Embedded Files
Background
Figure 1a: ICF animation
Lawrence Livermore National Laboratory (2009)
Figure 1b: ICF process
Lawrence Livermore National Laboratory (National Ignition Facility)
Figure 2a: Automated spheremapper
General Atomics Energy Group (2013)
Figure 2b: Sphere mapping process
Setup and Components
Figure 3: Hardware setup
Figure 4a. Final fiducial design for capsule
Figure 4b. Final fiducial design measurements
Figure 5. Laser etched capsules
Figure 6. Lighting setup
Figure 7a. Before controlled lighting
Figure 7b. After controlled lighting
Figure 8. LabView GUI for mode selection and image capture
Figure 9. 3D printed adapter to minimize offset of non-concentric rotation
Figure 10. CAD of 3D printed adapter placement
Figure 11. Vacuum chuck with 3D printed adapter
Testing
Figure 12. Single axis reorientation test
Figure 13a. Sped up negative z-axis displacement (CW) of a 10° angle step size
Figure 13b. Sped up positive z-axis displacement (CCW) of a 10° angle step size
Figure 14. Rotation due to positional error (± 100 microns) of vacuum chucks
Visual Tracking System Development
Figure 15a. Before re-orientation
Figure 15b. After re-orientation
Figure 16. MATLAB 2D superimposed tracking of before (red dots) and after (green dots) movement
Figure 17a. MATLAB Camera Calibration on 13 x 9 grid with 15.5 mm squares on 11'' iPad Pro
Figure 17b. MATLAB reconstruction of camera's relative position to iPad
Figure 18a. POV #2 sample image overlay
Figure 18b. POV #3 sample image overlay
Figure 18c. MATLAB reconstruction of camera's relative position to iPad and tennis ball
Figure 18d. MATLAB spatial visualization of tennis ball
Figure 19: Tracking demo using OpenCV implementation
Figure 20: Tracking demo using OpenCV implementation. Green markers are raw detection and red markers are filtered and assigned detection
Figure 21. Pose estimation demo
Figure 22. Pose estimation testing
Figure 23. Alternative tracking algorithm
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