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Design of a logistics warehouse robot positioning and recognition model based on improved EKF and calibration algorithm

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SYSTEMS AND SOFT COMPUTING 2024年 6卷

作者： Wang, Yunbo Ye, Chao Shaanxi Railway Inst Sch Engn Management & Logist Weinan 714000 Peoples R China

Automatic guided vehicles for logistics warehousing are a key link in the construction of intelligent logistics. To improve the positioning accuracy of warehouse robots, we designed an advanced extended Kalman filter method integrating multiple synchronous positioning techniques and map construction methods, and completed the calibration and detection of pallets based on color image information. The results revealed that the proposed multi-innovation enhanced model achieved minimum relative rotation and absolute trajectory errors of 0.13 and 0.09, outperforming existing models. It showcased excellent mapping fidelity and integrity (above 0.9) across various datasets, with a high loop detection success rate (0.91) enhancing map precision. The tray fusion detection algorithm's AUC (area under the curve) reached 0.92, reflecting a balanced accuracy-recall tradeoff. This research offers robust positioning and mapping capabilities in logistics warehousing environments, effectively identifying errors and ensuring pallet accuracy. The detection error and accuracy of this method are better than the other three models, with the lowest average absolute error of 0.32 and the lowest root-mean-square error of 0.27, and the overall error in the detection of pallets is small. The findings provide strong theoretical backing and technical support for advancing intelligent logistics warehousing technology. Precise positioning and identification capabilities enable logistics and warehousing robots to accurately and quickly complete tasks such as access, handling and sorting of goods, greatly improving the efficiency of warehousing operations, promoting the digital transformation and intelligent development of the logistics and warehousing industry, and improving the competitiveness of the industry and the level of service.

关键词： Logistics and warehousing Kalman filtering Robots Positioning model calibration algorithm

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Fast and accurate calibration algorithm for laser pointer tracking via structured light illumination

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ELECTRONICS LETTERS 2014年第25期50卷 1946-1947页

作者： Liu, Kai Luo, Xueling Wu, Wei Yang, Xiaomin Zheng, Xiaojun Sichuan Univ Sch Elect Engn & Informat Chengdu 610064 Peoples R China Sichuan Univ Coll Elect & Informat Chengdu 610064 Peoples R China Sichuan Inst Prod Qual Supervis & Inspect Chengdu Peoples R China

In projector-based applications, if the laser spot of a laser pointer can be quickly and accurately tracked, the laser pointer can act as an alternative to a computer mouse, and thus a user can more conveniently interact with the computer from a distance. Presented is an efficient calibration algorithm, which is immune to both the geometry of projection surfaces and the distortion of optical lens, for laser pointer tracking. Experiments verify the effectiveness of the proposed algorithm.

关键词： calibration lenses optical projectors optical tracking calibration algorithm camera laser pointer tracking optical lens distortion projector-based applications structured light illumination structured light scanning

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A Newton iteration-based calibration algorithm for pipelined ADC 1

A Newton iteration-based calibration algorithm for pipelined...

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1st International Conference on Electronics Instrumentation & Information Systems (EIIS)

作者： Shi, Yujin Tsinghua Univ Dept Elect Engn Beijing Peoples R China

ISBN: (纸本)9781538608432

This paper presents a Newton iteration-based calibration algorithm for pipelined analog-to-digital converter (ADC). The proposed calibration algorithm equalizes the errors induced by incomplete settling of operational amplifier (op-amp) to the inter-stage gain errors. To compensate the inter-stage gain errors, a significant calibration parameter P3 is introduced, whose optimal solution is searched through Newton iteration method. With this parameter which is estimated through Newton iteration method, inter-stage gain errors will be compensated, and the digital output calibrated of ADC can be obtained. The presented calibration algorithm not only improves the ADC performance, but also is helpful to reduce the design difficulty of analog circuit by tolerating the incomplete settling errors caused by op-amp with low performance. A 14-bit 100MS/s pipelined ADC model with this calibration algorithm is built and simulated on MATLAB. Simulation results show this calibration algorithm improves SFDR from 55.08dB to 105.43dB, SNDR from 45.69dB to 82.85dB and ENOB from 7.29 to 13.47 at Nyquist input frequencies.

关键词： Newton iteration calibration algorithm interstage gain errors calibration parameter

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Design of Acceleration Feedforward and Study of calibration algorithm

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1st International Conference Intelligent Robotics and Applications

作者： Teng, Wei Zhou, Yunfei Li, Xiaoqing Yang, Liangliang Huazhong Univ Sci & Technol Sch Mech Sci & Engn Wuhan 430074 Hubei Province Peoples R China

ISBN: (纸本)9783540885160

This paper introduces a new acceleration feedforward control strategy. The proposed feedforward control consists of a feedforward coefficient and a delay element. A calibration algorithm is provided which calculates the feedforward coefficient and delay time accurately based on experiments. And a detailed calibration process is described. The feedforward control can make model-based feedforward design simple and can gain high tracking performance. Experimental results demonstrate the feasibility and effectiveness of the proposed feedforward control strategy and calibration algorithm.

关键词： Acceleration feedforward Feedforward coefficient Delay time calibration algorithm

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Four-Port SOLR calibration algorithm for Symmetric GSSG Probes

Four-Port SOLR Calibration Algorithm for Symmetric GSSG Prob...

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Joint Asia-Pacific International Symposium on Electromagnetic Compatibility / International Conference on Electromagnetic Interference and Compatibility (APEMC/INCEMIC)

作者： Zhou, Jiefeng Zhang, Ling Li, Da Chen, Junhui Li, Er-Ping Zhejiang Univ Coll Informat Sci & Elect Engn Hangzhou Peoples R China Zhejiang Univ Zhejiang Key Lab Adv Micro Nano Elect Devices & S Hangzhou Peoples R China

ISBN: (纸本)9798350338348

This paper proposes an efficient four-port short-open-load-reciprocity (SOLR) calibration algorithm for the symmetric Ground-Signal-Signal-Ground (GSSG) probes used for on-wafer S-parameter testing. This algorithm only needs four measurements, including one reciprocal Thru and three traditional calibration standards including Open, Short, and Load. Additionally, the exact S-parameters of the Thru are not mandatorily required. The correctness and effectiveness of the proposed algorithm is validated and corroborated by full-wave simulations up to 100 GHz.

关键词： calibration algorithm crosstalk electromagnetic s-parameter measurement symmetric probes

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Current calibration algorithm for bolometer-type uncooled infrared image sensor using pipeline signal processing 4

Current calibration algorithm for bolometer-type uncooled in...

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Conference on Image Sensing Technologies - Materials, Devices, Systems, and Applications IV

作者： Kim, Sang-Hwan Choi, Byoung-Soo Oh, Chang-Woo Shin, Jang-Kyoo Park, Jae-Hyoun Lee, Kyoung-Il Kyungpook Natl Univ Sch Elect Engn 80 Daehakro Daegu South Korea Kyungpook Natl Univ Dept Sensor & Display Engn 80 Daehakro Daegu South Korea Korea Elect Technol Inst 25 Saenari Ro Seongnam Si Gyeonggi Do South Korea

ISBN: (纸本)9781510609204

In this paper, we propose a pixel averaging current calibration algorithm for reducing fixed pattern noise due to the deviation of bolometer resistance. To reduce fixed pattern noise (FPN), averaging current calibration algorithm by which output current of each bolometer reference pixel is averaged by the averaging current calibration is suggested. The principle of algorithm is that average dark current of reference pixel array is subtracted by a dark current of each active pixel array. After that, the current difference with information of pixel deviation is converted to voltage signal through signal processing. To control the current difference of pixel deviation, a proper calibration current is required. Through this calibration algorithm, nano-ampere order dark currents with small deviations can be obtained. Sensor signal processing is based on a pipeline technique which results in parallel processing leading to very high operation. The proposed calibration algorithm has been implemented by a chip which is consisted of a bolometer active pixel array, a bolometer reference pixel array, average current generators, line memories, buffer memories, current-to-voltage converters (IVCs), a digital-to-analog converters (DACs), and analog-to-digital converters (ADCs). Proposed bolometer-resistor pixel array and readout circuit has been simulated and fabricated by 0.35 mu m standard CMOS process.

关键词： uncooled infrared image sensor calibration algorithm bolometer resistor fixed pattern noise

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A Fast Magnetic Deviation calibration algorithm for Tri-Axial Electronic Compass

A Fast Magnetic Deviation Calibration Algorithm for Tri-Axia...

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6th lEEE Annual International Conference on Cyber Technalogy in Automation, Control and Intelligent Systems (IEEE-CYBER)

作者： Yan, Wei Li, Heng Jin, Yufeng Wang, Zhenyu Shi, Guangyi Peking Univ Shenzhen Grad Sch Shenzhen Peoples R China Peking Univ Sch Software & Microelect Engn Wuxi Peoples R China

ISBN: (纸本)9781509027323

According to the principle of electronic compass, we analyze the error of the E-compass and propose a calibration scheme in view of magnetic deviation, which is based on the self-designed tri-axial magnetometer system. The hardware is made by hi-axial magnetometer and hi-axial accelerometer. Considering the magnetic interference of the external environment will affect the magnetic deviation, we worked out a compensation method based on ellipsoid fitting. The experiment results showed the sitnplicity and efficiency of the algorithm. The compass deviation fell from 15 degree to within ldegree. And it can maintain high accuracy even under large magnetic dip.

关键词： tri-axial compass magnetic deviation ellipsoid fitting calibration algorithm magnetometer

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An AC magnetic compass based on magnetoelectric effect integrated with a calibration algorithm

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SENSORS AND ACTUATORS A-PHYSICAL 2022年 347卷

作者： Xu, Yiwei Guan, Mengmeng Wu, Jingen Xian, Dan Du, Yongjun Liang, Xianfeng Wang, Zhiguang Huang, Hui Ju, Dengfeng Zhao, Libo Dong, Shuxiang Hu, Zhongqiang Guo, Jinghong Jiang, Zhuangde Liu, Ming Xi An Jiao Tong Univ Key Lab Minist Educ Elect Mat Res Lab Xian 710049 Peoples R China Xi An Jiao Tong Univ Int Ctr Dielect Res Sch Elect Sci & Engn Xian 710049 Peoples R China Xi An Jiao Tong Univ Sch Future Technol Xian 710049 Peoples R China Xi An Jiao Tong Univ Int Joint Lab Micro Nano Mfg & Measurement Technol Xian 710049 Peoples R China State Grid Smart Grid Res Inst Co LTD Dept Elect Power Sensing Technol Beijing 102209 Peoples R China Shenzhen Univ Inst Adv Study Shenzhen 518051 Peoples R China

Magnetoelectric (ME) composites are found to be sensitive to both the intensity and the orientation of external magnetic field, therefore, they have been developed as compasses for in-plane AC magnetic field detection. However, the angular sensitivity of ME compasses is still low compared to other compasses, due to their insensitive resonant mode and poor coupling structure. Here, we propose a ME compass working at L-T mode by using a Metglas/PZT composite that integrated with a calibration algorithm. Detection of the intensity and di-rection of in-plane AC magnetic field is demonstrated synchronously with intensity and angle sensitivities of 0.001 Oe and +/- 0.1 degrees, respectively. In addition, when the calibration algorithms are applied, the angular sensi-tivity is significantly enhanced to +/- 0.02 degrees, one order of magnitude higher than that of other reported ME compasses, demonstrating a great potential for applications in magnetic positioning, magnetic field calibration, and other magnetic detection technologies.

关键词： Magnetoelectric compass calibration algorithm AC magnetic field detection

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An optimal model output calibration algorithm suitable for objective temperature forecasting

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WEATHER AND FORECASTING 1999年第2期14卷 190-202页

作者： Mao, Q McNider, RT Mueller, SF Juang, HMH Univ Alabama ESSL Huntsville AL 35806 USA Tennessee Valley Author Muscle Shoals AL 35660 USA Natl Ctr Environm Predict Washington DC USA

An optimal model output calibration (MOC) algorithm suitable for surface air temperature forecasts is proposed and tested with the National Centers for Environmental Prediction Regional Spectral Model (RSM). Differing from existing methodologies and the traditional model output statistics (MOS) technique, the MOC algorithm uses forecasts and observations of the most recent 2-4 weeks to objectively estimate:and adjust the current model forecast errors and make refined predictions. The MOC equation, a multivariate linear regression equation with forecast error being the predictand, objectively screens as many as 30 candidates of predictors and optimally selects no more than 6. The equation varies from day to day and from site to: site. Since it does not rely on long-term statistics of stable model runs, the MOC minimizes the influence of changes in model physics and spatial resolution on the forecast refinement process. Forecast experiments were conducted for six major urban centers in the Tennessee Valley over the period of 27 June to 30:July 1997. Surface air temperature forecasts out to 72 h were produced based upon RSM runs initialized from 0000 UTC observations. Performance of the MOC for minimum and maximum temperature forecasts was assessed by determining mean forecast error (BIAS). mean absolute error (MAE), and root-mean-square errors (rmse) for both the MOC-adjusted and nonadjusted RSM output. The same statistical measures for Nested Grid Model-MOS forecasts over the experiment period-were also provided for instruction. A skill score was calculated to demonstrate the improvement of refined forecasts with the MOC over the RSM. On average for the six sites, reduction of forecast errors by the MOC ranged from 58% to 98% in BIAS, 40% to 52% in MAE, and 33% to 46% in rmse. It also showed that the error frequencies of the refined forecasts had Gaussian distributions with the peak centered around zero. The error bands were narrower: using the MOC and there Were dec

关键词： .model output national centers Suitable predictors MOS Environmental Prediction calibration algorithm Tennessee Valley MOC algorithm surface air temperature Regional Spectral Model RSM objectively MOC equation

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A fast in-situ SINS and Doppler sensor calibration algorithm for underwater vehicle navigation

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IEICE ELECTRONICS EXPRESS 2014年第23期11卷 20140994-20140994页

作者： Kang, Li Ye, Lingyun Song, Kaichen Zhejiang Univ Coll Biomed Engn & Instrument Sci Hangzhou 310027 Zhejiang Peoples R China

This paper reports the development and experimental evaluation of an in-situ calibration algorithm of the misalignment mounting angle matrix between the Strapdown inertial navigation system (SINS) and Doppler sensor which are practically used for accurate underwater navigation. Most previously reported methods required the SINS to be aligned first to output accurate attitude before the calibration. By separately treating the body frame and the navigation frame attitude update, the algorithm in this paper could be simultaneously carried out during the SINS attitude alignment stage. Simulation and experiment results show that the calibration could be done in 300 s and the position error during the navigation is less than 0.8% of the voyage distance.

关键词： Doppler navigation inertial navigation calibration algorithm attitude update

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