Cranfield University

About: Cranfield University is a education organization based out in Cranfield, United Kingdom. It is known for research contribution in the topics: Context (language use) & Supply chain. The organization has 10025 authors who have published 21130 publications receiving 678277 citations.

Robot calibration using a 3D vision-based measurement system with a single camera

Abstract: One of the problems that slows the development of off-line programming is the low static and dynamic positioning accuracy of robots. Robot calibration improves the positioning accuracy and can also be used as a diagnostic tool in robot production and maintenance. This work presents techniques for modeling and performing robot calibration processes with off-line programming using a 3D vision-based measurement system. The measurement system is portable, accurate and low cost, consisting of a single CCD camera mounted on the robot tool flange to measure the robot end-effector pose relative to a world coordinate system. Radial lens distortion is included in the photogrammetric model. Scale factors and image centers are obtained with innovative techniques, making use of a multiview approach. Results show that the achieved average accuracy using a common off-the-shelf CCD camera varies from 0.2 to 0.4 mm, at distances from 600 to 1000 mm from the target, respectively, with different camera orientations. Experimentation is performed on two industrial robots to test their position accuracy improvement using the calibration system proposed: an ABB IRB-2400 and a PUMA-500. The robots were calibrated at different regions and volumes within their workspace achieving accuracy from three to six times better when comparing errors before and after calibration, if measured locally. The proposed off-line robot calibration system is fast, accurate and easy to set up.

Complex network analysis of water distribution systems

Abstract: This paper explores a variety of strategies for understanding the formation, structure, efficiency, and vulnerability of water distribution networks. Water supply systems are studied as spatially organized networks for which the practical applications of abstract evaluation methods are critically evaluated. Empirical data from benchmark networks are used to study the interplay between network structure and operational efficiency, reliability, and robustness. Structural measurements are undertaken to quantify properties such as redundancy and optimal-connectivity, herein proposed as constraints in network design optimization problems. The role of the supply demand structure toward system efficiency is studied, and an assessment of the vulnerability to failures based on the disconnection of nodes from the source(s) is undertaken. The absence of conventional degree-based hubs (observed through uncorrelated nonheterogeneous sparse topologies) prompts an alternative approach to studying structural vulnerability based on the identification of network cut-sets and optimal-connectivity invariants. A discussion on the scope, limitations, and possible future directions of this research is provided.