ABB robot data collection based on dynamic link library

At present, with the development of the times and technology, in order to meet the needs of industrial production, robots have begun to be widely used in factories. Although the production efficiency of the robot is very high and relatively cheap compared to the labor cost, when an industrial robot fails, it will have a serious impact on the production capacity of the entire production line. Therefore, it is necessary to monitor various data of the robot. If some abnormal data can be found, it can perform effective predictive maintenance on the robot. This article mainly proposes a method for various data acquisition of ABB robots. The data acquisition interface is developed using C# and the dynamic link library is called. The data of ABB robots can be read in real time. It can realize real-time monitoring of each data of the robot.

Simulation of gymnastics performance based on MEMS sensor

The development and progress of multi-sensor data fusion theory and methods have also laid the foundation for the research of human body posture tracking system based on inertial sensing. The main research in this paper is the simulation of gymnastics performance based on MEMS sensors. In the preprocessing to reduce noise interference, this paper mainly uses median filtering to remove signal glitches. This article uses virtual character models for gymnastics performances. The computer receives sensor data from the sink node of the motion capture device through a Bluetooth communication module. The unit calculates the quaternion output from the dynamic link library of sensor data processing, calculates the rotation amount and coordinate offset of each sensor node’s limb, and uses the character model to realize the real-time rendering of the virtual character model. At the same time, it controls the storage of sensor data, the drive of the model, and the display of the graphical interface. When a gesture action is about to occur, a trigger signal is given to the system to mark the beginning of the action, so as to obtain the initial data of each axis signal of the MEMS sensor. When the gesture action is completed, give the system a signal to end the action. Mark the end of the action, so that you can capture the original signal data during the beginning and end of the gesture action. In order to ensure the normal communication between PS and PL, it is necessary to test the key interfaces involved. Because the data received by the SPI acquisition module is irregular, it is impossible to verify whether the data is wrong, so the SPI acquisition module is replaced with a module that automatically increments data, and the IP core is generated, and a test platform is built for testing. The data shows that the average measurement error of X-axis displacement of the space tracking system is 8.17%, the average measurement error of Y-axis displacement is 7.51%, the average measurement error of Z-axis displacement is 9.72%, and the average error of three-dimensional space measurement is 8.7%. The results show that the MEMS sensor can accurately recognize the action with high accuracy.

Simulation of Gymnastics Performance Based on MEMS Sensor

The development and progress of multi-sensor data fusion theory and method also lay the foundation for the research of human posture tracking system based on inertial sensor. This paper mainly studies the simulation of gymnastic performance based on MEMS sensors. In the preprocessing of reducing noise interference, this paper mainly uses median filter to remove signal burr. In this paper, the use of virtual character model for gymnastics performance. The computer receives sensor data from the sink node of the motion capture device through a Bluetooth communication module. The unit calculates the quaternion output from the dynamic link library of sensor data processing, calculates the rotation and coordinate offset of the limb where each sensor node is located, and realizes the real-time rendering of the virtual human model by using the driver of the human model. At the same time, it controls the storage of sensor data, the driving of model and the display of graphical interface. When the gesture action is about to happen, a trigger signal is given to the system to mark the beginning of the action, so as to obtain the initial data of each axis signal of MEMS sensor. When the gesture action is completed, a signal to end the action is given to the system to mark the end of the action, so that the original signal data between the beginning and end of the gesture action can be captured. In order to ensure the normal communication between PS and PL, it is necessary to test the key interface. Because the data received by the SPI acquisition module is irregular, it is unable to verify whether the data is wrong. Therefore, the SPI acquisition module is replaced with an automatic incremental data module, and it is generated into an IP core to build a test platform for testing. The data show that the average measurement errors of x-axis displacement, Y-axis displacement, z-axis displacement and three-dimensional displacement are 8.17%, 7.51%, 9.72% and 8.7%, respectively. The results show that the MEMS sensor can accurately identify the action with high accuracy.

METHOD OF AUTOMATIC DETERMINATION OF THE HEART’S ELECTRICAL AXIS IN CARDIOLOGICAL DECISION SUPPORT SYSTEMS

The work is devoted to solving the scientific and practical problem of automating the heart’s electrical axis calculation to improve the quality of morphological analysis of biomedical signals with locally concentrated features in cardiological decision support systems, which in turn reduces the likelihood of medical errors. The work shows that existing methods for in the determining the electrical axis of the heart require morphological analysis of an electrocardiogram. The method is based on determining the integral signal in the frontal plane from all limb leads, taking into account the lead angle in the hexaxial reference system. In graphic form in polar coordinates, the integral electrocardiological signal is a figure, predominantly elongated along the axis, the direction’n of which corresponds to the heart’s electrical axis. The position of the heart’s electrical axis is calculated as the angle between the axis of standard lead I and the vector, the end of which is at the center of mass of the locus of the points the farthest away from the reference point. Cluster analysis is used to find the most distant points from the reference point. The proposed method for of calculating the heart’s electrical axis makes it possible not to carry out a preliminary morphological analysis of an electrocardiogram. To implement the method proposed in the article, a program was written in the Matlab language, which is connected as a dynamic link library to the cardiological decision support system “TREDEX telephone” operating as part of the medical diagnostic complex “TREDEX” manufactured by “Company TREDEX” LLC, Kharkiv. Verification of the results was carried out using a database of electrocardiograms, which were recorded using a transtelephone digital 12-channel electrocardiological complex “Telecard”, which is part of the medical diagnostic complex “TREDEX”, and deciphered by cardiologists of the communal non-profit enterprise of the Kharkiv Regional Council “Center for Emergency Medical aid and disaster medicine”. Comparison of the results of calculating the heart’s electrical axis according to electrocardiograms by a doctor and automatically using the proposed method showed that in the overwhelming majority of cases the decisions made coincide. At the same time, cardiologists make mistakes, and errors are made during automatic calculation using the proposed method. The paper explains the reasons for these errors.

Cellular Automata-based computational library for development of digital material representation models of heterogenous microstructures

The development of an efficient numerical approach for the generation of a wide range of heterogeneous microstructures models with the application of the lean workflow concept is presented in the paper. First, the idea and implementation details of the developed cellular automata-based computational library allowing the development of digital material representation models within a workflow are presented in the paper. Such an approach provides the desired flexibility in the generation of various digital models of heterogenous microstructures. Therefore, the proposed library is mostly implemented within the object-oriented C + + programming language with the assumption of modularity. In this case, the main part of the application consists of classes and methods, which can be treated like base elements to be inherited and extended in other libraries. Each additional dynamic link library implements particular algorithms for the generation of specific microstructure features in the digital model within the unified data structures that allow the application of the workflow concept. The set of developed libraries and their assumptions are described as case studies to show the capabilities of the presented solution. Finally, examples of practical applications of the developed library in the full-field numerical simulations of complex material deformation are presented at the end of the paper.

Evaluating the Emission and Energy Impacts of Automated Buses on Urban Expressways

In recent years, a series of traffic problems have emerged with continuously increasing traffic. Connected and autonomous vehicles (CAV) technology is considered to be an effective way to relieve these problems. It is believed that buses, trucks, and other special vehicles could be among of the first application areas to promote the development of CAV technology. Because of their features of high emissions of pollutants and high energy consumption, the improvement of environmental benefits for such heavy vehicles as buses is the focus in this research. Therefore, this paper aims to evaluate the impact of automated buses on emissions and energy consumption on urban expressways. To achieve the research objectives in this paper, the established automated buses model is embedded into the simulation platform with VISSIM dynamic link library. Models are developed for emissions and energy consumption calculations based on vehicle-specific power to quantify the environmental impact of automated buses. Two improvement strategies: dedicated managed lane and dedicated bus lane, are designed. Finally, a VISSIM simulation platform based on the Fourth Ring Road in Beijing (Xueyuan Bridge to Haidian Bridge) is built to conduct case studies. The results show that CAV technology in buses can reduce exhaust emissions and save energy. Moreover, the managed lane strategy brings a significant reduction in the emissions and energy consumption of automated buses. These findings can be used for the development of automated bus operational strategies focused on environmental benefits.

Modelling Pluvial Flooding in Urban Areas Coupling the Models Iber and SWMM

Dual urban drainage models allow users to simulate pluvial urban flooding by analysing the interaction between the sewer network (minor drainage system) and the overland flow (major drainage system). This work presents a free distribution dual drainage model linking the models Iber and Storm Water Management Model (SWMM), which are a 2D overland flow model and a 1D sewer network model, respectively. The linking methodology consists in a step by step calling process from Iber to a Dynamic-link Library (DLL) that contains the functions in which the SWMM code is split. The work involves the validation of the model in a simplified urban street, in a full-scale urban drainage physical model and in a real urban settlement. The three study cases have been carefully chosen to show and validate the main capabilities of the model. Therefore, the model is developed as a tool that considers the main hydrological and hydraulic processes during a rainfall event in an urban basin, allowing the user to plan, evaluate and design new or existing urban drainage systems in a realistic way.

An Interface Extension for the New EPANET 2.X

The EPANET 2.0 is a public domain software used to model water distribution networks. The last main release dates to 2000. Recently, the Open Source EPANET Initiative has fixed some bugs and has brought new features to the EPANET solver, such as improved convergence or pressure-driven simulation, and has released it under a new version: EPANET 2.2. Although the legacy Graphical User Interface (GUI) still works with the updated Dynamic Link Library (DLL) (backward compatibility), it does not access the new features. This paper proposes and explores a GUI extension that takes advantage of the new pressure-driven features (such as pressure deficit or demand deficit). The paper also discusses some implementation aspects of the new solver that should be revisited in future releases.

Effect of a Passive Tuned Mass Damper on Offshore Installation of a Wind Turbine Nacelle

Although the installation of offshore wind turbines takes place in calm seas, successful mating of wind turbine components can be challenging due to the relative motions between the two mating parts. This work investigates the effect of a passive tuned mass damper on the mating processes of a nacelle for a 10-megawatt (MW) offshore wind turbine. A nacelle with lifting wires and a monopile with a mass damper are respectively modelled using the multibody formulation in the HAWC2 program. A single mass damper is tuned to target at the first natural period of the monopile and is coupled to the main program using a dynamic link library. Afterwards, numerical simulations were carried out in turbulent wind conditions and irregular wave conditions typical of offshore installation scenarios. Important response variables including the tower-top motions, nacelle motions, and their relative motions are examined in the analysis. By comparing the time series and response statistics, we found that the tower-top motion is more crucial to the installation process than the lifted nacelle motion. For the relative motions and velocities between the nacelle and the tower top, the tuned mass damper can reduce the short-term maximum values by more than 50% for the examined sea states with spectral period between 4 to 12 seconds. This implies that the weather window for marine operations can be expanded if the tuned mass damper is applied.

Load Mitigation Using Slotted Flaps in Offshore Wind Turbines

This paper focuses on load mitigation by implementing controllable trailing-edge slotted flaps on the blades of an offshore wind turbine (OWT). The benchmark NREL 5 MW horizontal axis OWT is subjected to coupled stochastic aerodynamic-hydrodynamic analysis for obtaining the responses. The OWT is supported on three different fixed-bottom structures situated in various water depths. Blade element momentum (BEM) theory and Morison's equation are used to compute the aerodynamic and hydrodynamic loads, respectively. Presently, the load reduction obtained by means of the slotted flaps is regulated using an external dynamic link library considering the proportional-integral-derivative (PID) controller. BEM theory is presently modified to account for unsteady effects of flaps along the blade span. The present analysis results show reduction up to 20% in blade and tower loads for the turbine with different support structures on implementing controllable trailing edge flaps (TEFs). This study can form the basis for evaluating the performance of large-scale fixed OWT rotors.