Surface topograms obtained by mechanical, laser, optical, and electron-microscopic profilometry are widely used to study the micro profile parameters. Experimentally obtained topograms are widely used to evaluate the quality of metallic and non-metallic surfaces for various purposes, including in printing technologies for quality control of finished printing products, in particular, those produced by the intaglio printing method. Laser topograms describe the micro profile with matrices of ordinates on a rectangular grid of large dimensions. At the same time, the problem of estimating micro profile parameters as a whole arises. Therefore, research aimed at developing integrated methods of micro profile analysis is relevant. One of the ways to solve this problem is to consider the anisotropy of the geometric characteristics of the micro profile in all directions. In this paper, the possibility of determining the integral characteristics of the micro profile based on the topogram of the surface using a mathematical apparatus based on hyperspectral analysis and tensor calculation methods is substantiated. The proposed methods are based on the introduction of a special tensor field, which determines the characteristic directions of the location of peaks and valleys of the micro profile. In particular, a multiple (two-dimensional) Fourier series is used to describe the microprofile. The coefficients are found by integrating the experimentally measured laser topogram of the microprofile smoothed by cubic splines, corrected by multiplication by a special form factor. The coefficients of the series represent the spectral (hyperspectral) characteristic of the micro profile.
The terrestrial robotic complex with optical devices installed on the manipulator is considered. It is shown that there are intensive oscillation of the manipulator during the complex movement deteriorating the quality of the image as a result of the displacement of cameras. Controlled damping devices are suggested for the manipulator position dynamic stabilization. Devices are controlled with the mechatronic system. Grounds for mechatronic system development are accomplished by means of mathematical modeling. A mathematical model of dynamics of a mobile robotic complex is developed. The "quasi-hard" movement of the chassis with a manipulator is considered and the dynamic model of the complex is presented as one solid. Approbation of the model by means of intermediate processes calculation is carried out. The possibility of developing a manipulator position dynamic stabilization mechatronic system with optical surveillance devices installed on it by means of mathematical modeling of a mobile robotic complex is substantiated.
Access to the requested content is limited to institutions that have purchased or subscribe to SPIE eBooks.
You are receiving this notice because your organization may not have SPIE eBooks access.*
*Shibboleth/Open Athens users─please
sign in
to access your institution's subscriptions.
To obtain this item, you may purchase the complete book in print or electronic format on
SPIE.org.
INSTITUTIONAL Select your institution to access the SPIE Digital Library.
PERSONAL Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.