servo algorithm.展开更多
In this paper,a new adaptive calibration algorithm for image steganalysis is proposed.Steganography disturbs the dependence between neighboring pixels and decreases the neighborhood node degree.Firstly,we analyzed the...In this paper,a new adaptive calibration algorithm for image steganalysis is proposed.Steganography disturbs the dependence between neighboring pixels and decreases the neighborhood node degree.Firstly,we analyzed the effect of steganography on the neighborhood node degree of cover images.Then,the calibratable pixels are marked by the analysis of neighborhood node degree.Finally,the strong correlation calibration image is constructed by revising the calibratable pixels.Experimental results reveal that compared with secondary steganography the image calibration method significantly increased the detection accuracy for LSB matching steganography on low embedding ratio.The proposed method also has a better performance against spatial steganography.展开更多
This paper demonstrates that the application of calibration algorithms of aerodynamic parameters for the trajectory of spinning projectile is successful. First, from the point of view of the trajectory simulation, a g...This paper demonstrates that the application of calibration algorithms of aerodynamic parameters for the trajectory of spinning projectile is successful. First, from the point of view of the trajectory simulation, a general summary of well-known trajectory models is given. A five degrees of freedom （5 DOF） model is developed that can match the projectile motion essentially in the vertex region, and the results obtained by 5 DOF model are in close agreement with those of a more sophisticated 6 DOF model for elevation angles above 45 degrees. Secondly, the calibration algorithms have been developed and are summarized. The methods of calibrating the flight trajectory models are compared, and these methods are shown to be effective in the representative cases. In addition, the method of Math number calibration （MNC） is presented; some possible areas in MNC for further investigation are indicated together with benefits to be gained. The utilization of MNC schemes not only allow a worthwhile reduction of calibration rounds firing in range and accuracy （R＆A） trial and production of firing tables （PFT） test, but also make PFT and fire control data （FCD） more cost effective.展开更多
In this paper, a novel algorithm is presented for direction of arrival（DOA） estimation and array self-calibration in the presence of unknown mutual coupling. In order to highlight the relationship between the array ...In this paper, a novel algorithm is presented for direction of arrival（DOA） estimation and array self-calibration in the presence of unknown mutual coupling. In order to highlight the relationship between the array output and mutual coupling coefficients, we present a novel model of the array output with the unknown mutual coupling coefficients. Based on this model, we use the space alternating generalized expectation-maximization（SAGE） algorithm to jointly estimate the DOA parameters and the mutual coupling coefficients. Unlike many existing counterparts, our method requires neither calibration sources nor initial calibration information. At the same time,our proposed method inherits the characteristics of good convergence and high estimation precision of the SAGE algorithm. By numerical experiments we demonstrate that our proposed method outperforms the existing method for DOA estimation and mutual coupling calibration.展开更多
In order to reduce the fluctuation of LIBS detection spectrum of liquid sample,the full-spectrum sum method and the internal standardization method is adopted,using an equal-RSD normalization algorithm to calibrate th...In order to reduce the fluctuation of LIBS detection spectrum of liquid sample,the full-spectrum sum method and the internal standardization method is adopted,using an equal-RSD normalization algorithm to calibrate the detection spectrum.Experiment result shows that the full-spectrum sum method reduced the RSD of parallel samples of Cd and Cr to 9.4% and 11.06% from 28.32% and 31.93% respectively,yielded better overall calibration than the singleelement internal standardization approach,thereby suggesting that the former method is convenient and effective for online calibration of LIBS for detection of aqueous heavy metals.展开更多
The effectiveness of traditional Chinese medicine (TCM) against various diseases urges more low cost, speed and sensitive analytical methods for investigating the phamacology of TCM and providing a theoretical basis f...The effectiveness of traditional Chinese medicine (TCM) against various diseases urges more low cost, speed and sensitive analytical methods for investigating the phamacology of TCM and providing a theoretical basis for clinical use. The potential of second-order calibration method was validated for the quantification of two effective ingredients of Schisandra chinensis in human plasma using spectrofluorimetry. The results obtained in the present study demonstrate the advantages of this strategy for multi-target determination in complex matrices. Although the spectra of the analytes are similar and a large number of interferences also exist, second-order calibration method could predict the accurate concentrations together with reasonable resolution of spectral profiles for analytes of interest owing to its ‘second-order advantage’. Moreover, the method presented in this work allows one to simply experimental procedure as well as reduces the use of harmful chemical solvents.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
The multi-objective genetic algorithm(MOGA) is proposed to calibrate the non-linear camera model of a space manipulator to improve its locational accuracy. This algorithm can optimize the camera model by dynamic balan...The multi-objective genetic algorithm(MOGA) is proposed to calibrate the non-linear camera model of a space manipulator to improve its locational accuracy. This algorithm can optimize the camera model by dynamic balancing its model weight and multi-parametric distributions to the required accuracy. A novel measuring instrument of space manipulator is designed to orbital simulative motion and locational accuracy test. The camera system of space manipulator, calibrated by MOGA algorithm, is used to locational accuracy test in this measuring instrument. The experimental result shows that the absolute errors are [0.07, 1.75] mm for MOGA calibrating model, [2.88, 5.95] mm for MN method, and [1.19, 4.83] mm for LM method. Besides, the composite errors both of LM method and MN method are approximately seven times higher that of MOGA calibrating model. It is suggested that the MOGA calibrating model is superior both to LM method and MN method.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
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
A flexible calibration method based on a front-coated flat mirror is proposed for a laser light-sectioning three-dimensional(3D)measurement system. Since the calibration target and its mirror image are spatially separ...A flexible calibration method based on a front-coated flat mirror is proposed for a laser light-sectioning three-dimensional(3D)measurement system. Since the calibration target and its mirror image are spatially separated and can be recorded in an image by a camera,the proposed method requires only a single composite image that contains a non-planar checkerboard pattern,a laser strip projected on the target and their mirror images to complete the calibration of the camera and the laser plane in one step. Levenberg-Marquardt(LM)algorithm is used to optimize the system parameters,and the measurement accuracy and speed are improved to enable online 3D inspection. Static and dynamic online 3D measurements are carried out on a cup and a triple stepped shaft,respectively,to validate the proposed method. The shaft has two steps with the depth of(0.5±0.01)mm and(2±0.01)mm to be measured online when the shaft is rotated and translated at the same time. The measurement results can be output at a frequency of 7 to 11 readings per second with standard deviations of 0.040 mm and 0.051 mm. The experimental results verify the effectiveness and flexibility of the proposed method.展开更多
文摘To enhance direction of arrival(DOA)estimation accuracy,this paper proposes a low-cost method for calibrating farfield steering vectors of large aperture millimeter wave radar(mmWR).To this end,we first derive the steering vectors with amplitude and phase errors,assuming that mmWR works in the time-sharing mode.Then,approximate relationship between the near-field calibration steering vector and the far-field calibration steering vector is analyzed,which is used to accomplish the mapping between the two of them.Finally,simulation results verify that the proposed method can effectively improve the angle measurement accuracy of mmWR with existing amplitude and phase errors.
基金supported by the Jiangsu Provincial Key Research and Development Program(BE2022072)the National Natural Science Foundation of China(12141304)the Natural Science Foundation of Jiangsu Province(BK20231134).
文摘To address the installation challenges of a 2-m ring Gregorian telescope system,and similar optical systems with a small width-to-radius ratio,we propose a detection method combining local interferometry with a comparison model.This method enhances the precision of system calibration by establishing a dataset that delineates the relationship between secondary mirror misalignment and wavefront aberration,subsequently inferring the misalignment from interferometric detection results during the calibration process.For the 2-m ring telescope,we develop a detection model using five local sub-apertures,enabling a root-mean-square detection accuracy of 0:0225λ(λ=632:8 nm)for full-aperture wavefront aberration.The calibration results for the 2-m Ring Solar Telescope system indicate that the root-mean-square value of sub-aperture wavefront aberration reaches 0.104λ,and the root-mean-square value of spliced full-aperture measurement yields reaches 0.112λ.This method offers a novel approach for calibrating small width-toradius ratio telescope systems and can be applied to the calibration of other irregular-aperture optical systems.
基金Supported by National Key R&D Program of China(Grant No.2022YFB3404101)National Natural Science Foundation of China(Grant Nos.52375018,92148301)。
文摘Accurate kinematic calibration is the very foundation for robots'application in industry demanding high precision such as machining.Considering the complex error characteristic and severe ill-posed identification issues of a 5-DoF parallel machining robot,this paper proposes an adaptive and weighted identification method to achieve high-precision kinematic calibration while maintaining reliable stability.First,a kinematic error propagation mechanism model considering the non-ideal constraints and the screw self-rotation is formulated by incorporating the intricate structure of multiple chains and a unique driven screw arrangement of the robot.To address the challenge of accurately identifying such a sophisticated error model,a novel adaptive and weighted identification method based on generalized cross validation(GCV)is proposed.Specifically,this approach innovatively introduces Gauss-Markov estimation into the GCV algorithm and utilizes prior physical information to construct both a weighted identification model and a weighted cross-validation function,thus eliminating the inaccuracy caused by significant differences in dimensional magnitudes of pose errors and achieving accurate identification with flexible numerical stability.Finally,the kinematic calibration experiment is conducted.The comparative experimental results demonstrate that the presented approach is effective and has enhanced accuracy performance over typical least squares methods,with maximum position and orientation errors reduced from 2.279 mm to 0.028 mm and from 0.206°to 0.017°,respectively.
基金supported by the National Natural Science Foundation of China(Nos.41374130 and 41604154)
文摘With respect to the gamma spectrum, the energy resolution improves with increase in energy. The counts of full energy peak change with energy, and this approximately complies with the Gaussian distribution. This study mainly examines a method to deconvolve the LaBr_3:Ce gamma spectrum with a detector response matrix constructing algorithm based on energy resolution calibration.In the algorithm, the full width at half maximum(FWHM)of full energy peak was calculated by the cubic spline interpolation algorithm and calibrated by a square root of a quadratic function that changes with the energy. Additionally, the detector response matrix was constructed to deconvolve the gamma spectrum. Furthermore, an improved SNIP algorithm was proposed to eliminate the background. In the experiment, several independent peaks of ^(152)Eu,^(137)Cs, and ^(60)Co sources were detected by a LaBr_3:Ce scintillator that were selected to calibrate the energy resolution. The Boosted Gold algorithm was applied to deconvolve the gamma spectrum. The results showed that the peak position difference between the experiment and the deconvolution was within ± 2 channels and the relative error of peak area was approximately within 0.96–6.74%. Finally, a ^(133) Ba spectrum was deconvolved to verify the efficiency and accuracy of the algorithm in unfolding the overlapped peaks.
基金supported by National Natural Science Foundation of China(No.60775049).
文摘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.
文摘Accurate stereo vision calibration is a preliminary step towards high-precision visual posi- tioning of robot. Combining with the characteristics of genetic algorithm （GA） and particle swarm optimization （PSO）, a three-stage calibration method based on hybrid intelligent optimization is pro- posed for nonlinear camera models in this paper. The motivation is to improve the accuracy of the calibration process. In this approach, the stereo vision calibration is considered as an optimization problem that can be solved by the GA and PSO. The initial linear values can be obtained in the frost stage. Then in the second stage, two cameras＇ parameters are optimized separately. Finally, the in- tegrated optimized calibration of two models is obtained in the third stage. Direct linear transforma- tion （DLT）, GA and PSO are individually used in three stages. It is shown that the results of every stage can correctly find near-optimal solution and it can be used to initialize the next stage. Simula- tion analysis and actual experimental results indicate that this calibration method works more accu- rate and robust in noisy environment compared with traditional calibration methods. The proposed method can fulfill the requirements of robot sophisticated visual operation.
文摘This paper deals with the scanner exterior calibration algorithm when the scanner is arranged by the robot and the object scanned is fixed on a rotate device in the Robot Remanufacturing System. The method of calibrating the relationship between the scanner coordinate and the robot Tool0, such as the rotation, Rx, Ry, Rz, and the transformation ,Y, Z is studied. The data of Tool0 can be directly obtained from the relationship with the robot base-coordinate. So, the coordinate relationship between the scanner coordinate and the robot base coordinate can be easily gotten. This paper explains the basic algorithm theory, computing method, data collecting process and the resulted data in detail. The calibration algorithm is deduced under the orthogonal coordinate.
基金Supported by National Natural Science Foundation of China (No 50778121)Science and Technology Innovation Special Foundation of Tianjin (NO 06FZZDSH00900)
文摘This paper presents a method to calibrate pipe roughness coefficient (i.e., Manning n-factor) with genetic algorithm (GA) under multiple loading conditions. Due to the old pipe age as well as deleting valves and blends in the skeleton of distribution network, most of the pipes in hydraulic model of practical water distribution system (WDS) are rough. The commonly used Hazen-Williams C-factor is therefore replaced by Manning n-factor in calibrating WDS hydraulic model. Adjustment to GA is designed, and the program efficiency is improved. A case study shows that the adjustment can save 60% of the total runtime. About 90% of the relative differences between simulated and observed pressures at monitoring locations are lower than 3%, which suggests that the proposed adjustment to the calibration is efficient and effective.
基金the National Natural Science Foundation of China (No.60675048)Science and Technology Research Project of the Ministry of Education (No.204181).
文摘An improved self-calibrating algorithm for visual servo based on adaptive genetic algorithm is proposed in this paper. Our approach introduces an extension of Mendonca-Cipolla and G. Chesi＇s self-calibration for the positionbased visual servo technique which exploits the singular value property of the essential matrix. Specifically, a suitable dynamic online cost function is generated according to the property of the three singular values. The visual servo process is carried out simultaneous to the dynamic self-calibration, and then the cost function is minimized using the adaptive genetic algorithm instead of the gradient descent method in G. Chesi＇s approach. Moreover, this method overcomes the limitation that the initial parameters must be selected close to the true value, which is not constant in many cases. It is not necessary to know exactly the camera intrinsic parameters when using our approach, instead, coarse coding bounds of the five parameters are enough for the algorithm, which can be done once and for all off-line. Besides, this algorithm does not require knowledge of the 3D model of the object. Simulation experiments are carried out and the results demonstrate that the proposed approach provides a fast convergence speed and robustness against unpredictable perturbations of camera parameters, and it is an effective and efficient visual servo algorithm.
基金This work is supported by the National Natural Science Foundation of China(No.61772561)the Key Research&Development Plan of Hunan Province(No.2018NK2012)the Key Laboratory for Digital Dongting Lake Basin of Hunan Province。
文摘In this paper,a new adaptive calibration algorithm for image steganalysis is proposed.Steganography disturbs the dependence between neighboring pixels and decreases the neighborhood node degree.Firstly,we analyzed the effect of steganography on the neighborhood node degree of cover images.Then,the calibratable pixels are marked by the analysis of neighborhood node degree.Finally,the strong correlation calibration image is constructed by revising the calibratable pixels.Experimental results reveal that compared with secondary steganography the image calibration method significantly increased the detection accuracy for LSB matching steganography on low embedding ratio.The proposed method also has a better performance against spatial steganography.
文摘This paper demonstrates that the application of calibration algorithms of aerodynamic parameters for the trajectory of spinning projectile is successful. First, from the point of view of the trajectory simulation, a general summary of well-known trajectory models is given. A five degrees of freedom （5 DOF） model is developed that can match the projectile motion essentially in the vertex region, and the results obtained by 5 DOF model are in close agreement with those of a more sophisticated 6 DOF model for elevation angles above 45 degrees. Secondly, the calibration algorithms have been developed and are summarized. The methods of calibrating the flight trajectory models are compared, and these methods are shown to be effective in the representative cases. In addition, the method of Math number calibration （MNC） is presented; some possible areas in MNC for further investigation are indicated together with benefits to be gained. The utilization of MNC schemes not only allow a worthwhile reduction of calibration rounds firing in range and accuracy （R＆A） trial and production of firing tables （PFT） test, but also make PFT and fire control data （FCD） more cost effective.
基金supported by the National Natural Science Foundation of China (No. 61302141)
文摘In this paper, a novel algorithm is presented for direction of arrival（DOA） estimation and array self-calibration in the presence of unknown mutual coupling. In order to highlight the relationship between the array output and mutual coupling coefficients, we present a novel model of the array output with the unknown mutual coupling coefficients. Based on this model, we use the space alternating generalized expectation-maximization（SAGE） algorithm to jointly estimate the DOA parameters and the mutual coupling coefficients. Unlike many existing counterparts, our method requires neither calibration sources nor initial calibration information. At the same time,our proposed method inherits the characteristics of good convergence and high estimation precision of the SAGE algorithm. By numerical experiments we demonstrate that our proposed method outperforms the existing method for DOA estimation and mutual coupling calibration.
文摘In order to reduce the fluctuation of LIBS detection spectrum of liquid sample,the full-spectrum sum method and the internal standardization method is adopted,using an equal-RSD normalization algorithm to calibrate the detection spectrum.Experiment result shows that the full-spectrum sum method reduced the RSD of parallel samples of Cd and Cr to 9.4% and 11.06% from 28.32% and 31.93% respectively,yielded better overall calibration than the singleelement internal standardization approach,thereby suggesting that the former method is convenient and effective for online calibration of LIBS for detection of aqueous heavy metals.
基金the National Natural Science Foundation of China (Grant No. 21175041)the National Basic Research Program (Grant No. 2012CB910602)Program for Changjiang Scholars and Innovative Research Team in University (PCSIRT) for financial supports
文摘The effectiveness of traditional Chinese medicine (TCM) against various diseases urges more low cost, speed and sensitive analytical methods for investigating the phamacology of TCM and providing a theoretical basis for clinical use. The potential of second-order calibration method was validated for the quantification of two effective ingredients of Schisandra chinensis in human plasma using spectrofluorimetry. The results obtained in the present study demonstrate the advantages of this strategy for multi-target determination in complex matrices. Although the spectra of the analytes are similar and a large number of interferences also exist, second-order calibration method could predict the accurate concentrations together with reasonable resolution of spectral profiles for analytes of interest owing to its ‘second-order advantage’. Moreover, the method presented in this work allows one to simply experimental procedure as well as reduces the use of harmful chemical solvents.
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.
基金Project(J132012C001)supported by Technological Foundation of ChinaProject(2011YQ04013606)supported by National Major Scientific Instrument & Equipment Developing Projects,China
文摘The multi-objective genetic algorithm(MOGA) is proposed to calibrate the non-linear camera model of a space manipulator to improve its locational accuracy. This algorithm can optimize the camera model by dynamic balancing its model weight and multi-parametric distributions to the required accuracy. A novel measuring instrument of space manipulator is designed to orbital simulative motion and locational accuracy test. The camera system of space manipulator, calibrated by MOGA algorithm, is used to locational accuracy test in this measuring instrument. The experimental result shows that the absolute errors are [0.07, 1.75] mm for MOGA calibrating model, [2.88, 5.95] mm for MN method, and [1.19, 4.83] mm for LM method. Besides, the composite errors both of LM method and MN method are approximately seven times higher that of MOGA calibrating model. It is suggested that the MOGA calibrating model is superior both to LM method and MN method.
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supported in part by the National Natural Science Foundation of China (No. 11802132)the Natural Science Foundation of Jiangsu Province(No.BK20180446)。
文摘A flexible calibration method based on a front-coated flat mirror is proposed for a laser light-sectioning three-dimensional(3D)measurement system. Since the calibration target and its mirror image are spatially separated and can be recorded in an image by a camera,the proposed method requires only a single composite image that contains a non-planar checkerboard pattern,a laser strip projected on the target and their mirror images to complete the calibration of the camera and the laser plane in one step. Levenberg-Marquardt(LM)algorithm is used to optimize the system parameters,and the measurement accuracy and speed are improved to enable online 3D inspection. Static and dynamic online 3D measurements are carried out on a cup and a triple stepped shaft,respectively,to validate the proposed method. The shaft has two steps with the depth of(0.5±0.01)mm and(2±0.01)mm to be measured online when the shaft is rotated and translated at the same time. The measurement results can be output at a frequency of 7 to 11 readings per second with standard deviations of 0.040 mm and 0.051 mm. The experimental results verify the effectiveness and flexibility of the proposed method.
