Search results for "ANN"
showing 10 items of 14573 documents
A novel clustering-based algorithm for solving spatially-constrained robotic task sequencing problems
2021
The robotic task sequencing problem (RTSP) appears in various forms across many industrial applications and consists of developing an optimal sequence of motions to visit a set of target points defined in a task space. Developing solutions to problems involving complex spatial constraints remains challenging due to the existence of multiple inverse kinematic solutions and the requirements for collision avoidance. So far existing studies have been limited to relaxed RTSPs involving a small number of target points and relatively uncluttered environments. When extending existing methods to problems involving greater spatial constraints and large sets of target points, they either require subst…
Robotic geometric and volumetric inspection of high value and large scale aircraft wings
2019
Increased demands in performance and production rates require a radical new approach to the design and manufacturing of aircraft wings. Performance of modern robotic manipulators has enabled research and development of fast automated non-destructive testing (NDT) systems for complex geometries. This paper presents recent outcomes of work aimed at removing the bottleneck due to data acquisition rates, to fully exploit the scanning speed of modern 6-DoF manipulators. The geometric assessment of the parts is carried out with a robotised dynamic laser scanner encoded through an absolute laser tracker. This method allows scanning speeds up to 330mm/s at 1mm pitch. State of the art ultrasonic ins…
Direct laser welding of pure titanium to austenitic stainless steel
2018
Abstract Direct butt joining of pure titanium to 316L stainless steel with continuous Yb:YAG laser was performed with variation of the beam offset from joint line. Mechanical properties of samples were evaluated by tensile tests and three-point flexural tests. The fractured surfaces and cross sections of welds were examined by scanning electron microscopy (SEM), energy dispersive spectroscopy (EDS) and X-ray diffraction (XRD). Tensile properties of welds were strongly determined by the beam offset from joint line and are well described by Weibull statistics. Ultimate tensile strength of 174 ± 69 MPa and ultimate flexural strength of 297 ± 48 MPa were obtained. Brittle fracture took place in…
Impact des conditions d'usinage sur la zone du matériau affectée par le procédé
2007
Colloque avec actes et comité de lecture. Internationale.; International audience; Les procédés d'usinage peuvent créer des contraintes résiduelles à la surface des pièces usinées et ainsi modifier la microstructure et la texture de la matière proche de la surface. De tels changements sont importants pour l'étude du comportement des pièces au cours du temps. Il est alors nécessaire de quantifier les contraintes résiduelles, les composantes de texture et de déterminer la microstructure induite par l'usinage pour comprendre et prédire le comportement des surfaces considérées. Dans cette étude, le matériau cuivre pur a été choisi et considéré comme un "système modèle". En tournage, l'influence…
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 …
Clothoid-Based Three-Dimensional Curve for Attitude Planning
2019
Interest in flying robots, also known as unmanned aerial vehicles (UAVs), has grown during last years in both military and civil fields [1, 2]. The same happens to autonomous underwater vehicles (AUVs) [3]. These vehicles, UAVs and AUVs, offer a wide variety of possible applications and challenges, such as control, guidance or navigation [2, 3]. In this sense, heading and attitude control in UAVs is very important [4], particularly relevant in airplanes (fixed-wing flying vehicles), because they are strongly non-linear, coupled, and tend to be underactuated systems with non-holonomic constraints. Hence, designing a good attitude controller is a difficult task [5, 6, 7, 8, 9], where stabilit…
Registration of Surfaces Minimizing Error Propagation for a One-Shot Multi-Slit Hand-Held Scanner
2008
We propose an algorithm for the on-line automatic registration of multiple 3D surfaces acquired in a sequence by a new hand-held laser scanner. The laser emitter is coupled with an optical lens that spreads the light forming 19 parallel slits that are projected to the scene and acquired with subpixel accuracy by a camera. Splines are used to interpolate the acquired profiles to increase the sample of points and Delaunay triangulation is used to obtain the normal vectors at every point. A point-to-plane pair-wise registration method is proposed to align the surfaces in pairs while they are acquired, conforming paths and eventually cycles that are minimized once detected. The algorithm is spe…
Simple Large Scale 3D scanner
2019
Abstract A new 3D measuring device for large dimensions is proposed. It is based on the combination of a simple system consisting of a smartphone that measures in stereo a near field with a robotic total station that tracks the position of the camera on a far field. The calibration method is described and the metrological properties obtained make it possible to measure objects of several tens or even hundreds of meters long with errors of the order of a millimeter. This makes it possible to consider the use of the system for many industrial applications
Optimization Model to Extend Existing Production Planning and Control Systems for the Use of Additive Manufacturing Technologies in the Industrial Pr…
2018
Abstract The use of additive manufacturing technologies for industrial production is constantly growing. This technology differs from the known production procedures. The areas of scheduling, detailed and sequence planning are particularly important for additive production due to the long print times and flexible use of the production area. Therefore, production-relevant variables are considered and used for the production planning and control (PPC) of additive manufacturing machines. For this purpose, an optimization model is presented which shows a time-oriented build space utilization. In the implementation, a nesting algorithm is used to check the combinability of different models for e…
Collision detection for 3D rigid body motion planning with narrow passages
2017
In sampling-based 3D rigid body motion planning one of the major subroutines is collision detection. Especially for problems with narrow passages many samples have to be checked by a collision detection algorithm. In this application, the runtime of the motion planning algorithm is dominated by collision detection and the samples have the very specific characteristic that many of them are in collision and have small penetration volumes. In our work, we introduce a data structure and an algorithm that makes use of this characteristic by combining well-known data structures like a distance field and an octree with the swap algorithm by Llanas et al. For 3D rigid body motion planning with narr…