According to the requirement of RoboCup Standard Platform League (NAO) Rule Book, the author did some
experiments to finish the League’s tasks based on the humanoid robot NAO. The image captured by a moving camera
will have a distortion which is affected by the so called “rolling shutter”. The rolling shutter means that not all scanlines
are exposed over the same time interval. This paper presents the model of rolling shutter of cameras and principle of
capturing images. Then corrections to image distortion found on the NAO robots is described. At last the cases of
reversing the effects of a rolling shutter on the images taken by the robot’s moving camera are presented. This approach
improves the effectiveness of shape recognition and the accuracy of Tilt rate of field line.
In this paper, a novel compact optical diffraction strain sensor using medium density grating foil (500 lines/mm) and high-density diffractive grating (1200 lines/mm) is presented. The grating attached on the surface of a specimen is illuminated by a focused laser beam. The centroids of diffracted beam spots from the grating are automatically determined with two position-sensitive detector (PSD) sensors connected to a personal computer. The shift of second-order diffracted beam spots due to the specimen deformation is then detected. The influences of noise sources and system geometry on system performances, such as sensitivity, spatial resolution, and strain range and measurement linearity are discussed. Strain sensitivity of 1 micro-strain can be achieved. The spatial resolution for strain measurement of 0.4 mm is attainable. The system can be used for continuous measurement and for both static and dynamic test.
Present imaging techniques used in in vitro fertilization (IVF) clinics are unable to produce accurate cell counts in developing embryos past the eight-cell stage. We have developed a method that has produced accurate cell counts in live mouse embryos ranging from 13-25 cells by combining Differential Interference Contrast (DIC) and Optical Quadrature Microscopy. Optical Quadrature Microscopy is an interferometric imaging modality that measures the amplitude and phase of the signal beam that travels through the embryo. The phase is transformed into an image of optical path length difference, which is used to determine the maximum optical path length deviation of a single cell. DIC microscopy gives distinct cell boundaries for cells within the focal plane when other cells do not lie in the path to the objective. Fitting an ellipse to the boundary of a single cell in the DIC image and combining it with the maximum optical path length deviation of a single cell creates an ellipsoidal model cell of optical path length deviation. Subtracting the model cell from the Optical Quadrature image will either show the optical path length deviation of the culture medium or reveal another cell underneath. Once all the boundaries are used in the DIC image, the subtracted Optical Quadrature image is analyzed to determine the cell boundaries of the remaining cells. The final cell count is produced when no more cells can be subtracted. We have produced exact cell counts on 5 samples, which have been validated by Epi-Fluorescence images of Hoechst stained nuclei.
In this paper, a quantitative method to measure simultaneously micro-stress and strain is proposed. A compact optical transmitting microscope is reconstructed by developing a loading and recording system, and white light source can be replaced with a laser source. The choice of laser source or white light source depends on the thickness of specimen. For strain measurement, grating diffraction method is presented. With the help of a Bertrand lens, the Fourier spectrum of the grating is formed on the CCD sensor plane or with high image quality. Software for precise, fast and automatic determination of the diffraction spot centroids is developed. Local strains are thus measured with high resolution. Stress measurement is carried out to the zero order of grating diffraction spots following the conventional method for retardation measurement with tilting compensator. The combination of the grating diffraction method and the photoelasticity method in the same test provides simultaneous measurement of strain and stress.
An analysis of the spatial resolution and sensitivity of Fourier transform method for fringe detection is carried out. The spatial resolution degradation due to Fourier transform is discussed through a signal processing technique. It is found that the upper-limit of spatial resolution for phase measurement is half the carrier fringe pitch, or half the grid pitch for grid method. The formulation of sensitivity using signal processing and communication theory is also performed and analyzed. The upper limit of the sensitivity for phase measurement is 2(pi) dividing by the number of pixels in a line of the fringe image. Measures to improve the spatial resolution, sensitivity are finally discussed.
The grid method is combined with microscopy for micro deformation measurement. High density grids of 1200 lines/mm are transferred to electronic packaging specimens at high temperature. The residual stress distribution is recorded on the grid after it was cooled to room temperature. The grid pattern is magnified and digitally recorded with optical microscope, scanning electronic microscope, and atomic force microscope respectively. The recorded grid patterns are processed with Fourier transform technique. the spatial resolution degradation due to Fourier transform is discussed. It is found that the upper limit of spatial resolution for displacement measurement is half the grid pitch for grid method. Nevertheless the spatial resolution which can be attained is in micron to sub-micron region even with this degradation. A comparison on the effect of three microscopy techniques is also carried out.
An automatic method of full-field stress measurement using a transmitting micro-polariscope is proposed. A compact optical transmitting polarizing microscope with white light source is rebuilt by developing a loading and recording system, in order to perform a tension test. Both isoclinics and isochromatics are measured in real-time with phase shifting technique. A new simple algorithm for isochromatics is proposed. It is found to be suitable for the current micro-polariscope.
In this paper, two quantitative methods to measure micro- deformation using gratin microscopy are proposed, a grating diffraction method and a full-field grating phase shift method. A compact optical transmitting microscope with white light source is reconstructed by developing a loading and recording system. For direct strain measurement, a grating diffraction method is presented. With the help of a Bertrand lens, the Fourier spectrum of the grating is formed on the CCD sensor plane with high image quality. Software for precise, fast and automatic determination of the diffraction spot centroids is developed. Local strains are thus measured with high resolution. For the deformation measurement, a phase-shifting grating microscope method with high sensitivity and spatial resolution is proposed. Phase shifting is based on the slab refraction effect and is realized via a tilting compensator. The system possesses a high spatial resolution, and a displacement precision of 0.1 to 0.03 micrometers . The combination of the grating diffraction method and the phase shifting method in the same test provides simultaneous measurement of strain and displacement, thus demonstrating that the grating techniques are viable in the microscope environment.
A new compact system is proposed and instrumentated for directly measuring in-plane strain using a high frequency grating and two Position Sensor Detectors (PSDs). The grating with a frequency of 1200 lines/mm attached on the surface of a specimen is illuminated by a focused laser beam. The spatial resolution for strain measurement, i.e. illuminating area on the specimen is about 0.4 mm. The centroids of diffracted beam spots from the grating is automatically determined with two PSD sensors connected to a personal computer. The shift of diffracted beam spots due to the specimen deformation is then detected. Several measures for improving strain sensitivity are taken. Strain sensitivity of 1 micro-strain can be obtained. The residual strain error is analyzed due to the misalignment of laser and grating. The system can be used for both static and dynamic test.
In this paper, a compact microscope system for direct strain measurement is presented. It involves the grating diffraction method coupled with microscopy and image processing technique. A Leitz optical transmitting microscope with white light source is reconstructed by developing a loading and recording system. Gratings with median density from 40 - 200 l/mm are used. With the help of a Bertrand lens, the Fourier spectrum of the grating, not the grating image is formed on the CCD sensor plane with high image quality. A software which can precisely, quickly and automatically determine the diffraction spot centroids is developed. The local strain is measured with high spatial resolution. A discussion on improving the sensitivity in multiple ways is suggested.
We present here a non-moire method of displacements measurement, where the image of a crossed network bonded onto a body under examination is acquired with a CCD camera. The zoom magnification is chosen so that the test grid is sampled at a frequency of three pixels by grid period. The processing of the recorded image corresponds to a 3-bucket algorithm, applied to both horizontal and vertical lines. One obtains the two components of the displacements, and, by differentiation, the three components of strains and the local rotations. Experimental results have been already obtained, concerning a novel shear test on composite materials. Only one image is needed to obtain all the information. The method looks similar to the spatial phase-shifting technique proposed in the field of moire, but here no moire is involved.
The application of phase-stepping to moire is presented. An analysis of the precision attainable with this technique shows that a resolution comparable to that of strain gauges is possible. We present preliminary experimental results from computer aided processing of phase-shifted moire fringe patterns (software FRANGYNE developed in our laboratory). Although this software is not specific, only results from in-plane moire are presented. Our moire setup consists of a CCD camera whose sensor acts as the reference grid. The phase shift is obtained by translating the camera perpendicular to the optical axis. The experimental results concern isotropic and anisotropic materials, and show the potential interest of such a technique in the field of experimental mechanics.
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