Performance tests for visual servo control systems, with application to partitioned approaches to visual servo control

Visual servoing has been a viable method of robot manipulator control for more than a decade. Initial developments involved positionbased visual servoing (PBVS), in which the control signal exists in Cartesian space. The younger method, image-based visual servoing (IBVS), has seen considerable development in recent years. PBVS and IBVS offer tradeoffs in performance, and neither can solve all tasks that may confront a robot. In response to these issues, several methods have been devised that partition the control scheme, allowing some motions to be performed in the manner of a PBVS system, while the remaining motions are performed using an IBVS approach. To date, there has been little research that explores the relative strengths and weaknesses of these methods. In this paper we present such an evaluation. We have chosen three recent visual servo approaches for evaluation in addition to the traditional PBVS and IBVS approaches. We posit a set of performance metrics that measure quantitatively the performance of a visual servo controller for a specific task. We then evaluate each of the candidate visual servo methods for four canonical tasks with simulations and with experiments in a robotic work cell.

Qualitätssicherung in der Physiotherapie: Evaluation von Performance-Tests

Hintergrund und Ziel: Ausgehend von einem Forschungsdefizit im Bereich von Performance-Tests, das von der Arbeitsgruppe um Bührlen et al. (2002) gekennzeichnet wurde, war es das Ziel der Arbeit einen Performance-Tests of lower limb activities (Polla) zu validieren. Methode: In einer Längsschnittstudie wurden die Ergebnisse einer sechswöchigen physiotherapeutischen Behandlung an einem 19-75jährigem orthopädisch-traumatologisch orientierten Patientenkollektiv (n=81) mit dem Polla und dem SF-36 Fragebogen erfasst. Ergebnisse: Die Ergebnisse machen eine gute Absicherung der Teststatistik deutlich. Bei ausgezeichneter Intrarater- (n=29) sowie guter Interrater-Reliabilität (n=32) weist die Konsistenzanalyse eine zufrieden stellende Zuverlässigkeit auf. Die Kriteriumsvalidität macht moderate Zusammenhänge zwischen dem Polla und den Dimensionen Schmerz, Körperliche Rollenfunktion und Körperliche Funktionsfähigkeit des SF-36 deutlich. Über die Standardized Response Mean zeigen die Instrumente eine große Änderungssensitivität, die nur für den Polla auch zum Follow-up (n=26) gilt. Schlussfolgerung: Der Polla ist ein kostenloses Testverfahren mit hoher praktischer Relevanz, wobei aus zeitökonomischen Gründen eine modifizierte Form des Polla mit nur zehn Items und einem gemessenen Test zu empfehlen ist.

Performance Tests with LTSP

This article aims to demonstrate through performance tests, that it is possible to reuse outdated machines as effective and productive terminals, with the use of LTSP - Linux Terminal Service Project. Additionally, we will demonstrate that companies and institutions concerned with the environment may find this alternative a measure of computational saving and recycling.

Polynomials to model the growth of young bulls in performance tests

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Performance tests of two small trigeneration pilot plants

Trigeneration systems have been used with advantage in the last years in distributed electricity generation systems as a function of a growth of natural gas pipeline network distribution system, tax incentives, and energy regulation policies. Typically, a trigeneration system is used to produce electrical power simultaneously with supplying heating and cooling load by recovering the combustion products thermal power content that otherwise would be driven to atmosphere. Concerning that, two small scale trigeneration plants have been tested for overall efficiency evaluation and operational comparison. The first system is based on a 30 kW (ISO) natural gas powered microturbine, and the second one uses a 26 kW natural gas powered internal combustion engine coupled to an electrical generator as a prime mover. The stack gases from both machines were directed to a 17.6 kW ammonia-water absorption refrigeration chiller for producing chilled water first and next to a water heat recovery boiler in order to produce hot water. Experimental results are presented along with relevant system operational parameters for appropriate operation including natural gas consumption, net electrical and thermal power production, i.e., hot and cold water production rates, primary energy saving index, and the energy utilization factor over total and partial electrical load operational conditions. (c) 2011 Elsevier Ltd. All rights reserved.

Development of specifications for the superpave simple performance tests

This study describes the development and establishment of a proposed Simple Performance Test (SPT) specification in order to contribute to the asphalt materials technology in the state of Michigan. The properties and characteristic of materials, performance testing of specimens, and field analyses are used in developing draft SPT specifications. These advanced and more effective specifications should significantly improve the qualities of designed and constructed hot mix asphalt (HMA) leading to improvement in pavement life in Michigan. The objectives of this study include the following: 1) using the SPT, conduct a laboratory study to measure the parameters including the dynamic modulus terms (E*/sinϕ and E*) and the flow number (Fn) for typical Michigan HMA mixtures, 2) correlate the results of the laboratory study to field performance as they relate to flexible pavement performance (rutting, fatigue, and low temperature cracking), and 3) make recommendations for the SPT criteria at specific traffic levels (e.g. E3, E10, E30), including recommendations for a draft test specification for use in Michigan. The specification criteria of dynamic modulus were developed based upon field rutting performance and contractor warranty criteria.

Ensemble codes involving hippocampal neurons are at risk during delayed performance tests

Multielectrode recording techniques were used to record ensemble activity from 10 to 16 simultaneously active CA1 and CA3 neurons in the rat hippocampus during performance of a spatial delayed-nonmatch-to-sample task. Extracted sources of variance were used to assess the nature of two different types of errors that accounted for 30% of total trials. The two types of errors included ensemble “miscodes” of sample phase information and errors associated with delay-dependent corruption or disappearance of sample information at the time of the nonmatch response. Statistical assessment of trial sequences and associated “strength” of hippocampal ensemble codes revealed that miscoded error trials always followed delay-dependent error trials in which encoding was “weak,” indicating that the two types of errors were “linked.” It was determined that the occurrence of weakly encoded, delay-dependent error trials initiated an ensemble encoding “strategy” that increased the chances of being correct on the next trial and avoided the occurrence of further delay-dependent errors. Unexpectedly, the strategy involved “strongly” encoding response position information from the prior (delay-dependent) error trial and carrying it forward to the sample phase of the next trial. This produced a miscode type error on trials in which the “carried over” information obliterated encoding of the sample phase response on the next trial. Application of this strategy, irrespective of outcome, was sufficient to reorient the animal to the proper between trial sequence of response contingencies (nonmatch-to-sample) and boost performance to 73% correct on subsequent trials. The capacity for ensemble analyses of strength of information encoding combined with statistical assessment of trial sequences therefore provided unique insight into the “dynamic” nature of the role hippocampus plays in delay type memory tasks.

Performance tests for the evaluation of computerized gas chromatography/mass spectrometry equipment and laboratories /

"April 1980"--Cover.

Construction and analysis of achievement tests; the development of written and performance tests of achievement for predicting job performance of public personnel,

"Selected references" at end of each chapter.

Distribuição geográfica das unidades laboratoriais, cobertura de exames e performance da rede de laboratórios que realiza rastreamento do câncer de colo de útero, segundo municípios do Estado do Rio de Janeiro.

O câncer de colo de útero é o terceiro tipo de neoplasia mais comum em mulheres no estado do Rio de Janeiro, perdendo apenas para câncer de mama e pulmão. Não há informação disponível sobre a qualidade dos exames utilizados para prevenção do câncer do colo do útero nos municípios fluminenses. O trabalho teve como objetivo avaliar a distribuição geográfica das unidades laboratoriais e a cobertura de exames e a performance da rede de laboratórios de citopatologia do estado do Rio de Janeiro, segundo regiões mesopolitanas e municípios, no que diz respeito aos exames citopatológicos realizados no âmbito do SUS, considerando a qualidade, a normalização dos procedimentos e a gestão do laboratório e propor melhorias. A pesquisa usa um desenho de estudo do tipo transversal incluindo dados relativos ao funcionamento dos laboratórios que fazem exame papanicolaou no âmbito do SUS no estado do Rio de Janeiro. Trata-se de um estudo com dados secundários, já coletados para atender a ação de avaliação dos laboratórios de citopatologia no âmbito do SUS, nesse trabalho também é usada a abordagem ecológica para estimar a cobertura dos exames em relação à população-alvo do programa de rastreamento de câncer de colo de útero. A rede de laboratórios de citopatologia do estado do Rio de Janeiro não teve desempenho satisfatório. As regiões que tiveram laboratórios com melhor desempenho foram Baia da Ilha Grande e Baixada Litorânea e aquelas com laboratórios de pior desempenho foram Médio Paraíba e Noroeste. Os critérios avaliados com melhor desempenho foram da dimensão qualidade e o mais fraco desempenho foi observado para os critérios da dimensão normalização. A dimensão de gestão de laboratórios teve desempenho regular. Um relevante achado desse estudo foi a insuficiente qualidade da leitura de lâminas, inclusive procedimentos de releitura, que pode ser explicado pela suposta falta de capacitação dos profissionais em todo o processo exigido desde a identificação, fixação, e formas de encaminhamento do material até a chegada aos laboratórios. Com relação à cobertura, alguns municípios se aproximam do parâmetro (0,30) porém, embora este dado revele a capacidade da rede estadual do rio de Janeiro de ofertar exames, é preciso que ele seja analisado em conjunto com as situações de citologia anterior e tempo da citologia anterior para verificação da periodicidade da oferta e o melhor dimensionamento do alcance da população alvo assim como a abrangência da rede laboratorial de cada município. Conclusão: Os dados mostram repetição desnecessária de exames citopatológicos, o que implica custos injustificados e uma situação ainda mais deficitária de alcance das ações do que tem revelado o indicador razão. Ocorrendo principalmente em regiões com predominância de laboratórios privados. A expansão da cobertura com base na periodicidade recomendada do exame é relevante no quadro estadual encontrado e deve vir associada a iniciativas que garantam a qualidade no processo de coleta e análise do material, bem como a adequada capacitação dos profissionais para adoção de condutas recomendadas para as lesões identificadas.

Electrical Evaluation of a Low Concentrating PVT Collector Based on Performance Ratio

Photovoltaic Thermal/Hybrid collectors are an emerging technology that combines PV and solar thermal collectors by producing heat and electricity simultaneously. In this paper, the electrical performance evaluation of a low concentrating PVT collector was done through two testing parts: power comparison and performance ratio testing. For the performance ratio testing, it is required to identify and measure the factors affecting the performance ratio on a low concentrating PVT collector. Factors such as PV cell configuration, collector acceptance angle, flow rate, tracking the sun, temperature dependence and diffuse to irradiance ratio. Solarus low concentrating PVT collector V12 was tested at Dalarna University in Sweden using the electrical equipment at the solar laboratory. The PV testing has showed differences between the two receivers. Back2 was producing 1.8 energy output more than Back1 throughout the day. Front1 and Front2 were almost the same output performance. Performance tests showed that the cell configuration for Receiver2 with cells grouping (6- 32-32-6) has proved to have a better performance ratio when to it comes to minimizing the shading effect leading to more output power throughout the day because of lowering the mismatch losses. Different factors were measured and presented in this thesis in chapter 5. With the current design, it has been obtained a peak power at STC of 107W per receiver. The solar cells have an electrical efficiency of approximately 19% while the maximum measured electrical efficiency for the collector was approximately 18 % per active cell area, in addition to a temperature coefficient of -0.53%/ ˚C. Finally a recommendation was done to help Solarus AB to know how much the electrical performance is affected during variable ambient condition and be able to use the results for analyzing and introducing new modification if needed.

Performance evaluation of ventilation radiators

A ventilation radiator is a combined ventilation and heat emission unit currently of interest due to its potential for increasing energy efficiency in exhaust ventilated buildings with warm water heating. This paper presents results of performance tests of several ventilation radiator models conducted under controlled laboratory conditions.   The purpose of the study was to validate results achieved by Computational Fluid Dynamics (CFD) in an earlier study and indentify possible improvements in the performance of such systems. The main focus was on heat transfer from internal convection fins, but comfort and health aspects related to ventilation rates and air temperatures were also considered.   The general results from the CFD simulations were confirmed; the heat output of ventilation radiators may be improved by at least 20 % without sacrificing ventilation efficiency or thermal comfort.   Improved thermal efficiency of ventilation radiators allows a lower supply water temperature and energy savings both for heating up and distribution of warm water in heat pumps or district heating systems. A secondary benefit is that a high ventilation rate can be maintained all year around without risk for cold draught.

A tool for standardized collector performance calculations including PVT

A tool for standardized calculation of solar collector performance has been developed in cooperation between SP Technical Research Institute of Sweden, DTU Denmark and SERC Dalarna University. The tool is designed to calculate the annual performance of solar collectors at representative locations in Europe. The collector parameters used as input in the tool are compiled from tests according to EN12975, without any intermediate conversions. The main target group for this tool is test institutes and certification bodies that are intended to use it for conversion of collector model parameters (derived from performance tests) into a more user friendly quantity: the annual energy output. The energy output presented in the tool is expressed as kWh per collector module. A simplified treatment of performance for PVT collectors is added based on the assumption that the thermal part of the PVT collector can be tested and modeled as a thermal collector, when the PV electric part is active with an MPP tracker in operation. The thermal collector parameters from this operation mode are used for the PVT calculations. © 2012 The Authors.