esr 1.3: status & next steps vasileios vlachakis pacman meeting 25 june 2015 cern, geneva,...

ESR 1.3: status & next steps

Vasileios Vlachakis

PACMAN meeting25 June 2015

CERN, Geneva, Switzerland

Training

Snapshots of ETHZ courses

Measurements

Wire detection

Analysis software

Material

Summary

Outline

Jul - SepFeb – May Jun


Physical Geodesy and Geodynamics 98 h

Project Parameter Estimation 81 h

Industrial Metrology and Machine Vision 103 h

Exams: 20.08.2015 (4 credits)

Exams: in August (4 credits)

Passed: 5.5/6 (3 credits)

IT coursesC/C++2 h

LaTeX 4 h

MATLAB 4 h

HTML, CSS2 h

Geomatics seminarsRecent Advances in Terrestrial Radar Interferometry2 h

Bathymetry of lakes: Exploring the underwater world2 h Procurement and

Contract Management Training on Supplies 8 h

Uncertainties of measurements, W. Bich

Invited expert from SLAC, R. Ruland

Training

Project Parameters EstimationTopic 1:

• 3D adjustment of mixed networks (GNSS + terrestrial observations) • LTOP software (developed by swisstopo)

45' 44'

10mm

43'

2mm

42'

ST3320231058880

ST3320131054880

31050880

31046880

31042880

41'

31038880ST33210

31035380

31032180

31029480

31026180

31022880

Silenen

8oE 40.00'

31019680

31016380

31013180

31009980

31006760

3100398011924913

11924914

ST33211ST32303ST32302

UR301

ST32301ST33212

11924117

UR26UR25

Erstfeld

39'

11924903

11924916

38' 37' 36' 35'

51'

50'

46oN 49.00'

48'

47'

Topic 2: • Geodetic reference systems: CH1903 (LV03) and CH1903+ (LV95)• Height systems: LN02 and LHN95• Reductions from the physical space to the projection surface

Topic 3: • Gyro-theodolite measurements processing

Project Parameters EstimationTopic 4: • Calibration of a Terrestrial Laser Scanner (TLS)• Gauss-Markov model• Gauss-Helmert model• Robust adjustment Topic 5:

• Kriging (Best Linear Unbiased Predictor)• Gaussian process regression / Kolmogorov-Wiener prediction

Industrial Metrology and Machine VisionTopic 1: • White light / Structured light scanners

Topic 2: • Clean & Compare 3D mesh models in Geomagic®

Industrial Metrology and Machine VisionTopic 3: • Romer – Leica Geosystems scanners

Topic 4: • Register & Compare 3D point clouds in Geomagic®

Industrial Metrology and Machine VisionTopic 5: • Shape from Focus

Topic 6: • Auto-collimation and differential interferometer


CERN, 169/R-004 ETHZ, Messekeller (Calibration Base Room)

Data used to develop and debug the analysis software

Precision and accuracy evaluation

Measurements


1. Minimum edge points (for each edge): increases the robustness.

2. Width of Region Of Interest (ROI) window: increases precision avoiding the out-of-focus area.

3. Height of Region Of Interest (ROI) window: helps when the wire is depicted inclined.

4. Maximum residual: increases precision discarding outlier pixels w.r.t. the fitting line.

5. Canny threshold: increases the robustness in case of noisy images.

Algorithm Graphic User Interface

User defined parameters

Wire detection


Data• 3D coordinates +uncertainties (datum, comparison)• Angles to points (+uncertainties)

• 3D distances +uncertainties (datum, comparison)• Angles to wire (+uncertainties)

• Weights− Instrument specifications− User defined− CCD based (image proc.)

Analysis software

3D network adjustment• Angles to points (inner constraints)• Angles to points (minimum constraints)• Angles to points (additional constraints)

Features• Observations

− Raw (face I, face II)− Combined (face I + II)− Face I only− Face II only

Tools• Import QDaedalus raw data file• Make LGC input file (when applicable)

• Angles to wire (+points)• Calibration• Angles + Distances?

• Periods → Stations− n periods → 1 station (V0/station)− n periods → 1 station (V0/period)− 1 period → 1 station (X, Y, Z, V0/period)

• Compute 3D transformations• Make ChaBa input files• Visualization (measurements + results)• Import CMM and/or Multiline data files?


• 2 Leica TDA5005 (calibration needed)

• 2 new QDaedalus systems

• 2 old QDaedalus systems (for upgrade)

• 1 Laptop

• 6 Targets (supports + spheres)

• 6 Aluminium cylindrical supports

• 1 Stretcher device

• more accessories…

High priority

• Transportation of the equipment from ETHZ

• Lab (ISR8)

• Optical table (borrow/buy)

• Laptop (borrow/buy)

Low priority

• Necessary / Available material list

• Material to borrow / to manufacture

• Market survey

• Decision w.r.t. the budget

Material listMaterial


Training• 3 master courses at ETHZ

• IT courses at ETHZ

• Geomatics seminars at ETHZ

Measurements• Measurements on the wire

• Measurements on the test bench

Software• Wire detection algorithm

developed in Matlab

• Wire detection algorithm implemented in QDaedalus

Material• Instruments sent to ETHZ

• Material collected to build the test bench at ETHZ


Training• Project Parameter

Estimation (3 credits) Passed: 5.5/6

• Procurement and Contract Management Training on Supplies

Measurements• Data used to develop

and debug the analysis software

Software• Input approximate coordinates,

constraints and angle observations

• Solve μ-Triangulation networks (inner, minimum, additional)

• Customize observations and weights

• Communicate with QDaedalus and LGC, through files

Material• List of the necessary

material

Final bench• First thoughts and

simple simulations about the configuration

• Requirements listed and presented, according to the experience


Training• 2 exams in August

(4 + 4 credits)

• Uncertainties of measurements, W. Bich

• Invited expert from SLAC, R. Ruland

Measurements• Precision and accuracy

evaluation

• New measurement?

Material• Necessary / Available

material list

• Material to borrow / to manufacture

• Decide further steps

Final bench• Drawings needed to propose

possible solutions

Research plan• Draft to CERN, 15 Jul.

• Draft to ETHZ, 1 Aug.

• Submit, 31 Aug.

Software• Reconstruct line (wire)

• Solve global geodetic network (fiducials + wire)

• Customize periods of measurements

• Compute 3D transformations and communicate with ChaBa

• Visualize (measurements + results)

Thank you!

esr 1.3: status & next steps vasileios vlachakis pacman meeting 25 june 2015 cern, geneva,...

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