Search Results (28)

In order to reduce space occupation and improve reliability, the modularization and integration of micro switches and their components are a necessary path for development. In this paper, a scheme for an alloy metal inertial micro switch using 3D printing technology is proposed for an integrated design. The switch realizes the turn-on function by causing the deformable electrodes to undergo plastic deformation and make close contact with the outer sleeve under the columnar block extrusion. The influence of electrode structure parameters on electrode contact performance was studied by the orthogonal experimental method. And the best parameter combination scheme for the electrode was determined. The aluminum alloy switch and titanium alloy switch were processed by SLM (selective laser melting) technology. The plastic deformation of the 3D-printed titanium alloy electrode occurred later than that of the 3D-printed aluminum alloy electrode under the same impact. The aluminum alloy electrode underwent plastic deformation and realized stable contact with a response time of 5 µs when the impact load was applied with an amplitude of 627 N and a pulse width of 2.7 ms (simulating high acceleration), which meets the application requirement of the response time being no more than 20 µs. The feasibility of 3D printing technology in high-precision and complex-structure micro switch manufacturing was verified. The research in this paper will provide guidance and reference for engineering applications. Full article

Space gravitational wave detection uses a three-satellite formation scheme, with the distance between satellites reaching hundreds of thousands or millions of kilometers. According to the principle of laser heterodyne interferometry, the distance change between the inter-satellite inertial references caused by the gravitational wave event is converted into the phase change of the heterodyne interference signal. The payload for measuring the phase change information is the phasemeter. The mission requires that the phasemeter’s ranging accuracy is 1 picometer, and the corresponding phase measurement accuracy is required to reach 2π μrad/Hz^1/2 @(0.1 mHz–1 Hz). Due to the inter-satellite Doppler effect, the dynamic range of the interference signal frequency reaches 5 MHz to 25 MHz. Due to the sampling jitter noise of the interference signal, it is necessary to suppress the noise through a single pilot tone. This paper introduces the development of the phasemeter, which uses a single pilot tone to suppress sampling jitter noise. The test results show that when the dynamic range of the interference signal frequency is 5 MHz to 25 MHz, the phasemeter meets the mission indicator requirement of 2π μrad/Hz^1/2 @(0.1 mHz–1 Hz). Full article

Ultrafast diagnostic technology has caused breakthroughs in fields such as inertial confinement fusion, particle accelerator research, and laser-induced phenomena. As the most widely used tool for ultrafast diagnostic technology, investigating the characteristics of streak cameras in the imaging process and streak tubes’ complex physical processes is significant for its overall development. In this work, the imaging process of a streak camera is modeled and simulated using Geant4-based Monte Carlo simulations. Based on the selected phosphor screen P43 (Gd₂O₂S: Tb) and charged coupled device (CCD) sensor parameters, Monte Carlo simulation models of phosphor screens and CCD sensors (We refer to the sensor parameters of the US company onsemi’s KAF-50100 sensor, but some adjustments are made during the simulation), implemented with the toolkit Geant4, are used to study the electron beam to generate fluorescence on phosphor and photoelectrons on CCD sensors. The physical process of a high-energy electron beam hitting a phosphor screen and imaging on the CCD camera is studied. Meanwhile, merits such as the luminous efficiency of the selected phosphor, spatial resolution of the phosphor screen, and spatial resolution of the selected CCD sensor are analyzed. The simulation results show that the phosphor screen and CCD sensor simulation models can accurately simulate the selected components’ performance parameters with the imaging process’ simulation results precisely reflecting the distribution of output electrons in the streak image tube. References for simulation and device selection in the subsequent research on streak cameras can be provided. Full article

Since Einstein’s prediction regarding the existence of gravitational waves was directly verified by the ground-based detector Advanced LIGO, research on gravitational wave detection has garnered increasing attention. To overcome limitations imposed by ground vibrations and interference at arm’s length, a space-based gravitational wave detection initiative was proposed, which focuses on analyzing a large number of waves within the frequency range below 1 Hz. Due to the weak signal intensity, the TMs must move along their geodesic orbit with a residual acceleration less than 10⁻¹⁵ m/s²/Hz^1/2. Consequently, the core payload-inertial sensor was designed to shield against stray force noise while maintaining the high-precision motion of the test mass through a drag-free control system, providing an ultra-stable inertial reference for laser interferometry. To meet these requirements, the inertial sensor integrates a series of unit settings and innovative designs, involving numerous subsystems and technologies. This article provides a comprehensive overview of these critical technologies used in the development of inertial sensors for space gravitational wave detection and discusses future trends and potential applications for these sensors. Full article

Large-scale engineering structures deform and vibrate under the influence of external forces. Obtaining displacement and vibration is crucial for structural health monitoring (SHM). Global navigation satellite system (GNSS) and inertial measurement unit (IMU) are complementary and widely used in SHM. In this paper, we propose an SHM scheme where IMU and multi-antenna GNSS are tightly integrated. The phase centers of multiple GNSS antennas are transformed into the IMU center, which increases the observation redundancy and strengthens the positioning model. To evaluate the performance of tight integration of IMU and multiple GNSS antennas, high-rate vibrational signals are simulated using a shaking table, and the errors of horizontal displacement of different positioning schemes are analyzed using recordings of a high-precision ranging laser as the reference. The results demonstrate that applying triple-antenna GNSS/IMU integration for measuring the displacement can achieve an accuracy of 2.6 mm, which is about 33.0% and 30.3% superior than the accuracy achieved by the conventional single-antenna GNSS-only and GNSS/IMU solutions, respectively. Full article

Future GRACE-like geodesy missions could benefit from adopting accelerometer technology akin to that of the LISA Pathfinder, which employed laser interferometric readout at the sub-picometer level in addition to the conventional capacitive sensing, which is at best at the level of 100 pm. Improving accelerometer performance holds great potential to enhance the scientific output of forthcoming missions, carrying invaluable implications for research in climate, water resource management, and disaster risk reduction. To reach sub-picometer displacement sensing precision in the millihertz range, laser interferometers rely on suppression of laser-frequency noise by several orders of magnitude. Many optical frequency stabilization methods are available with varying levels of complexity, size, and performance. In this paper, we describe the performance of a Mach–Zehnder interferometer based on a compact monolithic optic. The setup consists of a commercial fiber injector, a custom-designed pentaprism used to split and recombine the laser beam, and two photoreceivers placed at the complementary output ports of the interferometer. The structural stability of the prism is transferred to the laser frequency via amplification, integration, and feedback of the balanced-detection signal, achieving a fractional frequency instability better than 6 parts in ${10}^{13}$, corresponding to an interferometer pathlength stability better than $1\mathrm{pm}/\sqrt{\mathrm{Hz}}$. The prism was designed to host a second interferometer to interrogate the position of a test mass. This optical scheme has been dubbed “single-element dual-interferometer” or SEDI. Full article

In the space gravitational wave detection mission, inertial sensors play the role of providing an inertial reference for the laser interferometric measurement system. Among them, the capacitance sensor serves as the core key technology of the inertial sensor, used to measure the relative position of the test mass (TM) in the electrode cage. The capacitance sensor utilizes synchronous demodulation technology to extract signals from the AC induction signal. When the phase of the demodulation switch signal is aligned, the synchronous demodulator can most effectively filter out noise, thus directly influencing the performance of the capacitance sensor. However, since the TM is in a suspended state, the information read by the capacitance sensor is dynamic, which increases the difficulty of demodulation phase alignment. In light of this, a method is proposed for achieving the phase alignment of the demodulation switch signal in a dynamic environment. This is accomplished by adjusting the phase of the demodulation switch signal, and subsequently computing the phase difference between the AC induction signal and the demodulation switch signal. At the same time, a measurement and evaluation method for phase deviation is also proposed. Ultimately, an automatic phase alignment system for the demodulation switch signal in dynamic environments is successfully implemented on an FPGA platform, and tests are conducted on a hexapod PI console platform to simulate dynamic environments. The experimental results demonstrate that the system accurately achieves phase alignment in the static environment, with a phase deviation of 0.1394 rad. In the simulated dynamic environment, the phase deviation is 0.1395 rad. Full article

The automated inspection and mapping of engineering structures are mainly based on photogrammetry and laser scanning. Mobile robotic platforms like unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs), but also handheld platforms, allow efficient automated mapping. Engineering structures like bridges shadow global navigation satellite system (GNSS), which complicates precise localization. Simultaneous localization and mapping (SLAM) algorithms offer a sufficient solution, since they do not require GNSS. However, testing and comparing SLAM algorithms in GNSS-denied areas is difficult due to missing ground truth data. This work presents an approach to measuring the performance of SLAM in indoor and outdoor GNSS-denied areas using a terrestrial scanner Leica RTC360 and a tachymeter to acquire point cloud and trajectory information. The proposed method is independent of time synchronization between robot and tachymeter and also works on sparse SLAM point clouds. For the evaluation of the proposed method, three LiDAR-based SLAM algorithms called KISS-ICP, SC-LIO-SAM, and MA-LIO are tested using a UGV equipped with two light detection and ranging (LiDAR) sensors and an inertial measurement unit (IMU). KISS-ICP is based solely on a single LiDAR scanner and SC-LIO-SAM also uses an IMU. MA-LIO, which allows multiple (different) LiDAR sensors, is tested on a horizontal and vertical one and an IMU. Time synchronization between the tachymeter and SLAM data during post-processing allows calculating the root mean square (RMS) absolute trajectory error, mean relative trajectory error, and the mean point cloud to reference point cloud distance. It shows that the proposed method is an efficient approach to measure the performance of SLAM in GNSS-denied areas. Additionally, the method shows the superior performance of MA-LIO in four of six test tracks with 5 to 7 cm RMS trajectory error, followed by SC-LIO-SAM and KISS-ICP in last place. SC-LIO-SAM reaches the lowest point cloud to reference point cloud distance in four of six test tracks, with 4 to 12 cm. Full article

Robot localization is a crucial task in robotic systems and is a pre-requisite for navigation. In outdoor environments, Global Navigation Satellite Systems (GNSS) have aided towards this direction, alongside laser and visual sensing. Despite their application in the field, GNSS suffers from limited availability in dense urban and rural environments. Light Detection and Ranging (LiDAR), inertial and visual methods are also prone to drift and can be susceptible to outliers due to environmental changes and illumination conditions. In this work, we propose a cellular Simultaneous Localization and Mapping (SLAM) framework based on 5G New Radio (NR) signals and inertial measurements for mobile robot localization with several gNodeB stations. The method outputs the pose of the robot along with a radio signal map based on the Received Signal Strength Indicator (RSSI) measurements for correction purposes. We then perform benchmarking against LiDAR-Inertial Odometry Smoothing and Mapping (LIO-SAM), a state-of-the-art LiDAR SLAM method, comparing performance via a simulator ground truth reference. Two experimental setups are presented and discussed using the sub-6 GHz and mmWave frequency bands for communication, while the transmission is based on down-link (DL) signals. Our results show that 5G positioning can be utilized for radio SLAM, providing increased robustness in outdoor environments and demonstrating its potential to assist in robot localization, as an additional absolute source of information when LiDAR methods fail and GNSS data is unreliable. Full article

The laser gyroscope of Laser Inertial Navigation System (LINS) eliminates the influence of the locked zone with mechanical dither. The output information of laser gyroscopes must be filtered before use to eliminate vibration noise. Laser gyroscope filters are designed according to the instrument accuracy, calculation capacity, vibration frequency, system dynamic characteristics, and other indicators. In this paper, a pigeon-inspired optimization (PIO) method is proposed for use in filter design. The PIO method can flexibly design filters with excellent performance according to the indicator requirements. In the method, the constraints and indicators of the amplitude, phase and order of the LINS filter are firstly confirmed according to the application requirements; then, the objective function is established, and the parameters to be optimized of the PIO are set according to the order of the filter; finally, the PIO method is used to obtain filter parameters that can satisfy the constraints and achieve better performance. Referring to the idea of biological evolution mechanisms, we propose a new improved pigeon-inspired optimization method based on natural selection and Gaussian mutation (SMPIO), which can obtain more stable results and higher accuracy. In the SMPIO method, the particle swarm is firstly selected by natural selection, that is, the particles are sorted according to the fitness function, and some particles with poor fitness are replaced by those with better fitness; then, all particles are subjected to Gaussian mutation to obtain a better global optimum. SMPIO method can flexibly design filters according to the comprehensive requirements of laser gyro performance and navigation control indicators, which cannot be achieved by traditional filter design methods; the improvement based on natural selection and Gaussian mutation enables SMPIO to have faster convergence speed, and higher accuracy. Full article

SLAM (simultaneous localization and mapping) technology has recently shown considerable forward progress; however, most of the mainstream SLAM technologies are currently based on laser- and vision-based fusion strategies. However, there are problems (e.g., a lack of geometric structure, no significant feature points in the surrounding environment, LiDAR degradation, and the longitudinal loss of constraints, as well as missing GPS signals within the pipeline) in special circumstances (e.g., in underground pipelines and tunnels), thus making it difficult to apply laser or vision SLAM techniques. To solve this issue, a multi-robot cooperation-based SLAM method is proposed in this study for pipeline environments, based on LIO-SAM. The proposed method can effectively perform SLAM tasks in spaces with high environmental similarity (e.g., tunnels), thus overcoming the limitation that existing SLAM methods have been poorly applied in pipeline environments due to the high environmental similarity. In this study, the laser-matching part of the LIO-SAM is removed, and a high-precision differential odometer, IMU inertial navigation sensor, and an ultrasonic sensor, which are not easily affected by the high similarity of the environment, are employed as the major sources of positioning information. Moreover, a front-to-back queue of two robots is trained in the pipeline environment; a unique period-creep method has been designed as a cooperation strategy between the two robots, and a multi-robot pose constraint factor (ultrasonic range factor) is built to constrain the robots’ relative poses. On that basis, the robot queue can provide a mutual reference when traveling through the pipeline and fulfill its pose correction with high quality, thus achieving high positioning accuracy. To validate the method presented in this study, four experiments were designed, and SLAM testing was performed in common environments, as well as simple and complex urban pipeline environments. Next, error analysis was conducted using EVO. The experimental results suggest that the method proposed in this study is less susceptible to environmental effects than the existing methods due to the benefits of multi-robot cooperation. This applies to a common environment (e.g., a room) and can achieve a good performance; this means that a wide variety of piping environments can be established with high similarity. The average error of SLAM in the pipeline was 0.047 m, and the maximum error was 0.713 m, such that the proposed method shows the advantages of controllable cumulative error, high reliability, and robustness with an increase in the scale of the pipeline and with an extension of the operation time. Full article

Underwater positioning presents a challenging issue, because of the rapid attenuation of electronic magnetic waves, the disturbances and uncertainties in the environment. Conventional methods usually employed acoustic devices to localize Unmanned Underwater Vehicles (UUVs), which suffer from a slow refresh rate, low resolution, and are susceptible to the environmental noise. In addition, the complex terrain can also degrade the accuracy of the acoustic navigation systems. The applications of underwater positioning methods based on visual sensors are prevented by difficulties of acquiring the depth maps due to the sparse features, the changing illumination condition, and the scattering phenomenon. In the paper, a novel visual-based underwater positioning system is proposed based on a Light Detection and Ranging (LiDAR) camera and an inertial measurement unit. The LiDAR camera, benefiting from the laser scanning techniques, could simultaneously generate the associated depth maps. The inertial sensor would offer information about its altitudes. Through the fusion of the data from multiple sensors, the positions of the UUVs can be predicted. After that, the Bundle Adjustment (BA) method is used to recalculate the rotation matrix and the translation vector to improve the accuracy. The experiments are carried out in a tank to illustrate the effects and accuracy of the investigated method, in which the ultra-wideband (UWB) positioning system is used to provide reference trajectories. It is concluded that the developed positioning system is able to estimate the trajectory of UUVs accurately, whilst being stable and robust. Full article

The challenge in the field of inertial confinement fusion (ICF) research is related to the study of alternative schemes for fuel ignition on laser systems of medium and megajoule scales. At the moment, it is considered promising to use the method of shock ignition of fuel in a pre-compressed cryogenic target using a focused shock wave (shock- or self-ignition (SI) mode). To confirm the applicability of this scheme to ICF, it is necessary to develop technologies for mass-fabrication of the corresponding targets with a spherically symmetric cryogenic layer (hereinafter referred to as SI-targets). These targets have a low initial aspect ratio A_cl (A_cl = 3 and A_cl = 5) because they are expected to be more hydrodynamically stable during implosion. The paper discusses the preparation of SI-targets for laser experiments using the free-standing target (FST) layering method developed at the Lebedev Physical Institute (LPI). It is shown that, based on FST, it is possible to build a prototype layering module for in-line production of free-standing SI-targets, and the layering time, τ_form, does not exceed 30 s both for deuterium and deuterium-tritium fuel. Very short values of τ_form make it possible to obtain layers with a stable isotropic fuel structure to meet the requirements of implosion physics. Full article

This paper presents the model, design, and simulation for a navigation system developed for a group of mobile robots dedicated to the production of maps for underground hydraulic infrastructure. The system can operate internally in unknown pipeline networks without GPS support, integrating Tarry’s principles of deep search, Pledge modify discrimination, and topographic orientation transfer, in the temporary construction of a reference network independent of peripheral inertial navigation. The acquisition of topographic objectives for mapping is done by laser collimation and radio frequency synchronization with an angular and longitudinal precision of sigma II range. The maps produced contain the polygonal axes of the network pipelines. Full article

The topic of this paper is the airborne evaluation of ICESat-2 Advanced Topographic Laser Altimeter System (ATLAS) measurement capabilities and surface-height-determination over crevassed glacial terrain, with a focus on the geodetical accuracy of geophysical data collected from a helicopter. To obtain surface heights over crevassed and otherwise complex ice surface, ICESat-2 data are analyzed using the density-dimension algorithm for ice surfaces (DDA-ice), which yields surface heights at the nominal 0.7 m along-track spacing of ATLAS data. As the result of an ongoing surge, Negribreen, Svalbard, provided an ideal situation for the validation objectives in 2018 and 2019, because many different crevasse types and morphologically complex ice surfaces existed in close proximity. Airborne geophysical data, including laser altimeter data (profilometer data at 905 nm frequency), differential Global Positioning System (GPS), Inertial Measurement Unit (IMU) data, on-board-time-lapse imagery and photographs, were collected during two campaigns in summers of 2018 and 2019. Airborne experiment setup, geodetical correction and data processing steps are described here. To date, there is relatively little knowledge of the geodetical accuracy that can be obtained from kinematic data collection from a helicopter. Our study finds that (1) Kinematic GPS data collection with correction in post-processing yields higher accuracies than Real-Time-Kinematic (RTK) data collection. (2) Processing of only the rover data using the Natural Resources Canada Spatial Reference System Precise Point Positioning (CSRS-PPP) software is sufficiently accurate for the sub-satellite validation purpose. (3) Distances between ICESat-2 ground tracks and airborne ground tracks were generally better than 25 m, while distance between predicted and actual ICESat-2 ground track was on the order of 9 m, which allows direct comparison of ice-surface heights and spatial statistical characteristics of crevasses from the satellite and airborne measurements. (4) The Lasertech Universal Laser System (ULS), operated at up to 300 m above ground level, yields full return frequency (400 Hz) and 0.06–0.08 m on-ice along-track spacing of height measurements. (5) Cross-over differences of airborne laser altimeter data are −0.172 ± 2.564 m along straight paths, which implies a precision of approximately 2.6 m for ICESat-2 validation experiments in crevassed terrain. (6) In summary, the comparatively light-weight experiment setup of a suite of small survey equipment mounted on a Eurocopter (Helicopter AS-350) and kinematic GPS data analyzed in post-processing using CSRS-PPP leads to high accuracy repeats of the ICESat-2 tracks. The technical results (1)–(6) indicate that direct comparison of ice-surface heights and crevasse depths from the ICESat-2 and airborne laser altimeter data is warranted. Numerical evaluation of height comparisons utilizes spatial surface roughness measures. The final result of the validation is that ICESat-2 ATLAS data, analyzed with the DDA-ice, facilitate surface-height determination over crevassed terrain, in good agreement with airborne data, including spatial characteristics, such as surface roughness, crevasse spacing and depth, which are key informants on the deformation and dynamics of a glacier during surge. Full article