Uluışık, Çaǧatay (Dogus Author), Sevgi, Levent (Dogus Author)Modeling and simulation strategies for radar cross section (RCS) prediction are reviewed, and a novel FDTD-based virtual RCS prediction tool is introduced in this two-part paper. Part 1 is reserved for a tutorial review. Concepts and definitions related to RCS modeling are outlined. Analytical approaches, i.e., high-frequency asymptotics (HFA), as well as powerful time- and frequency-domain numerical methods, are given. Canonical examples using the finite-difference time-domain (FDTD) Method, the method of moments (MoM), and physical optics (PO) are presented.IEEE Antennas and Propagation Societ

Robot manipulators have gained popularity in the past few decades with successful implementation for intelligent manufacturing in many industrial areas. This is why many colleges are now offering robotics courses. Understanding of a manipulation in robotics is difficult for engineering students because there is no direct and obvious link between what the end-effector needs to do in physical space and what the actuator does to move it robots are usually equipped with internal position sensors in order to measure the relative position of two neighboring links. So, teaching students a robotic manipulator in a laboratory, or training technical staff, is time consuming and may be an expensive task. This article presents an educational tool for robotic with flexible structure and graphical interface by using a new and useful algebra, quaternion algebra. System parameters can be changed easily under different operating conditions. Then, students may perform experiments to verify learned theory and to interpret and discuss the results without a detailed programming knowledge. Six degree of freedom (6-DOF) robot manipulators of general architecture can be solved easily with the help of this educational software with reducing general robot laboratory costs.

Purpose This paper aims to introduce a simple hand-eye calibration method that can be easily applied with different objective functions. Design/methodology/approach The hand-eye calibration is solved by using the closed form absolute orientation equations. Instead of processing all samples together, the proposed method goes through all minimal solution sets. Final result is chosen after evaluating the solution set for arbitrary objectives. In this stage, outliers can be excluded optionally if more accuracy is desired. Findings The proposed method is very flexible and gives more accurate and convenient results than the existing solutions. The mathematical error expression defined by the calibration equations may not be valid in practice, where especially systematic distortions are present. It is shown in the simulations that the solution which results the least mathematical error in systems may have incorrect, incompatible results in the presence of practical demands. Research limitations/implications The performance of the calibration performed with the proposed method is compared with the reference methods in the literature. When the back-projection error is benchmarked, which corresponds to the point repeatability, the proposed approach is considered as the most successful method among all others. Due to its robustness, it is decided to make tooling-sensor calibrations by the recommended method, in the robotic non-destructive testing station in Ford-OTOSAN Kocaeli Plant Body Shop Department. Originality/value Arranging the well-known AX = XB calibration equation in quaternion representation as Q_A = Q_x × Q_B × Q_x reveals another common spatial rotation equation. In this way, absolute orientation solution satisfies the hand-eye calibration equations. The proposed solution is not presented in the literature as a standalone hand-eye calibration method, although some researchers drop a hint to the relative formulations.

Purpose The purpose of this study is to design a robotic inline measurement system for spot welding quality control to achieve process requirement without any operator during the manufacturing flow. Design/methodology/approach A robot manipulator carries a stereo-camera and an ultrasonic control probe. The center position of the spot welding point is determined by evaluating the results of the edge, gradient and symmetry approaches from the methods proposed up to now in the literature to increase reliability. The center position of the spot welding point, determined in the camera reference plane, is transferred to the robot base plane coordinates with the hand–eye calibration proposed in this manuscript. Weld quality is checked by the ultrasonic test probe located at the spot welding point. Findings While operators can only control welding quality, the developed station can also evaluate the quality based on geometric accuracy by processing the deviation of the position of the spot welding points. The proposed calibration method and the results of other methods in the literature are presented in this study by comparing it with synthetic data in simulations and in practical application. Research limitations/implications The quality control is performed not only for the spot welding made with robots but also for the manual welds as well. Because of vision configuration, and reliability issues, maximum allowable offset by the correct spot position is limited to 20 mm to position the manipulator for testing. The installation and pretest works of the developed robotic welding quality control station are completed in the Body Shop Area of Ford Otosan factory in Kocaeli/Turkey. The results of the robotic control process are monitored by the quality assurance team. Integration of automation with the production line will be completed and an inline measurement will be done. Originality value In this paper, a new hand–eye calibration method based on simple and closed-form analytical solutions has been presented. The objective function is defined as reducing the deviation in the point projection, rather than reducing the error in the calibration equation. To increase reliability, combining the results of existing centering algorithms for the detection of the strongly deformed spot welding spot center, although it is normally in a circular form, has been suggested.

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