Helmert Transformation Problem. From Euler Angles Method to Quaternion Algebra

Ioannidou, Stefania; Pantazis, George

doi:10.3390/ijgi9090494

Cited by 13 publications

(6 citation statements)

References 4 publications

(3 reference statements)

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“…There are various ways to describe the posture in 3D space, such as Eulerian angle, rotation matrix, quaternion, axis angle, etc [31][32][33] . The description of tool posture in RobotStudio is expressed by quaternion.…”

Section: Planning Of Welding Torch Posturementioning

confidence: 99%

Welding motion matching of tank with variable curvature section based on discrete planning method of welding torch posture

song¹,

Li²,

Wang³

et al. 2023

Preprint

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Welding path planning and motion matching of complex tanks are major areas of research for intelligent welding equipment. In the present work, the welding of tank with variable curvature section was taken as the study object, an innovative method to automatically generate the posture of welding torch at the welding spots of variable curvature section was proposed. The torch posture homogeneous transformation matrix was established, and the equation of welding motion matching on basis of the method of torch posture planning was constructed by combining the angle planning equation of the positioner. Then, a set of welding torch posture and positioner’s rotation angles along the welding path of variable curvature section was created in Matlab, and the combination code of the welding torch movement and positioner rotation was obtained to accurately control the welding speed, wire extension and the posture of welding torch during the welding process of the tank. An aluminum alloy tank composed of eight arcs was chosen to verify the proposed technique. The results show that the difference of welding position at the same positioner’s rotation angle ranged from -0.7976 mm to 0.7616 mm, the repeatability accuracy of the posture of the automatic welding system was less than 0.1 mm, and the weld qualification rate of aluminum alloy tank is more than 98% with limited weld defects. That is, the tanks with variable curvature sections can be automatically and accurately welded by the proposed method.

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Section: Planning Of Welding Torch Posturementioning

confidence: 99%

Welding motion matching of tank with variable curvature section based on discrete planning method of welding torch posture

song¹,

Li²,

Wang³

et al. 2023

Preprint

View full text Add to dashboard Cite

show abstract

“…In the final step, the VLBI IVP should be represented in the global reference frame (e.g., ITRF2014), which can be performed using the Helmert transformation typically performed in geodetic reference frames [ 19 , 20 , 21 , 22 , 23 ]. The transformation parameters were estimated using pillars.…”

Section: General Descriptionmentioning

confidence: 99%

Sphero-Conical Modeling for the Estimation of Very Long Baseline Interferometry Invariant Point

Bae

Hong

2022

Sensors

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A geodetic reference frame is a fundamental element in geoinformation fields such as autonomous navigation and digital twins. The international terrestrial reference frame is established and maintained using several space-geodetic techniques, including very long baseline interferometry (VLBI) and satellite laser ranging (SLR). For several decades, geodesists have been devoted to connecting these two sensors at a site (local tie). The reference point of the VLBI antenna and SLR telescope, called invariant point (IVP), should be precisely determined to connect these two solutions. We developed an innovative integrated model to estimate the IVP, which is composed of spherical and conical models, depending on the rotational axis. In this model, all target points in 3D spaces were directly connected to the IVP; thus, the stability and robustness of the system were secured. Furthermore, all inherent errors in the coordinates were predicted by applying the total least-squares approach.

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“…The quaternion [ 24 ] as the quotient of two directed lines in a three-dimensional space is used to solve angle in the angle trajectory model. The representation of the quaternion is p = p ω + p x i + p y j + p z k with a real part p ω and three imaginary parts parameters p x , p y , and p z .…”

Section: Soccer Motion Recognition and Assessmentmentioning

confidence: 99%

An IoT-Based Motion Tracking System for Next-Generation Foot-Related Sports Training and Talent Selection

Zhang

Wang

et al. 2021

Journal of Healthcare Engineering

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Motion tracking in different fields (medical, military, film, etc.) based on microelectromechanical systems (MEMS) sensing technology has been attracted by world's leading researchers and engineers in recent years; however, there is still a lack of research covering the sports field. In this study, we propose a new AIoT (AI + IoT) paradigm for next-generation foot-driven sports (soccer, football, takraw, etc.) training and talent selection. The system built is cost-effective and easy-to-use and requires much fewer computational resources than traditional video-based analysis on monitoring motions of players during training. The system built includes a customized wireless wearable sensing device (WWSDs), a mobile application, and a data processing interface-based cloud with an ankle attitude angle analysis model. Eleven right-foot male participators wore the WWSD on their ankle while each performed 20 instances of different actions in a formal soccer field. The experimental outcome demonstrates the proposed motion tracking system based on AIoT and MEMS sensing technologies capable of recognizing different motions and assessing the players’ skills. The talent selection function can partition the elite and amateur players at an accuracy of 93%. This intelligent system can be an emerging technology based on wearable sensors and attain the experience-driven to data-driven transition in the field of sports training and talent selection and can be easily extended to analyze other foot-related sports motions (e.g., taekwondo, tumble, and gymnastics) and skill levels.

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Helmert Transformation Problem. From Euler Angles Method to Quaternion Algebra

Cited by 13 publications

References 4 publications

Welding motion matching of tank with variable curvature section based on discrete planning method of welding torch posture

Welding motion matching of tank with variable curvature section based on discrete planning method of welding torch posture

Sphero-Conical Modeling for the Estimation of Very Long Baseline Interferometry Invariant Point

An IoT-Based Motion Tracking System for Next-Generation Foot-Related Sports Training and Talent Selection

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