text:
Signs suggest swell season for oysters
Relevant offers
Oyster lovers can expect big and juicy oysters this season, with early indications pointing to a repeat of last year's bumper catch.
The season starts on March 1.
In 2012, the Bluff oyster fishery showed signs of growth allowing the industry to harvest two million more oysters than previous years after the industry's quota was formally increased.
A self-regulated limit of 9.53 million oysters was bumped up to 11.5 million for the 2012 season after discussions between the National Institute of Water and Atmospheric Research, the Primary Industries Ministry, oyster boat skippers and quota owners.
Bluff Oyster Management Company spokesman Graeme Wright said quota owners would start the new season able to catch the increased quota of 11.5 million.
"That is the proposed quota but the commercial catch limit is subject to change if any drastic results emerge from scientific testing for bonamia," Mr Wright said.
Early expectations were for it to be business as usual this year, he said. "Catch and release dredging samples in the oyster beds have looked good and hopefully we will see a lot of big juicy Bluff oysters again this year."
Niwa fisheries scientist Keith Michael said the organisation would hopefully wrap up pre-season survey work early next week.
Surveys in core commercial fishery areas in Foveaux Strait indicated the fishery was continuing to rebuild after being devastated by bonamia in the past, Mr Michael said.
Bonamia caused major disruption to the fishery between 1985-1993, and again from 2000- 2005. Since 2006, oyster mortality from bonamia has been relatively low, and the oyster fishery has been rebuilding.
There had been no indication from early samples of any significant disease. However, the official results and a final decision about the health of the Bluff oyster beds would not be determined until mid-March, Mr Michael said.
A new DNA sampling technique being trialled had allowed scientists to test a large number of oysters but those results would need to be compared to the accepted, but time-consuming method, using a blood sample from the oysters, he said.
The final results would be reviewed by Niwa in conjunction with the Ministry of Primary Industries and industry stakeholders, Mr Michael said.
- The Southland Times
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The Seattle Mariners leave Boston and head to Detroit for their next series, a four-game set that starts this afternoon. The M's dropped a 2-1 decision to the Red Sox yesterday, led by David Price's first win in his last for starts. KLOG coverage starts at 3 pm…..The Cowlitz Black Bears have a day off as they make their way back to the local area, after getting shut out by the Victoria HarborCats, 6-0. The Black Bears get back into action tomorrow evening against the Gresham Gophers…..Hilander Dental dominated the Dave Orzel Memorial AAA Legion Baseball Tournament held over the weekend at Winlock HS. Hilander Dental went 5-0, outscoring opponents 56-3. They five-runned RBI Baseball 10-0 to take the title, with Cody Anderson and Yancy Bird teaming up to spin a one-hitter.
Archive for the 'Local News' Category
Monday KLOG SportsJune 20th, 2016
Posted in Local News | Comments Off on Monday KLOG Sports
KSD Water TestsJune 17th, 2016
The Kelso School District is announcing that there are several water sources in their schools that are testing over the "trigger level" for lead, and that steps are being taken to protect students, teachers and staff from possible exposure. The District released the results of their first round of testing, checking water supplies at Beacon Hill Elementary, Catlin Elementary and Wallace Elementary. 50 tests were conducted, and seven sources tested about the Washington Department of Health threshold for lead. There was one at Beacon Hill, three at Catlin, and three at Wallace. Operations staff immediately disconnected these sources; bottled water is being brought in for students and staff at all three schools. Today is the last day of school at Beacon Hill and Catlin, while Wallace goes through July 24th. Drinking fountains at all three schools are being shut down until tests show that lead is at safe levels. District officials say that re-testing of the affected sources will begin immediately, and tests of other sources is being set up. All drinking fountains and fixtures that are confirmed with elevated lead will be replaced over the summer. In checking with local and state health departments, they have learned that lead exposure risks are low, but extra caution is being taken, as the health impacts from lead exposure are difficult to predict. You're encouraged to contact your health care provider or the Cowlitz County Health Department if you have concerns.
Posted in Local News | Comments Off on KSD Water Tests
Speed Cams CutJune 17th, 2016
The Speed Limit Detection Cameras in six Longview school zones will be gone after the end of the year, as the Longview City Council votes unanimously to terminate the contract for the cameras. Mayor Don Jensen says that the cameras have served their purpose, while new signage and markers are at least as effective in slowing drivers…camsclosed…Longview Police report that the cameras were responsible for more than 27,000 tickets in 2015; more than 15,000 came from the 15th Avenue camera in front of Mark Morris High School, Kessler Elementary had just less than 4,200 violations, and there were more than 3,700 tickets at St. Helens Elementary School. Mary Chennault with Longview Police notes that there has been a 44 percent decrease in the number of violations in this school year, a reduction that they attribute to the new flashing and speed notification signs that the city is installing. The Council is directing staff to exercise its cancellation option at the end of the year, notifying American Traffic Solutions by September 30th that the contract will be terminated. The Council is also mulling over how the money collected from the cameras tickets will be spent, especially since there's a limited amount of new money that will go into that fund. Those decisions will be made during budget workshops that are being set up for later in the year.
Posted in Local News | Comments Off on Speed Cams Cut
Crashes/Traffic EnforcementJune 17th, 2016
Longview Police Chief Jim Duscha is asking for help in dealing with traffic enforcement around the city, especially as the decision is made to remove the School Zone Speed Limit Cameras. Duscha announced at last night's Council workshop that he's assigning a sergeant to traffic enforcement and crash investigation, but he says that more resources are needed. Duscha points to three significant car crashes that took place inside the city limits yesterday as part of the need for additional traffic enforcement, along with two fatal collisions already this year, before the "bad part" of the driving season. Duscha was hopeful that the City Council would approve spending a portion of the Traffic Safety Fund for that effort, but it appears that the Council plans to parse that money out over time, focusing on physical improvements, things like school zone enhancements, and improving the Safe Routes to Schools. Additional discussion is planned as the budget process moves along.
Posted in Local News | Comments Off on Crashes/Traffic Enforcement
LCC CommencementJune 17th, 2016
The 80th graduating class at Lower Columbia College will be honored tonight, as degrees and certificates are presented in the 2016 Commencement Exercises. Around 400 students are expected to participate in tonight's ceremony; LCC reports that they will award 425 Transfer Associate Degrees, 147 Professional and Technical Associate Degrees, 88 One-Year Certificates, and 154 High School Diploma-GED's. Dr. Mary Cullinan, the President of Eastern Washington University, will be the Commencement Speaker. She will also confer degrees to four students who earned Bachelor degrees through the Lower Columbia Regional University Center, located at LCC. Four Scholastic Achievement Award winners will also be honored, recognizing the students graduating with the highest grade point averages in academic transfer and professional/technical programs. Commencement takes place at 6:30 pm at Kelso High School's Schroeder Field.
Posted in Local News | Comments Off on LCC Commencement
Big C Industries/Tractor SupplyJune 17th, 2016
There are a couple of new arrivals in the business world; the City of Longview is announcing that Big C Industries will be located a new steel fabrication facility in a 7,200-square-foot facility at 3339 Washington Way, opening up with 12 to 15 new jobs. Big C is a specialty steel-working company, working on "hard-to-do" steel fabrications like stairways and handrails, and other projects in sizes of up to 150 tons. Big C is an "open shop," but they are working with Local 29 Ironworkers on the installation of steel within the next year. You can learn more about the facility at an Open House that's being set up for July 29th.
Work is under way in the Coweeman Industrial Park near Dick Hannah Toyota, with construction of a new Tractor Supply Company outlet already under way. The company bills itself as the "largest rural lifestyle store chain in the United States," with 1,500 outlets in 49 states. They'll be selling garden, farm and livestock supplies, along with other outdoor and hardware materials. This would be TSC's first outlet in Cowlitz County, with plans to hire between 12 and 17 part-time employees with a target of opening in the fall.
Posted in Local News | Comments Off on Big C Industries/Tractor Supply
Scappoose/CRF&R CombinationJune 17th, 2016
They will still be separate fire-fighting agencies, but the Scappoose Fire Department and Columbia River Fire and Rescue will soon have just one main man at the helm. Earlier this week, the CRF&R Board of Directors voted to approve an intergovernmental agreement that will unite the fire districts under one Chief. The Scappoose Fire Board approved the agreement on June 9th. Current Scappoose Fire Chief Mike Greisen will now serve as Acting Chief for both departments, with three Division Chiefs at CRF&R, and two Division Chiefs in Scappoose. All five of those people will oversee assigned duties in both districts. This arrangement is budgeted through the 2016-2016 fiscal year, and will go into effect on July 1.
Posted in Local News | Comments Off on Scappoose/CRF&R Combination
Lower Columbia and Climate ChangeJune 17th, 2016
There's a day-long summit planned today in Vancouver, focused on the possible impacts of climate change on the Lower Columbia River. The Lower Columbia Estuary Partnership is hosting today's event, which will run from 9 am to 3 pm at the Vancouver Hilton. This is the 10th Science to Policy Summit, and they plan to focus on emerging climate change research and the implications for the Lower Columbia and Estuary. Get more information on the Summit web page, as estuarypartnership.org.
Posted in Local News | Comments Off on Lower Columbia and Climate Change
Out of Town StuffJune 17th, 2016
There are a couple of cool things going out of town this weekend; Washington State Parks and Recreation is celebrating the completion of bridged on the Willapa Hills State Park Trail, completing the 56-mile recreation trail between Chehalis and South Bend. A public dedication is planned for tomorrow morning at 10 am, and the Adna Trailhead, about five miles west of Chehalis. Hiking and biking activities are planned after the ceremony.
It's Kids' Fishing Day at Goose Lake on Saturday, going from 10 am to 2 pm at the lake on Forest Road 60 in the Mount Adams Ranger District. Kids 14 and under can participate, with loaner roads, bait and fish-cleaning services provided.
Posted in Local News | Comments Off on Out of Town Stuff
Weekend Events–6/17-19/16June 17th, 2016
There are several book sales in the area this weekend; The Friends of the Kalama Library June Book Sale runs Friday and Saturday from 9 am to 4 pm in the Remax building on N. 1st Avenue in Kalama.
Up in Castle Rock, the Friends of the Library are holding a Book Sale in the back room of the Castle Rock Public Library, going from 11 am to 6 pm on Friday and from 10 am to 3 pm on Saturday. They'll have $2 "clearance bags" available. The Castle Rock Library is located at 137 Cowlitz St. W.
Saturday and Sunday in Woodland, the Friends of the Woodland Community Library will have a Book Sale; hours are 10 am to 4 pm on Saturday and 10 am 'til 2 pm on Sunday. Proceeds support Library activities and construction of a new Library.
Friday afternoon at the Kelso Senior Center, Humana will present the "Senior Health Care-Plus" series, offered from 1 until 2:30 pm. This month's topic will be "Eating Out the Healthy Way.' The program is free and open to all; the Kelso Senior Center is located in the old Catlin Hall in West Kelso, at 108 NW 8th. Call 232-8522 for more information.
There's a Relay for Life Garage Sale planned for Friday, Saturday and Sunday at 2341 36th Avenue in Longview; hours are 9 am to 5 pm Friday and Saturday, and from 10 to 4 on Sunday. They'll also have luminaria bags available, along with all of the cool stuff for sale.
It will be one time that it will be OK to wear your jammies out in public this Friday night at the Triangle Bowl, as Special Olympics Washington puts on a Pajama Bowl event. This will run from 6 to 8 pm on Friday, as a benefit for the local Special Olympics program. Along with the bowling, they'll have door prizes and raffles throughout the night. Call 749-4174 for information.
The community festivals are starting to pick up speed, with the 2016 Winlock Egg Days and the Woodland Planters Day both take place this weekend, running through Sunday. In Winlock, the 5th annual Garage Sale starts on Friday, and the Coronation will be held Friday night. There's a full slate of events, games and fun on Saturday, and the Softball tourney wraps up on Sunday.
The state's oldest continuous community festival happens this weekend in Woodland, with the 94th edition of the Planters Days celebration. There's a carnival at Horseshoe Lake, and all kinds of things going on through the weekend. Ski shows are planned, the 49th annual Frog Jump and a whole lot more.
The St. Helens River Festival returns after a hiatus of several years, with a full schedule of events planned on The Strand Street in the River District of downtown St. Helens. There's a carnival, a beer garden, live music and a local more. All of this takes place in Olde Towne St. Helens.
The annual Longview Rotary Tour de Blast Bicycle Tour takes place on Saturday, the annual bike ride from Toutle Lake High School to Johnston Ridge and back. Organizers say that there are still signups available at the Start Line, which will open at 6:30 am. Get more information on the Tour de Blast Facebook page.
The Columbia Century Challenge will take place this Saturday on the back roads of Columbia County, a biking event that's being put on by Cycle Columbia County. They will be offering Century-plus and a metric Century-plus cycling courses, rolling through timberlands, open farmlands, even a portion of the unpaved Crown-Zellerbach Trail. This event opens at 6 am on Saturday at 265 Strand St. in St. Helens. Go to cyclecolumbiacounty.com for details.
Kids from 2 to 14 years of age are invited to Lake Sacajawea on Saturday morning for the 66th annual Kelso-Longview Elks Fish Frolic. Kids can bring their poles and bait down to Martin's Dock between 8 am and noon on Saturday, where they'll be awarding prizes in multiple age groups and multiple categories. Call 430-2119 for more information.
The "Soup's On" community lunch takes place this Saturday at the Kelso First Baptist Church, with the doors opening at 11:30 am and lunch being served until 1 pm. They'll also have a Clothes Closet open for those who have a need. The Kelso First Baptist Church is located at 214 S. 4th in Kelso.
The Friends of Skamokawa have been presenting a series of six concerts by Wahkiakum area artists as a fundraiser for repainting Redmen Hall; this Saturday, June 18 at 7 p.m., David McKenzie, a folk singer whose subjects include history, nature and friendship.
The Cowlitz County Community Farmers Market is open for its annual run, going from 9 am until 2 pm on Saturdays and Tuesdays through October in the 7th Avenue parking lot across from the Cowlitz County Fairgrounds.
The Winlock Improvement Network and the Winlock Lions are hosting a Farmers Market that will run each Saturday through September 24th, starting this Saturday at the corner of State Route 505 and Highway 603.
There's a Farmer's Market open each Saturday in Clatskanie, going from 10 am until 2 pm at Cope's Park on the Clatskanie River.
Take Dad out to eat at a couple of Father's Day events that are going on. The Kalama Lions are putting on a Father's Day Breakfast on Sunday, running from 8 to 11 am at the Kalama Community Building. Along with French Toast, pancakes, ham, sausage and biscuits and gravy, they'll also have raffles and doors prizes. Kids 3 and younger eat for free.
After breakfast settles, head over to the Rainier Eagles for a lunchtime Father's Day Barbecue, starting at 1 pm on Sunday. They'll be firing up pulled pork sliders, grilled bratwursts, traditional picnic sides and desserts. Call 503-556-2035 tyo get more information.
The Kelso Bridge Market is at a new venue this year, at the Three Rivers Mall. Hours are 10 am to 3 pm on Sunday next to the southwest entry to the Mall.
Posted in Local News | Comments Off on Weekend Events–6/17-19/16
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Latest on Ardeatine massacre »
He Had Got The Shortest Sentence Of One Year In Jail
Hearing on Jheeram valley massacre has been extended to May 16, 2016.
A special SIT court will on Friday pronounce the quantum of sentence for 24 convicts in the Gulberg Society massacre case, in which 69 people were killed, including former Congress MP Ehsan Jafri.
President Barack Obama on Thursday met survivors of the massacre at an Orlando gay nightclub and relatives of the 49 people killed, and said the United States must act to control gun violence and fight what he called homegrown terrorism.
The Supreme Court-appointed SIT, the prosecution agency in the case, supplied to the court details of imprisonment undergone by each of the convicts till date.
The Supreme Court-appointed SIT has sought capital punishment in Gulbarg Society massacre by terming the incident as 'rarest of the rare' case and dubbing convicts as "menace" for the society as they cannot be reformed or rehabilitated.
An Ahmedabad court will pronounce the judgment in the 2002 Gulbarg society communal massacre case amid tight security on Thursday. Ahmedabad was put on high alert ahead of the verdict, which special judge P B Desai will deliver after a trial that has
Ahmedabad, June 17 (IANS) Fourteen years after a mob massacred 69 people at the Gulberg Society here, a court on Friday sentenced 11 of the 24 convicts to life imprisonment.
Burhanpurwala (66) will be only the second resident of the society - the first after the guilty were convicted recently. Qasam Mansuri, who lost 19 members of his family in the massacre, has been living alone at Gulbarg Society.
A special Ahmedabad court, which convicted 24 of the 66 accused in the 2002 post-Godhra Gulberg society riots case, is likely to pronounce the quantum of punishment today.


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Four of family injured in acid attack in UP
Bulandshahr: Four members of a family, including a minor boy, sustained burn injuries when two assailants threw acid on them at their residence in Bhaipura village in the district, police said on Tuesday.
The incident took place last night when the victims, identified as Dayawati (55), her daughters Lali (20) and Babita (18) and son Aman (7) were sleeping at their house, they said.
Among the injured, who have been admitted to government hospital here, Lali has been referred to Meerut for higher treatment.
Meanwhile, Dayawati`s another son Rajkumar has lodged an FIR against one named Jitendar and one of his aide, police said.
He alleged that Rajendra had eve-teased his two sisters last year and following which a case has been registered against him.
He added that the accused has committed the offence in order to take revenge from the family.
Further probes are on, police added.
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Bible contradiction proof + Citations
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It's not really a matter of appearances.
I couldn't care less what you think of me because I believe what the bible says and I believe in JESUS.
From what I can tell, the entire purpose of this thread is to try to make Christians look bad,(and it's a fail.)
There are things that seem to be contradictions, but as a person presses on and studies prayerfully, it comes together.
I know that you don't believe that because you've never done it... as you stated in the original message, (you don't own a bible.)
Perhaps before you make unfounded accusations you would do well to seek and search it out for yourself. It's not just a matter of reading it, it's a heart matter...that's all I will say on that.
Jesus said this:
Matthew 7:13 Enter ye in at the strait gate: for wide is the gate, and broad is the way, that leadeth to destruction, and many there be which go in thereat:
Matthew 7:14 Because strait is the gate, and narrow is the way, which leadeth unto life, and few there be that find it.
Anonymous Coward 1553081
I've been doing my searching.
That's how I've come to the conclusion that there's only a scant few real christians out there who actually practice teh teachings. The rest just want to feel special and they're the problem.
And of course it becomes a bigger problem for everyone when there's confusion about what christianity actually is. If the majority of alleged christians are just the douchebags who want to feel special then all of christianity gets viewed that way. So basically what I've been doing is making observations of people to see what they're really like and what they really believe. And so far I've found that only a scant few "christians" actually are real christians. Same goes for other belief systems. This assumes that a real christian or whatever truly wants goodness for all and all that nice stuff.
So far however most of the christian responses to this thread come from christians who are only christians in name only. Its just more observational data for me and that's all.
How is one a "false christian"? If someone believes in Christ, and believes they are saved by grace through faith, then their faith is what makes them christian, not the works, or lack thereof.
Really ?
Matthew 7:21 Not every one that saith unto me, Lord, Lord, shall enter into the kingdom of heaven; but he that doeth the will of my Father which is in heaven.
22 Many will say to me in that day, Lord, Lord, have we not prophesied in thy name? and in thy name have cast out devils? and in thy name done many wonderful works?
23 And then will I profess unto them, I never knew you: depart from me, ye that work iniquity .
Kinda contradicts these verses , eh ? Its talking about those who call themselves Christians .
Anonymous Coward 12623026
Well, there are christians who believe we are saved by faith alone, and some who think faith is dead without works....so I guess if you are a faith is dead without works christian, there is room for false christians.
Maybe that is what OP meant.
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Main News Page
Monday, May 6, 2013
More items for
Surface Preparation
A hands-on guide to accurately measuring surface profile depth is the latest in an original series of video tutorials presented by KTA-Tator Inc. and produced by PaintSquare.
Narrated by KTA-Tator president Kenneth A. Trimber, How to Measure Surface Profile Depth (5:07) shows the viewer how to use Testex Press-O-Film Replica Tape and a spring micrometer to gain an accurate determination of a surface profile before beginning a coating project.
How to Measure Surface Profile Depth demonstrates use of Testex Press-O-Film Replica Tape and a spring micrometer before beginning a coating project.
The title is the newest addition to Coating Inspection Instruments: A PaintSquare Video Education Series, available exclusively through PaintSquare.com.
The series is co-produced by KTA-Tator and PaintSquare and will be rolled out throughout the rest of this year.
Surface Profile How-to
Determining whether a surface profile is "rough enough or too rough" is important to the quality of the coating job that follows, Trimber notes. The tape itself also creates a permanent record of the profile achieved.
The tape used in the demonstration complies with Method C of ASTM D4417, Standard Test Methods for Field Measurement of Surface Profile of Blast Cleaned Steel.
Trimber discusses the three types of tape available (coarse, extra coarse and extra coarse plus) and when to use which one (or two) for various applications.
The tape in the demonstration complies with Method C of ASTM D4417, Standard Test Methods for Field Measurement of Surface Profile of Blast Cleaned Steel.
The tape is used to create a reverse replica of the surface profile, which is then measured with the spring micrometer. Trimber explains how to apply the tape, obtain the profile, and measure the result with the micrometer.
KTA Inspection Series
The Coating Inspection Instruments series teaches viewers how to work with a variety of instruments to achieve the best project results. All videos are available free in the PaintSquare's Video Learning Center
Previously released in the series are:
Previous titles in Coating Inspection Instruments: A PaintSquare Video Education Series are, from left: How to Measure Wet Film Thickness, How to Measure Dry Film Thickness, and How to Determine Blast Cleanliness.
Future installments focus on the use of:
The series is hosted by Trimber, who has been with KTA since 1968 and has more than 40 years of experience in the industrial painting field. He is a past president of SSPC and chairman of its Commercial Coatings Committee.
Trimber is an SSPC-Certified Protective Coatings Specialist, an SSPC C-3 Supervisor/Competent Person for the Deleading of Industrial Structures, and a NACE-Certified Coatings Inspector Level 3 (Peer Review).
Watch the videos.
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About: EANT Without Structural Optimization is used to learn a policy in either complete or partially observable reinforcement learning domains of continuous state and action space.Changes:
Initial Announcement on mloss.org.
About: The JINSECT toolkit is a Java-based toolkit and library that supports and demonstrates the use of n-gram graphs within Natural Language Processing applications, ranging from summarization and summary evaluation to text classi?cation and indexing.Changes:
About: HDDM is a python toolbox for hierarchical Bayesian parameter estimation of the Drift Diffusion Model (via PyMC). Drift Diffusion Models are used widely in psychology and cognitive neuroscience to study decision making.Changes:
About: dANN is an Artificial Intelligence and Artificial Genetics library targeted at employing conventional techniques as well as acting as a platform for research & development of novel techniques. As new techniques are developed and proven to be effective they will be integrated into the core library. It is currently written in Java, C++, and C#. However only the java version is currently in active development. If you want to obtain a version other than the java version you will need to get it directly from GIT.Changes:
Please get the version in GIT only, the released version is old.
About: This code is provided by Jun Wan. It is used in the Chalearn one-shot learning gesture challenge (round 2). This code includes: bag of features, 3D MoSIFT-based features (i.e. 3D MoSIFT, 3D EMoSIFT and 3D SMoSIFT), and the MFSK feature.Changes:
Initial Announcement on mloss.org.
About: Efficient implementation of penalized multiple logistic regression (aka multi-class) with Mercer kernels, aka MAP approximation to the multi-class Gaussian process model. This includes [...]Changes:
Initial Announcement on mloss.org.
About: a dbms for resonating neural networks. Create and use different types of machine learning algorithms.Changes:
AIML compatible (AIML files can be imported); new 'Grid channel' for developing board games; improved topics editor; new demo project: ALice (from AIML); lots of bug-fixes and speed improvements
About: PALMA computes the optimal spliced alignment of a mRNA sequence to a genomic sequence. The main python script takes two FASTA files containing the target (e.g. a DNA sequence, part of the genome) [...]Changes:
Initial Announcement on mloss.org.
About: JOP is a Java virtual machine implemented in hardware. It is a hard real-time open source multicore processor capable of worst case execution time analysis of Java code.Changes:
Initial Announcement on mloss.org.
About: Stochastic neighbor embedding originally aims at the reconstruction of given distance relations in a low-dimensional Euclidean space. This can be regarded as general approach to multi-dimensional scaling, but the reconstruction is based on the definition of input (and output) neighborhood probability alone. The present implementation also allows for handling dissimilarity or score-induced neighborhood topologies and makes use of quasi 2nd order gradient-based (l-)BFGS optimization.Changes:


text:
Cochin Shipyard to build Rs 960 crore International Ship Repair Facility
"We are seeking necessary approvals for setting up an International Ship Repair Facility at Cochin Shipyard," Shipping Secretary Rajive Kumar said.
Congress a 'sinking ship', says Venkaiah Naidu
Naidu alleged Congress lacks leadership and listed out the names of people who have left the p...
Aircel invests in technologies to build on data business
Witnessing a 167% jump in the 3G subscriber base, Aircel is focussing its energies o...
Congress a 'sinking' ship: Rajnath Singh
Senior BJP leader and Home Minister Rajnath today described Congress as a "sinking ship", saying many people want to leave such a "vessel" as it has no future.
Wartsila bags order to build two vessels for Adani
Wartsila offers important customer support whether future vessels in this series are built in Europe or Asia, we can produce the needed equipment locally.
Panama Canal opens $5 billion locks, bullish despite shipping woes
The decision comes amid a lull in global shipping due to the drop in oil prices, an economic slowdown in China, which is the canal's second-largest customer.
China shaken of US, India, Japan triumvirate: Chinese spy ship sneaks into Japanese territorial waters tracking Indian ships
The ship travelled on a southeasterly bearing and left Japan's territorial waters south of the prefecture's Yakushima Island around 5 AM.
Google tackles challenge of how to build an honest robot
The motivation for the research is the immense popularity of artificial intelligence, software that can learn about the world and act within it.
Indonesia vows more decisive action after Chinese ship spat
China's Foreign Ministry released a statement of protest on Sunday and said the Indonesian navy had "abused its military force."
Pakistan building security gate at Iran border
The decision was taken to increase security after the recent killing of Taliban chief Mullah Mansour who had reportedly entered Balochistan from Iran.
NASA to build quieter, battery-powered airplane
Its goals like the X-57 include demonstrating advanced technologies to reduce fuel use, emissions and noise, and thus accelerate their introduction to the marketplace.
Emerging brands to ship 32.5 million smartphone units this year: CMR study
The report said emerging mobile handset vendors contributed 16% towards the overall smartphone shipments in 2015, growth from a mere 3% contribution in 2013.
China deploys ships to help Vietnam find missing coastguard plane
Thousands of Vietnamese coastguard, border guard, navy, air force and fishermen have been searching for the aircraft and the second pilot.
Australian company, Leighton Asia to build hospitality development project in Mumbai
CIMIC Group Company, Leighton India Contractors, has entered into an agreement to deliver phases two and three of the Maker Maxity project in Mumbai.
Karnataka all set to build one lakh farm ponds
Karnataka has already spent Rs 782 crore, with another Rs 560 crore in the pipeline, on the project which is seen as panacea for farmers in rainfed areas.
Jharkhand CM Raghubar Das seeks Centre's help in building road infra
Asserting that being a land-locked state, Jharkhand requires very good road and rail infrastructure, Das requested the Centre to expedite the projects.
Chinese building materials park in Andhra Pradesh at $6.4 billion
The proposed industrial park would come up at Donakonda in Andhra, providing employment to at least 55,000 persons.
George Lucas gives up on trying to build a legacy museum in Chicago
The museum was meant to be constructed along Chicago's famed lakefront in a spot that's currently a parking lot.
Nokia to build China Mobile's cloud network
It "strengthens Nokia's position as a leading provider of next-generation technologies in China," said Nokia's Mike Wang who leads operations in China.
Coastal shipping of commodities to save Rs 40,000 crore/year: Government
Citing an example, it said up to 100-150 MT of coal can be moved from the east coast to coastal power plants in Andhra Pradesh, Tamil Nadu and Karnataka.
Sastra Robotics - building robots one limb at a time
During its R&D phase, the team was approached by Bosch to build an automated device-testing robot for touchscreen devices, Aronin said.
Airbus finalises deal to build helicopter plant in China
Les Echos reported the contract was worth about 1 billion euros ($1.13 billion), of which 700 million was for the helicopters, the rest for the factory.
Bill on rural building plan sanction to be tabled soon in Bengal
As per the existing law, the Panchayat can clear plans for two storied houses, the Panchayat Samiti can clear plans for three storied houses.
Amazon India builds 'big' web lead over Flipkart
Amazon had an average monthly user visit of around 180 million, far ahead of Flipkart's 120 million.
Korean coast guard ship 3009 arrives for joint exercise
Korean coast guard ship 3009 arrived in the Chennai port to take part in the Fifth Indo-Korea Joint Exercise to be held on June 10.
Four lakh wearables shipped in India during Jan-Mar: IDC
Xiaomi's Mi Band accounted for the largest share of the shipment at 27.12 per cent, followed by Goqii at 18.07 per cent and FitBit 6.23 per cent.
Nalin Sharma to lead build-out of Ecoppia's Asian operations
The announcement follows a recently signed partnership agreement with Fortune 500 OEM Sanmina Corporation to produce up to a GW worth of robots at a new facility in southern India.
Yoga posture lights up UN building ahead of International Yoga Day
The image of a yoga posture was projected onto the UN headquarters here as the world body geared up to host the second International Day of Yoga tomorrow.
Toyota to build artificial intelligence-based driving systems in 5 years
Toyota Motor Corp is targeting developing in the next five years driver assistance systems that integrate artificial intelligence (AI) to improve vehicle safety.
Alibaba starts building team for India foray
Alibaba reported an annual gross merchandise volume (GMV) of $485 billion in its China marketplace for the fiscal year ended March 2016.
Microrobots to help build better drones
Inspired by nature, scientists have developed a new type of flying microrobots called 'RoboBees' which can perch during flight like bats.
World's biggest cruise ship Harmony of the Seas docks in Spain
The world's biggest cruise ship has arrived in Barcelona, which it will use as its summer base for Mediterranean journeys.
Shipping union opposed to foreign sailors on Indian ships
"NUSI is strongly opposed to the move by Indian ship owners to employ foreign seafarers on Indian ships," said its general secretary Abdulgani Serang.
Silicon Valley's latest startup offering is to build a whole city
Among other things, the project aims to develop ways to reduce housing expenses by 90 percent and to develop a city code of laws simple enough to fit on 100 pages of text.
Over 15.8 mn LTE devices shipped in Q1 in India, says report
While every emerging device brand in India prefers smartphones for obvious potential growth reasons, there is number of brands shipping tablets and data cards in decline.
Maharashtra government decides to use plastic waste in building roads
In the beginning, municipal corporations with a population of over 5 lakh and municipal councils that have a population of over 2 lakh will be asked to include plastic waste for building roads.
Maharashtra government decides to use plastic waste in building roads
"For every 100 kg of tar used to build asphalt roads, 3 to 6 kg of plastic will be mixed in it," a Public Works Department official said.
Hyundai looking for new partner to bid for building LNG ships for GAIL
L&T broke ties with Hyundai to focus on more lucrative defence sector business. Hyundai Heavy Industries is scouting for a new local partner to replace L&T.
Silicon Valley's latest startup offering is to build a whole city
Among other things, the project aims to develop ways to reduce housing expenses by 90 percent and to develop a city code of laws simple enough to fit on 100 pages of text.
ISB to conduct capacity-building workshop for MLAs of Andhra Pradesh
"The programme will be a two-day highly competitive module which aims to provide a learning platform for MLAs ," a release from the Speaker's office said here.
Use this period to build the portfolio you want: Nilesh Shah, MD & CEO, Envision Capital
Significantly higher returns could come in from tier II, tier III IT companies with specialised and niche offerings and pharma could become market beater in 12-18 months's time.
Malabar 2016: Chinese spy ship shadows Indian, US, Japanese naval drill in the Western Pacific
Beijing views access to the Pacific as vital both as a supply line to the rest of the world's oceans and for the projection of its naval power.
Empire State Building goes dark in memory of Orlando shooting victims
The symbolic move came as the US mourned the 50 victims of the worst mass shooting in modern US history, gunned down at a gay club in the Florida city.
Maersk Group plans to break ships at Alang Yard
"The Maersk Group's policy is to only recycle ships responsibly. Until recently, this was only feasible in a limited number of yards in China and Turkey," the company said.
China says more talks needed to build consensus on nuclear export club
The NSG aims to prevent the proliferation of nuclear weapons by restricting the sale of items that can be used to make those arms.
World's biggest cruise ship set for delivery in France
At 66 metres (217 feet), it is the widest cruise ship ever built, while its 362-metre length makes it 50 metres longer than the height of the Eiffel Tower.
RBI building forex chest to defuse FCNR time bomb?
This assumes significance, especially at a time when Swamy has accused the Rajan of planting a time bomb in the form of FCNR(B) deposits.


text:
The airline launched a new service from Madrid to Shanghai, and its winter 2016 schedule will offer 10 flights per week from London Heathrow to the Chinese city, an increase of three flights per week compared to its winter 2015 schedule.
Industry leader Maersk Line, along with MSC and 13 other container lines, might not be subject to further penalties stemming from a five-year European Commission probe, according to a report from Reuters news service.
The Ocean Carrier Equipment Management Association said that a key benefit of the terminal weighing approach is that shippers will not be required to perform any additional actions in order to provide the verified gross mass of containers.
Registration takes less than 1 minute.
SEKO Logistics appoints VP of network development, while Kuehne + Nagel's global air freight head steps down and Inchcape Shipping Services names VP of North American operations.
Continued weighing at port facilities might provide a convenient way for exporters to comply with the upcoming International Maritime Organization verified gross mass container weight regulations due to go into effect at the beginning of next month.


text:
Marunouchi office buildings
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**NEW MIXTAPE** By Wavy B - "Who Not Wavy?" Presented By MLT Entertainment
From Brooklyn New York comes the artist Wavy B back again with his newest full length project entitled "Who Not Wavy?" which is a 13 track project of Wavy B, the Brooklyn natives best work and most versatile project as a whole showing his different styles in R&B, Reggae and more dope type joints like "All My Life" featuring Rico Savage which is a relatable song that people and listeners can hear and recollect on all that THEY have been through in their lives, everyone has a story. Check out…See More


text:
QuadTech appoints new agent in Thailand
Agent allows customers to import systems in local currency
// TODO Move to template.php ?>
MacDermid Printing Solutions has announced a global price increase of three to seven percent on its photopolymer products. This increase will be effective June 1, 2013.
In a statement, the company said: 'Raw material and energy costs have risen drastically since 2007. MacDermid continues to pursue manufacturing productivity improvements and cost reduction initiatives to offset these higher costs. MacDermid's sales representatives will soon contact customers to discuss the details of the price increase.'
Click here for more stories about MacDermid on labelsandlabeling.com.
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Tyler Price
Greenbaum, Gruber and Lininger Named Daktronics-NAIA Scholar-Athletes
BALDWIN CITY, Kan. – The Baker University baseball team landed three Wildcats on the 2016 Daktronics-NAIA Scholar-Athlete award list, announced by the national office.
Softball Announces Class for 2016-17 Season
BALDWIN CITY, Kan. – Baker University head softball coach Jamie Stanclift is excited to announce the signing of 10 future Wildcats and will welcome them in the 2017 season.
Volleyball Program to Host Youth/High School Camp June 27-29
BALDWIN CITY, Kan. – Under the direction of newly hired Baker University head volleyball coach Matt Windle, the volleyball program will host a Youth Skills and High School Advanced Camp from June 27-29 inside the Collins Center.
Joe Ahmadian to Resign as Head Tennis Coach
BALDWIN CITY, Kan. – Baker University head men's and women's tennis coach Joe Ahmadian has announced his resignation from his position, released on Wednesday.
Sloane Brady, Elizabeth Stover Named Scholar-Athletes
BALDWIN CITY, Kan. – Two members of the Baker University softball team were named 2016 Daktronics-NAIA Scholar-Athletes for their work in the classroom, announced this week.
Baker University's Lindsey Mateer Named 2016 CoSIDA Academic All-American
BALDWIN CITY, Kan. – Baker University senior women's golfer Lindsey Mateer made history on Monday, as she became just the fifth athlete in Baker Athletics history to be named a 2016 CoSIDA Academic All-American, earning a spot on the College Division Women's At-Large Team, as selected by the College Sports Information Directors of America (CoSIDA).
Chad Phillips Named Daktronics-NAIA Scholar-Athlete
BALDWIN CITY, Kan. – Baker University junior golfer Chad Phillips was named one of 147 men's golfers from around the NAIA a 2016 Daktronics-NAIA Scholar-Athlete, announced on Monday.
Baker Track Garners Four NAIA Scholar-Athletes
BALDWIN CITY, Kan. – The Baker University men's and women's outdoor and indoor track and field programs garnered four 2016 Daktronics-NAIA Scholar-Athletes, announced this week.
Baker Earns All-America Honors in Three Events at Outdoor Nationals
BALDWIN CITY, Kan. – 14 members of the Baker University men's and women's outdoor track & field team competed in the 2016 NAIA Outdoor Track & Field National Championships this weekend at the Mickey Miller Blackwell Stadium in Gulf Shores, Alabama.
Ryan Pitts Selected USTFCCA Regional Coach of the Year
BALDWIN CITY, Kan. – Baker University head track & field coach Ryan Pitts has been named to the 2016 U.S. Track & Field and Cross Country Coaches Association (USTFCCCA) Men's Outdoor Track & Field South Central Region Coach of the Year.
- Four Wildcats Named to All-Conference Team
- Volleyball Ends Season in First Round of Heart Tournament
- Volleyball Sends Seniors Off with Victory over Avila
- Volleyball Earns Road Win at CMU
- Baker Volleyball Upsets No. 1 ranked Viterbo University
- No. 25 Grand View Ends Baker's Heart Winning Streak
- Baker Captures Third-Straight Heart Win
- Baker Wins Second-Straight Heart Match


text:
|Publication number
|Publication type
|Application number
|Publication date
|Apr 10, 1990
|Filing date
|Jan 12, 1988
|Priority date
|Jan 13, 1987
|Fee status
|Also published as
|Publication number
|Shinichi Sarugaku, Yasunori Shimura
|Original Assignee
|Hitachi, Ltd., Hitachi Keiyo Engineering Co., Ltd.
|Export Citation
|BiBTeX, EndNote, RefMan
|Patent Citations (8), Referenced by (23), Classifications (22), Legal Events (6)
|External Links: USPTO, USPTO Assignment, Espacenet
The present invention relates to a method of and an apparatus for controlling the work performed by an automatic work processing apparatus, and in particular, to a method of and an apparatus for controlling the of automatic work processing effected by use of robot.
With the development of automation of work processing, there has been broadly utilized a work processing in which an industrial robot is employed in various work processing fields. Welding is an example of such a work processing.
Incidentally, when perfroming the automatic welding, quality control becomes a problem in the weld processing. Various methods have already been proposed to solve this problem.
For example, the Japanese Patent Publication No. JP-B-52-10773 proposes a method wherein the position of a welding torch is controlled to weave to the right and to the left with respect to a welding path such that the same welding states appear at the right and left ends of the weaving motion, thereby attaining a satisfactory quality of the welding work. According to this method, a shift of the position of a work or workpiece as an object of the welding is allowed to some extent so as to keep the desired welding quality; however, considerations have not been given to a case where a gap exists between workpieces and to a case where the value of the welding current varies due to some external disturbance.
In addition, U.S. Pat. No. 4567347 discloses a method in which a form of an opening end of a workpiece is detected by use of a laser light so as to control a welding torch. According to this method, a shift of a position of the workpiece and a change of a gap can be coped with by modifying the processing to be achieved after the detection of the form of the opening end, which enables a satisfactory welding quality to be attained.
Considerations have not been given to cases where the final bead appearance, namely, the weld result deteriorates due to a change in the thickness of a plate associated with a fluctuation in the precision of parts or because of a variation in the welding current and/or voltage associated with an external disturbance.
The welding phenomenon is quite complex and there exist many parameters that effect the welding quality such as welding speed, a welding attitude or position, a welding current, a welding voltage, a wire supply speed, a welding power characteristic, a shield gas, a wire radius, a wire kind, a dynamic characteristic of an automatic welding machine, a plate thickness of a workpiece, a material quality of a workpiece, a shape of a joint, and a precision of the work processing apparatus.
It is therefore an object of the present invention to provide a method of and an apparatus for controlling the work quality that is capable of maintaining satisfactory work quality for any work processing performed including welding regardless of possible external disturbances which may take place in the work processing.
The object above can be achieved by evaluating the result of the work processing based on the appearance of the processed portion of a workpiece so as to reflect the evaluation result onto the control of the work processing.
In performing work processing such as welding, the appearance of the finished workpiece is considerably influenced by whether or not the work processing has been appropriately performed ; consequently, the work processing can be evaluated by checking the appearance of the finished portion. If the finished portion, immediately after the work processing is performed is subjected to image processing in realtime, the result of the work processing can be fed back to the control of the work processing apparatus, which enables the attainment of optimal processing results for all situations.
The present invention will be apparent from the following detailed description taken in conjunction with the accompanying drawings in which:
FIG. 1 is a perspective view schematically showing the neighborhood of a working section in an embodiment according to the present invention;
FIG. 2 is a configuration diagram schematically illustrating an overall configuration of the embodiment according to the present invention;
FIG. 3 is a schematic block diagram depicting a sensor control section;
FIG. 4 is a block diagram schematically showing a robot control section;
FIGS. 5A-5B and 6 are flowcharts useful to explain the welding operation;
FIGS. 7-11 are explanatory diagrams useful to explain optical cut-away images for respective evaluations.
FIG. 12 is a perspective view showing the neighborhood of a working section according to another embodiment of the present invention;
FIG. 13 is a schematic block diagram depicting a sensor control section of the embodiment of FIG. 12;
FIG. 14 is a flowchart useful to explain the welding operation of the apparatus of FIG. 12;
FIG. 15 is a perspective view illustrating the neighborhood of a working section in a further embodiment according to the present invention;
FIG. 16 is an explanatory diagram useful to explain an optical cut-away image;
FIG. 17 is a flowchart useful to explain the welding operation; and
FIGS. 18-21 are explanatory diagrams useful to explain optical cut-away images, respectively.
Referring now to embodiments, description will be given in detail of the method of and the apparatus for controlling the work quality according to the present invention.
FIGS. 1-11 concern an embodiment according to the present invention. In this embodiment, the present invention is applied to a welding robot of a teaching/playback system and an arc welding method is employed as the welding method. In the drawings, FIG. 2 shows the overall configuration including a body of a robot 1 that is driven by five servo motors.
Reference numeral 11 designates a robot controller including therein a CPU board for controlling the robot, a CPU board for controlling sensors, and a power control unit for driving the servo motors. In the upper section of the apparatus, there are disposed a CRT for displaying data, various switches for operations such as operations to start and stop the apparatus, and an operator's panel for inputting data indicating a target welding quality.
Reference numeral 46 is a teaching box (T. BOX) used for teaching a robot in a robot work teaching operation.
Furthermore, the apparatus comprises a welding machine 2, a wire supply unit 3, and a wire transfer unit 7, which each are operated by instructions issued from the robot control unit 11.
The apparatus further comprises a welding torch 4, a work or workpiece 10, and a board 9 on which the work 10 is to be located.
Moreover, the apparatus includes a unit emitting a laser slit light 5a, a light receiving unit 6a for receiving reflected light from the light emitted from the light emitting unit 5a that is projected onto the work 10, and a control unit 8 for these components. In FIG. 2, although the light emitting section 5a and the light receiving section 6a are arranged side by side from upper left to lower right, this arrangement is shown only to illustrate the light emitting section 5a and the light receiving section 6a. In an actual arrangement, the light emitting section 5a, the light receiving section 6a, and the welding torch 4 are disposed along a line perpendicular to the surface of the drawing sheet.
FIG. 3 is a block diagram showing the respective components centered on a sensor control unit 11-1 located in the robot controller 11. This configuration includes a central processing unit (CPU) 12 to effect processing related to the sensors and feedback processing.
Reference numeral 13 is a read-only memory (ROM) in which a program indicating a processing procedure to be executed by the CPU 12 is stored.
Reference numeral 14 is a random access memory (RAM) for storing data such as an intermediate result of the processing of the CPU 12.
Reference numeral 15 indicates a dual port RAM (DP-RAM) which is accessible from the CPU of the robot controller and the CPU of the sensor controller. Information is communicated between the sensor section and the robot section through the DP-RAM 15.
Reference numeral 17 denotes an I/O port which sends in response to an instruction from the CPU 12 a laser emission instruct signal to a laser emitter 22.
Reference numeral 18 is an imaging control section which sends an instruction to the bus changeover unit 21 in response to an indication of an imaging operation from the CPU 12 so as to disconnect an image memory 16 from an internal bus 24a and then to connect the image memory 16 to an image bus 24b. Thereafter, a synchronous signal is fed to a television (TV) camera 23 and an A/D conversion instruct signal synchronized with the synchronous signal is delivered to an A/D converter 19.
The image signal digitized by the A/D converter 19 is stored in the image memory 16 at an address specified by the DMA control unit 20. Incidentally, this operation is effected for the signals equivalent to a screen, namely, the pertinent image is stored in the image memory 16.
Reference numeral 22 denotes a laser emitter and is contained in the control unit 8 together with the TV camera. A laser light emitted from this laser emitter 22 is transmitted via a light guide 51 to the light emitting section 5a. The light emitting section 5a includes a slit lens and hence a slit laser light is irradiated onto a portion where a molten metal pool is solidified or desirably where a molten metal pool has just solidified. The light is incident to a portion where the molten metal pool is considered to have just been solidified and hence is shaped into a form corresponding to a bead shape. As a result, the light associated with the image is collected by the lens of the light receiving section 6a and is then sent through an image guide 50 made of a glass fiber to the TV camera 23. Incidentally, this method is employed because a high temperature and a high electromagnetic noise are developed in the proximity of the welding torch 4.
FIG. 4 is a block diagram showing the control of the body of the robot in which reference numeral 11-2 indicates a robot control unit stored in the robot controller 11 of FIG. 2.
Reference numeral 26 indicates a CPU-A which primarily executes an operation control of the robot.
Reference numeral 27 designates a CPU-B to mainly effect processing associated with the man-machine interface.
Reference numeral 28 is a common RAM employed as a work area for information exchange and computation of the CPU-A and the CPU-B 27.
Reference numeral 29 denotes RAM-A in which a program of a processing procedure of the CPU-A 26 is stored.
Reference numeral 30 denotes RAM-B in which a program of a processing procedure of the CPU-B 27 is stored.
Reference numeral 31 is ROM to store therein a processing program which effects an initialize processing when the power is turned on to load a program from a bubble memory 40 into the RAM-A 29 and the RAM-B 30. Incidentally, the bubble memory 40 is a non-volatile external storage for storing a program and data which must not be lost even when the power is turned off.
Reference numeral 32 indicates an interface for the welding machine and operates to communicate instructions associated with a wire supply speed, a voltage, and an arc ON for the welding machine.
Reference numeral 33 is an LSI for communications. It functions as an interface between the CPU-B and the teaching box 46, the operator's panel 36, and the CRT controller 34. Incidentally, as described above, the teaching box 46 can be used for teaching the robot. The operator's panel is disposed to effect mode change-over operations for the start, stop, teaching, and playback of the robot operation and to input data indicating a target welding quality. The CRT controller 34 enables the display of various the information on the CRT 35 based on information sent from the communication LSI 33.
The servo controller 38 controls, according to data fed from the CPU-A, the respective servo motors M1 --M5 designated as 41-45, respectively.
As described above, in the embodiment, when the robot is operated in the teaching and playback system, namely, when a sensor control is specified by a teaching operation, a control program related to the sensor circuit is initiated.
FIG. 5A is a flowchart of operations associated with a teaching mode 501 and a playback mode 502. Mode 503 is selected according to the switch on operator's panel 36. A work condition and a route of the robot are instructed in the teaching mode 501.
Next, referring now to FIG. 5B showing the operation in the playback mode 502, description will be given of operations centered on the sensors and related components.
FIG. 5B is a flowchart showing the contents of CPU 12 described in conjunction with FIG. 3. When the processing is started, a processing step 500 waits for a specification of a sensor control.
In this situation, the specification of a sensor control is fed from the robot controller 11-2. If the sensor control specification is present, a processing step 510 initiates an emission of laser light. A processing step 520 effects an image processing for the emitted laser light. A processing step 530 judges the result of the image processing of the processing step 530 and then a processing step 540 reflects the image processing result onto the side of the robot (including the welding machine). These three processing steps will be described in more detail later in this text.
A processing step 550 judges whether or not the sensor control is specified. If this is the case, the processing is repeated beginning from the processing step 520; otherwise, a processing step 560 turns the laser light off and passes control to the processing step 500, where the system waits for another sensor control specification.
Next, a description will be given of operation in the primary sections, for example, the image processing.
FIG. 1 shows a state in the proximity of the welding torch 4 when a laser beam is irradiated from the laser emitting section 5a. Namely, the light emitting section 5a includes a slit lens as described above and hence a slit light is emitted therefrom. The slit light thus emitted is radiated onto the welding bead portion 101 and the work 10 and then forms a line 100a (a slit light image) reflecting the external shape or contour of the welding bead portion 101.
When the optical cut-away image is viewed from a direction inclined with respect thereto by means of a lens of the light receiving section 6a, the image is seen as an image indicated by reference numeral 100b in FIG. 7, where portions a are surfaces of the work 10 and a portion b corresponds to the outer shape of the welding bead portion. Incidentally, although omitted in FIG. 7, since image data actually attained from the TV camera 23 contains noise, as shown in FIG. 6, after an image is shot by the TV camera 23 in a processing step 60, a processing step 61 first removes the noise, and a processing step 62 searches for bright portions in the screen so as to connect the obtained portions to extract a line 100b of FIG. 7. In a processing step 63 of FIG. 6, the evaluated amounts of the line 100b are calculated, where the evaluated amounts include the following items shown in FIG. 7.
y: Reinforcement
n: Throat depth
l1, l2 : Left and right leg lengths
u1, u2 : Left and right undercut
Moreover, although not shown in FIG. 7, there exists a phenomenon of an overlap (O1, O2) of which the values are outputted in millimeters. Incidentally, these amounts conform to the reference associated with the judgement of the weld appearance assigned to the ordinary welding work.
Returning now to FIG. 5, when the processing above is accomplished by the processing step 520, the next processing 530 judges the result of the welding operation.
The operator, in this situation, beforehand inputs from the operator's panel 36 (FIG. 4) correction rules to be applied when an abnormality appears in the error allowances of the respective reference values and the obtained values. In this embodiment, the following reference values and rules are employed.
Y0 =1 mm (reference)�0.3 mm (allowable error)
n0 =7.5 mm (reference)�0.5 mm (allowable error)
l0 =6 mm (reference)�1 mm (allowable error)
u0 =0 mm (reference)�0.1 mm (allowable error)
o0 =0 mm (reference)�0.1 mm (allowable error) Group of rules
If there exists a great reinforcement, then lower welding current is provided.
If there exists a small reinforcement, then the welding current is increased.
If there exists a great throat depth, then the welding speed is increased.
If there exists a small throat depth, then the welding speed is decreased.
If there exists a large value of an average of the leg lengths, then the welding speed is increased.
If there exists a small value of an average of the leg lengths, then the welding speed is decreased.
If the left leg is lower than the right leg, then the target position is shifted to the right.
If the left leg is shorter than the right leg, then the target position is shifted to the left.
If there exists a great undercut, then lower welding voltage is provided.
If there exists a great overlap, then the welding voltage is increased.
In short, five reference values and six rules apply to this welding work; however, another arbitrary combination of rules may also be employed. These values are beforehand stored in the DP-RAM 15 by means of the CPU-B 27.
As a result, if the line 100B is drawn, for example, as shown in FIG. 8, since the values are within the allowable error ranges of the respective reference values, the processing step 540 of FIG. 5 does not any information to the robot control unit.
On the other hand, when the line 100b is attained as shown in FIG. 9, l1 >l2 and both of l1 and l2 are out of the allowable error range, Article 2 of the rule 4 is applied such that an instruction is issued to the robot to shift the target position to the left.
Furthermore, in a case of FIG. 10, since the average value of l1 and l2 is smaller than 6 mm and is out of the allowable error range, Article 2 of the rule 3 is applied so as to issue an instruction to the side of the robot to reduce the welding speed.
In a case of FIG. 11, an overlap has appeared (θ2 >0.1) and hence the rule 6 is selected and an instruction is sent via the robot control unit to the welding machine to increase the voltage.
Consequently, according to the embodiment above, in both cases of FIGS. 9-10, the causes of the phenomena need not be confimed, namely, there is obtained an effect that a satisfactory welding result is attained in any cases without changing the pertinent condition.
Moreover, since the operator can arbitrarily set various rules, for example, in an application where an operation to minimize the welding time takes precedence, there is attained an effect that the condition can be processed by changing Article 2 of the rule 2 to "Increase the welding current" or "Raise the torch".
Incidentally, the evaluation result may only be recorded, i.e. the resultant data is not outputted to the side of the robot. In this case, it is natural that the recorded evaluation result data can be used in an inspection process of the welding result.
FIGS. 12-14 are diagrams showing another embodiment according to the present invention, which is different from the embodiment described above in that a light emitting section 5b and a light receiving section 6b are also arranged before the welding torch 4. The light emitting section 5b and the light receiving section 6b are utilized to detect a position to which the torch 4 is moved.
A light is irradiated from the light emitting section 5b onto a portion surrounding a location to be welded and then a reflection of the light thereof is received by the light receiving section 6b so as to determine an accurate position to be welded. Since the technology of this kind has already been dislosed in JP-B-50-33874, a detailed description will not be given in this text.
Incidentally, a laser emitter and a TV camera are expensive; consequently, in the embodiment of FIG. 13, a beam splitter 22a is disposed between a laser emitter 22 and the light emitting sections 5a-5b and an imaging change-over switch 23a is arranged between a TV camera 23 and the light receiving sections 6a-6b. In addition, in a case where a sensor control specification is detected to be present as a result of the judgement in the step 500 as shown in FIG. 14, step 510 turns the laser beam on, step 570 obtains an image in the neighborhood of a location to which the torch is to be moved by means of the light emitting section 5b and the light receiving section 6b, step 580 decides a route to be taken, and step 590 reflects the results of the decision onto the route control of the robot. The subsequent operations are effected as shown in FIG. 5B, namely, steps 520, 530, 540, and 550 are executed and then control proceeds to step 560 or 570. Consequently, the TV camera is accordingly utilized in a time sharing fashion.
Next, a description will be given of the embodiment of FIGS. 15-21 of the present invention wherein a sealing agent is applied to a workpiece for a sealing purpose.
Also in this embodiment, like in the embodiment above for the welding work, a robot operating in the teaching/playback system is employed to apply a sealing agent in which, as shown in FIG. 15, a nozzle 70 for ejecting a sealing agent is used to apply a sealer 201 so as to form a predetermined shape in a predetermined location of a work 10. For this purpose, in place of the torch 4 in the case of the embodiment described above in conjunction with FIGS. 1-11, there is disposed the nozzle 70. As a result, although not shown in the diagram, units such as a pump to supply the sealing agent to the nozzle 70 are arranged in place of the welding machine 2 and the wire supply unit 3. The other components are not changed. Incidentally, in the configuration of FIG. 15, reference numeral 200a represents a line or a slit light image formed by a laser beam irradiated from the light emitting section 5 onto the sealer 201 (the bead of the sealing agent ejected from the nozzle 70 on the surface of the work 10).
Incidentally, since the sealing work (to coat the sealing agent) of this embodiment is accomplished for a purpose of waterproofing, evaluations such as "the sealer is not coated" or "the amount of sealer applied is insufficient" is important with respect to the evaluation references of the result of the sealing work.
On the other hand, the sealing agent employed must have a high viscosity, which is however changed with a variation in the temperature of the sealing agent.
Consequently, even if the sealing agent is supplied to the nozzle 70 under a constant pressure, the amount of the sealing agent ejected from the nozzle 70 varies depending on the temperature change associated with the seasons.
As a result, it is quite important to cope with such a change of the ejected sealing agent and to form a predetermined shape of the sealer with a high stability for all cases.
On the other hand, the position where the sealer 201 is formed may not need to be so accurately determined as compared with the case of the welding work.
Based on the considerations above, the operation of the embodiment of FIG. 15 will be described.
First, the robot control and the image processing are almost identical to those of the embodiment of the welding work described in conjunction with FIGS. 1-11. There exist, however, points of difference, namely, the welding result judgement processing step 530 of FIG. 5B is replaced with a sealing result judgement processing step and the contents of the evaluation amounts to be calculated are different from the computation of the evaluation amounts of the processing step 63 of FIG. 6. In addition, as another difference, since the sealing work can be achieved in general at a high speed as compared with the welding work, the overall processing speed is also devised to be increased in association with this condition.
In the processing of FIG. 6, after the line image of the processing step 62, the calculation processing 63 of the evaluation amounts is effected to calculate the following values.
l: Distance from a wall surface to a sealer end
b: Width of sealer
y: Height of sealer
Incidentally, these items are indicated as shown in FIG. 16 by means of the slit light image of the line 200a (FIG. 15), where reference numeral 200b denotes the slit light image.
Referring next to FIG. 17, a description will be given of the judgement processing of the sealing result in this embodiment.
The processing of FIG. 17 is executed in place of the processing step 530 of FIG. 5B. First, a processing step 141 is effected to attain an average sealer radius as follows.
Next,a processing step 142 compares the average sealer radius r with the reference sealer radius r0. If the sealer radius r is greater than the reference value r0 at least by the allowable error Δr, a processing step 143 is achieved to increase the sealing speed (the moving speed of the nozzle 70) by Δv; on the other hand, if the value r is less than r0 -Δr, a processing step 144 is executed to decrease the sealing speed by Δv. In a case of r=0, since this condition means that the sealing agent is not ejected from the nozzle 70, a processing step 148 displays an error and then a processing step 149 stops the robot.
Consequently, no action is taken if the value r is within the allowable error range of the value r0.
Next, in the processing step 145, the central position of the sealer 201 is attained as follows. ##EQU1##
Thereafter, the processing step 146 calculates a deviation Δx from the target position x0 of the central position x and the processing step 147 then shifts the target position (route) of the nozzle 70 according to the value of Δx (i.e. the value is multiplied by a preset constant and the resultant value is supplied to the robot).
Referring next to FIGS. 18-21, a concrete example will be described.
First, in FIG. 18, the sealing agent is not coated and hence an error occurs, which causes the robot to stop the operation thereof. Next, in FIG. 19, the position of the sealer is dislocated and consequently a positional correction is achieved toward the right.
Moreover, in FIG. 20, the radius of the sealer is excessive and hence the sealing speed is increased. Incidentally, in this situation, the amount of the sealing agent supplied may also be reduced in place of the operation to increase the sealing speed.
Finally, FIG. 21 shows a case where the radius of the sealer is too small. The sealing speed here is lowered. Also in this case, the amount of the sealing agent supplied may be increased.
As described above, according to the present embodiment, there can be accomplished a satisfactory sealing operation under any conditions.
Incidentally, although an error is assumed to stop the robot when the sealing agent is not coated in this embodiment, it is naturally possible to retrace the route of the sealing operation so as to effect the sealing operation beginning from a location where the normal sealer is found.
Furthermore, in the embodiment above, although the width b and height y of the sealer (FIG. 16) are employed to evaluate the seam, this is achieved to increase the processing speed; consequently, if the condition of the processing speed is not critical, it is of course desirable to calculate a cross-sectional area S of the sealer as the evaluation amount.
Incidentally, in these embodiments, although an imaging operation is accomplished on a work processing portion by means of a slit light, this is effected to facilitate the processing of image data. As a consequence, in a case where the image data processing is not critically restricted or where a high-speed processing is possible, it is natural that a general illumination light may also be utilized in place of the slit light.
While the present invention has been described with reference to the particular illustrative embodiments, it is not restricted by those embodiments but only by the appended claims. It is to be appreciated that those skilled in the art can change and modify the embodiments without departing from the scope and spirit of the present invention.
|Cited Patent
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|Mitsubishi Electric Corp
|Automatisches schweissgeraet zur korrektur einer veraenderlichen fugenweite
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|Applied Research, Inc.
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|U.S. Classification
|219/124.34, 901/42, 901/47, 219/130.21
|International Classification
|Cooperative Classification
|European Classification
|Jan 12, 1988
Owner name: HITACHI, LTD., 6, KANDA SURUGADAI 4-CHOME, CHIYODA
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST.;ASSIGNORS:SARUGAKU, SHINICHI;SHIMURA, YASUNORI;REEL/FRAME:004822/0073
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Owner name: HITACHI KEIYO ENGINEERING CO., LTD., 1-1, HIGASHIN
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST.;ASSIGNORS:SARUGAKU, SHINICHI;SHIMURA, YASUNORI;REEL/FRAME:004822/0073
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Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:SARUGAKU, SHINICHI;SHIMURA, YASUNORI;REEL/FRAME:004822/0073
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Owner name: HITACHI KEIYO ENGINEERING CO., LTD., A CORP. OF JA
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:SARUGAKU, SHINICHI;SHIMURA, YASUNORI;REEL/FRAME:004822/0073
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|Nov 16, 1993
|Maintenance fee reminder mailed
|Jan 28, 1994
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|Jan 28, 1994
|Fee payment
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Year of fee payment: 8
|Oct 3, 2001
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Year of fee payment: 12


text:
The Legend Of The White House Fox Is Very Real & Very Cute
A real-life version of Wes Anderson's Fantastic Mr. Fox is playing out at 1600 Pennsylvania Avenue. The legend of The White House fox first emerged during the government shutdown, when it was reportedly picking through Michelle Obama's personal garden. We presume it was to gather some lovely magenta Petunias for his upcoming anniversary with Mrs. Fox. Nevertheless, those are the first lady's flowers, so paws off!
Well, it appears that despite the extensive resources at The White House's disposal, it has been unable to apprehend the furry culprit who has had his way with the historic grounds. The fox has tripped off alarms in the middle of the night, peed where he pleases, and run amok the way foxes are known to do. And, today was his official coming out party, as The Wall Street Journal gave the elusive animal the front-page treatment. Unfortunately, if Mr. Fox's ultimate goal is to be adopted by the Obamas, infiltrate the administration, and take over the world, he's out of luck. They already have pets. (NY Mag)
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Tatoeba needs help to re-design the website to be mobile-friendly! If you have experience in UI/UX design, please contact Trang at firstname.lastname@example.com.
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