A gantry robot system for cutting single Y-shaped welding grooves on plane workpieces

2020 ◽  
pp. 095440892096042
Author(s):  
Xiaobing Hu ◽  
Xi Deng ◽  
Qingxiang Zhao
Keyword(s):  
Least Square Method ◽  
Least Square ◽  
Robot System ◽  
Heavy Load ◽  
Velocity Planning ◽  
Full Automation ◽  
Algebra Method ◽  
Gantry Robot ◽  
Direct Vibration ◽  
Manual Assistance

To guarantee the strength and precision of the final welding assemblies, it is necessary to cut welding grooves before welding thick workpieces. General methods to cut welding grooves on plane workpieces need much manual assistance, and some even need manual operation purely. Therefore, this paper proposed a robot system for cutting Y-shaped welding grooves with full automation. Flame cutting technology has been adopted, requiring no jig to fix workpieces, which also causes no direct vibration to robot structure. Vision-based sub-system firstly captures the edges to be cut, which are composed of continuous points, and a laser range finder (LRF) starts to obtain the thickness of the edges precisely. To convert these edges into the trajectory of flamer, Least Square Method and Hermite Interpolation are respectively utilized to fit lines and curves. Robot system subsequently computes the motion-related parameters according to the position of the edges and geometric parameters of the desired welding grooves. The inverse kinematics of this robot is solved by geometry methods, which decreases computation burden and saves much time compared with traditional algebra method. Another core novelty is that a velocity planning method combining optimization algorithm has been put forward, which, we think, is not only useful in this gantry robot but also benefits other motion axes with heavy load. This further reduces vibration. Finally, the simulation and experimental results both prove the feasibility of this system. To date, no available robots or machines tool can finish this process with full automation (to the best of our knowledge).

scholarly journals Parameter Calibration on Replacement Manipulator for UHV Valve-Side Bushing Based on Spinor Theory

2021 ◽  
Vol 2021 ◽  
pp. 1-18
Author(s):  
Yanghua Zhang ◽  
Aiping Xiao ◽  
Ailing Wu ◽  
Hongqiang Yue ◽  
Xiaopeng Du
Keyword(s):  
Least Square Method ◽  
Structure Design ◽  
Error Model ◽  
Least Square ◽  
Weak Links ◽  
Robot Arm ◽  
Spinor Theory ◽  
Heavy Load ◽  
Positioning Accuracy ◽  
Replacement Device

In this paper, a structure design scheme of intelligent replacement device for the ultrahigh voltage (UHV) converter transformer valve-side bushing is put forward, and its size is determined according to the actual size of domestic converter station valve hall and UHV converter transformer valve-side bushing. Moreover, the weak links in its working state are analyzed by finite element method to ensure the safety and reliability of the structure. Based on the spinor theory, the forward kinematics and Jacobian matrix model of the manipulator are established, and the analytical solution of inverse kinematics is derived. In order to analyze the accuracy of the intelligent replacement manipulator for the UHV converter transformer valve-side bushing, considering that the end actuator of the robot arm is under heavy load, the absolute positioning accuracy and repeated positioning accuracy are analyzed. In addition, the corresponding error model is established, the least square method is proposed to identify the error model, and the influence of the error caused by the load on the repetition accuracy is analyzed. Finally, the whole process simulation in ROS provides data support for the calculation of repetitive precision and verifies the feasibility of the intelligent replacement device for the UHV converter valve-side bushing.

Direct Assessment of Effective Renal Plasma Flow from Renoscintigraphy with a Gamma Camera and an On-Line Computer

1981 ◽  
Vol 20 (06) ◽  
pp. 274-278
Author(s):  
J. Liniecki ◽  
J. Bialobrzeski ◽  
Ewa Mlodkowska ◽  
M. J. Surma
Keyword(s):  
Count Rate ◽  
Renal Plasma Flow ◽  
Early Period ◽  
Least Square Method ◽  
Least Square ◽  
Uptake Coefficient ◽  
Positive Linear Correlation ◽  
On Line ◽  
Best Fit ◽  
Plasma Activity

A concept of a kidney uptake coefficient (UC) of 131I-o-hippurate was developed by analogy from the corresponding kidney clearance of blood plasma in the early period after injection of the hippurate. The UC for each kidney was defined as the count-rate over its ROI at a time shorter than the peak in the renoscintigraphic curve divided by the integral of the count-rate curve over the "blood"-ROI. A procedure for normalization of both curves against each other was also developed. The total kidney clearance of the hippurate was determined from the function of plasma activity concentration vs. time after a single injection; the determinations were made at 5, 10, 15, 20, 30, 45, 60, 75 and 90 min after intravenous administration of 131I-o-hippurate and the best-fit curve was obtained by means of the least-square method. When the UC was related to the absolute value of the clearance a positive linear correlation was found (r = 0.922, ρ > 0.99). Using this regression equation the clearance could be estimated in reverse from the uptake coefficient calculated solely on the basis of the renoscintigraphic curves without blood sampling. The errors of the estimate are compatible with the requirement of a fast appraisal of renal function for purposes of clinical diagknosis.

PENGARUH KNOWLEDGE MANAGEMENT, KOMPETENSI, MOTIVASI TERHADAP KINERJA KARYAWAN

2015 ◽  
Vol 5 (2) ◽  
pp. 1
Author(s):  
Miftahol Arifin
Keyword(s):  
Knowledge Management ◽  
Linear Regression ◽  
Significant Influence ◽  
Employee Performance ◽  
Least Square Method ◽  
Least Square ◽  
Analysis Tool ◽  
Ordinary Least Square ◽  
Competence Motivation ◽  
Performance Analyze

The purpose of this research is to analyze the influence of knowledge management on employee performance, analyze the effect of competence on employee performance, analyze the influence of motivation on employee performance). In this study, samples taken are structural employees PT.centris Kingdom Taxi Yogyakarta. The analysis tool in this study using multiple linear regression with Ordinary Least Square method (OLS). The conclusion of this study showed that the variables of knowledge management has a significant influence on employee performance, competence variables have an influence on employee performance, motivation variables have an influence on employee performance, The analysis showed that the variables of knowledge management, competence, motivation on employee performance.Keywords: knowledge management, competence, motivation, employee performance.

Peristaltic Carreau-Yasuda nanofluid flow and mixed heat transfer analysis in an asymmetric vertical and tapered wavy wall channel

2020 ◽  
Vol 1 (1) ◽  
pp. 128-140 ◽  
Author(s):  
Mohammad Hatami ◽  
◽  
D Jing ◽  
Keyword(s):  
Heat Transfer ◽  
Least Square Method ◽  
Weissenberg Number ◽  
Least Square ◽  
Heat Transfer Analysis ◽  
Phase Method ◽  
Nanofluid Flow ◽  
Two Phase ◽  
Nanoparticles Concentration ◽  
The Right

In this study, two-phase asymmetric peristaltic Carreau-Yasuda nanofluid flow in a vertical and tapered wavy channel is demonstrated and the mixed heat transfer analysis is considered for it. For the modeling, two-phase method is considered to be able to study the nanoparticles concentration as a separate phase. Also it is assumed that peristaltic waves travel along X-axis at a constant speed, c. Furthermore, constant temperatures and constant nanoparticle concentrations are considered for both, left and right walls. This study aims at an analytical solution of the problem by means of least square method (LSM) using the Maple 15.0 mathematical software. Numerical outcomes will be compared. Finally, the effects of most important parameters (Weissenberg number, Prandtl number, Brownian motion parameter, thermophoresis parameter, local temperature and nanoparticle Grashof numbers) on the velocities, temperature and nanoparticles concentration functions are presented. As an important outcome, on the left side of the channel, increasing the Grashof numbers leads to a reduction in velocity profiles, while on the right side, it is the other way around.

Fast noise removal algorithm for HDR image based on least square method

2009 ◽  
Vol 29 (4) ◽  
pp. 994-996
Author(s):  
De-quan SUN ◽  
Jun ZHANG ◽  
Xiao-feng LI ◽  
Hui LI
Keyword(s):  
Least Square Method ◽  
Noise Removal ◽  
Least Square ◽  
Hdr Image

Model-based control of the substrate concentration in an aeration basin using the wastewater level

1998 ◽  
Vol 37 (12) ◽  
pp. 335-342 ◽  
Author(s):  
Jacek Czeczot
Keyword(s):  
Substrate Concentration ◽  
Consumption Rate ◽  
Least Square Method ◽  
Estimation Procedure ◽  
Adaptive Controller ◽  
Open Loop ◽  
Least Square ◽  
Substrate Consumption ◽  
Model Based ◽  
Effluent Flow Rate

This paper deals with the minimal-cost control of the modified activated sludge process with varying level of wastewater in the aerator tank. The model-based adaptive controller of the effluent substrate concentration, basing on the substrate consumption rate and manipulating the effluent flow rate outcoming from the aerator tank, is proposed and its performance is compared with conventional PI controller and open loop behavior. Since the substrate consumption rate is not measurable on-line, the estimation procedure on the basis of the least-square method is suggested. Finally, it is proved that cooperation of the DO concentration controller with the adaptive controller of the effluent substrate concentration allows the process to be operated at minimum costs (low consumption of aeration energy).

scholarly journals Performance evaluation of GPS / BDS combined single-point positioning based on RTKLIB

2020 ◽  
Vol 165 ◽  
pp. 03009
Author(s):  
Li Yan-yi ◽  
Huang Jin ◽  
Tang Ming-xiu
Keyword(s):  
Kalman Filter ◽  
Extended Kalman Filter ◽  
Single Point ◽  
Least Square Method ◽  
Least Square ◽  
Filter Method ◽  
Single System ◽  
Positioning Error ◽  
Dual Mode ◽  
Kalman Filter Method

In order to evaluate the performance of GPS / BDS, RTKLIB, an open-source software of GNSS, is used in this paper. In this paper, the least square method, the weighted least square method and the extended Kalman filter method are respectively applied to BDS / GPS single system for data solution. Then, the BDS system and GPS system are used for fusion positioning and the positioning results of the two systems are compared with that of the single system. Through the comparison of experiments, on the premise of using the extended Kalman filter method for positioning, when the GPS signal is not good, BDS data is introduced for dual-mode positioning, the positioning error in e direction is reduced by 36.97%, the positioning error in U direction is reduced by 22.95%, and the spatial positioning error is reduced by 16.01%, which further reflects the advantages of dual-mode positioning in improving a system robustness and reducing the error.

Sign in / Sign up

Export Citation Format

Share Document