3 resultados para Simultaneous localisation and mapping (SLAM)
em Dalarna University College Electronic Archive
Resumo:
Shearing is the process where sheet metal is mechanically cut between two tools. Various shearing technologies are commonly used in the sheet metal industry, for example, in cut to length lines, slitting lines, end cropping etc. Shearing has speed and cost advantages over competing cutting methods like laser and plasma cutting, but involves large forces on the equipment and large strains in the sheet material. The constant development of sheet metals toward higher strength and formability leads to increased forces on the shearing equipment and tools. Shearing of new sheet materials imply new suitable shearing parameters. Investigations of the shearing parameters through live tests in the production are expensive and separate experiments are time consuming and requires specialized equipment. Studies involving a large number of parameters and coupled effects are therefore preferably performed by finite element based simulations. Accurate experimental data is still a prerequisite to validate such simulations. There is, however, a shortage of accurate experimental data to validate such simulations. In industrial shearing processes, measured forces are always larger than the actual forces acting on the sheet, due to friction losses. Shearing also generates a force that attempts to separate the two tools with changed shearing conditions through increased clearance between the tools as result. Tool clearance is also the most common shearing parameter to adjust, depending on material grade and sheet thickness, to moderate the required force and to control the final sheared edge geometry. In this work, an experimental procedure that provides a stable tool clearance together with accurate measurements of tool forces and tool displacements, was designed, built and evaluated. Important shearing parameters and demands on the experimental set-up were identified in a sensitivity analysis performed with finite element simulations under the assumption of plane strain. With respect to large tool clearance stability and accurate force measurements, a symmetric experiment with two simultaneous shears and internal balancing of forces attempting to separate the tools was constructed. Steel sheets of different strength levels were sheared using the above mentioned experimental set-up, with various tool clearances, sheet clamping and rake angles. Results showed that tool penetration before fracture decreased with increased material strength. When one side of the sheet was left unclamped and free to move, the required shearing force decreased but instead the force attempting to separate the two tools increased. Further, the maximum shearing force decreased and the rollover increased with increased tool clearance. Digital image correlation was applied to measure strains on the sheet surface. The obtained strain fields, together with a material model, were used to compute the stress state in the sheet. A comparison, up to crack initiation, of these experimental results with corresponding results from finite element simulations in three dimensions and at a plane strain approximation showed that effective strains on the surface are representative also for the bulk material. A simple model was successfully applied to calculate the tool forces in shearing with angled tools from forces measured with parallel tools. These results suggest that, with respect to tool forces, a plane strain approximation is valid also at angled tools, at least for small rake angles. In general terms, this study provide a stable symmetric experimental set-up with internal balancing of lateral forces, for accurate measurements of tool forces, tool displacements, and sheet deformations, to study the effects of important shearing parameters. The results give further insight to the strain and stress conditions at crack initiation during shearing, and can also be used to validate models of the shearing process.
Resumo:
The purpose of this thesis is to develop a working methodology to color a grey scale image. This thesis is based on approach of using a colored reference image. Coloring grey scale images has no exact solution till date and all available methods are based on approximation. This technique of using a color reference image for approximating color information in grey scale image is among most modern techniques.Method developed here in this paper is better than existing methods of approximation of color information addition in grey scale images in brightness, sharpness, color shade gradients and distribution of colors over objects.Color and grey scale images are analyzed for statistical and textural features. This analysis is done only on basis of luminance value in images. These features are then segmented and segments of color and grey scale images are mapped on basis of distances of segments from origin. Then chromatic values are transferred between these matched segments from color image to grey scale image.Technique proposed in this paper uses better mechanism of mapping clusters and mapping colors between segments, resulting in notable improvement in existing techniques in this category.
Resumo:
Ett problem i dagens moderna samhälle är att bullernivåerna är för höga. Dessa höga bullernivåer är en hälsorisk och kan ge människan permanenta skador. Buller är något som inte får försummas. Syftet med examensarbetet är att identifiera och kartlägga bullret på Holmgatan i centrala Falun. Syftet är också att analysera resultatet och sätta det i förhållande till myndigheternas krav och riktlinjer avseende bullernivåer. Examensarbetet avgränsas till bullermätning och kartläggning på delar av Holmgatan i centrala Falun, som bedömts vara extra utsatta för buller. Bullermätningarna utfördes under fyra vardagar och under tider från det att de flesta affärer öppnar till att de stänger, kl. 10-18. Metoden bestod utav bullermätningar som utfördes med en timmes intervall längs den utvalda delen av Holmgatan. Dagarna då dessa mätningar utfördes var 2/12 till 5/12-2013. Resultatet redovisas som medelvärdet per timme av alla dagar då bullermätningarna utfördes. Resultatet varierade, det lägsta bullermedelvärdet var 57 dB och det högsta bullermedelvärdet var 83 dB. Det syns tydligt att de högre värdena ligger närmare en gata som används av bussar och andra transportfordon. De lägre värdena låg oftast i närheten av Geislerka parken, som är en stor och öppen yta mitt i Holmgatan. Över lag så låg bullermedelvärdena mellan 60-65 dB. Slutsatsen tyder på att bullernivån på Holmgatan överskrider inte myndigheternas krav på vad som anses som skadligt men ligger strax under riktlinjerna för maximalnivån för utomhusbuller (70 dB). Åtgärder såsom att plantera vegitation på fasader och omleda trafiken skulle kunna vidtas för att minska bullernivån på Holmgatan.