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- 저자 : Robertsson, Lennart (검색결과 3 건)
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Karl Berntorp,Karl-Erik °Arz´en,Anders Robertsson 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
The position and orientation estimation problem for mobile robots is approached by fusing measurements from inertial sensors, wheel encoders, and a camera. The sensor fusion approach is based on the standard extended Kalman filter, which is modified to handle measurements from the camera with unknown prior delay. A real-time implementation is done on a four-wheeled omni-directionalmobile robot, using a dynamicmodelwith 11 states. The algorithmis analyzed and validated with simulations and experiments.
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Final report of key comparison CCM.G-K1: International comparison of absolute gravimeters ICAG2009
Arias, E Felicitas,Jiang, Zhiheng,Robertsson, Lennart,Vitushkin, Leonid,Ruess, Diethard,Ullrich, Christian,Inglis, Dave,Liard, Jacques,Robinson, Ian,Ji, Wangxi,Shuqing, Wu,Lee, Chiungwu,Palinkas, Vojt Springer-Verlag 2012 METROLOGIA -BERLIN- Vol.49 No.-
<P>The International Comparison of Absolute Gravimeters 2009 (ICAG2009) was carried out in September 2009 at the International Bureau of Weights and Measures (BIPM). The ICAG2009 and its data processing were performed in accordance with the agreed Technical Protocol which was approved by the Steering Committee. The pilot laboratory (BIPM) evaluated the final results of the key comparison from the measurements made at the BIPM in the framework of ICAG2009. A pilot study run in parallel allowed evaluation of the offsets for absolute gravimeters from institutes not fulfilling the requirements for participating in the key comparison. The gravity values at the five stations, and the offsets for each absolute gravimeter, were obtained by a weighted least squares fit. The results indicate that all participating gravimeters are consistent within their expanded uncertainties.</P><P>Main text.To reach the main text of this paper, click on Final Report. Note that this text is that which appears in Appendix B of the BIPM key comparison database kcdb.bipm.org/.</P><P>The final report has been peer-reviewed and approved for publication by the CCM, according to the provisions of the CIPM Mutual Recognition Arrangement (CIPM MRA).</P>
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Jiang, Z,Pá,linká,š,, V,Arias, F E,Liard, J,Merlet, S,Wilmes, H,Vitushkin, L,Robertsson, L,Tisserand, L,Pereira Dos Santos, F,Bodart, Q,Falk, R,Baumann, H,Mizushima, S,Mä,kinen, J Springer-Verlag 2012 METROLOGIA -BERLIN- Vol.49 No.6
<P>The 8th International Comparison of Absolute Gravimeters (ICAG2009) took place at the headquarters of the International Bureau of Weights and Measures (BIPM) from September to October 2009. It was the first ICAG organized as a key comparison in the framework of the CIPM Mutual Recognition Arrangement of the International Committee for Weights and Measures (CIPM MRA) (CIPM 1999). ICAG2009 was composed of a Key Comparison (KC) as defined by the CIPM MRA, organized by the Consultative Committee for Mass and Related Quantities (CCM) and designated as CCM.G-K1. Participating gravimeters and their operators came from national metrology institutes (NMIs) or their designated institutes (DIs) as defined by the CIPM MRA. A Pilot Study (PS) was run in parallel in order to include gravimeters and their operators from other institutes which, while not signatories of the CIPM MRA, nevertheless play important roles in international gravimetry measurements. The aim of the CIPM MRA is to have international acceptance of the measurement capabilities of the participating institutes in various fields of metrology. The results of CCM.G-K1 thus constitute an accurate and consistent gravity reference traceable to the SI (International System of Units), which can be used as the global basis for geodetic, geophysical and metrological observations of gravity. The measurements performed afterwards by the KC participants can be referred to the international metrological reference, i.e. they are SI-traceable.</P><P>The ICAG2009 was complemented by a number of associated measurements: the Relative Gravity Campaign (RGC2009), high-precision levelling and an accurate gravity survey in support of the BIPM watt balance project. The major measurements took place at the BIPM between July and October 2009. Altogether 24 institutes with 22 absolute gravimeters (one of the 22 AGs was ultimately withdrawn) and nine relative gravimeters participated in the ICAG/RGC campaign.</P><P>This paper is focused on the absolute gravity campaign. We review the history of the ICAGs and present the organization, data processing and the final results of the ICAG2009.</P><P>After almost thirty years of hosting eight successive ICAGs, the CIPM decided to transfer the responsibility for piloting the future ICAGs to NMIs, although maintaining a supervisory role through its Consultative Committee for Mass and Related Quantities.</P>
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