Kalibrot: A Simple-To-Use Matlab Package for Robot Kinematic Calibration

AbstractIn the study, the steady, laminar, incompressible, convective flow of a viscous fluid over a moving plate is investigated theoretically by adopting different types of nanoparticles. Radiation, internal heat generation and viscous dissipation effects are considered in the energy modeled equation. The governing flow equations for the momentum and temperature are reduced to dimensionless form via similarity transformations. The solutions to the resultant equations alongside with the transformed boundary conditions are numerically obtained using MATLAB package bvp4c. Validation with earlier studies are done for the non-internal heat generation case for two distinct nanoparticles of type Cu-water and Al-water. Extensive visualization of flow rate and heat distributions for various emerging parameters are examined. Temperature is consistently enhanced with a rising Eckert number of both types of nanofluids, whereas it is strongly reduced with rising values of radiation term. Heat transfer coefficient is consistently increased with a nanoparticle volume fraction of high convective heat in the medium.

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The Kinematic Calibration of a Drilling Robot with Optimal Measurement Configurations Based on an Improved Multi-objective PSO Algorithm

International Journal of Precision Engineering and Manufacturing ◽

10.1007/s12541-021-00556-4 ◽

2021 ◽

Author(s):

Xiangzhen Chen ◽

Qiang Zhan

Keyword(s):

Pso Algorithm ◽

Kinematic Calibration ◽

Optimal Measurement ◽

Multi Objective

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Visual4DTracker: a tool to interact with 3D + t image stacks

BMC Bioinformatics ◽

10.1186/s12859-020-03820-y ◽

2021 ◽

Vol 22 (1) ◽

Author(s):

Ermanno Cordelli ◽

Paolo Soda ◽

Giulio Iannello

Keyword(s):

Synthetic Data ◽

Time Lapse ◽

Temporal Data ◽

Image Stack ◽

Biological Phenomena ◽

Insulin Granules ◽

Matlab Package ◽

User Friendly ◽

Drosophila Cells ◽

Over Time

Abstract Background Biological phenomena usually evolves over time and recent advances in high-throughput microscopy have made possible to collect multiple 3D images over time, generating $$3D+t$$ 3 D + t (or 4D) datasets. To extract useful information there is the need to extract spatial and temporal data on the particles that are in the images, but particle tracking and feature extraction need some kind of assistance. Results This manuscript introduces our new freely downloadable toolbox, the Visual4DTracker. It is a MATLAB package implementing several useful functionalities to navigate, analyse and proof-read the track of each particle detected in any $$3D+t$$ 3 D + t stack. Furthermore, it allows users to proof-read and to evaluate the traces with respect to a given gold standard. The Visual4DTracker toolbox permits the users to visualize and save all the generated results through a user-friendly graphical user interface. This tool has been successfully used in three applicative examples. The first processes synthetic data to show all the software functionalities. The second shows how to process a 4D image stack showing the time-lapse growth of Drosophila cells in an embryo. The third example presents the quantitative analysis of insulin granules in living beta-cells, showing that such particles have two main dynamics that coexist inside the cells. Conclusions Visual4DTracker is a software package for MATLAB to visualize, handle and manually track $$3D+t$$ 3 D + t stacks of microscopy images containing objects such cells, granules, etc.. With its unique set of functions, it remarkably permits the user to analyze and proof-read 4D data in a friendly 3D fashion. The tool is freely available at https://drive.google.com/drive/folders/19AEn0TqP-2B8Z10kOavEAopTUxsKUV73?usp=sharing

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Integrated Kinematic Calibration for All the Parameters of a Planar 2DOF Redundantly Actuated Parallel Manipulator

Journal of Mechanisms and Robotics ◽

10.1115/1.3147199 ◽

2009 ◽

Vol 1 (3) ◽

Cited By ~ 5

Author(s):

Chunshi Feng ◽

Shuang Cong ◽

Weiwei Shang

Keyword(s):

Parallel Manipulator ◽

Closed Loop ◽

Open Loop ◽

Kinematic Calibration ◽

Constraint Equations ◽

Integrated Method ◽

Uniqueness Of The Solution ◽

Redundantly Actuated ◽

Loop Constraint ◽

Two Degree Of Freedom

In this paper, the kinematic calibration of a planar two-degree-of-freedom redundantly actuated parallel manipulator is studied without any assumption on parameters. A cost function based on closed-loop constraint equations is first formulated. Using plane geometry theory, we analyze the pose transformations that bring infinite solutions and present a kinematic calibration integrated of closed-loop and open-loop methods. In the integrated method, the closed-loop calibration solves all the solutions that fit the constraint equations, and the open-loop calibration guarantees the uniqueness of the solution. In the experiments, differential evolution is applied to compute the solution set, for its advantages in computing multi-optima. Experimental results show that all the parameters involved are calibrated with high accuracy.

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