Robot accuracy evaluation using a ball-bar link system

Robotica ◽  
2011 ◽  
Vol 29 (6) ◽  
pp. 917-927 ◽  
Author(s):  
Yeon Taek Oh
Keyword(s):  
Physical Model ◽  
Accuracy Assessment ◽  
Low Cost ◽  
Displacement Transducer ◽  
Industrial Robots ◽  
Accuracy Evaluation ◽  
Novel Approach ◽  
Robot Accuracy ◽  
Mode Of Operation ◽  
Ball Bar

SUMMARYRelatively large errors can exist in industrial robots as a result of mismatch between the controller model and the corresponding physical model. The paper outlines a novel approach for accuracy assessment and adjustment of multiaxis industrial robots through a low-cost ball-bar link system. The features of the ball-bar, which incorporated a 12 mm range digital displacement transducer in conjunction with a PC, are discussed. The ball-bar device was used in both a trammelling and circular mode of operation. This produced data which not only related to the accuracy of the robot but also enabled joint errors to be significantly reduced.

scholarly journals A Methodology for Industrial Robot Calibration Based on Measurement Sub-Regions

2021 ◽  
Author(s):  
Juan Sebastian Toquica ◽  
José Maurı́cio Motta
Keyword(s):  
Industrial Robot ◽  
Low Cost ◽  
Kinematic Model ◽  
Measurement Data ◽  
Industrial Applications ◽  
Industrial Robots ◽  
Robot Calibration ◽  
High Precision Measurement ◽  
Measurement Systems ◽  
Robot Accuracy

Abstract This paper proposes a methodology for calibration of industrial robots that uses a concept of measurement sub-regions, allowing low-cost solutions and easy implementation to meet the robot accuracy requirements in industrial applications. The solutions to increasing the accuracy of robots today have high-cost implementation, making calibration throughout the workplace in industry a difficult and unlikely task. Thus, reducing the time spent and the measured workspace volume of the robot end-effector are the main benefits of the implementation of the sub-region concept, ensuring sufficient flexibility in the measurement step of robot calibration procedures. The main contribution of this article is the proposal and discussion of a methodology to calibrate robots using several small measurement sub-regions and gathering the measurement data in a way equivalent to the measurements made in large volume regions, making feasible the use of high-precision measurement systems but limited to small volumes, such as vision-based measurement systems. The robot calibration procedures were simulated according to the literature, such that results from simulation are free from errors due to experimental setups as to isolate the benefits of the measurement proposal methodology. In addition, a method to validate the analytical off-line kinematic model of industrial robots is proposed using the nominal model of the robot supplier incorporated into its controller.

Rapid mapping accuracy assessment using low-cost UAV and open-source Structure from Motion

2020 ◽  
Vol 52 ◽  
pp. 55-61
Author(s):  
Ettore Potente ◽  
Cosimo Cagnazzo ◽  
Alessandro Deodati ◽  
Giuseppe Mastronuzzi
Keyword(s):  
Open Source ◽  
Structure From Motion ◽  
Accuracy Assessment ◽  
Low Cost ◽  
Mapping Accuracy ◽  
Rapid Mapping ◽  
Source Structure

scholarly journals Proteomic characterisations of ulcerative colitis endoscopic biopsies associate with clinically relevant histological measurements of disease severity

2021 ◽  
pp. jclinpath-2021-207718
Author(s):  
Aaron M Gruver ◽  
Matt D Westfall ◽  
Bradley L Ackermann ◽  
Salisha Hill ◽  
Ryan D Morrison ◽  
...  
Keyword(s):  
Ulcerative Colitis ◽  
Accuracy Assessment ◽  
Interleukin 2 ◽  
Proteome Analysis ◽  
Scoring Systems ◽  
Cell Junction ◽  
Interleukin 17 ◽  
Gamma Chain ◽  
Novel Approach ◽  
Interleukin 23

Aims and methodsAccurate protein measurements using formalin-fixed biopsies are needed to improve disease characterisation. This feasibility study used targeted and global mass spectrometry (MS) to interrogate a spectrum of disease severities using 19 ulcerative colitis (UC) biopsies.ResultsTargeted assays for CD8, CD19, CD132 (interleukin-2 receptor subunit gamma/common cytokine receptor gamma chain), FOXP3 (forkhead box P3) and IL17RA (interleukin 17 receptor A) were successful; however, assays for IL17A (interleukin 17A), IL23 (p19) (interleukin 23, alpha subunit p19) and IL23R (interleukin 23 receptor) did not permit target detection. Global proteome analysis (4200 total proteins) was performed to identify pathways associated with UC progression. Positive correlation was observed between histological scores indicating active colitis and neutrophil-related measurements (R2=0.42–0.72); inverse relationships were detected with cell junction targets (R2=0.49–0.71) and β-catenin (R2=0.51–0.55) attributed to crypt disruption. An exploratory accuracy assessment with Geboes Score and Robarts Histopathology Index cut-offs produced sensitivities/specificities of 72.7%/75.0% and 100.0%/81.8%, respectively.ConclusionsPathologist-guided MS assessments provide a complementary approach to histological scoring systems. Additional studies are indicated to verify the utility of this novel approach.

Accuracy assessment of aerial photographs acquired using lighter-than-air blimps: low-cost tools for mapping river corridors

2009 ◽  
Vol 25 (8) ◽  
pp. 985-1000 ◽  
Author(s):  
Damià Vericat ◽  
James Brasington ◽  
Joe Wheaton ◽  
Michaela Cowie
Keyword(s):  
Accuracy Assessment ◽  
Low Cost ◽  
Aerial Photographs ◽  
River Corridors

scholarly journals Novel approach to enhance coastal habitat and biotope mapping with drone aerial imagery analysis

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
João Gama Monteiro ◽  
Jesús L. Jiménez ◽  
Francesca Gizzi ◽  
Petr Přikryl ◽  
Jonathan S. Lefcheck ◽  
...  
Keyword(s):  
Anthropogenic Impacts ◽  
Spatial Scales ◽  
Low Cost ◽  
Human Populations ◽  
Coastal Habitat ◽  
Coastal Monitoring ◽  
Monitoring Programs ◽  
Novel Approach ◽  
Aerial Platforms ◽  
Rocky Habitats

AbstractUnderstanding the complex factors and mechanisms driving the functioning of coastal ecosystems is vital towards assessing how organisms, ecosystems, and ultimately human populations will cope with the ecological consequences of natural and anthropogenic impacts. Towards this goal, coastal monitoring programs and studies must deliver information on a range of variables and factors, from taxonomic/functional diversity and spatial distribution of habitats, to anthropogenic stress indicators such as land use, fisheries use, and pollution. Effective monitoring programs must therefore integrate observations from different sources and spatial scales to provide a comprehensive view to managers. Here we explore integrating aerial surveys from a low-cost Remotely Piloted Aircraft System (RPAS) with concurrent underwater surveys to deliver a novel approach to coastal monitoring. We: (i) map depth and substrate of shallow rocky habitats, and; (ii) classify the major biotopes associated with these environmental axes; and (iii) combine data from i and ii to assess the likely distribution of common sessile organismal assemblages over the survey area. Finally, we propose a general workflow that can be adapted to different needs and aerial platforms, which can be used as blueprints for further integration of remote-sensing with in situ surveys to produce spatially-explicit biotope maps.

scholarly journals Flood Susceptibility Assessment Using Novel Ensemble of Hyperpipes and Support Vector Regression Algorithms

Water ◽  
2021 ◽  
Vol 13 (2) ◽  
pp. 241
Author(s):  
Asish Saha ◽  
Subodh Chandra Pal ◽  
Alireza Arabameri ◽  
Thomas Blaschke ◽  
Somayeh Panahi ◽  
...  
Keyword(s):  
Support Vector Regression ◽  
Vegetation Index ◽  
Normalized Difference Vegetation Index ◽  
Accuracy Assessment ◽  
Research Work ◽  
Dominant Factor ◽  
Support Vector ◽  
Accuracy Evaluation ◽  
Ensemble Approach ◽  
Flood Susceptibility

Recurrent floods are one of the major global threats among people, particularly in developing countries like India, as this nation has a tropical monsoon type of climate. Therefore, flood susceptibility (FS) mapping is indeed necessary to overcome this type of natural hazard phenomena. With this in mind, we evaluated the prediction performance of FS mapping in the Koiya River basin, Eastern India. The present research work was done through preparation of a sophisticated flood inventory map; eight flood conditioning variables were selected based on the topography and hydro-climatological condition, and by applying the novel ensemble approach of hyperpipes (HP) and support vector regression (SVR) machine learning (ML) algorithms. The ensemble approach of HP-SVR was also compared with the stand-alone ML algorithms of HP and SVR. In relative importance of variables, distance to river was the most dominant factor for flood occurrences followed by rainfall, land use land cover (LULC), and normalized difference vegetation index (NDVI). The validation and accuracy assessment of FS maps was done through five popular statistical methods. The result of accuracy evaluation showed that the ensemble approach is the most optimal model (AUC = 0.915, sensitivity = 0.932, specificity = 0.902, accuracy = 0.928 and Kappa = 0.835) in FS assessment, followed by HP (AUC = 0.885) and SVR (AUC = 0.871).

A Novel Approach With Bayesian Networks to Multi-Robot Task Allocation in Dynamic Environments

2021 ◽  
Author(s):  
Ching-Wei Chuang ◽  
Harry H. Cheng
Keyword(s):  
Bayesian Networks ◽  
Task Allocation ◽  
Low Cost ◽  
Dynamic Environments ◽  
Modern World ◽  
Robot System ◽  
Novel Approach ◽  
Robot Systems ◽  
Robot Task ◽  
Multi Robot

Abstract In the modern world, building an autonomous multi-robot system is essential to coordinate and control robots to help humans because using several low-cost robots becomes more robust and efficient than using one expensive, powerful robot to execute tasks to achieve the overall goal of a mission. One research area, multi-robot task allocation (MRTA), becomes substantial in a multi-robot system. Assigning suitable tasks to suitable robots is crucial in coordination, which may directly influence the result of a mission. In the past few decades, although numerous researchers have addressed various algorithms or approaches to solve MRTA problems in different multi-robot systems, it is still difficult to overcome certain challenges, such as dynamic environments, changeable task information, miscellaneous robot abilities, the dynamic condition of a robot, or uncertainties from sensors or actuators. In this paper, we propose a novel approach to handle MRTA problems with Bayesian Networks (BNs) under these challenging circumstances. Our experiments exhibit that the proposed approach may effectively solve real problems in a search-and-rescue mission in centralized, decentralized, and distributed multi-robot systems with real, low-cost robots in dynamic environments. In the future, we will demonstrate that our approach is trainable and can be utilized in a large-scale, complicated environment. Researchers might be able to apply our approach to other applications to explore its extensibility.

LED Light Sources in Organic Synthesis: An Entry to A Novel Approach

2021 ◽  
Vol 18 ◽  
Author(s):  
Aparna Das
Keyword(s):  
Organic Compounds ◽  
Organic Synthesis ◽  
Photochemical Reaction ◽  
Low Cost ◽  
Environmentally Friendly ◽  
Photochemical Reactions ◽  
Light Sources ◽  
Blue Led ◽  
Oxidation Reduction ◽  
Novel Approach

: In recent years, photocatalytic technology has shown great potential as a low-cost, environmentally friendly, and sustainable technology. Compared to other light sources in photochemical reaction, LEDs have advantages in terms of efficiency, power, compatibility, and environmentally-friendly nature. This review highlights the most recent advances in LED-induced photochemical reactions. The effect of white and blue LEDs in reactions such as oxidation, reduction, cycloaddition, isomerization, and sensitization is discussed in detail. No other reviews have been published on the importance of white and blue LED sources in the photocatalysis of organic compounds. Considering all the facts, this review is highly significant and timely.

scholarly journals Study on Relative Accuracy and Verification Method of High-Definition Maps for Autonomous Driving

2021 ◽  
Vol 10 (11) ◽  
pp. 761
Author(s):  
Tengfei Yu ◽  
He Huang ◽  
Nana Jiang ◽  
Tri Dev Acharya
Keyword(s):  
Accuracy Assessment ◽  
A Priori ◽  
Autonomous Driving ◽  
Relative Accuracy ◽  
Accuracy Evaluation ◽  
High Definition ◽  
Verification Method ◽  
Road Signs ◽  
Point Set ◽  
Priori Information

High-definition maps (HDM) for autonomous driving (AD) are an important component of AD systems. HDMs accurately provide a priori information, including lane lines, and road signs, for AD systems. It is an important task to make a reasonable accuracy assessment of the HDM. The current methods for relative accuracy evaluation of general maps in the field of mapping are not fully applicable to HDMs. In this study, a method based on point set alignment and resampling is used to evaluate the relative accuracy of lane lines, and experiments are conducted based on relevant real HDM data. The results show that the relative accuracy of the lane lines is more detailed and relevant than the traditional method. This has implications for the quality control of HDM production.

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