Sistemas dedicados de medição são especialmente recomendados para a inspeção repetida de uma característica mecânica. Entretanto, instrumentos e sistemas de medição apresentam erros que deterioram o resultado da inspeção. Tal circunstância demanda a aplicação de técnicas de separação de erros que viabilizem o desacoplamento dos erros induzidos pelo sistema de medição daqueles apresentados pelas peças medidas. Este trabalho tem por objetivo apresentar um sistema automatizado e dedicado à medição de erros de retilineidade e circularidade em componentes mecânicos. Um robô industrial foi empregado para operar dispositivos de medição específicos para cada tipo de medida. Entretanto, robôs industriais apresentam erros de posicionamento relativamente grandes que impedem a utilização do sistema de coordenadas do equipamento como referência para medições precisas. Para minimizar o efeito dos erros do sistema de medição sobre o valor medido, foram aplicadas técnicas multi-sensoriais de separação de erros. Na medição do erro de retilineidade, uma nova abordagem foi desenvolvida para minimizar a influência do erro de posicionamento axial dos sensores, que constitui a maior fonte de erros no processo de desacoplamento. Foram realizadas simulações computacionais e testes experimentais aplicados à medição do erro de retilineidade e de circularidade de vários artefatos que comprovaram a efetividade da metodologia utilizada. / Dedicated measuring systems are particularly recommended for the repetitive inspection of a mechanical feature. However, measuring instruments and systems present errors that deteriorate the result of the inspection. Such a circumstance demands the application of error separation techniques that perform decoupling of errors induced by the measuring system from part errors. This work aims to present an automated measuring system that is dedicated to the task of inspecting straightness and roundness errors in mechanical components. An industrial robot was employed to operate specific measuring devices for each measurement. However, industrial robots present relatively large positioning errors that prevent the use of their coordinate system as a reference to accurate measurements. In order to minimize the effect of the measuring system on the measured value, multi-probe error separation techniques were employed. On the straightness measurement, a new approach was developed to minimize the influence of the axial positioning error of the sensors, which consist of the major error source on the decoupling process. Computational simulations and experimental straightness and roundness tests were accomplished for various artefacts, which confirmed the effectiveness of the employed methodology.

Em indivíduos saudáveis o desempenho motor e os parâmetros cinemáticos e espaçotemporais da tarefa de alcance já estão descritos na literatura. Até o momento nenhum estudo investigou a influência da dor crônica no ombro nessas variáveis durante a tarefa de apontamento com o corpo todo em diferentes demandas, e nem estabeleceram como é o comportamento motor. Por este motivo, o objetivo do presente estudo foi caracterizar o comportamento motor de uma tarefa de apontamento em indivíduos com dor no ombro e avaliar parâmetros de padrão de movimento, desempenho motor e equilíbrio. Trata-se de um estudo transversal realizado no Laboratório de Bioengenharia Elétrica da Escola Politécnica da USP. Participaram do estudo 20 sujeitos, sendo 11 no grupo controle (GC) e 9 no grupo com dor (GD). O experimento consistiu em realizar um alcance em três angulações distintas (menor, igual e maior que 90°) em duas velocidades (normal e rápida). Foram coletados dados de cinemática e plataforma de força. As principais medidas foram (1) índice de retidão (IR); (2) tempo de reação e movimento (3) deslocamentos angulares e lineares (4) COP e COM. Os resultados mostraram que o GD apresentou pior IR, maior tempo de reação e de movimento, os deslocamentos lineares e angulares foram mais estereotipados, os deslocamentos do COM e a velocidade de deslocamento do COP foram menores e as estratégias de equilíbrio foram menos utilizadas, gerando manutenção do controle em bloco. Desta forma, conclui-se que o comportamento motor é alterado no GD e as variáveis de padrão de movimento, desempenho motor e de equilíbrio foram piores na comparação com indivíduos saudáveis / In healthy subjects the motor performance and the kinematic parameters and spatiotemporal parameters of the task of reaching have already been described in the literature. Until now no study has investigated the influence of chronic shoulder pain on these variables during whole body pointing in different demands and did not establish how motor behavior works. For this reason, the aim of the present study was to characterize the motor behavior of a pointing task in individuals with shoulder pain and to evaluate patterns of movement pattern, motor performance and balance. This is a cross-sectional study conducted at the Bioengineering Laboratory of the Polytechnic School of USP. Twenty subjects participated in the study, being 11 in the control group (CG) and 9 in the pain group (PG). The experiment consisted in achieving a range in three distinct angles (smaller, equal and greater than 90 °) in two speeds (normal and fast). Kinematics and force platform data were collected. The main measures were (1) straightness index (RI); (2) reaction time and movement (3) angular and linear displacements (4) COP and COM. The results showed that the GD presented worse IR, longer reaction time and movement, linear and angular displacements were more stereotyped, the COM displacements and the COP displacement velocity were smaller and the equilibrium strategies were less used, generating maintenance of block control. However, we conclude that motor behavior is altered in GD and the variables of movement pattern, motor performance and balance were worse in comparison with healthy individuals

Sistemas dedicados de medição são especialmente recomendados para a inspeção repetida de uma característica mecânica. Entretanto, instrumentos e sistemas de medição apresentam erros que deterioram o resultado da inspeção. Tal circunstância demanda a aplicação de técnicas de separação de erros que viabilizem o desacoplamento dos erros induzidos pelo sistema de medição daqueles apresentados pelas peças medidas. Este trabalho tem por objetivo apresentar um sistema automatizado e dedicado à medição de erros de retilineidade e circularidade em componentes mecânicos. Um robô industrial foi empregado para operar dispositivos de medição específicos para cada tipo de medida. Entretanto, robôs industriais apresentam erros de posicionamento relativamente grandes que impedem a utilização do sistema de coordenadas do equipamento como referência para medições precisas. Para minimizar o efeito dos erros do sistema de medição sobre o valor medido, foram aplicadas técnicas multi-sensoriais de separação de erros. Na medição do erro de retilineidade, uma nova abordagem foi desenvolvida para minimizar a influência do erro de posicionamento axial dos sensores, que constitui a maior fonte de erros no processo de desacoplamento. Foram realizadas simulações computacionais e testes experimentais aplicados à medição do erro de retilineidade e de circularidade de vários artefatos que comprovaram a efetividade da metodologia utilizada. / Dedicated measuring systems are particularly recommended for the repetitive inspection of a mechanical feature. However, measuring instruments and systems present errors that deteriorate the result of the inspection. Such a circumstance demands the application of error separation techniques that perform decoupling of errors induced by the measuring system from part errors. This work aims to present an automated measuring system that is dedicated to the task of inspecting straightness and roundness errors in mechanical components. An industrial robot was employed to operate specific measuring devices for each measurement. However, industrial robots present relatively large positioning errors that prevent the use of their coordinate system as a reference to accurate measurements. In order to minimize the effect of the measuring system on the measured value, multi-probe error separation techniques were employed. On the straightness measurement, a new approach was developed to minimize the influence of the axial positioning error of the sensors, which consist of the major error source on the decoupling process. Computational simulations and experimental straightness and roundness tests were accomplished for various artefacts, which confirmed the effectiveness of the employed methodology.

Examensarbetet har utförts under våren 2017 vid Bergsskolan i Filipstad, i samarbete med voestalpine Precision Strip i Munkfors. Att producera så kostnadseffektivt som möjligt likväl att minimera material som kasseras är något företag idag ser som självklart. På samma gång som detta efterlevs bör även kundnöjdheten maximeras. Utrymmet att göra fel har minskat vilket leder till en ständig strävan att undvika att produkter med oönskade defekter går ut till kund. För att nå detta måste företaget ha en förståelse för vilka mekanismer som påverkar vilka defekter. Syftet med det här arbetet är att dokumentera bandstålets processteg, från råmaterial till halvfabrikat. På så vis kan arbetets mål uppnås, det vill säga att hitta vilka möjliga orsaker som kan påverka bandstålets rakhet, specifikt den så kallade kortkrokigheten. Det finns två typer av rakhet, långkrok och kortkrok. Den som ställer till med problem vid beläggning och slipning av bandstål är den så kallade kortkroken. Därmed är det detta som voestalpine Precision Strip önskat hjälp med att kartlägga. Materialet som studerats var tre olika band av samma stålsort (UHB 20C), dessa var alla tänkta att gå vidare till beläggningen. För att bandet ska kunna beläggas måste materialet vara helt rakt, toleransen är +/- 33 µm, vilket många gånger innebär att bandet ser rakt ut trots en rakhetsavvikelse. Finns en avvikelse går det inte att färdigställa produkten utifrån kundspecifikation och materialet används då till annan slutprodukt, eller i värsta fall skrotas. För att kartlägga vilka mekanismer som bandstålet utsattes för användes den teoretiska ansatsen ”de sju förbättringsverktygen”, en teori utvecklad i Japan som är användbar då kvalitetsförbättringar efterfrågas. Arbetet börjades med litteraturstudier, det var svårt att hitta studier och annan litteratur som behandlar ämnet kortkrok i allmänhet och kortkrok i kallvalsat bandstål i synnerhet. Förutom litteratur erhölls en del information av personal på voestalpine Precision Strip i Munkfors. Det gjordes inga intervjuer utan enbart samtal med personal på plats i Munkfors. Dessa samtal ledde till ökad förståelse för vad problemet innebär och ett orsak-verkan-diagram gjordes. Fem möjliga orsaker till kortkrok vid kallvalsning av stål identifierades. Utifrån detta ritades ett flödesschema över hela processen upp. De fem möjliga orsakerna som studerades närmre var ·        tvärprofil ·        reduktionen i tre olika valsverk ·        kontaktlängd och valsmaterial i valsverken ·        rullsaxen som kantskär och slittar materialet ·        den mänskliga faktorn. Utifrån detta arbete kunde flera alternativa svar på problemet till varför kortkrok uppstår identifieras. Det kan vara stickserien i valsverk 311, bomberingen som var sliten/icke-sliten i valsverk 322, kontaktlängden i valsverk 345, materialet i arbetsvalsen i valsverk 311 eller rullsaxen. Ett antal orsaker som kan påverka att kortkrok uppkommer är överhuvudtaget inte är studerade. Till exempel värmebehandling, friktion och smörjmedel. I arbetet framkom en orsak som mest trolig till varför kortkroken uppstår, rullsaxen. Att rullsaxen påverkat kortkrokens uppkomst kan bero på den mänskliga faktorn likväl som att det kan bero på att den är felkonstruerad för just detta ändamål. I dagsläget saknas exakta rutiner för hur arbetsprocessen vid rullsaxen utförs, vilket inneburit att de som arbetar vid maskinen gör samma sak men på olika vis. Slutresultatet kan ha påverkats av vilken person som arbetat vid valsen. Det finns en möjlighet att voestalpine Precision Strip kan vinna på att ha detaljerade inställningsscheman så det är möjligt att utesluta att slutresultatet påverkas av vem som arbetar vid maskinen. / This thesis has been carried out during the spring of 2017 at Bergsskolan in Filipstad, in cooperation with voestalpine Precision Strip in Munkfors. The demands to produce as cost-effectively as possible is increasing as well as demands to minimize the amount of discarded materials and at the same time maximize customer satisfaction. To achieve this, the company must have an understanding for the mechanisms that influence the defects. The purpose of the thesis is to document the production steps of the strip steel process, from raw materials to processed steel. Doing that the goal can be achieved, i.e. to find the parameters that influence the strip steel's straightness, specifically the so-called camber. There are two types of straightness which causes problems and the important one in this thesis is the so-called camber. The material studied was three different strips of the same steel (UHB20C) which were all supposed to move on to the department CCB (Coated Coater Blades). But to proceed, the material must be perfectly straight. The tolerance is as small as +/-33 microns, which often means that the strip looks straight even when there is a straightness deviation. If so, the material may be used in a different application and occasionally it will be scrapped. To identify the mechanisms the strip steel was exposed to, the theoretical approach “the seven QC-tools", was used. This is a theory usable when quality improvements are demanded. The work begun with literature studies, however, it was very difficult to find studies and other literature that discussed camber in cold-rolled strip steel. In addition to literature some information was obtained through conversations with the staff in Munkfors. This led to better understanding about the problem. Afterwards it was time to draw a chart over the causes effecting the camber. Five parameters were identified as important and was chosen for closer looking. The parameters studied more closely were: ·        transverse profile ·        reductions done in the three different rolling mills ·        contact length and materials in the work roll ·        slitter scorer (the machine that slits the material) ·        human influence Then a flow chart of the entire process was drawn up. There are several alternative answers to the problem this paper is trying to solve. The answer could be among the parameters studied but it may as well be found among causes not studied. For example friction, lubricants or the heat treatment the material is exposed to. Due to all measurements done in this study there is one parameter most likely to be the cause of camber, the slitter scorer seems to influence the material straightness most of all. Though it is not cleared why the slitter scorer affects the camber more than the other production steps. It could be caused by human influence, it is a machine where very small mistakes, probably unconscious, can lead to big consequences. It may also be due to malfunction of the machine. Rolling is a craft which means that the person working at the rolling mill, and the other machines in the production process, has a big influence on final outcome. Voestalpine Precision Strip could probably gain a lot by having detailed setting schedules and measuring instruments that would help the staff doing the exact same thing every time. Hopefully the outcome would not fluctuate as much as it does in the current situation. / <p>Presentationen har redan ägt rum, i juni 2017 på Bergsskolan i Filipstad</p>

La précision de tir d’une arme dépend de nombreux facteurs intervenant aux différentes étapes du parcours de la munition (balistique intérieure, intermédiaire et extérieure). Certains travaux ont démontré l’importance de l’influence de la phase de balistique intérieure, pendant laquelle la munition traverse le tube, sur les résultats à la cible. En effet, c’est cette phase qui détermine les conditions de sortie du tube de la munition et par conséquent son comportement au cours du vol. Les conditions d’entrée du projectile, la géométrie du tube et de l’arme, et les mouvements de ces derniers au cours du tir, sont autant de paramètres pouvant modifier l’interaction tube/projectile et ainsi entraîner un changement des vitesses angulaires et de translation de la munition au moment du largage. Cette étude a donc pour but de mettre en exergue les paramètres géométriques de l’arme et du tube qui influencent la justesse et la dispersion. Une analyse statistique a été réalisée à partir de la base de données des résultats de tir du 25 mm. Elle a permis de mettre en évidence l’influence de plusieurs paramètres dont la rectitude du tube. Par la suite, des essais ont été conduits en appareil de tir dans le but d’isoler la part de la géométrie du tube sur les écarts à la cible et ainsi de confirmer la contribution de la rectitude. Un modèle numérique tridimensionnel a été développé afin de faire varier ce paramètre et d’étudier son influence sur le comportement de la munition en phase de balistique intérieure. La représentativité du modèle a été vérifiée à l’aide d’accéléromètres embarqués dans la munition. Ces tirs ont nécessité le développement d’une solution innovante optoélectronique afin de transmettre les accélérations en temps réel. Les résultats expérimentaux obtenus ont permis de constater que les accélérations de la munition modélisée étaient représentatives. Le modèle permet maintenant de réaliser des études paramétriques et de déterminer les profils de tube les plus pénalisants pour la précision de tir. / Gun accuracy is influenced by several factors during the stages of the ammunition course (internal, intermediate and external ballistics). According to previous studies, internal ballistics are the major contributor to deviations from target. Indeed, this phase determines projectile exit conditions and, consequently, his behavior during the flight. The projectile entry conditions, the weapon and barrel geometry and their movements during firing, can modify the interaction tube / projectile and change ammunition angular rates and its transversal velocities. The purpose of this thesis is to determine the parameters related to barrel and gun geometry, which influence the bias and the dispersion. A statistical analysis was led thanks to the data base of the 25 mm firing results. It was found that some parameters, including barrel straightness, affect accuracy. Subsequently, tests were conducted with a firing appliance in order to isolate the barrel geometry influence on the deviations from the target and to confirm the straightness impact. A tridimensional numerical model was created in order to vary this parameter and to study its influence on the ammunition behavior during internal ballistics. The representativeness of the model was validated using accelerometers embedded in the ammunitions. The firing of these ammunitions has required the development of an optoelectronic system to transmit accelerations in real time. The comparison between experimental and numerical results has shown close amplitudes and similar shapes curves that proves the representativeness of the model. The model can be used now to lead parametric analysis and to determine the straightness shapes the most penalizing for gun accuracy.

The thesis deals with a development and application of laser interferometer system for the online error calibration of CNC machine tool. The term „online“ means, that laser interferometer is permanently built in the machine tool. Therefore particular error measurements can be done in very short time period.

The thesis deals with methodology proposal for shape and dimension measurement of rotationally symmetric forgings. Most of available non-contact systems are not possible to use for this purpose, mainly due to high temperatures and large dimensions of forgings. Only a few commercial systems which are designed for this specific measurement are currently in the market. These systems are based on a principle of evaluating time response of posted modulated signal. However, scientific literature shows also other approaches to the measurement, which are based on principle of triangulation and methods of image analysis. Advantage of systems based on these principles should be especially measurement speed and significantly lower price. The paper describes current state of research and development in this area and proposes a new approach which is based on passive photogrammetry and image analysis. The core of the work is devoted to the design of partial methods and their implementation in the Matlab programming language. Functionality of the methodology and the software has been verified by measuring cylindrical tubes of small dimensions in laboratory conditions. The designed methods were discussed and evaluated based on statistical analysis of the measurement results, and further steps to increase the accuracy and reduce the spread of results were suggested. Optimization and further development of this methodology could lead to the design a professional measuring system intended for this specific application.