摘要:
A method for detecting a fault in a robot joint includes the steps of: performing a first torque measurement at the robot joint to thereby obtain a first set of torque values; calculating a first distribution characteristic reflecting a distribution of the first set of torque values; performing a second torque measurement at the robot joint to thereby obtain a second set of torque values; calculating a second distribution characteristic reflecting a distribution of the second set of torque values; and comparing the first and the second distribution characteristics to determine whether a fault is present or not. A difference in the distributions of torque measurements is a robust fault indicator that makes use of the repetitive behavior of the system.
摘要:
A user terminal may include an IP Multimedia Subsystem, IMS, client to enable the terminal to communicate with an IMS network. The IMS client may include a conference creation and control unit configured to create and control an IMS conference involving one or more participants, participants being identified within a conference INVITE or REFER message by respective Uniform Resource Identifiers, URIs, within a URI list. The conference creation and control unit may include a response handling unit configured to receive from the IMS network, in response to the sending of an INVITE or REFER, a SIP response message including an XML body specifying an Outgoing Communication Barring, OCB, service invocation result and configured to present the specified result to a terminal user. Related methods and application servers are also discussed.
摘要:
Plant protection device in the form of a weather protection extensible over the cultivation. The protection device including a framework (12) consisting of longitudinal and traverse support elements (13, 14) within which at least one waterproof foldable plant protection curtain (16) is extensible from a folded up position and vice versa. The invention also refers to a foldable curtain as a plant protection for cultivations, which curtain (16) has a high tensile strength in it's longitudinal and traverse directions and which via connectors (29) is hung up on a number of support lines (30) stretched across the curtain. The curtain is extensible from a folded up position to an extended position and vice versa, whereby the curtain includes a framework (18) consisting of strips or ribbons and/or lines. The curtain (16) is made of a waterproof laminate and is including relative to the curtain movable stretch or reinforcing lines (22) in essentially parallel rows stretching along the curtain's length. The curtain is provided with a device which in the extended position of the curtain form channels (36).
摘要:
The invention refers to a greenhouse screen comprising strips of film material that are interconnected by a yarn system by means of hosiery, knitting, warp-knitting or weaving process to form a continuous product. At least some of the strips comprise a film material in the form of a multilayer polyester film having a thickness less than 60 μm and comprising at least two layers, wherein at least one layer is white and at least one layer is black, the at least one white layer comprises polyester and a white pigment in an amount between 5 and 50 weight-% based on the total weight of the white layer, and the at least one black layer comprises polyester and a black opacifying agent.
摘要:
The present invention concern methods and apparatuses for transporting and using time zone information in an internet protocol multimedia subsystem, IMS, network. When a call session control function, CSCF, node receives a request message related to a user equipment, UE, the CSCF node retrieves and stores time zone information associated with the UE. The time zone information is sent by the CSCF node to at least one other IMS network node, which is then able to support time zone based services and/or charging associated with the UE. The CSCF node may optionally create an Attribute Value Pair, AVP, including the stored time zone information and send a charging message including the AVP to a charging node, to enable usage of the time zone information in charging.
摘要:
A user terminal may include an IP Multimedia Subsystem, IMS, client to enable the terminal to communicate with an IMS network. The IMS client may include a conference creation and control unit configured to create and control an IMS conference involving one or more participants, participants being identified within a conference INVITE or REFER message by respective Uniform Resource Identifiers, URIs, within a URI list. The conference creation and control unit may include a response handling unit configured to receive from the IMS network, in response to the sending of an INVITE or REFER, a SIP response message including an XML body specifying an Outgoing Communication Barring, OCB, service invocation result and configured to present the specified result to a terminal user. Related methods and application servers are also discussed.
摘要:
A control system for an industrial robot. The control system includes a memory unit configured to store at least one task program intended for controlling movements of the robot and including movement instructions for controlling the movements of the robot. A program executer is configured to generate instructions based on movement instructions included in the task program and data necessary to be able to carry out the instructions. A path planner is configured to receive the instructions from the program executer and based thereon to plan how the movements of the robot are to be designed to enable the robot to carry out the movement instructions. The control system includes a recording device, with at least one memory unit connected thereto, arranged for the purpose of recording and storing the instructions and the data sent to the path planner from the program executer.
摘要:
A system is disclosed for controlling an object detection system of a land based vehicle, having at least one detection device with a limited geometrical operating area. The system comprises a computing device using information regarding the current or upcoming road situation from an on-board map database as input for computing an attention plan for optimizing the use of the at least one detection device in the object detection system, said attention plan being outputted to the object detection system for control of said detection device. Further, a method is disclosed which relates to controlling an object detection system.
摘要:
A phase monitor for a short-circuited asynchronous three-phase motor comprises a first and a second sensing unit, both of which are connected to a supply voltage line to the motor in order to sense the voltage conditions on the line, and a control switch which is controlled by the two sensing units and connected in a control circuit for a supply voltage switch for the motor, connected in the supply voltage line. When the supply voltage line is connected to a supply voltage source, the first sensing unit causes an immediate switching-on operation of the control circuit if the voltage conditions on the supply voltage line sensed by the first sensing unit at that moment are acceptable. After a switching-on operation of the control switch caused by the first sensing unit, the second sensing unit, which is operatively connected to the control switch via a delay unit, provides a delayed control of the state of the control switch in dependence upon the voltage conditions on the supply voltage line sensed by the second sensing unit.
摘要:
A flame retardant, drapeable screen having long-time UV-stability useful for shading and energy saving, particularly for greenhouses, comprising flexible strips with a thickness less than 100 um, which form a continuous product by means of a crochet or weave process and a yarn system, where the strips comprising at least a part of the surface of the product, and where at least some of the strips comprise light and/or heat reflecting foil strips, e.g. a low emitting metal foil, preferably an AL-foil.