scholarly journals Autonomous 3D geometry reconstruction through robot-manipulated optical sensors

2021 ◽  
Author(s):  
Carmelo Mineo ◽  
Donatella Cerniglia ◽  
Vito Ricotta ◽  
Bernhard Reitinger
Keyword(s):  
Optical Sensors ◽  
Simulation Software ◽  
Surface Mapping ◽  
Part Geometry ◽  
Industrial Sectors ◽  
3D Geometry ◽  
Real Geometry ◽  
Lot Sizes ◽  
Small Production ◽  
Robot Task

Abstract Many industrial sectors face increasing production demands and need to reduce costs, without compromising the quality. Whereas mass production relies on well-established protocols, small production facilities with small lot sizes struggle to update their highly changeable production at reasonable costs. The use of robotics and automation has grown significantly in recent years, but extremely versatile robotic manipulators are still not commonly used in small factories. Beside of the investments required to enable efficient and profitable use of robot technology, the efforts needed to program robots are only economically viable in case of large lot sizes. Generating robot programs for specific manufacturing tasks still relies on programming trajectory waypoints by hand. The use of virtual simulation software and the availability of the specimen digital models can facilitate robot programming. Nevertheless, in many cases, the virtual models are not available or there are unavoidable differences between virtual and real setups, leading to inaccurate robot programs and time-consuming manual corrections. This could be avoided by measuring the real-geometry and the position of the specimen, which creates the paradox of having to plan robot paths for surface mapping purposes, before the originally intended robot task can be approached. Previous works have demonstrated the use of robotically manipulated optical sensors to map the geometry of samples. However, the use of simple user-defined robot paths, which are not optimized to the part geometry, typically causes some areas of the samples to not be mapped with the required level of accuracy or to not be sampled at all by the optical sensor. This work presents an autonomous framework to enable adaptive surface mapping, without any previous knowledge of the part geometry being transferred to the system. The article gives an overview of the related work in the field, a detailed description of the proposed framework and a proof of its functionality through both simulated and experimental evidences.

scholarly journals Autonomous 3D geometry reconstruction through robot-manipulated optical sensors

2021 ◽  
Author(s):  
Carmelo Mineo ◽  
Donatella Cerniglia ◽  
Vito Ricotta ◽  
Bernhard Reitinger
Keyword(s):  
Optical Sensors ◽  
Point Cloud ◽  
Simulation Software ◽  
Surface Mapping ◽  
Part Geometry ◽  
Industrial Sectors ◽  
3D Geometry ◽  
Part Surface ◽  
Lot Sizes ◽  
Specific Part

AbstractMany industrial sectors face increasing production demands and the need to reduce costs, without compromising the quality. The use of robotics and automation has grown significantly in recent years, but versatile robotic manipulators are still not commonly used in small factories. Beside of the investments required to enable efficient and profitable use of robot technology, the efforts needed to program robots are only economically viable in case of large lot sizes. Generating robot programs for specific manufacturing tasks still relies on programming trajectory waypoints by hand. The use of virtual simulation software and the availability of the specimen digital models can facilitate robot programming. Nevertheless, in many cases, the virtual models are not available or there are excessive differences between virtual and real setups, leading to inaccurate robot programs and time-consuming manual corrections. Previous works have demonstrated the use of robot-manipulated optical sensors to map the geometry of samples. However, the use of simple user-defined robot paths, which are not optimized for a specific part geometry, typically causes some areas of the samples to not be mapped with the required level of accuracy or to not be sampled at all by the optical sensor. This work presents an autonomous framework to enable adaptive surface mapping, without any previous knowledge of the part geometry being transferred to the system. The novelty of this work lies in enabling the capability of mapping a part surface at the required level of sampling density, whilst minimizing the number of necessary view poses. Its development has also led to an efficient method of point cloud down-sampling and merging. The article gives an overview of the related work in the field, a detailed description of the proposed framework and a proof of its functionality through both simulated and experimental evidences.

Wrinkling Prediction and Optimization of Sheet Metal Forming Process by Numerical Simulation

2015 ◽  
Vol 818 ◽  
pp. 252-255 ◽  
Author(s):  
Ján Slota ◽  
Marek Šiser
Keyword(s):  
Numerical Simulation ◽  
Material Model ◽  
Mechanical Tests ◽  
Simulation Software ◽  
Forming Process ◽  
Part Geometry ◽  
Nominal Thickness ◽  
430 Stainless Steel ◽  
Metal Forming Process ◽  
Aisi 430

The paper deals with optimization of forming process for AISI 430 stainless steel with nominal thickness 0.4 mm. During forming of sidewall for washing machine drum, some wrinkles remain at the end of forming process in some places. This problem was solved by optimization the geometry of the drawpiece using numerical simulation. During optimization a series of modifications of the part geometry to absolute elimination of wrinkling was performed. On the basis of mechanical tests, the material model was created and imported into the material database of Autoform simulation software.

Part Accuracy Management by Topological Mapping of Deviations

2016 ◽  
Vol 859 ◽  
pp. 210-216
Author(s):  
Gabriel Frumuşanu ◽  
Alexandru Epureanu
Keyword(s):  
Geometrical Model ◽  
Synthetic Approach ◽  
Concrete Case ◽  
Topological Map ◽  
New Approach ◽  
Part Geometry ◽  
Real Geometry ◽  
Geometric Deviations ◽  
New Type ◽  
Modern Manufacturing

Despite modern manufacturing processes are characterized by a continuously increasing accuracy, geometric deviations inherently appear on every manufactured part so, for quality-aware companies, it is essential to control and to manage them. This paper introduces a new type of part geometrical model, namely the part topological map, in connection with a new approach in part accuracy management. The part topological map enables a global analytical & synthetic approach of the problems related to tolerancing domain and a generalization of the “part accuracy” concept. The part geometry is seen as a stand-alone ensemble of surfaces dimensionally related, unitary and with its own shape, dimensions and position. The real geometry has also a global, unitary deviation, characterized through deviation features. Each component surface is represented in a particular manner, unrolled, while its deviation features are assessed by using series expansion of the deviations corresponding to a cloud of measured points. A method for effectively realizing the topological map of a part deviation and a numerical exercise to illustrate the method application in a concrete case are also included.

scholarly journals Optimisation of Mould Design for Injection Moulding – Numerical Approach

2021 ◽  
Vol 15 (2) ◽  
pp. 258-266
Author(s):  
Damir Godec ◽  
Vladimir Brnadić ◽  
Tomislav Breški
Keyword(s):  
Computer Simulation ◽  
Injection Moulding ◽  
Numerical Approach ◽  
Processing Parameters ◽  
Simulation Software ◽  
Moulding Process ◽  
Part Geometry ◽  
Injection Moulding Process ◽  
Mould Cavity ◽  
Mould Design

Computer simulation of injection moulding process is a powerful tool for optimisation of moulded part geometry, mould design and processing parameters. One of the most frequent faults of the injection moulded parts is their warpage, which is a result of uneven cooling conditions in the mould cavity as well as after part ejection from the mould and cooling down to the environmental temperature. With computer simulation of the injection moulding process it is possible to predict potential areas of moulded part warpage and to apply the remedies to compensate/minimize the value of the moulded part warpage. The paper presents application of simulation software Moldex 3D in the process of optimising mould design for injection moulding of thermoplastic casing.

scholarly journals Development of Force Sensor System Based on Tri-Axial Fiber Bragg Grating with Flexure Structure

Sensors ◽  
2021 ◽  
Vol 22 (1) ◽  
pp. 16
Author(s):  
Dongjoo Shin ◽  
Hyeong-U Kim ◽  
Atul Kulkarni ◽  
Young-Hak Kim ◽  
Taesung Kim
Keyword(s):  
Fiber Bragg Grating ◽  
Optical Sensors ◽  
Calibration Curve ◽  
Electromagnetic Interference ◽  
Low Cost ◽  
Force Sensor ◽  
Simulation Software ◽  
Sensor System ◽  
Bragg Grating ◽  
Catheter Tip

Fiber Bragg grating (FBG) sensors have an advantage over optical sensors in that they are lightweight, easy to terminate, and have a high flexibility and a low cost. Additionally, FBG is highly sensitive to strain and temperature, which is why it has been used in FBG force sensor systems for cardiac catheterization. When manually inserting the catheter, the physician should sense the force at the catheter tip under the limitation of power (<0.5 N). The FBG force sensor can be optimal for a catheter as it can be small, low-cost, easy to manufacture, free of electromagnetic interference, and is materially biocompatible with humans. In this study, FBG fibers mounted on two different flexure structures were designed and simulated using ANSYS simulation software to verify their sensitivity and durability for use in a catheter tip. The selected flexure was combined with three FBGs and an interrogator to obtain the wavelength signals. To obtain a calibration curve, the FBG sensor obtained data on the change in wavelength with force at a high resolution of 0.01 N within the 0.1–0.5 N range. The calibration curve was used in the force sensor system by the LabVIEW program to measure the unknown force values in real time.

Automatic Programming System for Shipyard Robots

1997 ◽  
Vol 13 (02) ◽  
pp. 93-100
Author(s):  
Scott McGhee ◽  
Sivrama Nalluri ◽  
Ron Reeve ◽  
Robert Rongo ◽  
Fritz Prinz ◽  
...  
Keyword(s):  
Real World ◽  
Computer Aided Design ◽  
Simulation Software ◽  
Physical Models ◽  
Robot Programming ◽  
Programming System ◽  
Automatic Programming ◽  
The Real ◽  
Cad Models ◽  
Robot Task

The application of robots to variable tasks in unstructured environments presents a series of problems that must be solved in order to achieve viable results Common teaching-type robots cannot be applied in these cases as the programming time and labor investment far exceed the time and cost of direct manual production. Numerically controlled (NC) robots programmed off-line by modified NC methods have been applied with economic success to program robots directly from computer-aided design (CAD) data where tasks are sufficiently repetitive and the operating environment is sufficiently structured Similarly, off-line programming systems have been developed by various robot manufacturers to generate instructions from CAD data for their robots. Likewise, developers of 3D simulation software have devised methods to merge CAD data with physical models of robots and system hardware to produce robot path programs that approximate the tasks to be performed. Each of these systems is unable to provide a totally automated means to program robot tasks directly from CAD data due to inaccuracies in the real-world elements and/or the models, and due to a lack of knowledge about the processes. A new approach to automatic robot programming is needed that is capable of dealing with:inherent differences between the CAD models and the real-world parts;uncertainties regarding the precise location and accessibility of the parts relative to the robot:process knowledge required to adapt these differences and uncertainties; andprocess knowledge essential to optimizing robot activities. Such an automatic robot programming system is being developed to meet the dual-use defense and commercial ship construction needs of American shipyards under the Technology Reinvestment Project (TRP) for Shipbuilding Robotics. This system automates the programmer's task of identifying location of welds, assigning weld process parameters and adaptive welding strategies to each joint. A procedural diagram for this system is shown in Figure 1. The results and benefits of this approach are described herein. Fig. 1Procedure for automatic off-line robot task planning

A Preliminary Experimental Study of Additive Manufacturing Energy Consumption

2017 ◽  
Author(s):  
Daniel Dunaway ◽  
James Dillon Harstvedt ◽  
Junfeng Ma
Keyword(s):  
Energy Consumption ◽  
Additive Manufacturing ◽  
Experimental Design ◽  
Surface Area ◽  
Surface Geometry ◽  
Fused Deposition ◽  
Part Geometry ◽  
Industrial Sectors ◽  
Part Surface ◽  
The Impact

Additive manufacturing (AM) refers to a group of manufacturing techniques that produce components by melting and bonding material powders in a layer-by-layer fashion. By virtue of its capability of producing parts with complex geometry and functionally graded materials, AM is leading the charge of the “third industrial revolution” and has attracted great attention in multiple industrial sectors, such as manufacturing, healthcare, aerospace, and others. Sustainability of AM remains an open question. AM is inherently an energy expensive process and may be energy inefficient as compared to the traditional manufacturing process. Thus, there exists an urgent need to identify the key influence factors and quantify the energy consumption during AM production. The proposed study aims to obtain a preliminary understanding of the impact of part surface geometry on AM energy consumption. The study addresses the effect of part geometry on AM energy consumption through experimental design method. Part geometry consists of two level meanings, part surface area and part surface complexity. The study utilizes a MakerGear M2 fused deposition modeling (FDM) 3D printer to complete the designed experiments. By implementing experimental design and statistical analysis technologies, the study firstly identifies the correlation between part geometry and AM energy consumption. The result shows that part surface area is positively correlated with AM energy consumption and no significant statistical evidence to support that part surface complexity is associated with AM energy consumption. Such findings are of significance to AM energy consumption in terms of both qualitative and quantitative analysis. In addition, the study has significant potentials to guide the future AM energy consumption model development and to be extended to future AM process improvement.

Development of Calibration Knives for Hot Cutting Shears

2021 ◽  
Vol 410 ◽  
pp. 380-385
Author(s):  
Artem A. Malanov ◽  
Grigory A. Orlov
Keyword(s):  
Software Package ◽  
Element Model ◽  
Simulation Software ◽  
Cutting Process ◽  
Piercing Mill ◽  
Part Geometry ◽  
Cylindrical Workpiece ◽  
Simulation Results ◽  
3D Computer Simulation ◽  
Deform 3D

In this paper, the problem distortion the end of a cylindrical workpiece in the cutting process on hot shears before being fed to the piercing mill is considered. To solve this problem, a new calibration of knives has been developed, and a finite element model hot cutting shears has been developed using the DEFORM-3D computer simulation software package. Modeling the cutting process using the proposed calibration has been carried out. It was found that the knife calibers geometry plays an important role in the formation end part geometry of the blank. Based on the simulation results, it was concluded that proposed calibration reduces the ovality workpiece end by almost 2 times in comparison with current calibration. Recommendations have been developed for the production of changes in the existing technology for cutting pipe billets.

Comparison of two devices for measuring exercise transcutaneous oxygen pressures in patients with claudication

VASA ◽  
2015 ◽  
Vol 44 (5) ◽  
pp. 355-362 ◽  
Author(s):  
Marie Urban ◽  
Alban Fouasson-Chailloux ◽  
Isabelle Signolet ◽  
Christophe Colas Ribas ◽  
Mathieu Feuilloy ◽  
...  
Keyword(s):  
Oxygen Pressure ◽  
Optical Sensors ◽  
Chemical Sensors ◽  
Transcutaneous Oxygen ◽  
Starting Values ◽  
Two Systems ◽  
Transcutaneous Oxygen Pressure ◽  
New Sensors ◽  
Changes Over Time ◽  
Over Time

Abstract. Summary: Background: We aimed at estimating the agreement between the Medicap® (photo-optical) and Radiometer® (electro-chemical) sensors during exercise transcutaneous oxygen pressure (tcpO2) tests. Our hypothesis was that although absolute starting values (tcpO2rest: mean over 2 minutes) might be different, tcpO2-changes over time and the minimal value of the decrease from rest of oxygen pressure (DROPmin) results at exercise shall be concordant between the two systems. Patients and methods: Forty seven patients with arterial claudication (65 + / - 7 years) performed a treadmill test with 5 probes each of the electro-chemical and photo-optical devices simultaneously, one of each system on the chest, on each buttock and on each calf. Results: Seventeen Medicap® probes disconnected during the tests. tcpO2rest and DROPmin values were higher with Medicap® than with Radiometer®, by 13.7 + / - 17.1 mm Hg and 3.4 + / - 11.7 mm Hg, respectively. Despite the differences in absolute starting values, changes over time were similar between the two systems. The concordance between the two systems was approximately 70 % for classification of test results from DROPmin. Conclusions: Photo-optical sensors are promising alternatives to electro-chemical sensors for exercise oximetry, provided that miniaturisation and weight reduction of the new sensors are possible.

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