Wear is one of the main factors of machine failure. If abnormal wear was not detected in time during the operation of a mechanical system, it probably leads to catastrophic consequences. The wear debris in the lubricating oil circuit contains much information about equipment wear. Consequently, debris detection is regarded as an effective way to detect mechanical faults. In this paper, an inductive debris sensor based on a high-gradient magnetic field is presented for high-throughput lubricating oil circuits. The excitation coil of the sensor is driven by a constant current to generate a high-gradient magnetic field, and the induction coil is wound around the flow path. When wear debris cuts the magnetic line through the flow path, a corresponding induced voltage is generated. The experimental results show that the sensor output signal is linear with the drive current and the wear debris velocity. In addition, the shortest distance between the particles that the sensor output signals can be completely separated is 25 mm. When the distance is smaller, the induced signals are superimposed.

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In this work, we propose a novel coarse-to-fine method for object pose estimation coupled with admittance control to promote robotic shaft-in-hole assembly. Considering that traditional approaches to locate the hole by force sensing are time-consuming, we employ 3D vision to estimate the axis pose of the hole. Thus, robots can locate the target hole in both position and orientation and enable the shaft to move into the hole along the axis orientation. In our method, first, the raw point cloud of a hole is processed to acquire the keypoints. Then, a coarse axis is extracted according to the geometric constraints between the surface normals and axis. Lastly, axis refinement is performed on the coarse axis to achieve higher precision. Practical experiments verified the effectiveness of the axis pose estimation. The assembly strategy composed of axis pose estimation and admittance control was effectively applied to the robotic shaft-in-hole assembly.

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