Improvement of Position Repeatability of a Linear Stage with Yaw Minimization

Recently, due to the miniaturization of electronic products, printed circuit boards (PCBs) have also become smaller. This trend has led to the need for high-precision electrical test equipment to check PCBs for disconnections and short circuits. The purpose of this study is to improve the position repeatability of the platform unit up to ±2.5 μm in linear stage type test equipment. For this purpose, the causes of the position errors of the platform unit are analyzed. The platform unit holding the PCB is driven by a single-axis linear ball screw drive system offset from its geometric center due to design constraints. The yaw rotation of the platform is found to have a dominant effect on position repeatability. To address this problem, adding balancing weights to the platform unit and adjusting the stiffness of the LM Guides are proposed. These methods reduce the yaw rotation by moving the centers of mass and stiffness closer to the linear ball screw actuator. In the verification tests, the position repeatability was decreased to less than ±1.0 μm.

A Cooperative Positioning Method of Connected and Automated Vehicles with Direction-of-Arrival and Relative Distance Fusion

The rapid development of science and technology has created favorable conditions for Connected and Automated Vehicles (CAVs). Accurate localization is one of the fundamental functions of CAV to realize some advanced operations such as vehicle platooning. However, complicated urban traffic environments, such as the flyover, significantly influence vehicular positioning accuracy. The inability of CAV to accurately perceive self-localization information has become an urgent issue to be addressed. This paper proposed a novel cooperative localization method by introducing the relative Direction-of-Arrival (DOA) and Relative Distance (RD) into CAV to improve the localization accuracy of CAV in the multivehicle environment. First, the three-dimensional positioning error model of the host vehicle concerning adjacent vehicles in azimuth angle and pitch angle and intervehicle distances under the vehicle-to-vehicle communication was established. Second, two least-squares estimation algorithms, linear and nonlinear, are established to decrease the position errors by combining relative DOA and RD measurement information. To verify the proposed algorithm's effect, the PreScan-Simulink joint simulation is carried out. The results show that the host vehicle's localization accuracy by the proposed method can be improved by 25% compared with direct linearization. Besides, by combining relative DOA and relative RD measurement, the locating capability of the least-square-based nonlinear optimization method can be enhanced by 22%.

Accuracy in Determining Aircraft Position by Terrestrial Radio Navigation

The main objective of terrestrial radio navigation is position determination. In this study, the accuracy of the distance measurement, distance difference measurement, and integrated angle measurement/distance measurement terrestrial radio navigation methods is investigated. in order to calculate the position errors, simulations for the aircraft flight dynamics were carried out, and the obtained position values were compared with the actual values. The aircraft position determination methods were evaluated in the sense of accuracy. The position determination method with better accuracy was determined by comparing the absolute errors of the examined methods. Simulation and error analysis shows that the distance difference method is superior and gives more accurate position results. It was observed that the distance measurement method errors were smaller than the errors of the integrated angle measurement/distance measurement method.

«Use of office position» when committing fraud: problems of application

The authors in the article consider the problems of establishing the qualifying feature use of official position when committing fraud. Based on the analysis of the doctrine of criminal law, clarifications of the highest court, materials of specific judicial practice, a circle of subjects related to persons using their official position is determined, as well as the procedure and mechanism for using official position in fraud. According to the results of the study, it is proposed to include in the current resolution of the Plenum of the Supreme Court of the Russian Federation On judicial practice in cases of fraud, misappropriation and embezzlement additional clarifications that reveal the understanding of the content of the sign use of official position. The authors propose to expand the understanding of the subject of official fraud. Such provisions will promote uniformity in law enforcement and helpavoid qualifying fraud using official position errors.

Measurement of Siberian Radioheliograph cable delays

To achieve the maximum dynamic range of solar radio images obtained using aperture synthesis in relatively wide frequency bands 0.1−0.5 % of the operating frequency, it is necessary to compensate the signal propagation delays in the antenna receive path before calculating visibility functions (hereinafter visibilities). When visibilities are corrected without delay compensation, the signal-to-noise ratio decreases due to residual phase slopes in the receiving system bandwidth. In addition to enhancing dynamic range, preliminary compensation for delays simplifies real-time imaging — no antenna gain calibration is required to get a first approximation image. The requirements for the accuracy of antenna placement are also reduced — in contrast to the measurement of the phase visibility error, the measurement of the delay is actually not so critical to the antenna position errors that are larger than the operating wavelength. The instantaneous frequency band of the Siberian Radioheliograph, which determines the minimum step for measuring the phase slope, and hence the accuracy of determining the delay, is 10 MHz. At the speed of light in an optical fiber of ~0.7c, a step of 10 MHz makes it possible to unambiguously measure the difference between electrical lengths of cables up to 20 m and to correct antenna positions by radio observations, even if the error in the position of the antennas exceeds the operating wavelength. Correction of the band phase slopes during the observation time adapts the radio telescope to the temperature drift of delays and decreases antenna gain phase spread. This, in turn, leads to more stable solutions to systems of equations containing antenna gains as unknowns.

Measurement of Siberian Radioheliograph cable delays

To achieve the maximum dynamic range of solar radio images obtained using aperture synthesis in relatively wide frequency bands 0.1−0.5 % of the operating frequency, it is necessary to compensate the signal propagation delays in the antenna receive path before calculating visibility functions (hereinafter visibilities). When visibilities are corrected without delay compensation, the signal-to-noise ratio decreases due to residual phase slopes in the receiving system bandwidth. In addition to enhancing dynamic range, preliminary compensation for delays simplifies real-time imaging — no antenna gain calibration is required to get a first approximation image. The requirements for the accuracy of antenna placement are also reduced — in contrast to the measurement of the phase visibility error, the measurement of the delay is actually not so critical to the antenna position errors that are larger than the operating wavelength. The instantaneous frequency band of the Siberian Radioheliograph, which determines the minimum step for measuring the phase slope, and hence the accuracy of determining the delay, is 10 MHz. At the speed of light in an optical fiber of ~0.7c, a step of 10 MHz makes it possible to unambiguously measure the difference between electrical lengths of cables up to 20 m and to correct antenna positions by radio observations, even if the error in the position of the antennas exceeds the operating wavelength. Correction of the band phase slopes during the observation time adapts the radio telescope to the temperature drift of delays and decreases antenna gain phase spread. This, in turn, leads to more stable solutions to systems of equations containing antenna gains as unknowns.

The perceived position of a moving object is reset by temporal, not spatial limits

When the internal texture of a Gabor patch drifts orthogonally to its physical path, its perceived motion deviates dramatically from its physical path. The local position shifts accumulate to such an extent that a 45 deg oblique physical path appears to be vertical. However, at some point, a limit is reached and the path resets back to its veridical location, whereupon a new accumulation starts, making the new perceived path segment appear parallel to the pre-reset segment, but offset horizontally from it. Here, we tested whether spontaneous resets of this motion-induced position shift depend on the time or the distance over which position errors accrue, or both. We introduced a temporal gap in the middle of the path that forced the illusory path to reset back to its veridical physical position. This gap-triggered reset allowed us to measure the magnitude of the illusory offset up to that point. We found that perceived offset was less than expected for the angle of illusory drift, indicating that spontaneous resets had occurred prior to the gap-induced reset. The position offset decreased when the pre-gap duration increased but approximately doubled when the path length doubled. This pattern of perceived offsets is best accounted for by spontaneous resets that occur randomly over time at a constant rate, independently of the distance traveled. Our results suggest a temporal, not spatial, limit for the accumulation of position errors that underlies this illusion.

Graph SLAM-Based 2.5D LIDAR Mapping Module for Autonomous Vehicles

This paper proposes a unique Graph SLAM framework to generate precise 2.5D LIDAR maps in an XYZ plane. A node strategy was invented to divide the road into a set of nodes. The LIDAR point clouds are smoothly accumulated in intensity and elevation images in each node. The optimization process is decomposed into applying Graph SLAM on nodes’ intensity images for eliminating the ghosting effects of the road surface in the XY plane. This step ensures true loop-closure events between nodes and precise common area estimations in the real world. Accordingly, another Graph SLAM framework was designed to bring the nodes’ elevation images into the same Z-level by making the altitudinal errors in the common areas as small as possible. A robust cost function is detailed to properly constitute the relationships between nodes and generate the map in the Absolute Coordinate System. The framework is tested against an accurate GNSS/INS-RTK system in a very challenging environment of high buildings, dense trees and longitudinal railway bridges. The experimental results verified the robustness, reliability and efficiency of the proposed framework to generate accurate 2.5D maps with eliminating the relative and global position errors in XY and Z planes. Therefore, the generated maps significantly contribute to increasing the safety of autonomous driving regardless of the road structures and environmental factors.

Improvement of Position Repeatability of a Linear Stage with Yaw Minimization

Recently, due to the miniaturization of electronic products, printed circuit boards (PCBs) have also become smaller. This trend has led to the need for high-precision electrical test equipment to check PCBs for disconnections and short circuits. The purpose of this study is to improve the position repeatability of the platform unit up to ±2.5 μm in a linear stage type test equipment. For this purpose, the causes of position errors of the platform unit are analyzed. The platform unit holding the PCB is driven by a single-axis linear ball screw drive system offset from its geometric center due to design constraints. The yaw rotation of the platform is found to have a dominant effect on position repeatability. To address this problem, the methods of adding balancing weights to the platform unit and adjusting the stiffness of LM Guides are proposed. This reduces the yaw rotation by moving the centers of mass and stiffness closer to the linear ball screw actuator. In the verification tests, the position repeatability was decreased to less than ±1.0 μm.

Spatial and Time Warping for Gauge Adjustment of Rainfall Estimates

Many satellite-based estimates use gauge information for bias correction. In general, bias-correction methods are focused on the intensity error and do not explicitly correct possible position or timing errors. However, position and timing errors in rainfall estimates can also lead to errors in the rainfall occurrence or the intensity. This is especially true for localized rainfall events such as the convective rainstorms occurring during the rainy season in sub-Saharan Africa. We investigated the use of warping to correct such errors. The goal was to gauge-adjust satellite-based estimates with respect to the position and the timing of the rain event, instead of its intensity. Warping is a field-deformation method that transforms an image into another one. We compared two methods, spatial warping focusing on the position errors and time warping for the timing errors. They were evaluated on two case studies: a synthetic rainfall event represented by an ellipse and a rain event in southern Ghana during the monsoon season. In both cases, the two warping methods reduced significantly the respective targeted (position or timing) errors. In the southern Ghana case, the average position error was decreased by about 45 km by the spatial warping and the average timing error was decreased from more than 1 h to 0.2 h by the time warping. Both warping methods also improved the continuous statistics on the intensity: the correlation went from 0.18 to at least 0.62 after warping in the southern Ghana case. The spatial warping seems more interesting because of its positive impact on both position and timing errors.