Esta es la versión de autor del artículo publicado en: This is an author produced version of a paper published in: an ad-hoc conditioning circuit based on instrumental amplifiers which provides high amplification keeping low noise. The proposed system is autonomous so there is no need of an external PC or other devices. A prototype of the system has been attached to a mobile robot to check the viability of the location system in a real scenario.
Context. Massive spectroscopic survey are becoming trendy in astrophysics and cosmology, as they can address new fundamental knowledge such as Galactic Archaeology and probe the nature of the mysterious Dark Energy. To enable massive spectroscopic surveys, new technology are being developed to place thousands of optical fibers at a given position on a focal plane. These technology needs to be: 1) accurate, with micrometer positional accuracy; 2) fast to minimize overhead; 3) robust to minimize failure; and 4) low cost. In this paper we present the development of a new 8-mm in diameter fiber positionner robot using two 4mm DC-brushless gearmotors, developed in the context of the Dark Energy Spectroscopic Instrument. This development was conducted by a SpanishSwiss (ES-CH) team led by the Instituto de Física Teórica (UAM-CSIC) and the Laboratoire d'Astrophysique (EPFL), in collaboration with the AVS company in Spain and the Faulhaber group (MPS & FAULHABER-MINIMOTOR) in Switzerland. Aims. The meachanical concept, DC-brushless motor properties, and the final performance of a prototyped unit is presented. Methods. Performance and verification tests were conducted with a fiber view camera-based optical set-up and using an automatic algorithm. Results. The prototype build is mechanically robust and reliable, and its control electronics ensure a very firm system with an xy positional accuracy better than 5µm. Conclusions. In this paper, we validate the concept of our advanced 8-mm fiber robot positioner prototype, as well as demonstrate that it can meet the requirements of the DESI project. Such efficient gearmotor fiber positionner robotic system can be adapted to any future massive fiber-fed spectrograph instrument.
Esta es la versión de autor de la comunicación de congreso publicada en: This is an author produced version of a paper published in: Abstract-This paper presents a low cost indoor ultrasonicbased positioning system. This system allows the mobile nodes of a Wireless Sensor Network to know their location using radiofrequency and ultrasonics. To achieve this goal, a matrix of transmitting anchor points is installed whereas the mobile nodes receive these transmitted signals and estimate the time-of-flight of the ultrasonic signals. Using two time-of-flight measurements and trilateration equations, the location of the mobile nodes can be inferred in a 2-D space.
This paper outlines the communication and control systems of a quadrotor type Unmanned Aerial Vehicle. The communication system comprises two different links, one for data and other for video signal, and all integrated by an autopilot module. The data link will be implemented using XBee modules and Mavlink communication protocol. The video transmission system will consist of two separate links which can work together avoiding interferences by using orthogonal polarization each other. It is also given some insights of the onboard software architecture, which is based on the Pixhawk autopilot.
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