The Experts below are selected from a list of 360 Experts worldwide ranked by ideXlab platform
Yongliang Zhang - One of the best experts on this subject based on the ideXlab platform.
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research on static decoupling algorithm for piezoelectric six axis force torque sensor based on lssvr fusion algorithm
Mechanical Systems and Signal Processing, 2018Co-Authors: Yingjun Li, Hui Zhang, Guicong Wang, Xue Yang, Binbin Han, Yongliang ZhangAbstract:Abstract Six axis force/torque sensors with characteristics of high precision, high reliability, and high dynamic, have become one of the major bottlenecks restricting the development of the robot. Aiming at the existing decoupling problem of piezoelectric six axis force/torque sensor with four point support structure, this paper presents the research and application on static decoupling method. Firstly, initial Experimental data for decoupling of piezoelectric six axis force/torque sensor is obtained by making a Calibration Experiment. And then, Experimental data are analyzed according to evaluate indicator. The linear decoupling algorithm based on the least square (LS) method is performed. Fusion decoupling algorithm based on Least Square Support Vector Machine Regression (LSSVR) is adopted to optimize multi-dimensional nonlinear characteristics of sensor output. The mapping relation between input and output of the sensor is identified. After LSSVM fusion algorithm decoupling, the maximum nonlinear error and cross coupling error are 0.89%, and 0.1%, respectively. The results show that the decoupling of LSSVR fusion algorithm can reduce the nonlinear error and cross coupling error of the fabricated piezoelectric six axis force/torque sensor. It has important significance to improve the measurement accuracy of robot force feedback with piezoelectric six axis force/torque sensors.
Yingjun Li - One of the best experts on this subject based on the ideXlab platform.
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research on static decoupling algorithm for piezoelectric six axis force torque sensor based on lssvr fusion algorithm
Mechanical Systems and Signal Processing, 2018Co-Authors: Yingjun Li, Hui Zhang, Guicong Wang, Xue Yang, Binbin Han, Yongliang ZhangAbstract:Abstract Six axis force/torque sensors with characteristics of high precision, high reliability, and high dynamic, have become one of the major bottlenecks restricting the development of the robot. Aiming at the existing decoupling problem of piezoelectric six axis force/torque sensor with four point support structure, this paper presents the research and application on static decoupling method. Firstly, initial Experimental data for decoupling of piezoelectric six axis force/torque sensor is obtained by making a Calibration Experiment. And then, Experimental data are analyzed according to evaluate indicator. The linear decoupling algorithm based on the least square (LS) method is performed. Fusion decoupling algorithm based on Least Square Support Vector Machine Regression (LSSVR) is adopted to optimize multi-dimensional nonlinear characteristics of sensor output. The mapping relation between input and output of the sensor is identified. After LSSVM fusion algorithm decoupling, the maximum nonlinear error and cross coupling error are 0.89%, and 0.1%, respectively. The results show that the decoupling of LSSVR fusion algorithm can reduce the nonlinear error and cross coupling error of the fabricated piezoelectric six axis force/torque sensor. It has important significance to improve the measurement accuracy of robot force feedback with piezoelectric six axis force/torque sensors.
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a novel parallel piezoelectric six axis heavy force torque sensor
Measurement, 2009Co-Authors: Yingjun Li, Baoyuan Sun, Jun Zhang, Min Qian, Zhenyuan JiaAbstract:Abstract The huge heavy-load manipulators are urgently needed to accurately and efficiently manufacture large components in some fields, such as the nuclear power plant, shipbuilding, chemical engineering and national defense. In this paper, a novel parallel piezoelectric six-axis heavy force/torque sensor is designed to realize harmonious control and multi-degree-of-freedom of huge heavy-load manipulator, which is different with conventional tandem six-axis force/torque sensors. Piezoelectric quartz is chosen as force sensing element. This paper discusses special layout of force sensing element, and advances a novel parallel piezoelectric six-axis force/torque sensor. The model of elastic body is set up and analyzed by ANSYS software. A prototype sensor is fabricated to make Calibration Experiment. The results show that this type piezoelectric six-axis force/torque sensor with four-point supporting structure can accurately measure dynamic six-dimensional force on axis, and has advantages in good rigidity, good linearity, nice manufacturability, and high natural frequency. The interference error is less than 5%.
G Martin - One of the best experts on this subject based on the ideXlab platform.
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a detector interferometric Calibration Experiment for high precision astrometry
Astronomy and Astrophysics, 2016Co-Authors: Antoine Crouzier, F Malbet, Francois Henault, Alain Leger, C Cara, J M Leduigou, Olivier Preis, P Kern, Alain Delboulbe, G MartinAbstract:Context. Exoplanet science has made staggering progress in the last two decades, due to the relentless exploration of new detection methods and refinement of existing ones. Yet astrometry offers a unique and untapped potential of discovery of habitable-zone low-mass planets around all the solar-like stars of the solar neighborhood. To fulfill this goal, astrometry must be paired with high precision Calibration of the detector. Aims. We present a way to calibrate a detector for high accuracy astrometry. An Experimental testbed combining an astrometric simulator and an interferometric Calibration system is used to validate both the hardware needed for the Calibration and the signal processing methods. The objective is an accuracy of 5 × 10 -6 pixel on the location of a Nyquist sampled polychromatic point spread function. Methods. The interferometric Calibration system produced modulated Young fringes on the detector. The Young fringes were parametrized as products of time and space dependent functions, based on various pixel parameters. The minimization of function parameters was done iteratively, until convergence was obtained, revealing the pixel information needed for the Calibration of astrometric measurements. Results. The Calibration system yielded the pixel positions to an accuracy estimated at 4 × 10 -4 pixel. After including the pixel position information, an astrometric accuracy of 6 × 10 -5 pixel was obtained, for a PSF motion over more than five pixels. In the static mode (small jitter motion of less than 1 × 10 -3 pixel), a photon noise limited precision of 3 × 10 -5 pixel was reached.
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a detector interferometric Calibration Experiment for high precision astrometry
arXiv: Instrumentation and Methods for Astrophysics, 2016Co-Authors: Antoine Crouzier, F Malbet, Francois Henault, Alain Leger, C Cara, J M Leduigou, Olivier Preis, P Kern, Alain Delboulbe, G MartinAbstract:Context: Exoplanet science has made staggering progress in the last two decades, due to the relentless exploration of new detection methods and refinement of existing ones. Yet astrometry offers a unique and untapped potential of discovery of habitable-zone low-mass planets around all the solar-like stars of the solar neighborhood. To fulfill this goal, astrometry must be paired with high precision Calibration of the detector. Aims: We present a way to calibrate a detector for high accuracy astrometry. An Experimental testbed combining an astrometric simulator and an interferometric Calibration system is used to validate both the hardware needed for the Calibration and the signal processing methods. The objective is an accuracy of 5e-6 pixel on the location of a Nyquist sampled polychromatic point spread function. Methods: The interferometric Calibration system produced modulated Young fringes on the detector. The Young fringes were parametrized as products of time and space dependent functions, based on various pixel parameters. The minimization of func- tion parameters was done iteratively, until convergence was obtained, revealing the pixel information needed for the Calibration of astrometric measurements. Results: The Calibration system yielded the pixel positions to an accuracy estimated at 4e-4 pixel. After including the pixel position information, an astrometric accuracy of 6e-5 pixel was obtained, for a PSF motion over more than five pixels. In the static mode (small jitter motion of less than 1e-3 pixel), a photon noise limited precision of 3e-5 pixel was reached.
Jing Xiao - One of the best experts on this subject based on the ideXlab platform.
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a robust static decoupling algorithm for 3 axis force sensors based on coupling error model and e svr
Sensors, 2012Co-Authors: Aiguo Song, Jing XiaoAbstract:Coupling errors are major threats to the accuracy of 3-axis force sensors. Design of decoupling algorithms is a challenging topic due to the uncertainty of coupling errors. The conventional nonlinear decoupling algorithms by a standard Neural Network (NN) are sometimes unstable due to overfitting. In order to avoid overfitting and minimize the negative effect of random noises and gross errors in Calibration data, we propose a novel nonlinear static decoupling algorithm based on the establishment of a coupling error model. Instead of regarding the whole system as a black box in conventional algorithm, the coupling error model is designed by the principle of coupling errors, in which the nonlinear relationships between forces and coupling errors in each dimension are calculated separately. Six separate Support Vector Regressions (SVRs) are employed for their ability to perform adaptive, nonlinear data fitting. The decoupling performance of the proposed algorithm is compared with the conventional method by utilizing obtained data from the static Calibration Experiment of a 3-axis force sensor. Experimental results show that the proposed decoupling algorithm gives more robust performance with high efficiency and decoupling accuracy, and can thus be potentially applied to the decoupling application of 3-axis force sensors.
Antoine Crouzier - One of the best experts on this subject based on the ideXlab platform.
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a detector interferometric Calibration Experiment for high precision astrometry
Astronomy and Astrophysics, 2016Co-Authors: Antoine Crouzier, F Malbet, Francois Henault, Alain Leger, C Cara, J M Leduigou, Olivier Preis, P Kern, Alain Delboulbe, G MartinAbstract:Context. Exoplanet science has made staggering progress in the last two decades, due to the relentless exploration of new detection methods and refinement of existing ones. Yet astrometry offers a unique and untapped potential of discovery of habitable-zone low-mass planets around all the solar-like stars of the solar neighborhood. To fulfill this goal, astrometry must be paired with high precision Calibration of the detector. Aims. We present a way to calibrate a detector for high accuracy astrometry. An Experimental testbed combining an astrometric simulator and an interferometric Calibration system is used to validate both the hardware needed for the Calibration and the signal processing methods. The objective is an accuracy of 5 × 10 -6 pixel on the location of a Nyquist sampled polychromatic point spread function. Methods. The interferometric Calibration system produced modulated Young fringes on the detector. The Young fringes were parametrized as products of time and space dependent functions, based on various pixel parameters. The minimization of function parameters was done iteratively, until convergence was obtained, revealing the pixel information needed for the Calibration of astrometric measurements. Results. The Calibration system yielded the pixel positions to an accuracy estimated at 4 × 10 -4 pixel. After including the pixel position information, an astrometric accuracy of 6 × 10 -5 pixel was obtained, for a PSF motion over more than five pixels. In the static mode (small jitter motion of less than 1 × 10 -3 pixel), a photon noise limited precision of 3 × 10 -5 pixel was reached.
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a detector interferometric Calibration Experiment for high precision astrometry
arXiv: Instrumentation and Methods for Astrophysics, 2016Co-Authors: Antoine Crouzier, F Malbet, Francois Henault, Alain Leger, C Cara, J M Leduigou, Olivier Preis, P Kern, Alain Delboulbe, G MartinAbstract:Context: Exoplanet science has made staggering progress in the last two decades, due to the relentless exploration of new detection methods and refinement of existing ones. Yet astrometry offers a unique and untapped potential of discovery of habitable-zone low-mass planets around all the solar-like stars of the solar neighborhood. To fulfill this goal, astrometry must be paired with high precision Calibration of the detector. Aims: We present a way to calibrate a detector for high accuracy astrometry. An Experimental testbed combining an astrometric simulator and an interferometric Calibration system is used to validate both the hardware needed for the Calibration and the signal processing methods. The objective is an accuracy of 5e-6 pixel on the location of a Nyquist sampled polychromatic point spread function. Methods: The interferometric Calibration system produced modulated Young fringes on the detector. The Young fringes were parametrized as products of time and space dependent functions, based on various pixel parameters. The minimization of func- tion parameters was done iteratively, until convergence was obtained, revealing the pixel information needed for the Calibration of astrometric measurements. Results: The Calibration system yielded the pixel positions to an accuracy estimated at 4e-4 pixel. After including the pixel position information, an astrometric accuracy of 6e-5 pixel was obtained, for a PSF motion over more than five pixels. In the static mode (small jitter motion of less than 1e-3 pixel), a photon noise limited precision of 3e-5 pixel was reached.
