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

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

Результат исследования: Публикации в книгах, отчётах, сборниках, трудах конференцийстатья в сборнике материалов конференциинаучнаярецензирование

Аннотация

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.

Язык оригиналаанглийский
Название основной публикации2020 IEEE International Workshop on Metrology for Industry 4.0 and IoT, MetroInd 4.0 and IoT 2020 - Proceedings
ИздательInstitute of Electrical and Electronics Engineers Inc.
Страницы250-254
Число страниц5
ISBN (электронное издание)9781728148922
DOI
СостояниеОпубликовано - 1 июн 2020
Событие2020 IEEE International Workshop on Metrology for Industry 4.0 and IoT, MetroInd 4.0 and IoT 2020 - Roma, Италия
Продолжительность: 3 июн 20205 июн 2020

Серия публикаций

Название2020 IEEE International Workshop on Metrology for Industry 4.0 and IoT, MetroInd 4.0 and IoT 2020 - Proceedings

Конференция

Конференция2020 IEEE International Workshop on Metrology for Industry 4.0 and IoT, MetroInd 4.0 and IoT 2020
СтранаИталия
ГородRoma
Период03.06.202005.06.2020

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    Paloschi, D., Korganbayev, S., Bronnikov, K., Wolf, A., Dostovalov, A., & Saccomandi, P. (2020). Transformation matrices for 3D shape sensing with polyimide-coated multicore optical fiber. В 2020 IEEE International Workshop on Metrology for Industry 4.0 and IoT, MetroInd 4.0 and IoT 2020 - Proceedings (стр. 250-254). [9138221] (2020 IEEE International Workshop on Metrology for Industry 4.0 and IoT, MetroInd 4.0 and IoT 2020 - Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MetroInd4.0IoT48571.2020.9138221