scholarly journals Determination of the Function of the Course of the Static Property of PAMs as Actuators in Industrial Robotics

2021 ◽  
Vol 11 (16) ◽  
pp. 7288
Author(s):  
Darina Matisková ◽  
Tomáš Čakurda ◽  
Daniela Marasová ◽  
Alexander Balara
Keyword(s):  
Manufacturing Processes ◽  
Artificial Muscles ◽  
Testing Device ◽  
Method Of Least Squares ◽  
Actuator Dynamics ◽  
Industrial Robotics ◽  
Working Space ◽  
Pneumatic Muscles ◽  
Measurement Results

Current efforts are focused on assembling new constructions while applying non-conventional actuators, for example, artificial pneumatic muscles, in engineering manufacturing processes. The reason is to eliminate stiffness and inflexibility of equipment structures that make sharing the working space of the technological equipment complicated. This article presents the results of experimental measurements of pressures in artificial muscles and rotations of the actuator with artificial muscles at various loads, using a testing device of an antagonistic actuator. The measurement results were used to create the function of the course of the static property of the antagonistic actuator with artificial muscles of the Festo type and to determine a mathematical model of the actuator dynamics, while applying the method of least squares.

Determination of the International Sensitivity Index of a New Near-Patient Testing Device to Monitor Oral Anticoagulant Therapy

1997 ◽  
Vol 78 (02) ◽  
pp. 855-858 ◽  
Author(s):  
Armando Tripodi ◽  
Veena Chantarangkul ◽  
Marigrazia Clerici ◽  
Barbara Negri ◽  
Pier Mannuccio Mannucci
Keyword(s):  
Linear Relationship ◽  
Whole Blood ◽  
Oral Anticoagulant ◽  
Oral Anticoagulant Therapy ◽  
Oral Anticoagulants ◽  
Calibration Model ◽  
Testing Device ◽  
Data Points ◽  
Near Patient Testing

SummaryA key issue for the reliable use of new devices for the laboratory control of oral anticoagulant therapy with the INR is their conformity to the calibration model. In the past, their adequacy has mostly been assessed empirically without reference to the calibration model and the use of International Reference Preparations (IRP) for thromboplastin. In this study we reviewed the requirements to be fulfilled and applied them to the calibration of a new near-patient testing device (TAS, Cardiovascular Diagnostics) which uses thromboplastin-containing test cards for determination of the INR. On each of 10 working days citrat- ed whole blood and plasma samples were obtained from 2 healthy subjects and 6 patients on oral anticoagulants. PT testing on whole blood and plasma was done with the TAS and parallel testing for plasma by the manual technique with the IRP CRM 149S. Conformity to the calibration model was judged satisfactory if the following requirements were met: (i) there was a linear relationship between paired log-PTs (TAS vs CRM 149S); (ii) the regression line drawn through patients data points, passed through those of normals; (iii) the precision of the calibration expressed as the CV of the slope was <3%. A good linear relationship was observed for calibration plots for plasma and whole blood (r = 0.98). Regression lines drawn through patients data points, passed through those of normals. The CVs of the slope were in both cases 2.2% and the ISIs were 0.965 and 1.000 for whole blood and plasma. In conclusion, our study shows that near-patient testing devices can be considered reliable tools to measure INR in patients on oral anticoagulants and provides guidelines for their evaluation.

scholarly journals Method of determining the distance to the object by analyzing its image blur

Vestnik MGSU ◽  
2015 ◽  
pp. 140-151 ◽  
Author(s):  
Aleksey Alekseevich Loktev ◽  
Daniil Alekseevich Loktev
Keyword(s):  
Least Squares ◽  
Statistical Approach ◽  
Evaluation Method ◽  
Least Squares Method ◽  
Focal Length ◽  
Error Variance ◽  
Method Of Least Squares ◽  
Automated Control ◽  
Image Blur

In modern integrated monitoring systems and systems of automated control of technological processes there are several essential algorithms and procedures for obtaining primary information about an object and its behavior. The primary information is characteristics of static and moving objects: distance, speed, position in space etc. In order to obtain such information in the present work we proposed to use photos and video detectors that could provide the system with high-quality images of the object with high resolution. In the modern systems of video monitoring and automated control there are several ways of obtaining primary data on the behaviour and state of the studied objects: a multisensor approach (stereovision), building an image perspective, the use of fixed cameras and additional lighting of the object, and a special calibration of photo or video detector.In the present paper the authors develop a method of determining the distances to objects by analyzing a series of images using depth evaluation using defocusing. This method is based on the physical effect of the dependence of the determined distance to the object on the image from the focal length or aperture of the lens. When focusing the photodetector on the object at a certain distance, the other objects both closer and farther than a focal point, form a spot of blur depending on the distance to them in terms of images. Image blur of an object can be of different nature, it may be caused by the motion of the object or the detector, by the nature of the image boundaries of the object, by the object’s aggregate state, as well as by different settings of the photo-detector (focal length, shutter speed and aperture).When calculating the diameter of the blur spot it is assumed that blur at the point occurs equally in all directions. For more precise estimates of the geometrical parameters determination of the behavior and state of the object under study a statistical approach is used to determine the individual parameters and estimate their accuracy. A statistical approach is used to evaluate the deviation of the dependence of distance from the blur from different types of standard functions (logarithmic, exponential, linear). In the statistical approach the evaluation method of least squares and the method of least modules are included, as well as the Bayesian estimation, for which it is necessary to minimize the risks under different loss functions (quadratic, rectangular, linear) with known probability density (we consider normal, lognormal, Laplace, uniform distribution). As a result of the research it was established that the error variance of a function, the parameters of which are estimated using the least squares method, will be less than the error variance of the method of least modules, that is, the evaluation method of least squares is more stable. Also the errors’ estimation when using the method of least squares is unbiased, whereas the mathematical expectation when using the method of least modules is not zero, which indicates the displacement of error estimations. Therefore it is advisable to use the least squares method in the determination of the parameters of the function.In order to smooth out the possible outliers we use the Kalman filter to process the results of the initial observations and evaluation analysis, the method of least squares and the method of least three standard modules for the functions after applying the filter with different coefficients.

scholarly journals Determination of geometric accuracy and surface roughness of small parts of circular and square sections, obtained depending on the printer location in the working space using selective laser melting technology from steel grade 12KH18N10T

2019 ◽  
pp. 59-67
Author(s):  
I. V. Gorbatov ◽  
Y. A. Orlov ◽  
V. A. Antiufeev ◽  
T. V. Telgerekova ◽  
N. Y. Orlova
Keyword(s):  
Selective Laser Melting ◽  
Physical And Mechanical Properties ◽  
Steel Grade ◽  
Geometric Accuracy ◽  
Laser Melting ◽  
Working Space ◽  
Properties Of Materials ◽  
Number Of Publications ◽  
Small Parts

The introduction of additive technologies for the manufacture of parts will significantly improve the efficiency and mobility of production. The technology of selective laser melting has the greatest accuracy in the manufacture of metal and alloyed parts. There are a number of publications on the physical and mechanical properties of such products, which often exceed the properties of materials obtained by traditional technology, but there is no data on the geometric accuracy of manufacturing. This paper provides explicit data on geometric accuracy, depending on various factors.

scholarly journals Powered Upper Limb Orthosis Actuation System Based on Pneumatic Artificial Muscles

2018 ◽  
Vol 48 (1) ◽  
pp. 23-36 ◽  
Author(s):  
Dimitar Chakarov ◽  
Ivanka Veneva ◽  
Mihail Tsveov ◽  
Pavel Venev
Keyword(s):  
Upper Limb ◽  
Joint Stiffness ◽  
Artificial Muscles ◽  
Joint Motion ◽  
Robot Interaction ◽  
Pneumatic Actuators ◽  
Joint Torques ◽  
Actuation System ◽  
Pneumatic Muscles ◽  
Pneumatic Artificial Muscles

AbstractThe actuation system of a powered upper limb orthosis is studied in the work. To create natural safety in the mutual “man-robot” interaction, an actuation system based on pneumatic artificial muscles (PAM) is selected. Experimentally obtained force/contraction diagrams for bundles, consisting of different number of muscles are shown in the paper. The pooling force and the stiffness of the pneumatic actuators is assessed as a function of the number of muscles in the bundle and the supply pressure. Joint motion and torque is achieved by antagonistic actions through pulleys, driven by bundles of pneumatic muscles. Joint stiffness and joint torques are determined on condition of a power balance, as a function of the joint position, pressure, number of muscles and muscles

scholarly journals Atmospheric CO2, CH4, and CO with CRDS technique at the Izaña Global GAW station: instrumental tests, developments and first measurement results

2017 ◽  
Author(s):  
Angel J. Gomez-Pelaez ◽  
Ramon Ramos ◽  
Emilio Cuevas ◽  
Vanessa Gomez-Trueba ◽  
Enrique Reyes
Keyword(s):  
Drift Rate ◽  
Inlet Pressure ◽  
Response Functions ◽  
Measurement Results ◽  
Ambient Measurements ◽  
Acceptance Tests ◽  
Term Maintenance

Abstract. At the end of 2015, a CO2/CH4/CO Cavity Ring-Down Spectrometer (CRDS) was installed at the Izaña Global Atmosphere Watch station (Tenerife, Spain) to improve the Izaña Greenhouse gases GAW measurement programme, and to guarantee the renewal of the instrumentation and the long-term maintenance of this programme. We present the results of the CRDS acceptance tests, the processing of raw data applied through novel numerical codes, and the response functions used. Also, the calibration results, the implemented water vapour correction, the target gas injection statistics, the ambient measurements performed from December 2015 to July 2017, and their comparison with other continuous in situ measurements are described. The agreement with other in situ continuous measurements is good most of the time for CO2 and CH4, but for CO is just outside the GAW 2-ppb objective. It seems the disagreement is not produced by significant drifts in the CRDS CO WMO tertiary standards. The main novelties are: 1) determination of a slight CO2 correction that takes into account changes in the inlet pressure/flow rate; 2) detailed justification of the use of virtual tanks to monitor the response function changes in time; 3) drift rate determination for the pressure and temperature sensors located inside the CRDS cavity; 4) novelties in the determination of the H2O correction for CO; and 5) determination and discussion of the origin of the CRDS-flow inlet pressure and H2O dependences.

scholarly journals APPLICATION OF A SCINTILLATION GAMMA-SPECTROMETER FOR DETERMINATION OF RADON CONTENT IN WATER

2021 ◽  
pp. 187-190
Author(s):  
D.А. Hakimov ◽  
I.V. Zhuk ◽  
M.K. Kievets
Keyword(s):  
Water Samples ◽  
Mineral Water ◽  
Experimental Studies ◽  
Gamma Spectrometer ◽  
Scintillation Gamma ◽  
Measurement Results ◽  
Measurable Activity ◽  
Measurement Geometry ◽  
Radon Content

Experimental studies have been carried out to determine the sensitivity of a mobile scintillation gamma-spectrometer to radon-222 in mineral water samples for the selected measurement geometry and the minimum measurable activity of radon-222 in such samples. The measurement results of radon content in mineral water samples obtained using such gamma-spectrometer are presented too.

scholarly journals Spectrophotometric Methods for the Assay of Pyrilamine Maleate Using Chromogenic Reagents

2010 ◽  
Vol 7 (4) ◽  
pp. 1507-1513 ◽  
Author(s):  
V. Annapurna ◽  
G. Jyothi ◽  
V. Nagalakshmi ◽  
B. B. V. Sailaja
Keyword(s):  
Charge Transfer ◽  
Oxidative Coupling ◽  
Coupling Reaction ◽  
Pharmaceutical Formulations ◽  
Molar Absorptivity ◽  
Method Of Least Squares ◽  
Spectrophotometric Methods ◽  
Oxidative Coupling Reaction ◽  
Charge Transfer Complexation

Simple, accurate and reproducible UV spectrophotometric methods were established for the assay of pyrilamine maleate (PYRA) based on the formation of oxidative coupling and precipitation, charge transfer complexation products. Method A includes the oxidative coupling reaction of PYRA with 3-methyl-2-benzathiazolinone hydrazone (MBTH) in presence of Ce(IV). The formation of oxidative coupling product with 4-amino phenazone (4-AP) in presence of K3Fe(CN)6is incorporated in method B. Precipitation/charge transfer complex formation of the PYRA with tannic acid (TA)/Metol-Cr(VI) in method C were proposed. The optical characteristics such as Beers law limits, molar absorptivity and Sandell’s sensitivity for the methods (A-C) are given. Regression analysis using the method of least squares was made to evaluate the slope (b), intercept (a) and correlation coefficient (r) and standard error of estimation (Se) for each system. Determination of pyrilamine in bulk form and in pharmaceutical formulations were also incorporated.

Sound influence on spa park perception in feelings of visitors

2017 ◽  
Author(s):  
Małgorzata Sztubecka ◽  
Maria Mrówczyńska ◽  
Anna Bazan-Krzywoszańska ◽  
Marta Skiba
Keyword(s):  
Human Perception ◽  
Special Kind ◽  
Sound Level ◽  
Health Resort ◽  
Measurement Results ◽  
Noise Measurements ◽  
Permissible Levels ◽  
The One ◽  
The Impact

Noise can have many harmful effects on the recipients, however people exposed to noise on a long-term and regular basis can get used to it, even if the permissible levels are exceeded. In cities, green areas and park systems are provided to create a climate for rest and relaxation. Spa parks are a special kind of such park systems, which – in addition to the above-mentioned features – support therapies offered by spa facilities located there. On the one hand, patients and visitors appreciate various social and entertainment events held there, but – on the other – a multitude of sounds associated with them may reduce the comfort of their stay. The aim of this paper is to analyse the relationship between the results of noise measurements and the human perception of noise within the impact zone. The examined area is a spa park in the health resort district of Inowrocław, where seasonal measurements (taken in summer and winter) provided a basis for the determination of the connection between the measured values of equivalent sound level and the noise level perceived by surveyed people. A statistical analysis was performed to take into account the correlation between the obtained measurement results and the human perception of noise. It shows some differences in the perception of heard sounds. The results allow an evaluation of the soundscape of the analysed area.

Development of Automated Measurement Setup for Characterizing Underwater Acoustic Transducers

2016 ◽  
Vol 50 (6) ◽  
pp. 69-75
Author(s):  
Amirthalingam Malarkodi ◽  
Peddinti SSR Sridhar ◽  
Ganesan Latha
Keyword(s):  
Accurate Determination ◽  
Motion Controller ◽  
Report Generation ◽  
Underwater Acoustic ◽  
Acoustic Transducers ◽  
Acoustic Transducer ◽  
Measurement Results ◽  
Computer Based ◽  
Calibration Program

AbstractAccurate determination of sensitivity and directivity is important for any underwater acoustic transducer. In this work, an automatic measuring platform was designed and implemented for characterizing underwater acoustic transducers. The overall hardware setup includes a PXI (PCI Extensions for Instrumentation)-based data acquisition system, computer-based controller module, motion controller module, and LabVIEW-based automatic calibration program. The system performs a sequence of operations automatically and achieves synchronous control of transmission and acquisition of real-time acoustic signals as well as processing, recording, and report generation. This measurement platform can be utilized for characterizing any type of acoustic transducer for its receiving sensitivity, transmitting response, and directivity measurement as per IEC60565 standard. The measurement results for RESON TC4034 and RESON TC 2080 transducers are presented and the results show that the system is able to carry out accurate calibration and characterization of any underwater acoustic transducer. Sources of uncertainty for calibration are also presented with the confidence level of approximately 95%.

On Providing an Assessment Monitoring System for Especially Essential Structures

2020 ◽  
Vol 1006 ◽  
pp. 130-135
Author(s):  
Viktor Kolokhov ◽  
Liliya Kushnerova ◽  
Lina Moroz ◽  
Tetiana Pavlenko
Keyword(s):  
Monitoring System ◽  
Electrical Resistance ◽  
Electrode Pair ◽  
Emergency Situations ◽  
Constant Determination ◽  
Measurement Results ◽  
Structure Surface ◽  
Assessment Problems ◽  
Shape And Size

The article deals with the assessment problems of especially essential structures. Increased demands on prevention of emergency situations and minimizing the consequences in the event of their occurrence require constant determination of especially essential structures condition. Achieving the goal of reliability and continuity of information is possible by coating the structure surface by a layer of electroconductive concrete, working as a monitoring system sensor. The study of the electrical properties of concrete was performed using the voltmeter – ammeter scheme. After the measurements had been made, the conditional electrical resistance of the electrode pair was calculated. The analysis of the above dependencies found that the change in the electrical resistance of the material from its stress approaches the linear law at lower values of W/C over a larger section of the studied interval. Processing of the obtained data showed that the measurement results were significantly affected by the shape and size of the electrodes used during the experiments.

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