scholarly journals Three-Stage Tracking Control for the LED Wafer Transporting Robot

2015 ◽  
Vol 2015 ◽  
pp. 1-9
Author(s):  
Zuoxun Wang ◽  
Zhiguo Yan
Keyword(s):  
Tracking Control ◽  
Polynomial Interpolation ◽  
Interpolation Method ◽  
Optimal Planning ◽  
Matlab Simulation ◽  
Pid Algorithm ◽  
Order Polynomial ◽  
Simulation And Experiment ◽  
Kalman Filter Algorithm ◽  
Fifth Order

In order to ensure the steady ability of the LED wafer transporting robot, a high order polynomial interpolation method is proposed to plan the motion process of the LED wafer transporting robot. According to the LED wafer transporting robot which is fast and has no vibration, fifth-order polynomial is applied to complete the robot’s motion planning. A new subsection search method is proposed to optimize the transporting robot’s acceleration. Optimal planning curve is achieved by the subsection searching. Extended Kalman filter algorithm and PID algorithm are employed to follow the tracks of planned path. MATLAB simulation and experiment confirm the validity and efficiency of the proposed method.

IMPROVEMENT OF MEASUREMENT ACCURACY OF STRAIN OF THIN FILM BY CCD CAMERA WITH A TEMPLATE MATCHING METHOD USING THE 2ND-ORDER POLYNOMIAL INTERPOLATION

2010 ◽  
Vol 24 (15n16) ◽  
pp. 3101-3106 ◽  
Author(s):  
JUN-HYUB PARK ◽  
MYUNG-SOO SHIN ◽  
DONG-JOONG KANG ◽  
SUNG-JO LIM ◽  
JONG-EUN HA
Keyword(s):  
Thin Film ◽  
Tensile Test ◽  
Template Matching ◽  
Polynomial Interpolation ◽  
Interpolation Method ◽  
Ccd Camera ◽  
Tensile Tests ◽  
Displacement Sensor ◽  
Order Polynomial ◽  
Micrometer Size

In this study, a system for non-contact in-situ measurement of strain during tensile test of thin films by using CCD camera with marking surface of specimen by black pen was implemented as a sensing device. To improve accuracy of measurement when CCD camera is used, this paper proposed a new method for measuring strain during tensile test of specimen with micrometer size. The size of pixel of CCD camera determines resolution of measurement, but the size of pixel can not satisfy the resolution required in tensile test of thin film because the extension of the specimen is very small during the tensile test. To increase resolution of measurement, the suggested method performs an accurate subpixel matching by applying 2nd order polynomial interpolation method to the conventional template matching. The algorithm was developed to calculate location of subpixel providing the best matching value by performing single dimensional polynomial interpolation from the results of pixel-based matching at a local region of image. The measurement resolution was less than 0.01 times of original pixel size. To verify the reliability of the system, the tensile test for the BeNi thin film was performed, which is widely used as a material in micro-probe tip. Tensile tests were performed and strains were measured using the proposed method and also the capacitance type displacement sensor for comparison. It is demonstrated that the new strain measurement system can effectively describe a behavior of materials after yield during the tensile test of the specimen at microscale with easy setup and better accuracy.

The Kinematic Analysis and Trajectory Planning Study of High-Speed SCARA Robot Handling Operation

2014 ◽  
Vol 687-691 ◽  
pp. 294-299 ◽  
Author(s):  
Guo Qing Ma ◽  
Zheng Lin Yu ◽  
Guo Hua Cao ◽  
Yan Bin Zheng ◽  
Li Liu
Keyword(s):  
Trajectory Planning ◽  
Inverse Kinematics ◽  
High Speed ◽  
Polynomial Interpolation ◽  
Interpolation Method ◽  
Joint Space ◽  
Parameter Design ◽  
Matlab Simulation ◽  
Scara Robot ◽  
Cubic Polynomial

Successfully developed of high-speed SCARA robot provides the possibility for fast handling. After analyzed the mechanical structure of SCARA robot, the kinematics equations were built to analyze forward and inverse kinematics problems based on modified D-H coordinate system theory. The trajectory planning was achieved by using the cubic polynomial interpolation method in joint space over the path points combined with motion parameters, the kinematics and trajectory planning were simulated by using matlab simulation platform. Simulation results show that robot parameter design is reasonable and the trajectory planning by interpolation calculation in joint space is feasible.

scholarly journals Methods for improving the accuracy of Commission Internationale de L’Eclairage tristimulus values of object color by calculation – Part I: Improvement on measurement bandpass and intervals

2019 ◽  
Vol 14 ◽  
pp. 155892501989408
Author(s):  
Hongying Yang ◽  
Jingjing Zhang ◽  
Zhihui Yang ◽  
Jinli Zhou ◽  
Wanzi Xie ◽  
...  
Keyword(s):  
Measurement Errors ◽  
Polynomial Interpolation ◽  
Truncation Errors ◽  
Positive Effects ◽  
Basic Work ◽  
Order Polynomial ◽  
Tristimulus Values ◽  
Current Article ◽  
Appearance Properties ◽  
Fifth Order

Color is one of the most important appearance properties of objects. To digitize color, measuring and calculating tristimulus values are the most basic work besides obtaining reflectance spectrum. However, the accuracy of tristimulus values varies with instruments, measuring, and calculation methods. Textiles and some other application of color demand high color quality due to their special utilization. The series of our studies aim to analyze and evaluate some mathematical solutions in order to improve the accuracy of tristimulus values. The studies include two parts: (1) Part I concentrates on measurement bandpass and intervals and their corresponding improvement algorithms, (2) Part II focuses on the influence of measurement ranges and their truncation errors and some algorithms to overcome the truncation errors. In Part I (current article), measurement errors caused by bandpass and test intervals in the spectrophotometer are analyzed. Then, algorithms including two bandpass corrections (3-point correction and 5-point correction), three interpolations (third-order polynomial interpolation Lagrange and Spline, a fifth-order polynomial interpolation Sprague), two Oleari deconvolution methods (zero- and second-order), and three optimization weighting table methods (ASTM Table 6, Table LLR, and Table LWL) are studied systemically by programming MATLAB software and basing on measuring the spectral reflectance of 1301 chips in Munsell Color Book with Commission Internationale de L’Eclairage (CIE) 1964 color-matching functions and D65 standard illuminant. The results show that all algorithms mentioned above yield very positive effects, and among them, Table LWL performs best with reducing the bandpass error and intervals error to 7‰ of its original error and is recommended.

Master-Slave Teleoperation Method of Redundant Manipulator

2013 ◽  
Vol 694-697 ◽  
pp. 1690-1695
Author(s):  
Yang Chen ◽  
Peng Chen
Keyword(s):  
Inverse Kinematics ◽  
Control Method ◽  
Polynomial Interpolation ◽  
Redundant Manipulator ◽  
Order Polynomial ◽  
Fifth Order ◽  
Discrete Motion

This paper introduces a master-slave control method of teleoperating a redundant manipulator with double handles. The master handles send motion commands in the form of increments. The mapping module transforms the commands into homogeneous matrices. And the slave manipulator links discrete motion commands in the mode of PVAT automatically, by inverse kinematics and fifth-order polynomial interpolation. Simulations and experiments are taken to prove the effectiveness of the control method in the paper.

scholarly journals Morphological Precision Assessment of Reconstructed Surface Models for a Coral Atoll Lagoon

2018 ◽  
Vol 10 (8) ◽  
pp. 2749
Author(s):  
Qi Wang ◽  
Fenzhen Su ◽  
Yu Zhang ◽  
Huiping Jiang ◽  
Fei Cheng
Keyword(s):  
Polynomial Interpolation ◽  
Interpolation Method ◽  
Effective Means ◽  
Slope Aspect ◽  
Change Rate ◽  
Local Slope ◽  
Evaluation Approach ◽  
Multiple Precision ◽  
Surface Models ◽  
Reconstructed Surface

In addition to remote-sensing monitoring, reconstructing morphologic surface models through interpolation is an effective means to reflect the geomorphological evolution, especially for the lagoons of coral atolls, which are underwater. However, which interpolation method is optimal for lagoon geomorphological reconstruction and how to assess the morphological precision have been unclear. To address the aforementioned problems, this study proposed a morphological precision index system including the root mean square error (RMSE) of the elevation, the change rate of the local slope shape (CRLSS), and the change rate of the local slope aspect (CRLSA), and introduced the spatial appraisal and valuation approach of environment and ecosystems (SAVEE). In detail, ordinary kriging (OK), inverse distance weighting (IDW), radial basis function (RBF), and local polynomial interpolation (LPI) were used to reconstruct the lagoon surface models of a typical coral atoll in South China Sea and the morphological precision of them were assessed, respectively. The results are as follows: (i) OK, IDW, and RBF exhibit the best performance in terms of RMSE (0.3584 m), CRLSS (51.43%), and CRLSA (43.29%), respectively, while with insufficiently robust when considering all three aspects; (ii) IDW, LPI, and RBF are suitable for lagoon slopes, lagoon bottoms, and patch reefs, respectively; (iii) The geomorphic decomposition scale is an important factor that affects the precision of geomorphologic reconstructions; and, (iv) This system and evaluation approach can more comprehensively consider the differences in multiple precision indices.

scholarly journals Comparisons between SCIAMACHY and ground-based FTIR data for total columns of CO, CH<sub>4</sub>, CO<sub>2</sub> and N<sub>2</sub>O

2006 ◽  
Vol 6 (7) ◽  
pp. 1953-1976 ◽  
Author(s):  
B. Dils ◽  
M. De Mazière ◽  
J. F. Müller ◽  
T. Blumenstock ◽  
M. Buchwitz ◽  
...  
Keyword(s):  
Near Infrared ◽  
Polynomial Interpolation ◽  
Global Network ◽  
Target Species ◽  
Time Period ◽  
Order Polynomial ◽  
Temporal And Spatial ◽  
The Individual ◽  
Near Future ◽  
Total Column

Abstract. Total column amounts of CO, CH4, CO2 and N2O retrieved from SCIAMACHY nadir observations in its near-infrared channels have been compared to data from a ground-based quasi-global network of Fourier-transform infrared (FTIR) spectrometers. The SCIAMACHY data considered here have been produced by three different retrieval algorithms, WFM-DOAS (version 0.5 for CO and CH4 and version 0.4 for CO2 and N2O), IMAP-DOAS (version 1.1 and 0.9 (for CO)) and IMLM (version 6.3) and cover the January to December 2003 time period. Comparisons have been made for individual data, as well as for monthly averages. To maximize the number of reliable coincidences that satisfy the temporal and spatial collocation criteria, the SCIAMACHY data have been compared with a temporal 3rd order polynomial interpolation of the ground-based data. Particular attention has been given to the question whether SCIAMACHY observes correctly the seasonal and latitudinal variability of the target species. The present results indicate that the individual SCIAMACHY data obtained with the actual versions of the algorithms have been significantly improved, but that the quality requirements, for estimating emissions on regional scales, are not yet met. Nevertheless, possible directions for further algorithm upgrades have been identified which should result in more reliable data products in a near future.

scholarly journals Comparative study of the implementation of the Lagrange interpolation algorithm on GPU and CPU using CUDA to compute the density of a material at different temperatures

2021 ◽  
Vol 119 ◽  
pp. 07002
Author(s):  
Youness Rtal ◽  
Abdelkader Hadjoudja
Keyword(s):  
Parallel Computing ◽  
Graphics Processing Units ◽  
Lagrange Interpolation ◽  
Polynomial Interpolation ◽  
Programming Model ◽  
Interpolation Method ◽  
Processing Unit ◽  
Central Processing ◽  
Computational Performance ◽  
Different Temperatures

Graphics Processing Units (GPUs) are microprocessors attached to graphics cards, which are dedicated to the operation of displaying and manipulating graphics data. Currently, such graphics cards (GPUs) occupy all modern graphics cards. In a few years, these microprocessors have become potent tools for massively parallel computing. Such processors are practical instruments that serve in developing several fields like image processing, video and audio encoding and decoding, the resolution of a physical system with one or more unknowns. Their advantages: faster processing and consumption of less energy than the power of the central processing unit (CPU). In this paper, we will define and implement the Lagrange polynomial interpolation method on GPU and CPU to calculate the sodium density at different temperatures Ti using the NVIDIA CUDA C parallel programming model. It can increase computational performance by harnessing the power of the GPU. The objective of this study is to compare the performance of the implementation of the Lagrange interpolation method on CPU and GPU processors and to deduce the efficiency of the use of GPUs for parallel computing.

Buckling of Axially Graded Columns: A Fifth-Order Polynomial Mode Shape

AIAA Journal ◽  
2018 ◽  
Vol 56 (6) ◽  
pp. 2509-2513 ◽  
Author(s):  
Joel Storch ◽  
Isaac Elishakoff
Keyword(s):  
Mode Shape ◽  
Order Polynomial ◽  
Fifth Order
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