tor

Optical channel monitor

In one example, an optical channel monitor includes a tunable filter, a deinterleaver, first and second optical receivers, and a control module. The tunable filter is configured to receive an optical signal having a plurality of channels spaced at a nominal channel spacing. The deinterleaver has an input with an input channel spacing Fi, an even output, and an odd output, the input being connected to an output of the tunable filter. The nominal channel spacing is between about one and two times the input channel spacing Fi. A −20 dB bandwidth of the tunable filter is between about two and four times the input channel spacing Fi. The first and second optical receivers are coupled to the deinterleaver even and odd outputs, respectively. The control module is coupled to the tunable filter and is configured to tune the tunable filter to a desired center frequency.




tor

Two-in-one CFP form-factor pluggable adapter

Techniques are provided describing a first connector unit that receives first data from a first transceiver and a second connector unit that receives second data from a second transceiver. A switch unit is configured to receive first switch data from the first connector unit at a first data rate and second switch data from the second connector unit at the first data rate. A third connector unit receives the first switch or the second switch data from the switch unit and a second portion of the second data from the second connector unit. The third connector unit also sends the first switch data to a host port when the first connector unit receives the first data and to send the second switch data and the second portion of the second data to the host port when the second connector unit receives the second data.




tor

Photonic monitoring for optical signals

This invention concerns real-time multi-impairment signal performance monitoring. In particular it concerns an optical device, for instance a monolithic integrated photonics chip, comprising a waveguide having an input region to receive a signal for characterization, and a narrow band CW laser signal. A non-linear waveguide region to mix the two received signals. More than one output region, each equipped with bandpass filters that extract respective discrete frequency bands of the RF spectrum of the mixed signals. And, also comprising (slow) power detectors to output the extracted discrete frequency banded signals.




tor

Joint IP/optical layer restoration after a router failure

A method and system for providing joint IP/Optical Layer restoration mechanisms for the IP over Optical Layer architecture, particularly for protecting against router failure within such architecture, includes any one of plural node elements participating in the detection and restoration of the joint IP/Optical Layer architecture upon the failure of a router in one of the nodes. The plural node elements may include, but are not limited to, one of plural routers and an optical cross-connect.




tor

Analyte monitoring devices and methods therefor

Method and apparatus for performing a discrete glucose testing and bolus dosage determination including a glucose meter with bolus calculation function are provided.




tor

Slurry bubble column reactor

A slurry bubble column reactor with a gas distribution arrangement comprising an upper sparger, a lower sparger, and an open-ended tube. Gas from the lower sparger enters the tube and lowers the density of slurry in the tube. The difference in slurry density causes the slurry in the tube to rise, causing slurry outside the tube to move down, maintaining circulation and flushing catalyst from the vessel wall.




tor

Ozone generator

Ozone generator cells that include two thermally conductive plates that maintain contact between various layers of the cells in the absence of a bonding agent. The cells lack aluminum-containing materials in the discharge region of the cell.




tor

Chemical reactor with a plate heat exchanger

A steam cooled chemical reactor (1) comprising a vertical vessel (2), a plate heat exchanger embedded in a catalytic bed, to cool the catalytic bed by evaporation of a cooling water flow, wherein a water inlet and a steam outlet are located underneath the heat exchanger, and the plates and related piping are arranged so that the path of the cooling flow comprises a first ascending path from bottom to top of the catalytic bed, and a second descending path from top to the bottom of catalytic bed, and wherein internal evaporation channels of the plates provide the second descending or the first ascending path, and water upcomers or respectively steam downcomers provide the other of said first and second path.




tor

Ventilator autoclave

The present invention relates to a ventilator autoclave comprising a chamber (1) with a space (5) for receiving goods (18) to be sterilized, at least one fan arrangement (2) for circulating steam and/or air in said chamber, and at least one first heat exchanger arrangement (11) for cooling and/or heating said steam and/or air, wherein said fan arrangement is arranged and configured to circulate said steam and/or air in said chamber (1), wherein said chamber (1) is configured such that said steam and/or air that is circulated in said chamber (1) follows a flow path passing at least a part of said first heat exchanger arrangement (11) before reaching said goods (18) to be sterilized, wherein said autoclave further comprises at least one second heat exchanger arrangement (19) that is provided upstream of said first heat exchanger arrangement (11) in said flow path, and wherein said second heat exchanger arrangement (19) is provided at such a distance from the periphery of said fan arrangement (2) that said flow of steam and/or air being circulated by said fan arrangement has a tangential velocity component, as seen in relation to the fan arrangement, when it passes said second heat exchanger arrangement (19).




tor

Biological fluid sampling and storage apparatus for remote use

An apparatus for sampling and storing biological fluids from a human or animal subject is provided. In one embodiment of the present disclosure, the apparatus includes a main body, lancet carrier or hub, lancet, lancet trigger, capillary tube, and sample compartments for collecting and storing dried blood and other bodily fluids. The lancet hub supports a lancet and provides for moving the lancet longitudinally between a first retracted position and a second extended position. The device includes a capillary tube having an internal diameter sized to draw and retain fluid from a contacted source using capillary action. The main body of the apparatus further includes a sample compartment for holding sampling and storage materials. In at least one embodiment of the present disclosure, the sample compartment can be accessed by lifting sample compartment lid. Also included is a new “fan” or “daisy” shaped collection material format for use in collecting and preserving samples.




tor

Storage-stable aqueous solutions of chlorine dioxide and methods for preparing and using them

The present invention is for extremely pure solutions of chlorine dioxide, methods for making such solutions and to compositions and methods for storing, shipping and using such solutions. Generally, the chlorine dioxide solutions of the invention are aqueous solutions containing about 2500 ppm or less of total impurities. The chlorine dioxide solution can be prepare by passing dilute highly pure chlorine gas through a bed of substantially solid sodium chlorite and contacting the resulting chlorine dioxide gas with a liquid.




tor

Pattern projector

A pattern projector, comprising a light source, configured to emit a beam of light. A transparent substrate, which has a pair of mutually-opposed planar surfaces is configured to receive and propagate the beam within the substrate by total internal reflection between the planar surfaces. The transparent substrate comprises a diffractive structure that is formed on one of the planar surfaces and is configured to direct at least a part of the beam to propagate out of the substrate in a direction that is angled away from the surface and to create a pattern comprising multiple interleaved light and dark areas.




tor

Ring binder mechanism with self-locking actuator

A ring binder mechanism for holding loose-leaf pages has a housing having a cavity formed in the underside of a central portion of the housing. A pair of hinge plates are disposed between the sides for pivoting movement relative to the housing to open and close rings of the mechanism. The mechanism has an actuator moveable relative to the housing for opening and closing the rings. The actuator has a body, an opening arm extending from the body, a closing arm extending from the body, and a locking finger extending from the body. The closing arm extending into a space between the hinge plates and the central portion of the housing. The hinge plates extend between the opening and closing arms. The locking finger extends into the cavity in the central portion of the housing when the actuator is in the closed position.




tor

Ring binder mechanism having dual time buffer actuator

A ring mechanism has an elongate housing and rings for holding loose-leaf pages. Each ring has ring members mounted on pivoting hinge plates for movement between open and closed positions. An actuator has opening and closing arms extending from an actuator body for opening and closing the rings. The mechanism has a travel bar moveable between a locked position in which a locking element blocks pivoting movement of the hinge plates and an unlocked position. The actuator has a flexible arm positioned to push the travel bar toward the locked position when the actuator closes the rings. At least a portion of the flexible arm is adapted to deform during closing in a manner that includes rotation in a first direction relative to the body of the actuator. Movement of the actuator to close the rings includes rotation of the actuator in the first direction relative to the housing.




tor

Switched-mode compound power converter with main and supplemental regulators

In certain embodiments, the present invention provides a compound power converter in which the majority of power passes from input to output through only a single stage of power conversion. At least one embodiment includes a main converter with an auxiliary output. The auxiliary output energizes a reservoir that provides input power for a supplemental converter capable supplying the main output. The supplemental converter improves regulation and can provide holdover power for Power Factor Correction (PFC) or Uninterruptible Power Supply (UPS) operation.




tor

Power converter having semiconductor switching element

Provided is a configuration in which it is possible to mount an applied voltage suppression circuit configured to prevent voltage breakdown of a semiconductor switching element, and a set voltage thereof can be inspected without damaging an IC or the like of a peripheral circuit. In a power converter having a semiconductor switching element, an applied voltage suppression circuit configured to suppress a voltage applied to the semiconductor switching element and at least one component of constituent components of a driving circuit which causes the semiconductor switching element to be turned off if the component is absent are transferred to and disposed on a slave substrate (separate unit) which is divided from and electrically connected to a master substrate including the semiconductor switching element, the driving circuit, a control circuit, and the like mounted thereon.




tor

Semiconductor device

A semiconductor device of a three-level inverter circuit with a reduced number of power supplies for driving IGBTs. The semiconductor device includes a series-connected circuit of IGBTs between P and N of a DC power supply and an AC switch element that is connected between a series connection point of the series-connected circuit and a neutral point of the DC power supply. The series-connected circuit and the AC switch element are integrated into one module. The AC switch element is formed by connecting a collector of a first IGBT to which a diode is connected in reverse parallel and a collector of a second IGBT to which a diode is connected in reverse parallel, and an intermediate terminal is provided at a connection point between the collectors.




tor

Power converter and method for balancing voltages across input capacitors

A power converter and a method for balancing voltages across input capacitors are disclosed in the present application. The power converter includes: two DC input terminals; a first input capacitor and a second input capacitor; a first bridge arm and a second bridge arm connected in series with one another; and an output circuit configured to generate a signal required by the power converter based on the signals at a midpoint of the first bridge arm and a midpoint of the second bridge arm. The power converter further includes: a first voltage balancing unit and a second balancing unit configured to reduce a voltage difference between the first input capacitor and the second input capacitor. The power converter provided by the present application solves the problem of imbalance in the voltages across the first input voltage and the second input voltage.




tor

Switching power converting apparatus, switching controller for the same, and method of controlling a bipolar junction transistor of the same

A switching power converting apparatus includes a coil unit, a bipolar junction transistor (BJT) controlling power transfer through the coil unit, and a current sensing resistor sensing a current flowing through the BJT so as to produce a sensed voltage thereacross. A switching controller includes a current source supplying a first current, a current generating module generating, based on an input voltage associated with the sensed voltage, a second current, which is proportional to the current flowing through the BJT, a multiplexing module selecting one of the first and second currents as an output current, and a driving module outputting, based on the output current, a driving current, which is proportional to the output current, to the BJT to thereby conduct the BJT.




tor

Power-packet-switching converter with sequenced connection to link inductor

Methods and systems for managing link voltages in a power converter, where single phase, three phase or universal systems can be used. Common mode management refers to shifting of voltages in a particular direction to perform transition between input and output ports, in addition to maintaining soft switching property. Voltages in power converters can be freely increasing and decreasing, and thus damage to the circuit can be caused if these voltages change are not controlled.




tor

Voltage regulator with inductor banks and control signal

A voltage regulator coupled to an unregulated DC input voltage source by an input terminal, and to a load by an output terminal is disclosed. The voltage regulator converts an input voltage at the input terminal to an output voltage at the output terminal. The voltage regulator includes one or more slaves, and each slave includes a switching circuit which serves as a power switch for alternately coupling and decoupling the input terminal to an intermediate node. The voltage regulator also includes a filter coupled to the slaves, the filter including one or more inductor banks each of which having a predetermined number of inductors.




tor

High voltage rectifier and voltage doubler using low voltage CMOS process transistors

A high voltage full wave rectifier and doubler circuit having complementary serially connected low voltage MOSFET stacks to provide high voltage capability. The state of the MOSFETs in the MOSFET stacks is controlled by means of resistors coupled between the circuit's outputs and a time varying input signal. The resistance values of the resistors are selected to maintain operation of the stacked MOSFETs below their breakdown voltages.




tor

Thermally-assisted magnetic recording head having a plasmon generator

A return path section includes first and second yoke portions and first, second and third columnar portions. The first and second yoke portions and the first columnar portion are located on the same side in the direction of travel of the recording medium relative to a wave guide core. The second and third columnar portions are located on opposite sides of a plasmon generator and connected to a shield. The first yoke portion connects a main pole to the first columnar portion. The second yoke portion connects the first columnar portion to the second and third columnar portions. A coil is wound around the first columnar portion.




tor

Laminated plasmon generator with cavity process

A plasmon generator (PG) is disclosed with a laminated structure of non-planar X and Y layers formed between a waveguide and write pole. Each X layer is made of a noble metal such as Au while each Y layer is a non-noble metal or dielectric material to improve durability. As a result, the PG has a peg portion at an air bearing surface with improved reliability compared with pegs made entirely of a noble metal. Non-planarity of X and Y layers improves diffusion of Y material between X grains thereby minimizing X grain growth to enhance thermal stability. The laminated PG is formed by a process sequence that involves forming and filling a cavity, and concludes with a chemical mechanical polish process to form a planar top PG surface that faces a write pole leading side.




tor

Apparatus and method for compensating for pixel distortion in reproduction of hologram data

An apparatus for compensating for pixel distortion while reproducing hologram data includes an extraction unit, a determination and calculation unit, a table, and a compensation unit. The extraction unit extracts a reproduced data image from a reproduced image frame including the reproduced data image and borders. The determination and calculation unit determines position values of edges of the extracted reproduced data image, and calculates average magnification error values of pixels within line data from position values of start and end point pixels thereof, which are based on the determined position values of the edges. The table stores misalignment compensation values for the pixels within the line data, wherein the misalignment compensation values correspond to predetermined references for average magnification error values. The compensation unit compensates for pixel positions in the extracted reproduced data image using the misalignment compensation values that correspond to the calculated average magnification error values.




tor

Data storage device adjusting laser input power to compensate for temperature variations

A data storage device is disclosed comprising a head actuated over a disk, wherein the head comprises a laser configured to heat the disk while writing data to the disk. A temperature is measured, and a first input power is generated based on a first function of the measured temperature, wherein the first function compensates for a temperature dependent output power of the laser. A second input power is generated based on a second function of the measured temperature, wherein the second function compensates for a temperature dependent coercivity of the disk. The first input power is combined with the second input power to generate a write power applied to the laser while writing data to the disk.




tor

Plasmon generator having flare shaped section

The present invention relates to a plasmon generator, in which a surface plasmon is excited by application of light. The plasmon generator extends along one direction. The plasmon generator includes a first end surface that is positioned on one end in the one direction and at which near-field light is generated along with the excitation of the plasmon; and a second cross section that is substantially parallel to the first end surface and is away from the first end surface. The first end surface has a polygonal shape that does not have a substantially acute inner angle. The second cross section has an upper part that has a shape substantially the same as or similar to that of the first end surface and a flare shaped lower part that is connected to the upper part and has a width that increases as it is far from the upper part.




tor

Information storage medium, reproducing method, and recording method

A machine readable information storage medium, a reproducing method and apparatus which reproduces data from the storage medium, and a recording method and apparatus for recording data on the storage medium. The information storage medium includes a control area which stores within a data structure information usable by the recording or reproducing apparatus to record or reproduce the data on or from the storage medium. The information stored within the data structure includes a version corresponding to a specification.




tor

Servo processor receiving photodetector signals

A servo processor for an optical disk drive is provided that includes: an analog-to-digital converter for converting versions of photodetector output signals into digital signals; and a digital signal processor configured to receive the digital signals, the digital signal processor being further configured to determine a focus error signal (FES) and a tracking error signal (TES) from the digital signals, the digital signal processor being further configured to process TES and FES through servo algorithms to produce tracking and focus control signals.




tor

Method and apparatus for monitoring surgical traction

Apparatus is described for measuring and displaying the magnitude of traction forces applied to a patient's lower limbs during surgery, and for measuring the direction and magnitude of counter-traction forces applied to the patient's body by the perineal post located at the patient's groin to oppose traction forces applied to the patient's lower limbs.




tor

Method for restoring activity to a spent hydroprocessing catalyst, a spent hydroprocessing catalyst having restored catalytic activity, and a hyrdoprocessing process

A regenerated spent hydroprocessing catalyst treated with a chelating agent and having incorporated therein a polar additive.




tor

Accelerator solution and process for curing curable resins

Solution suitable for accelerating the cure of a curable resin using a peroxide, said accelerator solution comprising (i) at least one organic solvent, (ii) a manganese salt, a copper salt, or a combination thereof, and (iii) an iron complex of a tetradentate, pentadentate or hexadentate nitrogen donor ligand.




tor

BCRP/ABCG2 inhibitor

A breast cancer resistance protein (BCRP/ABCG2) inhibitor. The BCRP inhibitor contains, as an active ingredient, an acrylonitrile derivative or a salt thereof.




tor

Sidewall and bottom electrode arrangement for electrical smelting reactors and method for feeding such electrodes

Metallurgical reactors having cooling capability and electrode feed capability are disclosed. The reactors may include a shell having a sidewall and a bottom, where the shell is adapted to contain a molten material. The reactors may include at least one consumable electrode protruding through an opening of the shell and into the molten material. The reactors may include a current contact clamp configured to conduct operating current to the electrode, where the current clamp is in contact with the electrode, and where the current clamp comprises at least one internal channel, wherein the internal channel is configured to circulate a cooling medium. The reactors may include an electric isolation ring disposed between the electrode and the opening of the shell, wherein the electric isolation ring is configured to sealingly engage the electrode and the opening so as to restrict flow of the molten material out of the shell.




tor

Low temperature melting furnace and metal sector using an external cooling passage

A low temperature melting furnace using an external cooling passage includes a wall including a plurality of metal sectors, each metal sector including a cooling passage formed along a longitudinal direction thereof, and an extension tube provided outwardly from the wall and connected to the cooling passage.




tor

Common field magnetic susceptors

Thermoplastic pellitized materials are melted in gravity flow through coaxially oriented perforated cylindrical metal susceptors. The susceptors are equally energized by the interception of a common magnetic field formed by a high frequency powered inductor coil.




tor

Channel electric inductor assembly

The present invention relates to an electric channel inductor assembly and method of forming an electric channel inductor assembly. A nonremovable, hollow, nonmagnetic channel mold is used to form the one or more flow channels of the assembly. A heated fluid medium is circulated in the hollow interior of the mold after the mold is situated in the assembly to heat treat the refractory surrounding the exterior walls of the mold. After heat treatment a liquid is supplied to the hollow interior of the mold to chemically dissolve the mold.




tor

Electric power system for electric induction heating and melting of materials in a susceptor vessel

Apparatus and process for heating and melting a material in a susceptor vessel are provided wherein phase synchronized ac voltage is supplied from a separate power source to each one of at least two induction coils in separate zones around the vessel. Power magnitude from each source to an induction coil is controlled by pulse width control of the source's output voltage. Output frequency from each source is either fixed or variable based upon the electrically conductive state of the material. Optional electromagnetic stirring is achieved by establishing a phase shift between the voltage outputs of the power supplies after the material in the susceptor vessel has melted.




tor

Torque limiting device, particularly for power transmission elements

A torque limiting device, particularly for power transmission elements, is provided. The torque limiting device includes a first connecting member and a second connecting member, which is connected rotatably to a driven element. The first connecting member includes a motor driving disk and the second connecting member includes a sliding disk, and further includes a pin supporting body which comprises a drum that is assembled on the second connecting member and includes a plurality of radial holes, each one of which accommodates a pin that is pressed, toward the center of the drum, by elastic means, and abuts, with at least one of its faces which is inclined with respect to the central rotation axis of the second connecting member, against at least one corresponding abutment face.




tor

Constant velocity joint torsional damper

A constant velocity joint including an outer race having inner and outer surfaces, the inner surface including a plurality of outer bail tracks. The constant velocity joint also includes an inner race having a plurality of inner ball tracks which correspond to the outer ball tracks, a ball cage disposed between the outer race and the inner race, a plurality of balls arranged within the ball cage and contacting the outer ball tracks and the inner ball tracks. A damping assembly is connected to the outer race.




tor

Torque fluctuation absorber

A torque fluctuation absorber includes a first rotating member, a second rotating member arranged coaxially with the first rotating member, a control plate arranged between the first rotating member and the second rotating member in an axial direction and engaging non-rotatably with the second rotating member, a thrust member arranged between the first rotating member and the control plate in the axial direction, engaging with the first rotating member in an axially movable and non-rotatable manner, and slidably making contact with the control plate, and an elastic member arranged between the first rotating member and the thrust member in the axial direction, supported by the first rotating member and pressing the thrust member against the control plate.




tor

Device for generating limit torque with function of yielding torque change in real time

A device for generating limit torque with a function of yielding a torque change in real time includes a spring, a rotating portion having a cam surface formed therein, a transmitting portion transmitting an elastic force of the spring to the cam surface, a fixed portion with respect to which the relative rotation of the rotating portion is generated, and a limit-torque control portion provided to the fixed portion so as to control limit torque of the rotating portion by adjusting the elastic force of the spring. In the device, the limit-torque control portion controls the limit torque of the spring by changing the elastic force of the spring in real time.




tor

Shaft for transmitting torques

A shaft for transmitting torques includes a hollow shaft made of fiber-reinforced plastic. A flange which can be used to connect the hollow shaft to a driving or driven machine part is fastened at least to one end of the hollow shaft. The flange is fastened to the hollow shaft via a number of screw connections. Each screw connection includes a screw and a nut. The shank of the screw projects in the direction of the hollow shaft through an opening in the flange that is arranged in the connection region between the end edge of the hollow shaft and the flange. The shank extends at least partially inside the shell of the hollow shaft and engages with the nut arranged on the hollow shaft. The head of the screw is supported on that side of the flange opposed to the hollow shaft.




tor

Motor with torsional isolation means

An electro-mechanical energy conversion device is provided having an armature with a central cavity. The armature is rotatably mounted in a frame. A torsion bar is positioned within the armature with one end connected to the armature and the other end connected with an energy source or consuming device.




tor

Non-chattering ball detent torque limiter

A ball-detent torque-limiting assembly has breakout means for maintaining an axial separation distance between opposing pocketed surfaces of the assembly once the primary balls of the assembly have rolled out of their pockets, wherein the axial separation distance maintained by the breakout means is at least as great as the diameter of the balls. The breakout means may include a plurality of secondary balls deployed in a breakout event. The breakout means assumes the axially directed spring load that urges the opposing pocketed surfaces together, thereby preventing the primary balls from entering and exiting the pockets in quick and violent succession following breakout and avoiding damage to the torque-limiting assembly. The torque-limiting assembly is resettable by counter-rotation following a breakout event.




tor

Arrangement for transmitting a torque between a shaft and a hub

An arrangement transmits a torque between a shaft and a hub. The hub has at least approximately the interior geometry of an equilateral n-sided polygon, the side surfaces of which at least approximately bear against a clutch portion, which is of circular overall cross section, of the shaft, and wherein the shaft has at least one driver portion which is rotationally conjoint with respect to the clutch portion and which extends in the direction of a corner of the n-sided polygon.




tor

Torsional vibration attenuation apparatus

A torsional vibration damping device is configured to have hysteresis torques in the positive and negative sides varied by a simple construction, thereby improving the efficiency of production work and preventing an increase in production cost. Friction materials are respectively provided on surfaces of a hub member and the disc plates, the surfaces facing each other in the radial direction when the hub member is twisted in the positive side with respect to the disc plates. The friction materials are to be brought into friction contact with each other when the hub member is twisted by a specific angle with respect to the disc plates.




tor

System, method and apparatus for computing, monitoring, measuring, optimizing and allocating power and energy for a rod pumping system

A system and methods are provided for controlling a motor of a rod pumping system using previous RPMs of the motor and predicting an RPM of the motor; correcting a power factor of a motor of a rod pumping system; allocating energy consumption and allocating energy generation for a set of wells connected to an electricity meter using an amount of energy generated by each well; and generating an alert if a set of data is beyond a threshold for the set of data.




tor

Motion profile generator

Systems and methods are provided for generating a constraint-based, time-optimal motion profile for controlling the trajectory of a point-to-point move in a motion control system. A profile generator can calculate an ST-curve motion profile that includes a jerk reference that varies continuously over time for at least one of the motion profile segments, thereby producing a smooth, time-optimal trajectory. The profile generator can create the motion profile to conform to a set of motion constraints provided by the user. The profile generator also supports calculation of time-optimal motion profiles having segments that align to the sample time of the motion control system. In some embodiments, the profile generator can efficiently generate the motion profile by performing reference calculations only for those segments that will be used in the final motion profile for a given point-to-point move.




tor

Vision correction method for tool center point of a robot manipulator

A vision correction method for establishing the position of a tool center point (TCP) for a robot manipulator includes the steps of: defining a preset position of the TCP; defining a preset coordinate system TG with the preset position of the TCP as its origin; capturing a two-dimensional picture of the preset coordinate system TG to establish a visual coordinate system TV; calculating a scaling ratio λ of the vision coordinate system TV relative to the preset coordinate system TG; rotating the TCP relative to axes of the preset coordinate system TG; capturing pictures of the TCP prior to and after rotation; calculating the deviation ΔP between the preset position and actual position of the TCP; correcting the preset position and corresponding coordinate system TG using ΔP, and repeating the rotation through correction steps until ΔP is less than or equal to a maximum allowable deviation of the robot manipulator.