* Co esponding au ho : ko so [email protected]
The main enance, commissioning o FANUC M-1iA 0.5A ype
selec ing obo and implemen a ion o iRVision pic u e-
ecognizing p ocedu e
Gyula Ko so eczki1,*, Géza Husi2, and Timo ei Is án E dei3
1Mecha onics Depa men , Enginee ing Facul y, Uni e si y o Deb ecen, Hunga y
2Mecha onics Depa men , Enginee ing Facul y, Uni e si y o Deb ecen, Hunga y
3Mecha onics Depa men , Enginee ing Facul y, Uni e si y o Deb ecen, Hunga y
Abs ac . The opic o he gi en p ojec is based on he main enance, commissioning and implemen a ion
o iRVision pic u e- ecognizing p ocedu e, and he ope a ion o he associa ed p og am o he FANUC M-
1iA 0.5A ype del a ipod designed selec ing obo ha can be ound a he Mecha onics Depa men ,
Enginee ing Facul y o he Uni e si y o Deb ecen. Keywo ds — FANUC; M-1iA 0.5A; del a ipod; obo ;
iRVision; pic u e- ecognizing
1 In oduc ion
The pe mea ion o obo s is mo e conside able in e e y
a ea o indus y. Wi h he de elopmen o he echnic
and g owing o demand he e is need o au oma ed
p oduc ion lines. The eloci y and p ecision o hese
lines gi es indus ial obo s. Wi h he oppo uni y o his
p ojec I could wo k wi h ha kind o indus ial obo I
ha e always wan ed o. Tha is why I chose he
men ioned FANUC M-1iA 0.5A ype del a ipod
designed selec ion obo ha can be ound a he
Mecha onics Depa men , Enginee ing Facul y o he
Uni e si y o Deb ecen. A e I had comple ed he
main enance ope a ions, I measu ed he ool used by he
obo . Nex , I op imiza ioned he sphe e o he wo kplace
and I measu ed he use ame ha I used du ing he
p ojec . A e his ope a ion, I designed se e al ools and
elemen s o he obo . These me al elemen s make he
wo k desk s onge and ensu e a highe le el o s abili y
o he cons uc ion ha suppo s he wo k desk. The
subjoined CD con ains he comple e plans. Fu he mo e,
I wan ed o know he wo king o he iRVision sys em o
FANUC and he implemen a ion o pic u e- ecognizing
p ocedu e ha I wan ed o show in my ask. As he esul
o hese ope a ions, he sphe e o wo k o he obo was
b oadened and he unc ioning became mo e e icien
and compe en in educa ional pu poses.
2 Desc ip ion o he sys em
2.1. FANUC M-1iA 0.5A ype obo
The obo I used du ing my ask is a del a ipod
designed obo , ha possesses 6 deg ees o eedom.
This model is e sa ile and nimble, and i can achie e
excellen wo k a es on complex componen assembly
ope a ions. The obo is capable o wo king a any angle,
so i is good choice o hose applica ions ha demand
high le el o epea abili y and lexibili y.
The scope o he applica ion is elec onics, ood
p oduc s indus y, manu ac u e o medical ins umen s
op ic and medical indus y and p ecision mechanics [1].
Fig. 1. FANUC M-1iA 0.5A [1]
The echnical speci ica ions o he obo :
• Numbe o con olled axes: 6
• Maximal each: 280 mm
• Repea abili y: +/- 0,02 mm
• Mechanical weigh : 23 kg
• Maximal load capaci y a w is : 0,5 kg
• Maximal eloci y: 4000 mm/s [1]
2.2. FANUC R-30iB Ma e con olle
The obo is con olled by FANUC R-30iB Ma e Open-
Ai ype o con olle s. I is compac and easy o
in eg a e in o single obo p oduc ion cells. Unlike
Windows-based con olle s, he R-30iB ypes use
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FANUC’s own p op ie y so wa e. This allows ha he
sys em is mo e s able and i is p o ec ed agains he mos
cybe i us and a acks o hacke s. Fu he mo e, i s
con olle ad an age is ha he e is no need ame
sys em o un [2].
The con olle also sui s he equi emen s o
indus ial en i onmen , because i has sui able p o ec ion
agains we ness and dus . To use he iRVision sys em
easily, an E he ne po can be ound on he con olle .
The main pa s a e a swi ch wi h wo posi ion (ON-
OFF), an eme gency oggle wi h ed colou and an
ope a ion mode change g een oggle ha can be
ac ua ed by a small key. This g een oggle is he
esponsible o he unning o he cycle p og am [2].
Fig. 2. FANUC R-30iB [3]
2.3. FANUC iPendan Touch
The obo can be p og ammed in wo ways. One o hese
ways is he Ka el p og am language. To use his one, a
PC is needed. The o he oppo uni y is he iPendan
Touch hand con olle ha is powe ed by FANUC. As
his hand con olle uses block s yle p og am language,
he e a e mo e op ions o p og am he obo and i is
as e han in case o Ka el language.
The iPendan Touch has e gonomic shape, ouch
sc een and i s p og amming en i onmen is use -
iendly. To u he enla gemen s i con ains unc ion
oggles and he e can be opened wo windows on he big
colou ul sc een a he same ime. The hand con olle
has a 4D designe op ion and USB inpu o connec
ex e nal s o e o mouse [4]. The main pa s a e he big
colou ul sc een, he keyboa d, he sa e y Deadman
swi ch wi h h ee posi ions, an eme gency oggle and a
swi ch wi h wo posi ions ha can enable he iPendan
Touch.
Fig. 3. FANUC iPendan Touch [Own igu e]
2.4. SONY XC-56 ype came a
The sys em includes an indus ial monoch oma ic
came a ha is powe ed by SONY. This came a is
compa ible wi h he iRVision pic u e- ecognizing
sys em. I has he du y o accomplish he isual pa o
he implemen ed p ocedu e.
The main echnical speci ica ions o he came a:
• High esolu ion: VGA esolu ion (648 x 494)
• High a e scanning: 120 ames / second
• Minimum illumina ion: 0,5 lux
• High shock and ib a ion esis ance [5]
Fig. 4. SONY XC-56 came a [5]
3 The main enance ope a ions
3.1. Rese o he se ial pulsecode
Du ing he ask, my i s p oblem was ela ed o he
ba e ies o he se ial pulsecode . The obo has 6
mo eable axes. These axes a e mo ed by 6 AC se o
mo o s. To gi e hei ac ual posi ion, he e a e
inc emen al pulsecode s in he obo . These kinds o
pulsecode s need s a iona y elec ic supply. Wi hou his,
he esul o he coun ing pe ishes [6]. Tha is why he
obo includes 4 Indus ial ALCALYN ba e ies.
Howe e , hese ba e ies ha e gone la since he las use
o he obo . In his case a special ala m u ns up, namely
SRVO-062 BZAL ala m (G oup: i Axis: j). I means
Ba e y Ze o Ala m. To sol e his p oblem, changing he
ba e ies is no enough, because he e is need o dele e
and unlock his one in he sys em. Wi h using o he
iPendan Touch, we need o en e in o he menu o he
obo wi h pushing o he MENU bu on. A e ha ,
he e is need o selec NEXT (0) and he SYSTEM (6)
op ions. Finally, we can each he in e nal lib a y o he
obo wi h pushing o he VARIABLES (2) bu on. Wi h
he ITEM unc ion we can sea ch acco ding o se ial
numbe s. In his case, he numbe o he sea ched i em is
308. This is $MRC olde . In his olde we need o ind
he $SPC_RESET a iable wi h he se ial numbe o 14.
I means SERIAL PULSECODER RESET. When i is
ound, we ha e o change he alue FALSE o alue
TRUE. Comple ing his ope a ion, he e is need o push
he Deadman swi ch in o middle posi ion and he RESET
bu on a he same ime. As he nex s ep, he e is need o
shu down he obo and disconnec o he elec ic ci cui .
When we u n on he obo , he axes will be mo eable
and we can use he JOINT coo dina e-sys em [7].
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Fig. 5. The $SPC_RESET [Own igu e]
3.2. The MASTERING and he CALIBRATION
Following he ese o he se ial pulsecode , i was
necessa y o pe o m he MASTERING and he
calib a ion p ocedu es. The ac ual posi ion o he obo
depends on he alues o he pulsecode s. The
co esponding coun alue is ob ained om he
o a ional speed o he pulsecode connec ed o he
ele an mo o and he o a ion angle wi hin one o a ion.
By igh o his p inciple we can gi e alues o he
pulsecode s wi h he MASTERING ope a ion.
This p ocedu e is accomplished a he ac o ies, use s
do no need o pe o m a e e y use. Howe e , i is
necessa y a e mo o , pulsecode and cable eplacing,
mo eo e , in case o ba e y p oblems [8].
Du ing my ask I accomplished he QUICK
MASTERING ope a ion on he obo . This p ocedu e is
implemen ed in a posi ion ha is de ined by he use .
QUICK MASTERING uses he ac ha he absolu e
alue o a o a ion angle wi hin one o a ion will no be
los . This kind o MASTERING can be used, i he
pulsecode coun alue is los , o example a low ol age
de ec s on he backup ba e y o he pulse coun e .
Howe e QUICK MASTERING canno be used, a e
he se ial pulsecode is eplaced o he mas e ing da a is
los om he obo con olle [8].
To accomplish QUICK MASTERING, he e is need
o selec he SYSTEM op ion and hen we ha e o
choose he MASTER/CAL oppo uni y wi h pushing he
bu on 3. He e we can each all o he MASTERING
op ions. Fi s o all, i is necessa y o mo e he obo
axes in o a andom posi ion. To comple e his ope a ion,
we need o selec he JOINT coo dina e-sys em wi h he
COORD bu on. The nex s ep is o push he RESET
bu on and he Deadman swi ch in o he middle posi ion
a he same ime. Wi h his ope a ion, we can unlock he
FAULT ala m.
To mo e he obo axes, i is needed o push he
Deadman swi ch, he SHIFT bu on and one o he
di ec ion bu ons a he same ime. These di ec ion
bu ons can be ound on he igh side o he iPendan
Touch. In his case, he TOOL CENTER POINT (TCP)
mo es in o he equi ed di ec ion. The di ec ion bu ons
a e he ollowing:
• +X; -X; +Y; -Y; +Z; -Z: Mo ing along he axes o
he Desca es coo dina e-sys em.
• +X ; -X ; +Y ; -Y ; +Z ; -Z : Ro a ing a ound
he axes o he Desca es coo dina e-sys em.
To selec he QUICK MASTERING, we need o use
he na iga ion bu ons and o comple e i , we ha e o
p ess ENTER.
A e pe o ming his ope a ion, pulsecode s ge
coun alues. Howe e , i is no enough o gi e alues o
he pulsecode s, because we ha e o sa e hese alues.
The e is he CALIBRATING op ion o his pu pose. To
pe o m his ope a ion, i is impo an o choose he
CALIBRATE oppo uni y [8].
Fig. 6. The MASTER/CAL menu [Own igu e]
Du ing my ask I comple ed all o he desc ibed
ope a ions. As a esul , I achie ed he aim ha he obo
can mo e in WORLD coo dina e-sys em. To de ine and
p esen he di ec ions, I c ea ed an illus a ion ha
con ains hese di ec ions. The illus a ion can be ound
on he cons uc ion ha suppo s he obo . Knowing o
he di ec ions enables as e and easie obo
p og amming o he use s.
4 The commissioning o he obo
4.1. Measu ing o he ool ame
Finishing wi h he main enance, I had he oppo uni y o
commission he obo . The i s s ep o commissioning
was he measu ing o he ool ame.
To wo k he obo p ope ly, he e is necessa y ha
we pe o m his ope a ion. Wi h measu ing o he ool
ame, we each he obo he TOOL CENTER POINT.
Knowledge o his in o ma ion is essen ial o he obo
because he obo ge s in o ma ion abou he geome ic
pa ame e s o he ool, which is ound on i .
To accomplished he measu ing, i is necessa y o
en e in o he MENU o he iPendan Touch. A e ha ,
we need o selec he SETUP (6) op ion and wi hin ha
he FRAMES possibili y wi h he bu on 3. He e he e is
need o open he [OTHER] unc ion o each he TOOL
FRAME pla o m. Following his p ocedu e, he sys em
gi es us a lis abou he p e iously measu ed ools. We
ha e he oppo uni y o modi y hese ools bu we can
also de ine new ools. To measu e a new ool, we ha e o
mo e he cu so on an emp y place and hen wi h he
CREATE o de we a e s a he ope a ion. Opening o
he [METHOD] unc ion helps us o choose he me hod
o he ool measu ing. The sys em o e s o us 4
possibili ies. These a e he Th ee Poin , Six Poin , Two
Poin + Z and he Di ec En y.
While I was dealing wi h my ask, I used a 3D
p in ed ool and I measu ed i wi h he Th ee Poin
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me hod. The essence is o his me hod, ha we ouch
wi h he a ge ool he chosen e e ence poin om h ee
di e en di ec ions and wi h h ee di e en o ien a ions.
To comple e he p ocedu e, he e is need o de ine 3
poin s which a e APPROACH POINT 1, 2 and 3. These
poin s a e he men ioned ouching poin s. We ha e o
mo e he TCP in o he demanded poin s and hen i is
necessa y o sa e hem. We can do his wi h pushing he
SHIFT bu on and selec ing he RECORD o de a he
same ime. We ha e he possibili y o commen he
measu ed ool in o he COMMENT space.
Fig. 7. Measu ing o he ool ame [Own igu e]
4.2. Op imiza ion o he wo k sphe e
The nex pu pose o my ask was he op imiza ion o he
wo k sphe e. Thanks o his ope a ion, he scope o he
wo k o he obo b oadened and wi h he se ing o he
wo k sphe e he p ecision has inc eased.
Be o e he p ocedu e, he obo had possessed a wo k
sphe e bu om he poin o he iew o my p ojec i
had been unsui ed.
The i s p oblem I disco e ed ha he wo k able
was no ho izon al, because i possessed a he eabou s 20
deg ees. This p oblem made he obo unsui ed o he
ask solu ion because I wan ed o implemen a 2D
iewed pic u e- ecognizing p ocedu e. To sol e his
p oblem, I c ea ed a cons uc ion made o pe o med
aluminium. I was compa ible wi h he suppo ing
cons uc ion o he obo . To ix he i ings, I used small
me al componen s ha ha e sc ew- h eads. Wi h
cons aining o slacking he componen s he wo k able
p o ed mo eable along he splin s.
As he wo k able I used a me al p ac ise able
powe ed by KUKA GmbH. I is s able, i includes heigh
di e ences and he e a e p ac ise igu es on he su ace.
Ano he p oblem I disco e ed ha he maximal each o
he obo is 280 mm, so i was no able o each he
su ace o he wo k able. To sol e his p oblem, I ha e
li ed up he new wo k able. Being s able and adjus able
a e e y impo an c i e ions agains he wo k able. I
accomplished hese iewpoin s wi h 4 sha s ha possess
sc ew h eads. Thei diame e s a e M6 and hey a e 120
mm long. The sc ews a e compa ible wi h he small
me al componen s and wi h he whole cons uc ion. They
wa an X and Y di ec ion mobili y by he WORLD
coo dina e-sys em. To ix he p ac ise able, I used
sc ew-nu s and apid space s. Thanks o ha , he
posi ion o he p ac ise able is a iable e ically. I
means ha he Z posi ion is adjus able.
As a esul o he pe o med changeo e s, I could se
he wo k sphe e o he obo op imal. The di ec ions o
he mobili y a e p esen ed in igu e 8.
Fig. 8. The new wo k sphe e [Own igu e]
4.3. Measu ing o he use ame
A e he sui able cons uc ing o he wo k sphe e, I had
he oppo uni y o measu e he use ame ha was used
by he obo . In addi ion, I laid down he used
coo dina e-sys em and I de ined he di ec ions o his.
The measu ing o he use ame can be eached om
he menu o he iPendan Touch wi h he SETUP (6)
op ion. To ge his, he e is need o open he FRAME (3)
oppo uni y and hen i is needed o selec he USER
FRAME possibili y wi h he opening o he [OTHER]
unc ion. He e we can modi y be o e measu ed ames o
we can measu e a new one. The [METHOD] unc ion
o e s he Th ee Poin , Fou Poin , and he Di ec En y
ope a ions.
Du ing he solu ing o he ask I pe o med he Th ee
Poin me hod. In his case we need o de ine he o igo o
he use ame and wo o he poin s which a e in X and
Y di ec ions. These di ec ions a e he same wi h he
di ec ions o he WORLD coo dina e-sys em.
Fig. 9. Measu ing o he use ame [Own igu e]
5 C ea ing o he iRVision p ocedu e
The iRVision is he FANUC’s own PLUG & PLAY
isual senso sys em. The obo possesses a came a and a
pic u e-analysing p ocess ha is connec ed o he
came a. These i ems p o ide ision o he obo . I is
comple ely in eg a ed in o he R-30iB Ma e con olle .
As a esul o his, he iRVision can be used easily and i
o e s a high le el o lexibili y o he use s. Thanks o
he iRVision sys em, he obo is sui able o selec ing,
complex componen assembly ope a ions and i is able o
ecognize hings wi h op ional scale, colou and posi ion
in 2D and 3D as well [9].
Meanwhile I was dealing wi h my p ojec , I wan ed
o implemen a pic u e-analysing p ocedu e ha
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ecognizes a gi en 2D coo dina e-sys em wi h he use o
he came a. A e ha , i ouches he cen e poin o he
coo dina e-sys em and i d aws a ound he wholesale
iangle which is placed in his one. Howe e , his
iangle is in isible o he obo . To accomplish hese
ope a ions, we need a obo p og am ha connec s he
iRVision sys em o he obo .
The speciali y o he iRVision is ha i has a di ec
connec ion o he con olle . In case o compu e
connec ion, he e is need an E he ne cable and a PC ha
can un Mic oso In e ne Explo e .
The i s s ep o he implemen a ion is connec ing he
PC o he con olle o he obo wi h E he ne cable. Fo
he communica ion, we need o o e w i e he IP 4
add ess o he PC o 192.168.0.11. Following his
ope a ion, i is necessa y o open he In e ne Explo e
and we can each he main so wa e o he con olle
wi h he add ess o 192.168.0.1. The e a e special
componen s o he In e ne Explo e which a e essen ial
o wo k he sys em. These componen s can be
downloaded wi h clicking o he iRVision Se up menu.
F om he appea ing menu we should choose he
CAMERA SETUP TOOLS oppo uni y wi h he help o
[TYPE] op ion. A e ha , wi h using o he CREATE
command we can c ea e a new one. He e we can de ine
he se ings o he used came a. In addi ion, we ha e o
selec ix came a op ion and se he exposi ion ime.
The nex s ep is o comple e he calib a ion o he
came a wi h he CAMERA CALIBRATION TOOLS
unc ion. To do his, we need he FANUC’s own
calib a ion g ids. Wi hou his, we canno accomplish he
ope a ion. The main poin o he calib a ion is ha he
obo op imizes he se ings o he came a i sel o ge he
maximal e iciency. Since I didn’ possess wi h
calib a ion g ids, I used he basic se ings o he came a.
A e all hese ope a ions, he e is need o c ea e a
new pic u e- ecognizing p ocedu e, namely VISION
PROCESS TOOLS and wi hin his a 2-D SINGLE –
VIEW VISION PROCESS. The name o he p ocess I
c ea ed is “KRESHAROMSZOG”.
In his oppo uni y, we ha e o de ine he came a
calib a ion, he exposi ion ime and he c i e ions o he
inding o he sea ched componen s. Fu he mo e, he e
is need o selec he p e iously measu ed use ame and
we ha e o de ine a e e ence posi ion.
The menu con ains a GPM LOCATOR TOOLS
op ion. Wi h using o i , we can each a ious objec s o
he obo . To each hem, we ha e o ake a pic u e wi h
he SNAP command. Following his ope a ion he e is
need o ace he objec ha we wan o each o he
obo . In addi ion, we ha e he possibili y o mask he
pa s which a e unimpo an om he poin o iew i
sea ching, as I did in case o he iangle. This ope a ion
can be comple ed wi h he TRAINING MASK
command.
Impo an ools a e he CONTRAST TRESHOLD,
ORIENTATION AND SCALE OPTIONS. Wi h he i s
one, we can sea ch by colou s. In case o he second one,
we ha e he oppo uni y o ind objec s in a ious
o ien a ions. The hi d one enables us o sea ch objec s
by hei scales.
Wi h he end and sa ing o he edi ion comes in o
exis ence he pic u e- ecognizing p ocedu e ha can be
es ing s aigh . Meanwhile he es ing, he so wa e
shows isually he p og ess and he esul o he
sea ching.
Wi h comple ing o he p esen ed s eps, my
p ocedu e could be accomplished success ully. I augh
he coo dina e-sys em o he obo as a sea chable objec .
Fig. 10. The sea ched and ound objec [Own igu e]
6 The associa ed obo p og am
6.1. Desc ip ion o he p og am code
As he las s ep o my ask, I wan ed o c ea e an
associa ed obo p og am o he pic u e- ecognizing
p ocedu e. Thanks o ha , he obo can use he
men ioned p ocedu e in p ac ice. Wi h unning he
p og am, he obo is able o ecognize he augh
coo dina e-sys em which is can be ound on he wo k
able o he obo in any posi ion bu in gi en o ien a ion.
Fu he mo e, he obo can ouch he o igo o he
coo dina e-sys em and a e ha i can d aw a ound he
iangle in he coo dina e-sys em. In his case he iangle
is in isible o he obo , so he posi ion o he iangle
depends on he ound coo dina e-sys em.
The p og amming happened wi h he using o
iPendan Touch. I is much mo e sui able and as e han
he usage o Ka el p og am language.
In pu suance o his as he i s s ep, I de ined he
p e iously measu ed ool ame and use ame in line 1
and 2.
As he hi d s ep, I implemen ed a iew poin o he
p ocedu e. In his poin he TCP do no dis u b he ision
o he came a. The ype o he mo ion is linea (L), he
eloci y is 100 m/s and a he end o he mo ion, he
obo s ops (FINE).
In line 4, I connec ed he pic u e- ecognizing
p ocedu e o he obo p og am wi h he VISION
RUN_FIND command. The pu pose o he sea ching, I
ga e he name o he isual p ocess which is
(KRESHAROMSZOG). The came a o he obo checks
he wo k able acco ding o he pic u e- ecognizing
p ocedu e o ind a augh objec .
In case o success ul de ec ing, he obo sa es he
coo dina es o he objec in o an OFFSET ile in line 5.
Howe e , i i does no ind any hing, i c ea es a jump
(JMP) on o a ma ked label (LBL [1]) o skip o e he
pa o he p og am code which belongs o he inding.
Wi h he commands which can be ound in lines 6-8,
he obo ouches he o igo o he coo dina e-sys em.
A e ha , wi h he commands in lines 9-14, he obo
ANNALS OF THE UNIVERSITY OF ORADEA
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d aws a ound he iangle acco ding o P [4], P [5], P [6],
P [7], P [5] and P [4] poin s.
Finally he LBL [1] can be ound in line 15, and
wi h line 16 and he [END] command he obo e u ns
in o he P [1 : VIEW] poin and inishes he p og am.
The p og am code is he nex :
1 : UFRAME_NUM=2
2 : UTOOL_NUM=3
3 : L P [1 : VIEW] 100mm/sec FINE
4 : VISION RUN_FIND ’KRESHAROMSZOG’
5 : VISION GET_OFFSET
: ’KRESHAROMSZOG’ VR [1] JMP LBL [1]
6 : L P [2 : APRCH] 80mm/sec FINE
: VOFFSET , VR [1]
7 : L P [3 : PICK] 80mm/sec FINE
: VOFFSET , VR [1]
8 : L P [2 : APRCH] 80mm/sec FINE
: VOFFSET , VR [1]
9 : L P [4] 100mm/sec FINE
: VOFFSET , VR [1]
10 : L P [5] 100mm/sec FINE
: VOFFSET , VR [1]
11 : L P [6] 100mm/sec FINE
: VOFFSET , VR [1]
12 : L P [7] 100mm/sec FINE
: VOFFSET , VR [1]
13 : L P [5] 100mm/sec FINE
: VOFFSET , VR [1]
14 : L P [4] 100mm/sec FINE
: VOFFSET , VR [1]
15 : LBL [1]
16 : L P [1 : VIEW] 100mm/sec FINE
[END]
6.2. The lowcha diag am
Fig. 11. The lowcha diag am [Own igu e]
7 Conclusion
The pu pose o my ask was o accomplish he
main enance and he p ac ice o ien ed commissioning o
he obo . Fu he mo e, I wan ed o es and submi he
iRVision sys em o he obo wi h he help o he
associa ed p og am. As a esul , I go a sys em ha
wo ks well and I accomplished he pu poses. The e s e
o he possibili ies, o example c ea ing a ious a ge
speci ic ools o implemen a ion o ex e nal ligh sou ce
and con eyo line. Mo eo e , he ecalib a ion o he
came a is mo e impo an o make he p ecision and
e iciency be e and o imp o e he scope o he wo k.
Howe e , he so wa e pa can be b oadened wi hou
any p oblem wi h new pa o p og am codes and
unc ions.
Acknowledgemen
The publica ion was suppo ed by he p ojec EFOP-
3.6.1-16-2016-00022. This p ojec was co- unded by he
Eu opean Union, om he Eu opean Social Fund.
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ANNALS OF THE UNIVERSITY OF ORADEA
Fascicle o Managemen and Technological Enginee ing
ISSUE #2, AUGUST 2018, h p://www.im uo adea. o/auo. m e/
74