A comprehensive approach to real-time fault diagnosis during automatic grit-blasting operation by autonomous industrial robots

To, Andrew Wing Keung; Paul, Gavin; Liu, Dikai

doi:10.1016/j.rcim.2017.05.008

Cited by 22 publications

(7 citation statements)

References 16 publications

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“…The usefulness to correct predefined tool paths is evident in robotic sensing applications and some specific automated manufacturing operations. An approach based on RGB-D cameras, acoustic and tactile transducers has been proposed to monitor loss of ablation and missed coverage due to misalignment in robotic gritblasting [13]. To make automated welding more reliable and improve weld quality, the scientific literature reports methods for tool path correction based on eye-in-hand configurations through cameras [12] and laser profilers [10] for the weld seam detection.…”

Section: Related Workmentioning

confidence: 99%

Autonomous Robotic Sensing for Simultaneous Geometric and Volumetric Inspection of Free-Form Parts

Mineo

Cerniglia

Poole

2022

J Intell Robot Syst

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Robotic sensing is used in many sectors to improve the inspection of large and/or complex parts, enhancing data acquisition speed, part coverage and inspection reliability. Several automated or semi-automated solutions have been proposed to enable the automated deployment of specific types of sensors. The trajectory to be followed by a robotic manipulator is typically obtained through the offline programmed tool paths for the inspection of a part. This method is acceptable for a part with known geometry in a well-structured and controlled environment. The part undergoing assessment needs to be precisely registered with respect to the robot reference system. It implies the need for a setup preparation phase for each new part, which can be very laborious and reliant on the human experience. This work combines real-time robot control and live sensor data to confer full autonomy to robotic sensing applications. It presents a novel framework that enables fully autonomous single-pass geometric and volumetric inspection of complex parts using one single robotised sensor. A practical and robust robot control sequence allows the autonomous correction of the sensor orientation and position to maximise the sensor signal amplitude. It is accompanied by an autonomous in-process path planning method, capable of keeping the inspection resolution uniform throughout the full extension of the free-form parts. Last but not least, a by-product of the framework is the progressive construction of the digital model of the part surface throughout the inspection process. The introduced framework is scalable and applicable to widely different fields.

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Section: Related Workmentioning

confidence: 99%

Autonomous Robotic Sensing for Simultaneous Geometric and Volumetric Inspection of Free-Form Parts

Mineo

Cerniglia

Poole

2022

J Intell Robot Syst

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“…3) Reliability benefit calculation. When the power grid fails, the microgrid can run autonomously to ensure the power supply to the local load, which will improve the reliability of the power supply [19], [20]. Microgrid can improve power supply reliability and reduce power outage.…”

Section: Economic Benefit Calculation Of Distributed Generation Basedmentioning

confidence: 99%

Study on the Microgrid Pluripotent Complementary and Comprehensive Economic Optimization Planning Based on Virtual Energy Theory

Zhang

Liu²,

et al. 2020

E3S Web Conf.

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In this paper, a comprehensive economic allocation method based on virtual energy theory for microgrid complementary power supply is proposed, which is successfully applied to the multi energy complementary planning and comprehensive economic planning of an island microgrid. In order to evaluate and optimize the microgrid in the planning stage more objectively based on the characteristics of various combinations of renewable micro generation and flexible operation modes, a new method of the micro-grid comprehensive economic configuration and optimization of the distributed generation is proposed based on virtual energy theory. Firstly, the Micro-grid model structure based on the virtual energy theory is given. Secondly, the virtual energy conversion model of different distributed power generations is also studied. The micro-grid pluripotent complementary and comprehensive economic optimization model (PCCEP) based on virtual energy theory are reached too. Combined with a practical example, a PCCEP method of the micro-grid based on the Homer software platform is discussed. The case study indicates that the method can avoid the uncertainty of the decision-making factors and the subjectivity of expert evaluation. It is shown that the new method is a practical solution for microgrid comprehensive economic optimization planning.

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“…Firstly, the methods based on experimental databases, which have recently been diversified because of the development of sensor technologies and improvements of artificial intelligence algorithms. To et al, 2 implemented an approach to perform real-time failure diagnosis of an autonomous industrial robot through the data collected by an RGB-D camera, pressure and acoustic sensors. Algburi and Gao, 3 suggested a health monitoring system for industrial robots based on a rotary encoder signal.…”

Section: Introductionmentioning

confidence: 99%

Dynamic modeling and vibration analysis for defect identification of single-stage gearboxes in the joints of industrial robots with six DOF

Frej

Chiementin

Chaari

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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In the age of the future industry, many industrial activities have been entrusted to robots due to their ability to improve both accuracy and production. However, during the manufacturing process, the occurrence of defects in the manipulators transmissions can lead to a significant degradation of the product quality, and consequently financial losses. Hence, this paper aims to present a novel methodology to elaborate a robot dynamic model allowing the detection of the defects arising from the transmissions and more precisely the gears faults. First, a geometric model of the robot was developed based on the Modified Denavit-Hartenberg (MDH) approach, to derive the transfer matrices required to model the different components of the robot. Secondly, thanks to these matrices, to the Euler-Lagrange convention and taking into account the assumption of the joint flexibility, the deduction of the global equation of motion of the robot has been performed. The ability of the developed model to detect defects will then be investigated by a series of numerical simulations performed in the case of healthy gears and in the case where a tooth-cracking fault has been introduced, and also under various velocities. Finally, an experimental study and vibration analysis were conducted to validate the results of the numerical simulations and consequently the effectiveness of the proposed model.

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A comprehensive approach to real-time fault diagnosis during automatic grit-blasting operation by autonomous industrial robots

Cited by 22 publications

References 16 publications

Autonomous Robotic Sensing for Simultaneous Geometric and Volumetric Inspection of Free-Form Parts

Autonomous Robotic Sensing for Simultaneous Geometric and Volumetric Inspection of Free-Form Parts

Study on the Microgrid Pluripotent Complementary and Comprehensive Economic Optimization Planning Based on Virtual Energy Theory

Dynamic modeling and vibration analysis for defect identification of single-stage gearboxes in the joints of industrial robots with six DOF

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