Jitter Detection Method Based on Sequence CMOS Images Captured by Rolling Shutter Mode for High-Resolution Remote Sensing Satellite

Satellite platform jitter is a non-negligible factor that affects the image quality of optical cameras. Considering the limitations of traditional platform jitter detection methods that are based on attitude sensors and remote sensing images, this paper proposed a jitter detection method using sequence CMOS images captured by rolling shutter for high-resolution remote sensing satellite. Through the three main steps of dense matching, relative jitter error analysis, and absolute jitter error modeling using sequence CMOS images, the periodic jitter error on the imaging focal plane of the spaceborne camera was able to be measured accurately. The experiments using three datasets with different jitter frequencies simulated from real remote sensing data were conducted. The experimental results showed that the jitter detection method using sequence CMOS images proposed in this paper can accurately recover the frequency, amplitude, and initial phase information of satellite jitter at 100 Hz, 10 Hz, and 2 Hz. Additionally, the detection accuracy reached 0.02 pixels, which can provide a reliable data basis for remote sensing image jitter error compensation.

High-precision modeling of CNCs’ spatial errors based on screw theory

A method for establishing machine tool’s spatial error model is put forward based on screw theory, which is different from the traditional error modeling method. By analyzing the position relationship between the ideal coordinate vector and the actual coordinate vector jointly affected by linear errors and angular errors, a single-axis screw conversion matrix error expression is brought up based on screw theory. Meanwhile, the comprehensive spatial error model of the CNC machine tool is derived by considering the influence of the workpiece motion chain and the tool motion chain on the model. Further, to compensating spatial errors of CNCs, such screw theory-based model is embedded in the error compensation system by means of integration of a few specific application examples. And in order to evaluate the compensation effects, an integrated evaluation method of quantitative spatial diagonal calculation and MATLAB simulation is proposed. Application results show that the screw theory-based spatial error model of tool has a very substantial compensation effect, which makes the position error of the machine tool decreased by about 80%.

Conceptual design and error analysis of a cable-driven parallel robot

This paper develops the conceptual design and error analysis of a cable-driven parallel robot (CDPR). The earlier error analysis of CDPRs generally regarded the cable around the pulley as a center point and neglected the radius of the pulleys. In this paper, the conceptual design of a CDPR with pulleys on its base platform is performed, and an error mapping model considering the influence of radius of the pulleys for the CDPR is established through kinematics analysis and a full matrix complete differential method. Monte Carlo simulation is adopted to deal with the sensitivity analysis, which can directly describe the contribution of each error component to the total orientation error of the CDPR by virtue of the error modeling. The results show that the sensitivity coefficients of pulleys’ geometric errors and geometric errors of the cables are relatively larger, which confirms that the cable length errors and pulleys’ geometric errors should be given higher priority in design and processing.