A new measurement device is proposed for the calibration of parallel manipulators that can be used to indentify all kinematic parameters with partial pose measurements. The device while restricting the motion of the end-effector to five degree-of-freedom measures three components of posture. A study is performed for a six degree-of-freedom fully parallel Hexa Slide Manipulator. Intrinsic inaccuracies of the measurement device are modeled with two additional identification parameters. Computer simulations show that all parameters, including the additional parameters, can be identified. Results show a significant error reduction, even with noisy measurements, and reveal that the identification is robust against errors in initial guess.
A novel adaptive electrode fabrication method using optically self-selected interfacial adhesion between a laser-processed metal layer and polymer film is introduced to fabricate cost-effectively a high-resolution arbitrary electrode with high conductivity. The quality is close to that from vacuum deposition on a highly heat sensitive polymer film, with active response to various design requirements. A highly conductive metal film (resistivity: 3.6 μΩ cm) below a 5 μm line width with a uniform stepwise profile and mirror surface quality (R(rms) : 5-6 nm) is fabricated on a cheap polymer film with a heat resistance limit of below 100 °C. Severe durability tests are successfully completed without using any adhesion promoters. Finally, a highly transparent and conductive electrode with a transparency above 95% and sheet resistance of less than 10 Ω sq⁻¹ is fabricated on a polymer film and on glass by using this method. These results can help realize a potential high-throughput, low-cost, solution-processable replacement for transparent conductive oxides.
This paper suggests the target tracking method improved for the collaboration of the quad rotor type UAV (Unmanned Aerial Vehicle) and omnidirectional Unmanned Ground Vehicle. If UAV shakes or UGV moves rapidly, the existing method generates a phenomenon that the tracking object loses the tracking target. To solve the problems, we propose an algorithm that can track continually when they lose the target. The proposed algorithm stores the vector of the landmark. And if the target was lost, the control signal was inputted so that the landmark could move continuously to the direction running out. Prior to the experiment, Proportional and integral control were used in 4 motors in order to calibrate the Heading value of the omnidirectional mobile robot. The landmark of UGV was recognized as the camera adhered to UAV and the target was traced through the proportional-integralderivative control. Finally, the performance of the target tracking controller and proposed algorithm was evaluated through the experiment.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.