Search results for "libration"
showing 10 items of 901 documents
Biotrickling filter modeling for styrene abatement. Part 1: Model development, calibration and validation on an industrial scale
2017
Abstract A three-phase dynamic mathematical model based on mass balances describing the main processes in biotrickling filtration: convection, mass transfer, diffusion, and biodegradation was calibrated and validated for the simulation of an industrial styrene-degrading biotrickling filter. The model considered the key features of the industrial operation of biotrickling filters: variable conditions of loading and intermittent irrigation. These features were included in the model switching from the mathematical description of periods with and without irrigation. Model equations were based on the mass balances describing the main processes in biotrickling filtration: convection, mass transfe…
Genome reduction of the aphid endosymbiont Buchnera aphidicola in a recent evolutionary time scale.
2007
International audience; Genome reduction, a typical feature of symbiotic bacteria, was analyzed in the last stages of evolution of Buchnera aphidicola, the primary aphid endosymbiont, in two neutrally evolving regions: the pseudogene cmk and an intergenic region. These two regions were examined in endosymbionts from several lineages of their aphid host Rhopalosiphum padi, and different species of the same genus, whose divergence times ranged from 0.62 to 19.51 million years. Estimates of nucleotide substitution rates were between 4.3 and 6.7 x 10(-9) substitution/site/year, with G or C nucleotides being substituted around four times more frequently than A or T. Two different types of indel …
Pedotransfer functions for estimating soil water retention curve of Sicilian soils
2019
Pedotransfer functions (PTFs) make use of routinely surveyed soil data to estimate soil properties but their application to soils different from those used for their development can yield inaccurate estimates. This investigation aimed at evaluating the water retention prediction accuracy of eight existing PTFs using a database of 217 Sicilian soils exploring 11 USDA textural classes. PTFs performance was assessed by root mean square differences (RMSD) and average differences (AD) between estimated and measured data. Extended Nonlinear Regression (ENR) technique was adopted to recalibrate or develop four new PTFs and Wind’s evaporation method was applied to validate the effectiveness of the …
Evaluation of the shielding in a treatment room with an electronic brachytherapy unit.
2017
Esteya® (Elekta Brachytherapy, Veenendaal, The Netherlands) is an electronic brachytherapy (eBT) system based on a 69.5 kVp x-ray source and a set of collimators of 1 to 3 cm in diameter, used for treating non-melanoma skin cancer lesions. This study aims to estimate room shielding requirements for this unit. The non-primary (scattered and leakage) ambient dose equivalent rates were measured with a Berthold LB-133 monitor (Berthold Technologies, Bad Wildbad, Germany). The latter ranges from 17 mSv h-1 at 0.25 m distance from the x-ray source to 0.1 mSv h-1 at 2.5 m. The necessary room shielding was then estimated following US and some European guidelines. The room shielding for all barriers…
An Input Observer-Based Stiffness Estimation Approach for Flexible Robot Joints
2020
This letter addresses the stiffness estimation problem for flexible robot joints, driven by variable stiffness actuators in antagonistic setups. Due to the difficulties of achieving consistent production of these actuators and the time-varying nature of their internal flexible elements, which are subject to plastic deformation over time, it is currently a challenge to precisely determine the total flexibility torque applied to a robot's joint and the corresponding joint stiffness. Herein, by considering the flexibility torque acting on each motor as an unknown signal and building upon Unknown Input Observer theory, a solution for electrically-driven actuators is proposed, which consists of …
On the Heuristic Procedure to Determine Processing Parameters in Additive Manufacturing Based on Materials Extrusion
2020
We present a heuristic procedure for determining key processing parameters (PPs) in materials-extrusion-based additive manufacturing processes. The concept relies on a design-of-experiment approach and consists of eleven &ldquo
Three-Dimensional Integral-Imaging Display From Calibrated and Depth-Hole Filtered Kinect Information
2016
We exploit the Kinect capacity of picking up a dense depth map, to display static three-dimensional (3D) images with full parallax. This is done by using the IR and RGB camera of the Kinect. From the depth map and RGB information, we are able to obtain an integral image after projecting the information through a virtual pinhole array. The integral image is displayed on our integral-imaging monitor, which provides the observer with horizontal and vertical perspectives of big 3D scenes. But, due to the Kinect depth-acquisition procedure, many depthless regions appear in the captured depth map. These holes spread to the generated integral image, reducing its quality. To solve this drawback we …
Ultrasonic phased array inspection of a Wire + Arc Additive Manufactured (WAAM) sample with intentionally embedded defects
2019
In this study, Wire + Arc Additive Manufacture (WAAM) was employed to manufacture a steel specimen with intentionally embedded defects which were subsequently used for calibration of an ultrasonic phased array system and defect sizing. An ABB robot was combined with the Cold Metal Transfer (CMT) Gas Metal Arc (GMA) process to deposit 20 layers of mild steel. Tungsten-carbide balls (ø1-3 mm) were intentionally embedded inside the additive structure after the 4th, 8th, 12th and 18th layers to serve as ultrasonic reflectors, simulating defects within the WAAM sample. An ultrasonic phased array system, consisting of a 5 MHz 64 Element phased array transducer, was used to inspect the WAAM sample…
Calibration of mobile manipulators using 2D positional features.
2018
International audience; Robotic manipulators are increasingly being attached to Automatic Ground Vehicles (AGVs) to aid in the efficiency of assembly for manufacturing systems. However, calibrating these mobile manipulators is difficult as the offset between the robotic manipulator and the AGV is often unknown. This paper provides a novel, simple, and low-cost method for calibrating and measuring the performance of mobile manipulators by using data collected from a laser retroreflector that digitally detects the horizontal two-dimensional (2D) position of reflectors on an artifact as well as a navigation system that provides the heading angle and 2D position of the AGV. The method is mathem…
Assessing the accuracy of industrial robots through metrology for the enhancement of automated non-destructive testing
2016
This work presents the study of the accuracy of an industrial robot KR5 arc HW, used to perform quality inspections of components with complex shapes. Metrology techniques such as laser tracking and large volume photogrammetry were deployed to quantify both pose and dynamic path accuracies of the robot in accordance with ISO 9283:1998. The overall positioning pose inaccuracy of the robot is found to be almost 1 mm and path inaccuracy at 100% of the robot rated velocity is 4.5 mm. The maximum pose orientation inaccuracy is found to be 14 degrees and the maximum path orientation inaccuracy is 5 degrees. Despite of the significant maximum inaccuracies, uncertainty of a robotic scanning applica…