This paper introduces a custom mobile manipulator and presents the planning and control architecture to execute autonomous missions including navigation and manipulation. The developed system combines a commercially available ground vehicle with a custom-designed robot arm. A typical mission requires the robot to find and navigate to its site of action, identify the suitable manipulation tools, and teams of the MBZIRC have officially documented their results for challenge 2, for example Chen et al., 2016;Engemann, Wiesen,

This work presents the system and approach we employed to tackle the second challenge of the Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 1 . The goal of this challenge is to find a tool panel on a field, pick an appropriate wrench from the panel, and operate a valve stem therewith. For this purpose we use a task-oriented field robot, based on Clearpath Husky with a customized series elastic arm, that can be deployed for versatile purposes. However, to be competitive in a robotic challenge, further specialization and improvements are necessary to achieve a certain task faster and more reliably. A high emphasis is put on designing a system that can operate fully autonomously and independently respond if a subtask was not executed successfully. Moreover, the operator can easily monitor the system through a graphical user interface and, if desired, interact with the robot. We present our algorithms to explore the field, detect the panel, and navigate to it. Furthermore, we use a support vector machine based object detection method to locate the valve stem and wrenches on the panel for visual servoing. Finally, we show the advantages of a force controllable manipulator to handle the valve stem with a tool. This system demonstrated its applicability when fulfilling the entire task fully autonomously during both trials of the Grand Challenge of the MBZIRC 2017.

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In this review, present day, the best versatile material Titanium alloy (Ti-6Al-4V) plays the most vital role in the manufacturing of aero engines as a base material. It has been observed that machining this type of alloys is the complicated tasks with optimum machining results. This research investigates the consequences of machining parameters by making use three types of technique: firstly, nitrogen gas technique; secondly, high pressure coolant (HPC); thirdly, cryogenic cooling technique as the coolant’s techniques compared to the normal coolant. Utilizing liquid nitrogen and gas nitrogen as a coolant will decrease friction, heat at the cutting zone, surface roughness, the amount of power consumed in a metal cutting process in addition significantly increase the tool life, dimensional accuracy and so improve the productivity.