scholarly journals Design of controller for mobile robot in welding process of shipbuilding engineering

2014 ◽  
Vol 1 (4) ◽  
pp. 243-255 ◽  
Author(s):  
Namkug Ku ◽  
Sol Ha ◽  
Myung-Il Roh
Keyword(s):  
Welding Process ◽  
Field Tests ◽  
Welding Robot ◽  
Control Software ◽  
Hull Structure ◽  
Successful Execution ◽  
Mobile Welding Robot ◽  
Embedded Controller ◽  
And Control ◽  
Double Hull

Abstract The present study describes the development of control hardware and software for a mobile welding robot. This robot is able to move and perform welding tasks in a double hull structure. The control hardware consists of a main controller and a welding machine controller. Control software consists of four layers. Each layer consists of modules. Suitable combinations of modules enable the control software to perform the required tasks. Control software is developed using C programming under QNX operating system. For the modularizing architecture of control software, we designed control software with four layers: Task Manager, Task Planner, Actions for Task, and Task Executer. The embedded controller and control software was applied to the mobile welding robot for successful execution of the required tasks. For evaluate this imbedded controller and control software, the field tests are conducted, it is confirmed that the developed imbedded controller of mobile welding robot for shipyard is well designed and implemented.

Development of a mobile welding robot for double-hull structures in shipbuilding

2010 ◽  
Vol 15 (4) ◽  
pp. 374-385 ◽  
Author(s):  
Namkug Ku ◽  
Ju-hwan Cha ◽  
Kyu-Yeul Lee ◽  
Jongwon Kim ◽  
Tae-wan Kim ◽  
...  
Keyword(s):  
Welding Robot ◽  
Mobile Welding Robot ◽  
Double Hull

Modularized Control Architecture of an Embedded Controller for Mobile Welding Robot in the Shipyard

2008 ◽  
Vol 41 (2) ◽  
pp. 4298-4303 ◽  
Author(s):  
Kyu-Yeul Lee ◽  
Tae-Wan Kim ◽  
Jongwon Kim ◽  
Nam-Kug Ku ◽  
Heonyoung Lim ◽  
...  
Keyword(s):  
Control Architecture ◽  
Welding Robot ◽  
Mobile Welding Robot ◽  
Embedded Controller

Rail Running Mobile Welding Robot ‘RRX3’ for Double Hull Ship Structure

2008 ◽  
Vol 41 (2) ◽  
pp. 4292-4297 ◽  
Author(s):  
Jongwon Kim ◽  
Kyu-Yeul Lee ◽  
Taewan Kim ◽  
Donghun Lee ◽  
Sungcheul Lee ◽  
...  
Keyword(s):  
Welding Robot ◽  
Ship Structure ◽  
Mobile Welding Robot ◽  
Double Hull

The Design of Two-Wheel Mobile Platform Using Digital DC Servo Motor Based on CompactRIO

2011 ◽  
Vol 181-182 ◽  
pp. 92-98
Author(s):  
Yuan Jiang Liao ◽  
Ming Li ◽  
Chang Kai Xu
Keyword(s):  
Flat Surface ◽  
Fuzzy Controller ◽  
Virtual Prototyping ◽  
The Self ◽  
Mobile Platform ◽  
Servo Motor ◽  
Control Software ◽  
Embedded Controller ◽  
And Control ◽  
Balancing Control

This paper describes some main design methods of the mechatronics system and control system of the self-balancing two-wheel mobile platform based on a CompactRIO embedded controller, two digital DC servo motors with two odometry encoders, etc. We use mechatronics-oriented virtual prototyping tools to design the mechatronics system using SolidWorks and LabVIEW. And we use fuzzy controller to control this mobile platform. Through several experiments of self-balancing, linear running, it was confirmed that the mobile platform could realize stable mobile motion in a flat surface environment by the fuzzy controller. Using these methods, we have designed a two-wheel mobile platform to keep itself balancing in order to carry something from someplace to another in the future. The two-wheel mobile platform has been manufactured successfully by CIMS & Robotics Center of Shanghai University. The self-balancing control software and the other software have been developed.

scholarly journals The BECCAL Experiment Design and Control Software

2021 ◽  
Author(s):  
Arnau Prat ◽  
Jan Sommer ◽  
Ayush Mani Nepal ◽  
Tobias Franz ◽  
Hauke Muntinga ◽  
...  
Keyword(s):  
Experiment Design ◽  
Control Software ◽  
And Control

Transient Temperature and Heat Flux Measurement in Ultrasonic Joining of Battery Tabs Using Thin-Film Microsensors

2013 ◽  
Vol 135 (5) ◽  
Author(s):  
Hang Li ◽  
Hongseok Choi ◽  
Chao Ma ◽  
Jingzhou Zhao ◽  
Hongrui Jiang ◽  
...  
Keyword(s):  
Thin Film ◽  
Heat Flux ◽  
Heat Generation ◽  
Welding Process ◽  
Ultrasonic Welding ◽  
Transient Temperature ◽  
Monitoring And Control ◽  
Change Rate ◽  
Flux Change ◽  
And Control

Process physics understanding, real time monitoring, and control of various manufacturing processes, such as battery manufacturing, are crucial for product quality assurance. While ultrasonic welding has been used for joining batteries in electric vehicles (EVs), the welding physics, and process attributes, such as the heat generation and heat flow during the joining process, is still not well understood leading to time-consuming trial-and-error based process optimization. This study is to investigate thermal phenomena (i.e., transient temperature and heat flux) by using micro thin-film thermocouples (TFTC) and thin-film thermopile (TFTP) arrays (referred to as microsensors in this paper) at the very vicinity of the ultrasonic welding spot during joining of three-layered battery tabs and Cu buss bars (i.e., battery interconnect) as in General Motors's (GM) Chevy Volt. Microsensors were first fabricated on the buss bars. A series of experiments were then conducted to investigate the dynamic heat generation during the welding process. Experimental results showed that TFTCs enabled the sensing of transient temperatures with much higher spatial and temporal resolutions than conventional thermocouples. It was further found that the TFTPs were more sensitive to the transient heat generation process during welding than TFTCs. More significantly, the heat flux change rate was found to be able to provide better insight for the process. It provided evidence indicating that the ultrasonic welding process involves three distinct stages, i.e., friction heating, plastic work, and diffusion bonding stages. The heat flux change rate thus has significant potential to identify the in-situ welding quality, in the context of welding process monitoring, and control of ultrasonic welding process. The weld samples were examined using scanning electron microscopy (SEM) and energy dispersive X-ray spectroscopy (EDS) to study the material interactions at the bonding interface as a function of weld time and have successfully validated the proposed three-stage welding theory.

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