Image mosaicing based condition monitoring approach for multi robots at production lines in industrial autonomy systems

In today industry, manufacturing become big and serial as it never been before thanks to the autonomy robots. Hitches on such autonomy systems used in industrial production may cause production delaying. In this study, it is aimed to obtain alive bird's eye view map of full system in order to monitor manufacturing robots at production facilities that are big and impossible to be monitored with only one camera. Finding the similar scenes of input images, estimation of homography, warping and blending operations are applied respectively in order to mosaic the images by twos. Thus the robots in the facility can be observed in one screen. With observation of the obtained images, faults on cyber-physical systems that may cause damage in machines which are not cheap can be handled beforetime

A comparison of nonstationary fuzzy logic for cyber-physical systems

The popularity of cyber-physical systems, which has a wide application area from military to medicine, is increasing day by day. It is practice and common to implement control algorithms such as fuzzy logic in the cyber layer in these systems where the cyber and physical layers are separate. Reliability and consistency are very important for cyberphysical systems, which is often used in large and critical jobs. Uncertainties, which is hard to be modelled, are the greatest threat to the consistency of a system. Type 2 fuzzy logic is a method developed to deal with uncertainties in fuzzy systems. However, computational complexity has prevented the widespread use of this method and has led to the emergence of non-stationary fuzzy logic. In this study, in order to see the appropriateness of using non-stationary fuzzy logic in cyber physical systems, where consistency and reliability are important, various effects on the system have been investigated.Different membership functions are represented by non-stationary fuzzy logic and comparative results are given.Scientific Research Projects Coordination Unit of Firat University. Project number: MF.17.09

Sustainable textile production: cleaner production assessment/eco-efficiency analysis study in a textile mill

Cleaner production assessment studies were carried out according to the Integrated Pollution Prevention and Control and Industrial Emission Directive in a cotton/polyester fabric finishing-dyeing textile mill, located in Denizli, Turkey. Following detailed on-site process evaluation, environmental performance of the mill was evaluated. Data of the material flow and the energy consumption in all processes was collected. Mass-energy balances and specific input and output values based on the production processes were calculated. Also, a chemical inventory list was prepared and all material safety data sheets were collected. Environmental performance of the mill was benchmarked against similar textile mills in the literature. 92 Best Available Techniques options were listed. Each suggested BAT option was discussed with the mill management in terms of techno-economic applicability and implementation of 22 Best Available Techniques were decided. In the decision-making process, statistical Multi-criteria Decision Making Methods (Simple Ranking Method, Weighting Criteria Method, and Weighted Sum Method) were used. Moreover, technical and environmental performances, potential benefits and savings were determined with the implementation of identified 22 Best Available Techniques such as good management practices, water and energy consumption optimization-minimization techniques, chemical consumption optimization and substitution. These evaluations have revealed that after the implementation of suggested 22 Best Available Techniques, following reductions could be achieved if those techniques were implemented in the future: 43-51% water consumption, 11-26% energy consumption, 16-39% chemical consumption, 42-52% wastewater flowrate, 26-48% chemical oxygen demand load, 12-32% waste flue gas emissions, and 8-18% solid waste generation. Payback periods of the suggested Best Available Techniques were estimated as 1-26 months

Minimization of water and chemical use in a cotton/polyester fabric dyeing textile mill

Water, wastewater and chemical minimization studies were carried out in a textile mill employing cotton-polyester weaving-knitting and subsequently dyeing-finishing. Detailed on-site investigations and analysis on production processes were performed according to Integrated Pollution Prevention and Control principles. Specific consumptions in wet processes were calculated by mass balance analyses. Water/wastewater samples were collected and various parameters were analyzed. Specific wastewater generations and pollutant loads were determined. Wastewater reuse (with or without treatment), potential chemical recovery and reuse options were evaluated. A company-wide chemical inventory study was conducted and material safety data sheets of 291 chemicals were evaluated in terms of their biodegradability and toxicological effects. It was found that 74 chemicals may be replaced with less toxic and more biodegradable counterparts. Best available techniques were determined on the basis of Integrated Pollution Prevention and Control and Turkish Textile BREFs. The multi-criteria decision-making methods were employed to determine suitable best available techniques. Feasibility analysis was performed and potential benefits and savings were determined for each suggested best available technique. A total of 14 best available techniques including good management practices, water minimization and chemical minimization/substitution were suggested to the mill. After the implementation of best available techniques, the following reductions can be potentially achieved; 43-51% in water consumption, 16-39% in chemical consumption, 45-52% in combined wastewater flowrate, and 26-48% in specific chemical oxygen demand load. By the implementation of 14 BATs in the mill, operational costs for water/wastewater and chemicals may be reduced 49% and 28% (annual average), respectively. The cost analysis indicated that the estimated payback periods of BATs may range from 1 to 26 months. It was found that various wastewater streams can be segregated and directly reused without treatment in the production processes. After segregation of relatively clean wastewater streams, the remaining combined wastewater could be reused after employing advanced treatment technologies

Treatment of a denim producing textile industry wastewater using pilot-scale membrane bioreactor

The objective of this study was to investigate the performance of a pilot-scale membrane bioreactor (MBR) system for the treatment of a highly concentrated mixed wastewater from wet processes (dyeing, finishing, and sizing) of a denim producing textile industry. The MBR system, containing a Submerged hollow fiber membrane module in the aeration tank, was operated aerobically for about 3 months on-site at a continuous flow mode. The system was operated at two different operation stages: (1) 110 Sludge wastage with a typical permeate flux of 20 L/m(2)h and (2) a solids retention time of 25 days with the same flux. During the whole operation period, despite the high dissolved solids content in the influent, very high treatment efficiencies were achieved. The performance of the MBR system was not adversely affected by the variations in the influent characteristics, food/microorganism ratio, organic loading rate, and specific substrate utilization rate. The average values of some effluent quality parameters found In the entire operation period were color, 53 Pt Cc; turbidity, 0.31 NTU; TSS, 0.6 mg/L; BOD5, 15 mg/L; COD, 37 mg/L; NH3-N 1.0 mg/L; NO3-N, 9.6 and TN, 10.5 mg/L. Reduction in permeate flux due to membrane fouling was observed only once during all operation and such fouling was removed by applying chemical backwashing and chemical cleaning procedures. The results indicated that complex and highly polluted denim textile wastewaters could be treated very effectively by MBR systems. Color values from as high as 8100 Pt Co levels were significantly reduced to about 50 Pt Co levels, indicating that MBR effluent could be reused in the production processes

Organize sanayi bölgelerinde çevre kirliliğini minimize edici teknolojilerin ve maliyet boyutlarının belirlenmesi; 1992 sonuç raporu

TÜBİTAK DEBAG01.06.199