Automated Robotic Systems for Nondestructive Testing of Aerospace Composite Structures

2021 ◽  
Vol 79 (7) ◽  
pp. 678-686
Author(s):  
Fetzer Barry
Keyword(s):  
Nondestructive Testing ◽  
Composite Structures ◽  
Building Blocks ◽  
Robotic System ◽  
Robotic Systems ◽  
Manufacturing Processes ◽  
Inspection Method ◽  
Final Assembly ◽  
Aerospace Manufacturing ◽  
Manufacturing Applications

Automated robotic systems are becoming prevalent in many aerospace manufacturing applications, such as laser ablation, sanding, drilling, final assembly, and painting. There are significant advantages to using automated robotic systems for inspection purposes as well: versatility, speed, and repeatability, to name a few. This paper explores using an automated robotic system for the nondestructive testing (NDT) of composite parts. It has a focus on phased array ultrasonic testing (PAUT) but highlights modularity principles in the system that are not coupled to a single inspection method. Because of the articulation inherent in multi-axis robots, inspections of contoured structures become straightforward if the system modules are designed correctly. Examples of such modules, and their advantages when interfaced to an automated robotic system, are included in this paper. It is the author’s intent to show how these system modules might maximize robot capabilities for a broad range of aerospace inspections while keeping a simplistic design that is modular, fast, and straightforward to use. When compared to other aerospace manufacturing processes already using automated robotic systems, the use of robots for NDT seems not only prudent but a favorable goal. This paper offers practical building blocks for achieving this goal.

Prototyping of Robotic Systems in Surgical Procedures and Automated Manufacturing Processes

2012 ◽  
pp. 356-378
Author(s):  
Zheng (Jeremy) Li
Keyword(s):  
Modeling And Simulation ◽  
System Design ◽  
Surgical Procedures ◽  
Biomedical Engineering ◽  
Robotic System ◽  
Robotic Systems ◽  
Manufacturing Processes ◽  
Automated Manufacturing ◽  
Design Development ◽  
Computer Aided

The prototyping and implementation of robotic system is a scientific and technological integrating of robotic system design, development, testing, and application. This chapter describes the recent development and applications of robotic systems to surgery procedures in biomedical engineering and automated manufacturing processes in industry. It includes the design and development, computer-aided modeling and simulation, prototype analysis, and testing of robotic systems in these two different applications.

Prototyping of Robotic Systems in Surgical Procedures and Automated Manufacturing Processes

2012 ◽  
pp. 1969-1987
Author(s):  
Zheng (Jeremy) Li
Keyword(s):  
Modeling And Simulation ◽  
System Design ◽  
Surgical Procedures ◽  
Biomedical Engineering ◽  
Robotic System ◽  
Robotic Systems ◽  
Manufacturing Processes ◽  
Automated Manufacturing ◽  
Design Development ◽  
Computer Aided

The prototyping and implementation of robotic system is a scientific and technological integrating of robotic system design, development, testing, and application. This chapter describes the recent development and applications of robotic systems to surgery procedures in biomedical engineering and automated manufacturing processes in industry. It includes the design and development, computer-aided modeling and simulation, prototype analysis, and testing of robotic systems in these two different applications.

Development of an autonomous robotic system for beard shaving assistance of disabled people based on an adaptive force tracking impedance control

2021 ◽  
pp. 095440622098482
Author(s):  
Oladayo S Ajani ◽  
Samy FM Assal
Keyword(s):  
Impedance Control ◽  
Environmental Parameters ◽  
Robotic System ◽  
Robotic Systems ◽  
Full Potential ◽  
Robotic Assistance ◽  
Head Pose ◽  
Detection And Tracking ◽  
Control Scheme ◽  
Force Tracking

Recently, people with upper arm disabilities due to neurological disorders, stroke or old age are receiving robotic assistance to perform several activities such as shaving, eating, brushing and drinking. Although the full potential of robotic assistance lies in the use of fully autonomous robotic systems, these systems are limited in design due to the complexities and the associated risks. Hence, rather than the shared controlled or active robotic systems used for such tasks around the head, an adaptive compliance control scheme-based autonomous robotic system for beard shaving assistance is proposed. The system includes an autonomous online face detection and tracking as well as selected geometrical features-based beard region estimation using the Kinect RGB-D camera. Online trajectory planning for achieving the shaving task is enabled; with the capability of online re-planning trajectories in case of unintended head pose movement and occlusion. Based on the dynamics of the UR-10 6-DOF manipulator using ADAMS and MATLAB, an adaptive force tracking impedance controller whose parameters are tuned using Genetic Algorithm (GA) with force/torque constraints is developed. This controller can regulate the contact force under head pose changing and varying shaving region stiffness by adjusting the target stiffness of the controller. Simulation results demonstrate the system capability to achieve beard shaving autonomously with varying environmental parameters that can be extended for achieving other tasks around the head such as feeding, drinking and brushing.

Метод и аппаратура инфракрасного и ультразвукового термографического контроля крупногабаритных композиционных изделий сложной формы

2021 ◽  
Vol 7 ◽  
pp. 67-74
Author(s):  
А.О. Чулков ◽  
Д.А. Нестерук ◽  
Б.И. Шагдыров ◽  
В.П. Вавилов
Keyword(s):  
Neural Network ◽  
Nondestructive Testing ◽  
Data Fusion ◽  
Defect Detection ◽  
Complex Shape ◽  
Reference Sample ◽  
Robotic System ◽  
Image Stitching ◽  
Large Size ◽  
Thermal Nondestructive Testing

A robotic system for combined thermal nondestructive testing of large-size parts, including data fusion, is described. The efficiency of combining results of infrared (IR) and ultrasonic IR thermographic inspection has been demonstrated on a complex-shape reference sample containing 18 surrogates of manufacture and in-service defects. The data fusion algorithms including IR image stitching in space and automated defect detection and characterization by using a neural network have demonstrated efficiency of the proposed approach in practical testing.

Distributed Coordination Architecture for Cooperative Task Planning and Execution of Intelligent Multi-Robot Systems

2015 ◽  
pp. 407-426 ◽  
Author(s):  
Gen'ichi Yasuda
Keyword(s):  
Large Scale ◽  
Discrete Event ◽  
Robotic Systems ◽  
Task Planning ◽  
Distributed Coordination ◽  
Robot Systems ◽  
Concurrent Processes ◽  
Manufacturing Applications ◽  
Robot Cooperation ◽  
Multi Robot

This chapter provides a practical and intuitive way of cooperative task planning and execution for complex robotic systems using multiple robots in automated manufacturing applications. In large-scale complex robotic systems, because individual robots can autonomously execute their tasks, robotic activities are viewed as discrete event-driven asynchronous, concurrent processes. Further, since robotic activities are hierarchically defined, place/transition Petri nets can be properly used as specification tools on different levels of control abstraction. Net models representing inter-robot cooperation with synchronized interaction are presented to achieve distributed autonomous coordinated activities. An implementation of control software on hierarchical and distributed architecture is presented in an example multi-robot cell, where the higher level controller executes an activity-based global net model of task plan representing cooperative behaviors performed by the robots, and the parallel activities of the associated robots are synchronized without the coordinator through the transmission of requests and the reception of status.

scholarly journals Virtual Pheromone Based Network Flow Control For Modular Robotic Systems

Electronics ◽  
2020 ◽  
Vol 9 (3) ◽  
pp. 481
Author(s):  
Van Tung Le ◽  
Trung Dung Ngo
Keyword(s):  
Flow Control ◽  
Network Flow ◽  
Communication Channel ◽  
Routing Algorithm ◽  
Robotic System ◽  
Robotic Systems ◽  
Application Development ◽  
Gradient Based ◽  
Communication Path

Guaranteeing data transmission between modules is the key for application development of modular robotic systems. In a multi-channel modular robotic system, intersection modules play an essential role of communication channel selection in controlling data flow toward desired destinations. The gradient-based routing algorithm is an ideal solution to create an one-way communication path from any robotic module to a designated destination. To create bi-directional communication for a communication path of robotic configuration, virtual pheromone-based routing algorithm is a promising mechanism for intersection modules due to its simplicity and distributivity. In this paper, we address a virtual pheromone based network flow control based on the integration of gradient and virtual pheromone-based routing algorithms. We validated this method through an education and entertainment application using our newly developed modular robotic system.

Connecting System for Quick Replacement of Mechatronic SCHUNK Power Cube Modules for Mobile Robotic Systems

2015 ◽  
Vol 772 ◽  
pp. 318-323 ◽  
Author(s):  
Zdenko Bobovský ◽  
Václav Krys ◽  
Ján Babjak ◽  
Tomáš Kot
Keyword(s):  
Robotic System ◽  
Robotic Systems ◽  
Kinematic Structure ◽  
Future Outlook ◽  
Control Application

The article describes the synthesis of the connecting system for mechatronic modules SCHUNK PowerCube PR70, PR90 and PW90. Emphasis is placed on enabling the quick reconfiguration of the kinematic structure of the manipulator for a mobile robotic system built from these modules. The article describes the process of synthesis of mechanic components of the system, hardware and software ensuring the necessary functions for the realization of connections, detection of orientation of the connected module, securing the flow of energy and data signals and the appropriate response in the control application of the system. This is substantiated by evaluating tests realized on produced prototypes of connecting systems. The article also describes a future outlook for further developments of the connecting system.

scholarly journals Smart and Modular

2011 ◽  
Vol 133 (09) ◽  
pp. 48-51
Author(s):  
Harry H. Cheng ◽  
Graham Ryland ◽  
David Ko ◽  
Kevin Gucwa ◽  
Stephen Nestinger
Keyword(s):  
Degrees Of Freedom ◽  
Robotic System ◽  
Search And Rescue ◽  
Degree Of Freedom ◽  
Robotic Systems ◽  
Modular Robots ◽  
Modular Robot ◽  
Modular Systems ◽  
The Past ◽  
Three Degrees Of Freedom

This article discusses the advantages of a modular robot that can reassemble itself for different tasks. Modular robots are composed of multiple, linked modules. Although individual modules can move on their own, the greatest advantage of modular systems is their structural reconfigurability. Modules can be combined and assembled to form configurations for specific tasks and then reassembled to suit other tasks. Modular robotic systems are also very well suited for dynamic and unpredictable application areas such as search and rescue operations. Modular robots can be reconfigured to suit various situations. Quite a number of modular robotic system prototypes have been developed and studied in the past, each containing unique geometries and capabilities. In some systems, a module only has one degree of freedom. In order to exhibit practical functionality, multiple interconnected modules are required. Other modular robotic systems use more complicated modules with two or three degrees of freedom. However, in most of these systems, a single module is incapable of certain fundamental locomotive behaviors, such as turning.

The CAD/CAM Interface: A 25-Year Retrospective

2005 ◽  
Vol 5 (3) ◽  
pp. 188-197 ◽  
Author(s):  
J. Corney ◽  
C. Hayes ◽  
V. Sundararajan ◽  
P. Wright
Keyword(s):  
Computer Aided Design ◽  
Future Research ◽  
Manufacturing Processes ◽  
Sheet Metal Parts ◽  
Multiaxis Machining ◽  
Computer Aided ◽  
Cad Cam ◽  
Feature Based ◽  
Manufacturing Applications ◽  
Aided Design

The vision of fully automated manufacturing processes was conceived when computers were first used to control industrial equipment. But realizing this goal has not been easy; the difficulties of generating manufacturing information directly from computer aided design (CAD) data continued to challenge researchers for over 25 years. Although the extraction of coordinate geometry has always been straightforward, identifying the semantic structures (i.e., features) needed for reasoning about a component’s function and manufacturability has proved much more difficult. Consequently the programming of computer controlled manufacturing processes such as milling, cutting, turning and even the various lamination systems (e.g., SLA, SLS) has remained largely computer aided rather than entirely automated. This paper summarizes generic difficulties inherent in the development of feature based CAD/CAM (computer aided manufacturing) interfaces and presents two alternative perspectives on developments in manufacturing integration research that have occurred over the last 25 years. The first perspective presents developments in terms of technology drivers including progress in computational algorithms, enhanced design environments and faster computers. The second perspective describes challenges that arise in specific manufacturing applications including multiaxis machining, laminates, and sheet metal parts. The paper concludes by identifying possible directions for future research in this area.

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