Os erros cíclicos nas escalas das máquinas de medir a três coordenadas (MM3Cs) exercem influência significativa nos resultados das medições efetuadas em comprimentos pequenos. Um dos fatores que contribuem para a ocorrência dos erros cíclicos é a acuracidade limitada dos métodos utilizados na fabricação de escalas. As MM3Cs utilizam escalas desenhadas e fabricadas por métodos fotográficos ou riscadas em máquinas tipo \"step and repeat\". Ambos os métodos produzem um erro sistemático entre traços sucessivos. Desta forma, a medida que o número de traços aumenta as parcelas do erro sistemático somam-se e quando atingem um determinado valor este erro é compensado. Esta correção é feita a cada distância cujo valor corresponde ao de um período cíclico de baixa freqüência e o processo repete-se até que toda a escala seja riscada. Outro fator que contribui para a existência dos erros cíclicos origina-se da resolução exigida pela MM3C, que é sempre bastante alta e ultrapassa as capacidades existentes atualmente para fabricação de escalas. O que se faz para lidar com o problema da resolução é subdividir eletronicamente o espaço entre traços consecutivos da escala. Esta divisão eletrônica está associada a um sinal seno gerado pelas franjas de Moiré. A digitalização e subdivisão deste sinal geram erros periódicos, também conhecidos como erros cíclicos de alta freqüência. Embora diversos erros das MM3Cs tenham sido largamente estudados, ainda hoje, não foi realizada uma observação sistemática para que se tenha a exata medida da influência dos erros cíclicos, na medição a três coordenadas. Para suprir essa necessidade e contribuir na busca de novos métodos de avaliação, este trabalho apresenta os procedimentos de medição dos erros cíclicos de baixa e de alta freqüência, bem como a aplicação de Análise de Fourier aos conjuntos de dados obtidos. A medição da distância entre as linhas consecutivas da régua móvel da MM3C também foi realizada e os resultados comprovaram a existência dos erros de fabricação, a ocorrência de compensação periódica e também sugeriram os erros de subdivisão eletrônica. Além disso, no levantamento dos erros cíclicos de baixa freqüência foi confirmada a existência de um período cíclico de quatro milímetros. / Cyclic errors in scales of Coordinate Measuring Machines (CMMs) have a significant influence in measuring results on a very small displacement hindering most of the measuring tasks. One of the factors that contribute to the appearance of the cyclic errors is the limited accuracy of the used manufacturing methods of the scales. CMMs use scales drawn and manufactured by photographic methods or marked in step and repeat machines. In both methods the distances between succeeding lines are prone to systematic errors and therefore, with the increasing of the number of lines systematic errors are added up. Error compensation is provided when the amount of errors reaches a predetermined value. The error correction made at predetermined lengths defines a period what one can call the low frequency cyclic error. This process must be repeated all along the scale. Another factor that contributes to the existence of cyclic errors originates from high resolution required by CMM that goes beyond the existent manufacturing capacities of scales. This problem is somewhat solved by means of an electronic signals splitting up. The electronic sign obtained as two consecutive lines on the scale is probed can be associated to a sine signal what is generated by Moiré type fringes. Digital conversion and electronic division of these signals also generate periodic errors and can be called high frequency cyclic error. Although several types of errors in CMMs have been largely studied,there is a lack regarding the cyclic errors. A huge need for a systematic study and observation of these errors is needed to permit an exact measure of its influence on coordinate measurements. To cope with the urgent need and to contribute in the search for new evaluation methods of the cyclic errors, this work presents a measuring procedure of low and high frequency cyclic errors and the application of Fourier Analysis to the testing data. Measurements of distances between consecutive lines of the scale were also obtained and the results have shown the existent manufacturing errors and suggested frequencies and period of errors of electronic division. A cyclic period of four millimeters was confirmed in the low frequency tests.

O valor de uma grandeza é determinado por um conjunto de operações que caracterizam a medição. O resultado obtido por estas operações é o valor da grandeza, que nunca é o verdadeiro, porque toda medição possui erros de natureza sistemática ou aleatória, que acrescenta uma incerteza ao resultado. Assim, todo resultado de uma medição deve incluir informações sobre a sua incerteza, isto é, sobre o intervalo dentro do qual se estima que esteja o valor verdadeiro. Um consenso internacional sobre o assunto levou à elaboração da ISO-GUM (Guia para a Expressão da Incerteza de Medição), que fornece regras para a obtenção da expressão da incerteza da medição de grandezas físicas. No entanto, quando se trata da incerteza de medição por coordenadas, isto é, a incerteza na localização de um ponto no espaço, determinado através da indicação de uma máquina de medir a três coordenadas (MM3C), o problema é bem mais complexo. Assim, o objetivo deste trabalho é descrever uma metodologia para calcular a incerteza da medição por coordena das. Este cálculo envolve a calibração direta da máquina para a avaliação dos 21 possíveis erros geométricos, a análise destes erros para a determinação das equações que permitem calcular as incertezas de cada erro individualmente, e a análise geométrica da estrutura da máquina para determinar as equações de sintetização Ex, Ey e Ez, nas direções de seus eixos. Para definição da metodologia as equações que descrevem a variância combinada dos erros avaliados na calibração, foram substituídas nas equações que definem a variância do erro volumétrico das componentes Ex, Ey e Ez, dando origem às equações gerais que permitem determinar a incerteza do resultado da medição em uma MM3C. / The value of a magnitude is determined through a group of operations that characterize it. The result obtained by these operations is the value of the magnitude, and this value is never the true one because all measurements undergo errors of systematic or random nature, which increase an uncertainty to its result. Thus, all measurement result should include information about its uncertainty, that is, about the interval of values inside of which is considered that the true value is. An international accord, on that subject, allowed the elaboration of the ISO-GUM (Guide for the Expression of the Uncertainty of Measurement), that supplies rules for obtaining the expression of the measurement uncertainty for calibrations, linear dimensional measurements, among others. However, when the task is to estirnate the uncertainty of coordinate measurements, that is, the uncertainty of a point in the space, determined through the indication of a coordinate measuring machine (CMM), the problem is much more complex. Thus, the objective of this work is the description of a methodology to calculate the uncertainty measurements indication of a three coordinate measuring machine. This involves the direct calibration of the machine for the evaluation of the 21 possible geometric errors, the error analysis for defining the equations that allow to estimate the uncertainties of each error individually and the geometric analysis of the machine structure for determining the error synthetization equations Ex, Ey and Ez. The equations that describe the uncertainty of the geometric error measurements were substituted in the uncertainty equations of Ex, Ey and Ez, creating the general equations that allow to determine the uncertainty of the result of a measurement with a CMM.

As Máquinas de Medir a Três Coordenadas (MM3Cs) desde sua criação evoluíram sensivelmente, entretanto poucas foram as modificações estruturais observadas. Hoje, para fabricantes de máquinas destacarem-se no mercado, são necessários grandes investimentos na busca de novos materiais estruturais e no desenvolvimento de programas computacionais cada vez mais versáteis. O sistema eletrônico e os programas computacionais utilizados durante as medições são inacessíveis e rígidos. Estes aplicativos normalmente não podem ser analisados nem modificados pelo usuário. São exemplos clássicos desta rigidez as características préestabelecidas pelo programa, ou métodos de ajustes utilizados na definição das grandezas. Este trabalho tem por objetivo exibir a interface eletrônica e computacional que quebra essa rigidez e permite a aquisição dos sinais das escalas da MM3C, possibilitando o desenvolvimento de novos aplicativos computacionais. O sistema foi aplicado em uma MM3C do tipo Ponte Móvel. Foi desenvolvido um programa computacional, MaqMed 2000, que utiliza os valores dos pontos coordenadas capturados no volume de trabalho da MM3C, e faz a compensação das coordenadas dos pontos utilizados, através das equações do Modelo Reduzido de Sintetização de Erros (MRSE). A avaliação da compatibilidade do dispositivo construído foi feita através do MaqMed 2000 em situações práticas. Foram tomados pontos no perfil de artefatos-padrão e os pontos ajustados através de duas rotinas, uma com e outra sem compensação dos erros. Os artefatos foram medidos em várias posições no volume da MM3C e averiguada a proximidade entre os resultados compensados e os não compensados, ao valor calibrado do artefato. O sistema desenvolvido permitiu compensar os erros em até 98% para compensação bidimensional e 87% para tridimensional. / Since the advent Coordinate Measuring Machines (CMMs) have improved substantially. However, only a small number of structural modifications were observed. Nowadays, considerable capital expenditure is needed to keep CMM builders competitive. Most important research fields concern structural material and production of more flexible and versatile software. The electronic system and the software used during measurement with CMM are rigid and inaccessible and no user modification is permitted. Typical examples are the predetermined software features and curve fitting methods used on the magnitudes definition process. This research aims to exhibit an interface that copes with the system stiffness and enables signal acquisition from the scales of the CMM, allowing the development of new types softwares. The proposed system was implemented on a moving bridge type CMM. A program that uses the values of the coordinate points obtained from the CMM work volume was created. The software MaqMed 2000 performs the compensation of the coordinates of the used points by means of synthesized errors equations. Evaluation of the performance of the built device was carried out using MaqMed 2000 in practical situations. Data sets were collected along the profile of artefacts and fitted by means of two routines, one with error compensation and the other not compensated. Artefacts were measured in several locations in the whole volume of the CMM. The proximity between the compensated and noncompensated results with respect to the calibrated artefact value was examined. The developed system allowed for error compensation of 98% for bi-dimensional compensation and 87% for tri-dimensional compensation.

Im Rahmen einer Diplomarbeit wurden 2015 die untertägigen Polygonzugnetze der Gruben Unterbreizbach/Merkers der K+S KALI GmbH im Lagebezug ETRS89/UTM neu orientiert und Ergebnisse verschiedener Messepochen ausgeglichen. Für die Schaffung eines weiteren Anschlusspunktes erfolgten zur Koordinatenübertragung im Schacht Merkers 2 eine mechanische Schachtlotung und eine Steilschachtmessung nach dem Verfahren von Mecke/Ackermann aus dem Jahr 2002. Die Methoden werden gegenübergestellt und die erreichten Genauigkeiten diskutiert. / Within the framework of a diploma thesis the underground mining coordinate system of Unterbreizbach/Merkers K+S KALI GmbH became reorientated in the reference system ETRS89/UTM with an adjustment of results from different ages of measurement. For the development of a further termination point a mechanical shaft plumbing and a steep shaft measurement according to Mecke/Ackermann from 2002 took place. The methods will be compared followed by a discussion of the reached accuracies.

Motorradfahrer gehören zu den am meisten gefährdeten Verkehrsteilnehmern im Straßenverkehr. Häufig ist die Unfallursache ein Kontrollverlust auf Landstraßen, der durch Ausnutzung des physikalischen Potenzials in Form von größeren Schräglagenwinkeln vermieden werden könnte. Gleichzeitig sind in der Realität gefahrene Schräglagen über eine größere Gruppe von Fahrern und eine längere Strecke unbekannt, was vor allem auf die erforderliche spezielle Messtechnik zurückzuführen ist. Der Schwerpunkt liegt daher auf der Entwicklung eines kostengünstigen Messverfahrens zur Messung der Schräglagenwinkel von Motorrädern. Smartphones zeichnen sich in der Regel durch integrierte Inertialsensoren aus, die für die Erfassung der Fahrdynamik von Motorrädern geeignet sind. Mit Hilfe einer auf die Anforderungen zugeschnittenen Smartphone-App zur Erfassung von Messdaten auf dem Motorrad werden die Daten der Sensoren aufgezeichnet. Anschließend werden mittels einer Offline-Auswertung die Drehwinkel zwischen dem Smartphone und dem Motorrad-Koordinatensystem bestimmt, die inertialen Messdaten transformiert und der Schräglagenwinkel berechnet. Ein wesentlicher Bestandteil ist die Validierung der entwickelten Messkette durch einen Vergleich der Ergebnisse mit einem hochpräzisen Messsystem. Dieser wurde auf verschiedenen Strecken zur Bestimmung der Datenqualität durchgeführt. Als Machbarkeitsstudie diente eine Probandenstudie, die die Praxistauglichkeit der Messkette bestätigte. Die Studienergebnisse werden zusätzlich auszugsweise dargestellt und diskutiert. Die erfolgreiche Validierung auf verschiedenen Strecken, die Praxistauglichkeit der Datenerfassung und die Genauigkeit des Messsystems ermutigen dazu, die Smartphone-App auf ein größeres Panel von Testpersonen auszurollen und damit Daten über ein größeres Fahrerkollektiv zu erheben.:Introduction, State of Research, Methods, Measurement Chain Verification, Results and Discussion, Conclusion / Motorcyclists are among the most vulnerable road users in road traffic. Often, the cause of accidents is a loss of control on rural roads which could be averted by making use of the physical potential in terms of larger lean angles. At the same time, in reality driven lean angles over a larger group of riders and a longer route are unknown which is mainly due to the special measuring technology required. The focus is therefore on the development of a low-cost measurement method for measuring the lean angles of motorcycles. Smartphones are usually characterized by integrated inertial sensors, which are suitable for the acquisition of motorcycle driving dynamics. Employing a smartphone app tailored to the requirements for collecting measurement data on the motorcycle, the data of the sensors are recorded. During the offline evaluation, the rotation angles between the smartphone and the motorcycle coordinate system are determined, the inertial measurement data are transformed and the roll angle is calculated. An essential part is the alignment of the developed measurement chain with a high-precision measurement system. This was carried out on different routes and thus the data quality was determined. As a feasibility study, a test person study with several participants was carried out, which confirmed the practical suitability of the measurement chain. Hence, the study outcomes are briefly shown and discussed. The successful validation on different routes, the practical suitability of the data acquisition and the accuracy of the measurement system encourage to roll out the smartphone app to a larger panel of test persons and thus to collect data on a larger driver collective.:Introduction, State of Research, Methods, Measurement Chain Verification, Results and Discussion, Conclusion

The diploma thesis is focused on the topic of global satellite navigation of mobile robots. The paper describes the principle of currently available global satellite navigation systems. The main element of the thesis is the proposal of mobile robot navigation algorithm. An integral part is also the design of a mobile robot to verify the functionality of the navigation algorithm. The robot software program is described. At the end, everything is verified by real experiments.

The advent of the industrial revolution has brought a great number of changes in the functioning of various processes in manufacturing industries. The ways and means of working have evolved exponentially with the implementation of advanced technology. Moreover, with the increasing technology, the customer demands have also been varying dynamically due to changes in customer requirements focusing on individual customization. To cope with the dynamic demand, manufacturing industries had to make sure their products are manufactured with higher quality and shorter lead times. Implementation and efficient usage of technology has provided industries with the necessary tools to achieve market demand and stay competitive by growing continuously. The transformation aims to reach the level of zero-defect manufacturing and ensure higher first-time right yield capability with minimum utilization of available resources. However, technological advancements have not developed the quality inspection process of the manufacturing industry at the same level as other processes. Due to this, the quality inspection processes are still human dependent which requires a highly skilled human operator to perform inspection procedures using sensory abilities to detect deviations. Research suggests that human quality inspection is prone to errors due to fatigue as the process is continuous, strenuous, and tedious work. The efficiency of human inspection is around 80% which becomes a chronic problem in safety-critical and high-value manufacturing environments. Moreover, with the increasing level of customization and technology, the products are becoming more complex with intricate shapes and only human inspection is not enough to meet the customer requirements. Especially in the case of automotive industry in Body in White applications, human inspection of outer body panels, engine parts with tighter tolerances alone does not make the cut. Advancements in the field of metrology have led to the introduction of Coordinate measuring machines (CMM), which are classified as contact and non-contact measuring machines. The measurements are performed offline away from the production line, using the sampling method. The contact measuring machines are equipped with touch trigger probe devices that travel all over the part to make a virtual image of the product which is time-consuming but accurate. Whereas the noncontact measuring machines are equipped with laser scanners or optical devices which scan the part and develop a virtual model which is fast but has accuracy and repeatability issues due to external factors. But coordinate measuring machines have proven to be bottlenecks as they were not able to synchronize with the production pace and could not perform aninspection on all the produced parts, which would help in collecting data. The gathered data can be used to analyse root causes and generate trends in defect detection. With the advancements in non-contact measuring systems, automotive industries have also realized the potential of implementing inline measurement techniques to perform quality inspection. The non-contact measuring system consists of a robotic arm or setup which is equipped with a camera, sensors, and a complex algorithm to identify defects. This provides the robotic arm with machine vision which is works by taking a series of images of the product from various and process these images to detect deviations using digital image processing techniques. The inline measurement has proven to be accurate, fast, and repeatable to be implemented in synchronization with the production line. Further, the automotive industries are moving towards hybrid inspection systems which capitalize on the measuring speed of the robot and the fast decision-making ability of human senses.

In this thesis I focus on finding the position of computers on the Internet. This need for locating computers originated in the last several years through the creation of overlay networks. For this activity there are many algorithms. This paper describes the King method that estimated the distance between communicating stations by using the domain name system. The aim of this work is to verify the accuracy of the King method in experimental PlanetLab network. This network provides access for more than 1000 stations worldwide.

Dans ce travail, on s'intéresse à des outils mathématiques spéciaux appelés tenseurs qui sont formellement définis comme des tableaux multidimensionnels définis sur le produit tensoriel d'espaces vectoriels (chaque espace vectoriel étant muni de son système de coordonnées), le nombre d'espaces vectoriels impliqués dans ce produit étant l'ordre du tenseur. L'intérêt pour les tenseurs est motivé par certains travaux expérimentaux qui ont prouvé, dans divers contextes, que traiter des données multidimensionnelles avec des tenseurs plutôt que des matrices donne un meilleur résultat aussi bien pour des tâches de régression que de classification. Dans le cadre de la thèse, nous nous sommes focalisés sur une décomposition dite de Tucker et avons mis en place une méthode pour l'apprentissage de dictionnaires, une technique pour l'apprentissage en ligne de dictionnaires, une approche pour la décomposition d'un tenseur de grandes tailles et enfin une méthodologie pour la décomposition d'un tenseur qui croît par rapport à tous les modes. De nouveaux résultats théoriques concernant la convergence et la vitesse de convergence sont établis et l'efficacité des algorithmes proposés, reposant soit sur la minimisation alternée, soit sur la descente de gradients par coordonnées, est démontrée sur des problèmes réels / In this work, we are interested in special mathematical tools called tensors, that are multidimensional arrays defined on tensor product of some vector spaces, each of which has its own coordinate system and the number of spaces involved in this product is generally referred to as order. The interest for these tools stem from some empirical works (for a range of applications encompassing both classification and regression) that prove the superiority of tensor processing with respect to matrix decomposition techniques. In this thesis framework, we focused on specific tensor model named Tucker and established new approaches for miscellaneous tasks such as dictionary learning, online dictionary learning, large-scale processing as well as the decomposition of a tensor evolving with respect to each of its modes. New theoretical results are established and the efficiency of the different algorithms, which are based either on alternate minimization or coordinate gradient descent, is proven via real-world problems.

Im Rahmen einer Diplomarbeit wurden 2015 die untertägigen Polygonzugnetze der Gruben Unterbreizbach/Merkers der K+S KALI GmbH im Lagebezug ETRS89/UTM neu orientiert und Ergebnisse verschiedener Messepochen ausgeglichen. Für die Schaffung eines weiteren Anschlusspunktes erfolgten zur Koordinatenübertragung im Schacht Merkers 2 eine mechanische Schachtlotung und eine Steilschachtmessung nach dem Verfahren von Mecke/Ackermann aus dem Jahr 2002. Die Methoden werden gegenübergestellt und die erreichten Genauigkeiten diskutiert. / Within the framework of a diploma thesis the underground mining coordinate system of Unterbreizbach/Merkers K+S KALI GmbH became reorientated in the reference system ETRS89/UTM with an adjustment of results from different ages of measurement. For the development of a further termination point a mechanical shaft plumbing and a steep shaft measurement according to Mecke/Ackermann from 2002 took place. The methods will be compared followed by a discussion of the reached accuracies.