Simultaneous Calibration Research Articles

A Method of Fast and Simultaneous Calibration of Many Mobile FMCW Radars Operating in a Network Anti-Drone System

A market for small drones is developing very fast. They are used for leisure activities and exploited in commercial applications. However, there is a growing concern for accidental or even criminal misuses of these platforms. Dangerous incidents with drones are appearing more often, and have caused many institutions to start thinking about anti-drone solutions. There are many cases when building stationary systems seems to be aimless since the high cost does not correspond with, for example, threat frequency. In such cases, mobile drone countermeasure systems seem to perfectly meet demands. In modern mobile solutions, frequency modulated continuous wave (FMCW) radars are frequently used as detectors. Proper cooperation of many radars demands their measurements to be brought to a common coordinate system—azimuths must be measured in the same direction (preferably the north). It requires calibration, understood as determining constant corrections to measured angles. The article presents the author's method of fast, simultaneous calibration of many mobile FMCW radars operating in a network. It was validated using 95,000 numerical tests. The results show that the proposed method significantly improves the north orientation of the radars throughout the whole range of the initial errors. Therefore, it can be successfully used in practical applications.

Simultaneous Model Calibration and Source Inversion in Atmospheric Dispersion Models

We present a cost-effective method for model calibration and solution of source inversion problems in atmospheric dispersion modelling. We use Gaussian process emulations of atmospheric dispersion models within a Bayesian framework for solution of inverse problems. The model and source parameters are treated as unknowns and we obtain point estimates and approximation of uncertainties for sources while simultaneously calibrating the forward model. The method is validated in the context of an industrial case study involving emissions from a smelting operation for which cumulative monthly measurements of zinc particulate depositions are available.

SCADE: Simultaneous Sensor Calibration and Deformation Estimation of FBG-Equipped Unmodeled Continuum Manipulators.

In this article, we present a novel stochastic algorithm called simultaneous sensor calibration and deformation estimation (SCADE) to address the problem of modeling deformation behavior of a generic continuum manipulator (CM) in free and obstructed environments. In SCADE, using a novel mathematical formulation, we introduce a priori model-independent filtering algorithm to fuse the continuous and inaccurate measurements of an embedded sensor (e.g., magnetic or piezoelectric sensors) with an intermittent but accurate data of an external imaging system (e.g., optical trackers or cameras). The main motivation of this article is the crucial need of obtaining an accurate shape/position estimation of a CM utilized in a surgical intervention. In these robotic procedures, the CM is typically equipped with an embedded sensing unit (ESU) while an external imaging modality (e.g., ultrasound or a fluoroscopy machine) is also available in the surgical site. The results of two different set of prior experiments in free and obstructed environments were used to evaluate the efficacy of SCADE algorithm. The experiments were performed with a CM specifically designed for orthopaedic interventions equipped with an inaccurate Fiber Bragg Grating (FBG) ESU and overhead camera. The results demonstrated the successful performance of the SCADE algorithm in simultaneous estimation of unknown deformation behavior of the utilized unmodeled CM together with realizing the time-varying drift of the poor-calibrated FBG sensing unit. Moreover, the results showed the phenomenal out-performance of the SCADE algorithm in estimation of the CM's tip position as compared to FBG-based position estimations.

The TES beamline (8-BM) at NSLS-II: tender-energy spatially resolved X-ray absorption spectroscopy and X-ray fluorescence imaging

The tender-energy X-ray spectroscopy (TES) beamline at the National Synchrotron Light Source II (NSLS-II) is now operational for general users. Its scientific mission includes static and in situ X-ray fluorescence imaging and spatially resolved X-ray absorption spectroscopy for characterization of complex heterogeneous, structured and dynamic natural or engineered materials and systems. TES is optimized for the tender-energy range, offering routine operations from 2.0 to 5.5 keV, with capabilities to reach down to 1.2 or up to 8 keV with configuration change. TES is designed as an extended X-ray absorption fine-structure microprobe (EXAFS microprobe) for applications of micrometre-scale EXAFS spectroscopy to heterogeneous samples. Beam size is user-tunable from ∼2 to 25 µm. Energy may be scanned on-the-fly or in traditional step scanning. Importantly, the position of the microbeam at the sample location does not move significantly during energy scanning or when changing energy across the entire routine energy range. This enables full EXAFS of a particle or domain the same size as the probe beam, and measurement of the same spot at different energies. In addition, there is no measureable drift in energy calibration (repeatability) scan-to-scan and over 24 h. This is critical where simultaneous calibration measurements are generally not feasible, and for speciation mapping where precise and stable control of incident energy is essential. The sample environment is helium atmosphere at room pressure with infrastructure for in situ electrochemistry and catalysis in small sample cells or microreactors. As the first bend-magnet beamline at NSLS-II, noteworthy commissioning aspects are described. Example measurements are presented to illustrate its capabilities.

Structurally tailored 3D anisotropic controlled-source electromagnetic resistivity inversion with cross-gradient criterion and simultaneous model calibration

Geologic interpretation of 3D anisotropic resistivity models from conventional marine controlled-source electromagnetic (CSEM) data inversion faces difficulties in low-resistivity contrast sediments and structurally complex environments that typify the new frontiers for hydrocarbon exploration. Currently, the typically reconstructed horizontal resistivity [Formula: see text] and vertical resistivity [Formula: see text] models often have conflicting depth structures that are difficult to explain in terms of subsurface geology, and the resulting resistivities may not be close to the true formation resistivities required for estimating reservoir parameters. We have investigated the concept that an objective geologically oriented or structurally tailored inversion can be achieved by requiring that the cross-product of the gradient of horizontal resistivity and the gradient of the vertical resistivity is equal to zero at significant geologic boundaries. We incorporate this boundary-shape criterion in our 3D inverse problem formulations, implemented within nonlinear model-space and conjugate-gradient contexts, for cases in which a priori calibration data from wells and/or seismically derived subsurface boundaries are available and for cases in which these are lacking. The resulting fit-for-purpose solutions serve to better analyze the peculiarity of a given data set. We applied these algorithms to synthetic and field CSEM data sets representing a fold-thrust environment with low-resistivity and low-contrast sediments. The resulting [Formula: see text] and [Formula: see text] models from cross-gradient joint inversion of synthetic data of appropriate frequency bandwidth without a priori information are structurally similar and consistent with the test models, whereas those from the inversions of band-limited field data are consistent with the available seismic and resistivity well-log data. This particular approach will thus be useful for lithologic correlation in frontier regions with limited a priori information using broadband CSEM data. For these band-limited field data, we found that the anisotropic bulk resistivities of the low-contrast sediments are better determined by incorporating a priori calibration data from triaxial resistivity logs and seismic horizons.

SCALAR: Simultaneous Calibration of 2-D Laser and Robot Kinematic Parameters Using Planarity and Distance Constraints

In this paper, we propose SCALAR, a calibration method to simultaneously calibrate the kinematic parameters of a 6-DoF robot and the extrinsic parameters of a 2D Laser Range Finder (LRF) attached to the robot's flange. The calibration setup requires only a flat plate with two small holes carved on it at a known distance from each other, and a sharp tool-tip attached to the robot's flange. The calibration is formulated as a nonlinear optimization problem where the laser and the tool-tip are used to provide planar and distance constraints, and the optimization problem is solved using Levenberg-Marquardt algorithm. We demonstrate through experiments that SCALAR can reduce the mean and the maximum tool position error from 0.44 mm to 0.19 mm and from 1.41 mm to 0.50 mm, respectively.

OVERVIEW OF OPEN SOURCE SOFTWARE FOR CLOSE RANGE PHOTOGRAMMETRY

Abstract. In the photogrammetric process of the 3D reconstruction of an object or a building, multi-image orientation is one of the most important tasks that often include simultaneous camera calibration. The accuracy of image orientation and camera calibration significantly affects the quality and accuracy of all subsequent photogrammetric processes, such as determining the spatial coordinates of individual points or 3D modeling. In the context of artificial vision, the full-field analysis procedure is used, which leads to the so-called Strcture from Motion (SfM), which includes the simultaneous determination of the camera's internal and external orientation parameters and the 3D model. The procedures were designed and developed by means of a photogrammetric system, but the greatest development and innovation of these procedures originated from the computer vision from the late 90s, together with the SfM method. The reconstructions on this method have been useful for visualization purposes and not for photogrammetry and mapping. Thanks to advances in computer technology and computer performance, a large number of images can be automatically oriented in a coordinate system arbitrarily defined by different algorithms, often available in open source software (VisualSFM, Bundler, PMVS2, CMVS, etc.) or in the form of Web services (Microsoft Photosynth, Autodesk 123D Catch, My3DScanner, etc.). However, it is important to obtain an assessment of the accuracy and reliability of these automated procedures. This paper presents the results obtained from the dome low close range photogrammetric surveys and processed with some open source software using the Structure from Motion approach: VisualSfM, OpenDroneMap (ODM) and Regard3D. Photogrammetric surveys have also been processed with the Photoscan commercial software by Agisoft.For the photogrammetric survey we used the digital camera Canon EOS M3 (24.2 Megapixel, pixel size 3.72 mm). We also surveyed the dome with the Faro Focus 3D TLS. Only one scan was carried out, from ground level, at a resolution setting of ¼ with 3x quality, corresponding to a resolution of 7 mm / 10 m. Both TLS point cloud and Photoscan point cloud were used as a reference to validate the point clouds coming from VisualSFM, OpenDroneMap and Regards3D. The validation was done using the Cloud Compare open source software.

Simultaneous Calibration of Odometry and Head-Eye Parameters for Mobile Robots with a Pan-Tilt Camera.

In the field of robot navigation, the odometric parameters, such as wheel radii and wheelbase length, and the relative pose of the optical sensing camera with respect to the robot are very important criteria for accurate operation. Hence, these parameters are necessary to be estimated for more precise operation. However, the odometric and head-eye parameters are typically estimated separately, which is an inconvenience and requires longer calibration time. Even though several researchers have proposed simultaneous calibration methods that obtain both odometric and head-eye parameters simultaneously to reduce the calibration time, they are only applicable to a mobile robot with a fixed camera mounted, not for mobile robots equipped with a pan-tilt motorized camera systems, which is a very common configuration and widely used for wide view. Previous approaches could not provide the z-axis translation parameter between head-eye coordinate systems on mobile robots equipped with a pan-tilt camera. In this paper, we present a full simultaneous mobile robot calibration of head–eye and odometric parameters, which is appropriate for a mobile robot equipped with a camera mounted on the pan-tilt motorized device. After a set of visual features obtained from a chessboard or natural scene and the odometry measurements are synchronized and received, both odometric and head-eye parameters are iteratively adjusted until convergence prior to using a nonlinear optimization method for more accuracy.

Simultaneous calibration of spectro-photometric distances and the Gaia DR2 parallax zero-point offset with deep learning

ABSTRACT Gaia measures the five astrometric parameters for stars in the Milky Way, but only four of them (positions and proper motion, but not distance) are well measured beyond a few kpc from the Sun. Modern spectroscopic surveys such as APOGEE cover a large area of the Milky Way disc and we can use the relation between spectra and luminosity to determine distances to stars beyond Gaia’s parallax reach. Here, we design a deep neural network trained on stars in common between Gaia and APOGEE that determines spectro-photometric distances to APOGEE stars, while including a flexible model to calibrate parallax zero-point biases in Gaia DR2. We determine the zero-point offset to be $-52.3 \pm 2.0\, \mu \mathrm{as}$ when modelling it as a global constant, but also train a multivariate zero-point offset model that depends on G, GBP − GRP colour, and Teff and that can be applied to all ≈58 million stars in Gaia DR2 within APOGEE’s colour–magnitude range and within APOGEE’s sky footprint. Our spectro-photometric distances are more precise than Gaia at distances ${\gtrsim} 2\, \mathrm{kpc}$ from the Sun. We release a catalogue of spectro-photometric distances for the entire APOGEE DR14 data set which covers Galactocentric radii $2\, \mathrm{kpc} \lesssim R \lesssim 19\, \mathrm{kpc}$; ${\approx} 150\, 000$ stars have ${\lt} 10{{\ \rm per\ cent}}$ uncertainty, making this a powerful sample to study the chemo-dynamical structure of the disc. We use this sample to map the mean [Fe/H] and 15 abundance ratios [X/Fe] from the Galactic Centre to the edge of the disc. Among many interesting trends, we find that the bulge and bar region at $R \lesssim 5\, \mathrm{kpc}$ clearly stands out in [Fe/H] and most abundance ratios.

New light on the Gaia DR2 parallax zero-point: influence of the asteroseismic approach, in and beyond the Kepler field

The importance of studying the Gaia DR2 parallax zero-point by external means was underlined by the articles that accompanied the release, and initiated by several works making use of Cepheids, eclipsing binaries, and asteroseismology. Despite a very efficient elimination of basic-angle variations, a small fluctuation remains and shows up as a small offset in the Gaia DR2 parallaxes. By combining astrometric, asteroseismic, spectroscopic, and photometric constraints, we undertake a new analysis of the Gaia parallax offset for nearly 3000 red-giant branch (RGB) and 2200 red clump (RC) stars observed by Kepler, as well as about 500 and 700 red giants (all either in the RGB or RC phase) selected by the K2 Galactic Archaeology Program in campaigns 3 and 6. Engaging in a thorough comparison of the astrometric and asteroseismic parallaxes, we are able to highlight the influence of the asteroseismic method, and measure parallax offsets in the Kepler field that are compatible with independent estimates from literature and open clusters. Moreover, adding the K2 fields to our investigation allows us to retrieve a clear illustration of the positional dependence of the zero-point, in general agreement with the information provided by quasars. Lastly, we initiate a two-step methodology to make progress in the simultaneous calibration of the asteroseismic scaling relations and of the Gaia DR2 parallax offset, which will greatly benefit from the gain in precision with the third data release of Gaia.

Cross-talk reduction in a multiplexed synchroscan streak camera with simultaneous calibration.

The streak camera is a picosecond resolution photodetector with parallel input capability; however, the degree of multiplexing is limited by crosstalk and temporal uncertainty in the sweeping field. We introduced a fixed time delay between adjacent fibers to reduce crosstalk in the synchroscan mode. The fixed delay and a tunable electronic delay between the input pulse and the synchroscan unit allows robust separation modes between the streaks, while spatial and temporal nonlinearities can be calibrated in. The efficacy of the design is demonstrated through a 100-fold multiplexed confocal fluorescence lifetime imaging microscope in live cells.

A compressible hyper-viscoelastic material constitutive model for human brain tissue and the identification of its parameters

In this paper, we have introduced a compressible hyper-viscoelastic constitutive model for human brain tissue. The model is calibrated with the reported experimental data from different regions of the brain. The parameters of the model are determined in a simultaneous calibration for tension, compression, shear, and compression–relaxation tests data. They are obtained in an iterative procedure in conjunction with a finite elements (FE) modeling of the tissue, as well as, with the Nelder–Mead Simplex optimization procedure. In the calibration procedure, the compressibility of the material is taken into account, and the respective time-dependent volumetric parameter is also determined. Additionally, the Drucker stability condition is enforced to assess the physical meaning of the extracted constitutive parameters. This proposed model provides an improved prediction of the experimental data and tissue response under various loading conditions. The results show that, under inhomogeneous deformation, the suggested approach will lead to a better material calibration of brain tissue compared to the simple mathematical model fitting.

Optimal Item Calibration for Computerized Achievement Tests

Item calibration is a technique to estimate characteristics of questions (called items) for achievement tests. In computerized tests, item calibration is an important tool for maintaining, updating and developing new items for an item bank. To efficiently sample examinees with specific ability levels for this calibration, we use optimal design theory assuming that the probability to answer correctly follows an item response model. Locally optimal unrestricted designs have usually a few design points for ability. In practice, it is hard to sample examinees from a population with these specific ability levels due to unavailability or limited availability of examinees. To counter this problem, we use the concept of optimal restricted designs and show that this concept naturally fits to item calibration. We prove an equivalence theorem needed to verify optimality of a design. Locally optimal restricted designs provide intervals of ability levels for optimal calibration of an item. When assuming a two-parameter logistic model, several scenarios with D-optimal restricted designs are presented for calibration of a single item and simultaneous calibration of several items. These scenarios show that the naive way to sample examinees around unrestricted design points is not optimal.

Development of an In Vivo Retrodialysis Calibration Method Using Stable Isotope Labeling to Monitor Metabolic Pathways in the Tumor Microenvironment via Microdialysis

Microdialysis is a technique that utilizes a semipermeable membrane to sample analytes present within tissue interstitial fluid. Analyte-specific calibration is required for quantitative microdialysis, but these calibration methods are tedious, require significant technical skill, and often cannot be performed jointly with the experimental measurements. Here, we describe a method using retrodialysis with stable-isotope-labeled analytes that enables simultaneous calibration and quantification for in vivo tumor microdialysis. Isotope-labeled amino acids relevant to immuno-metabolism in the tumor microenvironment (tryptophan, kynurenine, glutamine, and glutamate) were added to the microdialysis perfusate, and microdialysis probes were inserted in subcutaneous CT26 and MC38 tumors in mice. The levels of both the endogenous and isotope-labeled amino acids in the perfusate outlet were quantified using LC-MS/MS. Plasma and tumor tissue samples were also collected from the same mice and amino acid levels quantified using LC-MS/MS. Amino acids which showed statistically significant differences between the CT26-bearing and MC38-bearing mice in tumor lysate (tryptophan, kynurenine, and glutamine) and plasma (glutamate) were not the same as those identified as significantly different in tumor interstitial fluid (kynurenine and glutamate), underscoring how microdialysis can provide unique and complementary insights into tumor and immune metabolism within the tumor microenvironment.

A Simultaneous Calibration Method for Magnetic Robot Localization and Actuation Systems

This paper proposes a method of simultaneously calibrating magnetic localization and actuation systems for magnetically actuated robots. In this method, uncalibrated magnetic localization and actuation systems are calibrated simultaneously with minimal human intervention, which enables self-calibration, flexible reconfiguration, and long-term correctness of the system parameters. This method employs a bundle adjustment framework using a quadratic measurement model for sensors and the magnetic dipole model for actuators. The proposed method has been verified in comparison with finite element simulations and existing calibration methods for magnetic actuators and sensor arrays. In the experiments, the determinant of coefficient (R $^2$ value) was 99.84% for the sensor system and 99.45% for the actuator system after the calibration, comparable with individual state-of-art calibration methods of calibrating magnetic actuators and sensor arrays. This method has potential to improve the reconfigurability and long-term accuracy of magnetic robot localization and actuation systems, such as magnetically actuated capsule endoscopes.

Development of a tri-axial primary vibration calibration system

A tri-axial primary vibration calibration system has been set up at National Institute of Metrology for simultaneous calibration of motion transducers. The system is driven by three electrodynamics exciters that are mounted along the three orthogonal axes. The cross-coupling unit based on air bearing is developed for force transferring and motion guiding. Spatial orbit vibration is composited from sine vibration components of the three orthogonal axes. Relationship of shapes and orientations of spatial orbits and amplitudes and phases of sine vibration components is discussed. Multi-exciter vibration control for both cross-coupling compensation and amplitudes and phases control of sine vibration components is investigated. The tri-axial measuring system can simultaneously measure the three orthogonal vibration quantities based on the band-pass sampling method. The experiments show that a variety of spatial orbits can be generated by efficiently reducing the cross-coupling of the tri-axial vibration exciter and the magnitude and the phase shift of sensitivities of a tri-axis accelerometer can be determined.

Surface complexation modeling of arsenic mobilization from goethite: Interpretation of an in-situ experiment

Abstract Sorption has been recognized as a predominant process for the mobility and transport of arsenic (As) in groundwater. However, the model-based description of the chemical and physical mechanisms controlling As interaction with mineral surfaces under natural hydrochemical conditions remains a formidable challenge. In this study we assess and compare the ability of existing surface complexation models (SCMs), the diffuse double layer model (DDL) and the charge distribution multisite complexation model (CD-MUSIC), to simulate As desorption from goethite in groundwater. We consider the outcomes of an in-situ experiment recently performed in an arsenic-contaminated aquifer of Northern China where As-loaded goethite-coated sand was deployed in 7 monitoring wells. Determination and measurements of As-surface species were carried out over a time period of 80 days in all monitoring wells. Simultaneous calibration of the models with the measurements in the 7 wells was performed to obtain single sets of surface complexation parameters for the DDL and the CD-MUSIC models, respectively. Although the general dynamic pattern of the As release at the site is captured by both models, the approach based on the CD-MUSIC agrees best with the field experimental data without modifications of the surface complexation database compiled from previous studies on goethite. Conversely, calibration of the DDL affinity constants led to substantial improvement in the agreement between model simulations and the considered field dataset. The model outcomes and the exploration of the sensitivity of the goethite surface composition to changes in hydrochemical conditions provide insights into the mechanisms controlling arsenic sorption and their different description in the DDL and the CD-MUSIC models. Both SCMs indicate that PO43− acts as the main competitor for As(V) sorption sites, and that Fe(II) does not have a significant effect on the As(V) release despite its strong affinity for the goethite surface. Neither SCM suggests direct binding of As(III) to goethite. However, the CD-MUSIC model predicts significant formation of a goethite-Fe(II)-As(III) complex under the mildly alkaline conditions of the groundwater at the field site and that such complex is insensitive to phosphate competition. The CD-MUSIC implementation also allows capturing the non-linear charge effects of the major ions, including C a 2+ and M g 2+ , which appear to have important implication in the mechanisms of As sorption at the field site.

Simultaneous calibration and inversion algorithm for multiconfiguration electromagnetic induction data acquired at multiple elevations

Electromagnetic induction (EMI) is a contactless and fast geophysical measurement technique. Frequency-domain EMI systems are available as portable rigid booms with fixed separations up to approximately 4 m between the transmitter and the receivers. These EMI systems are often used for high-resolution characterization of the upper subsurface meters (up to depths of approximately 1.5 times the maximum coil separation). The availability of multiconfiguration EMI systems, which measure multiple apparent electrical conductivity ([Formula: see text]) values of different but overlapping soil volumes, enables EMI data inversions to estimate electrical conductivity ([Formula: see text]) changes with depth. However, most EMI systems currently do not provide absolute [Formula: see text] values, but erroneous shifts occur due to calibration problems, which hinder a reliable inversion of the data. Instead of using physical soil data or additional methods to calibrate the EMI data, we have used an efficient and accurate simultaneous calibration and inversion approach to avoid a possible bias of other methods while reducing the acquisition time for the calibration. By measuring at multiple elevations above the ground surface using a multiconfiguration EMI system, we simultaneously obtain multiplicative and additive calibration factors for each coil configuration plus an inverted layered subsurface electrical conductivity model at the measuring location. Using synthetic data, we verify our approach. Experimental data from five different calibration positions along a transect line showed similar calibration results as the data obtained by more elaborate vertical electrical sounding reference measurements. The synthetic and experimental results demonstrate that the multielevation calibration and inversion approach is a promising tool for quantitative electrical conductivity analyses.

SKCLAM: A Method of Simultaneous Kinematic Calibration and 3D Reconstruction for Industrial Manipulators

SKCLAM: A Method of Simultaneous Kinematic Calibration and 3D Reconstruction for Industrial Manipulators

Two calibration methods for modeling streamflow and suspended sediment with the swat model

The proper estimation of streamflow (Q) and suspended sediment (SS) have important implications for sustainable water management. The Soil and Water Assessment Tool (SWAT) is a distributed, physically-based and dynamic model that integrates water quantity and quality routines. SWAT is considered an effective tool for assessing water and soil resources problems in a worldwide range of environmental conditions; however every hydrological model application is limited by the choices made in the calibration process. The aim of this paper was to assess the differences between the sequential and simultaneous calibration methods when simulating streamflow and suspended sediment with SWAT. We used the Sequential Uncertainty Fitting (SUFI-2) combined with SWAT for: (i) sensitivity analysis; (ii) parameter calibration using Q and SS data with a combined multi-site and multi-objective approaches; and (iii) evaluation of the differences in the estimated uncertainty of both calibration methods. Our results suggest that the simultaneous calibration was more accurate, especially for SS values with King-Gupta Efficiency (KGE) objective function. The simultaneous calibration was less time consuming and the sensitivity analysis indicated that it needed less parameters in the calibration process. The multi-site calibration method improved the model results in 3 out of 4 simulations of suspended sediment in the basin outlet.