Qiukai Li, Zhongjing Chen, T. Xu, Yadong Yan, Feng Wang, Junhua He
Deuterium-tritium neutron yield has reached up to about 1013 at the 100 kJ-level laser facility, which makes measurement of neutron emission images possible with the neutron imaging system. There are two methods to collect neutron images from the scintillator array, optical fiber taper and the lens system. Here, we report a design of the lens system for the neutron imaging system at the 100 kJ-level laser facility. The lens system, which consists of a nine-element collecting lens, with a spatial resolution of 20 µm and a light-collection efficiency of 5.9% has been designed.
{"title":"Design of the scintillator imaging lens for the neutron imaging system at the 100 kJ-level laser facility.","authors":"Qiukai Li, Zhongjing Chen, T. Xu, Yadong Yan, Feng Wang, Junhua He","doi":"10.1063/5.0086782","DOIUrl":"https://doi.org/10.1063/5.0086782","url":null,"abstract":"Deuterium-tritium neutron yield has reached up to about 1013 at the 100 kJ-level laser facility, which makes measurement of neutron emission images possible with the neutron imaging system. There are two methods to collect neutron images from the scintillator array, optical fiber taper and the lens system. Here, we report a design of the lens system for the neutron imaging system at the 100 kJ-level laser facility. The lens system, which consists of a nine-element collecting lens, with a spatial resolution of 20 µm and a light-collection efficiency of 5.9% has been designed.","PeriodicalId":54761,"journal":{"name":"Journal of the Optical Society of America and Review of Scientific Instruments","volume":"36 1","pages":"043303"},"PeriodicalIF":0.0,"publicationDate":"2022-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74805989","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Based on the principle of the periodic heating method by using cantilever thermocouple nanoprobes, we developed a method and an apparatus to measure the thermal diffusivity of soft materials on a microscale. The contact position of the probe tip with the sample surface was defined by using the phenomenon that the DC component of the thermal electromotive force (EMF) of the probe changes significantly upon contact (i.e., the vertical temperature gradient near the sample surface changes significantly). This contact position was set as the surface reference position where the variation of the thermal contact conductance between the sample surface and the sensor probe is minimized. The phase shift from the micro-heater was measured by the AC component of the probe's thermal EMF and used to accurately determine the thermal diffusivity of micro-sized soft materials. The thermal diffusivity of the microstructured photoresist was determined with a deviation of ±3%.
{"title":"Probe-based microscale measurement setup for the thermal diffusivity of soft materials.","authors":"M. Ryu, M. Akoshima, J. Morikawa","doi":"10.1063/5.0084891","DOIUrl":"https://doi.org/10.1063/5.0084891","url":null,"abstract":"Based on the principle of the periodic heating method by using cantilever thermocouple nanoprobes, we developed a method and an apparatus to measure the thermal diffusivity of soft materials on a microscale. The contact position of the probe tip with the sample surface was defined by using the phenomenon that the DC component of the thermal electromotive force (EMF) of the probe changes significantly upon contact (i.e., the vertical temperature gradient near the sample surface changes significantly). This contact position was set as the surface reference position where the variation of the thermal contact conductance between the sample surface and the sensor probe is minimized. The phase shift from the micro-heater was measured by the AC component of the probe's thermal EMF and used to accurately determine the thermal diffusivity of micro-sized soft materials. The thermal diffusivity of the microstructured photoresist was determined with a deviation of ±3%.","PeriodicalId":54761,"journal":{"name":"Journal of the Optical Society of America and Review of Scientific Instruments","volume":"152 1","pages":"044901"},"PeriodicalIF":0.0,"publicationDate":"2022-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76260851","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Yue Niu, Lihong Duan, Jingxin Zhang, Jiong Huang, Yueyang Zhai, W. Quan
Laser power stabilization systems with liquid crystal variable retarders have been employed in miniaturized atomic gyroscopes for the merits of low power consumption and easy integration. However, the long-term power drift of the system output with ambient temperature significantly decreases the long-term performance of atomic gyroscopes. Here, we demonstrated a method of dynamic closed-loop control based on the combination of optical power drift and ambient temperature modeling. For a continuous 45 min operation within an ambient temperature variation range of 23.7-25.3 °C, the relative Allan deviation of the output optical power was decreased by one order of magnitude from 2.29 × 10-4 to 3.35 × 10-5 after 100 s averaging time. The long-term stability of the system was significantly improved. In addition, the scheme requires no additional thermal control device, preventing the introduction of extra electromagnetic interference, which is desirable in a miniaturized atomic gyroscope.
{"title":"Suppression of ambient temperature-caused drift in a laser power stabilization system with a liquid crystal variable retarder in atomic gyroscopes.","authors":"Yue Niu, Lihong Duan, Jingxin Zhang, Jiong Huang, Yueyang Zhai, W. Quan","doi":"10.1063/5.0049994","DOIUrl":"https://doi.org/10.1063/5.0049994","url":null,"abstract":"Laser power stabilization systems with liquid crystal variable retarders have been employed in miniaturized atomic gyroscopes for the merits of low power consumption and easy integration. However, the long-term power drift of the system output with ambient temperature significantly decreases the long-term performance of atomic gyroscopes. Here, we demonstrated a method of dynamic closed-loop control based on the combination of optical power drift and ambient temperature modeling. For a continuous 45 min operation within an ambient temperature variation range of 23.7-25.3 °C, the relative Allan deviation of the output optical power was decreased by one order of magnitude from 2.29 × 10-4 to 3.35 × 10-5 after 100 s averaging time. The long-term stability of the system was significantly improved. In addition, the scheme requires no additional thermal control device, preventing the introduction of extra electromagnetic interference, which is desirable in a miniaturized atomic gyroscope.","PeriodicalId":54761,"journal":{"name":"Journal of the Optical Society of America and Review of Scientific Instruments","volume":"36 1","pages":"043002"},"PeriodicalIF":0.0,"publicationDate":"2022-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76164632","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
To meet the increasing and various demands for low magnetic field measurement, an open magnetic shielding system created using a combination of copper coils and precisely designed superconducting closed coils is proposed. After testing, the prototype system showed a shielding factor of more than 10 000 in the direct current field and most importantly, a shielding factor of at least 100 in the alternating field from frequencies of 0.01-100 Hz in a 5 cm spherical volume. We interestingly found that the magnetic purity of the open system is capable of catching up with the magnetically shielded room with moderate performance. The structure and principle of the system are introduced in this paper. A key factor that makes the system possible is the decoupled interaction between the copper coils and superconducting coils. The limitations of this system and ways to improve its performance are discussed. This novel approach provides a more sophisticated and flexible way to achieve open magnetic shielding.
{"title":"Open magnetic shielding for static and alternating field.","authors":"C. Gu, L. Lai, K. Zhao, N. J. Ren","doi":"10.1063/5.0083306","DOIUrl":"https://doi.org/10.1063/5.0083306","url":null,"abstract":"To meet the increasing and various demands for low magnetic field measurement, an open magnetic shielding system created using a combination of copper coils and precisely designed superconducting closed coils is proposed. After testing, the prototype system showed a shielding factor of more than 10 000 in the direct current field and most importantly, a shielding factor of at least 100 in the alternating field from frequencies of 0.01-100 Hz in a 5 cm spherical volume. We interestingly found that the magnetic purity of the open system is capable of catching up with the magnetically shielded room with moderate performance. The structure and principle of the system are introduced in this paper. A key factor that makes the system possible is the decoupled interaction between the copper coils and superconducting coils. The limitations of this system and ways to improve its performance are discussed. This novel approach provides a more sophisticated and flexible way to achieve open magnetic shielding.","PeriodicalId":54761,"journal":{"name":"Journal of the Optical Society of America and Review of Scientific Instruments","volume":"67 1","pages":"045103"},"PeriodicalIF":0.0,"publicationDate":"2022-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73796515","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
X. Zhang, Z. Gu, Z. Xiao, F. Tan, X. Ye, Y. Tong, X. S. Tang, Z. Zhou, C. Cheng, J. Zhao, B. Luo, J. Li, X. Kuang, J. Zhao, C. W. Sun, C. L. Liu
The knowledge of high-pressure behavior of LiH is significant for the validation of fundamental theoretical models and applications in thermonuclear materials and potential energy supplies. The compressibility of 7LiH under isentropic compression at high pressure was investigated experimentally and theoretically. The experimental technique for quasi-isentropic compression with low-density materials was developed using the magnetocumulative generator CJ-100 and x-ray flash radiography. The x-ray images and extracted interface of the sample target in dynamic flash radiography experiments were obtained. According to each interface size of the target both before and after compression, the compression ratio of 7LiH and reference material aluminum was obtained. The density of the reference and using its known isentropic curve provide the pressure in the reference. The pressure in 7LiH was deduced from the pressure in the reference and using the calculated gradient correction factor. The quasi-isentropic data point at 438 GPa was obtained experimentally. A semiempirical three-term complete equation of state was constructed and validated for 7LiH using the theory of Mie-Grüneisen-Debye with experimental data from the literature. The quasi-isentrope data point is reasonably consistent with the theoretical results. The quasi-isentropic experimental techniques and results broaden the existing research scope and are practical and helpful to further validate theoretical models in the future.
{"title":"Quasi-isentropic compression of LiH above 400 GPa using magnetocumulative generator.","authors":"X. Zhang, Z. Gu, Z. Xiao, F. Tan, X. Ye, Y. Tong, X. S. Tang, Z. Zhou, C. Cheng, J. Zhao, B. Luo, J. Li, X. Kuang, J. Zhao, C. W. Sun, C. L. Liu","doi":"10.1063/5.0078422","DOIUrl":"https://doi.org/10.1063/5.0078422","url":null,"abstract":"The knowledge of high-pressure behavior of LiH is significant for the validation of fundamental theoretical models and applications in thermonuclear materials and potential energy supplies. The compressibility of 7LiH under isentropic compression at high pressure was investigated experimentally and theoretically. The experimental technique for quasi-isentropic compression with low-density materials was developed using the magnetocumulative generator CJ-100 and x-ray flash radiography. The x-ray images and extracted interface of the sample target in dynamic flash radiography experiments were obtained. According to each interface size of the target both before and after compression, the compression ratio of 7LiH and reference material aluminum was obtained. The density of the reference and using its known isentropic curve provide the pressure in the reference. The pressure in 7LiH was deduced from the pressure in the reference and using the calculated gradient correction factor. The quasi-isentropic data point at 438 GPa was obtained experimentally. A semiempirical three-term complete equation of state was constructed and validated for 7LiH using the theory of Mie-Grüneisen-Debye with experimental data from the literature. The quasi-isentrope data point is reasonably consistent with the theoretical results. The quasi-isentropic experimental techniques and results broaden the existing research scope and are practical and helpful to further validate theoretical models in the future.","PeriodicalId":54761,"journal":{"name":"Journal of the Optical Society of America and Review of Scientific Instruments","volume":"46 1","pages":"043906"},"PeriodicalIF":0.0,"publicationDate":"2022-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80015825","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Luis I. Escano, N. Parab, Qilin Guo, Minglei Qu, K. Fezzaa, W. Everhart, T. Sun, Lianyi Chen
In powder-bed-based metal additive manufacturing (AM), the visualization and analysis of the powder spreading process are critical for understanding the powder spreading dynamics and mechanisms. Unfortunately, the high spreading speeds, the small size of the powder, and the opacity of the materials present a great challenge for directly observing the powder spreading behavior. Here, we report a compact and flexible powder spreading system for in situ characterization of the dynamics of the powders during the spreading process by high-speed x-ray imaging. The system enables the tracing of individual powder movement within the narrow gap between the recoater and the substrate at variable spreading speeds from 17 to 322 mm/s. The instrument and method reported here provide a powerful tool for studying powder spreading physics in AM processes and for investigating the physics of granular material flow behavior in a confined environment.
{"title":"An instrument for in situ characterization of powder spreading dynamics in powder-bed-based additive manufacturing processes.","authors":"Luis I. Escano, N. Parab, Qilin Guo, Minglei Qu, K. Fezzaa, W. Everhart, T. Sun, Lianyi Chen","doi":"10.1063/5.0076235","DOIUrl":"https://doi.org/10.1063/5.0076235","url":null,"abstract":"In powder-bed-based metal additive manufacturing (AM), the visualization and analysis of the powder spreading process are critical for understanding the powder spreading dynamics and mechanisms. Unfortunately, the high spreading speeds, the small size of the powder, and the opacity of the materials present a great challenge for directly observing the powder spreading behavior. Here, we report a compact and flexible powder spreading system for in situ characterization of the dynamics of the powders during the spreading process by high-speed x-ray imaging. The system enables the tracing of individual powder movement within the narrow gap between the recoater and the substrate at variable spreading speeds from 17 to 322 mm/s. The instrument and method reported here provide a powerful tool for studying powder spreading physics in AM processes and for investigating the physics of granular material flow behavior in a confined environment.","PeriodicalId":54761,"journal":{"name":"Journal of the Optical Society of America and Review of Scientific Instruments","volume":"21 1","pages":"043707"},"PeriodicalIF":0.0,"publicationDate":"2022-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82653229","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Triggered gas switches with trigger electrodes, such as three-electrode spark switches and trigatron type spark switches, have been widely used in repetitive operating Marx generators due to their large current flowing capability. However, the ablation of trigger electrodes during repetitive operation is inevitable, which reduces the working life of triggered gas switches. In this paper, we introduced an over-voltage triggering method for two-electrode spark switches by replacing one of the charging inductors of the Marx generator with a pulse generator. The experimental results showed that a high-voltage trigger pulse with an amplitude of 60 kV and a rising speed of 7.65 kV/100 ns was obtained from a single stackable module with a 12 V lithium battery pack as the energy source. Due to the absence of trigger electrodes, the triggering method is beneficial to extend the lifetime of switches and realize a maintenance-free repetitive operating Marx generator.
{"title":"A battery-powered over-voltage triggering method for two-electrode spark gaps in Marx generator.","authors":"Xuedi Liu, Huibo Zhang, Zicheng Zhang, Shifei Liu, Haoran Zhang","doi":"10.1063/5.0070566","DOIUrl":"https://doi.org/10.1063/5.0070566","url":null,"abstract":"Triggered gas switches with trigger electrodes, such as three-electrode spark switches and trigatron type spark switches, have been widely used in repetitive operating Marx generators due to their large current flowing capability. However, the ablation of trigger electrodes during repetitive operation is inevitable, which reduces the working life of triggered gas switches. In this paper, we introduced an over-voltage triggering method for two-electrode spark switches by replacing one of the charging inductors of the Marx generator with a pulse generator. The experimental results showed that a high-voltage trigger pulse with an amplitude of 60 kV and a rising speed of 7.65 kV/100 ns was obtained from a single stackable module with a 12 V lithium battery pack as the energy source. Due to the absence of trigger electrodes, the triggering method is beneficial to extend the lifetime of switches and realize a maintenance-free repetitive operating Marx generator.","PeriodicalId":54761,"journal":{"name":"Journal of the Optical Society of America and Review of Scientific Instruments","volume":"37 1","pages":"044706"},"PeriodicalIF":0.0,"publicationDate":"2022-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89399034","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Kun Qi, Yao-Yao Xu, Xiao-Bing Deng, Lele Chen, Qin Luo, Minkang Zhou, Xiao-chun Duan, Zhongkun Hu
Vibration correction provides a simple and flexible method of suppressing ambient vibration noise in transportable atom gravimeters. However, in the seismometers used for vibration correction, a spurious output may be induced by the magnetic field of the magnetic-optical trap, introducing errors to the gravity measurements. This paper evaluates the influence of the magnetic field on the seismometer and the corresponding errors in the gravity measurements. It is found that an error level of order 10 μGal may be present if the seismometer is not configured carefully. The dependence of the influence on the orientation of the seismometer and the lasting time of the magnetic field are investigated. The effective suppression of the influence by shielding the seismometer is also demonstrated. Our results focus attention on the possible errors related to seismometers in high-precision gravity measurements by using atom gravimeters.
{"title":"Influence of magnetic field on the seismometer in vibration correction for atom gravimeters.","authors":"Kun Qi, Yao-Yao Xu, Xiao-Bing Deng, Lele Chen, Qin Luo, Minkang Zhou, Xiao-chun Duan, Zhongkun Hu","doi":"10.1063/5.0081148","DOIUrl":"https://doi.org/10.1063/5.0081148","url":null,"abstract":"Vibration correction provides a simple and flexible method of suppressing ambient vibration noise in transportable atom gravimeters. However, in the seismometers used for vibration correction, a spurious output may be induced by the magnetic field of the magnetic-optical trap, introducing errors to the gravity measurements. This paper evaluates the influence of the magnetic field on the seismometer and the corresponding errors in the gravity measurements. It is found that an error level of order 10 μGal may be present if the seismometer is not configured carefully. The dependence of the influence on the orientation of the seismometer and the lasting time of the magnetic field are investigated. The effective suppression of the influence by shielding the seismometer is also demonstrated. Our results focus attention on the possible errors related to seismometers in high-precision gravity measurements by using atom gravimeters.","PeriodicalId":54761,"journal":{"name":"Journal of the Optical Society of America and Review of Scientific Instruments","volume":"39 1","pages":"044503"},"PeriodicalIF":0.0,"publicationDate":"2022-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76664359","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Xinglin Zhang, Huan Liu, Zehua Wang, H. Dong, J. Ge, Zheng Liu
The magnetic anomalies generated by the ferromagnetic targets are usually buried within uncontrollable interference sources, such as the power frequency and random noises. In particular, the variability of the geomagnetic field and the low signal-to-noise ratio (SNR) of the magnetic anomalies cannot be avoided. In this paper, to improve the performance of magnetic anomaly detection (MAD) with a low SNR, we propose a novel structured low-rank (SLR) decomposition-based MAD method. In addition, a new framework based on the SLR and singular value decomposition (SVD) is constructed, dubbed SLR-SVD, and the corresponding working principle and implemented strategy are elaborated. Through comparing the SLR-SVD with two state-of-the-art methods, including principal component analysis and SVD, the results demonstrate that the proposed SLR-SVD can not only suppress the noise sufficiently, i.e., improving 55.26% approximately of the SNR, but also retain more boundary information of magnetic anomalies, i.e., decreasing approximately 68.05% of the mean squared error and improving approximately 28.47% of the structural similarity index.
{"title":"Anomaly detection of complex magnetic measurements using structured Hankel low-rank modeling and singular value decomposition.","authors":"Xinglin Zhang, Huan Liu, Zehua Wang, H. Dong, J. Ge, Zheng Liu","doi":"10.1063/5.0088254","DOIUrl":"https://doi.org/10.1063/5.0088254","url":null,"abstract":"The magnetic anomalies generated by the ferromagnetic targets are usually buried within uncontrollable interference sources, such as the power frequency and random noises. In particular, the variability of the geomagnetic field and the low signal-to-noise ratio (SNR) of the magnetic anomalies cannot be avoided. In this paper, to improve the performance of magnetic anomaly detection (MAD) with a low SNR, we propose a novel structured low-rank (SLR) decomposition-based MAD method. In addition, a new framework based on the SLR and singular value decomposition (SVD) is constructed, dubbed SLR-SVD, and the corresponding working principle and implemented strategy are elaborated. Through comparing the SLR-SVD with two state-of-the-art methods, including principal component analysis and SVD, the results demonstrate that the proposed SLR-SVD can not only suppress the noise sufficiently, i.e., improving 55.26% approximately of the SNR, but also retain more boundary information of magnetic anomalies, i.e., decreasing approximately 68.05% of the mean squared error and improving approximately 28.47% of the structural similarity index.","PeriodicalId":54761,"journal":{"name":"Journal of the Optical Society of America and Review of Scientific Instruments","volume":"93 4 1","pages":"045107"},"PeriodicalIF":0.0,"publicationDate":"2022-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75100973","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this paper, an image-based visual servoing (IBVS) controller with a 6 degree-of-freedom robotic manipulator that tracks moving objects is investigated using the proposed Deep Q-Networks and proportional-integral-derivative (DQN-PID) controller. First, the classical IBVS controller and the problem of feature loss and large steady-state error for tracking moving targets are introduced. Then, a DQN-PID based IBVS method is proposed to solve the problem of feature loss and large steady-state error and improve the servo precision, as the existing methods are hard to use for solve the problems. Specifically, the IBVS method is inherited by our controller to build the tracking model, and a value-based reinforcement learning method is proposed as an adaptive law for dynamically tuning the PID parameters in the discrete space, which can track the moving target and keep the servo feature in the field of the camera. Finally, compared with the different existing methods, the DQN-PID based IBVS method has merits of higher accuracy and more stable tracking, or generalization.
{"title":"Tracking moving target for 6 degree-of-freedom robot manipulator with adaptive visual servoing based on deep reinforcement learning PID controller.","authors":"Fei Wang, Baiming Ren, Yue Liu, Ben Cui","doi":"10.1063/5.0087561","DOIUrl":"https://doi.org/10.1063/5.0087561","url":null,"abstract":"In this paper, an image-based visual servoing (IBVS) controller with a 6 degree-of-freedom robotic manipulator that tracks moving objects is investigated using the proposed Deep Q-Networks and proportional-integral-derivative (DQN-PID) controller. First, the classical IBVS controller and the problem of feature loss and large steady-state error for tracking moving targets are introduced. Then, a DQN-PID based IBVS method is proposed to solve the problem of feature loss and large steady-state error and improve the servo precision, as the existing methods are hard to use for solve the problems. Specifically, the IBVS method is inherited by our controller to build the tracking model, and a value-based reinforcement learning method is proposed as an adaptive law for dynamically tuning the PID parameters in the discrete space, which can track the moving target and keep the servo feature in the field of the camera. Finally, compared with the different existing methods, the DQN-PID based IBVS method has merits of higher accuracy and more stable tracking, or generalization.","PeriodicalId":54761,"journal":{"name":"Journal of the Optical Society of America and Review of Scientific Instruments","volume":"29 1","pages":"045108"},"PeriodicalIF":0.0,"publicationDate":"2022-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74633433","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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