Accurate Rotation Research Articles

Non-Metallic MR-Guided Concentric Tube Robot for Intracerebral Hemorrhage Evacuation.

We aim to develop and evaluate an MR-conditional concentric tube robot for intracerebral hemorrhage (ICH) evacuation. We fabricated the concentric tube robot hardware with plastic tubes and customized pneumatic motors. The robot kinematic model was developed using a discretized piece-wise constant curvature (D-PCC) approach to account for variable curvature along the tube shape, and tube mechanics model was used to compensate torsional deflection of the inner tube. The MR-safe pneumatic motors were controlled using a variable gain PID algorithm. The robot hardware was validated in a series of bench-top and MRI experiments, and the robot's evacuation efficacy was tested in MR-guided phantom trials. The pneumatic motor was able to achieve a rotational accuracy of 0.32°±0.30° with the proposed variable gain PID control algorithm. The kinematic model provided a positional accuracy of the tube tip of 1.39 ± 0.54 mm. The robot was able to evacuate an initial 38.36 mL clot, leaving a residual hematoma of 8.14 mL after 5 minutes, well below the 15 mL guideline suggesting good post-ICH evacuation clinical outcomes. This robotic platform provides an effective method for MR-guided ICH evacuation. ICH evacuation is feasible under MRI guidance using a plastic concentric tube, indicating potential feasibility in future live animal studies.

Detection of the Keplerian decline in the Milky Way rotation curve

Our position inside the Galactic disc has previously prevented us from establishing an accurate rotation curve (RC). The advent of Gaia and its third data release (Gaia DR3) made it possible to specify the RC up to twice the optical radius. We aim to establish a new RC of the Galaxy from the Gaia DR3 by drastically reducing systematic uncertainties. Our goal is to provide a new estimate of the mass of the Galaxy. We compared different estimates, established a robust assessment of the systematic uncertainties, and addressed differences in methodologies, particularly regarding distance estimates. We find a sharply decreasing RC for the Milky Way; the decrease in velocity between 19.5 and 26.5 kpc is approximately 30 km s−1. We identify, for the first time, a Keplerian decline of the RC, starting at ∼19 kpc and ending at ∼26.5 kpc from the Galaxy centre, while a flat RC is rejected with a significance of 3σ. The total mass is revised downwards to 2.06−0.13+0.24 × 1011 M⊙, which is in agreement with the absence of a significant mass increase at radii larger than 19 kpc. We evaluated the upper limit on the total mass by considering the upper values of velocity measurements, which leads to a strict, unsurpassable limit of 5.4 × 1011 M⊙.

Calibration Considering the Direction of Rotation for Contact Type Three-Dimensional Position-Measuring Instruments

In Japan, the aging of sewage facilities due to long-term use has become a significant social issue. As a result, there has been a growing interest in portable and easy-to-operate standalone pipe inspection robots in recent years. However, the pipes being inspected not only have level differences due to joint connections but also pose a high risk of toppling over due to deterioration, collapses, and sludge caused by external disturbances. Many standalone robots address this by suppressing tipping through tire shape and axle adjustments. However, this method is for suppression and not complete prevention. Therefore, we are exploring a software-based approach to prevent tipping through control of robot movement and aiming to achieve advanced self-position estimation. Currently, we are in the stage of verifying this self-position estimation. However, due to the curved nature of the pipes, it is difficult to accurately measure the robot's position and orientation using conventional measurement instruments. Thus, we have developed a specialized three-dimensional position measurement instrument for pipe inspection robots. Furthermore, although we performed calibration in the translational direction of the instrument, while improvements in accuracy were observed in the translational direction, the accuracy in the rotational direction deteriorated. In this paper, we propose a method to simultaneously calibrate the translational and rotational accuracy of the instrument to address this issue. We discuss the mechanism model, calibration parameters, elimination of redundant parameters by introducing redundancy, and parameter estimation using the Newton method. Additionally, through comparative validation using the instrument, we confirm that the position accuracy after calibration is within the range of approximately ±1.0 mm, and the orientation accuracy is within the range of approximately ±0.3 degrees. This demonstrates the effectiveness of the proposed method.

Initial clinical evaluation of a novel combined biometric, radio-frequency identification, and surface imaging system

PurposeTo evaluate and characterize the overall clinical functionality and workflow of the newly released Varian Identify system (version 2.3). MethodsThree technologies included in the Varian Identify system were evaluated: patient biometric authentication, treatment accessory device identification, and surface-guided radiation therapy (SGRT) function. Biometric authentication employs a palm vein reader. Treatment accessory device verification utilizes two technologies: device presence via Radio Frequency Identification (RFID) and position via optical markers. Surface-guidance was evaluated on both patient orthopedic setup at loading position and surface matching and tracking at treatment isocenter. A phantom evaluation of the consistency and accuracy for Identify SGRT function was performed, including a system consistency test, a translational shift and rotational accuracy test, a pitch and roll accuracy test, a continuous recording test, and an SGRT vs Cone-Beam CT (CBCT) agreement test. Results201 patient authentications were verified successfully with palm reader. All patient treatment devices were successfully verified for their presences and positions (indexable devices). The patient real-time orthopedic pose was successfully adjusted to match the reference surface captured at simulation. SGRT-reported shift consistency against couch readout was within (0.1 mm, 0.030). The shift accuracy was within (0.3 mm, 0.10). In continuous recording mode, the maximum variation was 0.2 ± 0.12 mm, 0.030 ± 0.020. The difference between Identify SGRT offset and CBCT was within (1 mm, 10). ConclusionsThis clinical evaluation confirms that Identify accurately functions for patient palm identification and patient treatment device presence and position verification. Overall SGRT consistency and accuracy was within (1 mm, 10), within the 2 mm criteria of AAPM TG302.

Accuracy of lingual straight-wire orthodontic treatment with passive self-ligating brackets and square slot: a retrospective study

ObjectivesTo investigate the accuracy of torque, tip and rotation and linear intra-arch movements yielded by passive self-ligating lingual straight-wire appliances with brackets featuring square slots.Materials and methodsTwenty-five adult Caucasian patients (16 females and 9 males; mean age 26.5 ± 4.3 years) with Class I or mild Class II head-to-head malocclusion were orthodontically treated via passive lingual self-ligating straight-wire appliances (ALIAS, Ormco, Orange, CA) with no extraction. Records were retrospectively analysed, and digital models of pre-treatment (T0), planned (T1) and achieved (T2) phase were acquired for both arches in each patient via an intraoral scanner (Medit I500 (iScan Medit, Seoul, Korea). VAM software (Vectra, Canfield Scientific, Fairfield, NJ, USA) was used to measure both angular values (torque, tip and rotation) and linear intra-arch widths (between canines, first and second premolars and first and second molars). Measurements were obtained for all the movements investigated for each tooth group (incisors, canines, premolars and molars), by arch (maxillary and mandibular) and for both arches at T0, T1 and T2. The accuracy of angular values was compared using Student's t-test against a hypothetical 100%, and among the various tooth groups by post-hoc tests. Transverse linear measurements were investigated by means of the non-parametric Friedman test. The significance threshold was set at 0.05.ResultsThe mean accuracy of angular values was 77.25 ± 7.71% for torque, 78.41 ± 6.17% for tip and 77.99 ± 6.58% for rotation. In all cases, however, there was a significant difference between planned and achieved movements, and accuracy was significantly lower than the hypothetical 100% for all tooth groups, individual arches and dentition (p < 0.001). For intra-arch diameters, the greatest accuracy values were found for the anterior sectors (83.54 ± 5.19% for the maxillary inter-canine distance) and the lowest for the posterior sectors (67.28% for the maxillary inter-second molar distance).ConclusionStraight-wire lingual treatment with passive self-ligating appliances featuring with square slot displayed excellent clinical accuracy, albeit with statistical accuracy decreasing antero-posteriorly.

An improved camera model for oblique-viewing laparoscopes: high reprojection accuracy independent of telescope rotation

Objective. Oblique-viewing laparoscopes are popular in laparoscopic surgeries where the target anatomy is located in narrow areas. Their viewing direction can be shifted by telescope rotation without changing the laparoscope pose. This rotation also changes laparoscope camera parameters that are estimated by camera calibration to be able to reproject an anatomical model onto the laparoscopic view, creating augmented reality (AR). The aim of this study was to develop a camera model that accounts for these changes, achieving high reprojection accuracy for any telescope rotation. Approach. Camera parameters were acquired by calibrations encompassing a wide telescope rotation range. For those parameters showing periodic changes upon rotation, interpolation models were created and used to establish an updatable camera model. With this model, corner points of a tracked checkerboard were reprojected onto the checkerboard laparoscopic images, at random rotation angles. Root-mean-square reprojection errors (RMSEs) were calculated between the reprojected and imaged corner points. Main results. Reprojection RMSEs were low and approximately independent on telescope rotation angle, over a wide rotation range of 320°. The mean reprojection RMSE was 2.8 0.7 pixels for a conventional laparoscope and 3.6 0.7 pixels for a chip-on-the-tip (COTT) laparoscope, corresponding to 0.3 0.1 mm and 0.4 0.1 mm in world coordinates respectively. Worst-case reprojection errors were about 9 pixels (0.8 mm) for both laparoscopes. Significance. The camera model developed in this study improves on existing models for oblique-viewing laparoscopes because it provides high reprojection accuracy independent of the telescope rotation angle and is applicable for conventional and chip-on-a-tip oblique-viewing laparoscopes. The work presented here is an important step towards creating accurate AR in image-guided interventions where oblique-viewing laparoscopes are used while simultaneously providing the surgeon the flexibility to rotate the telescope to any desired rotation angle. Acronyms. CC: camera coordinates; CCToolbox: camera calibration toolbox; COTT: chip-on-the-tip; CS: camera sensor; DD: decentering distortion; FL: focal length; OTS: optical tracking system; PP: principal point; RD: radial distortion; SI: supplementary information; hand-eye translation component

On the fundamentality of the radial acceleration relation for late-type galaxy dynamics

ABSTRACT Galaxies have been observed to exhibit a level of simplicity unexpected in the complex galaxy formation scenario posited by standard cosmology. This is particularly apparent in their dynamics, where scaling relations display much regularity and little intrinsic scatter. However, the parameters responsible for this simplicity have not been identified. Using the Spitzer Photometry &amp; Accurate Rotation Curves galaxy catalogue, we argue that the radial acceleration relation (RAR) between galaxies’ baryonic and total dynamical accelerations is the fundamental 1D correlation governing the radial (in-disc) dynamics of late-type galaxies. In particular, we show that the RAR cannot be tightened by the inclusion of any other available galaxy property, that it is the strongest projection of galaxies’ radial dynamical parameter space, and that all other statistical radial dynamical correlations stem from the RAR plus the non-dynamical correlations present in our sample. We further provide evidence that the RAR’s fundamentality is unique in that the second most significant dynamical relation does not possess any of these features. Our analysis reveals the root cause of the correlations present in galaxies’ radial dynamics: they are nothing but facets of the RAR. These results have important ramifications for galaxy formation theory because they imply that to explain statistically late-type galaxy dynamics within the disc it is necessary and sufficient to explain the RAR and lack of any significant, partially independent correlation. While simple in some modified dynamics models, this poses a challenge to standard cosmology.

Accuracy analysis for machine tool spindles considering full parallel connections and form errors based on skin model shapes

Abstract The rotation accuracy of a machine tool spindle is essential for ensuring the machining precision. Due to the existence of manufacturing and assembly errors, the rotation accuracy of the spindle will be inevitably impacted and degraded. Therefore, to reduce the influence of the errors and improve the work performance, this paper focuses on accuracy analysis for the spindle and a novel optimization-oriented skin model shape method to tackle this highly complex problem. First, a structural analysis of the spindle is carried out to elaborate the intractable full parallel collections in the assembly. Then, based on the iterative closest point method, the deviation propagation of the spindle considering complex full parallel collections is transformed into an optimization problem, in which the skin model shapes and small displacement torsor are utilized to represent the form and pose errors of the part, respectively. By solving the optimization problem, assembly accuracy analysis for the spindle in terms of full parallel connections and form errors is accordingly achieved. On this basis, the tolerance analysis model of the spindle is also comprehensively established by employing the corresponding error simulation. Finally, measurement experiments are conducted to validate the effectiveness of the proposed method. The experiments show the predicted rotation runout and tolerance magnitude are close to the testing results, therefore indicating the proposed method can provide effective accuracy analysis for spindles.

Face-on map of the molecular disc and 3-kpc expanding ring of the galaxy based on a high-accuracy rotation curve

We analyze the longitude-velocity diagram (LVD) of 12CO-line emission from archival data and use the most accurate rotation curve (RC) of the Milky Way to transform radial velocity to face-on position in the galactic plane. We point out that the face-on transformation is highly sensitive to the adopted RC, especially in the inner Milky Way, in the sense that deviations of the RC from the true rotation velocity lead either to an artifact hole or overcrowded concentration along the tangent circle for over- or under-estimated RC, respectively. Even if the RC is sufficiently accurate, non-circular motion such as with the 3 kpc expanding ring introduces significant artifacts in the resulting face-on-map, as long as a circular rotation is assumed. On the other hand, if we properly take into account the non-circular motion, it can be used to solve the near-far degeneracy problem of determination of kinematic distance. We thus propose a new method to solve the degeneracy by incorporating the expanding motion of a ring or arms. We apply the method to the LVD of the 3-kpc expanding ring and present its face-on map projected onto the galactic plane for the first time.

The information on halo properties contained in spectroscopic observations of late-type galaxies

ABSTRACT Rotation curves are the key observational manifestation of the dark matter distribution around late-type galaxies. In a halo model context, the precision of constraints on halo parameters is a complex function of properties of the measurements as well as properties of the galaxy itself. Forthcoming surveys will resolve rotation curves to varying degrees of precision, or measure their integrated effect in the $\mathrm{H}\, \small {\rm I}$ linewidth. To ascertain the relative significance of the relevant quantities for constraining halo properties, we study the information on halo mass and concentration as quantified by the Kullback–Leibler divergence of the kinematics-informed posterior from the uninformative prior. We calculate this divergence as a function of the different types of spectroscopic observation, properties of the measurement, galaxy properties, and auxiliary observational data on the baryonic components. Using the SPARC (Spitzer Photometry &amp; Accurate Rotation Curves) sample, we find that fits to the full rotation curve exhibit a large variation in information gain between galaxies, ranging from ~1 to ~11 bits. The variation is predominantly caused by the vast differences in the number of data points and the size of velocity uncertainties between the SPARC galaxies. We also study the relative importance of the minimum $\mathrm{H}\, \small {\rm I}$ surface density probed and the size of velocity uncertainties on the constraining power on the inner halo density slope, finding the latter to be significantly more important. We spell out the implications of these results for the optimization of galaxy surveys aiming to constrain galaxies’ dark matter distributions, highlighting the need for precise velocity measurements.

Influence of Imbalance Factors Coupling with Manufacturing Error on the Rotational Accuracy of Aerostatic Spindle

Influence of Imbalance Factors Coupling with Manufacturing Error on the Rotational Accuracy of Aerostatic Spindle

Static Characteristics of Water-Lubricated Hydrodynamic Spiral-Groove Journal and Thrust Bearings for Motorized Spindle

Abstract Oil-lubricated hydrodynamic bearing is a typical support for motorized spindle. However, a motorized spindle supported by the oil-lubricated hydrodynamic bearing has disadvantages regarding high-temperature rise and low rotational speed. To overcome this problem, this technical brief proposes novel water-lubricated hydrodynamic spiral groove bearings for the motorized spindle. A rotor-bearing static model for the motorized spindle was established considering the external loads and the tilting effect of bearings. An experimental prototype for the motorized spindle was developed, and the theoretical calculation and experimental research on the bearing static characteristics were carried out. The result shows that the water-lubricated hydrodynamic spiral groove bearings have significant advantages in terms of low-temperature rise, good high-speed performance, and moderate spindle stiffness, together with the inherent low manufacture cost and high rotation accuracy of the bearings, and the proposed bearings can be a potential alternative to the fluid bearing for the high-speed motorized spindle.

A parallel rotator for FFT/IFFT applied in multi-carrier wireless communication systems

In this paper, the authors propose a new parallel rotator for FFT and IFFT applied in multi-carrier radio communication systems. The proposed algorithm serves some primary purposes. First, it reduces the computational complexity, thus simplifying the hardware implementation. Second, it speeds up the convergence of the algorithm, resulting in reduced processing latency to meet the requirements of real-time services. Third, it improves rotational accuracy. In addition, the algorithm also significantly lessens the consumption of hardware and power resources. The phase rotator's hardware architecture is then proposed and implemented on the FPGA using the Vivado System Generator for DSP Tool (SYSGEN). The FPGA experimental results indicate that the proposed algorithm's computational complexity, processing delay, and hardware resource usage are significantly reduced when compared to some recent algorithms.

Simultaneous identification for geometric error of dual rotary axes in five-axis machine tools

For the rotary axes, the position-dependent geometric errors (PDGEs) and position-independent geometric errors (PIGEs) affect their rotational accuracy concurrently. Therefore, aiming at analyzing this coupling effect of geometric errors, a novel method is presented to identify the PDGEs and PIGEs of dual rotary axes simultaneously. The identification model is established based on the geometric error model and actual distances between the two retroreflectors, by which all geometric errors of two rotary axes can be obtained simultaneously. The identification results are validated by predicting volumetric errors, in which the deviations between the predicted and measured VEs are within 21.7 μm in three directions. Moreover, the root mean square error between the predicted and measured volumetric errors is 6.8 μm, which indicates that the proposed method can effectively accomplish the simultaneous identification of geometric errors. This identification method facilitates the further study of the coupling effect of PDGEs and PIGEs.

Fault Diagnosis of Rolling Bearing Based on HPSO Algorithm Optimized CNN-LSTM Neural Network.

The quality of rolling bearings is vital for the working state and rotation accuracy of the shaft. Timely and accurately acquiring bearing status and early fault diagnosis can effectively prevent losses, making it highly practical. To improve the accuracy of bearing fault diagnosis, this paper proposes a CNN-LSTM bearing fault diagnosis model optimized by hybrid particle swarm optimization (HPSO). The HPSO algorithm has a strong global optimization ability and can effectively solve nonlinear and multivariate optimization problems. It is used to optimize and match the parameters of the CNN-LSTM model and dynamically find the optimal value of the parameters. This model overcomes the problem that the parameters of the CNN-LSTM model depend on empirical settings and cannot be adjusted dynamically. This model is used for bearing fault diagnosis, and the accuracy rate of fault diagnosis classification reaches 99.2%. Compared with the traditional CNN, LSTM, and CNN-LSTM models, the accuracy rates are increased by 6.6%, 9.2%, and 5%, respectively. At the same time, comparing the models with different optimization parameters shows that the model proposed in this paper has the highest accuracy. The experimental results verified the superiority of the HPSO algorithm to optimize model parameters and the feasibility and accuracy of the HPSO-CNN-LSTM model for bearing fault diagnosis.

Lightweight and intelligent model based on enhanced sparse filtering for rotating machine fault diagnosis

Rotating machine fault diagnosis plays a vital role in reducing maintenance costs and preventing accidents. Machine learning (ML) methods and Internet of things (IoT) technologies have been recently introduced into machine fault diagnosis and have generated inspiring results. An ML model with more trainable parameters can typically generate a higher fault diagnostic accuracy. However, the IoT nodes have limited computation and storage resources. How to design an ML model with high accuracy and computational efficiency is still a difficulty and challenge. This work develops an enhanced sparse filtering (ESF) method for mining and fusing the features of the machine signals for fault diagnosis. First, a dimension reduction algorithm is utilized for obtaining the principal components of the vibration signals that are hindered by noises. The distinct features of the principal components are then exploited by using sparse filtering (SF). To reduce the overfitting of the SF model, the L1/2 norm is applied to regularize the objective function. Finally, the obtained features are combined as the inputs of a softmax classifier for machine fault pattern recognition. The effectiveness, superiority, and robustness of the proposed ESF method are validated by the simulated signals and the practical bearing and motor fault signals compared with the other conventional methods. The lightweight and intelligent ESF algorithm is also deployed onto an edge computing node to realize online motor fault diagnosis. The designed model and the proposed method show great potential in highly accurate and efficient rotation machine fault diagnosis.

Improving the Accuracy of Multipole Magnetic Encoder by Three-Phase Hall

Magnetic encoders have widespread applications in various fields such as aerospace, automotive, robot joint control and machine tool turntables. For instance, obtaining accurate rotation angles of motors is crucial for servo motor control. Herein, we propose an angle-solving algorithm based on a dual-multipair pole magnetic encoder. First, we analyze the nonlinearity issue caused by installation error of the Hall signal and devise a self-adjustment algorithm for the analog signal. Second, we improve the high speed and robustness of the encoder in identifying eigenvalue intervals while solving for angles. Finally, through the big data analysis, the calibration compensation of curve fitting error was performed, and experiments were conducted to verify the effectiveness of the real-time angle-solving algorithm in a high-precision encoder.

Rotation tracking control strategy of underwater flexible telescopic manipulator based on neural network compensation for water environment disturbance

The underwater flexible telescopic manipulator (UFTM) can be installed on a submersible to achieve underwater operation, which is conducive to the exploration and development of deep-sea resources. However, the motion of the UFTM is affected by underwater disturbance torque, which may lead to a decrease in operational accuracy. In addition, the flexible components in the UFTM, including flexible deformation and torsional deformation, will exacerbate fluctuations in the rotation angle underwater environment disturbance torque. In this paper, a control method using neural networks to identify underwater disturbance torques is proposed to improve the rotational tracking accuracy of the UFTM. Firstly, based on the assumed modal method (AMM) and Lagrange equation, the UFTM dynamic model considering two-dimensional deformation and underwater disturbance torque is derived. Then, based on the UFTM dynamic model and Lyapunov theorem, the adaptive law and control law of neural networks are designed. Finally, simulation and control experiments prove the effectiveness of the neural network compensation for underwater disturbance torque control strategy. Compared with the classical PID strategy and the sliding mode control, the control strategy of neural network compensation for underwater disturbance can effectively improve the tracking control accuracy of the UFTM.

Nonlinear vibration characteristics of rolling bearing considering flexible cage fracture

Rolling bearing is one of the critical parts of the transmission system and has a high demand for operating conditions. Suitable operating conditions can ensure that the rolling bearing has a higher rotation accuracy, which significantly impacts the performance of the transmission system. However, under some unsuitable operating conditions, the rolling bearing in the transmission system is faced with failure and other problems. Cage failure is one of the most common bearing failures. In particular, the cage fracture analysis is the most difficult among rolling bearing failures. In order to research its nonlinear vibration characteristics under cage fracture, a nonlinear model of the rolling bearing (4Nb+4 degrees of freedom) considering cage fracture is established. The contact between bearing rings and the rollers, the circumferential interaction between the flexible cage and the rollers, and the interaction between the rollers under the cage fracture fault are considered. Subsequently, the nonlinear characteristics under cage fracture are analyzed. The nonlinear collision forces of roller and cage under cage fracture and different cage clearances are compared. The results show that the collision force between rollers and the cage is greater when fractured than when the cage is healthy. Under multiple cage fractures (the roller number is odd), more prominent frequency doubling phenomena may occur as the number of fractures increases. More shocks are reflected in the relative angular displacement and waveform. Under multiple cage fractures (the roller number is even), the number and interval of fractures can be determined through the waveform and envelope spectrum. The research in this paper can help the health monitoring and fault diagnosis of bearing cages.

System analysis of a common-path heterodyne polarimeter

We proposed a polarimeter combining the common-path heterodyne interferometry (CPHI) with a half-wave plate. When the azimuth of the wave plate is at 22.5 degrees, it has the best resolution for optical rotation (OR) measurement. The purpose of this paper is to analyze all possible sources of error in the system. The retardation closer to the true half wavelength, the higher the resolution will be. A large phase change of the test signal relative to the reference signal can be found by a lock-in amplifier. The system phase error is approximately 0.06∘. The accuracy of optical rotation is 1.0 × 10−3 degrees for the phase retardation is 178.08∘. The concentration resolution can reach 1.6×10−3[gdl] for fructose solutions. The magnitude of the phase error depends on the stability of the optical system and whether the two interfering lights coincide exactly. If the phase error can be reduced to 0.01∘, the resolution of OR can be increased to 1.3×10−4∘.