Transformation matrices for 3D shape sensing with polyimide-coated multicore optical fiber

Davide Paloschi, Sanzhar Korganbayev, Kirill Bronnikov, Alexey Wolf, Alexander Dostovalov, Paola Saccomandi

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

Abstract

This paper presents a three-dimensional shape-reconstructing algorithm applied on a shape sensing system based on a polyimide-coated 7-core optical fiber. Fiber optic-based shape sensing consists in numerically evaluating the strains applied to the fiber in order to identify useful spatial parameters such as the curvature radii defining its shape. Multicore fibers are preferable since they can also provide information regarding the direction of bending. The proposed method relies on the homogeneous transformation matrices normally used in robotics, which can express the position of a point in different frames, i.e. from local to global coordinates. The results are shown for both a two-dimensional and a three-dimensional configuration, achieving an average relative error of 0.23% and 0.19% of the total length respectively. The small computation time (0.0023 s) makes this algorithm suitable for real-time shape reconstructions in a variety of engineering fields.

Original languageEnglish
Title of host publication2020 IEEE International Workshop on Metrology for Industry 4.0 and IoT, MetroInd 4.0 and IoT 2020 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages250-254
Number of pages5
ISBN (Electronic)9781728148922
DOIs
Publication statusPublished - 1 Jun 2020
Event2020 IEEE International Workshop on Metrology for Industry 4.0 and IoT, MetroInd 4.0 and IoT 2020 - Roma, Italy
Duration: 3 Jun 20205 Jun 2020

Publication series

Name2020 IEEE International Workshop on Metrology for Industry 4.0 and IoT, MetroInd 4.0 and IoT 2020 - Proceedings

Conference

Conference2020 IEEE International Workshop on Metrology for Industry 4.0 and IoT, MetroInd 4.0 and IoT 2020
CountryItaly
CityRoma
Period03.06.202005.06.2020

Keywords

  • fiber Bragg gratings
  • homogeneous transformation matrix
  • multicore
  • optical fiber
  • shape sensing
  • three-dimensional

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