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Robot's Singularity

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Singularity means the robot has infinite solutions (infinite possibilities of axes angles) to reach a specific position. While the forward kinematics is a unique transformation the inverse kinematics has the problem of multiple solutions and infinitive solutions (singularities). The following sketch shows an example for multiple solutions (left) and for a singularity.  In the sketched case an infinitive number of pairs (q4, q6) can perform to achieve the demanded orientation. When the robot faces a singularity during real programming, it stops and you need to solve this singularity and avoid it during programming. The wrist singularity is the position in which axes A 4 and A 6 are parallel: The robot is stopped as soon as one of the maximum permissible values for velocity or acceleration is exceeded. This can happen, for example, in the case of a robot motion near the wrist singularity (extended wrist axis position). Singularity will not be disc
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Camera Intrinsic Parameter

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The idiom calibrating intrinsic camera parameters means finding the transformation from camera 3D coordinate system to image 2D coordinate system (using projection matrix). Where: §   Camera Frame: is the coordinate system which takes camera center as its origin and the optic axis as (Z), and is in mm. §   Image Frame: is the coordinate system which measures the pixel location in the image plane (only x and y) and its origin is the above left corner of the chip. o    Camera intrinsic Parameters characterize the optical, geometry and digital characteristics of a camera. o    The degree of freedom of Intrinsic parameter in the real situation (not ideal situation) is 5 : §   S x , S y (sometimes called: ) are the pixel scale factors (pixel à mm) in x and y direction (can be expressed by focal length and aspect ratio) Aspect ratio: is the ratio of pixel size difference between x and y (width and length) in ideal situation is
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Alternative Tool to Matlab... Octave in Image Processing

Octave is a free open source program offers services relatively similar to Matlab. In order to be able to use Octave in Image processing application, you will need to install  image package, which can be done easily by typing the following commands in the command window: Pkg list pkg install -forge general control signal image ·          Each time you want to use image library, you have to load the image package, by typing the following command: Pkg load image             % only in Octave, in Matlab it is already automatic added Some important commands: Command function Command syntax Clear command window clc Load image imread('H:\Octave-4.4.0\samples\myImage.png') Show an image imshow(im) To get the size of a matrix size(im) > disp(size(im)) To plot some matrices >> plot(imgreen(210,:))
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خطر المنتج المقلد يتجاوز توقعاتك

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مقدمة:  عندما يطرح موضوع المنتجات المقلدة فإن أغلب الشركات والمنظمات الحكومية تركز على الأخطار المباشرة للمنتجات المقلدة والمغشوشة على كونها المسبب الرئيسي في انتشار الحرائق وتخريب الممتلكات وإلحاق الأذى بالأرواح وذلك عندما تفشل هذه المنتجات وبسبب سوء جودتها في تحقيق الهدف المطلوب منها وتعجز عن أداء مهمتها مقارنة بالمنتج الأصلي . لكن خطر هذه المنتجات لا يقتصر على تلك الأخطار المباشرة فقط ولكن في الحقيقة فإن تصنيع المنتجات المقلدة والإتجار بها وشرائها ينطوي على العديد من المخاطر على كل من الأفراد، المجتمعات، الدول، الشركات والطبقات العامل ة … .. بعض من هذه الأخطار يتضمن . استخدام مواد ومكونات ضارة بالبيئة والانسان : لا تستطيع المنتجات المقلدة أو المغشوشة أن تؤمن كلفة المواد المطابقة للمواصفات أة كلفة اختبارها ولذلك تلجأ إلى استخدام مواد أقل كلفة والتي في الغالب تكون مواد ضارة أو غير مسموح في استخدامها في هذه المنتجات بالإضافة إلى كونها غير قابلة لاعادة التدوير . إن خطر هذه المواد يطال كلا من البيئة والبشر وقد يؤدي إلى حدوث أضرار للحيوانات أيضاً
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Happy Index.... Measure your Happiness

Happiness is something which has been measured for the last years over the nation levels, but have you thought one day to measure your own happiness... We always measure all the factors which lead to the happiness like how much money do we have, how satisfying our job is, or how many friends do we have... We may suffer from certain things at a specific point of time but still and because of other factors, we may have high Happiness index... The files in the below attachment help you to set the factors which contribute to your happiness, weight them and measure your happiness overall your lifetime... keep track and enhance your life quality since Happiness is the ultimate goal which we all are striving to achieve.. Video How to use Happy Index File Link to Happy Index File
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Shunt Resistor and Robotic Model Based

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Shunt Resistor is a resistor with high resolution and low impedance, used widely to measure the current, by measuring the voltage drop over its pins. In modeling the robot actuator servo system, the constant KMI is used as a medium to get the current where th input is the Uc, the voltage of the controller
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Marketing the electrical products has never been an easy job

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Tips for marketing the electrical building products for end-users Two different channels with two different approaches: Electrical building products (residential electrical circuit breakers, switches and sockets, cables, wires and lamps, etc.…) usually sold in two main different channels:  Project channel:  in this case, marketing process goes in the following steps:  The consultant engineers announce a specification table. Marketers from electrical manufacturing companies can employ specific marketing methods to get the approval, like:   Face-to-face meetings and presentations. Qualification and submittal files. In order to market their products and make sure that their products comply with the requirements  and then once they got the compliance certificate, marketers hand over the flag to the sales team in order to finalize the price and delivery terms. Although the process may change from country to country but in general it can be described
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Location: Darmstadt, Germany
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