Lecture Topics MMC Prof. Dr.-Ing. habil. Hermann Lödding Prof. Dr.-Ing. Wolfgang Hintze. PD Dr.-Ing. habil.

Size: px
Start display at page:

Download "Lecture Topics MMC Prof. Dr.-Ing. habil. Hermann Lödding Prof. Dr.-Ing. Wolfgang Hintze. PD Dr.-Ing. habil."

Transcription

1 Lecture Topics 1. Introduction 2. Sensor Guides Robots / Machines 3. Motivation Model Calibration 4. 3D Video Metric (Geometrical Camera Model) 5. Grey Level Picture Processing for Position Measurement 6. Light and Perception as well as Black-and-White- and Colour Pictures 7. Model Calibration 8. Video Metric Sensor Calibration (Geometrical Camera Model) 9. Video Metric Camera Model (Fourier 2D) MMC

2 Motivation Model Calibration MMC

3 Video der Firma Volvo MMC

4 Applications Transportation- and Flight Systems R ö n tg e n q u e lle R ö n tg e n g e rä t sc h e m a tisc h S tra h le n k e g e l Z e n tra ls tra h l Ahlers Kuka Robot-, Hand-Eye- Relation und Work Piece Frame B ild p la tte MMC Measuring Techniques, Robotic and Medicine SHW Tool Machine Work Piece Frame

5 Accuracy Behavior of the Robot before and after the Model Calibration / 100 µm Calibrated Model RMS x / m y / m / 1 mm Non calibrated Model x / m y / m MMC

6 [m] 1 3 Accuracy behavior of the Sensor and Robot Model Calibration in x/y Direction ,00E-04 4,00E-04 3,00E-04 2,00E-04 1,00E-04 y Positionsfehler Error 0,00E+00-1,00E-04-2,00E-04-3,00E-04-4,00E-04-5,00E-04 Pose-Nr. MMC

7 Research Center CFK-Nord (Stade) MMC

8 Time Variance of the System Properties Boeing Operating point change Load change Kuka MMC Aging and Attrition as well as Changed Environmental Condition

9 Adaptive Production Technology Accuracy (0,1mm auf 10 to 20 m -> 5µm/m) Pose and Shape Error Linear Axis at TCP (5 20 mm) Pose Error Assembly (5 10 mm) Process Pose Error at TCP (0,5 1 mm) Process Force influenced Pose Error (0,5 1 mm) Pose Error Robot (1 5 mm) MMC

10 Assembly Shape and Pose Correction I Flexible controlled Shape Non expensive Gripper 6D Controlled Forces Multi dimensional elasticity model Shape and Pose accuracy converge after 2 4 Iterations to machine repeatability (50 to 100 µm) MMC

11 Assembly Shape and Pose Correction II Multi-Frames with separate and cooperating Movements (Adaptive hierarchical control process) MMC

12 Experimental Field for Wide Body Shape and Pose Automatic Control Loop Fotos: Roman Jupitz Preiswerte Inexpensive Greifer, Standard-Industrie Industrie- gripper, roboter und preis- robots werte Hallen- and fundamente hall foundations Absolute Absolute Positionier- fehler der Groß- bauteile 0,05 0,05 bis 0,1 0,1 mm mm (after typically 2-4 iterations) positioning errors (nach typisch 2-4 Iterationen) MMC

13 Wide Body handling with Cooperating Robots Inexpensive gripper, Preiswerte Greifer, Standard- robots and Industrieroboter und preiswerte hall Hallenfundamente foundations Fotos: Roman Jupitz Symposium 2004 Absolute positioning Absolute Positionierfehler der Großbauteile errors 0,1 0,2 mm 0,1 bis 0,2 mm (after typically 2-4 iterations) (nach typisch 2-4 Iterationen) MMC

14 Laser Scanner Remote Welding Laser-Scanner TRUMPF Laser-Scanner Mirror Movements are to be derived from Constructional Data (No Teaching!) MMC

15 Sensor guided Remote Laser Welding MMC Emmelmann

16 Fixateur Extern, Robotic und Picture Processing K u g e lg e le n k S te llsc h ra u b e Video Metric to Measure Pose of x-ray Source and Picture Plane R ö n tg e n g e rä t D istr a k to r Ilis a ro w -R in g R ö n tg e n q u e lle sc h e m a tisc h S tra h le n k e g e l Z e n tra ls tra h l B ild p la tte Fixateur Extern / Robotic MMC a b Medicinal 3D Picture Processing 3D x-ray Technology

17 Machine Off Line Programming Separation from plant enterprise and programming B lu m e Absolute pose errors require time consuming teaching MMC

18 System Approach in Mechanical Engineering Computer Aided Design Computer Aided Manufacturing Off-Line- Programmig Machines y z x w Tool Gripper Option Sensor Palette System with Index MMC Sensor-TCP Calibration Body

19 Examples System Identification MMC

20 System Identification at the Ohm's Resistance i Structure Identification? u R i Input Values w e rte S te u e r- x p Parameter P a m e r Output A u s g a n g s - Values w e rte y = f(x,p ) y u Parameter Identification? concentrated Element R u i Measure Voltage u and Current i, than Calculate Parameter R! MMC

21 System Identification of Linear Vector Maps Input S te u e r- Values w e rte x p Parameter P a m e r Output A u s g a n g s - Values w e rte y = f(x,p ) y y A p B x, i {1,, I} i i y y y A p B x x x 1 i I 1 i I Y A p B X A p Y B X 1, R an k D im p A Y B X A p MMC

22 System Identification with Linearization I Vector Map y f ( p, x ), i {1,, I} i i Measured Data x y, i {1,, I} i i Linearization y J ( p, x ) p R 0, R 0 i p 0 0i with y y y, y f ( p, x ), p p p i i 0 i 0 i 0 i 0 y A p, i {1,, I} i i MMC

23 System Identification with Linearization II 1 p A y ', R an k A D im p, with J ( p, x ) p 0 1 Α J ( p, x p 0 i ) J ( p, x p 0 I ) and t t t ' 1 i I y y y y t MMC

24 System Identification I The system identification appears to be very simple. Kuka y z What do you mean, are this is in principle like that? w x Why not? MMC

25 System Identification II Structure of the model admits not from the beginning Spatially distributed non linear systems Spatially concentrated non linear systems Spatially distributed or concentrated features of the systems not sufficiently known Input and output values must be measurable. Therefore principle sensors are needed. MMC

26 Potentials of the System Identification Static and dynamic parametric models Control, Regulation as well as Sensor Models Accuracy increase of the stationary and dynamic behavior by model calibration (Positioning and Path error, Automatic Controller Optimization, Adaptive Automatic Controllers etc..) Calibration, Quality Assurance, Error-, Aging- as well as Attrition- Recognition (In the manufacturing process and at the customer in the service) Linear Independence Parameters makes Hierarchical as well as Sub Set Parameter Calibrations possible (Pre- and Re-Calibration at the manufacturer and customer) MMC

27 Analysis Analysis Linear approximation in one and multidimensional case Base for Iterative Optimization Procedures (Regula falsi Newton Method) Base for Iterative Identification Algorithms Base for Computation of the inverse Mapping Base for Error Propagation Analyses MMC

28 Learning by Use and Repetition MMC

29 Hand Eye Coordination MMC

30 Lerning and Remembering Modeling M o d e llb ild u n g Scheduling P la n u n g A k tio n Action Perception W a h rn e h m u n g MMC Long Time Memory and neuronal Catenations needs Repetitions M o to r is c h e Neuromuscular S te u e r u n g Movement

31 Memory Quota Hearing H ö r e n Seeing S e h e n Hearing and seeing H ö r e n u n d S e h e n Hearing, seeing and discuss H ö r e n, S e h e n u n d D is k u tie r e n Hearing, seeing, discuss and doing H ö r e n, S e h e n, D is k u tie r e n u n d Tu n 2 0 % 3 0 % 5 0 % 7 0 % 9 0 % MMC H a n d b u c h H o c h s c h u lle h re

32 Matlab-Class-Room-License to Practicing MMC

33 Hand Eye Calibration Movement Measure Iterative Model Calibration MMC

34 System Analysis and Calibration MMC

35 Methodology Systems Analysis Theoretische Theoretical Analysis Analyse see robotic I Annahmen Assumption zur Vereinfachung Simplification Aufstellen Set up the der Gleichungen Equations Theoretisches Theoretical Modell Model - Struktur - Parameter Structure/Param. Vereinfachung Simplification Vereinfachtes Simplified theo Theoretical retisches Modell Experimentelle Experimental Analyse Analysis A-priori-Kenntnis A über Knowledge das System Experiment nt Identifikation Identification Experim. Experiment Modell Model Struktur Structure unbebekannt known / unknown kannt parametrisch nicht parametrisch parametrisch nicht parametrisch Vergleich compare Q := Quality Ende yes ja Qualität Q nein no MMC

36 Model Quality and Process Knowledge Attainable Model Quality Theoretical Model Design Knowledge of Internal Processes Identification ME := Mechanical Electrical Systems ET := Energy-Technical Systems VT := Process Engineering systems MMC Isermann M := Model Quality K := Process Knowledge see robotic I

37 Model Quality and Investment Attainable Model Quality Expenditure (Costs) Expenditure (Costs) Isermann MMC see robotic I

38 Problem Definition Robot I Absolute Positioning Aaccuracy 2-10 mm Repetition Accuracy µm Robot frame is indicated approximately or not Angle error of 0.1 of 1 m length results in a arc length error of 1.7 mm => problem: zero errors of the sensors and arc errors between world and robot frame Decrease of the manufacturing tolerances of the construction components technically and economically limited. MMC see robotic I

39 0,5 m Problem Definition Robot II (Path Error) see robotic I z x Without extended regulation o h n e e r w e ite r te R e g e lu n g Weber Extended regulation e rw e ite rte r R e g le r z 0,5 m Destination S o llb a h n Path Is tb a h n Actual Path 0,5 m /s z t/s 0,1 0,8 0,9 MMC x x

40 Robot Model Pose Error MMC

41 Kinematics Transformation II S 0 i-th Joint i-te s G e le n k S R W K S S i T i T C P Robot- FR World-FR KS R o b o te r- S i+1 p := Parameter Vector x := Ideal Machine Coordinates S G i-th i-te s GJoint e le n k z i y i x i z i+1 t i y i+1 x i+1 (i+1)-th ( i+ 1 )-te s G e le n k Joint see robotic I Coordinates Transformation (classical) 3 x r R r t, w ith R, t, r i 1 i 1 i i 1 i 1 i 1 i r D D R R R R r t t t t t t, I 6 0 I 5 I 5 I 4 I 3 I 2 I 1 i I 1 I 2 I 3 I 4 I 5 I 5 MMC

42 Kinematics Transformation IV Advantages of Homogeneous Coordinates Transformation T with an open Kinematics Chain T T ( p, x ) f ( p, x ) j j j j Products of the homogeneous Matrices T j MMC see robotic I

43 Kinematics Transformation V p x x S := constant joint parameter of the cinematic model := ideal variable drive coordinates also ideal machine coordinates called := variable sensor coordinates of the internal position measuring systems and/or real variable machine coordinates MMC see robotic I

44 Internal Sensor Measured Machine Coordinates x f ( x ) A S S A MMC see robotic I

45 Kinematics Transformation with Sensor Coordinates Sensor zero position errors and sensor gradient errors can be interpreted as parameters of the model. T e d ' i d ' i S k 0 S k S k f p, x m x j ' ' ' ' ' f ( m, x, p, x ) f ( p, x ) S S 0 S S F I f ' ( p ', x ), p ' H d t t ' ' t m i d x i p S S k S k 0 K t MMC see robotic I

46 Parallel Kinematic I Analytic Inverse Kinematic Transform d d d D D i i 0i i A T C P T C P d r T ( p ) r i B i A T i E T C P r T i S T C P d i ( p T C P ) A S A T T C P A Wikipedia MMC A r B i i {1,..., 6} see robotic I

47 Parallel Kinematic II p T C P A 0 := N u ll P o se d D i := i-th D riv e D ista n c e d i := i-th C a rd a n Jo in t D ista n c e d 0 i := i-th O ffse t in N u ll P o se (S e n so r O ffse t) D i := i-th D ista n c e P a rt MMC see robotic I

48 Causes for Absolute Positioning Errors 1. Kinematics Parameters: (zero position, alignment and length) FR := Frame = coordinate system 10. Controller: (rounding and numeric procedural errors) 9. Friction Kuka 2. Relation from Machine FR to World FR 3. Variations Temperature 8. Position Sensor y z x w 4. Joint Elasticity MMC Bearing Backlash 6. Transmission Error (Linearity, Backlash Error) 5. Element Elasticity see robotic I

49 External 3D Position Sensors Theodolites T h e o d o lite n - Videometric V id e o m e tris c h e V e r fa h re n M e ß v e rfa h r e n T ra d t 9 1, B e y e r 9 5, G e u e n s 9 7 CCD/CMOS C C D -S e n s o r- 3D s ysensor s te m TCP Flange T C P - F la n s c h L E D - P a n e l J u d d 8 7, B e rg 9 0, M e y e r 9 1, T ra d t 9 1 Measuring Head (TCP-Sensor) M e ß k o p f-v e rfa h re n P o s e - u n d P o s itio n s - s e n s o re n Calibration K a rie rk ö rp body e r In te r fe ro m e tr is c h e Laser-Tracking L a s e r-t ra c k in g -V e r fa h re n W a ts o n 8 5, L a u 8 5, M a y e r 8 6, P re n n in g e r 9 2 MMC Inductively, tactile: in d u k tiv, ta s te n d : G o s s e l 9 6 Ultrasonic: u s c h a ll: Videometric: v id e o m e tris c h : W a rn e c k e 8 6, S c h ie le 8 7, S to n e 8 6, B e rg 9 0 R o o s 9 6, W o lln a c k 9 6 D a in is 8 5, Z h u a n g 9 6, see robotic I

50 Homogeneous Error Transformation I Measured Messwerte Values Modellwerte Values S M T S T M T 1 M Δ T T T MMC see robotic I

51 Homogeneous Error Transformation II 2 t p E p p E E M in = M in, with E M 1 T T ( p ) T ( p ) T ( p ) I p p M p E Principal ambiguities of the pose and periodicity ambiguities are not present here (See inverse RPY-Transform). The minimization of the pose instead of the homogeneous matrix T generates the orthogonal rotation matrix correctly. These approach is very important for pose calibration. MMC see robotic I

52 END MMC

Lecture Topics VMF Prof. Dr.-Ing. habil. Hermann Lödding Prof. Dr.-Ing. Wolfgang Hintze. PD Dr.-Ing. habil.

Lecture Topics VMF Prof. Dr.-Ing. habil. Hermann Lödding Prof. Dr.-Ing. Wolfgang Hintze. PD Dr.-Ing. habil. Lecture Topics. Introduction. Sensor Guides Robots / Machines 3. Motivation Model Calibration 4. 3D Video Metric (Geometrical Camera Model) 5. Grey Level Picture Processing for Position Measurement 6.

More information

Class Diagrams. CSC 440/540: Software Engineering Slide #1

Class Diagrams. CSC 440/540: Software Engineering Slide #1 Class Diagrams CSC 440/540: Software Engineering Slide # Topics. Design class diagrams (DCDs) 2. DCD development process 3. Associations and Attributes 4. Dependencies 5. Composition and Constraints 6.

More information

LU N C H IN C LU D E D

LU N C H IN C LU D E D Week 1 M o n d a y J a n u a ry 7 - C o lo u rs o f th e R a in b o w W e w ill b e k ic k in g o ff th e h o lid a y s w ith a d a y fu ll o f c o lo u r! J o in u s fo r a ra n g e o f a rt, s p o rt

More information

Robotics & Automation. Lecture 06. Serial Kinematic Chain, Forward Kinematics. John T. Wen. September 11, 2008

Robotics & Automation. Lecture 06. Serial Kinematic Chain, Forward Kinematics. John T. Wen. September 11, 2008 Robotics & Automation Lecture 06 Serial Kinematic Chain, Forward Kinematics John T. Wen September 11, 2008 So Far... We have covered rigid body rotational kinematics: representations of SO(3), change of

More information

600 Billy Smith Road, Athens, VT

600 Billy Smith Road, Athens, VT 600 Billy Smith Road, Athens, VT Curtis Trousdale, Owner, Broker, Realtor Cell: 802-233-5589 curtis@preferredpropertiesvt.com 2004 Williston Road, South Burlington VT 05403 www.preferredpropertiesvt.com

More information

STEEL PIPE NIPPLE BLACK AND GALVANIZED

STEEL PIPE NIPPLE BLACK AND GALVANIZED Price Sheet Effective August 09, 2018 Supersedes CWN-218 A Member of The Phoenix Forge Group CapProducts LTD. Phone: 519-482-5000 Fax: 519-482-7728 Toll Free: 800-265-5586 www.capproducts.com www.capitolcamco.com

More information

c. What is the average rate of change of f on the interval [, ]? Answer: d. What is a local minimum value of f? Answer: 5 e. On what interval(s) is f

c. What is the average rate of change of f on the interval [, ]? Answer: d. What is a local minimum value of f? Answer: 5 e. On what interval(s) is f Essential Skills Chapter f ( x + h) f ( x ). Simplifying the difference quotient Section. h f ( x + h) f ( x ) Example: For f ( x) = 4x 4 x, find and simplify completely. h Answer: 4 8x 4 h. Finding the

More information

Lecture Topics GVMS Prof. Dr.-Ing. habil. Hermann Lödding Prof. Dr.-Ing. Wolfgang Hintze. PD Dr.-Ing. habil.

Lecture Topics GVMS Prof. Dr.-Ing. habil. Hermann Lödding Prof. Dr.-Ing. Wolfgang Hintze. PD Dr.-Ing. habil. Lecture Topics 1. Introduction 2. Sensor Guides Robots / Machines 3. Motivation Model Calibration 4. 3D Video Metric (Geometrical Camera Model) 5. Grey Level Picture Processing for Position Measurement

More information

Photo. EPRI s Power System and Railroad Electromagnetic Compatibility Handbook

Photo. EPRI s Power System and Railroad Electromagnetic Compatibility Handbook Photo EPRI s Power System and Railroad Electromagnetic Compatibility Handbook Brian Cramer Project Manager Transmission and Substations bcramer@epri.com 815/478-5344 Problem Periodic false activation of

More information

gender mains treaming in Polis h practice

gender mains treaming in Polis h practice gender mains treaming in Polis h practice B E R L IN, 1 9-2 1 T H A P R IL, 2 O O 7 Gender mains treaming at national level Parliament 25 % of women in S ejm (Lower Chamber) 16 % of women in S enat (Upper

More information

Certificate Sound reduction of building elements

Certificate Sound reduction of building elements Certificate Sound reduction of building elements Test report 040311.Z01b * ) Applicant GLAVERBEL GROUP Chaussée de la Hulpe 166 B- 1170 Brussels Specimen Monolithic glazing Foundation EN 20140-3 : 1995-01

More information

MOLINA HEALTHCARE, INC. (Exact name of registrant as specified in its charter)

MOLINA HEALTHCARE, INC. (Exact name of registrant as specified in its charter) UNITED STATES SECURITIES AND EXCHANGE COMMISSION Washington, D.C. 20549 FORM 8-K Current Report Pursuant to Section 13 or 15(d) of the Securities Exchange Act of 1934 Date of Report (Date of earliest event

More information

Functional pottery [slide]

Functional pottery [slide] Functional pottery [slide] by Frank Bevis Fabens A thesis submitted in partial fulfillment of the requirements for the degree of Master of Fine Arts Montana State University Copyright by Frank Bevis Fabens

More information

M a n a g e m e n t o f H y d ra u lic F ra c tu rin g D a ta

M a n a g e m e n t o f H y d ra u lic F ra c tu rin g D a ta M a n a g e m e n t o f H y d ra u lic F ra c tu rin g D a ta M a rc h 2 0 1 5, A n n a F ilip p o v a a n d J e re m y E a d e 1 W h a t is H y d ra u lic F ra c tu rin g? Im a g e : h ttp ://w w w.h

More information

B ooks Expans ion on S ciencedirect: 2007:

B ooks Expans ion on S ciencedirect: 2007: B ooks Expans ion on S ciencedirect: 2007: 1 INFORUM, 22-24 May, Prague Piotr Golkiewicz Account Manager Elsevier B.V. Email: p.golkiewicz@elsevier.com Mobile: +48 695 30 60 17 2 Pres entation Overview

More information

High Capacity Double Pillar Fully Automatic Bandsaw. p h a r o s 2 8 0

High Capacity Double Pillar Fully Automatic Bandsaw. p h a r o s 2 8 0 High Capacity Double Pillar Fully Automatic Bandsaw p h a r o s 2 8 0 A high-quality product from German mechanical engineering pharos - a beacon amongst automatic bandsaws Klaeger has been a leading manufacturer

More information

Lecture «Robot Dynamics»: Dynamics 2

Lecture «Robot Dynamics»: Dynamics 2 Lecture «Robot Dynamics»: Dynamics 2 151-0851-00 V lecture: CAB G11 Tuesday 10:15 12:00, every week exercise: HG E1.2 Wednesday 8:15 10:00, according to schedule (about every 2nd week) office hour: LEE

More information

Dr.-Ing. habil. Jörg Wollnack PCI.1

Dr.-Ing. habil. Jörg Wollnack PCI.1 PCI.1 Videometric and Robotics PCI.2 Problem Definition Measuring Instruments Robot Model Principals of Optical 3D-Sensors Video Metric 3D Measurement with Several Camera Systems Model Calibration Examples

More information

A L A BA M A L A W R E V IE W

A L A BA M A L A W R E V IE W A L A BA M A L A W R E V IE W Volume 52 Fall 2000 Number 1 B E F O R E D I S A B I L I T Y C I V I L R I G HT S : C I V I L W A R P E N S I O N S A N D TH E P O L I T I C S O F D I S A B I L I T Y I N

More information

TECHNICAL MANUAL OPTIMA PT/ST/VS

TECHNICAL MANUAL OPTIMA PT/ST/VS TECHNICAL MANUAL OPTIMA PT/ST/VS Page 2 NT1789 Rév.A0 TABLE OF CHANGES The information contained in this document only concerns : OPTIMA PT/ST/VS type, MCM 440 PT/OT type, MCM550 ST type. Technical Manual

More information

Electrostatics. Electricity and Electromagnetism. Atomic Nature of Electricity. Electrostatics is the study of electric charges in stationary form.

Electrostatics. Electricity and Electromagnetism. Atomic Nature of Electricity. Electrostatics is the study of electric charges in stationary form. Electricity and Electromagnetism This unit will explain the basic concepts and properties of electricity and electromagnetism. Atomic Nature of Electricity Electricity can be converted to a variety of

More information

Information System Desig

Information System Desig n IT60105 Lecture 7 Unified Modeling Language Lecture #07 Unified Modeling Language Introduction to UML Applications of UML UML Definition Learning UML Things in UML Structural Things Behavioral Things

More information

Capacitor Discharge called CD welding

Capacitor Discharge called CD welding TROUBLE SHOOTING OF STUD WELDING (EQUPMENT) We see several time, that the two main principles of Studwelding are mixed up therefor I will start to repeat short the welding methods. Capacitor Discharge

More information

UNITED STATES SECURITIES AND EXCHANGE COMMISSION Washington, D.C Form 8-K/A (Amendment No. 2)

UNITED STATES SECURITIES AND EXCHANGE COMMISSION Washington, D.C Form 8-K/A (Amendment No. 2) UNITED STATES SECURITIES AND EXCHANGE COMMISSION Washington, D.C. 20549 Form 8-K/A (Amendment No. 2) Current Report Pursuant to Section 13 or 15(d) of the Securities Exchange Act of 1934 Date of Report

More information

SKA DDL IRON CORE LINEAR MOTORS. Direct Drive Technology

SKA DDL IRON CORE LINEAR MOTORS. Direct Drive Technology Direct Drive Technology SKA DDL IRON CORE LINEAR MOTORS Copyright 2007 Motor Power Company. All rights reserved. Contents are subjected to change without any notice. Edition 05/12 SKA DDL LINEAR MOTOR

More information

An experimental robot load identification method for industrial application

An experimental robot load identification method for industrial application An experimental robot load identification method for industrial application Jan Swevers 1, Birgit Naumer 2, Stefan Pieters 2, Erika Biber 2, Walter Verdonck 1, and Joris De Schutter 1 1 Katholieke Universiteit

More information

David Martin High Precision Beamline Alignment at the ESRF IWAA, Grenoble 3-7 October 2016

David Martin High Precision Beamline Alignment at the ESRF IWAA, Grenoble 3-7 October 2016 David Martin High Precision Beamline Alignment at the ESRF IWAA, Grenoble 3-7 October 2016 OVERVIEW The ESRF has just completed the Phase I Upgrade programme. The Phase I Upgrade programme was centered

More information

Reliable Test Results

Reliable Test Results Intelligent testing Johannes J.Bührle - Agenda Reliable test results are a fundamental and highly topical aspect of materials testing. Using suitable examples we would like to show you how we view this

More information

AGRICULTURE SYLLABUS

AGRICULTURE SYLLABUS Agriculture Forms 1-4.qxp_Layout 1 26/10/2016 12:29 PM Page 1 ZIMBABWE MInISTRY OF PRIMARY AnD SECOnDARY EDUCATIOn AGRICULTURE SYLLABUS FORM 1-4 2015-2022 Curriculum Development and Technical Services,

More information

16PESGM2316 Characterizing Transmission System Harmonic Impedances with R-X Loci Plots. David Mueller

16PESGM2316 Characterizing Transmission System Harmonic Impedances with R-X Loci Plots. David Mueller 1 16PESGM2316 Characterizing Transmission System Harmonic Impedances with R-X Loci Plots David Mueller 2 Transmission System Harmonics Studies In the US, the closure of older coal fired plants is a driver

More information

PROCESS CONTROL BASIS FOR A COST-EFFECTIVE SELECTIVE SOLDERING PROCESS

PROCESS CONTROL BASIS FOR A COST-EFFECTIVE SELECTIVE SOLDERING PROCESS PROCESS CONTROL BASIS FOR A COST-EFFECTIVE SELECTIVE SOLDERING PROCESS Christian Ott Kreuzwertheim, Germany christian.ott@seho.de Heike Schlessmann heike.schlessmann@seho.de Reiner Zoch reiner.zoch@seho.de

More information

OPTIMAL ESTIMATION of DYNAMIC SYSTEMS

OPTIMAL ESTIMATION of DYNAMIC SYSTEMS CHAPMAN & HALL/CRC APPLIED MATHEMATICS -. AND NONLINEAR SCIENCE SERIES OPTIMAL ESTIMATION of DYNAMIC SYSTEMS John L Crassidis and John L. Junkins CHAPMAN & HALL/CRC A CRC Press Company Boca Raton London

More information

MAHARASHTRA STATE BOARD OF TECHNICAL EDUCATION

MAHARASHTRA STATE BOARD OF TECHNICAL EDUCATION (ISO/IEC - 7-5 Certiied) Page No: /6 WINTER 5 EXAMINATION MODEL ANSWER Subject: ENGINEERING MATHEMATICS (EMS) Subject Code: 76 Important Instructions to eaminers: The model answer shall be the complete

More information

THE BANK OF NEW YORK MELLON CORPORATION (Exact name of registrant as specified in its charter)

THE BANK OF NEW YORK MELLON CORPORATION (Exact name of registrant as specified in its charter) UNITED STATES SECURITIES AND EXCHANGE COMMISSION Washington, D.C. 20549 FORM 8-K CURRENT REPORT Pursuant to Section 13 or 15(d) of the Securities Exchange Act of 1934 Date of Report (Date of earliest event

More information

RGS08 Linear Rails: RGS08 Non-Motorized With and Without Guide Screw. RGS08 Non-Motorized Linear Rails

RGS08 Linear Rails: RGS08 Non-Motorized With and Without Guide Screw. RGS08 Non-Motorized Linear Rails RGS08 RGS08 Non-Motorized With and Without Guide RGS08 Non-Motorized Linear Rails RG Series linear rails are available: RGS08 Non-Motorized, -driven linear rail RGS08 Non-Motorized linear rail without

More information

Form and content. Iowa Research Online. University of Iowa. Ann A Rahim Khan University of Iowa. Theses and Dissertations

Form and content. Iowa Research Online. University of Iowa. Ann A Rahim Khan University of Iowa. Theses and Dissertations University of Iowa Iowa Research Online Theses and Dissertations 1979 Form and content Ann A Rahim Khan University of Iowa Posted with permission of the author. This thesis is available at Iowa Research

More information

The Ability C ongress held at the Shoreham Hotel Decem ber 29 to 31, was a reco rd breaker for winter C ongresses.

The Ability C ongress held at the Shoreham Hotel Decem ber 29 to 31, was a reco rd breaker for winter C ongresses. The Ability C ongress held at the Shoreham Hotel Decem ber 29 to 31, was a reco rd breaker for winter C ongresses. Attended by m ore than 3 00 people, all seem ed delighted, with the lectu res and sem

More information

Lecture 4: Partial and Directional derivatives, Differentiability

Lecture 4: Partial and Directional derivatives, Differentiability Lecture 4: Partial and Directional derivatives, Differentiability Rafikul Alam Department of Mathematics IIT Guwahati Differential Calculus Task: Extend differential calculus to the functions: Case I:

More information

RGS06 Linear Rails: RGS06 Non-Motorized With and Without Guide Screw. RGS06 Non-Motorized Linear Rails

RGS06 Linear Rails: RGS06 Non-Motorized With and Without Guide Screw. RGS06 Non-Motorized Linear Rails on-motorized With and Without Guide on-motorized Linear Rails RG Series linear rails are available: on-motorized, -driven linear rail on-motorized, Wide format, -driven linear rail on-motorized, Wide format,

More information

EXPERIMENT 7: ANGULAR KINEMATICS AND TORQUE (V_3)

EXPERIMENT 7: ANGULAR KINEMATICS AND TORQUE (V_3) TA name Lab section Date TA Initials (on completion) Name UW Student ID # Lab Partner(s) EXPERIMENT 7: ANGULAR KINEMATICS AND TORQUE (V_3) 121 Textbook Reference: Knight, Chapter 13.1-3, 6. SYNOPSIS In

More information

SIMATIC Ident Industrial Identification Systems

SIMATIC Ident Industrial Identification Systems Related catalogs SIMATIC Ident Industrial Identification Systems Catalog ID 10 2012 Introduction System overview SIMATIC Ident 1 RFID systems for the HF frequency range SIMATIC RF200 SIMATIC RF300 MOBY

More information

Control of Manufacturing Process

Control of Manufacturing Process Control of Manufacturing Process Subject 2.830 Spring 2004 Lecture #2 Process Modeling for Control February 5, 2004 Key Topics Process Taxonomy for Control Classifying the Universe of Processes Control

More information

Nanomotion Precision Piezo Ceramic Motors

Nanomotion Precision Piezo Ceramic Motors Nanomotion Precision Piezo Ceramic Motors The Company Nanomotion was founded in 1992 Developed enabling technology for ultrasonic piezo-ceramic motors Entered the market in 1996, selling products to leading

More information

Topology Optimization of Compliant Mechanism with Geometrical Advantage

Topology Optimization of Compliant Mechanism with Geometrical Advantage 610 Topology Optimization of Compliant Mechanism with Geometrical Advantage Seungjae MIN and Younggi KIM A compliant mechanism is a mechanism that produces its motion by the flexibility of some or all

More information

Grain Reserves, Volatility and the WTO

Grain Reserves, Volatility and the WTO Grain Reserves, Volatility and the WTO Sophia Murphy Institute for Agriculture and Trade Policy www.iatp.org Is v o la tility a b a d th in g? De pe n d s o n w h e re yo u s it (pro d uc e r, tra d e

More information

ME 132, Dynamic Systems and Feedback. Class Notes. Spring Instructor: Prof. A Packard

ME 132, Dynamic Systems and Feedback. Class Notes. Spring Instructor: Prof. A Packard ME 132, Dynamic Systems and Feedback Class Notes by Andrew Packard, Kameshwar Poolla & Roberto Horowitz Spring 2005 Instructor: Prof. A Packard Department of Mechanical Engineering University of California

More information

Cologne, 13 June 2012

Cologne, 13 June 2012 Power Gen Europe Track 6 Session 3: Maintenance Tools Paper ID # 323 GT ROTOR ASSESSMENT & CORRECTION OF GEOMETRICAL UNBALANCING AND BLADE TIP NON HOMOGENEUS SURFACE Cologne, 13 June 2012 Paper ID 323

More information

AP Physics 1 Syllabus

AP Physics 1 Syllabus AP Physics 1 Syllabus Course Overview AP Physics 1 will meet for 90 minutes on A-B scheduling and for 45 minutes on regular scheduling. Class activities will include lecture, demonstration, problem solving

More information

Lecture «Robot Dynamics»: Dynamics and Control

Lecture «Robot Dynamics»: Dynamics and Control Lecture «Robot Dynamics»: Dynamics and Control 151-0851-00 V lecture: CAB G11 Tuesday 10:15 12:00, every week exercise: HG E1.2 Wednesday 8:15 10:00, according to schedule (about every 2nd week) Marco

More information

Lab Partner(s) TA Initials (on completion) EXPERIMENT 7: ANGULAR KINEMATICS AND TORQUE

Lab Partner(s) TA Initials (on completion) EXPERIMENT 7: ANGULAR KINEMATICS AND TORQUE TA name Lab section Date TA Initials (on completion) Name UW Student ID # Lab Partner(s) EXPERIMENT 7: ANGULAR KINEMATICS AND TORQUE 117 Textbook Reference: Walker, Chapter 10-1,2, Chapter 11-1,3 SYNOPSIS

More information

Structural Steelwork Eurocodes Development of a Trans-National Approach

Structural Steelwork Eurocodes Development of a Trans-National Approach Course: Eurocode 4 Structural Steelwork Eurocodes Development of a Trans-National Approach Lecture 9 : Composite joints Annex B References: COST C1: Composite steel-concrete joints in frames for buildings:

More information

Theory of Vibrations in Stewart Platforms

Theory of Vibrations in Stewart Platforms Theory of Vibrations in Stewart Platforms J.M. Selig and X. Ding School of Computing, Info. Sys. & Maths. South Bank University London SE1 0AA, U.K. (seligjm@sbu.ac.uk) Abstract This article develops a

More information

Video 1.1 Vijay Kumar and Ani Hsieh

Video 1.1 Vijay Kumar and Ani Hsieh Video 1.1 Vijay Kumar and Ani Hsieh 1 Robotics: Dynamics and Control Vijay Kumar and Ani Hsieh University of Pennsylvania 2 Why? Robots live in a physical world The physical world is governed by the laws

More information

7.2 P rodu c t L oad/u nload Sy stem s

7.2 P rodu c t L oad/u nload Sy stem s 7.2 P rodu c t L oad/u nload Sy stem s The 10" or 12" augers, or the 10" conveyor are high capacity load/unload systems with hydraulic controls to manoeuvre and operate. The hydraulic assist allows the

More information

Uncorrelated Multilinear Principal Component Analysis through Successive Variance Maximization

Uncorrelated Multilinear Principal Component Analysis through Successive Variance Maximization Uncorrelated Multilinear Principal Component Analysis through Successive Variance Maximization Haiping Lu 1 K. N. Plataniotis 1 A. N. Venetsanopoulos 1,2 1 Department of Electrical & Computer Engineering,

More information

UNITED STATES SECURITIES AND EXCHANGE COMMISSION Washington, D.C FORM 8-K

UNITED STATES SECURITIES AND EXCHANGE COMMISSION Washington, D.C FORM 8-K UNITED STATES SECURITIES AND EXCHANGE COMMISSION Washington, D.C. 20549 FORM 8-K CURRENT REPORT Pursuant to Section 13 or 15(d) of the Securities Exchange Act of 1934 Date of Report (Date of earliest event

More information

Lecture - 2A Instruments-I

Lecture - 2A Instruments-I Engineering Metrology Prof. J. Ramkumar Department of Mechanical Engineering & Design Programme Indian Institute of Technology, Kanpur Dr. Amandeep Singh Oberoi Department of Industrial & Production Engineering

More information

UNITED STATES SECURITIES AND EXCHANGE COMMISSION FORM 8-K. Farmer Bros. Co.

UNITED STATES SECURITIES AND EXCHANGE COMMISSION FORM 8-K. Farmer Bros. Co. UNITED STATES SECURITIES AND EXCHANGE COMMISSION Washington, D.C. 20549 FORM 8-K CURRENT REPORT PURSUANT TO SECTION 13 OR 15(d) OF THE SECURITIES EXCHANGE ACT OF 1934 Date of Report (Date of earliest event

More information

Augmented Reality VU Camera Registration. Prof. Vincent Lepetit

Augmented Reality VU Camera Registration. Prof. Vincent Lepetit Augmented Reality VU Camera Registration Prof. Vincent Lepetit Different Approaches to Vision-based 3D Tracking [From D. Wagner] [From Drummond PAMI02] [From Davison ICCV01] Consider natural features Consider

More information

THERMAL FIELD ANALYSIS IN DESIGN AND MANUFACTURING OF A PERMANENT MAGNET LINEAR SYNCHRONOUS MOTOR

THERMAL FIELD ANALYSIS IN DESIGN AND MANUFACTURING OF A PERMANENT MAGNET LINEAR SYNCHRONOUS MOTOR THERMAL FIELD ANALYSIS IN DESIGN AND MANUFACTURING OF A PERMANENT MAGNET LINEAR SYNCHRONOUS MOTOR Petar UZUNOV 1 ABSTRACT: The modern Permanent Magnet Linear Synchronous Motors (PMLSM) has a wide range

More information

Robot Manipulator Control. Hesheng Wang Dept. of Automation

Robot Manipulator Control. Hesheng Wang Dept. of Automation Robot Manipulator Control Hesheng Wang Dept. of Automation Introduction Industrial robots work based on the teaching/playback scheme Operators teach the task procedure to a robot he robot plays back eecute

More information

CS 4495 Computer Vision Principle Component Analysis

CS 4495 Computer Vision Principle Component Analysis CS 4495 Computer Vision Principle Component Analysis (and it s use in Computer Vision) Aaron Bobick School of Interactive Computing Administrivia PS6 is out. Due *** Sunday, Nov 24th at 11:55pm *** PS7

More information

Machine Made Sampling Designs: Applying Machine Learning Methods for Generating Stratified Sampling Designs

Machine Made Sampling Designs: Applying Machine Learning Methods for Generating Stratified Sampling Designs Machine Made Sampling Designs: Applying Machine Learning Methods for Generating Stratified Sampling Designs Trent D. Buskirk, UMass Boston Center for Survey Research Todd Bear, University of Pittsburgh

More information

NR ROTARY RING TABLE: FLEXIBLE IN EVERY RESPECT

NR ROTARY RING TABLE: FLEXIBLE IN EVERY RESPECT NR FREELY PROGRAMMABLE ROTARY TABLES NR ROTARY RING TABLE All NR rings allow customer-specific drive motors to be connected NR ROTARY RING TABLE: FLEXIBLE IN EVERY RESPECT WHEN IT S GOT TO BE EXACT We

More information

Reglerteknik, TNG028. Lecture 1. Anna Lombardi

Reglerteknik, TNG028. Lecture 1. Anna Lombardi Reglerteknik, TNG028 Lecture 1 Anna Lombardi Today lecture We will try to answer the following questions: What is automatic control? Where can we nd automatic control? Why do we need automatic control?

More information

PRECISION CONTROL OF LINEAR MOTOR DRIVEN HIGH-SPEED/ACCELERATION ELECTRO-MECHANICAL SYSTEMS. Bin Yao

PRECISION CONTROL OF LINEAR MOTOR DRIVEN HIGH-SPEED/ACCELERATION ELECTRO-MECHANICAL SYSTEMS. Bin Yao PRECISION CONTROL OF LINEAR MOTOR DRIVEN HIGH-SPEED/ACCELERATION ELECTRO-MECHANICAL SYSTEMS Bin Yao Intelligent and Precision Control Laboratory School of Mechanical Engineering Purdue University West

More information

MEMS Metrology. Prof. Tianhong Cui ME 8254

MEMS Metrology. Prof. Tianhong Cui ME 8254 MEMS Metrology Prof. Tianhong Cui ME 8254 What is metrology? Metrology It is the science of weights and measures Refers primarily to the measurements of length, weight, time, etc. Mensuration- A branch

More information

Strain Measurement Techniques for Composite Coupon Testing

Strain Measurement Techniques for Composite Coupon Testing Strain Measurement Techniques for Composite Coupon Testing Introduction Characterization of the properties of anisotropic and inhomogeneous composite materials for use in demanding structural applications

More information

Bending Load & Calibration Module

Bending Load & Calibration Module Bending Load & Calibration Module Objectives After completing this module, students shall be able to: 1) Conduct laboratory work to validate beam bending stress equations. 2) Develop an understanding of

More information

Transaction Cost Economics of Port Performance: A Composite Frontier Analysis

Transaction Cost Economics of Port Performance: A Composite Frontier Analysis IFSPA 2010 Chengdu, China Transaction Cost Economics of Port Performance: A Composite Frontier Analysis Presentation by: John Liu Director, C.Y. Tung International Centre for Maritime Studies Department

More information

Contributions to Design of Actuators functioning with Nitinol Active Springs

Contributions to Design of Actuators functioning with Nitinol Active Springs ANALELE UNIVERSITĂŢII EFTIMIE MURGU REŞIŢA ANUL XXII, NR.,, ISSN - 797 Daniel Amariei, Ion Vela, Cornel Mituleţu, Marius Tufoi Contributions to Design of Actuators functioning with Nitinol Active Springs

More information

Operation Manual for Automatic Leveling Systems

Operation Manual for Automatic Leveling Systems Operation Manual for Automatic Leveling Systems 11/12 Power Gear #82-L0379 Rev. 0E Operation Manual for Automatic Leveling Systems with Touch Pad # 140-1226 and Control Box # 140-1229 Contents Before You

More information

E. Physics: The Characteristics of Electricity (Grades 9)

E. Physics: The Characteristics of Electricity (Grades 9) E. Physics: The Characteristics of Electricity (Grades 9) Overall Expectations E1. assess some of the costs and benefits associated with the production of electrical energy from renewable and non renewable

More information

Introduction to Control (034040) lecture no. 2

Introduction to Control (034040) lecture no. 2 Introduction to Control (034040) lecture no. 2 Leonid Mirkin Faculty of Mechanical Engineering Technion IIT Setup: Abstract control problem to begin with y P(s) u where P is a plant u is a control signal

More information

UNITED STATES SECURITIES AND EXCHANGE COMMISSION Washington, DC FORM 8-K. Current Report

UNITED STATES SECURITIES AND EXCHANGE COMMISSION Washington, DC FORM 8-K. Current Report UNITED STATES SECURITIES AND EXCHANGE COMMISSION Washington, DC 20549 FORM 8-K Current Report Pursuant to Section 13 or 15(d) of the Securities Exchange Act of 1934 Date of Report (Date of earliest event

More information

TOLERANCES AND UNCERTAINTIES IN PERFORMANCE DATA OF REFRIGERANT COMPRESSORS JANUARY 2017

TOLERANCES AND UNCERTAINTIES IN PERFORMANCE DATA OF REFRIGERANT COMPRESSORS JANUARY 2017 TOLERANCES AND UNCERTAINTIES IN PERFORMANCE DATA OF REFRIGERANT COMPRESSORS JANUARY 017 111 Wilson Blvd, Suite 500 Arlington, Virginia 01 USA +001 (703) 54-8800 Published by: TABLE OF CONTENTS SECTION

More information

Armin Rasch * Abstract

Armin Rasch * Abstract Optimization strategy for the identification of elastomer parameters of truck mountings for the improved adjustment of Multi-Body Simulation data with measured values on rough road conditions Armin Rasch

More information

NORWEGIAN MARITIME DIRECTORATE

NORWEGIAN MARITIME DIRECTORATE PAME Snap shot Analysis NORWEGIAN MARITIME DIRECTORATE PAME Snap Shot Analysis of Maritime Activities in the Arctic Revision No. 01 REPORT NO. 2000-3220 Page 1 PAME Snap shot Analysis Table of Contents

More information

Nonlinear Identification of Backlash in Robot Transmissions

Nonlinear Identification of Backlash in Robot Transmissions Nonlinear Identification of Backlash in Robot Transmissions G. Hovland, S. Hanssen, S. Moberg, T. Brogårdh, S. Gunnarsson, M. Isaksson ABB Corporate Research, Control Systems Group, Switzerland ABB Automation

More information

Lecture 14: Kinesthetic haptic devices: Higher degrees of freedom

Lecture 14: Kinesthetic haptic devices: Higher degrees of freedom ME 327: Design and Control of Haptic Systems Autumn 2018 Lecture 14: Kinesthetic haptic devices: Higher degrees of freedom Allison M. Okamura Stanford University (This lecture was not given, but the notes

More information

Visual Physics Rotational Dynamics Lab 5

Visual Physics Rotational Dynamics Lab 5 You have been asked to think of objects as point particles rather than extended bodies up to this point in the semester. This assumption is useful and sometimes sufficient, however, the approximation of

More information

Related topics Velocity, acceleration, force, gravitational acceleration, kinetic energy, and potential energy

Related topics Velocity, acceleration, force, gravitational acceleration, kinetic energy, and potential energy Related topics Velocity, acceleration, force, gravitational acceleration, kinetic energy, and potential energy Principle A mass, which is connected to a cart via a silk thread, drops to the floor. The

More information

Newsletter 1/2014. Super-polished copper a new substrate material. Fabrication of neutron collimators launched

Newsletter 1/2014. Super-polished copper a new substrate material. Fabrication of neutron collimators launched Polarizing supermirror m = 5.5 Next generation of metallic guides welded assembly Fabrication of neutron collimators launched Super-polished copper a new substrate material Partnership Next generation

More information

ANNUAL MONITORING REPORT 2000

ANNUAL MONITORING REPORT 2000 ANNUAL MONITORING REPORT 2000 NUCLEAR MANAGEMENT COMPANY, LLC POINT BEACH NUCLEAR PLANT January 1, 2000, through December 31, 2000 April 2001 TABLE OF CONTENTS Executive Summary 1 Part A: Effluent Monitoring

More information

Vlaamse Overheid Departement Mobiliteit en Openbare Werken

Vlaamse Overheid Departement Mobiliteit en Openbare Werken Vlaamse Overheid Departement Mobiliteit en Openbare Werken Waterbouwkundig Laboratorium Langdurige metingen Deurganckdok: Opvolging en analyse aanslibbing Bestek 16EB/05/04 Colofon Ph o to c o ve r s h

More information

OPTIMIZATION OF ENERGY BY ROBOT MOVEMENT

OPTIMIZATION OF ENERGY BY ROBOT MOVEMENT OPTIMIZATION OF ENERGY BY ROBOT MOVEMENT Anna Smetanová Faculty of Mechanical Engineering, Institute of Production Machines, Systems and Robotics, Brno, Czech Republic e-mail: anna.smetanova@atlas.cz This

More information

Consistent Triangulation for Mobile Robot Localization Using Discontinuous Angular Measurements

Consistent Triangulation for Mobile Robot Localization Using Discontinuous Angular Measurements Seminar on Mechanical Robotic Systems Centre for Intelligent Machines McGill University Consistent Triangulation for Mobile Robot Localization Using Discontinuous Angular Measurements Josep M. Font Llagunes

More information

Tomelleri S.r.l. Copyright 2007 ADVANCED SYSTEMS

Tomelleri S.r.l. Copyright 2007 ADVANCED SYSTEMS Tomelleri S.r.l. Copyright 2007 ADVANCED SYSTEMS s.r.l.started its activities back in 1984, developing projects (feasibility studies and designs) in astronomy and other sectors (such as machine tools,

More information

Points. Precision Positioning Table TU. Variation. Major product specifications With flange

Points. Precision Positioning Table TU. Variation. Major product specifications With flange 9 0 Precision Positioning Table Ball screw inear Points lide table with high accuracy and high rigidity in a single structure lide table Compact and slim type positioning table with an original U-shaped

More information

«EMR and inversion-based control of a multi-piezo-actuator system»

«EMR and inversion-based control of a multi-piezo-actuator system» EMR 15 Lille June 2015 Summer School EMR 15 Energetic Macroscopic Representation «EMR and inversion-based control of a multi-piezo-actuator system» Dr. Thanh Hung NGUYEN, Prof. Betty LEMAIRE-SEMAIL, L2EP,

More information

STA 4273H: Statistical Machine Learning

STA 4273H: Statistical Machine Learning STA 4273H: Statistical Machine Learning Russ Salakhutdinov Department of Statistics! rsalakhu@utstat.toronto.edu! http://www.utstat.utoronto.ca/~rsalakhu/ Sidney Smith Hall, Room 6002 Lecture 11 Project

More information

Range of Competencies

Range of Competencies PHYSICS Content Domain Range of Competencies l. Nature of Science 0001 0002 14% ll. Mechanics 0003 0006 28% lll. Electricity and Magnetism 0007 0009 22% lv. Waves 0010 0011 14% V. Modern Physics 0012 0014

More information

Product Type: DC Stock: Stock Description: 1/3HP.1750RPM.MSS56C.TEFC.90V.CONT.40C.1.0SF.RIGID C.DC NEMA.C42D17FK4C.

Product Type: DC Stock: Stock Description: 1/3HP.1750RPM.MSS56C.TEFC.90V.CONT.40C.1.0SF.RIGID C.DC NEMA.C42D17FK4C. Catalog # : 098004.00 Model: C42D17FK4 Product Type: DC Stock: Stock Description: 1/3HP.1750RPM.MSS56C.TEFC.90V.CONT.40C.1.0SF.RIGID C.DC NEMA.C42D17FK4C Quote: Price: Date: 05/18/2016 Catalog # : 098004.00

More information

ISE/OR 762 Stochastic Simulation Techniques

ISE/OR 762 Stochastic Simulation Techniques ISE/OR 762 Stochastic Simulation Techniques Topic 0: Introduction to Discrete Event Simulation Yunan Liu Department of Industrial and Systems Engineering NC State University January 9, 2018 Yunan Liu (NC

More information

SKA COMPACT. ALL IN ONE Linear Axes

SKA COMPACT. ALL IN ONE Linear Axes SKA COMPACT ALL IN ONE Linear Axes Cutting-edge all in one linear axis based on iron core technology. A range of three sizes with aluminium carrying structure. The power components, moving coil and magnetic

More information

Transmission Lines and E. M. Waves Prof. R. K. Shevgaonkar Department of Electrical Engineering Indian Institute of Technology, Bombay

Transmission Lines and E. M. Waves Prof. R. K. Shevgaonkar Department of Electrical Engineering Indian Institute of Technology, Bombay Transmission Lines and E. M. Waves Prof. R. K. Shevgaonkar Department of Electrical Engineering Indian Institute of Technology, Bombay Lecture 18 Basic Laws of Electromagnetics We saw in the earlier lecture

More information

DOUBLE DEGREE MASTER PROGRAM

DOUBLE DEGREE MASTER PROGRAM DOUBLE DEGREE MASTER PROGRAM in Engineering Science/Mechanical Engineering at Warsaw University of Technology and Technical University Berlin (WUT/TUB) I SEMESTER COURSE PROGRAM WUT TUB SUBJECT SUBJECT

More information

TRACEABILITY STRATEGIES FOR THE CALIBRATION OF GEAR AND SPLINE ARTEFACTS

TRACEABILITY STRATEGIES FOR THE CALIBRATION OF GEAR AND SPLINE ARTEFACTS TRACEABILITY STRATEGIES FOR THE CALIBRATION OF GEAR AND SPLINE ARTEFACTS W. Beyer and W. Pahl Physikalisch-Technische Bundesanstalt (PTB) 38116 Braunschweig, Germany Abstract: In accordance with ISO 17025,

More information

Beechwood Music Department Staff

Beechwood Music Department Staff Beechwood Music Department Staff MRS SARAH KERSHAW - HEAD OF MUSIC S a ra h K e rs h a w t r a i n e d a t t h e R oy a l We ls h C o l le g e of M u s i c a n d D ra m a w h e re s h e ob t a i n e d

More information

Adaptive Robust Tracking Control of Robot Manipulators in the Task-space under Uncertainties

Adaptive Robust Tracking Control of Robot Manipulators in the Task-space under Uncertainties Australian Journal of Basic and Applied Sciences, 3(1): 308-322, 2009 ISSN 1991-8178 Adaptive Robust Tracking Control of Robot Manipulators in the Task-space under Uncertainties M.R.Soltanpour, M.M.Fateh

More information