This paper focuses on parameter identification of a target tracker robot possessing flexible joints using particle swarm optimization (PSO) algorithm. Since, belt and pulley mechanisms are known as flexible joints in robotic systems, their elastic behavior affecting a tracker robot is investigated in this work. First, dynamic equations governing the robot behavior are extracted taking into acco...

This paper introduces a redundant localisation system, combining a low-cost Gaussian pose tracker and a particle filter localiser which is more CPU intensive. Ideally, the Gaussian pose tracker can be used for most of the time and the particle filter localiser switched on only when the Gaussian pose tracker fails. The problem studied here is to determine when the Gaussian pose tracker has faile...

The Tevatron at Fermilab is at present the world’s highest energy particle accelerator. After extensive refurbishments, data taking for Run II started in 2001, and by the end of 2003 over 200 pb of usable integrated luminosity had been accumulated by each Collider experiment, double the total for Run I. In preparation for Run II, the CDF detector also underwent an extensive upgrade. Of special ...

The spectacular results provided by the second-generation VLTI instruments GRAVITY and MATISSE on active galactic nuclei (AGN) trigger justify a strong increase in sensitivity limit of optical interferometers. A key component such an upgrade is off-axis fringe tracking. To evaluate its potential limitations, we describe analyse error budget including sensing precision temporal, angular chromati...

The geometric calibration of the Planck satellite is investigated, specifically those parameters which require the use of the science data for their extraction. Methods for the recovery of these geometric-calibration parameters from point source detections in the science data are presented, together with the accuracies which may be achieved. These methods apply to the a posteriori evaluation of...

Attitude Determination System (ADS) is a process to determine the attitude of a satellite by using on board sensors and attitude estimation algorithms to determine the orientation of the satellite which is relative to inertial reference frame such as Earth reference frame. The ADS is consists of an attitude sensor which provides the attitude and orbital position of the satellite to the Attitude...

We report the transverse momentum (pT ) distributions for identified charged pions, protons and anti-protons using events triggered by high deposit energy in the Barrel Electro-Magnetic Calorimeter (BEMC) from p + p collisions at √ sNN = 200 GeV. The spectra are measured around mid-rapidity (| y | < 0.5) over the range of 3 < pT < 15 GeV/c with particle identification (PID) by the relativistic ...

The High Energy Focusing Telescope (HEFT) is a balloon-borne, hard x-ray/gamma ray (20-70 keV) astronomical experiment. HEFT’s 10 arcminute field of view and 1 arcminute angular resolution place challenging demands on its attitude control system (ACS). A microprocessor-based ACS has been developed to manage target acquisition and sidereal tracking. The ACS consists of a variety of sensors and a...

Tracking the movement of rolling leukocytes in vivo contributes to the understanding of the mechanism of the inflammatory process and to the development of anti-inflammatory drugs. Several roadblocks exist that hinder successful automated tracking including the moving background, the severe image noise and clutter, the occlusion of the target leukocyte by other leukocytes and structures, the ji...

Recently, Particle Swarm Optimization (PSO) is introduced as an alternative to Particle Filter (PF) for object tracking. In this work, we compare a PSO tracker with two PF trackers, a classical PF tracker and an Enhanced Particle Filter (EPF) tracker, introduced in this paper. The accuracy of the tracking and, in particular, occlusion handling are considered. The different trackers are implemen...