Search Results (50)

This article examines hazardous ground irregularities that remain undetectable by the white cane used by visually impaired individuals. Additionally, the development of a multi-beam laser ranging system is described. Integrated into the cane handle, this system is designed to provide comprehensive ground awareness and sufficient anticipation at a walking speed of 1 m/s. The system employs a near-infrared multi-beam laser sensor with a holographic grating generating four diamond-shaped beams, in conjunction with a high-resolution CMOS sensor. Through optical triangulation and real-time processing, the device estimates the height of obstacles or drop-offs relative to the walking surface. Vibrotactile feedback informs the user of detected hazards, with distinct vibration patterns differentiating between elevation changes and drop-offs. Preliminary trials with blind participants in controlled environments demonstrate that the system is feasible, responsive, energy-efficient, and fully compatible with conventional white cane use. Full article

The need for Structural Health Monitoring is evident in order to ensure the safety of civil infrastructure. The goal of vibration monitoring is to derive the eigenfrequencies, mode shapes and damping of a structure. A change in the eigenfrequency over time can indicate deterioration or damage in a structure. The amplitude can be used to calculate the damping ratio. As the damping ratio is amplitude-dependent, it is important to correctly determine the amplitude values. This study focuses on the amplitude correctness of high-rate Global Navigation Satellite System (GNSS) receiver data. In an experiment with controlled oscillations with a shaker and a Laser Triangulation Sensor (LTS) as a reference, the vibration amplitudes derived by GNSS measurements were analyzed, using time-frequency techniques like Short Time Fourier Transform (STFT) and Wavelet Transform (WT). We demonstrate that vibrations in the millimeter range can be derived from the measurements of satellites orbiting 20,000 km above Earth. However, the amplitudes of the determined frequencies show systematic errors up to 60% when compared to independent reference measurements. We introduce a correction method to reduce this error by applying a frequency-dependent correction function. Full article

The accurate motion of roller-bearing-supported rings is critically influenced by shape and positional tolerances, which are often underestimated in conventional modeling approaches. The aim of this study is to develop and validate a multibody dynamic framework capable of quantifying the impact of roundness and positional errors on the motion accuracy of roller-bearing-supported rings. Shape errors are modeled using Fourier series and incorporated into a high-fidelity multibody simulation environment. Experimental validation using laser triangulation reveals a maximum runout error of 72.9 μm, compared to a numerically predicted value of 88.6 μm, resulting in a quantified numerical overestimation of 21.5%. Parametric studies investigated the effects of harmonic order, error amplitude, and combined error scenarios on key performance metrics, including trajectory runout and initial offset displacement. Results reveal that the trajectory errors range between 0.29 mm and 0.63 mm for shape error orders and can escalate to 2.84 mm for high amplitude errors, demonstrating the critical role of error order and amplitude. Furthermore, combined simulations show that bearing position errors exert a more pronounced effect on radial accuracy than shape deviations alone. The proposed approach enables precision design evaluation and tolerance optimization in high-accuracy applications, including robotics, aerospace mechanisms, and optical alignment systems. Full article

AI-integrated robotics in Industry 5.0 demands advanced manufacturing systems capable of autonomously interpreting complex geometries and dynamically adjusting machining strategies in real time—particularly when dealing with aerospace components featuring large-curvature surfaces. Large-curvature aerospace components present significant challenges for precision drilling due to surface-normal deviations caused by curvature, roughness, and thin-wall deformation. This study presents a robotic drilling system that integrates adaptive PCA-based surface normal estimation with in-process pre-drilling correction and post-drilling verification. This system integrates a 660 nm wavelength linear laser projector and a 1.3-megapixel industrial camera arranged at a fixed 30° angle, which project and capture structured-light fringes. Based on triangulation, high-resolution point clouds are reconstructed for precise surface analysis. By adaptively selecting localized point-cloud regions during machining, the proposed algorithm converts raw measurements into precise normal vectors, thereby achieving an accurate solution of the normal direction of the surface of large curvature parts. Experimental validation on a 400 mm-diameter cylinder shows that using point clouds within a 100 mm radius yields deviations within an acceptable range of theoretical normals, demonstrating both high precision and reliability. Moreover, experiments on cylindrical aerospace-grade specimens demonstrate normal direction accuracy ≤ 0.2° and hole position error ≤ 0.25 mm, maintained across varying curvature radii and roughness levels. The research will make up for the shortcomings of existing manual drilling methods, improve the accuracy of hole-making positions, and meet the high fatigue service needs of aerospace and other industries. This system is significant in promoting the development of industrial automation and improving the productivity of enterprises by improving drilling precision and repeatability, enabling reliable assembly of high-curvature aerospace structures within stringent tolerance requirements. Full article

To solve the low efficiency of traditional sheet metal measurement, this paper proposes a digital inspection method for sheet metal parts based on 3D point clouds. The 3D point cloud data of sheet metal parts are collected using a 3D laser scanner, and the topological relationship is established by using a K-dimensional tree (KD tree). The pass-through filtering method is adopted to denoise the point cloud data. To preserve the fine features of the parts, an improved voxel grid method is proposed for the downsampling of the point cloud data. Feature points are extracted via the intrinsic shape signatures (ISS) algorithm and described using the fast point feature histograms (FPFH) algorithm. After rough registration with the sample consensus initial alignment (SAC-IA) algorithm, an initial position is provided for fine registration. The improved iterative closest point (ICP) algorithm, used for fine registration, can enhance the registration accuracy and efficiency. The greedy projection triangulation algorithm optimized by moving least squares (MLS) smoothing ensures surface smoothness and geometric accuracy. The reconstructed 3D model is projected onto a 2D plane, and the actual dimensions of the parts are calculated based on the pixel values of the sheet metal parts and the conversion scale. Experimental results show that the measurement error of this inspection system for three sheet metal workpieces ranges from 0.1416 mm to 0.2684 mm, meeting the accuracy requirement of ±0.3 mm. This method provides a reliable digital inspection solution for sheet metal parts. Full article

During high-speed maneuvers, aircraft experience rapid distance changes, necessitating high-frame-rate ranging for accurate characterization. However, existing optical ranging technologies often lack simplicity, affordability, and sufficient frame rates. While dual-station triangulation enables high-frame-rate distance calculation via geometry, it suffers from complex and costly deployment. Conventional laser rangefinders are limited by low repetition rates. Single-photon ranging, using high-frequency low-energy pulses and detecting single reflected photons, offers a promising alternative. This study presents a kilohertz-level single-photon ranging system validated through civil aviation field tests. At 1000 Hz, relative distance, velocity, and acceleration were successfully captured. Simulating lower frame rates (100 Hz, 50 Hz, 10 Hz) via misalignment merging revealed standard deviations of 0.1661 m, 0.2361 m, and 0.2683 m, respectively, indicating that higher frame rates enhance distance measurement reproducibility. Error analysis against the 1000 Hz baseline further confirms that high-frame-rate ranging improves precision when monitoring high-speed maneuvers. Full article

This study proposes a new approach to improving laser sensor data collection through optimised sensor settings. Specifically, it examines the influence of laser sensor configurations on laser scanning measurements obtained by using a laser line triangulation sensor for transparent and non-transparent plastics, as well as aluminium alloys. Distance data were acquired with a three-degree-of-freedom positioning device and the laser sensor under both manual and automatic settings. Measurements were performed at the sensor’s reference distance and across a wide range of positional configurations. The results of extensive experimental tests highlight optimal sensor configurations for various materials and sensor orientations relative to the scanned surface, including both in-plane and out-of-plane angles, to enhance the reliability and accuracy of distance data collection. Full article

The paper describes a planetary laser interferometric seismoacoustic observatory consisting of six stationary unequal arm laser strainmeters. Based on the triangulation method, the fundamentals of direction finding of various infrasound disturbances at any planetary distance have been developed. The authors show that in addition to determining locations of the occurrence of the recorded disturbance, using data from spatially separated laser strainmeters, it is possible to determine the nature of these signals’ divergence and, also, the loss of their energy in the propagation medium. The creation of the planetary laser interferometric seismoacoustic observatory, consisting of five stationary single-coordinate laser strainmeters and one two-coordinate laser strainmeter, united into a single measuring network with an accurate time clock TRIMBLE 5700 that is capable of recording displacements on their bases with an accuracy of 10 pm in the frequency range from 0 (conventionally) to 1000 Hz and two auxiliary laser strainmeters, will allow us to determine, at any planetary distance, the primary source of deformation infrasound disturbances with primary amplitudes from 100 nm. Full article

We propose a new commercial laser triangulation sensor modification to enable the measurement of slots or bores side distance. The study showed the possibility of extending the sensor depth range for a slot or bore side distance measurement using a bypass of the illumination laser beam compared to a simple single mirror attachment to the sensor probe. We derived relations allowing for evaluation of the modified sensor side measurement range in desired depth based on the sensor parameters and the reflective mirror size and position. We demonstrated the functionality of the proposed measurement arrangement with an attachment to the commercial laser triangulation sensor and assessed the side-wall distance measurement. The results show the correct measurement depth and range prediction and the ability to perform side surface distance measurements at depths of more than 3.5 times the slot size. Full article

The automation of rail track inspection addresses key issues in railway transportation, notably reducing maintenance costs and improving safety. However, it presents numerous technical challenges, including sensor selection, calibration, data acquisition, defect detection, and storage. This paper introduces a compression method tailored for laser triangulation scanners, which are crucial for scanning the entire rail track, including the rails, rail fasteners, sleepers, and ballast, and capturing rail profiles for geometry measurement. The compression technique capitalizes on the regularity of rail track data and the sensors’ limited measurement range and resolution. By transforming scans, they can be stored using widely available image compression formats, such as PNG. This method achieved a compression ratio of 7.5 for rail scans used in the rail geometry computation and maintained rail gauge reproducibility. For the scans employed in defect detection, a compression ratio of 5.6 was attained without visibly compromising the scan quality. Lossless compression resulted in compression ratios of 5.1 for the rail geometry computation scans and 3.8 for the rail track inspection scans. Full article

With the advancing energy transition, icing is a growing problem in the wind turbine sector. The development of systems to detect and mitigate icing makes it necessary to understand its basic behavior and characteristics. This paper proposes a method for the continuous and full-field measurement of the icing process of rotating blades, using a single line laser profile scanner. Inside of a climate chamber, a rotor is driven by a motor, while a system of nozzles provides a fine water dust, which leads to ice accumulating on simple NACA blades, which in turn is measured by a triangulation laser. The measurement data are cleared from outliers and presented as a surface in 3D space. An alpha shape is used to reconstruct and extract the volume of the ice between a reference and a measurement surface, using the corresponding Matlab function. Appropriate input parameters for the function and offsetting of the reference surface to improve the results are compared and discussed. The resulting system is able to detect small changes in the ice layer thickness in the sub-millimeter range. Full article

In this paper, we present a laser triangulation sensor to measure the distance between the sensor and an object without contact using a diffraction slit rather than a traditional lens. We show that by replacing the lens with a slit, we can exploit the resulting diffraction pattern to have finer and yet simpler image analysis, yielding better estimation of the distance to the object. To test our hypothesis, we build a precision position table and a laser triangulation sensor, generate large data sets to test different estimation algorithms on various materials, and compare data acquisition using a traditional lens versus using a slit. We show that position estimation when using a slit is both more precise and more accurate than comparable methods using a lens. Full article

Robust and effective fruit detection and localization is essential for robotic harvesting systems. While extensive research efforts have been devoted to improving fruit detection, less emphasis has been placed on the fruit localization aspect, which is a crucial yet challenging task due to limited depth accuracy from existing sensor measurements in the natural orchard environment with variable lighting conditions and foliage/branch occlusions. In this paper, we present the system design and calibration of an Active LAser-Camera Scanner (ALACS), a novel perception module for robust and high-precision fruit localization. The hardware of the ALACS mainly consists of a red line laser, an RGB camera, and a linear motion slide, which are seamlessly integrated into an active scanning scheme where a dynamic-targeting laser-triangulation principle is employed. A high-fidelity extrinsic model is developed to pair the laser illumination and the RGB camera, enabling precise depth computation when the target is captured by both sensors. A random sample consensus-based robust calibration scheme is then designed to calibrate the model parameters based on collected data. Comprehensive evaluations are conducted to validate the system model and calibration scheme. The results show that the proposed calibration method can detect and remove data outliers to achieve robust parameter computation, and the calibrated ALACS system is able to achieve high-precision localization with the maximum depth measurement error being less than 4 mm at distance ranging from 0.6 to 1.2 m. Full article

Accurately quantifying individual tree parameters is a critical step for assessing carbon sequestration in forest ecosystems. However, it is challenging to gather comprehensive tree point cloud data when using either unmanned aerial vehicle light detection and ranging (UAV-LiDAR) or terrestrial laser scanning (TLS) alone. Moreover, there is still limited research on the effect of point cloud filtering algorithms on the extraction of individual tree parameters from multiplatform LiDAR data. Here, we employed a multifiltering algorithm to increase the accuracy of individual tree parameter (tree height and diameter at breast height (DBH)) extraction with the fusion of TLS and UAV-LiDAR (TLS-UAV-LiDAR) data. The results showed that compared to a single filtering algorithm (improved progressive triangulated irregular network densification, IPTD, or a cloth simulation filter, CSF), the multifiltering algorithm (IPTD + CSF) improves the accuracy of tree height extraction with TLS, UAV-LiDAR, and TLS-UAV-LiDAR data (with R² improvements from 1% to 7%). IPTD + CSF also enhances the accuracy of DBH extraction with TLS and TLS-UAV-LiDAR. In comparison to single-platform LiDAR (TLS or UAV-LiDAR), TLS-UAV-LiDAR can compensate for the missing crown and stem information, enabling a more detailed depiction of the tree structure. The highest accuracy of individual tree parameter extraction was achieved using the multifiltering algorithm combined with TLS-UAV-LiDAR data. The multifiltering algorithm can facilitate the application of multiplatform LiDAR data and offers an accurate way to quantify individual tree parameters. Full article

A noise-resistant linearization model that reveals the true nonlinearity of the sensor is essential for retrieving accurate physical displacement from the signals captured by sensing electronics. In this paper, we propose a novel information-driven smoothing spline linearization method, which innovatively integrates one new and three standard information criterions into a smoothing spline for the high-precision displacement sensors’ linearization. Using theoretical analysis and Monte Carlo simulation, the proposed linearization method is demonstrated to outperform traditional polynomial and spline linearization methods for high-precision displacement sensors with a low noise to range ratio in the 10⁻⁵ level. Validation experiments were carried out on two different types of displacement sensors to benchmark the performance of the proposed method compared to the polynomial models and the the non-smoothing cubic spline. The results show that the proposed method with the new modified Akaike Information Criterion stands out compared to the other linearization methods and can improve the residual nonlinearity by over 50% compared to the standard polynomial model. After being linearized via the proposed method, the residual nonlinearities reach as low as ±0.0311% F.S. (Full Scale of Range), for the 1.5 mm range chromatic confocal displacement sensor, and ±0.0047% F.S., for the 100 mm range laser triangulation displacement sensor. Full article