Document Detail

A method for fine positioning of diagnostic packages in inertial confinement fusion experiments.
MedLine Citation:
PMID:  22225255     Owner:  NLM     Status:  In-Data-Review    
A method based on binocular vision servoing for positioning of a diagnostic package in inertial confinement fusion (ICF) experiments is presented. The general diagnostic instrument manipulator will provide precision three dimension positioning and alignment-to-target capability in ICF experiments. In this work, we focus on the final precise automatic positioning with a binocular vision system. A three dimension image projection vector (IPV), which has an almost linear relationship with the target position in 3D space under the condition of weak perspective, is introduced to extract target position information from binocular image. The difference of the IPV between the current image and the desired image will be used as the input of servo controller. A differential motion model was found for the hybrid manipulator with three degrees of freedom. With this model and the said IPV, the servo strategy will be dramatically simplified compare with general image based visual servo in which the image Jacobian matrix needs estimated online. The experiment result implies that the locating accuracy of the manipulator is less than two pixels. This method can also be used in micromanipulation visual servo field.
Wei Wang; Tielin Shi; Kok-Meng Lee
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Publication Detail:
Type:  Journal Article    
Journal Detail:
Title:  The Review of scientific instruments     Volume:  82     ISSN:  1089-7623     ISO Abbreviation:  Rev Sci Instrum     Publication Date:  2011 Dec 
Date Detail:
Created Date:  2012-01-09     Completed Date:  -     Revised Date:  -    
Medline Journal Info:
Nlm Unique ID:  0405571     Medline TA:  Rev Sci Instrum     Country:  United States    
Other Details:
Languages:  eng     Pagination:  125113     Citation Subset:  IM    
School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaGeorge W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, Georgia 30332, USA.
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