We consider the problem of calibrating range measurements of a Light Detection and Ranging (lidar) sensor that is dealing with the sensor nonlinearity and heteroskedastic, range-dependent, measurement error. We solved the calibration problem without using additional hardware, but rather exploiting assumptions on the environment surrounding the sensor during the calibration procedure. More specifically we consider the assumption of calibrating the sensor by placing it in an environment so that its measurements lie in a 2D plane that is parallel to the ground. Then, its measurements come from fixed objects that develop orthogonally w.r.t. the ground, so that they may be considered as fixed points in an inertial reference frame. Moreover, we consider the intuition that moving the distance sensor within this environment implies that its measurements should be such that the relative distances and angles among the fixed points above remain the same. We thus exploit this intuition to cast the sensor calibration problem as making its measurements comply with this assumption that “fixed features shall have fixed relative distances and angles”. The resulting calibration procedure does thus not need to use additional (typically expensive) equipment, nor deploy special hardware. As for the proposed estimation strategies, from a mathematical perspective we consider models that lead to analytically solvable equations, so to enable deployment in embedded systems. Besides proposing the estimators we moreover analyze their statistical performance both in simulation and with field tests. We report the dependency of the MSE performance of the calibration procedure as a function of the sensor noise levels, and observe that in field tests the approach can lead to a tenfold improvement in the accuracy of the raw measurements.
Chromium oxide nanoparticles were synthesized using cauliflower extract by two methods: simple chemical method and the sol-gel method. These technologies are new, environmentally friendly and cheap. Cauliflower contains plant materials and biomolecules (chromium, phenols, alkalis, vitamins, amino acids, quinones, etc. (that convert chromium chloride hexahydrate (CrCl3.6H2O) into chromium nanoparticles. The plant extracts also act as diluents, stabilizers and anti-caking agents. X-ray diffraction (XRD) analysis showed that the size of the crystals decreased from (36.1 to 57.8) nm using the simple chemical method to (13.31 to 20.68) nm of Cr2O3 using sol-gel.
... Show MoreA liquid-solid chromatography of Bovine Serum Albumin (BSA) on (diethylaminoethyl-cellulose) DEAE-cellulose adsorbent is worked experimentally, to study the effect of changing the influent concentration of (0.125, 0.25, 0.5, and 1 mg/ml) at constant volumetric flow rate Q=1ml/min. And the effect of changing the volumetric flow rate (1, 3, 5, and 10 ml/min) at constant influent concentration of Co=0.125mg/ml. By using a glass column of (1.5cm) I.D and (50cm) length, packed with adsorbent of DEAE-cellulose of height (7cm). The influent is introduced in to the column using peristaltic pump and the effluent concentration is investigated using UV-spectrophotometer at 30oC and 280nm wavelength. A spread (steeper) break-through curve is gained
... Show MoreThere is no adopt in the importance of the optical communications in scientific civil and military applications because of it’s simplicity in manufacturing and it's low cost. The method of optical communication depends upon bearing the light beam the translated informations by a method called the light modulation. This method depends upon changing some light properties as frequency, amplitude and pulse duration according to the translating informations. The changes in the first two properties are concerned optically with the analog modulation while the third one concern at most with digital modulation. All past methods are expensive with low efficiency and needs electrical or magnetic fields. In this technique the source of voice used
... Show MoreA rapid, sensitive and selective spectrophotometric method was developed for determination of sulfathiazole (STHZ) in aqueous solution. The method is based on the oxidative coupling reaction with 2,4-dinitrophenylhydrazine (2,4-DNPH) in a basic medium (pH 10.9) in the presence of potassium periodate to produce an intense orange colour, soluble in water , stable product and absorbs at 492 nm. Beer's law was in the linear range 2.0-28.0 μg/ml of sulfathiazole, the molar absorptivity, Sandellʼs sensitivity index and detection limit were 1.1437 ×104 liter. mol-1.cm-1,0.0223 μg.cm-2 and 0.1274 μg/ml respectively. The RSD value was 0.75 - 1.12 % depending on the concentration. This method was applied successfu
... Show MoreIn this paper, the topic of forecasting the changes in the value of Iraqi crude oil exports for the period from 2019 to 2025, using the Markov transitional series based on the data of the time series for the period from January 2011 to November 2018, is real data obtained from the published data of the Central Agency Of the Iraqi statistics and the Iraqi Ministry of Oil that the results reached indicate stability in the value of crude oil exports according to the data analyzed and listed in the annex to the research.
Keywords: Using Markov chains
This paper presents a method of designing and constructing a system capable of acquiring
the third dimension and reconstructs a 3D shape for an object from multi images of that object using
the principle of active optical triangulation. The system consists of an illumination source, a photo
detector, a movement mechanism and a PC, which is working as a controlling unit for the hard ware
components and as an image processing unit for the object multi view raw images which must be
processed to extract the third dimension. The result showed that the optical triangulation method
provides a rapid mean for obtaining accurate and quantitative distance measurements. The final
result's analysis refers to the necessity of usin
In this paper, the productions of gallium oxide (Ga2O3) nanoparticles were achieved via using the Nd: YAG laser deposition method with a fundamental wavelength (1064 nm). These nanoparticles were characterized by using different methods such as X-ray diffractometer (XRD), atomic force microscopy (AFM) and Ultraviolet–visible (UV–vis) spectroscopy. To examine the effects of laser energy on the properties of nanoparticles, the experimental results and theoretical considerations were prepared by the effective method of pulse laser deposition. The synthesis of Ga2O3NPs) was achieved with different ranges of energies (500 to 900 mJ). Average crystallite sizes of the synthesized nanopar
... Show MoreDue to the large population of motorway users in the country of Iraq, various approaches have been adopted to manage queues such as implementation of traffic lights, avoidance of illegal parking, amongst others. However, defaulters are recorded daily, hence the need to develop a mean of identifying these defaulters and bring them to book. This article discusses the development of an approach of recognizing Iraqi licence plates such that defaulters of queue management systems are identified. Multiple agencies worldwide have quickly and widely adopted the recognition of a vehicle license plate technology to expand their ability in investigative and security matters. License plate helps detect the vehicle's information automatically ra
... Show MoreThe green production of iron oxide nanoparticles (FeONPs) due to its numerous biotechnological uses has attracted a lot of attention and clean and eco-friendly approaches in the medical field.
The objectives of this study are to demonstrate the biogenic creation of FeONPs. The search for alternative antimicrobial medicines has been prompted by growing worries about multidrug resistance.