scholarly journals Design of a String Encoder-and-IMU-Based 6D Pose Measurement System for a Teaching Tool and Its Application in Teleoperation of a Robot Manipulator

2021 ◽  
Vol 2021 ◽  
pp. 1-17
Author(s):  
Ekrem Yavuz ◽  
Yavuz Şenol ◽  
Merih Özçelik ◽  
Hüseyin Aydın
Keyword(s):  
Measurement System ◽  
Textile Industry ◽  
Robot Manipulator ◽  
Health And Safety ◽  
Labor Cost ◽  
Measurement Unit ◽  
Teaching Tool ◽  
Teaching Procedure ◽  
Accuracy And Precision ◽  
Inorganic Chemical

Potassium permanganate is mostly used for lightening denim in the textile industry. It is an inorganic chemical compound and an oxidizing agent. PP is sprayed to denim with a spray gun as microparticles. During the spraying process, these microparticles can be inhaled by workers causing lung diseases in the long term. PP spray is one of the most dangerous practices in the textile industry for the health and safety of workers. Robots can carry out PP spray instead of humans to protect workers’ health. Also, robots offer less labor cost, no labor mistake, fast production, and standardization in every product. The use of robots requires the teaching of tasks to robots. For this teaching procedure, it is necessary to record the teaching tool’s movements with high precision and accuracy. In this study, it is aimed at measuring the position and orientation, i.e. the pose, of the teaching tool in six dimensions using an inertial measurement unit (IMU) and six string encoders. In addition to this, the measured pose information is transferred to a robot manipulator for tracking the recorded trajectory. In that way, the operator’s movements can be copied and then used by robots to regenerate the best product while protecting the health of workers. The pose measurement system was designed and experimentally tested. The obtained results show that the system satisfies accuracy and precision expectations for the target application.

scholarly journals IMU-Based Online Kinematic Calibration of Robot Manipulator

2013 ◽  
Vol 2013 ◽  
pp. 1-10 ◽  
Author(s):  
Guanglong Du ◽  
Ping Zhang
Keyword(s):  
Kalman Filter ◽  
Robot Manipulator ◽  
Experimental Studies ◽  
Estimation Method ◽  
Kinematic Parameter ◽  
Corner Detection ◽  
Measurement Unit ◽  
Robot Calibration ◽  
Self Calibration ◽  
Calibration Methods

Robot calibration is a useful diagnostic method for improving the positioning accuracy in robot production and maintenance. An online robot self-calibration method based on inertial measurement unit (IMU) is presented in this paper. The method requires that the IMU is rigidly attached to the robot manipulator, which makes it possible to obtain the orientation of the manipulator with the orientation of the IMU in real time. This paper proposed an efficient approach which incorporates Factored Quaternion Algorithm (FQA) and Kalman Filter (KF) to estimate the orientation of the IMU. Then, an Extended Kalman Filter (EKF) is used to estimate kinematic parameter errors. Using this proposed orientation estimation method will result in improved reliability and accuracy in determining the orientation of the manipulator. Compared with the existing vision-based self-calibration methods, the great advantage of this method is that it does not need the complex steps, such as camera calibration, images capture, and corner detection, which make the robot calibration procedure more autonomous in a dynamic manufacturing environment. Experimental studies on a GOOGOL GRB3016 robot show that this method has better accuracy, convenience, and effectiveness than vision-based methods.

scholarly journals Six years of atmospheric CO<sub>2</sub> observations at Mt. Fuji recorded with a battery-powered measurement system

2017 ◽  
Vol 10 (2) ◽  
pp. 667-680 ◽  
Author(s):  
Shohei Nomura ◽  
Hitoshi Mukai ◽  
Yukio Terao ◽  
Toshinobu Machida ◽  
Yukihiro Nojiri
Keyword(s):  
Carbon Dioxide ◽  
Measurement System ◽  
Measurement Data ◽  
Co2 Concentration ◽  
Measurement Unit ◽  
Sources And Sinks ◽  
Charging System ◽  
Carbon Dioxide Co2 ◽  
Stability And Accuracy ◽  
Working Standards

Abstract. We developed a battery-powered carbon dioxide (CO2) measurement system for monitoring at the summit of Mt. Fuji (3776 m a.s.l.), which experiences very low temperatures (below −20 °C) and severe environmental conditions without access to gridded electricity for 10 months (from September to June). Our measurement system used 100 batteries to run the measurement unit during these months. These batteries were charged during the 2-month summer season when gridded electricity was available, using a specially designed automatic battery-charging system. We installed this system in summer 2009 at the Mt. Fuji weather station; observations of atmospheric CO2 concentration were taken through December 2015. Measurements were never interrupted by a lack of battery power except for two cases in which lightning damaged a control board. Thus we obtained CO2 data during about 94 % of the 6-year period. Analytical performances (stability and accuracy) were better than 0.1 ppm, as tested by checking working standards and comparisons with flask sampling.Observational results showed that CO2 mole fractions at Mt. Fuji demonstrated clear seasonal variation. The trend and the variability of the CO2 growth rate observed at Mt. Fuji were very similar to those of the Mauna Loa Observatory (MLO). Seasonally, the concentration at Mt. Fuji was 2–10 ppm lower in summer and 2–12 ppm higher in winter than those at MLO. The lower concentrations at Mt. Fuji in summer are mainly attributed to episodes of air mass transport from Siberia or China, where CO2 is taken up by the terrestrial biosphere. On the other hand, the relatively higher concentrations in winter seem to reflect the high percentage of air masses originating from China or Southeast Asia during this period, which carry increased anthropogenic carbon dioxide. These results show that Mt. Fuji is not very influenced by local sources but rather by the sources and sinks over a very large region.Thus we conclude that, as this system could provide stable measurement data with relatively easy operation for 6 years at Mt. Fuji, it could be a useful monitoring technique for remote background sites elsewhere.

scholarly journals Rapid Gas Chromatographic Method for Simultaneous Determination of Cholesterol and α-Tocopherol in Eggs

1998 ◽  
Vol 81 (6) ◽  
pp. 1177-1184 ◽  
Author(s):  
Nickos Botsoglou ◽  
Dimitrios Fletouris ◽  
Ioannis Psomas ◽  
Antonios Mantis
Keyword(s):  
Simultaneous Determination ◽  
Chromatographic Method ◽  
Labor Cost ◽  
Precision Data ◽  
Total Analysis Time ◽  
Accuracy And Precision ◽  
Relative Standard ◽  
Total Analysis ◽  
Gas Chromatographic Method

Abstract A new method was developed for simultaneous determination of cholesterol and α-tocopherol in eggs. It involves rapid and simple sample preparation accomplished in one tube and chromatographic separation that does not require derivatization of analytes. Total analysis time per sample is 40 min. Labor, cost, and use of hazardous chemicals are minimized. To ensure selectivity, accuracy, and precision, critical analytical parameters were investigated. Overall recoveries were 98.8 and 99.2% for cholesterol and α-tocopherol, respectively. Linearity was acceptable for both analytes (r = 0.9964 for cholesterol and 0.9996 for α-tocopherol) in the fortification range examined. Precision data based on within-day and between-days variation gave overall relative standard deviations of 2.0% for cholesterol and 7.0% for α-tocopherol.The method was applied successfully for quantitation of cholesterol and α-tocopherol in eggs.

scholarly journals Estimation of Impedance and Susceptance Parameters of a 3-Phase Cable System Using PMU Data

Energies ◽  
2019 ◽  
Vol 12 (23) ◽  
pp. 4573 ◽  
Author(s):  
Ravi Shankar Singh ◽  
Helko van den Brom ◽  
Stanislav Babaev ◽  
Sjef Cobben ◽  
Vladimir Ćuk
Keyword(s):  
Regression Model ◽  
Measurement System ◽  
Measurement Errors ◽  
Measurement Unit ◽  
Parameter Estimates ◽  
Total Uncertainty ◽  
Measured Current ◽  
Estimated Parameters ◽  
Unknown Bias ◽  
Cable Segment

This paper proposes a new regression-based method to estimate resistance, reactance, and susceptance parameters of a 3-phase cable segment using phasor measurement unit (PMU) data. The novelty of this method is that it gives accurate parameter estimates in the presence of unknown bias errors in the measurements. Bias errors are fixed errors present in the measurement equipment and have been neglected in previous such attempts of estimating parameters of a 3-phase line or cable segment. In power system networks, the sensors used for current and voltage measurements have inherent magnitude and phase errors whose measurements need to be corrected using calibrated correction coefficients. Neglecting or using wrong error correction coefficients causes fixed bias errors in the measured current and voltage signals. Measured current and voltage signals at different time instances are the variables in the regression model used to estimate the cable parameters. Thus, the bias errors in the sensors become fixed errors in the variables. This error in variables leads to inaccuracy in the estimated parameters. To avoid this, the proposed method uses a new regression model using extra parameters which facilitate the modeling of present but unknown bias errors in the measurement system. These added parameters account for the errors present in the non- or wrongly calibrated sensors. Apart from the measurement bias, random measurement errors also contribute to the total uncertainty of the estimated parameters. This paper also presents and compares methods to estimate the total uncertainty in the estimated parameters caused by the bias and random errors present in the measurement system. Results from simulation-based and laboratory experiments are presented to show the efficacy of the proposed method. A discussion about analyzing the obtained results is also presented.

scholarly journals Magnitude and Characteristics of Occupational injury in Kombolcha textile factory, North East Ethiopia

2014 ◽  
Vol 3 (2) ◽  
pp. 25-29 ◽  
Author(s):  
Serkalem S Yessuf ◽  
Haimanot Gebrehiwot Moges ◽  
Ansha N Ahmed
Keyword(s):  
Textile Industry ◽  
Occupational Injury ◽  
Health And Safety ◽  
Cross Sectional Study ◽  
Working Environment ◽  
Cross Sectional ◽  
North East ◽  
High Prevalence ◽  
Textile Factory ◽  
Safety Procedures

Background: Working environment is one of the factors which can determine public health conditions as many workers spend a large portion of their time at work.Objective: The aim of this study was to assess the magnitude and characteristics of occupational injury among workers in Kombolcha textile factory, North East Ethiopia.Methods: Institution based cross-sectional study design was conducted from April1-15, 2013 among 455 randomly selected workers after stratification by working departments. A structured questionnaire based interview, review of records of injury report and walk through survey using work environment observation checklist were used to support the self-reported information. Descriptive statistics were used for analysis using SPSS version 20.Results: The overall occupational injury prevalence rate was 36.9%. Puncture, abrasion/laceration, fracture, cut and back pain were the most common types of injury. Most of the sources of injury were due to machinery, lifting heavy objects, splinters, fall and hand tools.Conclusion: The magnitude of occupational injury at Kombolcha textile industry showed a high prevalence that indicates the need to work on integrated injury prevention by mainstreaming occupational health and safety procedures in all working  departments of the factory. DOI: http://dx.doi.org/10.3126/ijosh.v3i2.8381 

Rising Labor Cost and the Comparative Advantage of Chinese Textile Industry Analysis

2011 ◽  
Vol 331 ◽  
pp. 694-698
Author(s):  
Jin Wang
Keyword(s):  
Competitive Advantage ◽  
Comparative Advantage ◽  
Textile Industry ◽  
Labor Cost ◽  
Industry Analysis ◽  
Comparative Advantages

The textile industry is a typical labor-intensive industry, which is also one of the most comparative advantage industries of China. However, with rising labor cost in recent years, the comparative advantage of Chinese textile industry is facing challenges. Based on the theory of comparative advantage analysis, this article analyzes of the comparative advantages of Chinese textile industry based on the background of rising labor cost while propose that Chinese textile industry shall transfer the Comparative Advantage to Competitive Advantage.

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