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Research on information content of light field on the image plane illuminated by incoherent light source

Cai Xiao-ou, Lai Xian-jing, Wang Hui

Optica Applicata

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2019

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Vol. 49, nr 2

265--273

EN

A novel approach for the measurement of information content of light field on the image plane illuminated by an incoherent light source has been proposed according to Shannon’s information theory. We put forward a hypothetical concept named "coherent wavelet source" on an incoherent light source which can form an independent coherent signal on the object surface based on the expression of mutual intensity on the object surface. As a result, the number of independent coherent signals on the object surface can be made out by dividing the whole illumination source on a coherent wavelet source size. Meanwhile, the maximum number of degree of freedom of light field which can reach the image plane is given based on the structure of imaging system. Concrete algorithm for the information content of the imaging light illuminated by a 1D linear light source and a 2D circular light source are presented.

2

Comparative analysis for kinematics of 5-DOF industrial robotic manipulator

Manjaree S., Nakra B. C., Agarwal V.

Acta Mechanica et Automatica

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2015

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Vol. 9, no. 4

229--240

EN

This paper gives the kinematic analysis of a 5-DOF industrial robotic manipulator while considering wrist in motion. Analytical solutions have been obtained for forward kinematics and inverse kinematics to accurately position the end-effector of robotic manipulator in three dimensional spaces. For the first time, a hybrid neuro-fuzzy intelligent technique with two different membership functions has been studied and their performances are comparatively evaluated with analytical solutions. An experiment has been performed for a desired trajectory. It is seen that the results for the intelligent technique are reasonably in agreement with experiment. Also, the results obtained highlight the importance of selection of a particular membership function for robotic manipulators of industrial use.

3

Wybrane zagadnienia współpracy manipulatorów

Nieoczym A

Technologia i Automatyzacja Montażu

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2013

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nr 2

44—47

PL

Przestrzeń manipulacyjna ograniczona jest długością ramienia, jego kątem obrotu i wzniosu oraz kątem obrotu podstawy robota względem osi pionowej. Wyróżniamy tu obszar krytyczny będący częścią wspólną obszaru technologicznego dwu robotów oraz obszar pozakrytyczny. Dąży się do minimalizacji obszaru manipulacyjnego, który powinien być w maksymalnym stopniu wykorzystany. Kolejną czynnością podczas projektowania jest identyfikacja wymagań stawianych robotowi. Określana jest kinematyka ruchu ramienia oraz liczba stopni swobody. Odrzucenie zasad optymalizacji liczby stopni swobody powoduje zwiększenie gabarytów, masy i kosztów robota, zmniejszenie dokładności montażu, niezawodności robota, co ostatecznie prowadzi do gwałtownego spadku techniczno-ekonomicznej efektywności jego wykorzystania.

EN

Manipulation area of working cell encompasses technological area that is characterized by assembling operation processes. Such processes consist the following parts: a critical area that is a common part for two cooperating robots and a non-critical area. The spaces occupied by individual robots are limited by the length of an arm, its rotation and lift angle as well as by rotation angle of a robot base in relation to vertical axis. During an initial stage of designing it is necessary to identify the requirements that should be fulfilled by the robot. Depending on its purpose, the industrial robot can cover an area of one to seven degrees of acurator freedom. Rejection of the optimization principles concerning degrees of freedom results in an increase of overall dimensions, weight, and costs of the robot as well as it causes reduction of assembling accuracy and reliability of the robot. Such misfits lead finally to a violent decrease of technical and economic efficiency of the robot utilization.