Method of rotation angle measurement in machine vision based on calibration pattern with spot array.
We propose a method of rotation angle measurement with high precision in machine vision. An area scan CCD camera, imaging lens, and calibration pattern with a spot array make up the measurement device for measuring the rotation angle. The calibration pattern with a spot array is installed at the rotation part, and the CCD camera is set at a certain distance from the rotation components. The coordinates of the spots on the calibration pattern is acquired through the vision image of the calibration pattern captured by the CCD camera. At the initial position of the calibration pattern, the camera is calibrated with the spot array; the mathematical model of distortion error of the CCD camera is built. With the equation of coordinate rotation measurement, the rotation angle of the spot array is detected. In the theoretic simulation, noise of different levels is added to the coordinates of the spot array. The experiment results show that the measurement device can measure the rotation angle precisely with a noncontact method. The standard deviation of rotation angle measurement is smaller than 3 arc sec. The measurement device can measure both microangles and large angles.
A Robust Incremental-Quaternion-Based Angle and Axis Estimation Algorithm of a Single-Axis Rotation Using MARG Sensors
A robust incremental-quaternion-based algorithm is proposed in this paper to estimate the angle and the axis of a single-axis rotation whose rotation axis is invisible or inaccessible. We establish a model to estimate the rotation angle and axis according to the relationship between the incremental quaternion and the pair of rotating axis and angles. Moreover, the solutions for the model are detailedly described in this paper. This algorithm could achieve full range of rotation angle and all-attitude rotation axis measurements with high-computational efficiency. It has good performances in the rotation angle and axis estimation no matter whether the measured target is in dynamic or static movement, which solves the inaccurate rotating-axis attitude problem in other methods when the target is doing low-speed rotation. Using the designed measurement unit based on magnetic, angular rate, and gravity sensors, this algorithm eliminates the drift of measurement results caused by the integral error of the gyroscope. The effectiveness of this algorithm has been validated through a single-axis motion control platform by comparing with another two methods. Results show that the proposed algorithm provides a more accurate estimation of rotation angle and the axis of a single-axis rotation of high or low speed.
Full-scale measurements of SO2 gas phase concentrations and slurry compositions in a wet flue gas desulphurisation spray absorber
Abstract Two measurement campaigns were carried out at ENERGI E2's Asnaes Power plant, unit 5. The unit has a capacity of 620 MW e and is equipped with a wet flue gas desulphurisation (FGD) plant employing a counter-current spray absorber with five spray levels. In the first campaign, the power plant was firing Orimulsion ® with 2.85 wt% S resulting in a flue gas concentration of SO 2 exceeding 2000 ppmv. In the second campaign, the fuel applied was a low-S blended coal and the SO 2 concentration in the raw gas was around 400 ppmv. A novel probe for in situ sampling of gas phase concentrations in wet FGD spray absorbers was developed and applied for measuring axial profiles of the SO 2 gas phase concentrations in the absorber. The expected decrease in SO 2 concentrations along the height of the absorber was found in the spray section (from height 26.5 to 36.2 m) whereas the SO 2 concentration above the holding tank and below the gas inlet was quite low probably due to long local residence times in the region. Horizontal variations, due to somewhat different flow conditions near the column wall were investigated and the SO 2 concentrations were found to be higher near the wall. Measurements at different gross loads showed that the SO 2 gas phase concentration at a given position inside the absorber was roughly linearly related to the L/G ratio in the measuring interval. Turning off one of the lower spray levels, while burning coal with low S content, did not lower the overall removal efficiency of the absorber. However, the SO 2 gas phase concentration inside the lower part of the absorber was increased by a factor of 2–3. Measurements of slurry pH at different positions showed a decrease of approximately 0.5 units from the upper to the lower part of the absorber. The full-scale measurements provide a detailed set of experimental data for validation of mathematical models of a wet FGD spray absorber.