LabVIEW Software Platform for Kinematics Analyse in Robotics

2021 ◽  
pp. 47-52
Author(s):  
A. Olaru ◽  
◽  
T. Dobrescu ◽  
S. Olaru ◽  
I. Mihai
Keyword(s):  
Relative Motion ◽  
Relative Position ◽  
Input Data ◽  
Dynamic Behaviour ◽  
3D Graphics ◽  
Two Dimensional ◽  
Software Platform ◽  
Home Position ◽  
Labview Software ◽  
Case Type

The paper shown one new LabVIEW software platform for the Kinematics analyse in Robotics. This platform contents some more important type of robots and the positions, velocities and accelerations assisted analyse. The program contains a case-type structure with the various types of analysed robots, which also include related Cartesian systems applied in all joints. The front panel of the program contains a two-dimensional table with the input data of all relative position vectors between all joints, clusters for defining all robot modules and clusters for defining all parameters of the trapezoidal characteristics of relative motion in all robot’s joints. The clusters that define the robot modules contain information on the translation or rotation couple, the angular or linear home position and respectively the axes of movement by rotation or translation. The results are shown by 3D graphics of space trajectory, of space movement of the velocities and acceleration vectors. With this platform will be possible to quickly analyse some different variants of the movement like simultaneously, successive and complex combination between them and choose the best variant for one good dynamic behaviour without vibration, without pick of moments and forces. This software platform solves one small part of the complex problems of the robot’s kinematics.

scholarly journals The influence of vortices upon the resitance experienced by solids moving through a liquid

1928 ◽  
Vol 119 (781) ◽  
pp. 146-156 ◽  
Keyword(s):  
Perfect Fluid ◽  
Relative Motion ◽  
Constant Velocity ◽  
Fluid Motion ◽  
Resultant Force ◽  
The Other ◽  
Two Dimensional ◽  
Perfect Fluids ◽  
Potential Problems ◽  
The Moment

(1) It is not so long ago that it was generally believed that the "classical" hydrodynamics, as dealing with perfect fluids, was, by reason of the very limitations implied in the term "perfect," incapable of explaining many of the observed facts of fluid motion. The paradox of d'Alembert, that a solid moving through a liquid with constant velocity experienced no resultant force, was in direct contradiction with the observed facts, and, among other things, made the lift on an aeroplane wing as difficult to explain as the drag. The work of Lanchester and Prandtl, however, showed that lift could be explained if there was "circulation" round the aerofoil. Of course, in a truly perfect fluid, this circulation could not be produced—it does need viscosity to originate it—but once produced, the lift follows from the theory appropriate to perfect fluids. It has thus been found possible to explain and calculate lift by means of the classical theory, viscosity only playing a significant part in the close neighbourhood ("grenzchicht") of the solid. It is proposed to show, in the present paper, how the presence of vortices in the fluid may cause a force to act on the solid, with a component in the line of motion, and so, at least partially, explain drag. It has long been realised that a body moving through a fluid sets up a train of eddies. The formation of these needs a supply of energy, ultimately dissipated by viscosity, which qualitatively explains the resistance experienced by the solid. It will be shown that the effect of these eddies is not confined to the moment of their birth, but that, so long as they exist, the resultant of the pressure on the solid does not vanish. This idea is not absolutely new; it appears in a recent paper by W. Müller. Müller uses some results due to M. Lagally, who calculates the resultant force on an immersed solid for a general fluid motion. The result, as far as it concerns vortices, contains their velocities relative to the solid. Despite this, the term — ½ ρq 2 only was used in the pressure equation, although the other term, ρ ∂Φ / ∂t , must exist on account of the motion. (There is, by Lagally's formulæ, no force without relative motion.) The analysis in the present paper was undertaken partly to supply this omission and partly to check the result of some work upon two-dimensional potential problems in general that it is hoped to publish shortly.

Effects of uncertain topographic input data on two-dimensional flow modeling in a gravel-bed river

2011 ◽  
Vol 47 (3) ◽  
Author(s):  
Carl J. Legleiter ◽  
Phaedon C. Kyriakidis ◽  
Richard R. McDonald ◽  
Jonathan M. Nelson
Keyword(s):  
Input Data ◽  
Two Dimensional ◽  
Flow Modeling ◽  
Gravel Bed ◽  
Dimensional Flow ◽  
Two Dimensional Flow ◽  
Gravel Bed River

Методика практического восстановления параметров формы поверхностных двухмерных дефектов с учетом нелинейных свойств ферромагнетика

2021 ◽  
pp. 46-55
Author(s):  
А.В. Никитин ◽  
А.В. Михайлов ◽  
А.С. Петров ◽  
С.Э. Попов
Keyword(s):  
Magnetic Field ◽  
Free Surface ◽  
Numerical Experiments ◽  
Input Data ◽  
Metal Plate ◽  
Two Dimensional ◽  
Nonlinear Properties ◽  
Data Errors ◽  
The Magnetic Field

A technique for determining the depth and opening of a surface two-dimensional defect in a ferromagnet is presented, that is resistant to input data errors. Defects and magnetic transducers are located on opposite sides of the metal plate. The nonlinear properties of the ferromagnet are taken into account. The components of the magnetic field in the metal were reconstructed from the measured components of the magnetic field above the defect-free surface of the metal. As a result of numerical experiments, the limits of applicability of the method were obtained. The results of the technique have been verified experimentally.

Calibration Method of Relative Position and Pose Between Dual Two-Dimensional Laser Radar

2017 ◽  
Vol 44 (10) ◽  
pp. 1004005
Author(s):  
陈健武 Chen Jianwu ◽  
全思博 Quan Sibo ◽  
全燕鸣 Quan Yanming ◽  
郭清达 Guo Qingda
Keyword(s):  
Relative Position ◽  
Calibration Method ◽  
Laser Radar ◽  
Two Dimensional

scholarly journals Feasibility Study of Textureless Object Detection and Pose Estimation Based on a Model with 3D Edgels and Surfaces

2015 ◽  
Vol 6 (1) ◽  
Author(s):  
Kimitoshi Yamazaki ◽  
Kiyohiro Sogen ◽  
Takashi Yamamoto ◽  
Masayuki Inaba
Keyword(s):  
Object Detection ◽  
Feasibility Study ◽  
Pose Estimation ◽  
Template Matching ◽  
Input Data ◽  
Three Dimensional ◽  
Target Object ◽  
Textural Features ◽  
Two Dimensional ◽  
Home Appliances

Abstract This paper describes a method for the detection of textureless objects. Our target objects include furniture and home appliances, which have no rich textural features or characteristic shapes. Focusing on the ease of application, we define a model that represents objects in terms of three-dimensional edgels and surfaces. Object detection is performed by superimposing input data on the model. A two-stage algorithm is applied to bring out object poses. Surfaces are used to extract candidates fromthe input data, and edgels are then used to identify the pose of a target object using two-dimensional template matching. Experiments using four real furniture and home appliances were performed to show the feasibility of the proposed method.We suggest the possible applicability in occlusion and clutter conditions.

scholarly journals N-body Simulations of Two-Component, Bar-Unstable Disks

1996 ◽  
Vol 157 ◽  
pp. 501-503
Author(s):  
David E. Kaufmann
Keyword(s):  
Numerical Simulations ◽  
Relative Motion ◽  
Two Dimensional ◽  
Two Component ◽  
Polar Grid ◽  
Gas Component

AbstractWe present results of numerical simulations of bar-unstable disks that include a dissipative gas component. The simulations have been carried out using a two-dimensional polar grid for the force calculations. The gas component has been modelled as a collection of finite-sized particles that dissipate a fraction of their relative motion during collisions.

scholarly journals TOPOLOGY-PRESERVING WATERMARKING OF VECTOR GRAPHICS

2014 ◽  
Vol 24 (01) ◽  
pp. 61-86 ◽  
Author(s):  
STEFAN HUBER ◽  
MARTIN HELD ◽  
PETER MEERWALD ◽  
ROLAND KWITT
Keyword(s):  
Input Data ◽  
Two Dimensional ◽  
Statistical Features ◽  
Embedding Capacity ◽  
Vector Graphics ◽  
Line Segments ◽  
Circular Arcs ◽  
Straight Line ◽  
Watermark Embedding ◽  
Topological Correctness

Watermarking techniques for vector graphics dislocate vertices in order to embed imperceptible, yet detectable, statistical features into the input data. The embedding process may result in a change of the topology of the input data, e.g., by introducing self-intersections, which is undesirable or even disastrous for many applications. In this paper we present a watermarking framework for two-dimensional vector graphics that employs conventional watermarking techniques but still provides the guarantee that the topology of the input data is preserved. The geometric part of this framework computes so-called maximum perturbation regions (MPR) of vertices. We propose two efficient algorithms to compute MPRs based on Voronoi diagrams and constrained triangulations. Furthermore, we present two algorithms to conditionally correct the watermarked data in order to increase the watermark embedding capacity and still guarantee topological correctness. While we focus on the watermarking of input formed by straight-line segments, one of our approaches can also be extended to circular arcs. We conclude the paper by demonstrating and analyzing the applicability of our framework in conjunction with two well-known watermarking techniques.

scholarly journals Force Budget: II. Application to Two-Dimensional Flow along Byrd Station Strain Network, Antarctica

1989 ◽  
Vol 35 (119) ◽  
pp. 61-67 ◽  
Author(s):  
C.J. Van Der Veen ◽  
I.M. Whillans
Keyword(s):  
Constitutive Relation ◽  
Input Data ◽  
Field Data ◽  
Two Dimensional ◽  
Water Drainage ◽  
Dimensional Flow ◽  
Basal Sliding ◽  
Longitudinal Variations ◽  
Two Dimensional Flow ◽  
Flow Law

AbstractResistive stresses and velocities at depth are calculated along the Byrd Station Strain Network, Antarctica, using field data. There are found to be large longitudinal variations in basal drag and this result is little affected by errors in the input data or by uncertainties in the constitutive relation for ice. Basal drag varies by a factor of about 2 along the strain network, and is usually equal to the driving stress to within 10–20%. Sites of high drag are not always correlated with basal topographic highs, indicating that some process such as basal water drainage is involved in controlling the friction at the bed. Basal sliding velocities are very sensitive to errors in measured surface velocities and the rate factor in Glen’s flow law. As a result, calculated sliding velocities are much less reliable than deep stresses, and need to be interpreted with caution.

A New Scan Conversion Algorithm for Ultrasound Compound Scanning

1985 ◽  
Vol 7 (3) ◽  
pp. 215-224 ◽  
Author(s):  
Seung-Woo Lee ◽  
Song-Bai Park
Keyword(s):  
Real Time ◽  
Input Data ◽  
Linear Interpolation ◽  
Reconstruction Error ◽  
Ultrasound Images ◽  
Two Dimensional ◽  
Spatial Compounding ◽  
One Dimensional ◽  
Conversion Algorithm ◽  
Scan Conversion

An improved scan conversion algorithm for ultrasound compound scanning is proposed. In this algorithm, the input data in the spatial domain is sampled by the concentric square raster sampling (CSRS) method, and the display pixel data are filled by one-dimensional linear interpolation. The reconstruction error of the proposed algorithm is much smaller than that of other algorithms, because only one-dimensional, rather than two-dimensional, interpolation is involved. This algorithm greatly simplifies implementation of a real-time digital scan converter (DSC) for spatial compounding of ultrasound images.

Vertical Relative Motion Between Two Adjacent Platforms in Oblique Waves

1985 ◽  
Vol 107 (4) ◽  
pp. 455-460 ◽  
Author(s):  
C. H. Kim ◽  
M. C. Fang
Keyword(s):  
Relative Motion ◽  
Hydrodynamic Interaction ◽  
Two Dimensional ◽  
Oblique Waves ◽  
Strip Method ◽  
Strip Theory ◽  
Close Proximity ◽  
Relative Motions

The paper presents a strip theory and its correlation with experiment and analysis on the relative motions of two ships. The ships are in close proximity and in parallel position in oblique waves. The two-dimensional procedure takes account of the hydrodynamic interaction between two cylindrical bodies. It was found that the strip method is a useful technique to predict the hydrodynamically coupled motions of two ships.

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