Abstract: A device for acquiring a position and orientation of an end effector of a robot is provided. The robot has a robot arm with axes coupled to one another by joints. The end effector is arranged on an end of the robot arm, optical markers are arranged on first and second axes, and a number of joints between the end effector and the first axis is lower than a number of joints between the end effector and the second axis. An optical sensor acquires image data of the optical markers. A storage device stores a kinematic model of the robot arm. An evaluation device, in a first case, determines a first position of a first optical marker and the position and orientation of the end effector and, in a second case, a second position of a second optical marker and the position and orientation of the end effector.

Abstract: A device for acquiring a position and orientation of an end effector of a robot is provided. The robot has a robot arm with axes coupled to one another by joints. The end effector is arranged on an end of the robot arm, optical markers are arranged on first and second axes, and a number of joints between the end effector and the first axis is lower than a number of joints between the end effector and the second axis. An optical sensor acquires image data of the optical markers. A storage device stores a kinematic model of the robot arm. An evaluation device, in a first case, determines a first position of a first optical marker and the position and orientation of the end effector and, in a second case, a second position of a second optical marker and the position and orientation of the end effector.

Abstract: Measurement system for the three-dimensional optical measurement of a work-piece, comprising: (i) a camera for recording image data of the workpiece; (ii) a control unit which is configured to evaluate the image data recorded by the camera and deter-mine 3D data of the workpiece therefrom; and (iii) a projector for projecting a test pattern onto the workpiece. The control unit is configured to control the projector during a setup mode in such a way that the projector actively modifies, depending on a distance between the workpiece and the camera, the shape of the test pattern projected onto the workpiece in order, by way of the test pattern, to assist a user of the measurement system within the scope of positioning the camera relative to the workpiece.

Abstract: A pressurized-water reactor coolant treatment system continuously removes a portion of the coolant circulating in the main coolant loop and passes it through a gas separator and a rectification column, among other equipment, and returns the coolant to the main coolant loop. By passing the removed coolant first through the rectification column and thereafter through the gas separator and providing means for controllably shutting off the separator and bypassing the removed flow around the gas separator for passage of the flow from the rectification column back to the loop, it is possible to subject the coolant to both rectification and degassing when the coolant requires such treatment, and when the coolant does not require degassing to shut down the gas separator and put it out of operation. Other features are included.

Abstract: A pressurized-water reactor has a coolant degassing facility separating gases from the coolant. These gases include noble gases and cannot be disposed of directly to the atmosphere. The noble gases are separated from the other gases and stored, and being of small volume relative to the other gases, their storage facility can be of small size while accommodating a prolonged reactor operating time. The reactor installation includes a coolant gas charging facility and some of the gases from which the noble gases are separated may be used to supply this facility. Excess gases involve no unusual problems concerning their discharge to the atmosphere.