Search results for " Optics"
showing 10 items of 5880 documents
Mobile manipulator performance measurement towards manufacturing assembly tasks
2016
Mobile manipulator performance measurement research is relatively minimal as compared to that of robot arms. Measurement methods, such as optical tracking systems, are useful for measuring the performance of mobile manipulators, although at a much higher relative cost as compared to artifacts. The concept of using test artifacts demonstrates to potential manufacturers and users of mobile manipulator systems that relatively low cost performance measurement methods exist. This paper discusses the concept of reconfigurable mobile manipulator artifacts that were designed and built. An artifact was then used through experimentation to measure the performance of a mobile manipulator to demonstrat…
Three-Dimensional Integral-Imaging Display From Calibrated and Depth-Hole Filtered Kinect Information
2016
We exploit the Kinect capacity of picking up a dense depth map, to display static three-dimensional (3D) images with full parallax. This is done by using the IR and RGB camera of the Kinect. From the depth map and RGB information, we are able to obtain an integral image after projecting the information through a virtual pinhole array. The integral image is displayed on our integral-imaging monitor, which provides the observer with horizontal and vertical perspectives of big 3D scenes. But, due to the Kinect depth-acquisition procedure, many depthless regions appear in the captured depth map. These holes spread to the generated integral image, reducing its quality. To solve this drawback we …
Using infrared thermography in order to compare laser and hybrid (laser plus MIG) welding processes
2009
International audience; In order to deepen the understanding of the differences between laser and laser-arc hybrid welding, comparisons were undertaken using thermography. The experiments were carried out for a T assembly of aluminium alloy plates. Modelling, based on the finite element method approach, was realized using IR temperature measurements and seam geometry. For a value of the power supply, depicted as a surface source in the hybrid case, agreement was found between simulated and measured temperatures. The arc power supply efficiency value is similar to the usually used value.
The use of exploratory experimental designs combined with thermal numerical modelling to obtain a predictive tool for hybrid laser/MIG welding and co…
2011
Abstract While hybrid laser welding and coating processes involve a large number of physical phenomena, it is currently impossible to predict, for a given set of influencing factors, the shape of the molten zone and the history of temperature fields inside the parts. This remains true for complex processes, such as the hybrid laser/MIG welding process, which consists in combining a laser beam with a MIG torch. The gains obtained result essentially from the synergy of the associated processes: the stability of the process, the quality of the seam realized, and the productivity are increased. This article shows how, by means of a reduced number of experiments (8), it is possible to predict th…
The numerical simulation of heat transfer during a hybrid laser–MIG welding using equivalent heat source approach
2014
International audience; The present study is dedicated to the numerical simulation of an industrial case of hybrid laser-MIG welding of high thickness duplex steel UR2507Cu with Y-shaped chamfer geometry. It consists in simulation of heat transfer phenomena using heat equivalent source approach and implementing in finite element software COMSOL Multiphysics. A numerical exploratory designs method is used to identify the heat sources parameters in order to obtain a minimal required difference between the numerical results and the experiment which are the shape of the welded zone and the temperature evolution in different locations. The obtained results were found in good correspondence with …
Optimisation of refractory coatings realised with cored wire addition using a high-power diode laser
2005
Laser; Cladding; Refractory alloys; Factorial experiments; International audience; The objective or our research was to obtain refractory alloys using the high-power diode laser (HPDL) coating technique. After optimisation using factorial experiments, two different cladding regimes were clearly distinguished. It was also shown that a very narrow transition zone exists between the two regimes, and, inside this zone, clad layers having a satisfactory compromise between the response functions (surface aspect and cavity presence) were obtained. The main objective of our study, namely, the control of the operating parameters (geometrical and kinematical) to realise adequate coatings, without cav…
Through-transmission laser welding of polymers – temperature field modeling and infrared investigation
2007
The purpose of the present study is to estimate the weldability of a polymeric material couple according to their thermal and optical properties. A first model based on Mie theory and Monte Carlo method describes the laser beam behavior in semi-transparent media and makes it possible to approximate the laser power distribution at the interface of the two materials. A second model based on finite element method permits the temperature field estimation into both parts to be welded. The results are validated by infrared thermography.
Online dimensional control of rolled steel profiles using projected fringes
2020
AbstractFringe projection is a versatile method for mapping the topography of surfaces. In this paper, it is used to measure the defects on the head of railroad rails while the rails are moving. Railroad rails are made by hot rolling. The quality of the finished product is generally good, but surface texture will deteriorate with increasing temperature. A method for online inspection therefore is very desirable. In the present experiment, dimensional inspection of the railroad rails was made online while moving at a speed of 1–2 m/s. Therefore, it is important to minimize the registration time. To achieve this, we apply a method of fringe location with sub-pixel accuracy that requires only …
Improved Active Disturbance Rejection Control for Trajectory Tracking Control of Lower Limb Robotic Rehabilitation Exoskeleton.
2020
Neurological disorders such as cerebral paralysis, spinal cord injuries[acronym](SCI), and strokes, result in the impairment of motor control and induce functional difficulties to human beings like walking, standing, etc. Physical injuries due to accidents and muscular weaknesses caused by aging [english]affectsaffect people and can cause them to lose their ability to perform daily routine functions. In order to help people recover or improve their dysfunctional activities and quality of life after accidents or strokes, assistive devices like exoskeletons and orthoses are developed. Control strategies for control of exoskeletons are developed with the desired intention of improving the qual…
Diode laser welding of ABS: Experiments and process modeling
2009
International audience; The laser beam weldability of acrylonitrile/butadiene/styrene (ABS) plates is determined by combining both experimental and theoretical aspects. In modeling the process, an optical model is used to determine how the laser beam is attenuated by the first material and to obtain the laser beam profile at the interface. Using this information as the input data to a thermal model, the evolution of the temperature field within the two components can be estimated. The thermal model is based on the first principles of heat transfer and utilizes the temperature variation laws of material properties. Corroborating the numerical results with the experimental results, some impor…