WorldWideScience

Sample records for robotic welding cell

  1. Work organisation and quality control in a welding robotic cell

    OpenAIRE

    Moniz, António

    1993-01-01

    In this paper is analyzed the work organization and the forms of quality control in a robotic welding station in a company of office equipment and metal components manufacturing. The robotic cell is recent and works in two shifts. Quality and production rationalization implied in this firms the adoption of a strategy of organization of teamwork, and it is supported the collaborative tools to decrease the possibilities for errors and to improve means and methods of manufacturing. The analysis ...

  2. Robot welding process control

    Science.gov (United States)

    Romine, Peter L.

    1991-01-01

    This final report documents the development and installation of software and hardware for Robotic Welding Process Control. Primary emphasis is on serial communications between the CYRO 750 robotic welder, Heurikon minicomputer running Hunter & Ready VRTX, and an IBM PC/AT, for offline programming and control and closed-loop welding control. The requirements for completion of the implementation of the Rocketdyne weld tracking control are discussed. The procedure for downloading programs from the Intergraph, over the network, is discussed. Conclusions are made on the results of this task, and recommendations are made for efficient implementation of communications, weld process control development, and advanced process control procedures using the Heurikon.

  3. Mechanized hyperbaric welding by robots

    International Nuclear Information System (INIS)

    Aust, E.; Santos, J.F. dos; Bohm, K.H.; Hensel, H.D.

    1988-01-01

    At the GKSS-Forschungszentrum investigations are carried out on mechanized welded test plates produced under working pressure between 10 to 110 bar in breathable TRIMIX-5-atmosphere. The welds are performed by a modified industrial robot, which was adapted in its components to withstand these severe conditions. Variations on the welding parameters were made to maintain a stable arc as well as to provide on indication of the effect of the variables on the mechanical properties of the welded joint. During all tests the robot showed a very good function. Good reliable welds were achieved meeting the requirements according API II04 or BS 4515-1984. (orig.) [de

  4. Integrated sensors for robotic laser welding

    NARCIS (Netherlands)

    Iakovou, D.; Aarts, Ronald G.K.M.; Meijer, J.; Beyer, E.; Dausinger, F; Ostendorf, A; Otto, A.

    2005-01-01

    A welding head is under development with integrated sensory systems for robotic laser welding applications. Robotic laser welding requires sensory systems that are capable to accurately guide the welding head over a seam in three-dimensional space and provide information about the welding process as

  5. Sensor integration for robotic laser welding processes

    NARCIS (Netherlands)

    Iakovou, D.; Aarts, Ronald G.K.M.; Meijer, J.; Ostendorf, A; Hoult, A.; Lu, Y.

    2005-01-01

    The use of robotic laser welding is increasing among industrial applications, because of its ability to weld objects in three dimensions. Robotic laser welding involves three sub-processes: seam detection and tracking, welding process control, and weld seam inspection. Usually, for each sub-process,

  6. Welding robot package; Arc yosetsu robot package

    Energy Technology Data Exchange (ETDEWEB)

    Nishikawa, S. [Yaskawa Electric Corp., Kitakyushu (Japan)

    1998-09-01

    For the conventional high-speed welding robot, the welding current was controlled mainly for reducing the spatters during short circuits and for stabilizing the beads by the periodic short circuits. However, an increase of deposition amount in response to the speed is required for the high-speed welding. Large-current low-spatter welding current region control was added. Units were integrated into a package by which the arc length is kept in short without dispersion of arc length for welding without defects such as undercut and unequal beads. In automobile industry, use of aluminum parts is extended for the light weight. The welding is very difficult, and automation is not so progressing in spite of the poor environment. Buckling of welding wire is easy to occur, and supply of wire is obstructed by the deposition of chipped powders on the torch cable, which stay within the contact chip resulting in the deposition. Dislocation of locus is easy to occur at the corner of rectangular pipe during the welding. By improving these troubles, an aluminum MIG welding robot package has been developed. 13 figs.

  7. A System for Complex Robotic Welding

    DEFF Research Database (Denmark)

    Madsen, Ole; Sørensen, Carsten Bro; Olsen, Birger

    2002-01-01

    This paper presents the architecture of a system for robotic welding of complex tasks. The system integrates off-line programming, control of redundant robots, collision-free motion planning and sensor-based control. An implementation for pipe structure welding made at Odense Steel Shipyard Ltd......., Denmark, demonstrates the system can be used for automatic welding of complex products in one-of-a-kind production....

  8. Welding Robot Collision-Free Path Optimization

    Directory of Open Access Journals (Sweden)

    Xuewu Wang

    2017-02-01

    Full Text Available Reasonable welding path has a significant impact on welding efficiency, and a collision-free path should be considered first in the process of welding robot path planning. The shortest path length is considered as an optimization objective, and obstacle avoidance is considered as the constraint condition in this paper. First, a grid method is used as a modeling method after the optimization objective is analyzed. For local collision-free path planning, an ant colony algorithm is selected as the search strategy. Then, to overcome the shortcomings of the ant colony algorithm, a secondary optimization is presented to improve the optimization performance. Finally, the particle swarm optimization algorithm is used to realize global path planning. Simulation results show that the desired welding path can be obtained based on the optimization strategy.

  9. Modeling of welded bead profile for rapid prototyping by robotic MAG welding

    Institute of Scientific and Technical Information of China (English)

    CAO Yong; ZHU Sheng; WANG Tao; WANG Wanglong

    2009-01-01

    As a deposition technology, robotic metal active gas(MAG) welding has shown new promise for rapid prototyping (RP) of metallic parts. During the process of metal forming using robotic MAG welding, sectional profile of single-pass welded bead is critical to formed accuracy and quality of metal pans. In this paper, the experiments of single-pass welded bead for rapid prototyping using robotic MAG welding were carried out. The effect of some edge detectors on the cross-sectional edge of welded bead was discussed and curve fitting was applied using leat square fitting. Consequently, the mathematical model of welded bead profile was developed. The experimental results show that good shape could be obtained under suitable welding parameters. Canny operawr is suitable to edge detection of welded bead profile, and the mathematical model of welded bead profile developed is approximately parabola.

  10. Mechanical and electrochemical characteristics with welding materials in robotic MIG welding of dissimilar Al alloys

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Seong Jong; Han, Min Su; Woo, Yong Bin [Mokpo Maritime Univ., Mokpo (Korea, Republic of)

    2013-05-15

    In this study, mechanical and electrochemical characteristics with welding material in MIG welded with ROBOT for dissimilar Al alloys were investigated using various experiment methods. The MIG welding by ROBOT with ER5183 and ER5556 for the 5456-H116 and 6061-T6 Al alloy were carried out. The hardness of welding zone was lower than that of base metal. In electrochemical experiment, ER5183 welding material presented excellent characteristics. The yield strength and maximum tensile strength in welding with welding material of ER5183 presented lower value than those of ER5556. The elongation and time-to-fracture showed the opposite results.

  11. Rapid prototyping using robot welding : process description

    OpenAIRE

    Ribeiro, António Fernando; Norrish, John

    1997-01-01

    Rapid Prototyping is a relatively recent technique to produce component prototypes for industry in a much shorter period of time, since the time to market a product is essential to its success. A new Rapid Prototyping process which uses metal as the raw material had been under development at Cranfield University in the last few years. The process uses a Gas Metal Arc fusion welding robot which deposits successive layers of metal in such way that it forms a 3D solid component. Firstly, a CAD s...

  12. Development of underwater YAG laser repair welding robots for tanks

    International Nuclear Information System (INIS)

    Miwa, Yasuhiro; Satoh, Syuichi; Ito, Kosuke; Kochi, Tsutomu; Kojima, Toshio; Ohwaki, Katsura; Morita, Ichiro

    1999-01-01

    A remote-controlled repair welding robot which uses YAG laser welding technology in underwater environment was developed. This is an underwater robot technology combined with a laser welding technology. This report will describe the structure and performance of this robot, and the welding test results. The repair welding robot consists of two parts. The one is driving equipment, and the other is welding unit. It can swim in the tank, move around the tank wall, and stay on the welding area. After that it starts YAG laser repair welding. The target of this technology is inner surface repair of some tanks made of austenitic stainless steel, for example RW (Radioactive Waste) tanks. A degradation by General Corrosion and so on might be occurred at inner surface of these tanks in BWR type nuclear power plants. If the damaged area is wide, repair welding works are done. Some workers go into the tank and set up scaffolding after full drainage. In many cases it spends too much time for draining water and repair welding preparation. If the repair welding works can be done in underwater environment, the outage period will be reduced. This is a great advantage. (author)

  13. Optimization of process parameters in welding of dissimilar steels using robot TIG welding

    Science.gov (United States)

    Navaneeswar Reddy, G.; VenkataRamana, M.

    2018-03-01

    Robot TIG welding is a modern technique used for joining two work pieces with high precision. Design of Experiments is used to conduct experiments by varying weld parameters like current, wire feed and travelling speed. The welding parameters play important role in joining of dissimilar stainless steel SS 304L and SS430. In this work, influences of welding parameter on Robot TIG Welded specimens are investigated using Response Surface Methodology. The Micro Vickers hardness tests of the weldments are measured. The process parameters are optimized to maximize the hardness of the weldments.

  14. Experience and Applications Up-date: Automation of Arc-Welding Operations Using Robot-Technology

    International Nuclear Information System (INIS)

    Teubel, G.

    1996-01-01

    In a short introduction, the important criteria for the correct choice of a robot cell, taking into account the given application, are highlighted. Furthermore, important hints are listed in terms of management decisions. The second chapter shows the main features of a welding robot cell in line with the present state of the art and describes some new developments with the aim of extending the arc-welding system to new applications such as flame cutting and beveling. The third chapter as centre piece gives an overall view of a brand new network control with many outstanding features for the users of arc-welding robots. the fourth and last chapter shows a recent realisation of a highly sophisticated F.M.S. system for welding, in random sequence, different large and heavy components. (Author) 1 ref

  15. Spline-based automatic path generation of welding robot

    Institute of Scientific and Technical Information of China (English)

    Niu Xuejuan; Li Liangyu

    2007-01-01

    This paper presents a flexible method for the representation of welded seam based on spline interpolation. In this method, the tool path of welding robot can be generated automatically from a 3D CAD model. This technique has been implemented and demonstrated in the FANUC Arc Welding Robot Workstation. According to the method, a software system is developed using VBA of SolidWorks 2006. It offers an interface between SolidWorks and ROBOGUIDE, the off-line programming software of FANUC robot. It combines the strong modeling function of the former and the simulating function of the latter. It also has the capability of communication with on-line robot. The result data have shown its high accuracy and strong reliability in experiments. This method will improve the intelligence and the flexibility of the welding robot workstation.

  16. Remote machining and robotic welding in a proton cyclotron

    Energy Technology Data Exchange (ETDEWEB)

    Cameron, W; Mark, C

    1984-09-01

    Increasing residual radiation in the TRIUMF meson research facility cyclotron at the University of British Columbia has required development of a remotely operable industrial robot cutting and vacuum tight welding capabili

  17. Recognition and automatic tracking of weld line in fringe welding by autonomous mobile robot with visual sensor

    International Nuclear Information System (INIS)

    Suga, Yasuo; Saito, Keishin; Ishii, Hideaki.

    1994-01-01

    An autonomous mobile robot with visual sensor and four driving axes for welding of pipe and fringe was constructed. The robot can move along a pipe, and detect the weld line to be welded by visual sensor. Moreover, in order to perform welding automatically, the tip of welding torch can track the weld line of the joint by rotating the robot head. In the case of welding of pipe and fringe, the robot can detect the contact angle between the two base metals to be welded, and the torch angle changes according to the contact angle. As the result of tracking test by the robot system, it was made clear that the recognition of geometry of the joint by the laser lighting method and automatic tracking of weld line were possible. The average tracking error was ±0.3 mm approximately and the torch angle could be always kept at the optimum angle. (author)

  18. Sensor development and integration for robotized laser welding

    NARCIS (Netherlands)

    Iakovou, D.

    2009-01-01

    Laser welding requires fast and accurate positioning of the laser beam over the seam trajectory. The task of accurate positioning of the laser tools is performed by robotic systems. It is therefore necessary to teach the robot the path it has to follow. Seam teaching is implemented in several ways:

  19. Quality assurance and control for robotic GMA welding

    International Nuclear Information System (INIS)

    Xie Max X.

    1992-01-01

    A quality assurance (QA) model has been developed. This model systematically considers the relevant activities before, during and after the welding operations with respect to quality. Efficient quality assurance requires that the functionality of the present robotic welding systems needs to be increased and that the knowledge of the personnel involved in the design and production needs to be improved. The collaboration between different departments and personnel needs also to be improved. The procedure specification aspects have been studied and a method for the determination of optimal welding parameters is presented with regards to process stability, quality requirements and productivity. A main productivity problem of robotic welding systems for small series production is due to the time spent on the specification of welding procedures. In order to improve the efficiency, expert systems technology has been studied and applied to automatically generate optimal welding procedures. An objective method for the assessment of process stability has been developed, based upon the analysis of the electrical signals of welding arcs. Furthermore, a method has been developed to monitor the process stability. It is found that it is possible to identify the causes of the disturbance of process stability and to predict the weld quality characteristics based on the analysis of the electrical signals. Though quality is formed during the welding operation, the diagnosis of the causes of quality disturbances is important for the prevention of quality problems of subsequent welds and has been discussed. To assist the operators, expert systems technology is also applied. Further work should be directed to the integration of various QA functions in the robotic arc welding system so that both quality and productivity aspects of the system ban be further improved. (au)

  20. Infrared sensing techniques for adaptive robotic welding

    International Nuclear Information System (INIS)

    Lin, T.T.; Groom, K.; Madsen, N.H.; Chin, B.A.

    1986-01-01

    The objective of this research is to investigate the feasibility of using infrared sensors to monitor the welding process. Data were gathered using an infrared camera which was trained on the molten metal pool during the welding operation. Several types of process perturbations which result in weld defects were then intentionally induced and the resulting thermal images monitored. Gas tungsten arc using ac and dc currents and gas metal arc welding processes were investigated using steel, aluminum and stainless steel plate materials. The thermal images obtained in the three materials and different welding processes revealed nearly identical patterns for the same induced process perturbation. Based upon these results, infrared thermography is a method which may be very applicable to automation of the welding process

  1. Remote machining and robotic welding in a proton cyclotron

    International Nuclear Information System (INIS)

    Cameron, W.; Mark, C.

    1984-01-01

    Increasing residual radiation in the TRIUMF meson research facility cyclotron at the University of British Columbia has required development of a remotely operable industrial robot cutting and vacuum tight welding capability for modification and updating of vacuum tank access ports, and for possible repairs of leaks or holes in the vacuum tank periphery

  2. Machine for welding solar cell connections

    Energy Technology Data Exchange (ETDEWEB)

    Lorans, D.Y.

    1977-08-09

    A machine for welding a connection wire over a solar cell electrode is described which comprises a base, a welding mount for the solar cell which is supported on the base, means for holding the solar cell on the welding mount, welding electrodes, means to lower the welding electrodes over the solar cell and the connection wire superimposed thereon, means for applying electric current pulses to said welding electrodes. It is characterized by the fact that it further comprises means for imparting to said mount an alternating transverse movement in relation to said base before and during the welding operation.

  3. Sensor based robot laser welding - based on feed forward and gain sceduling algorithms

    DEFF Research Database (Denmark)

    Andersen, Henrik John

    2001-01-01

    A real-time control system forlaser welding of thick steel plates are developed and tested in a industrial environment. The robotic execution of the laser welding process is based on measure weld joint geometry and impirically established welding procedures. The influence of industrial production...

  4. Robotic weld overlay coatings for erosion control

    Science.gov (United States)

    The erosion of materials by the impact of solid particles has received increasing attention during the past twenty years. Recently, research has been initiated with the event of advanced coal conversion processes in which erosion plays an important role. The resulting damage, termed Solid Particle Erosion (SPE), is of concern primarily because of the significantly increased operating costs which result in material failures. Reduced power plant efficiency due to solid particle erosion of boiler tubes and waterfalls has led to various methods to combat SPE. One method is to apply coatings to the components subjected to erosive environments. Protective weld overlay coatings are particularly advantageous in terms of coating quality. The weld overlay coatings are essentially immune to spallation due to a strong metallurgical bond with the substrate material. By using powder mixtures, multiple alloys can be mixed in order to achieve the best performance in an erosive environment. However, a review of the literature revealed a lack of information on weld overlay coating performance in erosive environments which makes the selection of weld overlay alloys a difficult task. The objective of this project is to determine the effects of weld overlay coating composition and microstructure on erosion resistance. These results will lead to a better understanding of erosion mitigation in CFB's.

  5. Truss Assembly and Welding by Intelligent Precision Jigging Robots

    Science.gov (United States)

    Komendera, Erik; Dorsey, John T.; Doggett, William R.; Correll, Nikolaus

    2014-01-01

    This paper describes an Intelligent Precision Jigging Robot (IPJR) prototype that enables the precise alignment and welding of titanium space telescope optical benches. The IPJR, equipped with micron accuracy sensors and actuators, worked in tandem with a lower precision remote controlled manipulator. The combined system assembled and welded a 2 m truss from stock titanium components. The calibration of the IPJR, and the difference between the predicted and the truss dimensions as-built, identified additional sources of error that should be addressed in the next generation of IPJRs in 2D and 3D.

  6. Study on Intelligent Control of Metal Filling System by Welding Robots in the Open Environment

    Directory of Open Access Journals (Sweden)

    Wei Fu

    2014-08-01

    Full Text Available robot model of three-arm and five-degree freedom plus large scope of traversing welding was established, and decoupling of models of “large scope of traversing”, “triangle movement of two arms” and “spherical movement of one arm” was realized. The model of “triangle movement of two arms ”is able to use geometrical calculation to solve the kinematics inverse problem , avoid the multiplicity, improve the calculation speed, eliminate the blind spots of the motions of welding gun of welding robot, and simplify the kinematic pair of kinematic mechanism for the arc filling strategy during welding travelling of robot. Binocular stereo vision camera was used to detect the edges of welds, and laser array sensor was used to detect the amount of metal filling of welds. In completely open conditions, feedback was fused based on sensor data to realize the welding tracking control by welding robot.

  7. Mechanized and robotized welding in shipbuilding; Zosen ni okeru yosetsu no jidoka robot ka

    Energy Technology Data Exchange (ETDEWEB)

    Kanda, Y. [Ishikawajima-Harima Heavy Industries Co. Ltd., Tokyo (Japan)

    1997-12-01

    Large-scale ships such as VLCC are built at the Kure No.1 Works of IHI (Ishikawajima-Harima Heavy Industry). This paper introduces current status of mechanized and robotized welding at the works. For the sub-assembly with short weld length and horizontal fillet, simplified automatic welders are used in which mag-welding method using CO2 is adopted. The frequent wound welding of member ends can be automatically conducted using welders developed by IHI. In the large-scale assembly processes, remarkable rationalization and highly accurate assembly of flat plate welding have been promoted. Tankers, container ships, and bulk carriers can be treated at the same time. Teaching times of welding robots can be greatly reduced by a technique called parametric treatment. In the future, it is essential to enhance the accuracy of members by introducing the laser cutting during machining processes. Completely self-type mechanization is required as well as large-output laser welding and sensor technology. 3 refs., 12 figs., 2 tabs.

  8. Development of sensor augmented robotic weld systems for aerospace propulsion system fabrication

    Science.gov (United States)

    Jones, C. S.; Gangl, K. J.

    1986-01-01

    In order to meet stringent performance goals for power and reuseability, the Space Shuttle Main Engine was designed with many complex, difficult welded joints that provide maximum strength and minimum weight. To this end, the SSME requires 370 meters of welded joints. Automation of some welds has improved welding productivity significantly over manual welding. Application has previously been limited by accessibility constraints, requirements for complex process control, low production volumes, high part variability, and stringent quality requirements. Development of robots for welding in this application requires that a unique set of constraints be addressed. This paper shows how robotic welding can enhance production of aerospace components by addressing their specific requirements. A development program at the Marshall Space Flight Center combining industrial robots with state-of-the-art sensor systems and computer simulation is providing technology for the automation of welds in Space Shuttle Main Engine production.

  9. A robotic platform for laser welding of corneal tissue

    Science.gov (United States)

    Rossi, Francesca; Micheletti, Filippo; Magni, Giada; Pini, Roberto; Menabuoni, Luca; Leoni, Fabio; Magnani, Bernardo

    2017-07-01

    Robotic surgery is a reality in several surgical fields, such as in gastrointestinal surgery. In ophthalmic surgery the required high spatial precision is limiting the application of robotic system, and even if several attempts have been designed in the last 10 years, only some application in retinal surgery were tested in animal models. The combination of photonics and robotics can really open new frontiers in minimally invasive surgery, improving the precision, reducing tremor, amplifying scale of motion, and automating the procedure. In this manuscript we present the preliminary results in developing a vision guided robotic platform for laser-assisted anterior eye surgery. The robotic console is composed by a robotic arm equipped with an "end effector" designed to deliver laser light to the anterior corneal surface. The main intended application is for laser welding of corneal tissue in laser assisted penetrating keratoplasty and endothelial keratoplasty. The console is equipped with an integrated vision system. The experiment originates from a clear medical demand in order to improve the efficacy of different surgical procedures: when the prototype will be optimized, other surgical areas will be included in its application, such as neurosurgery, urology and spinal surgery.

  10. Research on Kinematic Trajectory Simulation System of KUKA Arc Welding Robot System

    Science.gov (United States)

    Hu, Min

    2017-10-01

    In this paper, the simulation trajectory simulation of KUKA arc welding robot system is realized by means of VC platform. It is used to realize the teaching of professional training of welding robot in middle school. It provides teaching resources for the combination of work and study and integration teaching, which enriches the content of course teaching.

  11. Robotic Assistance by Impedance Compensation for Hand Movements While Manual Welding.

    Science.gov (United States)

    Erden, Mustafa Suphi; Billard, Aude

    2016-11-01

    In this paper, we present a robotic assistance scheme which allows for impedance compensation with stiffness, damping, and mass parameters for hand manipulation tasks and we apply it to manual welding. The impedance compensation does not assume a preprogrammed hand trajectory. Rather, the intention of the human for the hand movement is estimated in real time using a smooth Kalman filter. The movement is restricted by compensatory virtual impedance in the directions perpendicular to the estimated direction of movement. With airbrush painting experiments, we test three sets of values for the impedance parameters as inspired from impedance measurements with manual welding. We apply the best of the tested sets for assistance in manual welding and perform welding experiments with professional and novice welders. We contrast three conditions: 1) welding with the robot's assistance; 2) with the robot when the robot is passive; and 3) welding without the robot. We demonstrate the effectiveness of the assistance through quantitative measures of both task performance and perceived user's satisfaction. The performance of both the novice and professional welders improves significantly with robotic assistance compared to welding with a passive robot. The assessment of user satisfaction shows that all novice and most professional welders appreciate the robotic assistance as it suppresses the tremors in the directions perpendicular to the movement for welding.

  12. Welding mechanization in shipyard CIM; Zosen ni okeru yosetsu no jidoka robot ka CIM ka

    Energy Technology Data Exchange (ETDEWEB)

    Miyazaki, T. [Hitachi Zosen Corp., Osaka (Japan)

    1997-12-01

    This paper explains development and examples of application of automated welding devices from a viewpoint of an element technology constituting computer integrated manufacturing (CIM), based on the history of modernization of shipyards that has been achieved to date. In the first step of promoting the modernization, elevating cutting accuracy in the uppermost stream process was thought a starting point of rationalization. What have been achieved therefrom are adoption of the most advanced NC plasma cutting machine, and improvement in the computer aided system for the cutting machines. In addition, a twenty-electrode line welder has been developed, which does not create angle deformation in welding longerons, and can be operated even by unskilled workers. The welder has successfully realized a construction method in which robots can be applied more easily. Further developments have been made on a robot to weld cells, advanced CAD/CAM operation techniques which are linked with data from design, an automatic one-side welding device which can achieve a speed 2.5 times greater than by conventional devices, and an automation device for three-dimensionally bent blocks, whose automation has been regarded difficult. 11 figs., 1 tab.

  13. Sensor controlled robotic welding for nuclear applications. Annual progress report

    International Nuclear Information System (INIS)

    Chin, B.A.; Madsen, N.H.; Goodling, J.S.

    1986-01-01

    Significant accomplishments towards the development of an adaptive robotic welding system have been made during the first eight months of the project. The project is currently within budget and on schedule. Accomplishments were both scientific and programmatic in form. A list of the scientific accomplishments follows: demonstrated that the thermal profiles generated for intentionally induced defects during the welding process are similar in steel, aluminum and stainless steel. The conclusion is therefore that infrared sensing is applicable to the welding of over 90% of all materials used in the energy industry. Completed design and testing of a first generation communication system used to transfer information from the infrared camera to the computer in a near real time form. This demonstrates that information can be obtained, sorted, transferred and received in a time frame consistent with on-line process control. Demonstrated rudimentary seam tracking using infrared sensing and closed loop logic routines. A linear relationship exists between measured peak surface temperature and depth of penetration. Similarily, a linear relationship exists between measured infrared width and weld bead width. These relations suggest that penetration parameters may be controlled using surface measurements as obtained by infrared thermography

  14. Advances in solar cell welding technology

    Energy Technology Data Exchange (ETDEWEB)

    Chidester, L.G.; Lott, D.R.

    1982-09-01

    In addition to developing the rigid substrate welded conventional cell panels for an earlier U.S. flight program, LMSC recently demonstrated a welded lightweight array system using both 2 x 4 and 5.9 x 5.9 cm wraparound solar cells. This weld system uses infrared sensing of weld joint temperature at the cell contact metalization interface to precisely control weld energy on each joint. Modules fabricated using this weld control system survived lowearth-orbit simulated 5-year tests (over 30,000 cycles) without joint failure. The data from these specifically configured modules, printed circuit substrate with copper interconnect and dielectric wraparound solar cells, can be used as a basis for developing weld schedules for additional cell array panel types.

  15. Underwater welding using remote controlled robots. Development of remote underwater welding technology with a high power YAG laser

    International Nuclear Information System (INIS)

    Miwa, Yasuhiro; Sato, Syuuichi; Kojima, Toshio; Owaki, Katsura; Hirose, Naoya

    2002-01-01

    As components in nuclear power plant have been periodically carried out their inspection and repair to keep their integrity, on radioactive liquid wastes storage facility, because of difficulty on their inspection by human beings, some are remained without inspection, and even when capable of inspection, conversion from human works to remote operations is desired from a viewpoint of their operation efficiency upgrading. For response to these needs, some developments on a technology capable of carrying out inspection of their inside at underwater environment and repairing welding with YAG laser by means of remote operation, have been performed. Remote underwater inspection and repair technology is a combination technology of already applied underwater mobile technique (underwater inspection robot) with underwater YAG laser welding technique which is recently at actual using level. Therefore, this technology is composed of an inspection robot and a repair welding robot. And, testing results using the underwater inspection robot and welding test results using the underwater repair welding robot, were enough preferable to obtain forecasting applicable to actual apparatuses. This technology is especially effective for inspection and repair of inside of nuclear fuel cycle apparatuses and relatively high dose apparatuses, and can be thought to be applicable also to large capacity tanks, tanks dealing with harmful matters, underwater structures, and so on, in general industries. (G.K.)

  16. IMPROVEMENT OF WELDED CONNECTIONS WITH SIDE LAP WELDS BY REDISTRIBUTION OF ALL-WELD METAL ALONG LENGTHS AND CROSS-SECTIONS THEREOF USING MECHANIZED AND ROBOTIC WELDING SYSTEMS

    Directory of Open Access Journals (Sweden)

    Pavlov Evgeniy Igorevich

    2017-05-01

    Full Text Available Experimental study of bearing capacity of samples of two series performed by semiautomatic welding in CO2 on the axis, and by robotic welding machine in mixture (CO2 + Ar, is presented. Welds of constant cross section, welds with extended leg on end sections, and welds in the form of two dowels on end sections were performed. Efficiency of pilot samples of the first series (with extended leg on end sections by way of a smooth transition defined by the ratio of weld metal volume to a crushing load reaches 28 % relative to samples with a leg constant as per length. Samples of the first series with an extended leg on end sections also showed efficiency increased to 17 %. According to the second series samples test results, the exceeding of bearing capacity of the samples performed with an extended leg on end sections by 24 % in comparison with the samples with a leg of constant cross section was determined. Samples of the second series performed in the form of two dowels on end sections demonstrated the exceeding of the relative bearing capacity by 42 % in comparison with the samples with a continuous leg of constant cross-section.

  17. Intelligent Control of Welding Gun Pose for Pipeline Welding Robot Based on Improved Radial Basis Function Network and Expert System

    Directory of Open Access Journals (Sweden)

    Jingwen Tian

    2013-02-01

    Full Text Available Since the control system of the welding gun pose in whole-position welding is complicated and nonlinear, an intelligent control system of welding gun pose for a pipeline welding robot based on an improved radial basis function neural network (IRBFNN and expert system (ES is presented in this paper. The structure of the IRBFNN is constructed and the improved genetic algorithm is adopted to optimize the network structure. This control system makes full use of the characteristics of the IRBFNN and the ES. The ADXRS300 micro-mechanical gyro is used as the welding gun position sensor in this system. When the welding gun position is obtained, an appropriate pitch angle can be obtained through expert knowledge and the numeric reasoning capacity of the IRBFNN. ARM is used as the controller to drive the welding gun pitch angle step motor in order to adjust the pitch angle of the welding gun in real-time. The experiment results show that the intelligent control system of the welding gun pose using the IRBFNN and expert system is feasible and it enhances the welding quality. This system has wide prospects for application.

  18. Robust Control of Welding Robot for Tracking a Rectangular Welding Line

    Directory of Open Access Journals (Sweden)

    Manh Dung Ngo

    2008-11-01

    Full Text Available This paper highlights a welding robot (WR for its end effector to track a rectangular welding line (RWL. The WR includes five actuators which use a DC motor as a power source. Two controllers are proposed to control the WR's end effector: a main controller and a servo controller. Firstly, based on WR's kinematic equations and its feedback errors using backstepping method the main controller is proposed to design the reference-inputs for the WR's actuators in order that the WR's end effector tracks the RWL. Secondly, based on the dynamic equation of WR's actuator, the servo controller is designed using an active disturbance rejection control method. Finally, a control system incorporated with the main controller and the servo controllers make the WR's end effector robustly track a RWL in the presence of the modeling uncertainty and disturbances during the welding process. In experiment, the main controller which has a function as a master of the control system links to the five servo controllers which have a function as a slave via I2C communication. The effectiveness of the proposed control system is proven through the simulation and experimental results.

  19. Robust Control of Welding Robot for Tracking a Rectangular Welding Line

    Directory of Open Access Journals (Sweden)

    Manh Dung Ngo

    2006-09-01

    Full Text Available This paper highlights a welding robot (WR for its end effector to track a rectangular welding line (RWL. The WR includes five actuators which use a DC motor as a power source. Two controllers are proposed to control the WR's end effector: a main controller and a servo controller. Firstly, based on WR's kinematic equations and its feedback errors using backstepping method the main controller is proposed to design the reference-inputs for the WR's actuators in order that the WR's end effector tracks the RWL. Secondly, based on the dynamic equation of WR's actuator, the servo controller is designed using an active disturbance rejection control method. Finally, a control system incorporated with the main controller and the servo controllers make the WR's end effector robustly track a RWL in the presence of the modeling uncertainty and disturbances during the welding process. In experiment, the main controller which has a function as a master of the control system links to the five servo controllers which have a function as a slave via I2C communication. The effectiveness of the proposed control system is proven through the simulation and experimental results.

  20. Strength analysis and optimization of welding robot mechanism in emergency stop state

    OpenAIRE

    Zdeněk Poruba; Jiří Podešva; Ondřej František; Martin Fusek; Robert Brázda; Marek Sadílek

    2016-01-01

    The contribution deals with the strength analysis and optimization of the welding robot mechanism in emergency stop state. The common operational positioning of the welding robot is characterized by smooth course of speeds in the time. The resulting load does not differ significantly from the static loading. However the safety requirements given by the norm require the ability of emergency stop function. Since the course of speed in time is rather steep the higher values of acceleration and t...

  1. Robotic and automatic welding development at the Marshall Space Flight Center

    Science.gov (United States)

    Jones, C. S.; Jackson, M. E.; Flanigan, L. A.

    1988-01-01

    Welding automation is the key to two major development programs to improve quality and reduce the cost of manufacturing space hardware currently undertaken by the Materials and Processes Laboratory of the NASA Marshall Space Flight Center. Variable polarity plasma arc welding has demonstrated its effectiveness on class 1 aluminum welding in external tank production. More than three miles of welds were completed without an internal defect. Much of this success can be credited to automation developments which stabilize the process. Robotic manipulation technology is under development for automation of welds on the Space Shuttle's main engines utilizing pathfinder systems in development of tooling and sensors for the production applications. The overall approach to welding automation development undertaken is outlined. Advanced sensors and control systems methodologies are described that combine to make aerospace quality welds with a minimum of dependence on operator skill.

  2. Characterization Of Robot Work Cell

    Science.gov (United States)

    Anderson, Ronald R.; Paternoster, Vincent Y.; Guthmiller, Wayne A.

    1990-01-01

    Iterative process of measurement and computation used to characterize work cell of robot, increasing accuracy of mathematical model of work cell. Characterization needed because model used in off-line programming (OLP) to compute paths to control motion of robot. Increases accuracies of model and paths.

  3. On detection and automatic tracking of butt weld line in thin wall pipe welding by a mobile robot with visual sensor

    International Nuclear Information System (INIS)

    Suga, Yasuo; Ishii, Hideaki; Muto, Akifumi

    1992-01-01

    An automatic pipe welding mobile robot system with visual sensor was constructed. The robot can move along a pipe, and detect the weld line to be welded by visual sensor. Moreover, in order to make an automatic welding, the welding torch can track the butt weld line of the pipes at a constant speed by rotating the robot head. Main results obtained are summarized as follows: 1) Using a proper lighting fixed in front of the CCD camera, the butt weld line of thin wall pipes can be recongnized stably. In this case, the root gap should be approximately 0.5 mm. 2) In order to detect the weld line stably during moving along the pipe, a brightness distribution measured by the CCD camera should be subjected to smoothing and differentiating and then the weld line is judged by the maximum and minimum values of the differentials. 3) By means of the basic robot system with a visual sensor controlled by a personal computer, the detection and in-process automatic tracking of a weld line are possible. The average tracking error was approximately 0.2 mm and maximum error 0.5 mm and the welding speed was held at a constant value with error of about 0.1 cm/min. (author)

  4. Evaluation of Distortion in Welding Unions of 304 Stainless Steel with Elliptic Trajectory Using a Welding Robot

    Science.gov (United States)

    Carrasco-González, L. A.; Hurtado-Delgado, E.; Reyes-Valdés, F. A.

    The aim of this investigation is to evaluate the distortions generated in welding unions of stainless steel 304 by effect of the welding temperature and the microestructural changes. The joint design is a 100 × 100 mm steel plate of 3 mm thickness. The plate was joined to a tube of 50 mm diameter and 2 mm thickness, which has a defined angular cut; therefore, the trajectory followed by the seam has an elliptic form. Temperature data acquisition was developed by type K thermocouples, placed in pairs at 0°, 90°, 180° and 270° along the welding trajectory and connected to a data acquisition device yo obtain the measures to generate time-temperature plots. The welding process was executed by a KUKA ®; KR16 welding robot with an integrated GMAW (Gas metal arc welding) process where the input parameters of voltage, wire feed and travel speed are set to constant. The distortion of the work piece was measured using a laser scanning technique that generates a point cloud with the VXelements TM software for comparison between the pre and post-weld condition. Microstructural evaluation was performed on transversal sections of the seam, at the mentioned angles for correlation.

  5. Sensor controlled robotic welding for nuclear power plant operations

    International Nuclear Information System (INIS)

    Chin, B.A.

    1989-01-01

    The objective of the proposed research is to apply real time monitoring, artificial intelligence and on-line correction to dynamically control the depth of weld penetration and weld integrity during the welding process. Welding is a major technique used in the fabrication, construction and maintenance of power generating and energy conversion systems. In the welding process, fluctuations in process variables lead to weld defects such as lack of penetration, cracks, porosity and undesirable metallurgical structures. This research will apply advanced infrared sensing techniques which have been successfully used in seam tracking to the equally complex problem of weld defect and weld puddle penetration control. Thermal temperature distributions of plates being welded will be dynamically measured during welding using infrared techniques. These temperature distributions will be used to interpret changes in the size and shape of the molten metal pool and the presence of conditions that may lead to defects in the solidified weld. The ultimate result of this research will be the development of machines which are capable of sensing and altering process variables to eliminate defective welds and increase the productivity of the welding process. Successful completion of this proposed research will lead to potential major improvements in the fabrication, construction and maintenance of advanced nuclear reactors and promote increased safety and reliability while decreasing construction costs. 47 refs., 50 figs

  6. Robotic system for orbital welding of pipes; Sistema robotizado para soldagem orbital de dutos

    Energy Technology Data Exchange (ETDEWEB)

    Bracarense, Alexandre Queiroz; Lima, II, Eduardo Jose; Torres, Guilherme Fortunato; Ramalho, Frederico [Universidade Federal de Minas Gerais (UFMG), Belo Horizonte, MG (Brazil); Felizardo, Ivanilza; Zanon, Gislaine Pires [ROTECH Tecnologia Robotica Ltda., Belo Horizonte, MG (Brazil)

    2004-07-01

    This work presents the robotic system projected for orbital welding of pipelines of oil and gas. The system consists of a controller (microcomputer), that allows the execution of all the referring tasks to the welding in an autonomous way, and two manipulates, to what are coupled the welding torches that are connected to a welding power source with double wire feeders. With this system, GMA W process is used to execute the root pass, while FCA W process, besides the GMA W, is used for the filling and finishing passes. The system has four degrees of freedom, allowing the control of stick out, travel speed, torch angle and positioning. Besides these, the arc voltage and and welding current are also controlled during the process. Knowing that for each welding position (plane, vertical up and down and over head) a great group of parameters must be used, several tests were accomplished. With these values a controlled variation could be accomplished in an uninterrupted way when welding position changes, getting the increase of the productivity and also the quality of the weld performed by a robotic system. (author)

  7. Adaptive control of penetration and joint following for robotic GTA welding

    International Nuclear Information System (INIS)

    Bahram Mir Sadeghi; Hishamuddin Jamaludin; Iskandar Baharin

    1997-01-01

    A statistical-based method for adaptive control of weld pool penetration and joint following in Tungsten Inert Gas Welding as an approach to process and trajectory control of robotic GTA welding has been designed and simulated. Welding process parameters such as: base current and time, pulse current and time, electrode tip to work piece distance, filler travelling speed, torch speed and work piece thickness were used for finding the equations which describe the interrelationship between the aforementioned variables and penetration depth as well as bead width. The calculation of these equations was developed from the statistical regression analysis of 80 welds deposited using various combinations of welding parameters. For monitoring of the work piece thickness variations, an ultrasonic device was used. In order to control the weld trajectory, a CCD camera was also used. The results showed that the misalignment of the progressive heat affected zone which is adjacent to the weld puddle can be detected, and used for control of the weld trajectory. Also, it was found that scanning of a certain region of the captured image in front of the weld puddle decreases the data processing time drastically

  8. A development of an automated ultrasonic TOFD inspection system using an welding line tracing robot

    International Nuclear Information System (INIS)

    Cho, Hyun; Song, Sung Jin; Lee, Kang Won; Kim, Young Jin; Woo, Jong Sik

    2006-01-01

    Large scaled ships, manufactured inside of the country, should be passed welding inspection and painting film inspection. Normally, these kind of inspections are conducted by human inspectors manually, although it cause industrial disasters such as falling accidents and diving accidents frequently. In addition, Ship makers are not to give a full trust to shipowners because manual inspections cannot be conducted all over the welding parts. So, in this study we developed an automated ultrasonic TOFD inspection system using an welding line tracing robot. This system, controlled by an inspector at a remote field, can inspect welding parts of ship outer panel both under water and in air. In this paper we present the developed robot and ultrasonic TOFD inspection system and the inspection result.

  9. A development of an automated ultrasonic TOFD inspection system using an welding line tracing robot

    International Nuclear Information System (INIS)

    Cho, Hyun; Song, Sung Jin; Lee, Kang Won; Kim, Young Jin; Woo, Jong Sik

    2006-01-01

    Large scaled ships, manufactured inside of the country, should be passed welding inspection and painting film inspection. Normally, these kind of inspections are conducted by human inspectors manually, although it cause industrial disasters such as falling accidents and diving accidents frequently. In addition, Ship makers are not to give a full trust to ship owners because manual inspections cannot be conducted all over the welding parts. So, in this study we developed an automated ultrasonic TOFD inspection system using an welding line tracing robot. This system, controlled by an inspector at a remote field, can inspect welding parts of ship outer panel both under water and in air. In this paper we present the developed robot and ultrasonic TOFD inspection system and the inspection result.

  10. Study on robot motion control for intelligent welding processes based on the laser tracking sensor

    Science.gov (United States)

    Zhang, Bin; Wang, Qian; Tang, Chen; Wang, Ju

    2017-06-01

    A robot motion control method is presented for intelligent welding processes of complex spatial free-form curve seams based on the laser tracking sensor. First, calculate the tip position of the welding torch according to the velocity of the torch and the seam trajectory detected by the sensor. Then, search the optimal pose of the torch under constraints using genetic algorithms. As a result, the intersection point of the weld seam and the laser plane of the sensor is within the detectable range of the sensor. Meanwhile, the angle between the axis of the welding torch and the tangent of the weld seam meets the requirements. The feasibility of the control method is proved by simulation.

  11. Experience and Applications Up-date: Automation of Arc-Welding Operations Using Robot-Technology; Experiencia y actualizacion de las aplicaciones: automatizacion de las operaciones de soldadura utilizando tecnologia robotica

    Energy Technology Data Exchange (ETDEWEB)

    Teubel, G

    1997-12-31

    In a short introduction, the important criteria for the correct choice of a robot cell, taking into account the given application, are highlighted. Furthermore, important hints are listed in terms of management decisions. The second chapter shows the main features of a welding robot cell in line with the present state of the art and describes some new developments with the aim of extending the arc-welding system to new applications such as flame cutting and beveling. The third chapter as centre piece gives an overall view of a brand new network control with many outstanding features for the users of arc-welding robots. the fourth and last chapter shows a recent realisation of a highly sophisticated F.M.S. system for welding, in random sequence, different large and heavy components. (Author) 1 ref.

  12. FUZZY REGRESSION MODEL TO PREDICT THE BEAD GEOMETRY IN THE ROBOTIC WELDING PROCESS

    Institute of Scientific and Technical Information of China (English)

    B.S. Sung; I.S. Kim; Y. Xue; H.H. Kim; Y.H. Cha

    2007-01-01

    Recently, there has been a rapid development in computer technology, which has in turn led todevelop the fully robotic welding system using artificial intelligence (AI) technology. However, therobotic welding system has not been achieved due to difficulties of the mathematical model andsensor technologies. The possibilities of the fuzzy regression method to predict the bead geometry,such as bead width, bead height, bead penetration and bead area in the robotic GMA (gas metalarc) welding process is presented. The approach, a well-known method to deal with the problemswith a high degree of fuzziness, is used to build the relationship between four process variablesand the four quality characteristics, respectively. Using these models, the proper prediction of theprocess variables for obtaining the optimal bead geometry can be determined.

  13. Strength analysis and optimization of welding robot mechanism in emergency stop state

    Directory of Open Access Journals (Sweden)

    Zdeněk Poruba

    2016-03-01

    Full Text Available The contribution deals with the strength analysis and optimization of the welding robot mechanism in emergency stop state. The common operational positioning of the welding robot is characterized by smooth course of speeds in the time. The resulting load does not differ significantly from the static loading. However the safety requirements given by the norm require the ability of emergency stop function. Since the course of speed in time is rather steep the higher values of acceleration and thus higher excitation force is expected. The dynamical simulation performed describes the response of the robot mechanism in the form of stress course in time, quantifies the peak values of the stress caused by the dynamical component of loading and highlights the potential risks associated with this phenomenon.

  14. Dynamic modelling, identification and simulation of industrial robots – for off-line programming of robotised laser welding

    NARCIS (Netherlands)

    Waiboer, R.R.

    2007-01-01

    Robotised laser welding is an innovative joining technique which is increasingly finding applications, especially in the automotive industry. In order to reduce the time needed to prepare and programthe laser welding robot, off-line programming systems are used. The off-line programming systems

  15. Design of parallel intersector weld/cut robot for machining processes in ITER vacuum vessel

    International Nuclear Information System (INIS)

    Wu Huapeng; Handroos, Heikki; Kovanen, Janne; Rouvinen, Asko; Hannukainen, Petri; Saira, Tanja; Jones, Lawrence

    2003-01-01

    This paper presents a new parallel robot Penta-WH, which has five degrees of freedom driven by hydraulic cylinders. The manipulator has a large, singularity-free workspace and high stiffness and it acts as a transport device for welding, machining and inspection end-effectors inside the ITER vacuum vessel. The presented kinematic structure of a parallel robot is particularly suitable for the ITER environment. Analysis of the machining process for ITER, such as the machining methods and forces are given, and the kinematic analyses, such as workspace and force capacity are discussed

  16. Robotics

    International Nuclear Information System (INIS)

    Scheide, A.W.

    1983-01-01

    This article reviews some of the technical areas and history associated with robotics, provides information relative to the formation of a Robotics Industry Committee within the Industry Applications Society (IAS), and describes how all activities relating to robotics will be coordinated within the IEEE. Industrial robots are being used for material handling, processes such as coating and arc welding, and some mechanical and electronics assembly. An industrial robot is defined as a programmable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for a variety of tasks. The initial focus of the Robotics Industry Committee will be on the application of robotics systems to the various industries that are represented within the IAS

  17. Problem of quality assurance during metal constructions welding via robotic technological complexes

    Science.gov (United States)

    Fominykh, D. S.; Rezchikov, A. F.; Kushnikov, V. A.; Ivashchenko, V. A.; Bogomolov, A. S.; Filimonyuk, L. Yu; Dolinina, O. N.; Kushnikov, O. V.; Shulga, T. E.; Tverdokhlebov, V. A.

    2018-05-01

    The problem of minimizing the probability for critical combinations of events that lead to a loss in welding quality via robotic process automation is examined. The problem is formulated, models and algorithms for its solution are developed. The problem is solved by minimizing the criterion characterizing the losses caused by defective products. Solving the problem may enhance the quality and accuracy of operations performed and reduce the losses caused by defective product

  18. Design of the Intersector Welding Robot for vacuum vessel assembly and maintenance

    International Nuclear Information System (INIS)

    Jones, L.; Dagenais, J.-F.; Daenner, W.; Maisonnier, D.

    2000-01-01

    Next Step Fusion Devices require on-site (field weld) joining of sectors of the thick-walled vacuum vessel for structural and vacuum integrity. EFDA (European Fusion Development Agreement) is supporting an R and D programme to investigate processes for assembly of the vacuum vessel and to carry out cutting, re-welding and inspection for remote sector replacement, forming part of the overall VV/blanket research effort. In order to direct the process end-effectors along the field joint zone, a track-mounted Intersector Welding Robot (IWR) on a mock-up of a region of the vacuum vessel has been designed and is described in this paper. A rail-mounted hexapod type robot offers six axes of motion over a limited work envelope with high payload to robot weight ratio. A solution to the production of reduced pressure local vacuum is the installation of short, lightweight segments bolted to each other and the vessel wall. The various process heads can be mounted using end-effectors of special design. To minimise the supply and interface problems for the IWR prototype, its motion control and electronic systems will be embedded locally. A laser scan with camera forms the on-line seam tracking capability to compensate for rail and seam deviations

  19. Video Game Device Haptic Interface for Robotic Arc Welding

    Energy Technology Data Exchange (ETDEWEB)

    Corrie I. Nichol; Milos Manic

    2009-05-01

    Recent advances in technology for video games have made a broad array of haptic feedback devices available at low cost. This paper presents a bi-manual haptic system to enable an operator to weld remotely using the a commercially available haptic feedback video game device for the user interface. The system showed good performance in initial tests, demonstrating the utility of low cost input devices for remote haptic operations.

  20. Coating application procedure qualification for internal girth weld using a robot device

    Energy Technology Data Exchange (ETDEWEB)

    Koebsch, Andre; Cunha, Bruno Rocha Marques da; Barreto, Eduardo Chave; Nunes, Erik Barbosa; Solymossy, Victor [PETROBRAS S.A., Rio de Janeiro, RJ (Brazil)

    2009-12-19

    This year PETROBRAS complete 55 years old filling up our country of energy necessary to support our development. Some oil fields, especially from the northeast region, has being had their production decrease by their ageing. In order to have their live protracted some retrieval technical has being used. For example we can mention gas lift, production water injection, CO{sub 2} injection and so on. The produced water even treated has an elevated tenor of chloride, acid ph, presence of organics acids, H{sub 2}S and no O{sub 2}. The water became too corrosive by those characteristics. Due to it an anti corrosive coating application is demanded on the pipe internal surface and on the girth weld. The pipes are coated in a coating plant and it has a qualified coating procedure. Therefore an application of anti corrosive coating is demanded on the girth weld after the pipe welding. To accomplish this job an application procedure was developed using a robot. The PETROBRAS' Engineer witnesses the PQT of this procedure aiming to guarantee the applied coating quality. This paper will show the PQT results and a basic description of the robot operation. (author)

  1. Novel Robot Solutions for Carrying out Field Joint Welding and Machining in the Assembly of the Vacuum Vessel of ITER

    International Nuclear Information System (INIS)

    Pessi, P.

    2009-01-01

    It is necessary to use highly specialized robots in ITER (International Thermonuclear Experimental Reactor) both in the manufacturing and maintenance of the reactor due to a demanding environment. The sectors of the ITER vacuum vessel (VV) require more stringent tolerances than normally expected for the size of the structure involved. VV consists of nine sectors that are to be welded together. The vacuum vessel has a toroidal chamber structure. The task of the designed robot is to carry the welding apparatus along a path with a stringent tolerance during the assembly operation. In addition to the initial vacuum vessel assembly, after a limited running period, sectors need to be replaced for repair. Mechanisms with closed-loop kinematic chains are used in the design of robots in this work. One version is a purely parallel manipulator and another is a hybrid manipulator where the parallel and serial structures are combined. Traditional industrial robots that generally have the links actuated in series are inherently not very rigid and have poor dynamic performance in high speed and high dynamic loading conditions. Compared with open chain manipulators, parallel manipulators have high stiffness, high accuracy and a high force/torque capacity in a reduced workspace. Parallel manipulators have a mechanical architecture where all of the links are connected to the base and to the end-effector of the robot. The purpose of this thesis is to develop special parallel robots for the assembly, machining and repairing of the VV of the ITER. The process of the assembly and machining of the vacuum vessel needs a special robot. By studying the structure of the vacuum vessel, two novel parallel robots were designed and built; they have six and ten degrees of freedom driven by hydraulic cylinders and electrical servo motors. Kinematic models for the proposed robots were defined and two prototypes built. Experiments for machine cutting and laser welding with the 6-DOF robot were

  2. Novel Robot Solutions for Carrying out Field Joint Welding and Machining in the Assembly of the Vacuum Vessel of ITER

    Energy Technology Data Exchange (ETDEWEB)

    Pessi, P.

    2009-07-01

    It is necessary to use highly specialized robots in ITER (International Thermonuclear Experimental Reactor) both in the manufacturing and maintenance of the reactor due to a demanding environment. The sectors of the ITER vacuum vessel (VV) require more stringent tolerances than normally expected for the size of the structure involved. VV consists of nine sectors that are to be welded together. The vacuum vessel has a toroidal chamber structure. The task of the designed robot is to carry the welding apparatus along a path with a stringent tolerance during the assembly operation. In addition to the initial vacuum vessel assembly, after a limited running period, sectors need to be replaced for repair. Mechanisms with closed-loop kinematic chains are used in the design of robots in this work. One version is a purely parallel manipulator and another is a hybrid manipulator where the parallel and serial structures are combined. Traditional industrial robots that generally have the links actuated in series are inherently not very rigid and have poor dynamic performance in high speed and high dynamic loading conditions. Compared with open chain manipulators, parallel manipulators have high stiffness, high accuracy and a high force/torque capacity in a reduced workspace. Parallel manipulators have a mechanical architecture where all of the links are connected to the base and to the end-effector of the robot. The purpose of this thesis is to develop special parallel robots for the assembly, machining and repairing of the VV of the ITER. The process of the assembly and machining of the vacuum vessel needs a special robot. By studying the structure of the vacuum vessel, two novel parallel robots were designed and built; they have six and ten degrees of freedom driven by hydraulic cylinders and electrical servo motors. Kinematic models for the proposed robots were defined and two prototypes built. Experiments for machine cutting and laser welding with the 6-DOF robot were

  3. Electron beam welding of high-purity copper accelerator cells

    International Nuclear Information System (INIS)

    Delis, K.; Haas, H.; Schlebusch, P.; Sigismund, E.

    1986-01-01

    The operating conditions of accelerator cells require high thermal conductivity, low gas release in the ultrahigh vacuum, low content of low-melting metals and an extremely good surface quality. In order to meet these requirements, high-purity copper (OFHC, Grade 1, according to ASTM B 170-82 and extra specifications) is used as structural material. The prefabricated components of the accelerator cells (noses, jackets, flanges) are joined by electron beam welding, the weld seam being assessed on the basis of the same criteria as the base material. The welding procedures required depend, first, on the material and, secondly, on the geometries involved. Therefore experimental welds were made first on standardized specimens in order to study the behaviour of the material during electron beam welding and the influence of parameter variations. The welded joints of the cell design were planned on the basis of these results. Seam configuration, welding procedures and the parameters were optimized on components of original geometry. The experiments have shown that high-quality joints of this grade of copper can be produced by the electron beam welding process, if careful planning and preparation of the seams and adequate containment of the welding pool are assured. (orig.)

  4. Minimum Time Path Planning for Robotic Manipulator in Drilling/ Spot Welding Tasks

    Directory of Open Access Journals (Sweden)

    Qiang Zhang

    2016-04-01

    Full Text Available In this paper, a minimum time path planning strategy is proposed for multi points manufacturing problems in drilling/spot welding tasks. By optimizing the travelling schedule of the set points and the detailed transfer path between points, the minimum time manufacturing task is realized under fully utilizing the dynamic performance of robotic manipulator. According to the start-stop movement in drilling/spot welding task, the path planning problem can be converted into a traveling salesman problem (TSP and a series of point to point minimum time transfer path planning problems. Cubic Hermite interpolation polynomial is used to parameterize the transfer path and then the path parameters are optimized to obtain minimum point to point transfer time. A new TSP with minimum time index is constructed by using point-point transfer time as the TSP parameter. The classical genetic algorithm (GA is applied to obtain the optimal travelling schedule. Several minimum time drilling tasks of a 3-DOF robotic manipulator are used as examples to demonstrate the effectiveness of the proposed approach.

  5. Hand-Eye LRF-Based Iterative Plane Detection Method for Autonomous Robotic Welding

    Directory of Open Access Journals (Sweden)

    Sungmin Lee

    2015-12-01

    Full Text Available This paper proposes a hand-eye LRF-based (laser range finder welding plane-detection method for autonomous robotic welding in the field of shipbuilding. The hand-eye LRF system consists of a 6 DOF manipulator and an LRF attached to the wrist of the manipulator. The welding plane is detected by the LRF with only the wrist's rotation to minimize a mechanical error caused by the manipulator's motion. A position on the plane is determined as an average position of the detected points on the plane, and a normal vector to the plane is determined by applying PCA (principal component analysis to the detected points. In this case, the accuracy of the detected plane is analysed by simulations with respect to the wrist's angle interval and the plane angle. As a result of the analysis, an iterative plane-detection method with the manipulator's alignment motion is proposed to improve the performance of plane detection. For verifying the feasibility and effectiveness of the proposed plane-detection method, experiments are carried out with a prototype of the hand-eye LRF-based system, which consists of a 1 DOF wrist's joint, an LRF system and a rotatable plane. In addition, the experimental results of the PCA-based plane detection method are compared with those of the two representative plane-detection methods, based on RANSAC (RANdom SAmple Consensus and the 3D Hough transform in both accuracy and computation time's points of view.

  6. Development and control towards a parallel water hydraulic weld/cut robot for machining processes in ITER vacuum vessel

    International Nuclear Information System (INIS)

    Wu Huapeng; Handroos, Heikki; Pessi, Pekka; Kilkki, Juha; Jones, Lawrence

    2005-01-01

    This paper presents a special robot, able to carry out welding and machining processes from inside the ITER vacuum vessel (VV), consisting of a five degree-of-freedom parallel mechanism, mounted on a carriage driven by two electric motors on a rack. The kinematic design of the robot has been optimised for ITER access and a hydraulically actuated pre-prototype built. A hybrid controller is designed for the robot, including position, speed and pressure feedback loops to achieve high accuracy and high dynamic performances. Finally, the experimental tests are given and discussed

  7. Diffusion welding of ZrO2 solid electrolyte cells

    International Nuclear Information System (INIS)

    Schaefer, W.; Schmidberger, R.

    1980-01-01

    Zirconia based solid-electrolyte-cells can be applied as electrolysis-cells or fuel cells at high temperatures. Scaling up to technical aggregates must be realized by a gastight electrical series-connection of many tubular single cells. A suitable process for connecting single cells is diffusion welding. Starting materials were sintered zirconia-tubes (16 mm diameter, 10 mm length) and gastight interconnecting rings (16 mm diameter, 0.5-2mm length) from gold, platinum or electrically conducting mixed oxides. ZrO 2 -tubes and interconnecting rings were mounted in alternating sequence and diffusion welded under axial pressure at high temperatures. From economic reasons noble metals cannot be used for technical aggregates. The developments were therefore concentrated on the connection with mixed oxides. Optimized welding parameters are: 1400-1500 0 C welding temperature, 2 hours welding time and an axial pressure of approximately 1 Nmm 2 . Up to now gastight tubes consisting of 20 single cells were preparated by diffusion-welding in one step. The process will be further developed for the production of 50-cell-tubes with a total length of about 60 cm. (orig.) [de

  8. The Dynamics and Sliding Mode Control of Multiple Cooperative Welding Robot Manipulators

    Directory of Open Access Journals (Sweden)

    Bin Zi

    2012-08-01

    Full Text Available This paper deals with the design, dynamic modelling and sliding mode control of multiple cooperative welding robot manipulators (MWRMs. The MWRMs can handle complex tasks that are difficult or even impossible for a single manipulator. The kinematics and dynamics of the MWRMs are studied on the basis of the Denavit-Hartenberg and Lagrange method. Following that, considering the MWRM system with nonlinear and unknown disturbances, a non-singular terminal sliding mode control strategy is designed. By means of the Lyapunov function, the stability of the controller is proved. Simulation results indicate that the good control performance of the MWRMs is achieved by the non-singular terminal sliding mode controller, which also illustrates the correctness of the dynamic modelling and effectiveness of the proposed control strategy.

  9. Solar cell fabricated on welded thin flexible silicon

    Directory of Open Access Journals (Sweden)

    Hessmann Maik Thomas

    2015-01-01

    Full Text Available We present a thin-film crystalline silicon solar cell with an AM1.5 efficiency of 11.5% fabricated on welded 50 μm thin silicon foils. The aperture area of the cell is 1.00 cm2. The cell has an open-circuit voltage of 570 mV, a short-circuit current density of 29.9 mA cm-2 and a fill factor of 67.6%. These are the first results ever presented for solar cells on welded silicon foils. The foils were welded together in order to create the first thin flexible monocrystalline band substrate. A flexible band substrate offers the possibility to overcome the area restriction of ingot-based monocrystalline silicon wafers and the feasibility of a roll-to-roll manufacturing. In combination with an epitaxial and layer transfer process a decrease in production costs can be achieved.

  10. Development of a robotic manipulator for orbital welding; Desenvolvimento de um manipulador robotico para a sondagem orbital

    Energy Technology Data Exchange (ETDEWEB)

    Carvalho, Renon Steinbach; Dutra, Jair Carlos [Universidade Federal de Santa Catarina (UFSC), Florianopolis, SC (Brazil). Lab. de Soldagem; Bonacorso, Nelso Gauze [Centro Federal de Educacao Tecnologica de Santa Catarina (CEFET/SC), Florianopolis, SC (Brazil). Lab. da Automacao Hidraulica e Pneumatica (LAHP)

    2008-07-01

    On the national oil scenario, the pipelines have a high cost, specially on the long time spent on its constructions. Thus, this transaction optimizations become highly attractive. A form of improvement this task is to automate the process of welding. In this context it is interesting the use of a robot manipulator for the orbital welding. In the international market, there are dedicates solutions that meet the restrictions associated mainly with the ease of handling and dimensions. However,since these manipulators use foreign technology this makes the acquisition and maintenance costs high. The project aims to create subsides for greater efficiency in the task of union of pipelines through the development of a robotic manipulator. However it is clear that only the design of such a handler does not guarantee the quality of the root pass. Therefore, it is also being studied the use of the process MIG (Metal Inert Gas), through parametrization of CCC (Short-circuit controlled) in order to have a robust process of welding. The CCC monitors the process of welding and acts when there is detection od short circuit. It is obtained then higher pass from scratch controllability and drastically reduces the amount of spay. (author)

  11. Automatized welding equipment for manufacturing steel cells for special buildings

    International Nuclear Information System (INIS)

    Weikert, F.; Winter, K.P.

    1986-01-01

    In GDR's nuclear power plant construction, reinforced concrete wall cells are used to construct pressure and full pressure containments for WWER-440 and WWER-1000 reactors, respectively. Welding processes for the prefabrication of steel cells as reinforcement have been automatized in order to increase both labor productivity and quality assurance. 11 figs

  12. A Novel Robot of Manufacturing Space Solar Cell Arrays

    Directory of Open Access Journals (Sweden)

    Wu Yuexin

    2008-11-01

    Full Text Available This paper presents a novel robot employed to manufacture space solar cell arrays. First of all including the mechanical configuration and control system, the architecture of the robot is described. Then the flow velocity field of adhesive in the dispensing needles is acquired based on hydrodynamics. The accurate section form model of adhesive dispensed on the solar cells is obtained, which is essential for the robot to control the uniformity of dispensing adhesive. Finally the experiment validates the feasibility and reliability of the robot system. The application of robots instead of manual work in manufacturing space solar cell arrays will enhance the development of space industry.

  13. A Novel Robot of Manufacturing Space Solar Cell Arrays

    Directory of Open Access Journals (Sweden)

    Wu Yuexin

    2007-03-01

    Full Text Available This paper presents a novel robot employed to manufacture space solar cell arrays. First of all including the mechanical configuration and control system, the architecture of the robot is described. Then the flow velocity field of adhesive in the dispensing needles is acquired based on hydrodynamics. The accurate section form model of adhesive dispensed on the solar cells is obtained, which is essential for the robot to control the uniformity of dispensing adhesive. Finally the experiment validates the feasibility and reliability of the robot system. The application of robots instead of manual work in manufacturing space solar cell arrays will enhance the development of space industry.

  14. Welding.

    Science.gov (United States)

    Cowan, Earl; And Others

    The curriculum guide for welding instruction contains 16 units presented in six sections. Each unit is divided into the following areas, each of which is color coded: terminal objectives, specific objectives, suggested activities, and instructional materials; information sheet; transparency masters; assignment sheet; test; and test answers. The…

  15. The National Shipbuilding Research Program: Evaluation of the Cincinnati Milacron T-3 Robot for Shipbuilding Welding

    Science.gov (United States)

    1984-01-01

    acknowledgement is extended to the members of Welding Panel SP-7 of the SNAME Ship Production Committee, who served as technical advisors in the preparation...Binzel Robo 450. . . . . . 4.4.4.1.3 Hobart WCG 600 . . . . . . 4.4.4.2 Maintenance and Service . . . . . . . 4.4.4.3 Recommendation...Machine Specialties D & F - Welding . . . Torch Binzel Robo 450 - Welding Torch. Hobart WCG - 600 - Welding Torch. Binzel Nozzle Cleaner

  16. Device for welding a connection line to an electrode of a solar cell

    Energy Technology Data Exchange (ETDEWEB)

    Lorans, D.Y.

    1976-08-05

    A method with associated device for welding connection lines to the electrodes of solar cells is described. To improve the weldability of the contacts usually consisting of silver, a weld-receiving device is vibrated with respect to the welding electrode, whereby disturbing surface layers are destroyed with a certain application pressure of the welding electrode. The method shows better results than, for example, a previous chemical cleaning of the contacts and is also more easy to handle.

  17. DESIGN OF A WELDING AND INSPECTION SYSTEM FOR WASTE STORAGE CLOSURE

    International Nuclear Information System (INIS)

    H.B. Smartt; A.D. Watkins; D.P. Pace; R.J. Bitsoi; E.D. Larsen T.R. McJunkin; C.R. Tolle

    2005-01-01

    This work reported here was done to provide a conceptual design for a robotic welding and inspection system for the Yucca Mountain Repository waste package closure system. The welding and inspection system is intended to make the various closure welds that seal and/or structurally join the lids to the waste package vessels. The welding and inspection system will also perform surface and volumetric inspections of the various closure welds and has the means to repair closure welds, if required. The system is designed to perform these various activities remotely, without the necessity of having personnel in the closure cell

  18. Design and Optimal Research of a Non-Contact Adjustable Magnetic Adhesion Mechanism for a Wall-Climbing Welding Robot

    Directory of Open Access Journals (Sweden)

    Minghui Wu

    2013-01-01

    Full Text Available Wall-climbing welding robots (WCWRs can replace workers in manufacturing and maintaining large unstructured equipment, such as ships. The adhesion mechanism is the key component of WCWRs. As it is directly related to the robot's ability in relation to adsorbing, moving flexibly and obstacle-passing. In this paper, a novel non-contact adjustably magnetic adhesion mechanism is proposed. The magnet suckers are mounted under the robot's axils and the sucker and wall are in non-contact. In order to pass obstacles, the sucker and the wheel unit can be pulled up and pushed down by a lifting mechanism. The magnetic adhesion force can be adjusted by changing the height of the gap between the sucker and the wall by the lifting mechanism. In order to increase the adhesion force, the value of the sucker's magnetic energy density (MED is maximized by optimizing the magnet sucker's structure parameters with a finite element method. Experiments prove that the magnetic adhesion mechanism has enough adhesion force and that the WCWR can complete wall-climbing work within a large unstructured environment.

  19. On Throughput Maximization in Constant Travel-Time Robotic Cells

    OpenAIRE

    Milind Dawande; Chelliah Sriskandarajah; Suresh Sethi

    2002-01-01

    We consider the problem of scheduling operations in bufferless robotic cells that produce identical parts. The objective is to find a cyclic sequence of robot moves that minimizes the long-run average time to produce a part or, equivalently, maximizes the throughput rate. The robot can be moved in simple cycles that produce one unit or, in more complicated cycles, that produce multiple units. Because one-unit cycles are the easiest to understand, implement, and control, they are widely used i...

  20. ITER lip seal welding and cutting developments

    International Nuclear Information System (INIS)

    Levesy, B.; Cordier, J.J.; Jokinen, T.; Kujanpää, V.; Karhu, M.; Le Barbier, R.; Määttä, T.; Martins, J.P.; Utin, Y.

    2015-01-01

    Highlights: • Different TIG and Laser welding techniques are tested. • Twin spot laser welding techniques is the best. • Limited heat input gives a stable weld pool in all positions. • Penetrations is achieved. • Lip seal welding and cutting with a robotic arm is successfully performed on a representative mock-up. - Abstract: The welded lip seals form part of the torus primary vacuum boundary in between the port plugs and the vacuum vessel, and are classified as Protection Important Component. In order to refurbish the port plugs or the in-vessel components, port plugs have to be removed from the machine. The lip seal design must enable up to ten opening of the vacuum vessel during the life time operation of the ITER machine. Therefore proven, remote reliable cutting and re-welding are essential, as these operations need to be performed in the port cells in a nuclear environment, where human presence will be restricted. Moreover, the combination of size of the components to be welded (∼10 m long vacuum compatible thin welds) and the congested environment close to the core of the machine constraint the type and size of tools to be used. This paper describes the lip seal cutting and welding development programme performed at the VTT Technical Research Centre, Finland. Potential cutting and welding techniques are analyzed and compared. The development of the cutting, TIG and laser welding techniques on samples are presented. Effects of lip seal misalignments and optimization of the 2 welding processes are discussed. Finally, the manufacturing and test of the two 1.2 m × 1 m representative mock-ups are presented. The set-up and use of a robotic arm for the mock-up cutting and welding operations are also described.

  1. ITER lip seal welding and cutting developments

    Energy Technology Data Exchange (ETDEWEB)

    Levesy, B.; Cordier, J.J.; Jokinen, T. [ITER Organization, Route de Vinon sur Verdon, 13115 Saint Paul Lez Durance (France); Kujanpää, V.; Karhu, M. [VTT Technical Research Centre of Finland (Finland); Le Barbier, R. [ITER Organization, Route de Vinon sur Verdon, 13115 Saint Paul Lez Durance (France); Määttä, T. [VTT Technical Research Centre of Finland (Finland); Martins, J.P.; Utin, Y. [ITER Organization, Route de Vinon sur Verdon, 13115 Saint Paul Lez Durance (France)

    2015-10-15

    Highlights: • Different TIG and Laser welding techniques are tested. • Twin spot laser welding techniques is the best. • Limited heat input gives a stable weld pool in all positions. • Penetrations is achieved. • Lip seal welding and cutting with a robotic arm is successfully performed on a representative mock-up. - Abstract: The welded lip seals form part of the torus primary vacuum boundary in between the port plugs and the vacuum vessel, and are classified as Protection Important Component. In order to refurbish the port plugs or the in-vessel components, port plugs have to be removed from the machine. The lip seal design must enable up to ten opening of the vacuum vessel during the life time operation of the ITER machine. Therefore proven, remote reliable cutting and re-welding are essential, as these operations need to be performed in the port cells in a nuclear environment, where human presence will be restricted. Moreover, the combination of size of the components to be welded (∼10 m long vacuum compatible thin welds) and the congested environment close to the core of the machine constraint the type and size of tools to be used. This paper describes the lip seal cutting and welding development programme performed at the VTT Technical Research Centre, Finland. Potential cutting and welding techniques are analyzed and compared. The development of the cutting, TIG and laser welding techniques on samples are presented. Effects of lip seal misalignments and optimization of the 2 welding processes are discussed. Finally, the manufacturing and test of the two 1.2 m × 1 m representative mock-ups are presented. The set-up and use of a robotic arm for the mock-up cutting and welding operations are also described.

  2. Robotics

    Science.gov (United States)

    Popov, E. P.; Iurevich, E. I.

    The history and the current status of robotics are reviewed, as are the design, operation, and principal applications of industrial robots. Attention is given to programmable robots, robots with adaptive control and elements of artificial intelligence, and remotely controlled robots. The applications of robots discussed include mechanical engineering, cargo handling during transportation and storage, mining, and metallurgy. The future prospects of robotics are briefly outlined.

  3. Study on Laser Welding Process Monitoring Method

    OpenAIRE

    Knag , Heeshin

    2017-01-01

    International audience; In this paper, a study of quality monitoring technology for the laser welding was conducted. The laser welding and the industrial robotic systems were used with robot-based laser welding systems. The laser system used in this study was 1.6 kW fiber laser, while the robot system was Industrial robot (pay-load : 130 kg). The robot-based laser welding system was equipped with a laser scanner system for remote laser welding. The welding joints of steel plate and steel plat...

  4. Study on Laser Welding Process Monitoring Method

    OpenAIRE

    Heeshin Knag

    2016-01-01

    In this paper, a study of quality monitoring technology for the laser welding was conducted. The laser welding and the industrial robotic systems were used with robot-based laser welding systems. The laser system used in this study was 1.6 kW fiber laser, while the robot system was Industrial robot (pay-load : 130 kg). The robot-based laser welding system was equipped with a laser scanner system for remote laser welding. The welding joints of steel plate and steel plate coated with zinc were ...

  5. Precise 3D Lug Pose Detection Sensor for Automatic Robot Welding Using a Structured-Light Vision System

    Directory of Open Access Journals (Sweden)

    Il Jae Lee

    2009-09-01

    Full Text Available In this study, we propose a precise 3D lug pose detection sensor for automatic robot welding of a lug to a huge steel plate used in shipbuilding, where the lug is a handle to carry the huge steel plate. The proposed sensor consists of a camera and four laser line diodes, and its design parameters are determined by analyzing its detectable range and resolution. For the lug pose acquisition, four laser lines are projected on both lug and plate, and the projected lines are detected by the camera. For robust detection of the projected lines against the illumination change, the vertical threshold, thinning, Hough transform and separated Hough transform algorithms are successively applied to the camera image. The lug pose acquisition is carried out by two stages: the top view alignment and the side view alignment. The top view alignment is to detect the coarse lug pose relatively far from the lug, and the side view alignment is to detect the fine lug pose close to the lug. After the top view alignment, the robot is controlled to move close to the side of the lug for the side view alignment. By this way, the precise 3D lug pose can be obtained. Finally, experiments with the sensor prototype are carried out to verify the feasibility and effectiveness of the proposed sensor.

  6. Regenerative patterning in Swarm Robots: mutual benefits of research in robotics and stem cell biology

    Science.gov (United States)

    RUBENSTEIN, MICHAEL; SAI, YING; CHUONG, CHENG-MING; SHEN, WEI-MIN

    2010-01-01

    This paper presents a novel perspective of Robotic Stem Cells (RSCs), defined as the basic non-biological elements with stem cell like properties that can self-reorganize to repair damage to their swarming organization. “Self” here means that the elements can autonomously decide and execute their actions without requiring any preset triggers, commands, or help from external sources. We develop this concept for two purposes. One is to develop a new theory for self-organization and self-assembly of multi-robots systems that can detect and recover from unforeseen errors or attacks. This self-healing and self-regeneration is used to minimize the compromise of overall function for the robot team. The other is to decipher the basic algorithms of regenerative behaviors in multi-cellular animal models, so that we can understand the fundamental principles used in the regeneration of biological systems. RSCs are envisioned to be basic building elements for future systems that are capable of self-organization, self-assembly, self-healing and self-regeneration. We first discuss the essential features of biological stem cells for such a purpose, and then propose the functional requirements of robotic stem cells with properties equivalent to gene controller, program selector and executor. We show that RSCs are a novel robotic model for scalable self-organization and self-healing in computer simulations and physical implementation. As our understanding of stem cells advances, we expect that future robots will be more versatile, resilient and complex, and such new robotic systems may also demand and inspire new knowledge from stem cell biology and related fields, such as artificial intelligence and tissue engineering. PMID:19557691

  7. Regenerative patterning in Swarm Robots: mutual benefits of research in robotics and stem cell biology.

    Science.gov (United States)

    Rubenstein, Michael; Sai, Ying; Chuong, Cheng-Ming; Shen, Wei-Min

    2009-01-01

    This paper presents a novel perspective of Robotic Stem Cells (RSCs), defined as the basic non-biological elements with stem cell like properties that can self-reorganize to repair damage to their swarming organization. Self here means that the elements can autonomously decide and execute their actions without requiring any preset triggers, commands, or help from external sources. We develop this concept for two purposes. One is to develop a new theory for self-organization and self-assembly of multi-robots systems that can detect and recover from unforeseen errors or attacks. This self-healing and self-regeneration is used to minimize the compromise of overall function for the robot team. The other is to decipher the basic algorithms of regenerative behaviors in multi-cellular animal models, so that we can understand the fundamental principles used in the regeneration of biological systems. RSCs are envisioned to be basic building elements for future systems that are capable of self-organization, self-assembly, self-healing and self-regeneration. We first discuss the essential features of biological stem cells for such a purpose, and then propose the functional requirements of robotic stem cells with properties equivalent to gene controller, program selector and executor. We show that RSCs are a novel robotic model for scalable self-organization and self-healing in computer simulations and physical implementation. As our understanding of stem cells advances, we expect that future robots will be more versatile, resilient and complex, and such new robotic systems may also demand and inspire new knowledge from stem cell biology and related fields, such as artificial intelligence and tissue engineering.

  8. Robotic Patterning a Superhydrophobic Surface for Collective Cell Migration Screening.

    Science.gov (United States)

    Pang, Yonggang; Yang, Jing; Hui, Zhixin; Grottkau, Brian E

    2018-04-01

    Collective cell migration, in which cells migrate as a group, is fundamental in many biological and pathological processes. There is increasing interest in studying the collective cell migration in high throughput. Cell scratching, insertion blocker, and gel-dissolving techniques are some methodologies used previously. However, these methods have the drawbacks of cell damage, substrate surface alteration, limitation in medium exchange, and solvent interference. The superhydrophobic surface, on which the water contact angle is greater than 150 degrees, has been recently utilized to generate patterned arrays. Independent cell culture areas can be generated on a substrate that functions the same as a conventional multiple well plate. However, so far there has been no report on superhydrophobic patterning for the study of cell migration. In this study, we report on the successful development of a robotically patterned superhydrophobic array for studying collective cell migration in high throughput. The array was developed on a rectangular single-well cell culture plate consisting of hydrophilic flat microwells separated by the superhydrophobic surface. The manufacturing process is robotic and includes patterning discrete protective masks to the substrate using 3D printing, robotic spray coating of silica nanoparticles, robotic mask removal, robotic mini silicone blocker patterning, automatic cell seeding, and liquid handling. Compared with a standard 96-well plate, our system increases the throughput by 2.25-fold and generates a cell-free area in each well non-destructively. Our system also demonstrates higher efficiency than conventional way of liquid handling using microwell plates, and shorter processing time than manual operating in migration assays. The superhydrophobic surface had no negative impact on cell viability. Using our system, we studied the collective migration of human umbilical vein endothelial cells and cancer cells using assays of endpoint

  9. Automated platform for designing multiple robot work cells

    Science.gov (United States)

    Osman, N. S.; Rahman, M. A. A.; Rahman, A. A. Abdul; Kamsani, S. H.; Bali Mohamad, B. M.; Mohamad, E.; Zaini, Z. A.; Rahman, M. F. Ab; Mohamad Hatta, M. N. H.

    2017-06-01

    Designing the multiple robot work cells is very knowledge-intensive, intricate, and time-consuming process. This paper elaborates the development process of a computer-aided design program for generating the multiple robot work cells which offer a user-friendly interface. The primary purpose of this work is to provide a fast and easy platform for less cost and human involvement with minimum trial and errors adjustments. The automated platform is constructed based on the variant-shaped configuration concept with its mathematical model. A robot work cell layout, system components, and construction procedure of the automated platform are discussed in this paper where integration of these items will be able to automatically provide the optimum robot work cell design according to the information set by the user. This system is implemented on top of CATIA V5 software and utilises its Part Design, Assembly Design, and Macro tool. The current outcomes of this work provide a basis for future investigation in developing a flexible configuration system for the multiple robot work cells.

  10. Remote Robotic Cleaning System for Contaminated Hot-Cell Floor

    International Nuclear Information System (INIS)

    Kim, Ki Ho; Park, Jang Jin; Yang, Myung S.; Kwon, Hyo Kjo

    2005-01-01

    The M6 hot-cell of the Irradiated Material Examination Facility at the Korea Atomic Energy Research Institute (KAERI) has been contaminated with spent fuel debris and other radioactive waste due to the DUPIC nuclear fuel development processes. As the hot-cell is active, direct human workers' access, even with protection, to the in-cell is not possible because of the nature of the high radiation level of the spent PWR fuel. A remote robotic cleaning system has been developed for use in a highly radioactive environment of the M6 hot-cell. The remote robotic cleaning system was designed to completely eliminate human interaction with hazardous radioactive contaminants. This robotic cleaning system was also designed to remove contaminants or contaminated smears placed or fixed on the floor of the M6 hot-cell by mopping it in a remote manner. The environmental, functional and mechanical design considerations, control system and capabilities of the developed remote robotic cleaning system are presented

  11. Robotics

    Energy Technology Data Exchange (ETDEWEB)

    Lorino, P; Altwegg, J M

    1985-05-01

    This article, which is aimed at the general reader, examines latest developments in, and the role of, modern robotics. The 7 main sections are sub-divided into 27 papers presented by 30 authors. The sections are as follows: 1) The role of robotics, 2) Robotics in the business world and what it can offer, 3) Study and development, 4) Utilisation, 5) Wages, 6) Conditions for success, and 7) Technological dynamics.

  12. Virtual reality based support system for layout planning and programming of an industrial robotic work cell.

    Science.gov (United States)

    Yap, Hwa Jen; Taha, Zahari; Dawal, Siti Zawiah Md; Chang, Siow-Wee

    2014-01-01

    Traditional robotic work cell design and programming are considered inefficient and outdated in current industrial and market demands. In this research, virtual reality (VR) technology is used to improve human-robot interface, whereby complicated commands or programming knowledge is not required. The proposed solution, known as VR-based Programming of a Robotic Work Cell (VR-Rocell), consists of two sub-programmes, which are VR-Robotic Work Cell Layout (VR-RoWL) and VR-based Robot Teaching System (VR-RoT). VR-RoWL is developed to assign the layout design for an industrial robotic work cell, whereby VR-RoT is developed to overcome safety issues and lack of trained personnel in robot programming. Simple and user-friendly interfaces are designed for inexperienced users to generate robot commands without damaging the robot or interrupting the production line. The user is able to attempt numerous times to attain an optimum solution. A case study is conducted in the Robotics Laboratory to assemble an electronics casing and it is found that the output models are compatible with commercial software without loss of information. Furthermore, the generated KUKA commands are workable when loaded into a commercial simulator. The operation of the actual robotic work cell shows that the errors may be due to the dynamics of the KUKA robot rather than the accuracy of the generated programme. Therefore, it is concluded that the virtual reality based solution approach can be implemented in an industrial robotic work cell.

  13. Optimization of welding parameters using a genetic algorithm: A robotic arm–assisted implementation for recovery of Pelton turbine blades

    Directory of Open Access Journals (Sweden)

    Luis Pérez Pozo

    2015-11-01

    Full Text Available This work presents the operational optimization of a welding operation involving using genetic algorithms. The welding curves correspond to the profile of a blade-shaped Pelton turbine. The procedure involved the development of a series of tests and observation of the parameters that will be controlled during the welding process. After the tests were performed, the samples were prepared for chemical attack, which allowed observation of the penetration, weld area, and dilution. After that, mathematical models were developed that correlate the controllable welding parameters with the aforementioned bead parameters. In those mathematical models, the optimization of the process parameters was performed using genetic algorithms. Specially programmed functions for mutation, reproduction, and initialization processes were written and used in the implemented model. After the optimization process was completed, the results were evaluated through new tests to verify whether the obtained objective functions properly describe the characteristics of the weld. The comparisons showed errors of less than 6%.

  14. Modelling of robotic work cells using agent based-approach

    Science.gov (United States)

    Sękala, A.; Banaś, W.; Gwiazda, A.; Monica, Z.; Kost, G.; Hryniewicz, P.

    2016-08-01

    In the case of modern manufacturing systems the requirements, both according the scope and according characteristics of technical procedures are dynamically changing. This results in production system organization inability to keep up with changes in a market demand. Accordingly, there is a need for new design methods, characterized, on the one hand with a high efficiency and on the other with the adequate level of the generated organizational solutions. One of the tools that could be used for this purpose is the concept of agent systems. These systems are the tools of artificial intelligence. They allow assigning to agents the proper domains of procedures and knowledge so that they represent in a self-organizing system of an agent environment, components of a real system. The agent-based system for modelling robotic work cell should be designed taking into consideration many limitations considered with the characteristic of this production unit. It is possible to distinguish some grouped of structural components that constitute such a system. This confirms the structural complexity of a work cell as a specific production system. So it is necessary to develop agents depicting various aspects of the work cell structure. The main groups of agents that are used to model a robotic work cell should at least include next pattern representatives: machine tool agents, auxiliary equipment agents, robots agents, transport equipment agents, organizational agents as well as data and knowledge bases agents. In this way it is possible to create the holarchy of the agent-based system.

  15. A flexible, computer-integrated robotic transfer system

    International Nuclear Information System (INIS)

    Lewis, W.I. III; Taylor, R.M.

    1987-01-01

    This paper reviews a robotic system used to transport materials across a radiation control zone and into a row of shielded cells. The robot used is a five-axis GCA 600 industrial robot mounted on a 50-ft ESAB welding track. Custom software incorporates the track as the sixth axis of motion. An IBM-PC integrates robot control, force sensing, and the operator interface. Multiple end-effectors and a quick exchange mechanism are used to handle a variety of materials and tasks. Automatic error detection and recovery is a key aspect of this system

  16. Robotics

    Indian Academy of Sciences (India)

    netic induction to detect an object. The development of ... end effector, inclination of object, magnetic and electric fields, etc. The sensors described ... In the case of a robot, the various actuators and motors have to be modelled. The major ...

  17. Virtual reality based support system for layout planning and programming of an industrial robotic work cell.

    Directory of Open Access Journals (Sweden)

    Hwa Jen Yap

    Full Text Available Traditional robotic work cell design and programming are considered inefficient and outdated in current industrial and market demands. In this research, virtual reality (VR technology is used to improve human-robot interface, whereby complicated commands or programming knowledge is not required. The proposed solution, known as VR-based Programming of a Robotic Work Cell (VR-Rocell, consists of two sub-programmes, which are VR-Robotic Work Cell Layout (VR-RoWL and VR-based Robot Teaching System (VR-RoT. VR-RoWL is developed to assign the layout design for an industrial robotic work cell, whereby VR-RoT is developed to overcome safety issues and lack of trained personnel in robot programming. Simple and user-friendly interfaces are designed for inexperienced users to generate robot commands without damaging the robot or interrupting the production line. The user is able to attempt numerous times to attain an optimum solution. A case study is conducted in the Robotics Laboratory to assemble an electronics casing and it is found that the output models are compatible with commercial software without loss of information. Furthermore, the generated KUKA commands are workable when loaded into a commercial simulator. The operation of the actual robotic work cell shows that the errors may be due to the dynamics of the KUKA robot rather than the accuracy of the generated programme. Therefore, it is concluded that the virtual reality based solution approach can be implemented in an industrial robotic work cell.

  18. Virtual Reality Based Support System for Layout Planning and Programming of an Industrial Robotic Work Cell

    Science.gov (United States)

    Yap, Hwa Jen; Taha, Zahari; Md Dawal, Siti Zawiah; Chang, Siow-Wee

    2014-01-01

    Traditional robotic work cell design and programming are considered inefficient and outdated in current industrial and market demands. In this research, virtual reality (VR) technology is used to improve human-robot interface, whereby complicated commands or programming knowledge is not required. The proposed solution, known as VR-based Programming of a Robotic Work Cell (VR-Rocell), consists of two sub-programmes, which are VR-Robotic Work Cell Layout (VR-RoWL) and VR-based Robot Teaching System (VR-RoT). VR-RoWL is developed to assign the layout design for an industrial robotic work cell, whereby VR-RoT is developed to overcome safety issues and lack of trained personnel in robot programming. Simple and user-friendly interfaces are designed for inexperienced users to generate robot commands without damaging the robot or interrupting the production line. The user is able to attempt numerous times to attain an optimum solution. A case study is conducted in the Robotics Laboratory to assemble an electronics casing and it is found that the output models are compatible with commercial software without loss of information. Furthermore, the generated KUKA commands are workable when loaded into a commercial simulator. The operation of the actual robotic work cell shows that the errors may be due to the dynamics of the KUKA robot rather than the accuracy of the generated programme. Therefore, it is concluded that the virtual reality based solution approach can be implemented in an industrial robotic work cell. PMID:25360663

  19. Automatic monitoring of vibration welding equipment

    Science.gov (United States)

    Spicer, John Patrick; Chakraborty, Debejyo; Wincek, Michael Anthony; Wang, Hui; Abell, Jeffrey A; Bracey, Jennifer; Cai, Wayne W

    2014-10-14

    A vibration welding system includes vibration welding equipment having a welding horn and anvil, a host device, a check station, and a robot. The robot moves the horn and anvil via an arm to the check station. Sensors, e.g., temperature sensors, are positioned with respect to the welding equipment. Additional sensors are positioned with respect to the check station, including a pressure-sensitive array. The host device, which monitors a condition of the welding equipment, measures signals via the sensors positioned with respect to the welding equipment when the horn is actively forming a weld. The robot moves the horn and anvil to the check station, activates the check station sensors at the check station, and determines a condition of the welding equipment by processing the received signals. Acoustic, force, temperature, displacement, amplitude, and/or attitude/gyroscopic sensors may be used.

  20. In situ post-weld heat treatment on martensitic stainless steel turbine runners using a robotic induction heating process to control temperature distribution

    Science.gov (United States)

    Boudreault, E.; Hazel, B.; Côté, J.; Godin, S.

    2014-03-01

    A new robotic heat treatment process is developed. Using this solution it is now possible to perform local heat treatment on large steel components. Crack, cavitation and erosion repairs on turbine blades and Pelton buckets are among the applications of this technique. The proof of concept is made on a 13Cr-4Ni stainless steel designated "CA6NM". This alloy is widely used in the power industry for modern system components. Given the very tight temperature tolerance (600 to 630 °C) for post-weld heat treatment on this alloy, 13Cr-4Ni stainless steel is very well suited for demonstrating the possibilities of this process. To achieve heat treatment requirements, an induction heating system is mounted on a compact manipulator named "Scompi". This robot moves a pancake coil in order to control the temperature distribution. A simulator using thermal finite element analysis is first used for path planning. A feedback loop adjusts parameters in function of environmental conditions.

  1. In situ post-weld heat treatment on martensitic stainless steel turbine runners using a robotic induction heating process to control temperature distribution

    International Nuclear Information System (INIS)

    Boudreault, E; Hazel, B; Côté, J; Godin, S

    2014-01-01

    A new robotic heat treatment process is developed. Using this solution it is now possible to perform local heat treatment on large steel components. Crack, cavitation and erosion repairs on turbine blades and Pelton buckets are among the applications of this technique. The proof of concept is made on a 13Cr-4Ni stainless steel designated C A6NM . This alloy is widely used in the power industry for modern system components. Given the very tight temperature tolerance (600 to 630 °C) for post-weld heat treatment on this alloy, 13Cr-4Ni stainless steel is very well suited for demonstrating the possibilities of this process. To achieve heat treatment requirements, an induction heating system is mounted on a compact manipulator named S compi . This robot moves a pancake coil in order to control the temperature distribution. A simulator using thermal finite element analysis is first used for path planning. A feedback loop adjusts parameters in function of environmental conditions

  2. Remote-welding technique for assembling in-pile IASCC capsule in hot cell

    International Nuclear Information System (INIS)

    Kawamata, Kazuo; Ishii, Toshimitsu; Kanazawa, Yoshiharu; Iwamatsu, Shigemi; Ohmi, Masao; Shimizu, Michio; Matsui, Yoshinori; Saito, Jun-ichi; Ugachi, Hirokazu; Kaji, Yoshiyuki; Tsukada, Takashi

    2006-01-01

    In order to investigate behavior of the irradiation assisted stress corrosion cracking (IASCC) caused by the simultaneous effects of neutron irradiation and high temperature water environment in such a light water reactor (LWR), it is necessary to perform crack growth tests in an in-pile IASCC capsule irradiated in the Japan Materials Testing Reactor (JMTR). The development of the remote-welding technique is essential for remotely assembling the in-pile IASCC capsule installing the pre-irradiated CT specimens. This report describes a new remote-welding machine developed for assembling the in-pile IASCC capsule. The remote-welding technique that the capsule tube is rotated light under the fixed torch was applied to the machine for the welding of thick and large-diameter tubes. The assembly work of four in-pile IASCC capsules having pre-irradiated CT specimens in the hot cell was succeeded for performing the crack growth test under the neutron irradiation in JMTR. The irradiation test of two capsules has been already finished in JMTR without problems. (author)

  3. Interactions Between Fibroblast Cells and Laser Beam Welded AISI 2205 Duplex Stainless Steel

    Directory of Open Access Journals (Sweden)

    Ceyhun KÖSE

    2018-05-01

    Full Text Available Because of their high mechanical strength, excellent corrosion resistance and good weldability, duplex stainless steels are mostly used in industries such as oil, chemistry, petrochemistry, food and occasionally used in medical industry. These properties have enabled us to use duplex stainless steels in biomedical applications recently. Accordingly, duplex stainless steel material can be highly important to examine the toxic effect on the cells. In this study, the effect of the AISI 2205 duplex stainless steels which are joined by CO2 laser beam welding on viability of L929 fibroblast cells has been studied in vitro for the first time. For this aim, the cells were kept in DMEM/F-12 (Thermofisher Scientific 31331-028 medium for 7 days. The viability study was experimentally studied using the MTT (Thiazolyl Blue Tetrazolium Bromide method for 7 days. The cell viability of the laser beam welded sample has been detected to be higher than that of the base metal and the control based on 7th day data. According to the obtained results, it was revealed that laser beam welded and base metal AISI 2205 duplex stainless steel has been found suitable to study for biomedical applications. DOI: http://dx.doi.org/10.5755/j01.ms.24.2.18006

  4. Robot Work Platform for Large Hot Cell Deactivation

    International Nuclear Information System (INIS)

    BITTEN, E.J.

    2000-01-01

    The 324 Building, located at the Hanford Site near Richland, Washington, is being deactivated to meet state and federal cleanup commitments. The facility is currently in its third year of a nine-year project to complete deactivation and closure for long-term surveillance and maintenance. The 324 building contains large hot cells that were used for high-radiation, high-contamination chemical process development and demonstrations. A major obstacle for the 324 deactivation project is the inability to effectively perform deactivation tasks within highly radioactive, contaminated environments. Current strategies use inefficient, resource intensive technologies that significantly impact the cost and schedule for deactivation. To meet mandated cleanup commitments, there is a need to deploy rapid, more efficient remote/robot technologies to minimize worker exposure, accelerate work tasks, and eliminate the need for multiple specialized tool design and procurement efforts. This paper describes the functions and performance requirements for a crane-deployed remote/robot Work Platform possessing full access capabilities. The remote/robot Work Platform will deploy commercially available off-the-shelf tools and end effectors to support Project cleanup goals and reduce overall project risk and cost. The intent of this system is to maximize the use of off-the-shelf technologies that minimize additional new, unproven, or novel designs. This paper further describes procurement strategy, the selection process, the selected technology, and the current status of the procurement and lessons learned. Funding, in part, has been provided by the US Department of Energy, Office of Science and Technology, Deactivation and Decommissioning Focus Area

  5. A direct methanol fuel cell system to power a humanoid robot

    Science.gov (United States)

    Joh, Han-Ik; Ha, Tae Jung; Hwang, Sang Youp; Kim, Jong-Ho; Chae, Seung-Hoon; Cho, Jae Hyung; Prabhuram, Joghee; Kim, Soo-Kil; Lim, Tae-Hoon; Cho, Baek-Kyu; Oh, Jun-Ho; Moon, Sang Heup; Ha, Heung Yong

    In this study, a direct methanol fuel cell (DMFC) system, which is the first of its kind, has been developed to power a humanoid robot. The DMFC system consists of a stack, a balance of plant (BOP), a power management unit (PMU), and a back-up battery. The stack has 42 unit cells and is able to produce about 400 W at 19.3 V. The robot is 125 cm tall, weighs 56 kg, and consumes 210 W during normal operation. The robot is integrated with the DMFC system that powers the robot in a stable manner for more than 2 h. The power consumption by the robot during various motions is studied, and load sharing between the fuel cell and the back-up battery is also observed. The loss of methanol feed due to crossover and evaporation amounts to 32.0% and the efficiency of the DMFC system in terms of net electric power is 22.0%.

  6. Robot vision

    International Nuclear Information System (INIS)

    Hall, E.L.

    1984-01-01

    Almost all industrial robots use internal sensors such as shaft encoders which measure rotary position, or tachometers which measure velocity, to control their motions. Most controllers also provide interface capabilities so that signals from conveyors, machine tools, and the robot itself may be used to accomplish a task. However, advanced external sensors, such as visual sensors, can provide a much greater degree of adaptability for robot control as well as add automatic inspection capabilities to the industrial robot. Visual and other sensors are now being used in fundamental operations such as material processing with immediate inspection, material handling with adaption, arc welding, and complex assembly tasks. A new industry of robot vision has emerged. The application of these systems is an area of great potential

  7. Lightweight Design and Welding Manufacturing of a Hydrogen Fuel Cell Powered Car’s Chassis

    Directory of Open Access Journals (Sweden)

    Evangelos Ch. Tsirogiannis

    2018-05-01

    Full Text Available The development of the chassis for the hydrogen fuel cell powered car has been involved in the designing and manufacturing aspects, while taking into consideration the mass, strength, stiffness, centre of gravity (COG, and manufacturing cost requirements. Towards this direction, a chassis design is proposed employing a space frame structure and constructed by an aluminium alloy with great strength. The structural design has been derived through the lightweight engineering approaches in conjunction with the part consolidation, Design for Assembly (DFA and Design for Manufacture methods. Moreover, it has been performed in compliance with the safety regulations of the Shell Eco Marathon racing competition. The material’s principal characteristics are the great strength, the low mass, as well as the great workability, machinability, and weldability. Following the national and global environmental issues, the recyclable characteristics of the aluminium alloy are an extra asset. Furthermore, the existence of aluminium alloy manufacturers around the fabricating area provides low cost supply and fast delivery benefits. The integration of the fuel cell powered vehicle is obtained through the designing and the manufacturing processes of the chassis and the parts fitted on the chassis. The manufacturing procedures are described thoroughly; mainly consisting of the cutting and welding processes and the assembling of the parts that are fitted on the chassis. Additionally, the proper welding parameters for the custom chassis design are investigated and are selected after deductive reasoning. The quality control of the weld joints is conducted by non-destructive methods (NDT ensuring the required structural properties of the welds. A combination of the selected material, the specific type of the chassis, and the manufacturing processes lead to construction simplicity in a low manufacturing cost by using the existing laboratory equipment. Furthermore, the

  8. MicroBioRobots for single cell manipulation

    Science.gov (United States)

    Sakar, Mahmut Selman

    One of the great challenges in nano and micro scale science and engineering is the independent manipulation of biological cells and small man-made objects with active sensing. For such biomedical applications as single cell manipulation, telemetry, and localized targeted delivery of chemicals, it is important to fabricate microstructures that can be powered and controlled without a tether in fluidic environments. These microstructures can be used to develop microrobots that have the potential to make existing therapeutic and diagnostic procedures less invasive. Actuation can be realized using various different organic and inorganic methods. Previous studies explored different forms of actuation and control with microorganisms. Bacteria, in particular, offer several advantages as controllable microactuators: they draw chemical energy directly from their environment, they are genetically modifiable, and they are scalable and configurable in the sense that any number of bacteria can be selectively patterned. Additionally, the study of bacteria inspires inorganic schemes of actuation and control. For these reasons, we chose to employ bacteria while controlling their motility using optical and electrical stimuli. In the first part of the thesis, we demonstrate a biointegrated approach by introducing MicroBioRobots (MBRs). MBRs are negative photosensitive epoxy (SU8) microfabricated structures with typical feature sizes ranging from 1-100 mum coated with a monolayer of the swarming Serratia marcescens . The adherent bacterial cells naturally coordinate to propel the microstructures in fluidic environments which we call Self-Actuation. First, we demonstrate the control of MBRs using self-actuation, DC electric fields and ultra-violet radiation and develop an experimentally-validated mathematical model for the MBRs. This model allows us to to steer the MBR to any position and orientation in a planar micro channel using visual feedback and an inverted microscope. Examples

  9. Feedforward Coordinate Control of a Robotic Cell Injection Catheter.

    Science.gov (United States)

    Cheng, Weyland; Law, Peter K

    2017-08-01

    Remote and robotically actuated catheters are the stepping-stones toward autonomous catheters, where complex intravascular procedures may be performed with minimal intervention from a physician. This article proposes a concept for the positional, feedforward control of a robotically actuated cell injection catheter used for the injection of myogenic or undifferentiated stem cells into the myocardial infarct boundary zones of the left ventricle. The prototype for the catheter system was built upon a needle-based catheter with a single degree of deflection, a 3-D printed handle combined with actuators, and the Arduino microcontroller platform. A bench setup was used to mimic a left ventricle catheter procedure starting from the femoral artery. Using Matlab and the open-source video modeling tool Tracker, the planar coordinates ( y, z) of the catheter position were analyzed, and a feedforward control system was developed based on empirical models. Using the Student's t test with a sample size of 26, it was determined that for both the y- and z-axes, the mean discrepancy between the calibrated and theoretical coordinate values had no significant difference compared to the hypothetical value of µ = 0. The root mean square error of the calibrated coordinates also showed an 88% improvement in the z-axis and 31% improvement in the y-axis compared to the unmodified trial run. This proof of concept investigation leads to the possibility of further developing a feedfoward control system in vivo using catheters with omnidirectional deflection. Feedforward positional control allows for more flexibility in the design of an automated catheter system where problems such as systemic time delay may be a hindrance in instances requiring an immediate reaction.

  10. Evaluation of modular robot system for maintenance tasks in hot cell

    Energy Technology Data Exchange (ETDEWEB)

    Pagala, Prithvi Sekhar, E-mail: ps.pagala@upm.es [Centre for Automation and Robotics UPM-CSIC (Spain); Ferre, Manuel, E-mail: m.ferre@upm.es [Centre for Automation and Robotics UPM-CSIC (Spain); Orona, Luis, E-mail: l.orona@gsi.de [GSI Helmholtzzentrum für Schwerionenforschung (Germany)

    2014-10-15

    Highlights: •Modular robot deployment inside hot cell for remote manipulation evaluated. •Flexible and adaptable system for variety of tasks presented. •Uses in large workspaces and evolving requirements shown. -- Abstract: This work assesses the use of a modular robot system to perform maintenance and inspection tasks such as, remote flexible inspection, manipulation and cooperation with deployed systems inside the hot cell. A flexible modular solution for the inclusion in maintenance operations is presented. The proposed heterogeneous modular robotic system is evaluated using simulations of the prototype across selected robot configuration to perform tasks. Results obtained show the advantages and ability of the modular robot to perform the necessary tasks as well as its ability to adapt and evolve depending on the need. The simulation test case inside hot cell shows modular robot configuration, a two modular arm to perform tele-operation tasks in the workspace and a wheeled platform for inspection collaborating to perform tasks. The advantage of using re-configurable modular robot over conventional robot platforms is shown.

  11. Fundamentals and advances in the development of remote welding fabrication systems

    Science.gov (United States)

    Agapakis, J. E.; Masubuchi, K.; Von Alt, C.

    1986-01-01

    Operational and man-machine issues for welding underwater, in outer space, and at other remote sites are investigated, and recent process developments are described. Probable remote welding missions are classified, and the essential characteristics of fundamental remote welding tasks are analyzed. Various possible operational modes for remote welding fabrication are identified, and appropriate roles for humans and machines are suggested. Human operator performance in remote welding fabrication tasks is discussed, and recent advances in the development of remote welding systems are described, including packaged welding systems, stud welding systems, remotely operated welding systems, and vision-aided remote robotic welding and autonomous welding systems.

  12. Implementation of Admittance Control on a Construction Robot using Load Cells

    DEFF Research Database (Denmark)

    Bekker, Misha; Pedersen, Rasmus; Bak, Thomas

    2018-01-01

    Physical human-robot interactions (pHRI) must be safe and should feel natural to the human operator. To this end impedance or admittance control is often employed to relate the force applied by the human to the dynamic behavior of the robot. The robot under consideration in this work uses a load...... cell to sense the externally applied force. This paper presents a practical modeling procedure and implementation of admittance control that specifically deal with the undesired non-linearities caused by the use of a load cell. Experiments are performed on a 1-DoF testbed to validate the work done...

  13. Robotic arm

    International Nuclear Information System (INIS)

    Kwech, H.

    1989-01-01

    A robotic arm positionable within a nuclear vessel by access through a small diameter opening and having a mounting tube supported within the vessel and mounting a plurality of arm sections for movement lengthwise of the mounting tube as well as for movement out of a window provided in the wall of the mounting tube is disclosed. An end effector, such as a grinding head or welding element, at an operating end of the robotic arm, can be located and operated within the nuclear vessel through movement derived from six different axes of motion provided by mounting and drive connections between arm sections of the robotic arm. The movements are achieved by operation of remotely-controllable servo motors, all of which are mounted at a control end of the robotic arm to be outside the nuclear vessel. 23 figs

  14. Robotic arm

    Science.gov (United States)

    Kwech, Horst

    1989-04-18

    A robotic arm positionable within a nuclear vessel by access through a small diameter opening and having a mounting tube supported within the vessel and mounting a plurality of arm sections for movement lengthwise of the mounting tube as well as for movement out of a window provided in the wall of the mounting tube. An end effector, such as a grinding head or welding element, at an operating end of the robotic arm, can be located and operated within the nuclear vessel through movement derived from six different axes of motion provided by mounting and drive connections between arm sections of the robotic arm. The movements are achieved by operation of remotely-controllable servo motors, all of which are mounted at a control end of the robotic arm to be outside the nuclear vessel.

  15. A Web-Based Integration Procedure for the Development of Reconfigurable Robotic Work-Cells

    Directory of Open Access Journals (Sweden)

    Paulo Ferreira

    2013-07-01

    Full Text Available Concepts related to the development of reconfigurable manufacturing systems (RMS and methodologies to provide the best practices in the processing industry and factory automation, such as system integration and web-based technology, are major issues in designing next-generation manufacturing systems (NGMS. Adaptable and integrable devices are crucial for the success of NGMS. In robotic cells the integration of manufacturing components is essential to accelerate system adaptability. Sensors, control architectures and communication technologies have contributed to achieving further agility in reconfigurable factories. In this work a web-based robotic cell integration procedure is proposed to aid the identification of reconfigurable issues and requirements. This methodology is applied to an industrial robot manipulator to enhance system flexibility towards the development of a reconfigurable robotic platform.

  16. Simulation of Welding Distortions in Theory and Practice

    DEFF Research Database (Denmark)

    Birk-Sørensen, Martin; Kierkegaard, Henning

    1997-01-01

    by an optimised welding order. Welding test samples prove that the constraint of the sample and the time between each pass in a multipass weld affect the magnitude of distortion. Experiments with welding specimens in the form of butt-and fillet welds have been carried out. They show angular deflections as well......In the last few years the use of robot welding processes has increased significatnly. The programming of the robots has until now mainly focused on high efficiency, i.e.high torch rate time, and hence, minimising the inefficient "travelling" time. Together with developing high-performance welding...... due to cutting and welding and parlty in the form of dimensional variation due to human factors. Measurements have been made of the production line for assemblies. The measurements show that distortions related to the multirobot welding are a factor which can rather easily be controlled...

  17. Welding hazards

    International Nuclear Information System (INIS)

    Khan, M.A.

    1992-01-01

    Welding technology is advancing rapidly in the developed countries and has converted into a science. Welding involving the use of electricity include resistance welding. Welding shops are opened in residential area, which was causing safety hazards, particularly the teenagers and children who eagerly see the welding arc with their naked eyes. There are radiation hazards from ultra violet rays which irritate the skin, eye irritation. Welding arc light of such intensity could damage the eyes. (Orig./A.B.)

  18. Systemic immune cell response in rats after pulmonary exposure to manganese-containing particles collected from welding aerosols.

    Science.gov (United States)

    Antonini, James M; Zeidler-Erdely, Patti C; Young, Shih-Houng; Roberts, Jenny R; Erdely, Aaron

    2012-01-01

    Welding fume inhalation affects the immune system of exposed workers. Manganese (Mn) in welding fume may induce immunosuppressive effects. The goal was to determine if Mn in welding fume alters immunity by reducing the number of circulating total leukocytes and specific leukocyte sub-populations. Sprague-Dawley rats were treated by intratracheal instillation (ITI) with either a single dose (2.00 mg/rat) or repeated doses (0.125 or 2.00 mg/rat for 7 weeks) with welding fumes that contained different levels of Mn. Additional rats were treated by ITI once a week for 7 weeks with the two doses of manganese chloride (MnCl₂). Bronchoalveolar lavage was performed to assess lung inflammation. Also, whole blood was recovered, and the number of circulating total leukocytes, as well as specific lymphocyte subsets, was determined by flow cytometry. The welding fume highest in Mn content significantly increased lung inflammation, injury, and production of inflammatory cytokines and chemokines compared to all other treatment groups. In addition, the same group expressed significant decreases in the number of circulating CD4⁺ and CD8⁺ T-lymphocytes after a single exposure, and significant reductions in the number of circulating total lymphocytes, primarily CD4⁺ and CD8⁺ T-lymphocytes, after repeated exposures (compared to control values). Repeated MnCl₂ exposure led to a trend of a reduction (but not statistically significant) in circulating total lymphocytes, attributable to the changes in the CD4⁺ T-lymphocyte population levels. The welding fume with the lower concentration of Mn had no significant effect on the numbers of blood lymphocytes and lymphocyte subsets compared to control values. Evidence from this study indicates that pulmonary exposure to certain welding fumes cause decrements in systemic immune cell populations, specifically circulating T-lymphocytes, and these alterations in immune cell number are not dependent exclusively on Mn, but likely a

  19. Welding Curriculum.

    Science.gov (United States)

    Alaska State Dept. of Education, Juneau. Div. of Adult and Vocational Education.

    This competency-based curriculum guide is a handbook for the development of welding trade programs. Based on a survey of Alaskan welding employers, it includes all competencies a student should acquire in such a welding program. The handbook stresses the importance of understanding the principles associated with the various elements of welding.…

  20. Models and methods for design and implementation of computer based control and monitoring systems for production cells

    DEFF Research Database (Denmark)

    Lynggaard, Hans Jørgen Birk

    This dissertation is concerned with the engineering, i.e. the designing and making, of industrial cell control systems. The focus is on automated robot welding cells in the shipbuilding industry. The industrial research project defines models and methods for design and implementation of computer...... through the implementation of two cell control systems for robot welding cells in production at Odense Steel Shipyard.It is concluded that cell control technology provides for increased performance in production systems, and that the Cell Control Engineering concept reduces the effort for providing high...... quality and high functionality cell control solutions for the industry....

  1. The effect of CO{sub 2} laser beam welded AISI 316L austenitic stainless steel on the viability of fibroblast cells, in vitro

    Energy Technology Data Exchange (ETDEWEB)

    Köse, Ceyhun, E-mail: ceyhun.kose@gop.edu.tr [Faculty of Natural Sciences and Engineering, Department of Mechanical Engineering, Gaziosmanpaşa University, Tokat (Turkey); Kaçar, Ramazan, E-mail: rkacar@karabuk.edu.tr [Faculty of Technology Department of Manufacturing Engineering, Karabuk University, Karabuk 78050 (Turkey); Zorba, Aslı Pınar, E-mail: aslipinarzorba@gmail.com [Graduate School of Natural and Applied Sciences, Department of Bioengineering Cell Culture and Tissue Engineering, Yıldız Technical University, Istanbul (Turkey); Bağırova, Melahat, E-mail: mbagir@yildiz.edu.tr [Department of Bioengineering Cell Culture and Tissue Engineering, Yıldız Technical University, Istanbul (Turkey); Allahverdiyev, Adil M., E-mail: adil@yildiz.edu.tr [Department of Bioengineering Cell Culture and Tissue Engineering, Yıldız Technical University, Istanbul (Turkey)

    2016-03-01

    It has been determined by the literature research that there is no clinical study on the in vivo and in vitro interaction of the cells with the laser beam welded joints of AISI 316L biomaterial. It is used as a prosthesis and implant material and that has adequate mechanical properties and corrosion resistance characteristics. Therefore, the interaction of the CO{sub 2} laser beam welded samples and samples of the base metal of AISI 316L austenitic stainless steel with L929 fibroblast cells as an element of connective tissue under in vitro conditions has been studied. To study the effect of the base metal and the laser welded test specimens on the viability of the fibroblast cells that act as an element of connective tissues in the body, they were kept in DMEMF-12 medium for 7, 14, 28 days and 18 months. The viability study was experimentally studied using the MTT method for 7, 14, 28 days. In addition, the direct interaction of the fibroblast cells seeded on 6 different plates with the samples was examined with an inverted microscope. The MTT cell viability experiment was repeated on the cells that were in contact with the samples. The statistical relationship was analyzed using a Tukey test for the variance with the GraphPad statistics software. The data regarding metallic ion release were identified with the ICP-MS method after the laser welded and main material samples were kept in cell culture medium for 18 months. The cell viability of the laser welded sample has been detected to be higher than that of the base metal and the control based on 7th day data. However, the laser welded sample's viability of the fibroblast cells has diminished by time during the test period of 14 and 28 days and base metal shows better viability when compared to the laser welded samples. On the other hand, the base metal and the laser welded sample show better cell viability effect when compared to the control group. According to the ICP-MS results of the main material and

  2. The effect of CO2 laser beam welded AISI 316L austenitic stainless steel on the viability of fibroblast cells, in vitro.

    Science.gov (United States)

    Köse, Ceyhun; Kaçar, Ramazan; Zorba, Aslı Pınar; Bağırova, Melahat; Allahverdiyev, Adil M

    2016-03-01

    It has been determined by the literature research that there is no clinical study on the in vivo and in vitro interaction of the cells with the laser beam welded joints of AISI 316L biomaterial. It is used as a prosthesis and implant material and that has adequate mechanical properties and corrosion resistance characteristics. Therefore, the interaction of the CO2 laser beam welded samples and samples of the base metal of AISI 316L austenitic stainless steel with L929 fibroblast cells as an element of connective tissue under in vitro conditions has been studied. To study the effect of the base metal and the laser welded test specimens on the viability of the fibroblast cells that act as an element of connective tissues in the body, they were kept in DMEMF-12 medium for 7, 14, 28 days and 18 months. The viability study was experimentally studied using the MTT method for 7, 14, 28 days. In addition, the direct interaction of the fibroblast cells seeded on 6 different plates with the samples was examined with an inverted microscope. The MTT cell viability experiment was repeated on the cells that were in contact with the samples. The statistical relationship was analyzed using a Tukey test for the variance with the GraphPad statistics software. The data regarding metallic ion release were identified with the ICP-MS method after the laser welded and main material samples were kept in cell culture medium for 18 months. The cell viability of the laser welded sample has been detected to be higher than that of the base metal and the control based on 7th day data. However, the laser welded sample's viability of the fibroblast cells has diminished by time during the test period of 14 and 28 days and base metal shows better viability when compared to the laser welded samples. On the other hand, the base metal and the laser welded sample show better cell viability effect when compared to the control group. According to the ICP-MS results of the main material and laser welded

  3. Spot Welding of Honeycomb Structures

    Science.gov (United States)

    Cohal, V.

    2017-08-01

    Honeycomb structures are used to prepare meals water jet cutting machines for textile. These honeycomb structures are made of stainless steel sheet thickness of 0.1-0.2 mm. Corrugated sheet metal strips are between two gears with special tooth profile. Hexagonal cells for obtaining these strips are welded points between them. Spot welding device is three electrodes in the upper part, which carries three welding points across the width of the strip of corrugated sheet metal. Spot welding device filled with press and advance mechanisms. The paper presents the values of the regime for spot welding.

  4. Automatic monitoring of the alignment and wear of vibration welding equipment

    Science.gov (United States)

    Spicer, John Patrick; Cai, Wayne W.; Chakraborty, Debejyo; Mink, Keith

    2017-05-23

    A vibration welding system includes vibration welding equipment having a welding horn and anvil, a host machine, a check station, and a welding robot. At least one displacement sensor is positioned with respect to one of the welding equipment and the check station. The robot moves the horn and anvil via an arm to the check station, when a threshold condition is met, i.e., a predetermined amount of time has elapsed or a predetermined number of welds have been completed. The robot moves the horn and anvil to the check station, activates the at least one displacement sensor, at the check station, and determines a status condition of the welding equipment by processing the received signals. The status condition may be one of the alignment of the vibration welding equipment and the wear or degradation of the vibration welding equipment.

  5. VIRTUAL COMMISSIONING OF A ROBOTIC CELL USING TECNOMATIX PROCESS SIMULATE

    Directory of Open Access Journals (Sweden)

    Nicolae-Adrian DUMITRASCU

    2017-06-01

    Full Text Available The concept of Virtual Commissioning (VC has become one of the most essential phases in the development and simulation of automated manufacturing processes. By creating a digital copy of the real system installment, companies have the ability to test out more complex scenarios with robots and complicated mechatronics design, greatly decreasing the startup time of the plant and shortening the product’s time to the market, while increasing the overall quality at the same time. This paper presents the core concepts of VC and all the required resources and technologies that are involved in the development of a state-of-the-art manufacturing process.

  6. Temperature profiles induced by a stationary CW laser beam in a multi-layer structure: application to solar cell interconnect welding

    Energy Technology Data Exchange (ETDEWEB)

    Oh, J.E.; Ianno, N.J.; Ahmed, A.U.

    1985-01-01

    A three-dimensional heat transfer model for heating of a multilayer structure by a stationary Gaussian CW CO/sub 2/ laser beam is developed and applied to solar cell interconnect welding. This model takes into account the temperature dependence of the thermal conductivity and diffusivity as well as free carrier absorption of the incident beam in the silicon where appropriate. Finally, the theoretical temperature profiles are used to determine the weld spot size and these values are compared to results obtained from a simple welding experiment, where excellent agreement is obtained. 18 references, 13 figures.

  7. Mobile robots and remote systems in nuclear applications; Robots moviles y sistemas remotos en aplicaciones nucleares

    Energy Technology Data Exchange (ETDEWEB)

    Segovia de los Rios, J. A.; Benitez R, J. S., E-mail: armando.segovia@inin.gob.m [ININ, Departamento de Automatizacion e Instrumentacion, Carretera Mexico-Toluca s/n, 52750 Ocoyoacac, Estado de Mexico (Mexico)

    2010-07-01

    Traditionally, the robots have been used in the industry for the colored to the spray, welding, schemed, assemble and handling of materials. However, these devices have had a deep impact in the nuclear industry where the first objective has been to reduce the exhibition and the personnel contact with radioactive materials. Knowing the utility of the mobile robots and remote systems in nuclear facilities in the world, the Department of Automation and Instrumentation of the Instituto Nacional de Investigaciones Nucleares (ININ) has carried out some researches and applications that they have facilitated the work of the researches and professionals of the ININ involved in the handling of radioactive materials, as the system with monorail for the introduction of irradiated materials in a production cell of Iodine-131 and the robot vehicle for the radioactive materials transport TRASMAR (contraction of Transportacion Asistida de Materiales Radiactivos). (Author)

  8. Advanced Welding Concepts

    Science.gov (United States)

    Ding, Robert J.

    2010-01-01

    Four advanced welding techniques and their use in NASA are briefly reviewed in this poster presentation. The welding techniques reviewed are: Solid State Welding, Friction Stir Welding (FSW), Thermal Stir Welding (TSW) and Ultrasonic Stir Welding.

  9. Resistance seam welding

    International Nuclear Information System (INIS)

    Schueler, A.W.

    1977-01-01

    The advantages and disadvantages of the resistance seam welding process are presented. Types of seam welds, types of seam welding machines, seam welding power supplies, resistance seam welding parameters and seam welding characteristics of various metals

  10. An example of the use of robotics in French nuclear power plants the ISIS robot

    International Nuclear Information System (INIS)

    Seguy, J.; Thirion, H.

    1988-01-01

    The authors report how Robotics in French nuclear power plants (NPP) is used to solve maintenance problems. One of the most typical example of the use of robotics in French NPP is the ISIS robot. The first generation of this robot has performed the repair of corroded upper internal structures in Chinon A3 gaz cooled reactor. Two robots of this type have successfully welded more than 200 repair parts in the core without major failure during more than 12,000 hours

  11. Welding process automation in power machine building

    International Nuclear Information System (INIS)

    Mel'bard, S.N.; Shakhnov, A.F.; Shergov, I.V.

    1977-01-01

    The level of welding automation operations in power engineering and ways of its enhancement are highlighted. Used as the examples of comlex automation are an apparatus for the horizontal welding of turbine rotors, remotely controlled automatic machine for welding ring joint of large-sized vessels, equipment for the electron-beam welding of steam turbine assemblies of alloyed steels. The prospects of industrial robots are noted. The importance of the complex automation of technological process, including stocking, assemblying, transportation and auxiliary operations, is emphasized

  12. Parental Occupational Exposure to Heavy Metals and Welding Fumes and Risk of Testicular Germ Cell Tumors in Offspring

    DEFF Research Database (Denmark)

    Togawa, Kayo; Le Cornet, Charlotte; Feychting, Maria

    2016-01-01

    BACKGROUND: Data are scarce on the association between prenatal/preconception environmental exposure and testicular germ cell tumor (TGCT) in offspring. We examined parental occupational exposures to heavy metals and welding fumes in relation to TGCT in offspring in a registry-based case-control ......BACKGROUND: Data are scarce on the association between prenatal/preconception environmental exposure and testicular germ cell tumor (TGCT) in offspring. We examined parental occupational exposures to heavy metals and welding fumes in relation to TGCT in offspring in a registry-based case......-control study (NORD-TEST Study). METHODS: We identified TGCT cases diagnosed at ages 14-49 years in Finland (1988-2012), Norway (1978-2010), and Sweden (1979-2011) through nationwide cancer registries. These cases were individually matched by country and year of birth to controls selected from population...... registries. Information on parental occupations was retrieved from censuses. From this, we estimated prenatal/preconception exposures of chromium, iron, nickel, lead, and welding fumes (all three countries), and cadmium (Finland only) for each parent using job-exposure matrices specifying prevalence (P...

  13. Welding Technician

    Science.gov (United States)

    Smith, Ken

    2009-01-01

    About 95% of all manufactured goods in this country are welded or joined in some way. These welded products range in nature from bicycle handlebars and skyscrapers to bridges and race cars. The author discusses what students need to know about careers for welding technicians--wages, responsibilities, skills needed, career advancement…

  14. Fatique Resistant, Energy Efficient Welding Program, Final Technical Report

    Energy Technology Data Exchange (ETDEWEB)

    Egland, Keith; Ludewig, Howard

    2006-05-25

    The program scope was to affect the heat input and the resultant weld bead geometry by synchronizing robotic weave cycles with desired pulsed waveform shapes to develop process parameters relationships and optimized pulsed gas metal arc welding processes for welding fatique-critical structures of steel, high strength steel, and aluminum. Quality would be addressed by developing intelligent methods of weld measurement that accurately predict weld bead geometry from process information. This program was severely underfunded, and eventually terminated. The scope was redirected to investigate tandem narrow groove welding of steel butt joints during the one year of partial funding. A torch was designed and configured to perform a design of experiments of steel butt weld joints that validated the feasability of the process. An initial cost model estimated a 60% cost savings over conventional groove welding by eliminating the joint preparation and reducing the weld volume needed.

  15. Vision-based Nano Robotic System for High-throughput Non-embedded Cell Cutting.

    Science.gov (United States)

    Shang, Wanfeng; Lu, Haojian; Wan, Wenfeng; Fukuda, Toshio; Shen, Yajing

    2016-03-04

    Cell cutting is a significant task in biology study, but the highly productive non-embedded cell cutting is still a big challenge for current techniques. This paper proposes a vision-based nano robotic system and then realizes automatic non-embedded cell cutting with this system. First, the nano robotic system is developed and integrated with a nanoknife inside an environmental scanning electron microscopy (ESEM). Then, the positions of the nanoknife and the single cell are recognized, and the distance between them is calculated dynamically based on image processing. To guarantee the positioning accuracy and the working efficiency, we propose a distance-regulated speed adapting strategy, in which the moving speed is adjusted intelligently based on the distance between the nanoknife and the target cell. The results indicate that the automatic non-embedded cutting is able to be achieved within 1-2 mins with low invasion benefiting from the high precise nanorobot system and the sharp edge of nanoknife. This research paves a way for the high-throughput cell cutting at cell's natural condition, which is expected to make significant impact on the biology studies, especially for the in-situ analysis at cellular and subcellular scale, such as cell interaction investigation, neural signal transduction and low invasive cell surgery.

  16. A Web-Based Integration Procedure for the Development of Reconfigurable Robotic Work-Cells

    OpenAIRE

    Paulo Ferreira; Victoria Reyes; João Mestre

    2013-01-01

    Concepts related to the development of reconfigurable manufacturing systems (RMS) and methodologies to provide the best practices in the processing industry and factory automation, such as system integration and web-based technology, are major issues in designing next-generation manufacturing systems (NGMS). Adaptable and integrable devices are crucial for the success of NGMS. In robotic cells the integration of manufacturing components is essential to accelerate system adaptability. Sensors,...

  17. Vision-based Nano Robotic System for High-throughput Non-embedded Cell Cutting

    Science.gov (United States)

    Shang, Wanfeng; Lu, Haojian; Wan, Wenfeng; Fukuda, Toshio; Shen, Yajing

    2016-03-01

    Cell cutting is a significant task in biology study, but the highly productive non-embedded cell cutting is still a big challenge for current techniques. This paper proposes a vision-based nano robotic system and then realizes automatic non-embedded cell cutting with this system. First, the nano robotic system is developed and integrated with a nanoknife inside an environmental scanning electron microscopy (ESEM). Then, the positions of the nanoknife and the single cell are recognized, and the distance between them is calculated dynamically based on image processing. To guarantee the positioning accuracy and the working efficiency, we propose a distance-regulated speed adapting strategy, in which the moving speed is adjusted intelligently based on the distance between the nanoknife and the target cell. The results indicate that the automatic non-embedded cutting is able to be achieved within 1-2 mins with low invasion benefiting from the high precise nanorobot system and the sharp edge of nanoknife. This research paves a way for the high-throughput cell cutting at cell’s natural condition, which is expected to make significant impact on the biology studies, especially for the in-situ analysis at cellular and subcellular scale, such as cell interaction investigation, neural signal transduction and low invasive cell surgery.

  18. Resistance welding

    DEFF Research Database (Denmark)

    Bay, Niels; Zhang, Wenqi; Rasmussen, Mogens H.

    2003-01-01

    Resistance welding comprises not only the well known spot welding process but also more complex projection welding operations, where excessive plastic deformation of the weld point may occur. This enables the production of complex geometries and material combinations, which are often not possible...... to weld by traditional spot welding operations. Such joining processes are, however, not simple to develop due to the large number of parameters involved. Development has traditionally been carried out by large experimental investigations, but the development of a numerical programme system has changed...... this enabling prediction of the welding performance in details. The paper describes the programme in short and gives examples on industrial applications. Finally investigations of causes for failure in a complex industrial joint of two dissimilar metals are carried out combining numerical modelling...

  19. Automated Fuel Element Closure Welding System

    International Nuclear Information System (INIS)

    Wahlquist, D.R.

    1993-01-01

    The Automated Fuel Element Closure Welding System is a robotic device that will load and weld top end plugs onto nuclear fuel elements in a highly radioactive and inert gas environment. The system was developed at Argonne National Laboratory-West as part of the Fuel Cycle Demonstration. The welding system performs four main functions, it (1) injects a small amount of a xenon/krypton gas mixture into specific fuel elements, and (2) loads tiny end plugs into the tops of fuel element jackets, and (3) welds the end plugs to the element jackets, and (4) performs a dimensional inspection of the pre- and post-welded fuel elements. The system components are modular to facilitate remote replacement of failed parts. The entire system can be operated remotely in manual, semi-automatic, or fully automatic modes using a computer control system. The welding system is currently undergoing software testing and functional checkout

  20. Laser welding engineering

    International Nuclear Information System (INIS)

    Bhieh, N. M.; El Eesawi, M. E.; Hashkel, A. E.

    2007-01-01

    Laser welding was in its early life used mainly for unusual applications where no other welding process would be suitable that was twenty five years ago. Today, laser welding is a fully developed part of the metal working industry, routinely producing welds for common items such as cigarette lighters, which springs, motor/transformer lamination, hermetic seals, battery and pacemaker cans and hybrid circuit packages. Yet very few manufacturing engineering have seriously considers employing lasers in their own operations. Why? There are many reasons, but a main one must be not acquainted with the operation and capabilities of a laser system. Other reasons, such as a relatively high initial cost and a concern about using lasers in the manufacturing environment, also are frequently cited, and the complexity of the component and flexibility of the light delivery system. Laser welding could be used in place of many different standard processes, such as resistance (spot or seam), submerged arc, RF induction, high-frequency resistance, ultrasonic and electronic and electron-beam. while each of these techniques has established an independent function in the manufacturing world, the flexible laser welding approach will operate efficiently and economically in many different applications. Its flexibility will even permit the welding system to be used for other machining function, such as drilling, scribing, sealing and serializing. In this article, we will look at how laser welding works and what benefits it can offer to manufacturing engineers. Some industry observers state that there are already 2,000 laser machine tools being used for cutting, welding and drilling and that the number could reach 30,000 over the next 15 years as manufacturing engineers become more aware of the capabilities of lasers [1). While most laser applications are dedicated to one product or process that involves high-volume, long-run manufacturing, the flexibility of a laser to supply energy to hard

  1. A 1993 review of welding in Japan

    Science.gov (United States)

    1994-07-01

    This paper describes a prospect on Japanese welding technologies available in 1993. Amid the increasing research publications on non-ferrous metals as structural materials, publications are also increasing on steel materials as to their fracture and welding mechanics, and structural control. Studies are being made on ceramics with respect to its bonding, interface reaction mechanisms, and mechanical characteristics. The paper describes the progress and improvement in conventional technologies in welding and cutting processes. Especially active is the study on solid face welding such as pressure welding and diffusion. A considerable decrease is seen in reports on thermal spraying. The paper also introduces surface processing and hydrostatic pressure processing as new processing techniques. In the area of welding devices, practical use of arc welding robots has come to near a completion stage. Technological development and cost reduction are indispensable to transfer to visual sensing with a higher intelligence level. With respect to the performance of joints, a large number of research has been reported on welding deformation and residual stress. The paper also dwells on corrosion resistance and welding cracks. Quality assurance, inspection, and related standards are described. Details are given on application of welding to different industrial fields.

  2. Soldadura (Welding). Spanish Translations for Welding.

    Science.gov (United States)

    Hohhertz, Durwin

    Thirty transparency masters with Spanish subtitles for key words are provided for a welding/general mechanical repair course. The transparency masters are on such topics as oxyacetylene welding; oxyacetylene welding equipment; welding safety; different types of welds; braze welding; cutting torches; cutting with a torch; protective equipment; arc…

  3. WELDING TORCH

    Science.gov (United States)

    Correy, T.B.

    1961-10-01

    A welding torch into which water and inert gas are piped separately for cooling and for providing a suitable gaseous atmosphere is described. A welding electrode is clamped in the torch by a removable collet sleeve and a removable collet head. Replacement of the sleeve and head with larger or smaller sleeve and head permits a larger or smaller welding electrode to be substituted on the torch. (AEC)

  4. Mobile robots and remote systems in nuclear applications

    International Nuclear Information System (INIS)

    Segovia de los Rios, J. A.; Benitez R, J. S.

    2010-01-01

    Traditionally, the robots have been used in the industry for the colored to the spray, welding, schemed, assemble and handling of materials. However, these devices have had a deep impact in the nuclear industry where the first objective has been to reduce the exhibition and the personnel contact with radioactive materials. Knowing the utility of the mobile robots and remote systems in nuclear facilities in the world, the Department of Automation and Instrumentation of the Instituto Nacional de Investigaciones Nucleares (ININ) has carried out some researches and applications that they have facilitated the work of the researches and professionals of the ININ involved in the handling of radioactive materials, as the system with monorail for the introduction of irradiated materials in a production cell of Iodine-131 and the robot vehicle for the radioactive materials transport TRASMAR (contraction of Transportacion Asistida de Materiales Radiactivos). (Author)

  5. Welding stresses

    International Nuclear Information System (INIS)

    Poirier, J.; Barbe, B.; Jolly, N.

    1976-01-01

    The aim is to show how internal stresses are generated and to fix the orders of magnitude. A realistic case, the vertical welding of thick plates free to move one against the other, is described and the deformations and stresses are analyzed. The mathematical model UEDA, which accounts for the elastic modulus, the yield strength and the expansion coefficient of the metal with temperature, is presented. The hypotheses and results given apply only to the instantaneous welding of a welded plate and to a plate welded by a moving electrode [fr

  6. Comparison of stainless and mild steel welding fumes in generation of reactive oxygen species

    Directory of Open Access Journals (Sweden)

    Frazer David

    2010-11-01

    Full Text Available Abstract Background Welding fumes consist of a wide range of complex metal oxide particles which can be deposited in all regions of the respiratory tract. The welding aerosol is not homogeneous and is generated mostly from the electrode/wire. Over 390,000 welders were reported in the U.S. in 2008 while over 1 million full-time welders were working worldwide. Many health effects are presently under investigation from exposure to welding fumes. Welding fume pulmonary effects have been associated with bronchitis, metal fume fever, cancer and functional changes in the lung. Our investigation focused on the generation of free radicals and reactive oxygen species from stainless and mild steel welding fumes generated by a gas metal arc robotic welder. An inhalation exposure chamber located at NIOSH was used to collect the welding fume particles. Results Our results show that hydroxyl radicals (.OH were generated from reactions with H2O2 and after exposure to cells. Catalase reduced the generation of .OH from exposed cells indicating the involvement of H2O2. The welding fume suspension also showed the ability to cause lipid peroxidation, effect O2 consumption, induce H2O2 generation in cells, and cause DNA damage. Conclusion Increase in oxidative damage observed in the cellular exposures correlated well with .OH generation in size and type of welding fumes, indicating the influence of metal type and transition state on radical production as well as associated damage. Our results demonstrate that both types of welding fumes are able to generate ROS and ROS-related damage over a range of particle sizes; however, the stainless steel fumes consistently showed a significantly higher reactivity and radical generation capacity. The chemical composition of the steel had a significant impact on the ROS generation capacity with the stainless steel containing Cr and Ni causing more damage than the mild steel. Our results suggest that welding fumes may cause acute

  7. Robotic multi-well planar patch-clamp for native and primary mammalian cells

    Science.gov (United States)

    Milligan, Carol J; Li, Jing; Sukumar, Piruthivi; Majeed, Yasser; Dallas, Mark L; English, Anne; Emery, Paul; Porter, Karen E; Smith, Andrew M; McFadzean, Ian; Beccano-Kelly, Dayne; Bahnasi, Yahya; Cheong, Alex; Naylor, Jacqueline; Zeng, Fanning; Liu, Xing; Gamper, Nikita; Jiang, Lin-Hua; Pearson, Hugh A; Peers, Chris; Robertson, Brian; Beech, David J

    2009-01-01

    Multi-well robotic planar patch-clamp has become common in drug development and safety programmes because it enables efficient and systematic testing of compounds against ion channels during voltage-clamp. It has not, however, been adopted significantly in other important areas of ion channel research, where conventional patch-clamp remains the favoured method. Here we show the wider potential of the multi-well approach with the capability for efficient intracellular solution exchange, describing protocols and success rates for recording from a range of native and primary mammalian cells derived from blood vessels, arthritic joints, and the immune and central nervous systems. The protocol involves preparing a suspension of single cells to be dispensed robotically into 4-8 microfluidic chambers each containing a glass chip with a small aperture. Under automated control, giga-seals and whole-cell access are achieved followed by pre-programmed routines of voltage paradigms and fast extracellular or intracellular solution exchange. Recording from 48 chambers usually takes 1-6 hr depending on the experimental design and yields 16-33 cell recordings. PMID:19197268

  8. Device for welding components using ultrasonics, particularly for solar cell contacts and solar cell connections. Vorrichtung zum Verschweissen von Bauteilen unter Verwendung von Ultraschall, insbesondere von Solarzellenkontakten und Solarzellenverbindern

    Energy Technology Data Exchange (ETDEWEB)

    Gochermann, H.

    1983-06-23

    This is a device for welding components, particularly solar cell contacts and solar cell connections, using an ultrasonic welding device. The ultrasonic welding device has a high frequency generator, an ultrasonic emitter, a transmitter, a sonotrode, a device for accommodating the components and controls. The sonotrode is provided with a circumferential beading acting as the welding disc, which, together with the sonotrode, is rolled over the components by a relative movement. The part of the beading which is tangential to the component introduces ultrasonic energy into the component. The relative movement is made possible by the system of the ultrasonic emitter, transmitter and sonotrode with the surrounding beading being mounted so that it can rotate in a vibration node of the transmitter. (orig.).

  9. Quality status display for a vibration welding process

    Science.gov (United States)

    Spicer, John Patrick; Abell, Jeffrey A.; Wincek, Michael Anthony; Chakraborty, Debejyo; Bracey, Jennifer; Wang, Hui; Tavora, Peter W.; Davis, Jeffrey S.; Hutchinson, Daniel C.; Reardon, Ronald L.; Utz, Shawn

    2017-03-28

    A system includes a host machine and a status projector. The host machine is in electrical communication with a collection of sensors and with a welding controller that generates control signals for controlling the welding horn. The host machine is configured to execute a method to thereby process the sensory and control signals, as well as predict a quality status of a weld that is formed using the welding horn, including identifying any suspect welds. The host machine then activates the status projector to illuminate the suspect welds. This may occur directly on the welds using a laser projector, or on a surface of the work piece in proximity to the welds. The system and method may be used in the ultrasonic welding of battery tabs of a multi-cell battery pack in a particular embodiment. The welding horn and welding controller may also be part of the system.

  10. Design of robotic cells based on relative handling modules with use of SolidWorks system

    Science.gov (United States)

    Gaponenko, E. V.; Anciferov, S. I.

    2018-05-01

    The article presents a diagramed engineering solution for a robotic cell with six degrees of freedom for machining of complex details, consisting of the base with a tool installation module and a detail machining module made as parallel structure mechanisms. The output links of the detail machining module and the tool installation module can move along X-Y-Z coordinate axes each. A 3D-model of the complex is designed in the SolidWorks system. It will be used further for carrying out engineering calculations and mathematical analysis and obtaining all required documentation.

  11. WELDING METHOD

    Science.gov (United States)

    Cornell, A.A.; Dunbar, J.V.; Ruffner, J.H.

    1959-09-29

    A semi-automatic method is described for the weld joining of pipes and fittings which utilizes the inert gasshielded consumable electrode electric arc welding technique, comprising laying down the root pass at a first peripheral velocity and thereafter laying down the filler passes over the root pass necessary to complete the weld by revolving the pipes and fittings at a second peripheral velocity different from the first peripheral velocity, maintaining the welding head in a fixed position as to the specific direction of revolution, while the longitudinal axis of the welding head is disposed angularly in the direction of revolution at amounts between twenty minutas and about four degrees from the first position.

  12. Exploratorium: Robots.

    Science.gov (United States)

    Brand, Judith, Ed.

    2002-01-01

    This issue of Exploratorium Magazine focuses on the topic robotics. It explains how to make a vibrating robotic bug and features articles on robots. Contents include: (1) "Where Robot Mice and Robot Men Run Round in Robot Towns" (Ray Bradbury); (2) "Robots at Work" (Jake Widman); (3) "Make a Vibrating Robotic Bug" (Modesto Tamez); (4) "The Robot…

  13. Repair welding and online radiography

    International Nuclear Information System (INIS)

    Nuding, W.; Grimm, R.; Link, R.; Schroeder, P.; Schroeder, G.

    1990-01-01

    The status of a joint project is reported, which is to develop a computerized testing and welding system for repair work in turbine blades. An X-ray radiographic testing device consisting of microfocus tube, manipulator and image processing system, is modified for this purpose so as to offer a greater number of image points scanned for image processing, and to thus achieve a better resolution for reliable detection of even very small defects. The consistency of the X-ray tube performance, which is a pre-requisite for automation, is to be achieved by a wa tercooled, high-duty tube head. The recording of defect coordinates in the repair zone is done for input into a welding robot to be developed by other partners in the project, so as to allow automated welding work. (orig.) [de

  14. Ultrasonic diagnosis of spot welding in thin plates

    International Nuclear Information System (INIS)

    Kim, No You; Hong, Min Sung

    2005-01-01

    Spot welding widely used in automotive and aerospace industries has made it possible to produce more precise and smaller electric part by robotization and systemization of welding process. The quality of welding depends upon the size of nugget between the overlapped steel plates. Recently, the thickness of the steel plates becomes much thinner and hence, it introduces the smaller size of nugget. Therefore, it is necessary to develop the criterion to evaluate the quality of weld in order to obtain the optimal welding conditions for the better performance. In this paper, a thin steel plates, 0.1 mm through 0.3 mm thickness, have been spot-welded at different welding conditions and the nugget sizes are examined by defocused scanning microscopy. The relationships between nugget sizes and weldability have been investigated experimentally. The result of ultrasonic technique shows the good agreement with that of the tensile test.

  15. Welding process

    International Nuclear Information System (INIS)

    Abdul Nassir Ibrahim; Azali Muhammad; Ab. Razak Hamzah; Abd. Aziz Mohamed; Mohamad Pauzi Ismail

    2008-01-01

    For the final chapter of this book, there is basic introduction on welding process. The good radiography must know somehow on welding process so that they can know what kind of welding that must rejected or not. All of the exposure technique that mention in earlier chapter almost applicable in this field because welding process is critical problem if there is no inspection will be done. So, for this chapter, all the discontinuity that usually appeared will be discussed and there is another discontinuity maybe not to important and do not give big impact if found it, do not described here. On top of that, the decision to accept or reject based on code, standard and specification that agreed by both to make sure that decision that agreed is corrected and more meaningful.

  16. A Weld Position Recognition Method Based on Directional and Structured Light Information Fusion in Multi-Layer/Multi-Pass Welding

    Directory of Open Access Journals (Sweden)

    Jinle Zeng

    2018-01-01

    Full Text Available Multi-layer/multi-pass welding (MLMPW technology is widely used in the energy industry to join thick components. During automatic welding using robots or other actuators, it is very important to recognize the actual weld pass position using visual methods, which can then be used not only to perform reasonable path planning for actuators, but also to correct any deviations between the welding torch and the weld pass position in real time. However, due to the small geometrical differences between adjacent weld passes, existing weld position recognition technologies such as structured light methods are not suitable for weld position detection in MLMPW. This paper proposes a novel method for weld position detection, which fuses various kinds of information in MLMPW. First, a synchronous acquisition method is developed to obtain various kinds of visual information when directional light and structured light sources are on, respectively. Then, interferences are eliminated by fusing adjacent images. Finally, the information from directional and structured light images is fused to obtain the 3D positions of the weld passes. Experiment results show that each process can be done in 30 ms and the deviation is less than 0.6 mm. The proposed method can be used for automatic path planning and seam tracking in the robotic MLMPW process as well as electron beam freeform fabrication process.

  17. A Weld Position Recognition Method Based on Directional and Structured Light Information Fusion in Multi-Layer/Multi-Pass Welding.

    Science.gov (United States)

    Zeng, Jinle; Chang, Baohua; Du, Dong; Wang, Li; Chang, Shuhe; Peng, Guodong; Wang, Wenzhu

    2018-01-05

    Multi-layer/multi-pass welding (MLMPW) technology is widely used in the energy industry to join thick components. During automatic welding using robots or other actuators, it is very important to recognize the actual weld pass position using visual methods, which can then be used not only to perform reasonable path planning for actuators, but also to correct any deviations between the welding torch and the weld pass position in real time. However, due to the small geometrical differences between adjacent weld passes, existing weld position recognition technologies such as structured light methods are not suitable for weld position detection in MLMPW. This paper proposes a novel method for weld position detection, which fuses various kinds of information in MLMPW. First, a synchronous acquisition method is developed to obtain various kinds of visual information when directional light and structured light sources are on, respectively. Then, interferences are eliminated by fusing adjacent images. Finally, the information from directional and structured light images is fused to obtain the 3D positions of the weld passes. Experiment results show that each process can be done in 30 ms and the deviation is less than 0.6 mm. The proposed method can be used for automatic path planning and seam tracking in the robotic MLMPW process as well as electron beam freeform fabrication process.

  18. Optimization of the A-TIG welding for stainless steels

    Science.gov (United States)

    Jurica, M.; Kožuh, Z.; Garašić, I.; Bušić, M.

    2018-03-01

    The paper presents the influence of the activation flux and shielding gas on tungsten inert gas (A-TIG) welding of the stainless steel. In introduction part, duplex stainless steel was analysed. The A-TIG process was explained and the possibility of welding stainless steels using the A-TIG process to maximize productivity and the cost-effectiveness of welded structures was presented. In the experimental part duplex, 7 mm thick stainless steel has been welded in butt joint. The influence of activation flux chemical composition upon the weld penetration has been investigated prior the welding. The welding process was performed by a robot with TIG equipment. With selected A-TIG welding technology preparation of plates and consumption of filler material (containing Cr, Ni and Mn) have been avoided. Specimens sectioned from the produced welds have been subjected to tensile strength test, macrostructure analysis and corrosion resistance analysis. The results have confirmed that this type of stainless steel can be welded without edge preparation and addition of filler material containing critical raw materials as Cr, Ni and Mn when the following welding parameters are set: current 200 A, welding speed 9,1 cm/min, heat input 1,2 kJ/mm and specific activation flux is used.

  19. Syllabus in Trade Welding.

    Science.gov (United States)

    New York State Education Dept., Albany. Bureau of Secondary Curriculum Development.

    The syllabus outlines material for a course two academic years in length (minimum two and one-half hours daily experience) leading to entry-level occupational ability in several welding trade areas. Fourteen units covering are welding, gas welding, oxyacetylene welding, cutting, nonfusion processes, inert gas shielded-arc welding, welding cast…

  20. Automatic weld joint X-ray inspection

    International Nuclear Information System (INIS)

    Richter, H.U.; Linke, D.; Siems, K.D.; Kruse, H.; Schuetze, E.

    1990-01-01

    A gantry mounted robotic x-ray inspection unit has been developed for the series testing of small and medium sized welded components (pipe bends and nozzles). The unit features computer controlled positioning of the x-ray tube and x-ray image amplifier. Image quality classes 2 and even 1 could be achieved without difficulty. (author)

  1. Automatization and mechanization of welding in nuclear engineering

    Energy Technology Data Exchange (ETDEWEB)

    Shul' ma, I E; Kupin, N V

    1986-02-01

    The state of welding and cladding works, which constitute more than 12% of total labour content of NPP equipment production, is described. Special attention is paid to a considerable part of manual labour in the processes of thermal cutting and welding of joints inside the vessels. The necessity of perspective technology introduction is pointed out. It means, in particular, the introduction of technological complex robotics for automatic welding of pipes with tube plates in heat exchanger, the mechanization of cladding processes for sealing surfaces of locking equipment, facility equipment for the welding of steam generator vessels to bottoms by means of preliminary and concomitant heating devices.

  2. Automatization and mechanization of welding in nuclear engineering

    International Nuclear Information System (INIS)

    Shul'ma, I.E.; Kupin, N.V.

    1986-01-01

    The state of welding and cladding works, which constitute more than 12% of total labour content of NPP equipment production, is described. Special attention is paid to a considerable part of manual labour in the processes of thermal cutting and welding of joints inside the vessels. The necessity of perspective technology introduction is pointed out. It means, in particular, the introduction of technological complex robotics for automatic welding of pipes with tube plates in heat exchanger, the mechanization of cladding processes for sealing surfaces of locking equipment, facility equipment for the welding of steam generator vessels to bottoms by means of preliminary and concomitant heating devices

  3. Future use of robots in the automotive industry

    Energy Technology Data Exchange (ETDEWEB)

    Kelly, M P

    1982-01-01

    The future will see a dramatic increase in the number of robots used in the automotive industry. Well established applications, such as resistance spot welding, will continue to grow in the short term. Longer term, the much wider use of structural adhesives will supplant the spot welding process with robots applying the adhesives. Practical perception systems will enhance robot performance in arc welding, grinding, fettling, seam sealing and assembly operations, leading again to robot growth as vital elements of truly flexible manufacturing systems (FMS). A major robotic impact will be made in automotive paint shops as the need to conserve energy increases. The development of alternative painting materials, offering improved performance will add further impetus. Robotics of the future will progressively move to a CAD/CAM orientated data base, offering off-line programming capability, which together with essential inspection elements, will provide the means for totally automatic manufacture.

  4. Robot Actors, Robot Dramaturgies

    DEFF Research Database (Denmark)

    Jochum, Elizabeth

    This paper considers the use of tele-operated robots in live performance. Robots and performance have long been linked, from the working androids and automata staged in popular exhibitions during the nineteenth century and the robots featured at Cybernetic Serendipity (1968) and the World Expo...

  5. Robotic architectures

    CSIR Research Space (South Africa)

    Mtshali, M

    2010-01-01

    Full Text Available In the development of mobile robotic systems, a robotic architecture plays a crucial role in interconnecting all the sub-systems and controlling the system. The design of robotic architectures for mobile autonomous robots is a challenging...

  6. Efficacy of dry-ice blasting in preventive maintenance of auto robotic assemblies

    Science.gov (United States)

    Baluch, Nazim; Mohtar, Shahimi; Abdullah, Che Sobry

    2016-08-01

    Welding robots are extensively applied in the automotive assemblies and `Spot Welding' is the most common welding application found in the auto stamping assembly manufacturing. Every manufacturing process is subject to variations - with resistance welding, these include; part fit up, part thickness variations, misaligned electrodes, variations in coating materials or thickness, sealers, weld force variations, shunting, machine tooling degradation; and slag and spatter damage. All welding gun tips undergo wear; an elemental part of the process. Though adaptive resistance welding control automatically compensates to keep production and quality up to the levels needed as gun tips undergo wear so that the welds remain reliable; the system cannot compensate for deterioration caused by the slag and spatter on the part holding fixtures, sensors, and gun tips. To cleanse welding robots of slag and spatter, dry-ice blasting has proven to be an effective remedy. This paper describes Spot welding process, analyses the slag and spatter formation during robotic welding of stamping assemblies, and concludes that the dry ice blasting process's utility in cleansing of welding robots in auto stamping plant operations is paramount and exigent.

  7. Welding template

    International Nuclear Information System (INIS)

    Ben Venue, R.J. of.

    1976-01-01

    A welding template is described which is used to weld strip material into a cellular grid structure for the accommodation of fuel elements in a nuclear reactor. On a base plate the template carries a multitude of cylindrical pins whose upper half is narrower than the bottom half and only one of which is attached to the base plate. The others are arrested in a hexagonal array by oblong webs clamped together by chuck jaws which can be secured by means of screws. The parts are ground very accurately. The template according to the invention is very easy to make. (UWI) [de

  8. Transoral robotic surgery for the base of tongue squamous cell carcinoma: a preliminary comparison between da Vinci Xi and Si.

    Science.gov (United States)

    Alessandrini, Marco; Pavone, Isabella; Micarelli, Alessandro; Caporale, Claudio

    2017-09-13

    Considering the emerging advantages related to da Vinci Xi robotic platform, the aim of this study is to compare for the first time the operative outcomes of this tool to the previous da Vinci Si during transoral robotic surgery (TORS), both performed for squamous cell carcinomas (SCC) of the base of tongue (BOT). Intra- and peri-operative outcomes of eight patients with early stage (T1-T2) of the BOT carcinoma and undergoing TORS by means of the da Vinci Xi robotic platform (Xi-TORS) are compared with the da Vinci Si group ones (Si-TORS). With respect to Si-TORS group, Xi-TORS group demonstrated a significantly shorter overall operative time, console time, and intraoperative blood loss, as well as peri-operative pain intensity and length of mean hospital stays and nasogastric tube positioning. Considering recent advantages offered by surgical robotic techniques, the da Vinci Xi Surgical System preliminary outcomes could suggest its possible future routine implementation in BOT squamous cell carcinoma procedures.

  9. DESIGN OF LOW EPI AND HIGH THROUGHPUT CORDIC CELL TO IMPROVE THE PERFORMANCE OF MOBILE ROBOT

    Directory of Open Access Journals (Sweden)

    P. VELRAJKUMAR

    2014-04-01

    Full Text Available This paper mainly focuses on pass logic based design, which gives an low Energy Per Instruction (EPI and high throughput COrdinate Rotation Digital Computer (CORDIC cell for application of robotic exploration. The basic components of CORDIC cell namely register, multiplexer and proposed adder is designed using pass transistor logic (PTL design. The proposed adder is implemented in bit-parallel iterative CORDIC circuit whereas designed using DSCH2 VLSI CAD tool and their layouts are generated by Microwind 3 VLSI CAD tool. The propagation delay, area and power dissipation are calculated from the simulated results for proposed adder based CORDIC cell. The EPI, throughput and effect of temperature are calculated from generated layout. The output parameter of generated layout is analysed using BSIM4 advanced analyzer. The simulated result of the proposed adder based CORDIC circuit is compared with other adder based CORDIC circuits. From the analysis of these simulated results, it was found that the proposed adder based CORDIC circuit dissipates low power, gives faster response, low EPI and high throughput.

  10. Robotic partial nephrectomy for renal cell carcinomas with venous tumor thrombus.

    Science.gov (United States)

    Abaza, Ronney; Angell, Jordan

    2013-06-01

    To describe the first report of robotic partial nephrectomies (RPNs) for renal cell carcinoma (RCC) with venous tumor thrombus (VTT). Partial nephrectomy for RCC extending into the renal vein has been described in limited fashion, but such a complex procedure has not previously been reported in minimally-invasive fashion. We demonstrate the feasibility of robotic nephron-sparing surgery despite vein thrombi and the results of the initial four highly-selected patients to have undergone this novel procedure. Two patients underwent RPN for RCC with VTT involving intraparenchymal vein branches, and 2 others had VTT involving the main renal vein. Mean patient age was 65 years (range 50-74 years). Mean tumor size was 7.75 cm (range 4.3-12.8 cm) with mean RENAL (radius, exophytic/endophytic, nearness to collecting system, anterior/posterior, and location) nephrometry score of 9.75 (range 8-12). Mean warm ischemia time was 24.2 minutes (range 19-27 minutes) and mean estimated blood loss was 168.8 mL (range 100-300 mL). No patients required transfusion, and there were no intraoperative complications. No patients required conversion to open or standard laparoscopic surgery. All 4 patients were discharged home on the first postoperative day. A single postoperative complication occurred in 1 patient who was readmitted with an ileus that resolved spontaneously. All patients had negative surgical margins. Two patients developed metastatic disease on surveillance imaging. RPN in patients with VTT is safe and feasible in selected patients. Given the risk of metastatic disease in patients with pathologic stage T3a RCC, the role of nephron sparing requires further evaluation such that radical nephrectomy remains the standard of care. Copyright © 2013 Elsevier Inc. All rights reserved.

  11. Waste canister closure welding using the inertia friction welding process

    International Nuclear Information System (INIS)

    Klein, R.F.; Siemens, D.H.; Kuruzar, D.L.

    1986-02-01

    Liquid radioactive waste presently stored in underground tanks is to undergo a vitrifying process which will immobilize it in a solid form. This solid waste will be contained in a stainless steel canister. The canister opening requires a positive seal weld, the properties and thickness of which are at least equal to those of the canister material. This paper describes the inertia friction welding process and a proposed equipment design concept that will provide a positive, reliable, inspectable, and full thickness seal weld while providing easily maintainable equipment, even though the weld is made in a highly contaminated hot cell. All studies and tests performed have shown the concept to be highly feasible. 2 refs., 6 figs

  12. Static stiffness modeling of a novel hybrid redundant robot machine

    International Nuclear Information System (INIS)

    Li Ming; Wu Huapeng; Handroos, Heikki

    2011-01-01

    This paper presents a modeling method to study the stiffness of a hybrid serial-parallel robot IWR (Intersector Welding Robot) for the assembly of ITER vacuum vessel. The stiffness matrix of the basic element in the robot is evaluated using matrix structural analysis (MSA); the stiffness of the parallel mechanism is investigated by taking account of the deformations of both hydraulic limbs and joints; the stiffness of the whole integrated robot is evaluated by employing the virtual joint method and the principle of virtual work. The obtained stiffness model of the hybrid robot is analytical and the deformation results of the robot workspace under certain external load are presented.

  13. Robot engineering

    International Nuclear Information System (INIS)

    Jung, Seul

    2006-02-01

    This book deals with robot engineering, giving descriptions of robot's history, current tendency of robot field, work and characteristic of industrial robot, essential merit and vector, application of matrix, analysis of basic vector, expression of Denavit-Hartenberg, robot kinematics such as forward kinematics, inverse kinematics, cases of MATLAB program, and motion kinematics, robot kinetics like moment of inertia, centrifugal force and coriolis power, and Euler-Lagrangian equation course plan, SIMULINK position control of robots.

  14. Robot engineering

    Energy Technology Data Exchange (ETDEWEB)

    Jung, Seul

    2006-02-15

    This book deals with robot engineering, giving descriptions of robot's history, current tendency of robot field, work and characteristic of industrial robot, essential merit and vector, application of matrix, analysis of basic vector, expression of Denavit-Hartenberg, robot kinematics such as forward kinematics, inverse kinematics, cases of MATLAB program, and motion kinematics, robot kinetics like moment of inertia, centrifugal force and coriolis power, and Euler-Lagrangian equation course plan, SIMULINK position control of robots.

  15. Development of remote laser welding technology

    International Nuclear Information System (INIS)

    Kim, Soo-Sung; Kim, Woong-Ki; Lee, Jung-Won; Yang, Myung-Seung; Park, Hyun-Soo

    1999-01-01

    Various welding processes are now available for end cap closure of nuclear fuel element such as TIG(Tungsten Inert Gas) welding, magnetic resistance welding and laser welding. Even though the resistance and TIG welding process are widely used for manufacturing of the commercial fuel elements, it can not be recommended for the remote seal welding of fuel element at PIE facility due to its complexity of the electrode alignment, difficulty in the replacement of parts in the remote manner and its large heat input for thin sheath. Therefore, Nd:YAG laser system using the optical fiber transmission was selected for Zircaloy-4 end cap welding. Remote laser welding apparatus is developed using a pulsed Nd:YAG laser of 500 watt average power with optical fiber transmission. The laser weldability is satisfactory in respect of the microstructures and mechanical properties comparing with the TIG and resistance welding. The optimum operation processes of laser welding and the optical fiber transmission system for hot cell operation in remote manner have been developed. (author)

  16. Altered ion transport in normal human bronchial epithelial cells following exposure to chemically distinct metal welding fume particles

    Energy Technology Data Exchange (ETDEWEB)

    Fedan, Jeffrey S., E-mail: jsf2@cdc.gov; Thompson, Janet A.; Meighan, Terence G.; Zeidler-Erdely, Patti C.; Antonini, James M.

    2017-07-01

    Welding fume inhalation causes pulmonary toxicity, including susceptibility to infection. We hypothesized that airway epithelial ion transport is a target of fume toxicity, and investigated the effects of fume particulates from manual metal arc-stainless steel (MMA-SS) and gas metal arc-mild steel (GMA-MS) on ion transport in normal human bronchial epithelium (NHBE) cultured in air-interface. MMA-SS particles, more soluble than GMA-MS particles, contain Cr, Ni, Fe and Mn; GMA-MS particles contain Fe and Mn. MMA-SS or GMA-MS particles (0.0167–166.7 μg/cm{sup 2}) were applied apically to NHBEs. After 18 h transepithelial potential difference (V{sub t}), resistance (R{sub t}), and short circuit current (I{sub sc}) were measured. Particle effects on Na{sup +} and Cl¯ channels and the Na{sup +},K{sup +},2Cl¯-cotransporter were evaluated using amiloride (apical), 5-nitro-2-[(3-phenylpropyl)amino]benzoic acid (NPPB, apical), and bumetanide (basolateral), respectively. MMA-SS (0.0167–16.7 μg/cm{sup 2}) increased basal V{sub t}. Only 16.7 μg/cm{sup 2} GMA-MS increased basal V{sub t} significantly. MMA-SS or GMA-MS exposure potentiated I{sub sc} responses (decreases) to amiloride and bumetanide, while not affecting those to NPPB, GMA-MS to a lesser degree than MMA-SS. Variable effects on R{sub t} were observed in response to amiloride, and bumetanide. Generally, MMA-SS was more potent in altering responses to amiloride and bumetanide than GMA-MS. Hyperpolarization occurred in the absence of LDH release, but decreases in V{sub t}, R{sub t}, and I{sub sc} at higher fume particulate doses accompanied LDH release, to a greater extent for MMA-SS. Thus, Na{sup +} transport and Na{sup +},K{sup +},2Cl¯-cotransport are affected by fume exposure; MMA-MS is more potent than GMA-MS. Enhanced Na{sup +} absorption and decreased airway surface liquid could compromise defenses against infection. - Highlights: • Welding fume particle toxicity was investigated in human bronchial

  17. Robotics, stem cells, and brain-computer interfaces in rehabilitation and recovery from stroke: updates and advances.

    Science.gov (United States)

    Boninger, Michael L; Wechsler, Lawrence R; Stein, Joel

    2014-11-01

    The aim of this study was to describe the current state and latest advances in robotics, stem cells, and brain-computer interfaces in rehabilitation and recovery for stroke. The authors of this summary recently reviewed this work as part of a national presentation. The article represents the information included in each area. Each area has seen great advances and challenges as products move to market and experiments are ongoing. Robotics, stem cells, and brain-computer interfaces all have tremendous potential to reduce disability and lead to better outcomes for patients with stroke. Continued research and investment will be needed as the field moves forward. With this investment, the potential for recovery of function is likely substantial.

  18. Eddy current testing system for bottom mounted instrumentation welds - 15206

    International Nuclear Information System (INIS)

    Kobayashi, N.; Ueno, S.; Suganuma, N.; Oodake, T.; Maehara, T.; Kasuya, T.; Ichikawa, H.

    2015-01-01

    We have demonstrated the scanning of eddy current testing (ECT) probe on the welds area including the nozzle, the J-welds and the buildup welds of the Bottom Mounted Instrumentation (BMI) mock-up using the developed ECT system and procedure. It is difficult to scan the probe on the BMI welds area because the area has a complex curved surface shape and narrow spaces. We made the space coordinates and the normal vectors on the scanning points as the scanning trajectory of probe on the welds area based on the measured results of welds surface shape on the mock-up. The multi-axis robot was used to scan the probe on the welds surface. Each motion axis position of the robot corresponding to each scanning point was calculated by the inverse kinematic algorithm. The BMI mock-up test was performed using the cross coil probe in the differential mode. The artificial stress corrosion cracking and the electrical discharge machining slits given on the mock-up surface were detected. The results show that the ECT can detect a defect of approximately 2.3 mm in length, 0.5 mm in depth and 0.2 mm in width for the BMI welds. From the output voltage of single coil, we estimated that the average and the maximum probe tilt angles on the mock-up surface under scanning were 2.6 degrees and 8.5 degrees, respectively

  19. WELDABILITY, WELDING METALLURGY, WELDING CHEMISTRY

    OpenAIRE

    Sarjito Jokosisworo

    2012-01-01

    Sambungan las merupakan bagian penting dari stuktur/bangunan yang dilas, dan kunci dari logam induk yang baik adalah kemampuan las (weld ability). Kemampuan las yang baik dan kemudahan dalam fabrikasi dari suatu logam merupakan pertimbangan dalam memilih suatu logam untuk konstruksi.

  20. Friction welded closures of waste canisters

    International Nuclear Information System (INIS)

    Klein, R.F.

    1987-01-01

    Liquid radioactive waste presently stored in underground tanks is to undergo a vitrifying process which will immobilize it into a solid form. This solid waste will be contained in a stainless steel canister. The canister opening requires a positive-seal weld, the properties and thickness of which must be at least equal to those of the canister material. All studies and tests performed in the work discussed in this paper have the inertia friction welding concept to be highly feasible in this application. This paper describes the decision to investigate the inertia friction welding process, the inertia friction welding process itself, and a proposed equipment design concept. This system would provide a positive, reliable, inspectable, and full-thickness seal weld while utilizing easily maintainable equipment. This high-quality weld can be achieved even in highly contaminated hot cell

  1. IT Systems in Aid of Welding Processes Quality Management in the Automotive Industry

    Directory of Open Access Journals (Sweden)

    Restecka M.

    2016-12-01

    Full Text Available The most important issue for the producers nowadays is to meet the requirements of customers, satisfying their perceived but also the unperceived needs. In order to control the quality of welding processes correctly one must have knowledge of welding drawings, symbols, designs of welded joints, welding procedures, requirements set in codes and standards, also have knowledge of the techniques of inspection and testing connected with the automotive industry. The article shows ways to increase quality in the industry through the use of robotization and computerization. Presented examples and application of IT systems in aid of welding processes quality management in the automotive industry.

  2. Soft computing in advanced robotics

    CERN Document Server

    Kobayashi, Ichiro; Kim, Euntai

    2014-01-01

    Intelligent system and robotics are inevitably bound up; intelligent robots makes embodiment of system integration by using the intelligent systems. We can figure out that intelligent systems are to cell units, while intelligent robots are to body components. The two technologies have been synchronized in progress. Making leverage of the robotics and intelligent systems, applications cover boundlessly the range from our daily life to space station; manufacturing, healthcare, environment, energy, education, personal assistance, logistics. This book aims at presenting the research results in relevance with intelligent robotics technology. We propose to researchers and practitioners some methods to advance the intelligent systems and apply them to advanced robotics technology. This book consists of 10 contributions that feature mobile robots, robot emotion, electric power steering, multi-agent, fuzzy visual navigation, adaptive network-based fuzzy inference system, swarm EKF localization and inspection robot. Th...

  3. Papers of the annual welding conference

    International Nuclear Information System (INIS)

    1981-01-01

    Interest will be mainly focussed on structural welding in the fields of vehicle, power generating plant, railway bridge, reactor, tank and pipeline construction as well as energy transmission, energy production and space travel. Also under discussion will be such topical subjects as health and safety and the use of welding robots in the automobile industry, both these topics bearing direct relation to one another, at it is the labour-saving and health aspects which take precedence in both areas and to which medical experts are making valuable contributions to an ever increasing extent. (orig./IHOE) [de

  4. WELDING PROCESS

    Science.gov (United States)

    Zambrow, J.; Hausner, H.

    1957-09-24

    A method of joining metal parts for the preparation of relatively long, thin fuel element cores of uranium or alloys thereof for nuclear reactors is described. The process includes the steps of cleaning the surfaces to be jointed, placing the sunfaces together, and providing between and in contact with them, a layer of a compound in finely divided form that is decomposable to metal by heat. The fuel element members are then heated at the contact zone and maintained under pressure during the heating to decompose the compound to metal and sinter the members and reduced metal together producing a weld. The preferred class of decomposable compounds are the metal hydrides such as uranium hydride, which release hydrogen thus providing a reducing atmosphere in the vicinity of the welding operation.

  5. An automated robotic platform for rapid profiling oligosaccharide analysis of monoclonal antibodies directly from cell culture.

    Science.gov (United States)

    Doherty, Margaret; Bones, Jonathan; McLoughlin, Niaobh; Telford, Jayne E; Harmon, Bryan; DeFelippis, Michael R; Rudd, Pauline M

    2013-11-01

    Oligosaccharides attached to Asn297 in each of the CH2 domains of monoclonal antibodies play an important role in antibody effector functions by modulating the affinity of interaction with Fc receptors displayed on cells of the innate immune system. Rapid, detailed, and quantitative N-glycan analysis is required at all stages of bioprocess development to ensure the safety and efficacy of the therapeutic. The high sample numbers generated during quality by design (QbD) and process analytical technology (PAT) create a demand for high-performance, high-throughput analytical technologies for comprehensive oligosaccharide analysis. We have developed an automated 96-well plate-based sample preparation platform for high-throughput N-glycan analysis using a liquid handling robotic system. Complete process automation includes monoclonal antibody (mAb) purification directly from bioreactor media, glycan release, fluorescent labeling, purification, and subsequent ultra-performance liquid chromatography (UPLC) analysis. The entire sample preparation and commencement of analysis is achieved within a 5-h timeframe. The automated sample preparation platform can easily be interfaced with other downstream analytical technologies, including mass spectrometry (MS) and capillary electrophoresis (CE), for rapid characterization of oligosaccharides present on therapeutic antibodies. Copyright © 2013 Elsevier Inc. All rights reserved.

  6. EvoBot: An Open-Source, Modular Liquid Handling Robot for Nurturing Microbial Fuel Cells

    DEFF Research Database (Denmark)

    Faina, Andres; Nejatimoharrami, Farzad; Støy, Kasper

    2016-01-01

    makes it difficult to apply conventional liquid handling robots as they are designed to automate a predefined task. In order to address these issues, we have developed an open source liquid handling robot, EvoBot. It uses a modular approach, which gives us the possibility to reconfigure the robot...... for different experiments and make it possible for users to add functionality by just developing a function specific module. In addition, it provides sensors and extra functionality for monitoring an experiment, which allows researchers to perform interactive experiments with the aim of prolonging non...

  7. Welding processes handbook

    CERN Document Server

    Weman, Klas

    2011-01-01

    Offers an introduction to the range of available welding technologies. This title includes chapters on individual techniques that cover principles, equipment, consumables and key quality issues. It includes material on such topics as the basics of electricity in welding, arc physics, and distortion, and the weldability of particular metals.$bThe first edition of Welding processes handbook established itself as a standard introduction and guide to the main welding technologies and their applications. This new edition has been substantially revised and extended to reflect the latest developments. After an initial introduction, the book first reviews gas welding before discussing the fundamentals of arc welding, including arc physics and power sources. It then discusses the range of arc welding techniques including TIG, plasma, MIG/MAG, MMA and submerged arc welding. Further chapters cover a range of other important welding technologies such as resistance and laser welding, as well as the use of welding techniqu...

  8. Friction Stir Welding

    Science.gov (United States)

    Nunes, Arthur C., Jr.

    2008-01-01

    Friction stir welding (FSW) is a solid state welding process invented in 1991 at The Welding Institute in the United Kingdom. A weld is made in the FSW process by translating a rotating pin along a weld seam so as to stir the sides of the seam together. FSW avoids deleterious effects inherent in melting and promises to be an important welding process for any industries where welds of optimal quality are demanded. This article provides an introduction to the FSW process. The chief concern is the physical effect of the tool on the weld metal: how weld seam bonding takes place, what kind of weld structure is generated, potential problems, possible defects for example, and implications for process parameters and tool design. Weld properties are determined by structure, and the structure of friction stir welds is determined by the weld metal flow field in the vicinity of the weld tool. Metal flow in the vicinity of the weld tool is explained through a simple kinematic flow model that decomposes the flow field into three basic component flows: a uniform translation, a rotating solid cylinder, and a ring vortex encircling the tool. The flow components, superposed to construct the flow model, can be related to particular aspects of weld process parameters and tool design; they provide a bridge to an understanding of a complex-at-first-glance weld structure. Torques and forces are also discussed. Some simple mathematical models of structural aspects, torques, and forces are included.

  9. Proton-irradiation technology for high-frequency high-current silicon welding diode manufacturing

    International Nuclear Information System (INIS)

    Lagov, P B; Drenin, A S; Zinoviev, M A

    2017-01-01

    Different proton irradiation regimes were tested to provide more than 20 kHz-frequency, soft reverse recovery “snap-less” behavior, low forward voltage drop and leakage current for 50 mm diameter 7 kA/400 V welding diode Al/Si/Mo structure. Silicon diode with such parameters is very suitable for high frequency resistance welding machines of new generation for robotic welding. (paper)

  10. Proton-irradiation technology for high-frequency high-current silicon welding diode manufacturing

    Science.gov (United States)

    Lagov, P. B.; Drenin, A. S.; Zinoviev, M. A.

    2017-05-01

    Different proton irradiation regimes were tested to provide more than 20 kHz-frequency, soft reverse recovery “snap-less” behavior, low forward voltage drop and leakage current for 50 mm diameter 7 kA/400 V welding diode Al/Si/Mo structure. Silicon diode with such parameters is very suitable for high frequency resistance welding machines of new generation for robotic welding.

  11. Use of robotics in a Radwaste treatment plant

    International Nuclear Information System (INIS)

    Leeks, C.W.E.

    1991-01-01

    A 762 Unimate Puma, clean room standard Robot has been installed and commissioned in the Radwaste Treatment Plant at the Winfrith Technology Centre. The robot interacts with a variety of purpose designed tools and proprietary welding equipment. It performs 13 dedicated tasks in the final closure and health physics operations, before the 500 litre waste drum is despatched from the plant. (author)

  12. Multivariable Frequency Response Functions Estimation for Industrial Robots

    NARCIS (Netherlands)

    Hardeman, T.; Aarts, Ronald G.K.M.; Jonker, Jan B.

    2005-01-01

    The accuracy of industrial robots limits its applicability for high demanding processes, like robotised laser welding. We are working on a nonlinear exible model of the robot manipulator to predict these inaccuracies. This poster presents the experimental results on estimating the Multivariable

  13. Application of YAG laser processing in underwater welding and cutting

    Energy Technology Data Exchange (ETDEWEB)

    Ohwaki, Katsura; Morita, Ichiro; Kojima, Toshio; Sato, Shuichi [Ishikawajima-Harima Heavy Industries Co. Ltd., Tokyo (Japan)

    2002-09-01

    The high-power YAG laser is a new fabrication tool. The laser torch is easy to combine with complex with complex mechanics because of beam delivery through optical fiber. A direct underwater laser welding technology has been developed and applied to the preservation, maintenance and removal of nuclear power plants. For subdividing or removing operations for retirement of plants, the laser cutting properties were confirmed to allow a maximum cutting thickness of 80 mm. For repairing inner surface of stainless steel tanks, an underwater laser welding system using a remote-controlled robot was developed and the high quality of underwater laser welding was confirmed. (author)

  14. Introduction to Welding.

    Science.gov (United States)

    Fortney, Clarence; Gregory, Mike

    This curriculum guide provides six units of instruction on basic welding. Addressed in the individual units of instruction are the following topics: employment opportunities for welders, welding safety and first aid, welding tools and equipment, basic metals and metallurgy, basic math and measuring, and procedures for applying for a welding job.…

  15. Distortion Control during Welding

    NARCIS (Netherlands)

    Akbari Pazooki, A.M.

    2014-01-01

    The local material expansion and contraction involved in welding result in permanent deformations or instability i.e., welding distortion. Considerable efforts have been made in controlling welding distortion prior to, during or after welding. Thermal Tensioning (TT) describes a group of in-situ

  16. Welding and cutting

    International Nuclear Information System (INIS)

    Drews, P.; Schulze Frielinghaus, W.

    1978-01-01

    This is a survey, with 198 literature references, of the papers published in the fields of welding and cutting within the last three years. The subjects dealt with are: weldability of the materials - Welding methods - Thermal cutting - Shaping and calculation of welded joints - Environmental protection in welding and cutting. (orig.) [de

  17. Globalization of Japanese steel industry. Part 2. Welding materials; Tekkogyo no kokusaika. 2. Yozai

    Energy Technology Data Exchange (ETDEWEB)

    Aida, I. [Kobe Steel, Ltd., Kobe (Japan)

    1995-01-01

    This paper mainly discusses the current status and problems of arc welding materials. The domestic production of welding materials has decreased. The recent trend of demand is characterized by the change of form make-up of welding materials. Various technologies for welding materials and their operation in Japan have developed with the progress of steel materials. The high quality and high-grade welding technologies, highly efficient production processes, laborsaving, and robotization have been promoted in various fields. In response to the rapid strong yen, quality and cost have to be further pursued, and amenity and cleanliness of welding have to be realized. The welding technologies have to be developed for large structures, such as ultra high-rise buildings, energy and chemical plants, ships, marine structures, etc. For the welding materials which are applied to robots and robot systems, obstruction factors for the operation have to be removed, which include the unsteady arc, re-arc badness, spattering, wear of chip, slag formation, etc. These measures promote the globalization of welding materials. 17 refs., 4 figs.

  18. High quality joining techniques: in-process assurance (IPA) welding system

    International Nuclear Information System (INIS)

    Kaihara, Shoichiro

    1996-01-01

    On July 1, 1995, the Product Liability Law was enforced, and in industrial world, further reliability has been demanded. Recently, accompanying the progress of electronics, the proportion taken by automatic welders and robots increased in welding. By memorizing proper welding conditions, the welding from initial to final passes can be done fully automatically. Also feedback mechanism was equipped to mechanized welders, and the in-process control has become to be feasible. The way of thinking on confirming in process welding quality in arc welding is explained. IPA welding system utilizes the multi-media collecting images and sound, samples the change of welding conditions and the state of arc on a same screen, and monitors the deviation from the range of proper welding conditions. At the time of abnormality, inspector or a computer carries out image diagnosis and welding control, and the system indicates the soundness of welded parts. The basic concept and the flow chart of this system are shown. The experiment of applying the system to arc welding is reported. The correlation of welding phenomena and welding conditions is examined. (K.I.)

  19. High quality joining techniques: in-process assurance (IPA) welding system

    Energy Technology Data Exchange (ETDEWEB)

    Kaihara, Shoichiro [Ishikawajima-Harima Heavy Industries Co. Ltd., Tokyo (Japan)

    1996-08-01

    On July 1, 1995, the Product Liability Law was enforced, and in industrial world, further reliability has been demanded. Recently, accompanying the progress of electronics, the proportion taken by automatic welders and robots increased in welding. By memorizing proper welding conditions, the welding from initial to final passes can be done fully automatically. Also feedback mechanism was equipped to mechanized welders, and the in-process control has become to be feasible. The way of thinking on confirming in process welding quality in arc welding is explained. IPA welding system utilizes the multi-media collecting images and sound, samples the change of welding conditions and the state of arc on a same screen, and monitors the deviation from the range of proper welding conditions. At the time of abnormality, inspector or a computer carries out image diagnosis and welding control, and the system indicates the soundness of welded parts. The basic concept and the flow chart of this system are shown. The experiment of applying the system to arc welding is reported. The correlation of welding phenomena and welding conditions is examined. (K.I.)

  20. Laser Welding of Silicon Foils for Thin-Film Solar Cell Manufacturing

    OpenAIRE

    Heßmann, Maik

    2014-01-01

    Thin-film solar module manufacturing is one of the most promising recent developments in photovoltaic research and has the potential to reduce production costs. As the necessity for competitive prices on the world market increases and manufacturers endeavor to bring down the cost of solar modules, thin-film technology is becoming more and more attractive. In this work a special technique was investigated which makes solar cell manufacturing more compatible with an industrial roll-to-roll proc...

  1. Indigenous robotics technology in nuclear industries (Paper No. 039)

    Energy Technology Data Exchange (ETDEWEB)

    Challappa, S; Guha, S

    1987-01-01

    Robots are essential for material handling, stripping, fitting, welding and other operations in a hazardous environment as exits in nuclear industries. Adoptivity of the equipment to environment to carry out remote activity, accuracy of the performance and quality are the primordial considerations for selection of such types of robots. The essential features of a typical robot are described in this paper. As a first step towards development of such a robot, a six-axis multipurpose robot developed in Central Workshops, Bhabha Atomic Research Centre, is also described in this paper. (author). 2 figs.

  2. Indigenous robotics technology in nuclear industries (Paper No. 039)

    International Nuclear Information System (INIS)

    Challappa, S.; Guha, S.

    1987-02-01

    Robots are essential for material handling, stripping, fitting, welding and other operations in a hazardous environment as exits in nuclear industries. Adoptivity of the equipment to environment to carry out remote activity, accuracy of the performance and quality are the primordial considerations for selection of such types of robots. The essential features of a typical robot are described in this paper. As a first step towards development of such a robot, a six-axis multipurpose robot developed in Central Workshops, Bhabha Atomic Research Centre, is also described in this paper. (author). 2 figs

  3. Advanced Welding Applications

    Science.gov (United States)

    Ding, Robert J.

    2010-01-01

    Some of the applications of advanced welding techniques are shown in this poster presentation. Included are brief explanations of the use on the Ares I and Ares V launch vehicle and on the Space Shuttle Launch vehicle. Also included are microstructural views from four advanced welding techniques: Variable Polarity Plasma Arc (VPPA) weld (fusion), self-reacting friction stir welding (SR-FSW), conventional FSW, and Tube Socket Weld (TSW) on aluminum.

  4. Principles of the Kenzan Method for Robotic Cell Spheroid-Based Three-Dimensional Bioprinting.

    Science.gov (United States)

    Moldovan, Nicanor I; Hibino, Narutoshi; Nakayama, Koichi

    2017-06-01

    Bioprinting is a technology with the prospect to change the way many diseases are treated, by replacing the damaged tissues with live de novo created biosimilar constructs. However, after more than a decade of incubation and many proofs of concept, the field is still in its infancy. The current stagnation is the consequence of its early success: the first bioprinters, and most of those that followed, were modified versions of the three-dimensional printers used in additive manufacturing, redesigned for layer-by-layer dispersion of biomaterials. In all variants (inkjet, microextrusion, or laser assisted), this approach is material ("scaffold") dependent and energy intensive, making it hardly compatible with some of the intended biological applications. Instead, the future of bioprinting may benefit from the use of gentler scaffold-free bioassembling methods. A substantial body of evidence has accumulated, indicating this is possible by use of preformed cell spheroids, which have been assembled in cartilage, bone, and cardiac muscle-like constructs. However, a commercial instrument capable to directly and precisely "print" spheroids has not been available until the invention of the microneedles-based ("Kenzan") spheroid assembling and the launching in Japan of a bioprinter based on this method. This robotic platform laces spheroids into predesigned contiguous structures with micron-level precision, using stainless steel microneedles ("kenzans") as temporary support. These constructs are further cultivated until the spheroids fuse into cellular aggregates and synthesize their own extracellular matrix, thus attaining the needed structural organization and robustness. This novel technology opens wide opportunities for bioengineering of tissues and organs.

  5. Evolutionary robotics

    Indian Academy of Sciences (India)

    In evolutionary robotics, a suitable robot control system is developed automatically through evolution due to the interactions between the robot and its environment. It is a complicated task, as the robot and the environment constitute a highly dynamical system. Several methods have been tried by various investigators to ...

  6. Robot Aesthetics

    DEFF Research Database (Denmark)

    Jochum, Elizabeth Ann; Putnam, Lance Jonathan

    This paper considers art-based research practice in robotics through a discussion of our course and relevant research projects in autonomous art. The undergraduate course integrates basic concepts of computer science, robotic art, live performance and aesthetic theory. Through practice...... in robotics research (such as aesthetics, culture and perception), we believe robot aesthetics is an important area for research in contemporary aesthetics....

  7. Filigree Robotics

    DEFF Research Database (Denmark)

    Tamke, Martin; Evers, Henrik Leander; Clausen Nørgaard, Esben

    2016-01-01

    Filigree Robotics experiments with the combination of traditional ceramic craft with robotic fabrication in order to generate a new narrative of fine three-dimensional ceramic ornament for architecture.......Filigree Robotics experiments with the combination of traditional ceramic craft with robotic fabrication in order to generate a new narrative of fine three-dimensional ceramic ornament for architecture....

  8. A mobile robot with parallel kinematics to meet the requirements for assembling and machining the ITER vacuum vessel

    International Nuclear Information System (INIS)

    Pessi, Pekka; Wu, Huapeng; Handroos, Heikki; Jones, Lawrence

    2007-01-01

    The present paper introduces a mobile parallel robot developed for International Thermonuclear Experimental Reactor (ITER). The task of the robot is to carry out welding and machining processes inside the ITER vacuum vessel. The kinematic design of the robot has been optimized for the ITER access. The kinematic analysis is given in the paper. A virtual prototype of the parallel robot is built. A dynamic behavior of the whole robot is studied by the multi-body system simulation (MBS)

  9. A mobile robot with parallel kinematics to meet the requirements for assembling and machining the ITER vacuum vessel

    Energy Technology Data Exchange (ETDEWEB)

    Pessi, Pekka [Lappeenranta University of Technology, Lappeenranta (Finland)], E-mail: pessi@lut.fi; Wu, Huapeng; Handroos, Heikki [Lappeenranta University of Technology, Lappeenranta (Finland); Jones, Lawrence [EFDA Close Support Unit, Boltzmannstrasse 2, Garching D-85748 (Germany)

    2007-10-15

    The present paper introduces a mobile parallel robot developed for International Thermonuclear Experimental Reactor (ITER). The task of the robot is to carry out welding and machining processes inside the ITER vacuum vessel. The kinematic design of the robot has been optimized for the ITER access. The kinematic analysis is given in the paper. A virtual prototype of the parallel robot is built. A dynamic behavior of the whole robot is studied by the multi-body system simulation (MBS)

  10. Selected Welding Techniques, Part 2

    National Research Council Canada - National Science Library

    1964-01-01

    Partial contents: CONVENTIONAL WELD JOINTS VERSUS BUTT JOINTS IN 1-INCH ALUMINUM PLATE, SPECIAL WELD JOINT PREPARATION, UPSET METAL EDGES FOR INCREASED WELD JOINT STRENGTH, OUT-OF-POSITION WELDING OF HEAVY GAGE...

  11. Robot welding process control development task

    Science.gov (United States)

    Romine, Peter L.

    1992-01-01

    The completion of, and improvements made to, the software developed during 1990 for program maintenance on the PC and HEURIKON and transfer to the CYRO, and integration of the Rocketdyne vision software with the CYRO is documented. The new programs were used successfully by NASA, Rocketdyne, and UAH technicians and engineers to create, modify, upload, download, and control CYRO NC programs.

  12. Robotics at Savannah River

    International Nuclear Information System (INIS)

    Byrd, J.S.

    1983-01-01

    A Robotics Technology Group was organized at the Savannah River Laboratory in August 1982. Many potential applications have been identified that will improve personnel safety, reduce operating costs, and increase productivity using modern robotics and automation. Several active projects are under way to procure robots, to develop unique techniques and systems for the site's processes, and to install the systems in the actual work environments. The projects and development programs are involved in the following general application areas: (1) glove boxes and shielded cell facilities, (2) laboratory chemical processes, (3) fabrication processes for reactor fuel assemblies, (4) sampling processes for separation areas, (5) emergency response in reactor areas, (6) fuel handling in reactor areas, and (7) remote radiation monitoring systems. A Robotics Development Laboratory has been set up for experimental and development work and for demonstration of robotic systems

  13. Robotics in space-age manufacturing

    Science.gov (United States)

    Jones, Chip

    1991-01-01

    Robotics technologies are developed to improve manufacturing of space hardware. The following applications of robotics are covered: (1) welding for the space shuttle and space station Freedom programs; (2) manipulation of high-pressure water for shuttle solid rocket booster refurbishment; (3) automating the application of insulation materials; (4) precision application of sealants; and (5) automation of inspection procedures. Commercial robots are used for these development programs, but they are teamed with advanced sensors, process controls, and computer simulation to form highly productive manufacturing systems. Many of the technologies are also being actively pursued in private sector manufacturing operations.

  14. Robot-assisted pancreatoduodenectomy with preservation of the vascular supply for autologous islet cell isolation and transplantation: a case report

    Directory of Open Access Journals (Sweden)

    Giulianotti Piero

    2012-03-01

    Full Text Available Abstract Introduction For patients with chronic pancreatitis presenting with medically intractable abdominal pain, surgical intervention may be the only treatment option. However, extensive pancreatic resections are typically performed open and are associated with a substantial amount of postoperative pain, wound complications and long recovery time. Minimally invasive surgery offers an avenue to improve results; however, current limitations of laparoscopic surgery render its application in the setting of chronic pancreatitis technically demanding. Additionally, pancreatic resections are associated with a high incidence of diabetes. Transplantation of islets isolated from the resected pancreas portion offers a way to prevent post-surgical diabetes; however, preservation of the vascular supply during pancreatic resection, which determines islet cell viability, is technically difficult using current laparoscopic approaches. With recent advances in the surgical field, robotic surgery now provides a means to overcome these obstacles to achieve the end goals of pain relief and preserved endocrine function. We present the first report of a novel, minimally invasive robotic approach for resection of the pancreatic head that preserves vascular supply and enables the isolation of a high yield of viable islets for transplantation. Case presentation A 35-year old Caucasian woman presented with intractable chronic abdominal pain secondary to chronic pancreatitis, with a stricture of her main pancreatic duct at the level of the ampulla of Vater and distal dilatation. She was offered a robotic-assisted pylorus-preserving pancreatoduodenectomy and subsequent islet transplantation, to both provide pain relief and preserve insulin-secretory reserves. Conclusion We present a novel, minimally invasive robotic approach for resection of the pancreatic head with complete preservation of the vascular supply, minimal warm ischemia time (less than three minutes and

  15. Automatic welding of fuel elements

    International Nuclear Information System (INIS)

    Briola, J.

    1958-01-01

    The welding process depends on the type of fuel element, the can material and the number of cartridges to be welded: - inert-gas welding (used for G2 and the 1. set of EL3), - inert atmosphere arc welding (used for welding uranium and zirconium), - electronic welding (used for the 2. set of EL3 and the tank of Proserpine). (author) [fr

  16. Detecting flaws in welds

    International Nuclear Information System (INIS)

    Woodacre, A.; Lawton, H.

    1979-01-01

    An apparatus and a method for detecting flaws in welds in a workpiece, the portion of the workpiece containing the weld is maintained at a constant temperature and the weld is scanned by an infra red detector. The weld is then scanned again with the workpiece in contact with a cooling probe to produce a steeper temperature gradient across the weld. Comparison of the signals produced by each scan reveals the existence of defects in the welds. The signals may be displayed on an oscilloscope and the display may be observed by a TV camera and recorded on videotape. (UK)

  17. Fusion welding process

    Science.gov (United States)

    Thomas, Kenneth C.; Jones, Eric D.; McBride, Marvin A.

    1983-01-01

    A process for the fusion welding of nickel alloy steel members wherein a ferrite containing pellet is inserted into a cavity in one member and melted by a welding torch. The resulting weld nugget, a fusion of the nickel containing alloy from the members to be welded and the pellet, has a composition which is sufficiently low in nickel content such that ferrite phases occur within the weld nugget, resulting in improved weld properties. The steel alloys encompassed also include alloys containing carbon and manganese, considered nickel equivalents.

  18. Report Summarizing the Effort Required to Initiate Welding of Irradiated Materials within the Welding Cubicle

    Energy Technology Data Exchange (ETDEWEB)

    Frederick, Greg [Electric Power Research Institute (EPRI), Palo Alto, CA (United States); Sutton, Benjamin J. [Electric Power Research Institute (EPRI), Palo Alto, CA (United States); Tatman, Jonathan K. [Electric Power Research Institute (EPRI), Palo Alto, CA (United States); Vance, Mark Christopher [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Smith, Allen W. [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Clark, Scarlett R. [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Feng, Zhili [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Miller, Roger G. [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Chen, Jian [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Tang, Wei [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Hu, Xunxiang [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Gibson, Brian T. [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)

    2017-06-01

    The advanced welding facility within a hot cell at the Radiochemical Engineering Development Center of Oak Ridge National Laboratory (ORNL), which has been jointly funded by the U.S. Department of Energy (DOE), Office of Nuclear Energy, Light Water Reactor Sustainability Program and the Electric Power Research Institute, Long Term Operations Program and the Welding and Repair Technology Center, is in the final phase of development. Research and development activities in this facility will involve direct testing of advanced welding technologies on irradiated materials in order to address the primary technical challenge of helium induced cracking that can arise when conventional fusion welding techniques are utilized on neutron irradiated stainless steels and nickel-base alloys. This report details the effort that has been required since the beginning of fiscal year 2017 to initiate welding research and development activities on irradiated materials within the hot cell cubicle, which houses welding sub-systems that include laser beam welding (LBW) and friction stir welding (FSW) and provides material containment within the hot cell.

  19. Weld controller for automated nuclear service welding

    International Nuclear Information System (INIS)

    Barfield, K.L.; Strubhar, P.M.; Green, D.I.

    1995-01-01

    B and W Nuclear Technologies (BWNT) uses many different types of weld heads for automated welding in the commercial nuclear service industry. Some weld heads are purchased as standard items, while others are custom designed and fabricated by BWNT requiring synchronized multiaxis motion control. BWNT recently completed a development program to build a common weld controller that interfaces to all types of weld heads used by BWNT. Their goal was to construct a system that had the flexibility to add different modules to increase the capability of the controller as different application needs become necessary. The benefits from having a common controller are listed. This presentation explains the weld controller system and the types of applications to which it has been applied

  20. Robotic Manufacturing of 18-ft (5.5m) Diameter Cryogenic Fuel Tank Dome Assemblies for the NASA Ares I Rocket

    Science.gov (United States)

    Jones, Ronald E.; Carter, Robert W.

    2012-01-01

    The Ares I rocket was the first launch vehicle scheduled for manufacture under the National Aeronautic and Space Administration's Constellation program. A series of full-scale Ares I development articles were constructed on the Robotic Weld Tool at the NASA George C. Marshall Space Flight Center in Huntsville, Alabama. The Robotic Weld Tool is a 100 ton, 7- axis, robotic manufacturing system capable of machining and friction stir welding large-scale space hardware. This paper will focus on the friction stir welding of 18-ft (5.5m) diameter cryogenic fuel tank components; specifically, the liquid hydrogen forward dome and two common bulkhead manufacturing development articles.

  1. Fabrication of gas diffusion layer based on x-y robotic spraying technique for proton exchange membrane fuel cell application

    International Nuclear Information System (INIS)

    Sitanggang, Ramli; Mohamad, Abu Bakar; Daud, Wan Ramli Wan; Kadhum, Abdul Amir H.; Iyuke, S.E.

    2009-01-01

    The x-y robotic spraying technique developed in the Universiti Kebangsaan Malaysia is capable of fabricating various sizes of thickness and porosity of gas diffusion layer (GDL) used in the proton exchange membrane fuel cell (PEMFC). These parameters are obtained by varying the characteristic spray numbers of the robotic spraying machine. This investigation results were adequately represented with mathematical equations for hydrogen gas distribution in GDL. Volumetric modulus (M) parameter is used to determine the value of current density produced on the electrode of a single cell PEMFC. Thus the M parameter can be employed as indicator for a successful GDL fabrication. GDL type 4 has three variables of layer design that can be optimized to function as gas distributor, gas storage, flooding preventer on GDL surface, to evacuate water from the electrode and to control the electrical conductivity. The gas distribution in GDL was mathematically represented with average error of 15.5%. The M value of GDL type 4 according to the model was 0.22 cm 3 /s and yielded a current density of 750 A/m 2 .

  2. Detailed characterization of welding fumes in personal exposure samples

    International Nuclear Information System (INIS)

    Quémerais, B; Mino, James; Amin, M R; Golshahi, H; Izadi, H

    2015-01-01

    The objective of the project was to develop a method allowing for detailed characterization of welding particles including particle number concentration, size distribution, surface chemistry and chemical composition of individual particles, as well as metal concentration of various welding fumes in personal exposure samples using regular sampling equipment. A sample strategy was developed to evaluate the variation of the collection methods on mass concentration. Samples were collected with various samplers and filters at two different locations using our collection system. The first location was using a robotic welding system while the second was manual welding. Collected samples were analysed for mass concentration using gravimetryand metal concentration using ICP/OES. More advanced analysis was performed on selected filters using X-Ray Photoelectron Spectroscopy to determine surface composition of the particles, and X-Ray Diffraction to determine chemical composition of the fumes. Results showed that the robotic system had a lot of variation in space when the collection system was located close to the weld. Collection efficiency was found to be quite variable depending upon the type of filter. As well, metal concentrations in blank filters were dependent upon the type of filter with MCE presenting with the highest blank values. Results obtained with the XRD and XPS systems showed that it was possible to analyse a small of powdered welding fume sample but results on filters were not conclusive. (paper)

  3. Handbook of Plastic Welding

    DEFF Research Database (Denmark)

    Islam, Aminul

    The purpose of this document is to summarize the information about the laser welding of plastic. Laser welding is a matured process nevertheless laser welding of micro dimensional plastic parts is still a big challenge. This report collects the latest information about the laser welding of plastic...... materials and provides an extensive knowhow on the industrial plastic welding process. The objectives of the report include: - Provide the general knowhow of laser welding for the beginners - Summarize the state-of-the-art information on the laser welding of plastics - Find the technological limits in terms...... of design, materials and process - Find the best technology, process and machines adaptive to Sonion’s components - Provide the skills to Sonion’s Design Engineers for successful design of the of the plastic components suitable for the laser welding The ultimate goal of this report is to serve...

  4. Nondestructive testing: welding industry

    International Nuclear Information System (INIS)

    Raj, Baldev; Subramanian, C.V.

    1992-01-01

    This chapter highlights various conventional and advanced nondestructive testing (NDT) techniques that have been used for weld evaluation. Welding Codes and Standards of International and National organisations that have been followed in India for various weld evaluation purposes are also included. The chapter also emphasises the importance of NDT by way of a few case studies that have been carried out on important critical welded components. (author). 12 refs., 17 figs., 1 appendix

  5. Robotic environments

    NARCIS (Netherlands)

    Bier, H.H.

    2011-01-01

    Technological and conceptual advances in fields such as artificial intelligence, robotics, and material science have enabled robotic architectural environments to be implemented and tested in the last decade in virtual and physical prototypes. These prototypes are incorporating sensing-actuating

  6. Instructional Guidelines. Welding.

    Science.gov (United States)

    Fordyce, H. L.; Doshier, Dale

    Using the standards of the American Welding Society and the American Society of Mechanical Engineers, this welding instructional guidelines manual presents a course of study in accordance with the current practices in industry. Intended for use in welding programs now practiced within the Federal Prison System, the phases of the program are…

  7. Welding Course Curriculum.

    Science.gov (United States)

    Genits, Joseph C.

    This guide is intended for use in helping students gain a fundamental background on the major aspects of the welding trade. The course emphasis is on mastery of the manipulative skills necessary to develop successful welding techniques and on acquisition of an understanding of the specialized tools and equipment used in welding. The first part…

  8. Underwater welding of steel

    International Nuclear Information System (INIS)

    Ibarra, S.; Olson, D.L.

    1992-01-01

    A fundamental basis to understand the behavior of wet underwater welding of steel is introduced. Both the pyrometallurgical and physical metallurgy concepts are discussed. Modifications of welding consumables and practice are suggested. This chapter promotes further contributions of meatllurgical research to improve and promote wet underwater welding. (orig.)

  9. Welding Over Paint Primer

    National Research Council Canada - National Science Library

    Johnson, Kevin S; Liu, Stephen; Olson, David L

    1998-01-01

    .... According to the hydrogen-oxygen and }hydrogen-fluorine equilibrium considerations, an increase in the partial pressure of oxygen or fluorine could decrease the partial pressure of hydrogen within the welding arc. Consequently, a welding consumable that contains chemical ingredients of high oxygen and fluorine potential would be capable of minimizing hydrogen pick-up in the weld pool.

  10. Recent progress in the field of automated welding applied to maintenance activities

    International Nuclear Information System (INIS)

    Cullafroz, M.

    2004-01-01

    Automated and robot welding has 5 advantages compared to manual welding: -) under some conditions the automated circular welding does not require requalification testing as manual welding does, -) welding heads in robots have a reduced size compared to manual gears so they can enter and treat complex piping, -) by using an adequate viewing system the operator can be more than 10 meters away from the welding site which means that the radiation doses he receives is cut by a factor 1.5 to 2, -) whatever the configuration is, the deposition rate in automated welding stays high, the quality standard is steady and the risk of repairing is low, -) a gain in productivity if adequate equipment is used. In general, automated welding requires a TIG welding process and is applied in maintenance activities to: -) the main primary system and other circuits in stainless austenitic steels, -) the main secondary system and other circuits in low-percentage carbon steels, and -) the closure of spent fuel canisters. An application to the repairing of BWR's pipes is shown. (A.C.)

  11. Marinization concept for the TRICEPT TR600 robot

    Energy Technology Data Exchange (ETDEWEB)

    Meyer, A.; Aust, E.; Niemann, H.R.; Santos, J.F. dos [GKSS-Forschungszentrum Geesthacht GmbH (Germany). Inst. fuer Materialforschung; Hammerin, R.; Neumann, K.E. [Neos Robotics AB, Taeby (Sweden); Gibson, D. [National Hyperbaric Centre, Aberdeen (United Kingdom)

    1998-11-01

    The need for automated welding repair systems of marine structures, ship hulls and nuclear installations had lead to an increasing demand for subsea robots. Considering the application of friction welding to perform underwater repairs, a TRICEPT TR600 robot has been identified as the most suitable system to withstand the high reaction forces characteristic of this process. This study reviews initially the research and development work carried out at GKSS to modify and test a Siemens-MANUTEC robot. After a description of the TRICEPT TR600 robot a marinization concept is presented and discussed in detail. Problems of galvanic corrosion in seawater are addressed in a separate chapter. The deflection of the robot in subsea water currents is estimated with a worst-case calculation. (orig.) [Deutsch] Der Wunsch, Roboter auch unter Wasser einsetzen zu koennen, waechst mit steigendem Interesse nach automatisierten Schweissverfahren fuer Reparaturen an marinen Bauwerken, Schiffsruempfen und in Kernenergieanlagen. Fuer den Einsatz von Reibschweissverfahren fuer diese Reparaturen wurde der TRICEPT TR600-Roboter ausgewaehlt, da dieser auch den charakteristisch hohen Prozesskraeften widerstehen kann. Die notwendigen Modifikationen und Pruefungen werden beispielhaft anhand des bei der GKSS modifizierten Siemens-MANUTEC-Roboters vorgestellt. Nach einer Beschreibung des TRICEPT-Roboters werden die notwendigen Umbaumassnahmen detailliert dargestellt und diskutiert. Auf die Problematik der galvanischen Korrosion in Seewasser wird in einem gesonderten Kapitel naeher eingegangen. Zusaetzlich wird eine moegliche Ablenkung des Roboters durch Wasserstroemung ueberschlaegig berechnet. (orig.)

  12. Healthcare Robotics

    OpenAIRE

    Riek, Laurel D.

    2017-01-01

    Robots have the potential to be a game changer in healthcare: improving health and well-being, filling care gaps, supporting care givers, and aiding health care workers. However, before robots are able to be widely deployed, it is crucial that both the research and industrial communities work together to establish a strong evidence-base for healthcare robotics, and surmount likely adoption barriers. This article presents a broad contextualization of robots in healthcare by identifying key sta...

  13. Industrial Robots.

    Science.gov (United States)

    Reed, Dean; Harden, Thomas K.

    Robots are mechanical devices that can be programmed to perform some task of manipulation or locomotion under automatic control. This paper discusses: (1) early developments of the robotics industry in the United States; (2) the present structure of the industry; (3) noneconomic factors related to the use of robots; (4) labor considerations…

  14. Advanced cutting, welding and inspection methods for vacuum vessel assembly and maintenance

    Energy Technology Data Exchange (ETDEWEB)

    Jones, L. E-mail: jonesl@ipp.mgg.de; Alfile, J.-P.; Aubert, Ph.; Punshon, C.; Daenner, W.; Kujanpaeae, V.; Maisonnier, D.; Serre, M.; Schreck, G.; Wykes, M

    2000-11-01

    ITER requires a 316 l stainless steel, double-skinned vacuum vessel (VV), each shell being 60 mm thick. EFDA (European Fusion Development Agreement) is investigating methods to be used for performing welding and NDT during VV assembly and also cutting and re-welding for remote sector replacement, including the development of an Intersector Welding Robot (IWR) [Jones et al. This conference]. To reduce the welding time, distortions and residual stresses of conventional welding, previous work concentrated on CO{sub 2} laser welding and cutting processes [Jones et al. Proc. Symp. Fusion Technol., Marseilles, 1998]. NdYAG laser now provides the focus for welding of the rearside root and for completing the weld for overhead positions with multipass filling. Electron beam (E-beam) welding with local vacuum offers a single-pass for most of the weld depth except for overhead positions. Plasma cutting has shown the capability to contain the backside dross and preliminary work with NdYAG laser cutting has shown good results. Automated ultrasonic inspection of assembly welds will be improved by the use of a phased array probe system that can focus the beam for accurate flaw location and sizing. This paper describes the recent results of process investigations in this R and D programme, involving five European sites and forming part of the overall VV/blanket research effort [W. Daenner et al. This conference].

  15. Present and future of laser welding machine; Laser yosetsuki no genjo to tenbo

    Energy Technology Data Exchange (ETDEWEB)

    Taniu, Y. [Ishikawajima-Harima Heavy Industries Co. Ltd., Tokyo (Japan)

    1998-04-01

    This paper describes recent trends of laser welding machine. For CO2 laser welding machine, seam weld of large diameter weld pipes using a 25 kW-class machine, and plate weld of steel plate using a 45 kW-class machine are reported. For YAG laser welding machine, high-output 5.5 kW-class machines are commercialized. Machines with slab structure of plate-like YAG chrystal have been developed which show high-oscillation efficiency and can be applied to cutting. Machines have been developed in which YAG laser output with slab structure is transmitted through GI fiber. High-speed welding of aluminum alloys can be realized by improving the converging performance. Efficiency of YAG laser can be enhanced through the time-divided utilization by switching the beam transmission path using fiber change-over switch. In the automobile industry, CO2 laser is mainly used, and a system combining CO laser with articulate robot is realized. TIG and MIG welding is often used for welding of aluminum for railway vehicles. It is required to reduce the welding strain. In the iron and steel industry, the productivity has been improved by the laser welding. YAG laser is put into practice for nuclear reactors. 5 refs., 8 figs., 1 tab.

  16. Remote Welding, NDE and Repair of DOE Standardized Canisters

    Energy Technology Data Exchange (ETDEWEB)

    Eric Larsen; Art Watkins; Timothy R. McJunkin; Dave Pace; Rodney Bitsoi

    2006-05-01

    The U.S. Department of Energy (DOE) created the National Spent Nuclear Fuel Program (NSNFP) to manage DOE’s spent nuclear fuel (SNF). One of the NSNFP’s tasks is to prepare spent nuclear fuel for storage, transportation, and disposal at the national repository. As part of this effort, the NSNFP developed a standardized canister for interim storage and transportation of SNF. These canisters will be built and sealed to American Society of Mechanical Engineers (ASME) Section III, Division 3 requirements. Packaging SNF usually is a three-step process: canister loading, closure welding, and closure weld verification. After loading SNF into the canisters, the canisters must be seal welded and the welds verified using a combination of visual, surface eddy current, and ultrasonic inspection or examination techniques. If unacceptable defects in the weld are detected, the defective sections of weld must be removed, re-welded, and re-inspected. Due to the high contamination and/or radiation fields involved with this process, all of these functions must be performed remotely in a hot cell. The prototype apparatus to perform these functions is a floor-mounted carousel that encircles the loaded canister; three stations perform the functions of welding, inspecting, and repairing the seal welds. A welding operator monitors and controls these functions remotely via a workstation located outside the hot cell. The discussion describes the hardware and software that have been developed and the results of testing that has been done to date.

  17. Orbital welding technique

    International Nuclear Information System (INIS)

    Hoeschen, W.

    2003-01-01

    The TIG (Tungsten-inert gas) orbital welding technique is applied in all areas of pipe welding. The process is mainly used for austenitic and ferritic materials but also for materials like aluminium, nickel, and titanium alloys are commonly welded according to this technique. Thin-walled as well as thick-walled pipes are welded economically. The application of orbital welding is of particular interest in the area of maintenance of thick-walled pipes that is described in this article. (orig.) [de

  18. Robot Mechanisms

    CERN Document Server

    Lenarcic, Jadran; Stanišić, Michael M

    2013-01-01

    This book provides a comprehensive introduction to the area of robot mechanisms, primarily considering industrial manipulators and humanoid arms. The book is intended for both teaching and self-study. Emphasis is given to the fundamentals of kinematic analysis and the design of robot mechanisms. The coverage of topics is untypical. The focus is on robot kinematics. The book creates a balance between theoretical and practical aspects in the development and application of robot mechanisms, and includes the latest achievements and trends in robot science and technology.

  19. Robotic Automation of In Vivo Two-Photon Targeted Whole-Cell Patch-Clamp Electrophysiology.

    Science.gov (United States)

    Annecchino, Luca A; Morris, Alexander R; Copeland, Caroline S; Agabi, Oshiorenoya E; Chadderton, Paul; Schultz, Simon R

    2017-08-30

    Whole-cell patch-clamp electrophysiological recording is a powerful technique for studying cellular function. While in vivo patch-clamp recording has recently benefited from automation, it is normally performed "blind," meaning that throughput for sampling some genetically or morphologically defined cell types is unacceptably low. One solution to this problem is to use two-photon microscopy to target fluorescently labeled neurons. Combining this with robotic automation is difficult, however, as micropipette penetration induces tissue deformation, moving target cells from their initial location. Here we describe a platform for automated two-photon targeted patch-clamp recording, which solves this problem by making use of a closed loop visual servo algorithm. Our system keeps the target cell in focus while iteratively adjusting the pipette approach trajectory to compensate for tissue motion. We demonstrate platform validation with patch-clamp recordings from a variety of cells in the mouse neocortex and cerebellum. Copyright © 2017 The Authors. Published by Elsevier Inc. All rights reserved.

  20. Homogeneous weldings of copper

    International Nuclear Information System (INIS)

    Campurri, C.; Lopez, M.; Fernandez, R.; Osorio, V.

    1995-01-01

    This research explored the metallurgical and mechanical properties of arc welding of copper related with influence of Argon, Helium and mixtures of them. Copper plates of 6 mm thickness were welded with different mixtures of the mentioned gases. The radiography of welded specimens with 100% He and 100% Ar does not show show any porosity. On the other hand, the copper plates welded different gas mixtures presented uniform porosity in the welded zone. The metallographies show recrystallized grain in the heat affected zone, while the welding zone showed a dendritic structure. The results of the tensile strength vary between a maximum of 227 MPa for 100% He and a minimum of 174 MOa for the mixture of 60% He and 40% Ar. For the elongation after fracture the best values, about 36%, were obtained for pure gases. As a main conclusion, we can say that arc welding of copper is possible without loosing the mechanical and metallurgical properties of base metal. 6 refs

  1. Robot Futures

    DEFF Research Database (Denmark)

    Christoffersen, Anja; Grindsted Nielsen, Sally; Jochum, Elizabeth Ann

    Robots are increasingly used in health care settings, e.g., as homecare assistants and personal companions. One challenge for personal robots in the home is acceptance. We describe an innovative approach to influencing the acceptance of care robots using theatrical performance. Live performance...... is a useful testbed for developing and evaluating what makes robots expressive; it is also a useful platform for designing robot behaviors and dialogue that result in believable characters. Therefore theatre is a valuable testbed for studying human-robot interaction (HRI). We investigate how audiences...... perceive social robots interacting with humans in a future care scenario through a scripted performance. We discuss our methods and initial findings, and outline future work....

  2. Robotics education

    International Nuclear Information System (INIS)

    Benton, O.

    1984-01-01

    Robotics education courses are rapidly spreading throughout the nation's colleges and universities. Engineering schools are offering robotics courses as part of their mechanical or manufacturing engineering degree program. Two year colleges are developing an Associate Degree in robotics. In addition to regular courses, colleges are offering seminars in robotics and related fields. These seminars draw excellent participation at costs running up to $200 per day for each participant. The last one drew 275 people from Texas to Virginia. Seminars are also offered by trade associations, private consulting firms, and robot vendors. IBM, for example, has the Robotic Assembly Institute in Boca Raton and charges about $1,000 per week for course. This is basically for owners of IBM robots. Education (and training) can be as short as one day or as long as two years. Here is the educational pattern that is developing now

  3. Modelling of industrial robot in LabView Robotics

    Science.gov (United States)

    Banas, W.; Cwikła, G.; Foit, K.; Gwiazda, A.; Monica, Z.; Sekala, A.

    2017-08-01

    Currently can find many models of industrial systems including robots. These models differ from each other not only by the accuracy representation parameters, but the representation range. For example, CAD models describe the geometry of the robot and some even designate a mass parameters as mass, center of gravity, moment of inertia, etc. These models are used in the design of robotic lines and sockets. Also systems for off-line programming use these models and many of them can be exported to CAD. It is important to note that models for off-line programming describe not only the geometry but contain the information necessary to create a program for the robot. Exports from CAD to off-line programming system requires additional information. These models are used for static determination of reachability points, and testing collision. It’s enough to generate a program for the robot, and even check the interaction of elements of the production line, or robotic cell. Mathematical models allow robots to study the properties of kinematic and dynamic of robot movement. In these models the geometry is not so important, so are used only selected parameters such as the length of the robot arm, the center of gravity, moment of inertia. These parameters are introduced into the equations of motion of the robot and motion parameters are determined.

  4. Biological Soft Robotics.

    Science.gov (United States)

    Feinberg, Adam W

    2015-01-01

    In nature, nanometer-scale molecular motors are used to generate force within cells for diverse processes from transcription and transport to muscle contraction. This adaptability and scalability across wide temporal, spatial, and force regimes have spurred the development of biological soft robotic systems that seek to mimic and extend these capabilities. This review describes how molecular motors are hierarchically organized into larger-scale structures in order to provide a basic understanding of how these systems work in nature and the complexity and functionality we hope to replicate in biological soft robotics. These span the subcellular scale to macroscale, and this article focuses on the integration of biological components with synthetic materials, coupled with bioinspired robotic design. Key examples include nanoscale molecular motor-powered actuators, microscale bacteria-controlled devices, and macroscale muscle-powered robots that grasp, walk, and swim. Finally, the current challenges and future opportunities in the field are addressed.

  5. Pulsed infrared thermography for assessment of ultrasonic welds

    Science.gov (United States)

    McGovern, Megan E.; Rinker, Teresa J.; Sekol, Ryan C.

    2018-03-01

    Battery packs are a critical component in electric vehicles. During pack assembly, the battery cell tab and busbar are ultrasonically welded. The properties of the welds ultimately affect battery pack durability. Quality inspection of these welds is important to ensure durable battery packs. Pack failure is detrimental economically and could also pose a safety hazard, such as thermal runaway. Ultrasonic welds are commonly checked by measuring electrical resistance or auditing using destructive mechanical testing. Resistance measurements are quick, but sensitive to set-up changes. Destructive testing cannot represent the entire weld set. It is possible for a weak weld to satisfy the electrical requirement check, because only sufficient contact between the tabs and busbar is required to yield a low resistance measurement. Laboratory techniques are often not suitable for inline inspection, as they may be time-consuming, use couplant, or are only suitable for coupons. The complex surface geometry also poses difficulties for conventional nondestructive techniques. A method for inspection of ultrasonic welds is proposed using pulsed infrared thermography to identify discrepant welds in a manufacturing environment. Thermal measurements of welds were compared to electrical and mechanical measurements. The heat source distribution was calculated to obtain thermal images with high temporal and spatial resolution. All discrepant welds were readily identifiable using two thermographic techniques: pixel counting and the gradient image. A positive relationship between pixel count and mechanical strength was observed. The results demonstrate the potential of pulsed thermography for inline inspection, which can complement, or even replace, conventional electrical resistance measurements.

  6. Nd-YAG laser welding of bare and galvanised steels

    International Nuclear Information System (INIS)

    Kennedy, S.C.; Norris, I.M.

    1989-01-01

    Until recently, one of the problems that has held back the introduction of lasers into car body fabrication has been the difficulty of integrating the lasers with robots. Nd-YAG laser beams can be transmitted through fibre optics which, as well as being considerably easier to manipulate than a mirror system, can be mounted on more lightweight accurate robots. Although previously only available at low powers, recent developments in Nd-YAG laser technology mean that lasers of up to 1kW average power will soon be available, coupled to a fibre optic beam delivery system. The increasing usage of zinc coated steels in vehicle bodies has led to welding problems using conventional resistance welding as well as CO 2 laser welding. The use of Nd-YAG lasers may be able to overcome these problems. This paper outlines work carried out at The Welding Institute on a prototype Lumonics 800W pulsed Nd-YAG laser to investigate its welding characteristics on bare and zinc coated car body steels

  7. Robotic buildings(s)

    NARCIS (Netherlands)

    Bier, H.H.

    2014-01-01

    Technological and conceptual advances in fields such as artificial intelligence, robotics, and material science have enabled robotic building to be in the last decade prototypically implemented. In this context, robotic building implies both physically built robotic environments and robotically

  8. Ultrasonic Real-Time Quality Monitoring Of Aluminum Spot Weld Process

    Science.gov (United States)

    Perez Regalado, Waldo Josue

    The real-time ultrasonic spot weld monitoring system, introduced by our research group, has been designed for the unsupervised quality characterization of the spot welding process. It comprises the ultrasonic transducer (probe) built into one of the welding electrodes and an electronics hardware unit which gathers information from the transducer, performs real-time weld quality characterization and communicates with the robot programmable logic controller (PLC). The system has been fully developed for the inspection of spot welds manufactured in steel alloys, and has been mainly applied in the automotive industry. In recent years, a variety of materials have been introduced to the automotive industry. These include high strength steels, magnesium alloys, and aluminum alloys. Aluminum alloys have been of particular interest due to their high strength-to-weight ratio. Resistance spot welding requirements for aluminum vary greatly from those of steel. Additionally, the oxide film formed on the aluminum surface increases the heat generation between the copper electrodes and the aluminum plates leading to accelerated electrode deterioration. Preliminary studies showed that the real-time quality inspection system was not able to monitor spot welds manufactured with aluminum. The extensive experimental research, finite element modelling of the aluminum welding process and finite difference modeling of the acoustic wave propagation through the aluminum spot welds presented in this dissertation, revealed that the thermodynamics and hence the acoustic wave propagation through an aluminum and a steel spot weld differ significantly. For this reason, the hardware requirements and the algorithms developed to determine the welds quality from the ultrasonic data used on steel, no longer apply on aluminum spot welds. After updating the system and designing the required algorithms, parameters such as liquid nugget penetration and nugget diameter were available in the ultrasonic data

  9. Welding skate with computerized controls

    Science.gov (United States)

    Wall, W. A., Jr.

    1968-01-01

    New welding skate concept for automatic TIG welding of contoured or double-contoured parts combines lightweight welding apparatus with electrical circuitry which computes the desired torch angle and positions a torch and cold-wire guide angle manipulator.

  10. Challenges to Resistance Welding

    DEFF Research Database (Denmark)

    Song, Quanfeng

    This report originates from the compulsory defense during my Ph.D. study at the Technical University of Denmark. Resistance welding is an old and well-proven technology. Yet the emergence of more and more new materials, new designs, invention off new joining techniques, and more stringent...... requirement in quality have imposed challenges to the resistance welding. More some research and development have to be done to adapt the old technology to the manufacturing industry of the 21st century. In the 1st part of the report, the challenging factors to the resistance welding are reviewed. Numerical...... simulation of resistance welding has been under development for many years. Yet it is no easy to make simulation results reliable and accurate because of the complexity of resistance welding process. In the 2nd part of the report numerical modeling of resistance welding is reviewed, some critical factors...

  11. Ultrasonic Stir Welding

    Science.gov (United States)

    Nabors, Sammy

    2015-01-01

    NASA Marshall Space Flight Center (MSFC) developed Ultrasonic Stir Welding (USW) to join large pieces of very high-strength metals such as titanium and Inconel. USW, a solid-state weld process, improves current thermal stir welding processes by adding high-power ultrasonic (HPU) energy at 20 kHz frequency. The addition of ultrasonic energy significantly reduces axial, frictional, and shear forces; increases travel rates; and reduces wear on the stir rod, which results in extended stir rod life. The USW process decouples the heating, stirring, and forging elements found in the friction stir welding process allowing for independent control of each process element and, ultimately, greater process control and repeatability. Because of the independent control of USW process elements, closed-loop temperature control can be integrated into the system so that a constant weld nugget temperature can be maintained during welding.

  12. Automatization of welding

    International Nuclear Information System (INIS)

    Iwabuchi, Masashi; Tomita, Jinji; Nishihara, Katsunori.

    1978-01-01

    Automatization of welding is one of the effective measures for securing high degree of quality of nuclear power equipment, as well as for correspondence to the environment at the site of plant. As the latest ones of the automatic welders practically used for welding of nuclear power apparatuses in factories of Toshiba and IHI, those for pipes and lining tanks are described here. The pipe welder performs the battering welding on the inside of pipe end as the so-called IGSCC countermeasure and the succeeding butt welding through the same controller. The lining tank welder is able to perform simultaneous welding of two parallel weld lines on a large thin plate lining tank. Both types of the welders are demonstrating excellent performance at the shops as well as at the plant site. (author)

  13. Soft Robotics.

    Science.gov (United States)

    Whitesides, George M

    2018-04-09

    This description of "soft robotics" is not intended to be a conventional review, in the sense of a comprehensive technical summary of a developing field. Rather, its objective is to describe soft robotics as a new field-one that offers opportunities to chemists and materials scientists who like to make "things" and to work with macroscopic objects that move and exert force. It will give one (personal) view of what soft actuators and robots are, and how this class of soft devices fits into the more highly developed field of conventional "hard" robotics. It will also suggest how and why soft robotics is more than simply a minor technical "tweak" on hard robotics and propose a unique role for chemistry, and materials science, in this field. Soft robotics is, at its core, intellectually and technologically different from hard robotics, both because it has different objectives and uses and because it relies on the properties of materials to assume many of the roles played by sensors, actuators, and controllers in hard robotics. © 2018 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

  14. Dual wire welding torch and method

    Science.gov (United States)

    Diez, Fernando Martinez; Stump, Kevin S.; Ludewig, Howard W.; Kilty, Alan L.; Robinson, Matthew M.; Egland, Keith M.

    2009-04-28

    A welding torch includes a nozzle with a first welding wire guide configured to orient a first welding wire in a first welding wire orientation, and a second welding wire guide configured to orient a second welding wire in a second welding wire orientation that is non-coplanar and divergent with respect to the first welding wire orientation. A method of welding includes moving a welding torch with respect to a workpiece joint to be welded. During moving the welding torch, a first welding wire is fed through a first welding wire guide defining a first welding wire orientation and a second welding wire is fed through a second welding wire guide defining a second welding wire orientation that is divergent and non-coplanar with respect to the first welding wire orientation.

  15. Electric arc welding gun

    Science.gov (United States)

    Luttrell, Edward; Turner, Paul W.

    1978-01-01

    This invention relates to improved apparatus for arc welding an interior joint formed by intersecting tubular members. As an example, the invention is well suited for applications where many similar small-diameter vertical lines are to be welded to a long horizontal header. The improved apparatus includes an arc welding gun having a specially designed welding head which is not only very compact but also produces welds that are essentially free from rolled-over solidified metal. The welding head consists of the upper end of the barrel and a reversely extending electrode holder, or tip, which defines an acute angle with the barrel. As used in the above-mentioned example, the gun is positioned to extend upwardly through the vertical member and the joint to be welded, with its welding head disposed within the horizontal header. Depending on the design of the welding head, the barrel then is either rotated or revolved about the axis of the vertical member to cause the electrode to track the joint.

  16. Electron beam welding

    International Nuclear Information System (INIS)

    Schwartz, M.M.

    1974-01-01

    Electron-beam equipment is considered along with fixed and mobile electron-beam guns, questions of weld environment, medium and nonvacuum welding, weld-joint designs, tooling, the economics of electron-beam job shops, aspects of safety, quality assurance, and repair. The application of the process in the case of individual materials is discussed, giving attention to aluminum, beryllium, copper, niobium, magnesium, molybdenum, tantalum, titanium, metal alloys, superalloys, and various types of steel. Mechanical-property test results are examined along with the areas of application of electron-beam welding

  17. Use of servo controlled weld head for end closure welding

    Energy Technology Data Exchange (ETDEWEB)

    Pathak, S.K.; Setty, D.S.; Rameswara Rao, A.; Hemantha Rao, G.V.S.; Jayaraj, R.N. [Nuclear Fuel Complex, Dept. of Atomic Energy, Hyderabad (India)

    2010-07-01

    In the PHWR fuel fabrication line resistance welding processes are used for joining various zirconium based alloy components to fuel tube of similar material. The quality requirement of these welding processes is very stringent and has to meet all the product requirements. At present these welding processes are being carried out by using standard resistance welding machines. In the resistance welding process in addition to current and time, force is one of the critical and important parameter, which influences the weld quality. At present advanced feed back type fast response medium frequency weld controllers are being used. This has upslope/down slope, constant and repetitive weld pattern selection features makes this critical welding process more reliable. Compared to weld controllers, squeeze force application devices are limited and normally standard high response pneumatic cylinders are used in the welding process. With this type of devices the force is constant during welding process and cannot be varied during welding process as per the material deformation characteristics. Similarly due to non-availability of feed back systems in the squeeze force application systems restricts the accuracy and quality of the welding process. In the present paper the influence of squeeze force pattern on the weld quality using advanced feed back type servo based force control system was studied. Different squeeze forces were used during pre and post weld heat periods along with constant force and compared with the weld quality. (author)

  18. Robotics 101

    Science.gov (United States)

    Sultan, Alan

    2011-01-01

    Robots are used in all kinds of industrial settings. They are used to rivet bolts to cars, to move items from one conveyor belt to another, to gather information from other planets, and even to perform some very delicate types of surgery. Anyone who has watched a robot perform its tasks cannot help but be impressed by how it works. This article…

  19. Vitruvian Robot

    DEFF Research Database (Denmark)

    Hasse, Cathrine

    2017-01-01

    future. A real version of Ava would not last long in a human world because she is basically a solipsist, who does not really care about humans. She cannot co-create the line humans walk along. The robots created as ‘perfect women’ (sex robots) today are very far from the ideal image of Ava...

  20. Beijing international welding fair report. Kokusaika ni ugokidashita chugoku yosetsukai

    Energy Technology Data Exchange (ETDEWEB)

    1991-07-01

    This paper reports the affairs at the Beijing International Scientific Conference for Welding and the International Welding Fair held in May 1991, including visitors{prime} comments on their impression. The Scientific Conference was held for three days in eleven sessions, where 135 theses were presented, most of which were related to high-tech areas including robotization, automation, laser welding and cutting, and ceramic bonding. The total attendance numbered 231 members, including 30 from Germany, 20 from Japan, 17 from Soviet, 7 from Korea, and one each from Finland and Switzerland, plus 150 from China. It was the third meeting for the Scientific Conference, which had the number of attendance jumped from the previous one showing the increased interest by the international welding industry toward China. Exhibits from overseas countries were few, a possible effect from the Tiananmen incident, only three from Japan. Welding machines exhibited by China were those made in or licensed by Japan. Strong impression was felt on the spread in use of CO{sub 2} semi-automatic welding machines. 3 figs.

  1. Accuracy analysis of hybrid parallel robot for the assembling of ITER

    International Nuclear Information System (INIS)

    Wang Yongbo; Pessi, Pekka; Wu Huapeng; Handroos, Heikki

    2009-01-01

    This paper presents a novel mobile parallel robot, which is able to carry welding and machining processes from inside the international thermonuclear experimental reactor (ITER) vacuum vessel (VV). The kinematics design of the robot has been optimized for ITER access. To improve the accuracy of the parallel robot, the errors caused by the stiffness and manufacture process have to be compensated or limited to a minimum value. In this paper kinematics errors and stiffness modeling are given. The simulation results are presented.

  2. Accuracy analysis of hybrid parallel robot for the assembling of ITER

    Energy Technology Data Exchange (ETDEWEB)

    Wang Yongbo [Institute of Mechatronics and Virtual Engineering, Lappeenranta University of Technology, Skinnarilankatu 34, 53850 Lappeenranta (Finland); The State Key Laboratory of Mechanical Transmission, Chongqing University (China); Pessi, Pekka [Institute of Mechatronics and Virtual Engineering, Lappeenranta University of Technology, Skinnarilankatu 34, 53850 Lappeenranta (Finland); Wu Huapeng [Institute of Mechatronics and Virtual Engineering, Lappeenranta University of Technology, Skinnarilankatu 34, 53850 Lappeenranta (Finland)], E-mail: huapeng@lut.fi; Handroos, Heikki [Institute of Mechatronics and Virtual Engineering, Lappeenranta University of Technology, Skinnarilankatu 34, 53850 Lappeenranta (Finland)

    2009-06-15

    This paper presents a novel mobile parallel robot, which is able to carry welding and machining processes from inside the international thermonuclear experimental reactor (ITER) vacuum vessel (VV). The kinematics design of the robot has been optimized for ITER access. To improve the accuracy of the parallel robot, the errors caused by the stiffness and manufacture process have to be compensated or limited to a minimum value. In this paper kinematics errors and stiffness modeling are given. The simulation results are presented.

  3. A robotics platform for automated batch fabrication of high density, microfluidics-based DNA microarrays, with applications to single cell, multiplex assays of secreted proteins

    Science.gov (United States)

    Ahmad, Habib; Sutherland, Alex; Shin, Young Shik; Hwang, Kiwook; Qin, Lidong; Krom, Russell-John; Heath, James R.

    2011-09-01

    Microfluidics flow-patterning has been utilized for the construction of chip-scale miniaturized DNA and protein barcode arrays. Such arrays have been used for specific clinical and fundamental investigations in which many proteins are assayed from single cells or other small sample sizes. However, flow-patterned arrays are hand-prepared, and so are impractical for broad applications. We describe an integrated robotics/microfluidics platform for the automated preparation of such arrays, and we apply it to the batch fabrication of up to eighteen chips of flow-patterned DNA barcodes. The resulting substrates are comparable in quality with hand-made arrays and exhibit excellent substrate-to-substrate consistency. We demonstrate the utility and reproducibility of robotics-patterned barcodes by utilizing two flow-patterned chips for highly parallel assays of a panel of secreted proteins from single macrophage cells.

  4. A robotics platform for automated batch fabrication of high density, microfluidics-based DNA microarrays, with applications to single cell, multiplex assays of secreted proteins.

    Science.gov (United States)

    Ahmad, Habib; Sutherland, Alex; Shin, Young Shik; Hwang, Kiwook; Qin, Lidong; Krom, Russell-John; Heath, James R

    2011-09-01

    Microfluidics flow-patterning has been utilized for the construction of chip-scale miniaturized DNA and protein barcode arrays. Such arrays have been used for specific clinical and fundamental investigations in which many proteins are assayed from single cells or other small sample sizes. However, flow-patterned arrays are hand-prepared, and so are impractical for broad applications. We describe an integrated robotics/microfluidics platform for the automated preparation of such arrays, and we apply it to the batch fabrication of up to eighteen chips of flow-patterned DNA barcodes. The resulting substrates are comparable in quality with hand-made arrays and exhibit excellent substrate-to-substrate consistency. We demonstrate the utility and reproducibility of robotics-patterned barcodes by utilizing two flow-patterned chips for highly parallel assays of a panel of secreted proteins from single macrophage cells. © 2011 American Institute of Physics

  5. Robot Teachers

    DEFF Research Database (Denmark)

    Nørgård, Rikke Toft; Ess, Charles Melvin; Bhroin, Niamh Ni

    The world's first robot teacher, Saya, was introduced to a classroom in Japan in 2009. Saya, had the appearance of a young female teacher. She could express six basic emotions, take the register and shout orders like 'be quiet' (The Guardian, 2009). Since 2009, humanoid robot technologies have...... developed. It is now suggested that robot teachers may become regular features in educational settings, and may even 'take over' from human teachers in ten to fifteen years (cf. Amundsen, 2017 online; Gohd, 2017 online). Designed to look and act like a particular kind of human; robot teachers mediate human...... existence and roles, while also aiming to support education through sophisticated, automated, human-like interaction. Our paper explores the design and existential implications of ARTIE, a robot teacher at Oxford Brookes University (2017, online). Drawing on an initial empirical exploration we propose...

  6. Social Robots

    DEFF Research Database (Denmark)

    Social robotics is a cutting edge research area gathering researchers and stakeholders from various disciplines and organizations. The transformational potential that these machines, in the form of, for example, caregiving, entertainment or partner robots, pose to our societies and to us as indiv......Social robotics is a cutting edge research area gathering researchers and stakeholders from various disciplines and organizations. The transformational potential that these machines, in the form of, for example, caregiving, entertainment or partner robots, pose to our societies and to us...... as individuals seems to be limited by our technical limitations and phantasy alone. This collection contributes to the field of social robotics by exploring its boundaries from a philosophically informed standpoint. It constructively outlines central potentials and challenges and thereby also provides a stable...

  7. Robotic seeding

    DEFF Research Database (Denmark)

    Pedersen, Søren Marcus; Fountas, Spyros; Sørensen, Claus Aage Grøn

    2017-01-01

    Agricultural robotics has received attention for approximately 20 years, but today there are only a few examples of the application of robots in agricultural practice. The lack of uptake may be (at least partly) because in many cases there is either no compelling economic benefit......, or there is a benefit but it is not recognized. The aim of this chapter is to quantify the economic benefits from the application of agricultural robots under a specific condition where such a benefit is assumed to exist, namely the case of early seeding and re-seeding in sugar beet. With some predefined assumptions...... with regard to speed, capacity and seed mapping, we found that among these two technical systems both early seeding with a small robot and re-seeding using a robot for a smaller part of the field appear to be financially viable solutions in sugar beet production....

  8. Measuring weld heat to evaluate weld integrity

    Energy Technology Data Exchange (ETDEWEB)

    Schauder, V., E-mail: schauder@hks-prozesstechnik.de [HKS-Prozesstechnik GmbH, Halle (Germany)

    2015-11-15

    Eddy current and ultrasonic testing are suitable for tube and pipe mills and have been used for weld seam flaw detection for decades, but a new process, thermography, is an alternative. By measuring the heat signature of the weld seam as it cools, it provides information about weld integrity at and below the surface. The thermal processes used to join metals, such as plasma, induction, laser, and gas tungsten arc welding (GTAW), have improved since they were developed, and they get better with each passing year. However, no industrial process is perfect, so companies that conduct research in flaw detection likewise continue to develop and improve the technologies used to verify weld integrity: ultrasonic testing (UT), eddy current testing (ET), hydrostatic, X-ray, magnetic particle, and liquid penetrant are among the most common. Two of these are used for verifying the integrity of the continuous welds such as those used on pipe and tube mills: UT and ET. Each uses a transmitter to send waves of ultrasonic energy or electrical current through the material and a receiver (probe) to detect disturbances in the flow. The two processes often are combined to capitalize on the strengths of each. While ET is good at detecting flaws at or near the surface, UT penetrates the material, detecting subsurface flaws. One drawback is that sound waves and electrical current waves have a specific direction of travel, or an alignment. A linear defect that runs parallel to the direction of travel of the ultrasonic sound wave or a flaw that is parallel to the coil winding direction of the ET probe can go undetected. A second drawback is that they don't detect cold welds. An alternative process, thermography, works in a different fashion: It monitors the heat of the material as the weld cools. Although it measures the heat at the surface, the heat signature provides clues about cooling activity deep in the material, resulting in a thorough assessment of the weld's integrity It

  9. Micro intelligence robot

    International Nuclear Information System (INIS)

    Jeon, Yon Ho

    1991-07-01

    This book gives descriptions of micro robot about conception of robots and micro robot, match rules of conference of micro robots, search methods of mazes, and future and prospect of robots. It also explains making and design of 8 beat robot like making technique, software, sensor board circuit, and stepping motor catalog, speedy 3, Mr. Black and Mr. White, making and design of 16 beat robot, such as micro robot artist, Jerry 2 and magic art of shortening distances algorithm of robot simulation.

  10. An Intelligent Robot Programing

    Energy Technology Data Exchange (ETDEWEB)

    Hong, Seong Yong

    2012-01-15

    This book introduces an intelligent robot programing with background of the begging, introduction of VPL, and SPL, building of environment for robot platform, starting of robot programing, design of simulation environment, robot autonomy drive control programing, simulation graphic. Such as SPL graphic programing graphical image and graphical shapes, and graphical method application, application of procedure for robot control, robot multiprogramming, robot bumper sensor programing, robot LRF sencor programing and robot color sensor programing.

  11. An Intelligent Robot Programing

    International Nuclear Information System (INIS)

    Hong, Seong Yong

    2012-01-01

    This book introduces an intelligent robot programing with background of the begging, introduction of VPL, and SPL, building of environment for robot platform, starting of robot programing, design of simulation environment, robot autonomy drive control programing, simulation graphic. Such as SPL graphic programing graphical image and graphical shapes, and graphical method application, application of procedure for robot control, robot multiprogramming, robot bumper sensor programing, robot LRF sencor programing and robot color sensor programing.

  12. TIG welding method and TIG welding device

    International Nuclear Information System (INIS)

    Yoneda, Eishi

    1998-01-01

    The present invention provides a method of TIG welding for members having different heat capacities including a cladding tube and an end plug of a fuel rod to be used, for example, in a reactor, and a device therefor. Namely, in the TIG welding method, the flow rate of a sealed gas to the side of a member having smaller heat capacity is made greater than that on the side of the member having greater heat capacity bordered on the top end of a welding electrode. Since the sealed gas is jetted being localized relative to the welding electrode, arc is restricted in a region of the member having smaller heat capacity and is increased at a region having a larger heat capacity. As a result, the arc is localized, so that the heat input amount to the region having a large heat capacity is increased, and then a plurality of members at the abutting portion are melted uniformly thereby capable of obtaining a uniform molten pool. A bead is formed at the abutting portion thereby capable of obtaining a welded portion with less unevenness and having large strength. (I.S.)

  13. Explosion metal welding

    International Nuclear Information System (INIS)

    Popoff, A.A.

    1976-01-01

    Process parameters pertaining to welding similar and dissimilar metals using explosives are reviewed. The discussion centers on the interrelationship of physical parameters which play a part in achieving desirable metallurgical results. Present activities in explosion metal welding at LASL are presented and shown how they related to the interests of the ERDA community

  14. Electron beam welding

    International Nuclear Information System (INIS)

    Gabbay, M.

    1972-01-01

    The bead characteristics and the possible mechanisms of the electron beam penetration are presented. The different welding techniques are exposed and the main parts of an electron beam welding equipment are described. Some applications to nuclear, spatial and other industries are cited [fr

  15. Welding problems in nuclear power engineering

    International Nuclear Information System (INIS)

    Zubchenko, A.S.

    1986-01-01

    The problems of welding industry in nuclear power plant engineering, mainly related to the improvement of molten bath protection, are considered. Development of new materials for welding electrodes, for cladding and welding fluxes, is pointed out. Production of the following equipment is brought to a commercial level: welding heads and welding machines for branch pipe welding, anticorrosion cladding, zonal thermal treatment, electron beam welding facilities for the welding and maintenance of turbineblades, equipment for nondestructive testing of welded joints

  16. Method for welding beryllium

    Science.gov (United States)

    Dixon, R.D.; Smith, F.M.; O`Leary, R.F.

    1997-04-01

    A method is provided for joining beryllium pieces which comprises: depositing aluminum alloy on at least one beryllium surface; contacting that beryllium surface with at least one other beryllium surface; and welding the aluminum alloy coated beryllium surfaces together. The aluminum alloy may be deposited on the beryllium using gas metal arc welding. The aluminum alloy coated beryllium surfaces may be subjected to elevated temperatures and pressures to reduce porosity before welding the pieces together. The aluminum alloy coated beryllium surfaces may be machined into a desired welding joint configuration before welding. The beryllium may be an alloy of beryllium or a beryllium compound. The aluminum alloy may comprise aluminum and silicon. 9 figs.

  17. Method for welding beryllium

    International Nuclear Information System (INIS)

    Dixon, R.D.; Smith, F.M.; O'Leary, R.F.

    1997-01-01

    A method is provided for joining beryllium pieces which comprises: depositing aluminum alloy on at least one beryllium surface; contacting that beryllium surface with at least one other beryllium surface; and welding the aluminum alloy coated beryllium surfaces together. The aluminum alloy may be deposited on the beryllium using gas metal arc welding. The aluminum alloy coated beryllium surfaces may be subjected to elevated temperatures and pressures to reduce porosity before welding the pieces together. The aluminum alloy coated beryllium surfaces may be machined into a desired welding joint configuration before welding. The beryllium may be an alloy of beryllium or a beryllium compound. The aluminum alloy may comprise aluminum and silicon. 9 figs

  18. Transition welds in welding of two-ply steels

    International Nuclear Information System (INIS)

    Fartushnyj, V.G.; Evsyukov, Yu.G.

    1977-01-01

    Studied were physico-mechanical properties of welds made by various welding wires of chromium-nickel and nickel-chromium steels in submerged arc welding of double-layer steels with main layer of the VSt.3sp. carbon steel. It is shown that service-reliable structures welded of two-layer steels are obtained by providing the content from 11 to 20 % Ni in the automatically welded transition layer

  19. Novel low-cost vision-sensing technology with controllable of exposal time for welding

    Science.gov (United States)

    Zhang, Wenzeng; Wang, Bin; Chen, Nian; Cao, Yipeng

    2005-02-01

    In the process of robot Welding, position of welding seam and welding pool shape is detected by CCD camera for quality control and seam tracking in real-time. It is difficult to always get a clear welding image in some welding methods, such as TIG welding. A novel idea that the exposal time of CCD camera is automatically controlled by arc voltage or arc luminance is proposed to get clear welding image. A set of special device and circuits are added to a common industrial CCD camera in order to flexibly control the CCD to start or close exposal by control of the internal clearing signal of the accumulated charge. Two special vision sensors according to the idea are developed. Their exposal grabbing can be triggered respectively by the arc voltage and the variety of the arc luminance. Two prototypes have been designed and manufactured. Experiments show that they can stably grab clear welding images at appointed moment, which is a basic for the feedback control of automatic welding.

  20. Grinding Parts For Automatic Welding

    Science.gov (United States)

    Burley, Richard K.; Hoult, William S.

    1989-01-01

    Rollers guide grinding tool along prospective welding path. Skatelike fixture holds rotary grinder or file for machining large-diameter rings or ring segments in preparation for welding. Operator grasps handles to push rolling fixture along part. Rollers maintain precise dimensional relationship so grinding wheel cuts precise depth. Fixture-mounted grinder machines surface to quality sufficient for automatic welding; manual welding with attendant variations and distortion not necessary. Developed to enable automatic welding of parts, manual welding of which resulted in weld bead permeated with microscopic fissures.

  1. Intuitive Robot Tasks with Augmented Reality and Virtual Obstacles

    OpenAIRE

    Gaschler, Andre;Springer, Maximilian;Rickert, Markus;Knoll, Alois

    2017-01-01

    Today's industrial robots require expert knowledge and are not profitable for small and medium sized enterprises with their small lot sizes. It is our strong belief that more intuitive robot programming in an augmented reality robot work cell can dramatically simplify re-programming and leverage robotics technology in short production cycles. In this paper, we present a novel augmented reality system for defining virtual obstacles, specifying tool positions, and specifying robot tasks. We eva...

  2. Prediction of Weld Residual Stress of Narrow Gap Welds

    International Nuclear Information System (INIS)

    Yang, Jun Seog; Huh, Nam Su

    2010-01-01

    The conventional welding technique such as shield metal arc welding has been mostly applied to the piping system of the nuclear power plants. It is well known that this welding technique causes the overheating and welding defects due to the large groove angle of weld. On the other hand, the narrow gap welding(NGW) technique has many merits, for instance, the reduction of welding time, the shrinkage of weld and the small deformation of the weld due to the small groove angle and welding bead width comparing with the conventional welds. These characteristics of NGW affect the deformation behavior and the distribution of welding residual stress of NGW, thus it is believed that the residual stress results obtained from conventional welding procedure may not be applied to structural integrity evaluation of NGW. In this paper, the welding residual stress of NGW was predicted using the nonlinear finite element analysis to simulate the thermal and mechanical effects of the NGW. The present results can be used as the important information to perform the flaw evaluation and to improve the weld procedure of NGW

  3. Evaluation of characterisation techniques for particulate weld fume morphology

    International Nuclear Information System (INIS)

    Sterjovski, Z.; Monaghan, B.J.; Norrish, J.

    2009-01-01

    An evaluation of three techniques: scanning electron microscopy (SEM); transmission electron microscopy (TEM); and laser diffraction (LD), was carried out to determine the most suitable technique for the particle-size measurement of particulate-welding fume collected during the robotic gas-metal-arc welding (GMAW) of plain-carbon steel. Particulate fume was deposited onto an Al stub positioned at a horizontal distance of 30 mm and a vertical height of 50 mm from the welding arc, and was then prepared for SEM, TEM and LD sizing. Results are presented for paniculate-welding fume collected for three welding voltages (20, 23 and 26 V) and two metal-transfer modes (dip and dip/globular). TEM imaging was found to be the most effective of the three sizing technique as it was able to resolve both fine nano-particles (5 ran diameter) and coarse nano-particles (>100 mn diameter). The TEM approach showed that results determined were reproducible and that the majority of fume particles produced at the welding voltages investigated were less than 40 nm in diameter. SEM (La B6 filament) images were shown to be inadequate for the quantitative-size analysis of paniculate-welding fume due to the limited resolution of the microscope (-40 nm). However. SEM images did confirm that at a welding voltage of 23 V the majority of particle sizes produced were less than 100 nm in diameter, and thus supported the conclusion that the individual fume particles are predominantly in the nanometre size range. LD gave unexpectedly large mean particle sizes and did not detect particles less than 180 run in diameter. It is concluded that the LD technique measures particle agglomerates and/or simultaneously monitors multiple particles in the beam path.

  4. Capabilities of infrared weld monitor

    Energy Technology Data Exchange (ETDEWEB)

    Sanders, P.G.; Keske, J.S.; Leong, K.H.; Kornecki, G.

    1997-11-01

    A non-obtrusive pre-aligned, solid-state device has been developed to monitor the primary infrared emissions during laser welding. The weld monitor output is a 100-1000 mV signal that depends on the beam power and weld characteristics. The DC level of this signal is related to weld penetration, while AC portions of the output can be correlated with surface irregularities and part misalignment or contamination. Changes in DC behavior are also noted for both full and deep penetration welds. Full penetration welds are signified by an abrupt reduction in the weld monitor output. Bead on plate welds were made on steel, aluminum, and magnesium with both a CW CO{sub 2} laser and a pulsed Nd:YAG laser to explore the relationships between the weld characteristics and the weld monitor output.

  5. Metallography of Battery Resistance Spot Welds

    Science.gov (United States)

    Martinez, J. E.; Johannes, L. B.; Gonzalez, D.; Yayathi, S.; Figuered, J. M.; Darcy, E. C.; Bilc, Z. M.

    2015-01-01

    Li-ion cells provide an energy dense solution for systems that require rechargeable electrical power. However, these cells can undergo thermal runaway, the point at which the cell becomes thermally unstable and results in hot gas, flame, electrolyte leakage, and in some cases explosion. The heat and fire associated with this type of event is generally violent and can subsequently cause damage to the surrounding system or present a dangerous risk to the personnel nearby. The space flight environment is especially sensitive to risks particularly when it involves potential for fire within the habitable volume of the International Space Station (ISS). In larger battery packs such as Robonaut 2 (R2), numerous Li-ion cells are placed in parallel-series configurations to obtain the required stack voltage and desired run-time or to meet specific power requirements. This raises a second and less obvious concern for batteries that undergo certification for space flight use: the joining quality at the resistance spot weld of battery cells to component wires/leads and battery tabs, bus bars or other electronic components and assemblies. Resistance spot welds undergo materials evaluation, visual inspection, conductivity (resistivity) testing, destructive peel testing, and metallurgical examination in accordance with applicable NASA Process Specifications. Welded components are cross-sectioned to ensure they are free of cracks or voids open to any exterior surface. Pore and voids contained within the weld zone but not open to an exterior surface, and are not determined to have sharp notch like characteristics, shall be acceptable. Depending on requirements, some battery cells are constructed of aluminum canisters while others are constructed of steel. Process specific weld schedules must be developed and certified for each possible joining combination. The aluminum canisters' positive terminals were particularly difficult to weld due to a bi-metal strip that comes ultrasonically

  6. Robotics and remote handling in the nuclear industry

    Energy Technology Data Exchange (ETDEWEB)

    1984-01-01

    This book presents the papers given at a conference on the use of remote handling equipment in nuclear facilities. Topics considered at the conference included dose reduction, artificial intelligence in nuclear plant maintenance, robotic welding, uncertainty covariances, reactor operation and inspection, reactor maintenance and repair, uranium mining, fuel fabrication, reactor component manufacture, irradiated fuel and radioactive waste management, and radioisotope handling.

  7. Industrial robots in Europe - market, applications and developments

    Science.gov (United States)

    Schraft, R. D.

    1975-01-01

    Different companies involving a wide range of products and manufacturing processes were studied to define the requirements for industrial robots. A survey of all such automatic units offered on the world market was made to establish a data base. Principal applications include coating, spot welding, and loading and unloading operations.

  8. Material Properties of Laser-Welded Thin Silicon Foils

    Directory of Open Access Journals (Sweden)

    M. T. Hessmann

    2013-01-01

    Full Text Available An extended monocrystalline silicon base foil offers a great opportunity to combine low-cost production with high efficiency silicon solar cells on a large scale. By overcoming the area restriction of ingot-based monocrystalline silicon wafer production, costs could be decreased to thin film solar cell range. The extended monocrystalline silicon base foil consists of several individual thin silicon wafers which are welded together. A comparison of three different approaches to weld 50 μm thin silicon foils is investigated here: (1 laser spot welding with low constant feed speed, (2 laser line welding, and (3 keyhole welding. Cross-sections are prepared and analyzed by electron backscatter diffraction (EBSD to reveal changes in the crystal structure at the welding side after laser irradiation. The treatment leads to the appearance of new grains and boundaries. The induced internal stress, using the three different laser welding processes, was investigated by micro-Raman analysis. We conclude that the keyhole welding process is the most favorable to produce thin silicon foils.

  9. The universal robot

    Science.gov (United States)

    Moravec, Hans

    1993-12-01

    Our artifacts are getting smarter, and a loose parallel with the evolution of animal intelligence suggests one future course for them. Computerless industrial machinery exhibits the behavioral flexibility of single-celled organisms. Today's best computer-controlled robots are like the simpler invertebrates. A thousand-fold increase in computer power in the next decade should make possible machines with reptile-like sensory and motor competence. Properly configured, such robots could do in the physical world what personal computers now do in the world of data - act on our behalf as literal-minded slaves. Growing computer power over the next half-century will allow this reptile stage to be surpassed, in stages producing robots that learn like mammals, model their world like primates, and eventually reason like humans. Depending on your point of view, humanity will then have produced a worthy successor, or transcended some of its inherited limitations and so transformed itself into something quite new.

  10. Laser welding of nanoparticulate TiO2 and transparent conducting oxide electrodes for highly efficient dye-sensitized solar cell

    International Nuclear Information System (INIS)

    Kim, Jinsoo; Kim, Jonghyun; Lee, Myeongkyu

    2010-01-01

    Poor interfacial contact is often encountered in nanoparticulate film-based devices. The dye-sensitized solar cell (DSSC) is a representative case in which a nanoporous TiO 2 electrode needs to be prepared on the transparent conducting oxide (TCO)-coated glass substrate. In this study, we demonstrate that the inter-electrode contact resistance accounts for a considerable portion of the total resistance of a DSSC and its efficiency can be greatly enhanced by welding the interface with a laser. TiO 2 films formed on the TCO-coated glass substrate were irradiated with a pulsed ultraviolet laser beam at 355 nm; this transmits through the TCO and glass but is strongly absorbed by TiO 2 . Electron microscopy analysis and impedance measurements showed that a thin continuous TiO 2 layer is formed at the interface as a result of the local melting of TiO 2 nanoparticles and this layer completely bridges the gap between the two electrodes, improving the current flow with a reduced contact resistance. We were able to improve the efficiency by 35-65% with this process. DSSCs fabricated using a homemade TiO 2 paste revealed an efficiency improvement from η = 3.3% to 5.4%, and an increase from 8.2% to 11.2% was achieved with the TiO 2 electrodes made from a commercial paste.

  11. Laser welding of nanoparticulate TiO{sub 2} and transparent conducting oxide electrodes for highly efficient dye-sensitized solar cell

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Jinsoo; Kim, Jonghyun; Lee, Myeongkyu, E-mail: myeong@yonsei.ac.kr [Department of Materials Science and Engineering, Yonsei University, Seoul 120-749 (Korea, Republic of)

    2010-08-27

    Poor interfacial contact is often encountered in nanoparticulate film-based devices. The dye-sensitized solar cell (DSSC) is a representative case in which a nanoporous TiO{sub 2} electrode needs to be prepared on the transparent conducting oxide (TCO)-coated glass substrate. In this study, we demonstrate that the inter-electrode contact resistance accounts for a considerable portion of the total resistance of a DSSC and its efficiency can be greatly enhanced by welding the interface with a laser. TiO{sub 2} films formed on the TCO-coated glass substrate were irradiated with a pulsed ultraviolet laser beam at 355 nm; this transmits through the TCO and glass but is strongly absorbed by TiO{sub 2}. Electron microscopy analysis and impedance measurements showed that a thin continuous TiO{sub 2} layer is formed at the interface as a result of the local melting of TiO{sub 2} nanoparticles and this layer completely bridges the gap between the two electrodes, improving the current flow with a reduced contact resistance. We were able to improve the efficiency by 35-65% with this process. DSSCs fabricated using a homemade TiO{sub 2} paste revealed an efficiency improvement from {eta} = 3.3% to 5.4%, and an increase from 8.2% to 11.2% was achieved with the TiO{sub 2} electrodes made from a commercial paste.

  12. Welding method, and welding device for use therein, and method of analysis for evaluating welds

    NARCIS (Netherlands)

    Aendenroomer, A.J.; Den Ouden, G.; Xiao, Y.H.; Brabander, W.A.J.

    1995-01-01

    Described is a method of automatically welding pipes, comprising welding with a pulsation welding current and monitoring, by means of a sensor, the variations occurring in the arc voltage caused by weld pool oscillations. The occurrence of voltage variations with only frequency components below 100

  13. Effective programming of energy consuming industrial robot systems

    International Nuclear Information System (INIS)

    Trnka, K.; Pinter, T.; Knazik, M.; Bozek, P.

    2012-01-01

    This paper discusses the problem of effective motion planning for industrial robots. The first part dealt with current method for off-line motion planning. In the second part is presented the work done with one of the simulation system with automatic trajectory generation and off-line programming capability [4]. An spot welding process is involved. The practical application of this step strongly depends on the method for robot path optimization with high accuracy, thus, transform the path into a time and energy optimal robot program for the real world, which is discussed in the third step. (Authors)

  14. Eddy current testing system for bottom mounted instrumentation welds

    Directory of Open Access Journals (Sweden)

    Kobayashi Noriyasu

    2015-01-01

    Full Text Available The capability of eddy current testing (ECT for the bottom mounted instrumentation (BMI weld area of reactor vessel in a pressurized water reactor was demonstrated by the developed ECT system and procedure. It is difficult to position and move the probe on the BMI weld area because the area has complexly curved surfaces. The space coordinates and the normal vectors at the scanning points were calculated as the scanning trajectory of probe based on the measured results of surface shape on the BMI mock-up. The multi-axis robot was used to move the probe on the mock-up. Each motion-axis position of the robot corresponding to each scanning point was calculated by the inverse kinematic algorithm. In the mock-up test, the probe was properly contacted with most of the weld surfaces. The artificial stress corrosion cracking of approximately 6 mm in length and the electrical-discharge machining slit of 0.5 mm in length, 1 mm in depth and 0.2 mm in width given on the weld surface were detected. From the probe output voltage, it was estimated that the average probe tilt angle on the surface under scanning was 2.6°.

  15. Weld analysis and control system

    Science.gov (United States)

    Kennedy, Larry Z. (Inventor); Rodgers, Michael H. (Inventor); Powell, Bradley W. (Inventor); Burroughs, Ivan A. (Inventor); Goode, K. Wayne (Inventor)

    1994-01-01

    The invention is a Weld Analysis and Control System developed for active weld system control through real time weld data acquisition. Closed-loop control is based on analysis of weld system parameters and weld geometry. The system is adapted for use with automated welding apparatus having a weld controller which is capable of active electronic control of all aspects of a welding operation. Enhanced graphics and data displays are provided for post-weld analysis. The system provides parameter acquisition, including seam location which is acquired for active torch cross-seam positioning. Torch stand-off is also monitored for control. Weld bead and parent surface geometrical parameters are acquired as an indication of weld quality. These parameters include mismatch, peaking, undercut, underfill, crown height, weld width, puddle diameter, and other measurable information about the weld puddle regions, such as puddle symmetry, etc. These parameters provide a basis for active control as well as post-weld quality analysis and verification. Weld system parameters, such as voltage, current and wire feed rate, are also monitored and archived for correlation with quality parameters.

  16. Welding processes handbook

    CERN Document Server

    Weman, Klas

    2003-01-01

    Deals with the main commercially significant and commonly used welding processes. This title takes the student or novice welder through the individual steps involved in each process in an easily understood way. It covers many of the requirements referred to in European Standards including EN719, EN 729, EN 729 and EN 287.$bWelding processes handbook is a concise, explanatory guide to the main commercially significant and commonly-used welding processes. It takes the novice welder or student through the individual steps involved in each process in a clear and easily understood way. It is intended to provide an up-to-date reference to the major applications of welding as they are used in industry. The contents have been arranged so that it can be used as a textbook for European welding courses in accordance with guidelines from the European Welding Federation. Welding processes and equipment necessary for each process are described so that they can be applied to all instruction levels required by the EWF and th...

  17. Space Robotics Challenge

    Data.gov (United States)

    National Aeronautics and Space Administration — The Space Robotics Challenge seeks to infuse robot autonomy from the best and brightest research groups in the robotics community into NASA robots for future...

  18. Robotic surgery

    Science.gov (United States)

    ... with this type of surgery give it some advantages over standard endoscopic techniques. The surgeon can make ... Elsevier Saunders; 2015:chap 87. Muller CL, Fried GM. Emerging technology in surgery: Informatics, electronics, robotics. In: ...

  19. Robotic parathyroidectomy.

    Science.gov (United States)

    Okoh, Alexis Kofi; Sound, Sara; Berber, Eren

    2015-09-01

    Robotic parathyroidectomy has recently been described. Although the procedure eliminates the neck scar, it is technically more demanding than the conventional approaches. This report is a review of the patients' selection criteria, technique, and outcomes. © 2015 Wiley Periodicals, Inc.

  20. Light Robotics

    DEFF Research Database (Denmark)

    Glückstad, Jesper; Palima, Darwin

    Light Robotics - Structure-Mediated Nanobiophotonics covers the latest means of sculpting of both light and matter for achieving bioprobing and manipulation at the smallest scales. The synergy between photonics, nanotechnology and biotechnology spans the rapidly growing field of nanobiophotonics...

  1. Altered ion transport in normal human bronchial epithelial cells following exposure to chemically distinct metal welding fume particles.

    Science.gov (United States)

    Fedan, Jeffrey S; Thompson, Janet A; Meighan, Terence G; Zeidler-Erdely, Patti C; Antonini, James M

    2017-07-01

    Welding fume inhalation causes pulmonary toxicity, including susceptibility to infection. We hypothesized that airway epithelial ion transport is a target of fume toxicity, and investigated the effects of fume particulates from manual metal arc-stainless steel (MMA-SS) and gas metal arc-mild steel (GMA-MS) on ion transport in normal human bronchial epithelium (NHBE) cultured in air-interface. MMA-SS particles, more soluble than GMA-MS particles, contain Cr, Ni, Fe and Mn; GMA-MS particles contain Fe and Mn. MMA-SS or GMA-MS particles (0.0167-166.7μg/cm 2 ) were applied apically to NHBEs. After 18h transepithelial potential difference (V t ), resistance (R t ), and short circuit current (I sc ) were measured. Particle effects on Na + and Cl¯ channels and the Na + ,K + ,2Cl¯-cotransporter were evaluated using amiloride (apical), 5-nitro-2-[(3-phenylpropyl)amino]benzoic acid (NPPB, apical), and bumetanide (basolateral), respectively. MMA-SS (0.0167-16.7μg/cm 2 ) increased basal V t . Only 16.7μg/cm 2 GMA-MS increased basal V t significantly. MMA-SS or GMA-MS exposure potentiated I sc responses (decreases) to amiloride and bumetanide, while not affecting those to NPPB, GMA-MS to a lesser degree than MMA-SS. Variable effects on R t were observed in response to amiloride, and bumetanide. Generally, MMA-SS was more potent in altering responses to amiloride and bumetanide than GMA-MS. Hyperpolarization occurred in the absence of LDH release, but decreases in V t , R t , and I sc at higher fume particulate doses accompanied LDH release, to a greater extent for MMA-SS. Thus, Na + transport and Na + ,K + ,2Cl¯-cotransport are affected by fume exposure; MMA-MS is more potent than GMA-MS. Enhanced Na + absorption and decreased airway surface liquid could compromise defenses against infection. Published by Elsevier Inc.

  2. Thermal stir welding process

    Science.gov (United States)

    Ding, R. Jeffrey (Inventor)

    2012-01-01

    A welding method is provided for forming a weld joint between first and second elements of a workpiece. The method includes heating the first and second elements to form an interface of material in a plasticized or melted state interface between the elements. The interface material is then allowed to cool to a plasticized state if previously in a melted state. The interface material, while in the plasticized state, is then mixed, for example, using a grinding/extruding process, to remove any dendritic-type weld microstructures introduced into the interface material during the heating process.

  3. Thermal stir welding apparatus

    Science.gov (United States)

    Ding, R. Jeffrey (Inventor)

    2011-01-01

    A welding method and apparatus are provided for forming a weld joint between first and second elements of a workpiece. The method includes heating the first and second elements to form an interface of material in a plasticized or melted state interface between the elements. The interface material is then allowed to cool to a plasticized state if previously in a melted state. The interface material, while in the plasticized state, is then mixed, for example, using a grinding/extruding process, to remove any dendritic-type weld microstructures introduced into the interface material during the heating process.

  4. Review of Welding Terminology

    Directory of Open Access Journals (Sweden)

    Angelika Petrėtienė

    2011-04-01

    Full Text Available The paper discusses welding terms in accordance with the Lithuanian standard LST EN 1792 „Welding. The multilingual list of welding terms and similar processes”, „The Russian–Lithuanian dictionary of the terms of mechanical engineering technology and welding“ and the examples from postgraduates‘ final works. It analyses the infringement of lexical, word-building and morphological rules. First-year students should already be familiar with the standardized terms of their speciality. More active propagation of the terms should help to avoid terminology mistakes in various scientific spheres.

  5. Half bead welding technique

    International Nuclear Information System (INIS)

    Canonico, D.A.; Holz, P.P.

    1978-05-01

    The ORNL has employed the Section XI half-bead procedure for six repair welds. Table 2 identifies the repairs and the components upon which they were accomplished. The weld repairs were performed to permit us to evaluate material properties, residual stresses, weld repair procedures, and structural behavior of repaired pressure vessels. As a consequence of our study we concluded that when the half bead procedure is correctly applied: (1) there is no metallurgical degradation of the base material, (2) residual stresses of yield point magnitude will be present, and (3) the structural integrity of the pressure vessel is not impaired at Charpy V-notch upper shelf temperatures

  6. Exploring Host-Microbiome Interactions using an in Silico Model of Biomimetic Robots and Engineered Living Cells

    OpenAIRE

    Keith C. Heyde; Warren C. Ruder

    2015-01-01

    The microbiome?s underlying dynamics play an important role in regulating the behavior and health of its host. In order to explore the details of these interactions, we created an in silico model of a living microbiome, engineered with synthetic biology, that interfaces with a biomimetic, robotic host. By analytically modeling and computationally simulating engineered gene networks in these commensal communities, we reproduced complex behaviors in the host. We observed that robot movements de...

  7. Recent advances in robotics

    International Nuclear Information System (INIS)

    Beni, G.; Hackwood, S.

    1984-01-01

    Featuring 10 contributions, this volume offers a state-of-the-art report on robotic science and technology. It covers robots in modern industry, robotic control to help the disabled, kinematics and dynamics, six-legged walking robots, a vector analysis of robot manipulators, tactile sensing in robots, and more

  8. Recent developments in pipeline welding practice

    Energy Technology Data Exchange (ETDEWEB)

    1979-01-01

    Fourteen chapters are included: overview of pipeline welding systems and quality assurance, CRC automatic welding system, H.C. Price Co. automatic welding system, semi-automatic MIG-welding process, partial penetration welding of steel pipes for gas distribution, construction procedures and quality control in offshore pipeline construction, welding in repair and maintenance of gas transmission pipelines, British Gas studies of welding on pressurized gas transmission pipelines, hot tapping pipelines, underwater welding for offshore pipelines and associated equipment, radial friction welding, material composition vs weld properties, review of NDT of pipeline welds, and safety assurance in pipeline construction. A bibliography of approximately 150 references is included, arranged according to subject and year.

  9. Characterisation of fume from hyperbaric welding operations

    Energy Technology Data Exchange (ETDEWEB)

    Ross, John A S; Semple, Sean [Environmental and Occupational Medicine, University of Aberdeen (United Kingdom); Duffin, Rodger [ELEGI Colt Laboratory, University of Edinburgh (United Kingdom); Kelly, Frank [Lung Biology Group, Kings College, University of London (United Kingdom); Seldmann, Joerg; Raab, Andrea, E-mail: j.a.ross@abdn.ac.u [Trace Element Speciation Laboratory, University of Aberdeen (United Kingdom)

    2009-02-01

    We report preliminary work characterising dust from hyperbaric welding trials carried out at increased pressure in a helium and oxygen atmosphere. Particle size and concentration were measured during welding. Samples for quartz and metal analysis and toxicity assessment were taken from a filter in the local fume extraction system. The residue of dust after metal extraction by nitric acid in hydrogen peroxide predominantly a non-metallic white powder assumed to be dust from welding rod coatings and thermal insulation material. Metallic analysis showed predominantly calcium, from the welding rod coating, and period 4 transition metals such as iron, manganese, magnesium and titanium (inductively coupled mass spectrometry, Agilent 7500c). The presence of zirconium indicated a contribution from grinding. The fume was nanoparticulate in nature with a mean particle diameter of 20-30 nm (MSI Inc WPS 1000XP). It showed an intermediate level of oxidative potential regarding the low-molecular weight respiratory tract lining fluid antioxidants ascorbate and glutathione and caused release of the inflammatory marker IL-8 in a human lung A 549 epithelial cell culture with no indication of cytotoxicity. The study findings have strong implications for the measurement techniques needed to assess fume exposure in hyperbaric welding and the provision of respiratory protection.

  10. Hybrid laser-arc welding

    DEFF Research Database (Denmark)

    Hybrid laser-arc welding (HLAW) is a combination of laser welding with arc welding that overcomes many of the shortfalls of both processes. This important book gives a comprehensive account of hybrid laser-arc welding technology and applications. The first part of the book reviews...... the characteristics of the process, including the properties of joints produced by hybrid laser-arc welding and ways of assessing weld quality. Part II discusses applications of the process to such metals as magnesium alloys, aluminium and steel as well as the use of hybrid laser-arc welding in such sectors as ship...... building and the automotive industry. With its distinguished editor and international team of contributors, Hybrid laser-arc welding, will be a valuable source of reference for all those using this important welding technology. Professor Flemming Ove Olsen works in the Department of Manufacturing...

  11. Residual stress by repair welds

    International Nuclear Information System (INIS)

    Mochizuki, Masahito; Toyoda, Masao

    2003-01-01

    Residual stress by repair welds is computed using the thermal elastic-plastic analysis with phase-transformation effect. Coupling phenomena of temperature, microstructure, and stress-strain fields are simulated in the finite-element analysis. Weld bond of a plate butt-welded joint is gouged and then deposited by weld metal in repair process. Heat source is synchronously moved with the deposition of the finite-element as the weld deposition. Microstructure is considered by using CCT diagram and the transformation behavior in the repair weld is also simulated. The effects of initial stress, heat input, and weld length on residual stress distribution are studied from the organic results of numerical analysis. Initial residual stress before repair weld has no influence on the residual stress after repair treatment near weld metal, because the initial stress near weld metal releases due to high temperature of repair weld and then stress by repair weld regenerates. Heat input has an effect for residual stress distribution, for not its magnitude but distribution zone. Weld length should be considered reducing the magnitude of residual stress in the edge of weld bead; short bead induces high tensile residual stress. (author)

  12. Markov Chain Monte Carlo (MCMC) methods for parameter estimation of a novel hybrid redundant robot

    International Nuclear Information System (INIS)

    Wang Yongbo; Wu Huapeng; Handroos, Heikki

    2011-01-01

    This paper presents a statistical method for the calibration of a redundantly actuated hybrid serial-parallel robot IWR (Intersector Welding Robot). The robot under study will be used to carry out welding, machining, and remote handing for the assembly of vacuum vessel of International Thermonuclear Experimental Reactor (ITER). The robot has ten degrees of freedom (DOF), among which six DOF are contributed by the parallel mechanism and the rest are from the serial mechanism. In this paper, a kinematic error model which involves 54 unknown geometrical error parameters is developed for the proposed robot. Based on this error model, the mean values of the unknown parameters are statistically analyzed and estimated by means of Markov Chain Monte Carlo (MCMC) approach. The computer simulation is conducted by introducing random geometric errors and measurement poses which represent the corresponding real physical behaviors. The simulation results of the marginal posterior distributions of the estimated model parameters indicate that our method is reliable and robust.

  13. EvoBot: Towards a Robot-Chemostat for Culturing and Maintaining Microbial Fuel Cells (MFCs)

    DEFF Research Database (Denmark)

    Theodosiou, Pavlina; Faina, Andres; Nejatimoharrami, Farzad

    2017-01-01

    , which is akin to a chemostat. The chemostat is a well-known microbiology method for culturing bacterial cells under controlled conditions with continuous nutrient supply. EvoBot is perhaps the first pioneering attempt at functionalizing the 3D printing technology by combining it with the chemostat...

  14. INDUSTRIAL ROBOT REPEATABILITY TESTING WITH HIGH SPEED CAMERA PHANTOM V2511

    Directory of Open Access Journals (Sweden)

    Jerzy Józwik

    2016-12-01

    Full Text Available Apart from accuracy, one of the parameters describing industrial robots is positioning accuracy. The parameter in question, which is the subject of this paper, is often the decisive factor determining whether to apply a given robot to perform certain tasks or not. Articulated robots are predominantly used in such processes as: spot weld-ing, transport of materials and other welding applications, where high positioning repeatability is required. It is therefore essential to recognise the parameter in question and to control it throughout the operation of the robot. This paper presents methodology for robot positioning accuracy measurements based on vision technique. The measurements were conducted with Phantom v2511 high-speed camera and TEMA Motion software, for motion analysis. The object of the measurements was a 6-axis Yaskawa Motoman HP20F industrial robot. The results of measurements obtained in tests provided data for the calculation of positioning accuracy of the robot, which was then juxtaposed against robot specifications. Also analysed was the impact of the direction of displacement on the value of attained pose errors. Test results are given in a graphic form.

  15. Welding of refractory alloys

    International Nuclear Information System (INIS)

    Lessmann, G.G.

    1984-01-01

    This review primarily summarizes welding evaluations supported by NASA-Lewis Research Center in the 1960s. A literature search run in preparation for this review indicates that more recent work is modest by comparison. Hence, this review restates these accomplishments briefly and addresses opportunities which have evolved in welding technology (such as lasers) in the intervening decade. Emphasis in this review is given to tantalum- and niobium-base alloys. Considerable work was also done to assure that a consistent comparison was made with tungsten. A wide variety of candidate alloys derived primarily from developments directed at aircraft propulsion applications were available. Early efforts by NASA were directed at screening studies to select promising structural alloys for the space power application. This objective required fine tuning of welding procedures, e.g., the demonstration of stringent standards for control of welding atmosphere to assure good corrosion resistance in liquid alkali metals. 16 figures, 6 tables

  16. Multispot fiber laser welding

    DEFF Research Database (Denmark)

    Schutt Hansen, Klaus

    This dissertation presents work and results achieved in the field of multi beam fiber laser welding. The project has had a practical approach, in which simulations and modelling have been kept at a minimum. Different methods to produce spot patterns with high power single mode fiber lasers have...... been examined and evaluated. It is found that both diamond turned DOE’s in zinc sulphide and multilevel etched DOE’s (Diffractive Optical Elements) in fused silica have a good performance. Welding with multiple beams in a butt joint configuration has been tested. Results are presented, showing it has...... been possible to control the welding width in incremental steps by adding more beams in a row. The laser power was used to independently control the keyhole and consequently the depth of fusion. An example of inline repair of a laser weld in butt joint configuration was examined. Zinc powder was placed...

  17. Friction stir welding tool

    Science.gov (United States)

    Tolle,; Charles R. , Clark; Denis E. , Barnes; Timothy, A [Ammon, ID

    2008-04-15

    A friction stir welding tool is described and which includes a shank portion; a shoulder portion which is releasably engageable with the shank portion; and a pin which is releasably engageable with the shoulder portion.

  18. Evolution of microstructure in laser welding of SS304L

    International Nuclear Information System (INIS)

    Kumar, Santosh; Kushwaha, R.P.; Viswanadham, C.S.; Dey, G.K.

    2009-01-01

    Laser welding is an important joining process and its application in industries is growing rapidly. One can produce laser welds over a wide range of process parameters and this offers very good opportunity for producing microstructure of different morphology and scales in the weldment. Weld beads have been produced on 5 mm thick plates of SS304L using CW Nd-YAG laser. Laser power was varied in 200 W to 1000 W range and welding speed was varied in 100 mm/mm to 1000 mm/mm. This resulted in weld beads of different morphology. Microstructure of the weld beads was examined on the cross-section as well as in the axial direction using optical microscopy and Transmission Electron Microscopy (TEM) to study evolution of the microstructure in the weldment. Microstructure was cellular and cellular-dendritic with grains growing from the fusion line towards the centerline. In the central region, cellular growth along the welding direction was observed. The cell size was found to increase with increasing laser power and decreasing welding speed. The findings are presented in this paper. (author)

  19. Laser assisted robotic surgery in cornea transplantation

    Science.gov (United States)

    Rossi, Francesca; Micheletti, Filippo; Magni, Giada; Pini, Roberto; Menabuoni, Luca; Leoni, Fabio; Magnani, Bernardo

    2017-03-01

    Robotic surgery is a reality in several surgical fields, such as in gastrointestinal surgery. In ophthalmic surgery the required high spatial precision is limiting the application of robotic system, and even if several attempts have been designed in the last 10 years, only some application in retinal surgery were tested in animal models. The combination of photonics and robotics can really open new frontiers in minimally invasive surgery, improving the precision, reducing tremor, amplifying scale of motion, and automating the procedure. In this manuscript we present the preliminary results in developing a vision guided robotic platform for laser-assisted anterior eye surgery. The robotic console is composed by a robotic arm equipped with an "end effector" designed to deliver laser light to the anterior corneal surface. The main intended application is for laser welding of corneal tissue in laser assisted penetrating keratoplasty and endothelial keratoplasty. The console is equipped with an integrated vision system. The experiment originates from a clear medical demand in order to improve the efficacy of different surgical procedures: when the prototype will be optimized, other surgical areas will be included in its application, such as neurosurgery, urology and spinal surgery.

  20. Underwater Welding Techniques

    OpenAIRE

    Esam F. Alajmi; Ahmad A. Alqenaei

    2017-01-01

    Welding demand in offshore and marine applications is increased with the increasing in oil and gas activities as well as increasing in the marine transportation and industrial applications. Applications of underwater welding well be increased in Kuwait in the coming years due to the strategic directive of the country toward starting the offshore oil and gas exploration and production, and the increase in marine transportation projects. Therefore, there is a need to understand the concept of u...

  1. A mobile robot with parallel kinematics constructed under requirements for assembling and machining of the ITER vacuum vessel

    International Nuclear Information System (INIS)

    Pessi, P.; Huapeng Wu; Handroos, H.; Jones, L.

    2006-01-01

    ITER sectors require more stringent tolerances ± 5 mm than normally expected for the size of structure involved. The walls of ITER sectors are made of 60 mm thick stainless steel and are joined together by high efficiency structural and leak tight welds. In addition to the initial vacuum vessel assembly, sectors may have to be replaced for repair. Since commercially available machines are too heavy for the required machining operations and the lifting of a possible e-beam gun column system, and conventional robots lack the stiffness and accuracy in such machining condition, a new flexible, lightweight and mobile robotic machine is being considered. For the assembly of the ITER vacuum vessel sector, precise positioning of welding end-effectors, at some distance in a confined space from the available supports, will be required, which is not possible using conventional machines or robots. This paper presents a special robot, able to carry out welding and machining processes from inside the ITER vacuum vessel, consisting of a ten-degree-of-freedom parallel robot mounted on a carriage driven by electric motor/gearbox on a track. The robot consists of a Stewart platform based parallel mechanism. Water hydraulic cylinders are used as actuators to reach six degrees of freedom for parallel construction. Two linear and two rotational motions are used for enlargement the workspace of the manipulator. The robot carries both welding gun such as a TIG, hybrid laser or e-beam welding gun to weld the inner and outer walls of the ITER vacuum vessel sectors and machining tools to cut and milling the walls with necessary accuracy, it can also carry other tools and material to a required position inside the vacuum vessel . For assembling an on line six degrees of freedom seam finding algorithm has been developed, which enables the robot to find welding seam automatically in a very complex environment. In the machining multi flexible machining processes carried out automatically by

  2. Modelling cooperation of industrial robots as multi-agent systems

    Science.gov (United States)

    Hryniewicz, P.; Banas, W.; Foit, K.; Gwiazda, A.; Sekala, A.

    2017-08-01

    Nowadays, more and more often in a cell is more than one robot, there is also a dual arm robots, because of this cooperation of two robots in the same space becomes more and more important. Programming robotic cell consisting of two or more robots are currently performed separately for each element of the robot and the cell. It is performed only synchronization programs, but no robot movements. In such situations often placed industrial robots so they do not have common space so the robots are operated separately. When industrial robots are a common space this space can occupy only one robot the other one must be outside the common space. It is very difficult to find applications where two robots are in the same workspace. It was tested but one robot did not do of movement when moving the second and waited for permission to move from the second when it sent a permit - stop the move. Such programs are very difficult and require a lot of experience from the programmer and must be tested separately at the beginning and then very slowly under control. Ideally, the operator takes care of exactly one robot during the test and it is very important to take special care.

  3. THE FORMATION OF BIMETALLIC CONNECTION IN WELDER DEPOSITION UNDER LASER WELDING WITH THE FILLER WIRE FEED

    Directory of Open Access Journals (Sweden)

    A. P. Yelistratov

    2017-01-01

    Full Text Available The metallurgical and technological features of welding deposition in a robotic unit with a semiconductor laser are analyzed. The prospects of using beam with low energy density in the spot heating for applying metallic layers using filler wire are shown. 

  4. Positive Margins by Oropharyngeal Subsite in Transoral Robotic Surgery for T1/T2 Squamous Cell Carcinoma.

    Science.gov (United States)

    Persky, Michael J; Albergotti, William G; Rath, Tanya J; Kubik, Mark W; Abberbock, Shira; Geltzeiler, Mathew; Kim, Seungwon; Duvvuri, Umamaheswar; Ferris, Robert L

    2018-04-01

    Objective To compare positive margin rates between the 2 most common subsites of oropharyngeal transoral robotic surgery (TORS), the base of tongue (BOT) and the tonsil, as well as identify preoperative imaging characteristics that predispose toward positive margins. Study Design Case series with chart review. Setting Tertiary care referral center. Subjects and Methods We compared the final and intraoperative positive margin rate between TORS resections for tonsil and BOT oropharyngeal squamous cell carcinoma (OPSCC), as well as the effect of margins on treatment. A blinded neuroradiologist examined the preoperative imaging of BOT tumors to measure their dimensions and patterns of spread and provided a prediction of final margin results. Results Between January 2010 and May 2016, a total of 254 patients underwent TORS for OPSCC. A total of 140 patients who underwent TORS for T1/T2 OPSCC met inclusion criteria. A final positive margin is significantly more likely for BOT tumors than tonsil tumors (19.6% vs 4.5%, respectively, P = .004) and likewise for intraoperative margins of BOT and tonsil tumors (35.3% vs 12.4%, respectively; P = .002). A positive final margin is 10 times more likely to receive chemoradiation compared to a negative margin, controlling for extracapsular spread and nodal status (odds ratio, 9.6; 95% confidence interval, 1.6-59.6; P = .02). Preoperative imaging characteristics and subjective radiologic examination of BOT tumors did not correlate with final margin status. Conclusion Positive margins are significantly more likely during TORS BOT resections compared to tonsil resections. More research is needed to help surgeons predict which T1/T2 tumors will be difficult to completely extirpate.

  5. Soft Robotics Week

    CERN Document Server

    Rossiter, Jonathan; Iida, Fumiya; Cianchetti, Matteo; Margheri, Laura

    2017-01-01

    This book offers a comprehensive, timely snapshot of current research, technologies and applications of soft robotics. The different chapters, written by international experts across multiple fields of soft robotics, cover innovative systems and technologies for soft robot legged locomotion, soft robot manipulation, underwater soft robotics, biomimetic soft robotic platforms, plant-inspired soft robots, flying soft robots, soft robotics in surgery, as well as methods for their modeling and control. Based on the results of the second edition of the Soft Robotics Week, held on April 25 – 30, 2016, in Livorno, Italy, the book reports on the major research lines and novel technologies presented and discussed during the event.

  6. Generation rate of carbon monoxide from CO2 arc welding.

    Science.gov (United States)

    Ojima, Jun

    2013-01-01

    CO poisoning has been a serious industrial hazard in Japanese workplaces. Although incomplete combustion is the major cause of CO generation, there is a risk of CO poisoning during some welding operations. The aim of the present study was to evaluate the generation rate of CO from CO2 arc welding under controlled laboratory conditions and estimate the ventilation requirements for the prevention of CO poisoning. Bead on plate welding was carried out with an automatic welding robot on a rolled steel base metal under several conditions. The concentration of emitted CO from the welding was measured by a real-time CO monitor in a well-ventilated laboratory that was free from ambient CO contamination. The generation rate of CO was obtained from the three measurements-the flow rate of the welding exhaust gas, CO concentration in the exhaust gas and the arcing time. Then the ventilation requirement to prevent CO poisoning was calculated. The generation rate of CO was found to be 386-883 ml/min with a solid wire and 331-1,293 ml/min with a flux cored wire respectively. It was found that the CO concentration in a room would be maintained theoretically below the OSHA PEL (50 ppm) providing the ventilation rate in the room was 6.6-25.9 m3/min. The actual ventilation requirement was then estimated to be 6.6-259 m3/min considering incomplete mixing. In order to prevent CO poisoning, some countermeasures against gaseous emission as well as welding fumes should be taken eagerly.

  7. Rehabilitation robotics.

    Science.gov (United States)

    Krebs, H I; Volpe, B T

    2013-01-01

    This chapter focuses on rehabilitation robotics which can be used to augment the clinician's toolbox in order to deliver meaningful restorative therapy for an aging population, as well as on advances in orthotics to augment an individual's functional abilities beyond neurorestoration potential. The interest in rehabilitation robotics and orthotics is increasing steadily with marked growth in the last 10 years. This growth is understandable in view of the increased demand for caregivers and rehabilitation services escalating apace with the graying of the population. We provide an overview on improving function in people with a weak limb due to a neurological disorder who cannot properly control it to interact with the environment (orthotics); we then focus on tools to assist the clinician in promoting rehabilitation of an individual so that s/he can interact with the environment unassisted (rehabilitation robotics). We present a few clinical results occurring immediately poststroke as well as during the chronic phase that demonstrate superior gains for the upper extremity when employing rehabilitation robotics instead of usual care. These include the landmark VA-ROBOTICS multisite, randomized clinical study which demonstrates clinical gains for chronic stroke that go beyond usual care at no additional cost. Copyright © 2013 Elsevier B.V. All rights reserved.

  8. Medical robotics.

    Science.gov (United States)

    Ferrigno, Giancarlo; Baroni, Guido; Casolo, Federico; De Momi, Elena; Gini, Giuseppina; Matteucci, Matteo; Pedrocchi, Alessandra

    2011-01-01

    Information and communication technology (ICT) and mechatronics play a basic role in medical robotics and computer-aided therapy. In the last three decades, in fact, ICT technology has strongly entered the health-care field, bringing in new techniques to support therapy and rehabilitation. In this frame, medical robotics is an expansion of the service and professional robotics as well as other technologies, as surgical navigation has been introduced especially in minimally invasive surgery. Localization systems also provide treatments in radiotherapy and radiosurgery with high precision. Virtual or augmented reality plays a role for both surgical training and planning and for safe rehabilitation in the first stage of the recovery from neurological diseases. Also, in the chronic phase of motor diseases, robotics helps with special assistive devices and prostheses. Although, in the past, the actual need and advantage of navigation, localization, and robotics in surgery and therapy has been in doubt, today, the availability of better hardware (e.g., microrobots) and more sophisticated algorithms(e.g., machine learning and other cognitive approaches)has largely increased the field of applications of these technologies,making it more likely that, in the near future, their presence will be dramatically increased, taking advantage of the generational change of the end users and the increasing request of quality in health-care delivery and management.

  9. Automatic welding machine for piping

    International Nuclear Information System (INIS)

    Yoshida, Kazuhiro; Koyama, Takaichi; Iizuka, Tomio; Ito, Yoshitoshi; Takami, Katsumi.

    1978-01-01

    A remotely controlled automatic special welding machine for piping was developed. This machine is utilized for long distance pipe lines, chemical plants, thermal power generating plants and nuclear power plants effectively from the viewpoint of good quality control, reduction of labor and good controllability. The function of this welding machine is to inspect the shape and dimensions of edge preparation before welding work by the sense of touch, to detect the temperature of melt pool, inspect the bead form by the sense of touch, and check the welding state by ITV during welding work, and to grind the bead surface and inspect the weld metal by ultrasonic test automatically after welding work. The construction of this welding system, the main specification of the apparatus, the welding procedure in detail, the electrical source of this welding machine, the cooling system, the structure and handling of guide ring, the central control system and the operating characteristics are explained. The working procedure and the effect by using this welding machine, and the application to nuclear power plants and the other industrial field are outlined. The HIDIC 08 is used as the controlling computer. This welding machine is useful for welding SUS piping as well as carbon steel piping. (Nakai, Y.)

  10. Study on laser welding of austenitic stainless steel by varying incident angle of pulsed laser beam

    Science.gov (United States)

    Kumar, Nikhil; Mukherjee, Manidipto; Bandyopadhyay, Asish

    2017-09-01

    In the present work, AISI 304 stainless steel sheets are laser welded in butt joint configuration using a robotic control 600 W pulsed Nd:YAG laser system. The objective of the work is of twofold. Firstly, the study aims to find out the effect of incident angle on the weld pool geometry, microstructure and tensile property of the welded joints. Secondly, a set of experiments are conducted, according to response surface design, to investigate the effects of process parameters, namely, incident angle of laser beam, laser power and welding speed, on ultimate tensile strength by developing a second order polynomial equation. Study with three different incident angle of laser beam 89.7 deg, 85.5 deg and 83 deg has been presented in this work. It is observed that the weld pool geometry has been significantly altered with the deviation in incident angle. The weld pool shape at the top surface has been altered from semispherical or nearly spherical shape to tear drop shape with decrease in incident angle. Simultaneously, planer, fine columnar dendritic and coarse columnar dendritic structures have been observed at 89.7 deg, 85.5 deg and 83 deg incident angle respectively. Weld metals with 85.5 deg incident angle has higher fraction of carbide and δ-ferrite precipitation in the austenitic matrix compared to other weld conditions. Hence, weld metal of 85.5 deg incident angle achieved higher micro-hardness of ∼280 HV and tensile strength of 579.26 MPa followed by 89.7 deg and 83 deg incident angle welds. Furthermore, the predicted maximum value of ultimate tensile strength of 580.50 MPa has been achieved for 85.95 deg incident angle using the developed equation where other two optimum parameter settings have been obtained as laser power of 455.52 W and welding speed of 4.95 mm/s. This observation has been satisfactorily validated by three confirmatory tests.

  11. Generic robot architecture

    Science.gov (United States)

    Bruemmer, David J [Idaho Falls, ID; Few, Douglas A [Idaho Falls, ID

    2010-09-21

    The present invention provides methods, computer readable media, and apparatuses for a generic robot architecture providing a framework that is easily portable to a variety of robot platforms and is configured to provide hardware abstractions, abstractions for generic robot attributes, environment abstractions, and robot behaviors. The generic robot architecture includes a hardware abstraction level and a robot abstraction level. The hardware abstraction level is configured for developing hardware abstractions that define, monitor, and control hardware modules available on a robot platform. The robot abstraction level is configured for defining robot attributes and provides a software framework for building robot behaviors from the robot attributes. Each of the robot attributes includes hardware information from at least one hardware abstraction. In addition, each robot attribute is configured to substantially isolate the robot behaviors from the at least one hardware abstraction.

  12. 'Filigree Robotics'

    DEFF Research Database (Denmark)

    2016-01-01

    -scale 3D printed ceramics accompanied by prints, videos and ceramic probes, which introduce the material and design processes of the project.'Filigree Robotics' experiments with a combination of the traditional ceramic technique of ‘Overforming’ with 3d Laserscan and Robotic extrusion technique...... application of reflectivity after an initial 3d print. The consideration and integration of this material practice into a digital workflow took place in an interdisciplinary collaboration of Ceramicist Flemming Tvede Hansen from KADK Superformlab and architectural researchers from CITA (Martin Tamke, Henrik...... to the creation of the form and invites for experimentation. In Filigree Robotics we combine the crafting of the mold with a parallel running generative algorithm, which is fed by a constant laserscan of the 3d surface. This algorithm, analyses the topology of the mold, identifies high and low points and uses...

  13. Alternate Welding Processes for In-Service Welding

    Science.gov (United States)

    2009-04-24

    Conducting weld repairs and attaching hot tap tees onto pressurized pipes has the advantage of avoiding loss of service and revenue. However, the risks involved with in-service welding need to be managed by ensuring that welding is performed in a rep...

  14. Certification of a weld produced by friction stir welding

    Science.gov (United States)

    Obaditch, Chris; Grant, Glenn J

    2013-10-01

    Methods, devices, and systems for providing certification of friction stir welds are disclosed. A sensor is used to collect information related to a friction stir weld. Data from the sensor is compared to threshold values provided by an extrinsic standard setting organizations using a certification engine. The certification engine subsequently produces a report on the certification status of the weld.

  15. Cloud Robotics Platforms

    Directory of Open Access Journals (Sweden)

    Busra Koken

    2015-01-01

    Full Text Available Cloud robotics is a rapidly evolving field that allows robots to offload computation-intensive and storage-intensive jobs into the cloud. Robots are limited in terms of computational capacity, memory and storage. Cloud provides unlimited computation power, memory, storage and especially collaboration opportunity. Cloud-enabled robots are divided into two categories as standalone and networked robots. This article surveys cloud robotic platforms, standalone and networked robotic works such as grasping, simultaneous localization and mapping (SLAM and monitoring.

  16. Analyzing Robotic Kinematics Via Computed Simulations

    Science.gov (United States)

    Carnahan, Timothy M.

    1992-01-01

    Computing system assists in evaluation of kinematics of conceptual robot. Displays positions and motions of robotic manipulator within work cell. Also displays interactions between robotic manipulator and other objects. Results of simulation displayed on graphical computer workstation. System includes both off-the-shelf software originally developed for automotive industry and specially developed software. Simulation system also used to design human-equivalent hand, to model optical train in infrared system, and to develop graphical interface for teleoperator simulation system.

  17. ELRA: The exposure limiting robotic apparatus

    International Nuclear Information System (INIS)

    Knighton, G.C.; Rosenberg, K.E.; Henslee, S.P.; Michelbacher, J.A.; Wilkes, C.W.

    1992-09-01

    A problem situation involving the handling of radioactive material at Argonne National Laboratory -- West (ANL-W) was solved through the use of remote handling techniques, providing significant exposure reduction to personnel. Robotic devices can be useful, but the cost of a robot is often prohibitive for many jobs. A low cost, disposable robot was built which successfully removed a highly radioactive and potentially explosive system from a hot cell at ANL-W

  18. Ultrasonic inspection of austenitic welds

    International Nuclear Information System (INIS)

    Baikie, B.L.; Wagg, A.R.; Whittle, M.J.; Yapp, D.

    1976-01-01

    The ultrasonic examination of austenitic stainless steel weld metal has always been regarded as a difficult proposition because of the large and variable ultrasonic attenuations and back scattering obtained from apparently similar weld deposits. The work to be described shows how the existence of a fibre texture within each weld deposit (as a result of epitaxial growth through successive weld beads) produces a systematic variation in the ultrasonic attenuation coefficient and the velocity of sound, depending upon the angle between the ultrasonic beam and the fibre axis. Development work has shown that it is possible to adjust the welding parameters to ensure that the crystallographic texture within each weld is compatible with improved ultrasonic transmission. The application of the results to the inspection of a specific weld in type 316 weld metal is described

  19. Arc-weld pool interactions

    International Nuclear Information System (INIS)

    Glickstein, S.S.

    1978-08-01

    The mechanisms involved in arc-weld pool interactions are extremely complex and no complete theory is presently available to describe much of the phenomena observed during welding. For the past several years, experimental and analytical studies have been undertaken at the Bettis Atomic Power Laboratory to increase basic understanding of the gas tungsten arc welding process. These studies have included experimental spectral analysis of the arc in order to determine arc temperature and analytical modeling of the arc and weld puddle. The investigations have been directed toward determining the cause and effects of variations in the energy distribution incident upon the weldment. In addition, the effect of weld puddle distortion on weld penetration was investigated, and experimental and analytical studies of weld process variables have been undertaken to determine the effects of the variables upon weld penetration and configuration. A review of the results and analysis of these studies are presented

  20. Medical robotics

    CERN Document Server

    Troccaz, Jocelyne

    2013-01-01

    In this book, we present medical robotics, its evolution over the last 30 years in terms of architecture, design and control, and the main scientific and clinical contributions to the field. For more than two decades, robots have been part of hospitals and have progressively become a common tool for the clinician. Because this domain has now reached a certain level of maturity it seems important and useful to provide a state of the scientific, technological and clinical achievements and still open issues. This book describes the short history of the domain, its specificity and constraints, and

  1. Service Robots

    DEFF Research Database (Denmark)

    Clemmensen, Torkil; Nielsen, Jeppe Agger; Andersen, Kim Normann

    The position presented in this paper is that in order to understand how service robots shape, and are being shaped by, the physical and social contexts in which they are used, we need to consider both work/organizational analysis and interaction design. We illustrate this with qualitative data...... and personal experiences to generate discussion about how to link these two traditions. This paper presents selected results from a case study that investigated the implementation and use of robot vacuum cleaners in Danish eldercare. The study demonstrates interpretive flexibility with variation...

  2. Robot Choreography

    DEFF Research Database (Denmark)

    Jochum, Elizabeth Ann; Heath, Damith

    2016-01-01

    We propose a robust framework for combining performance paradigms with human robot interaction (HRI) research. Following an analysis of several case studies that combine the performing arts with HRI experiments, we propose a methodology and “best practices” for implementing choreography and other...... performance paradigms in HRI experiments. Case studies include experiments conducted in laboratory settings, “in the wild”, and live performance settings. We consider the technical and artistic challenges of designing and staging robots alongside humans in these various settings, and discuss how to combine...

  3. Resistance Spot Welding of dissimilar Steels

    Directory of Open Access Journals (Sweden)

    Ladislav Kolařík

    2012-01-01

    Full Text Available This paper presents an analysis of the properties of resistance spot welds between low carbon steel and austenitic CrNi stainless steel. The thickness of the welded dissimilar materials was 2 mm. A DeltaSpot welding gun with a process tape was used for welding the dissimilar steels. Resistance spot welds were produced with various welding parameters (welding currents ranging from 7 to 8 kA. Light microscopy, microhardness measurements across the welded joints, and EDX analysis were used to evaluate the quality of the resistance spot welds. The results confirm the applicability of DeltaSpot welding for this combination of materials.

  4. Multipass autogenous electron beam welding

    International Nuclear Information System (INIS)

    Murphy, J.L.; Mustaleski, T.M. Jr.; Watson, L.C.

    1986-01-01

    A multipass, autogenous welding procedure was developed for 7.6 mm (0.3 in.) wall thickness Type 304L stainless steel cylinders. The joint geometry has a 1.5 mm (0.06 in.) root-face width and a rectangular stepped groove that is 0.762 mm (0.03 in.) wide at the top of the root face and extends 1.5 mm in height, terminating into a groove width of 1.27 mm which extends to the outside of the 1.27 mm high weld-boss. One weld pass is made on the root, three passes on the 0.762 mm wide groove and three passes to complete the weld. Multipass, autogenous, electron beam welds maintain the characteristic high depth-to-width ratios and low heat input of single-pass, electron beam welds. The increased part distortion (which is still much less than from arc processes) in multipass weldments is corrected by a preweld machined compensation. Mechanical properties of multipass welds compare well with single-pass welds. The yield strength of welds in aluminum alloy 5083 is approximately the same for single-pass or multipass electron beam and gas, metal-arc welds. The incidence and size of porosity is less in multipass electron beam welding of aluminum as compared to gas, metal-arc welds. The multipass, autogenous, electron beam welding method has proven to be a reliable way to make some difficult welds in multilayer parts or in an instance where inside part temperature or weld underbead must be controlled and weld discontinuities must be minimized

  5. Cultural Robotics: The Culture of Robotics and Robotics in Culture

    Directory of Open Access Journals (Sweden)

    Hooman Samani

    2013-12-01

    Full Text Available In this paper, we have investigated the concept of “Cultural Robotics” with regard to the evolution of social into cultural robots in the 21st Century. By defining the concept of culture, the potential development of a culture between humans and robots is explored. Based on the cultural values of the robotics developers, and the learning ability of current robots, cultural attributes in this regard are in the process of being formed, which would define the new concept of cultural robotics. According to the importance of the embodiment of robots in the sense of presence, the influence of robots in communication culture is anticipated. The sustainability of robotics culture based on diversity for cultural communities for various acceptance modalities is explored in order to anticipate the creation of different attributes of culture between robots and humans in the future.

  6. An underwater robot controls water tanks in nuclear power plants

    International Nuclear Information System (INIS)

    Lardiere, C.

    2015-01-01

    The enterprises Newton Research Labs and IHI Southwest Technologies have developed a robot equipped with sensors to inspect the inside walls (partially) and bottom of water tanks without being obliged to empty them. The robot called 'Inspector' is made up of 4 main components: a chassis with 4 independent steering wheels, a camera video system able to provide a 360 degree view, various non-destructive testing devices such as underwater laser scanners, automated ultra-sound or Foucault current probes and an operation system for both driving the robot and controlling the testing. The Inspector robot has been used to inspect the inside bottom of an operating condensate tank at the Palo Verde nuclear station. The robot was able to check all the welds joining the bottom plates and the welds between the walls and the bottom. The robot is also able to come back to the exact place where a defect was detected during a previous inspection. (A.C.)

  7. BioComponent Robots

    Science.gov (United States)

    2014-02-13

    to the bottom of a Petri-dish that had previously been coated with a thin layer of Sylgard 184 silicone elastomer (Dow Corning , Midland, MI...coated with Mann Ease Release 200 mold release spray. Sylgard 184 silicone elastomer (PDMS, Dow Corning , Midland, MI) was prepared according to the...Triangle Park, NC 27709-2211 cell-based actuators, biostability, robot, elastomer films, silk , fibroin, thin films REPORT DOCUMENTATION PAGE 11

  8. Robot vision for nuclear advanced robot

    International Nuclear Information System (INIS)

    Nakayama, Ryoichi; Okano, Hideharu; Kuno, Yoshinori; Miyazawa, Tatsuo; Shimada, Hideo; Okada, Satoshi; Kawamura, Astuo

    1991-01-01

    This paper describes Robot Vision and Operation System for Nuclear Advanced Robot. This Robot Vision consists of robot position detection, obstacle detection and object recognition. With these vision techniques, a mobile robot can make a path and move autonomously along the planned path. The authors implemented the above robot vision system on the 'Advanced Robot for Nuclear Power Plant' and tested in an environment mocked up as nuclear power plant facilities. Since the operation system for this robot consists of operator's console and a large stereo monitor, this system can be easily operated by one person. Experimental tests were made using the Advanced Robot (nuclear robot). Results indicate that the proposed operation system is very useful, and can be operate by only person. (author)

  9. Welding. Performance Objectives. Intermediate Course.

    Science.gov (United States)

    Vincent, Kenneth

    Several intermediate performance objectives and corresponding criterion measures are listed for each of nine terminal objectives for an intermediate welding course. The materials were developed for a 36-week (3 hours daily) course designed to prepare the student for employment in the field of welding. Electric welding and specialized (TIG & MIG)…

  10. Welding. Performance Objectives. Basic Course.

    Science.gov (United States)

    Vincent, Kenneth

    Several intermediate performance objectives and corresponding criterion measures are listed for each of eight terminal objectives for a basic welding course. The materials were developed for a 36-week (2 hours daily) course developed to teach the fundamentals of welding shop work, to become familiar with the operation of the welding shop…

  11. Pulsed TIG welding of pipes

    International Nuclear Information System (INIS)

    Killing, U.

    1989-01-01

    The present study investigates into the effects of impulse welding parameters on weld geometry in the joint welding of thin-walled sheets and pipes (d=2.5 mm), and it uses random samples of thick-walled sheets and pipes (d=10 mm), in fixed positions. (orig./MM) [de

  12. A welding system for spent fuel canister lid

    International Nuclear Information System (INIS)

    Suikki, M.; Wendelin, T.

    2008-06-01

    located in an adjacent auxiliary system room for facilitating maintenance and repair measures. The lid welding chamber has a low contamination risk but, during the presence of a canister in the welding chamber, the welding room must be kept restricted because of a high radiation level. The system is controlled from a fuel handling cell operation control room. Attached to this report is a separate research report, disclosing various heating calculations for the canister's copper overpack. Calculations have been conducted with regard to the effects on the copper overpack from preheating necessary for installing the lid, as well as with regard to the heating of a canister's shell during the actual encapsulation welding. The total cost estimate, without a value added tax, for manufacturing the apparatus amounted 1 551 000 euros, including 242 000 euros for designing costs and 151 000 euros for installation costs. (orig.)

  13. Friction welding method

    International Nuclear Information System (INIS)

    Ishida, Ryuichi; Hatanaka, Tatsuo.

    1969-01-01

    A friction welding method for forming a lattice-shaped base and tie plate supporter for fuel elements is disclosed in which a plate formed with a concavity along its edge is pressure welded to a rotating member such as a boss by longitudinally contacting the projecting surfaces remaining on either side of the concavity with the rotating member during the high speed rotation thereof in the presence of an inert gas. Since only the two projecting surfaces of the plate are fused by friction to the rotary member, heat expansion is absorbed by the concavity to prevent distortion; moreover, a two point contact surface assures a stable fitting and promotes the construction of a rigid lattice in which a number of the abovementioned plates are friction welded between rotating members to form any desired complex arrangement. The inert has serves to protect the material quality of the contacting surfaces from air during the welding step. The present invention thus provides a method in which even Zircaloy may be friction welded in place of casting stainless steel in the construction of supporting lattices to thereby enhance neutron economy. (K. J. Owens)

  14. A new approach for helium backfilling and leak testing seal-welded capsules in a hot cell

    International Nuclear Information System (INIS)

    Strasslsund, E.K.; Berger, D.N.

    1992-05-01

    Gamma irradiation sources containing radioactive 137 Cesium Chloride are being produced at the US Department of Energy's Hanford Site as part of a Westinghouse Hanford company/Pacific Northwest Laboratory cooperative program. New equipment was developed to leak test the double-encapsulated sources in a hot cell. The equipment, which includes a helium backfill chamber and end cap press , a vacuum chamber, and a helium mass spectrometer, has provided technicians with the capability to detect leaks in sealed sources as small as 1. 0x10 -7 atm cm 3 /S helium

  15. Development of robots for nuclear power plants

    International Nuclear Information System (INIS)

    Sasaki, Masayoshi

    1982-01-01

    In nuclear power plants, the reduction of maintenance time, the reduction of radiation exposure and man-power saving are increasingly required. To achieve these purposes, various remote-controlled devices, such as robots in a broad sense, have been earnestly developed. Of these, three machines for replacing, four devices for inspection, two systems for cleaning, and two equipment for processing are tabulated in this paper. Typical eight machines or equipment are briefly introduced, mainly describing their features or characteristics. Those are: a remotely handling machine for control rod drive mechanism, an automatic refueling machine, an automatic ultrasonic flaw detection system replacing for a manually operated testing system for the welded parts of primary cooling system, an automatic cask washing machine for decontamination, a floor-type remote inspection vehicle for various devices operating inside power plants, a monorail-type remote inspection vehicle for inspection in spaces where floor space is short, and a remote-controlled automatic pipe welding machine for welding operations in a radioactive environment such as replacing the piping of primary cooling system. Most of these devices serves for radiation exposure reduction at the same time. Existing nuclear power plant design assumes direct manual maintenance, which limits the introduction of robots. Future nuclear power plants should be designed on the assumption of automatic remote-controlled tools and devices being used in maintenance work. (Wakatsuki, Y.)

  16. Biological Immune System Applications on Mobile Robot for Disabled People

    Directory of Open Access Journals (Sweden)

    Songmin Jia

    2014-01-01

    Full Text Available To improve the service quality of service robots for the disabled, immune system is applied on robot for its advantages such as diversity, dynamic, parallel management, self-organization, and self-adaptation. According to the immune system theory, local environment condition sensed by robot is considered an antigen while robot is regarded as B-cell and possible node as antibody, respectively. Antibody-antigen affinity is employed to choose the optimal possible node to ensure the service robot can pass through the optimal path. The paper details the immune system applications on service robot and gives experimental results.

  17. Report on the actual situations of the commercially applied, industrial robots; Sangyoyo robot ni kansuru kigyo jittai chosa hokokusho

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1991-08-01

    Described herein are the actual situations of industrial robots as the FY 1991 questionnaire survey results. The questionnaires were sent to 541 factories, and 74% thereof were recovered. The major machine types fall into categories of manual manipulator, stationary sequence manipulator, remote controlling robot, sequence robot, playback robot, numerically controlling robot and intelligent robot. They are mainly driven by hydraulic, pneumatic, or electrical power. Their mechanism types cover polar coordinate, cylindrical coordinate, rectangular coordinate and articulation types, among others. They are mainly controlled by electronically, electrically (hydraulic or relay), or pneumatically. The major purposes for general works include casting, forging, resin processing, heat treatment, pressing, welding, coating, machining, cutting, assembling, reception/delivery of goods, and testing/inspection. The special works they are in service include those for power/gas/water services, construction works, and research and development. By work step, they are in service, e.g., for loading/unloading goods, palletising/packing goods, supporting, screening, welding, spraying/coating, grinding, clamping, assembling, and riveting. (NEDO)

  18. Friction stir welding tool and process for welding dissimilar materials

    Science.gov (United States)

    Hovanski, Yuri; Grant, Glenn J; Jana, Saumyadeep; Mattlin, Karl F

    2013-05-07

    A friction stir welding tool and process for lap welding dissimilar materials are detailed. The invention includes a cutter scribe that penetrates and extrudes a first material of a lap weld stack to a preselected depth and further cuts a second material to provide a beneficial geometry defined by a plurality of mechanically interlocking features. The tool backfills the interlocking features generating a lap weld across the length of the interface between the dissimilar materials that enhances the shear strength of the lap weld.

  19. Robotic Surgery

    Science.gov (United States)

    Childress, Vincent W.

    2007-01-01

    The medical field has many uses for automated and remote-controlled technology. For example, if a tissue sample is only handled in the laboratory by a robotic handling system, then it will never come into contact with a human. Such a system not only helps to automate the medical testing process, but it also helps to reduce the chances of…

  20. Laws on Robots, Laws by Robots, Laws in Robots : Regulating Robot Behaviour by Design

    NARCIS (Netherlands)

    Leenes, R.E.; Lucivero, F.

    2015-01-01

    Speculation about robot morality is almost as old as the concept of a robot itself. Asimov’s three laws of robotics provide an early and well-discussed example of moral rules robots should observe. Despite the widespread influence of the three laws of robotics and their role in shaping visions of

  1. Plasma Processes of Cutting and Welding

    Science.gov (United States)

    1976-02-01

    TIG process. 2.2.2 Keyhole Welding In plasma arc welding , the term...Cutting 3 3 4 4 4 2.2 Plasma Arc Welding 5 2.2.1 Needle Arc Welding 2.2.2 Keyhole Welding 5 6 3. Applications 8 93.1 Economics 4. Environmental Aspects of...Arc Lengths III. Needle Arc Welding Conditions IV. Keyhole Welding Conditions v. Chemical Analyses of Plates Used - vii - 1. 2. 3. 4. 5. 6. 7. 8.

  2. Friction Stir Welding Process: A Green Technology

    OpenAIRE

    Esther T. Akinlabi; Stephen A. Akinlabi

    2012-01-01

    Friction Stir Welding (FSW) is a solid state welding process invented and patented by The Welding Institute (TWI) in the United Kingdom in 1991 for butt and lap welding of metals and plastics. This paper highlights the benefits of friction stir welding process as an energy efficient and a green technology process in the field of welding. Compared to the other conventional welding processes, its benefits, typical applications and its use in joining similar and dissimilar materia...

  3. Weld Nugget Temperature Control in Thermal Stir Welding

    Science.gov (United States)

    Ding, R. Jeffrey (Inventor)

    2014-01-01

    A control system for a thermal stir welding system is provided. The control system includes a sensor and a controller. The sensor is coupled to the welding system's containment plate assembly and generates signals indicative of temperature of a region adjacent and parallel to the welding system's stir rod. The controller is coupled to the sensor and generates at least one control signal using the sensor signals indicative of temperature. The controller is also coupled to the welding system such that at least one of rotational speed of the stir rod, heat supplied by the welding system's induction heater, and feed speed of the welding system's weld material feeder are controlled based on the control signal(s).

  4. Thermal Stir Welding: A New Solid State Welding Process

    Science.gov (United States)

    Ding, R. Jeffrey

    2003-01-01

    Thermal stir welding is a new welding process developed at NASA's Marshall Space Flight Center in Huntsville, AL. Thermal stir welding is similar to friction stir welding in that it joins similar or dissimilar materials without melting the parent material. However, unlike friction stir welding, the heating, stirring and forging elements of the process are all independent of each other and are separately controlled. Furthermore, the heating element of the process can be either a solid-state process (such as a thermal blanket, induction type process, etc), or, a fusion process (YG laser, plasma torch, etc.) The separation of the heating, stirring, forging elements of the process allows more degrees of freedom for greater process control. This paper introduces the mechanics of the thermal stir welding process. In addition, weld mechanical property data is presented for selected alloys as well as metallurgical analysis.

  5. Robotic vision system for random bin picking with dual-arm robots

    Directory of Open Access Journals (Sweden)

    Kang Sangseung

    2016-01-01

    Full Text Available Random bin picking is one of the most challenging industrial robotics applications available. It constitutes a complicated interaction between the vision system, robot, and control system. For a packaging operation requiring a pick-and-place task, the robot system utilized should be able to perform certain functions for recognizing the applicable target object from randomized objects in a bin. In this paper, we introduce a robotic vision system for bin picking using industrial dual-arm robots. The proposed system recognizes the best object from randomized target candidates based on stereo vision, and estimates the position and orientation of the object. It then sends the result to the robot control system. The system was developed for use in the packaging process of cell phone accessories using dual-arm robots.

  6. Numerical simulation of welding

    DEFF Research Database (Denmark)

    Hansen, Jan Langkjær; Thorborg, Jesper

    Aim of project:To analyse and model the transient thermal field from arc welding (SMAW, V-shaped buttweld in 15mm plate) and to some extend the mechanical response due to the thermal field. - To implement this model in a general purpose finite element program such as ABAQUS.The simulation...... stress is also taken into account.Work carried out:With few means it is possible to define a thermal model which describes the thermal field from the welding process in reasonable agreement with reality. Identical results are found with ABAQUS and Rosenthal’s analytical solution of the governing heat...... transfer equation under same conditions. It is relative easy tointroduce boundary conditions such as convection and radiation where not surprisingly the radiation has the greatest influence especially from the high temperature regions in the weld pool and the heat affected zone.Due to the large temperature...

  7. Milestones in welding technology

    Science.gov (United States)

    Dolby, Richard E.

    2013-09-01

    Sir Alan's PhD thesis describes his research into cracking during arc welding of armour steels. Throughout his career, he had a strong interest in defects of all types, how they formed in metallic structures and how the larger ones could be detected and sized by non-destructive techniques. He was also vitally concerned with how defects impacted on the engineering integrity of welded structures, particularly the risk of fracture in nuclear plant. This study presents a view of some of the major milestones in global welding technology that took place over the 60 or more years of Sir Alan's career and highlights those where he had a personal and direct involvement.

  8. First results of laser welding of neutron irradiated stainless steel

    International Nuclear Information System (INIS)

    Osch, E.V. van; Hulst, D.S. d'; Laan, J.G. van der.

    1994-10-01

    First results of experimental investigations on the laser reweldability of neutron irradiated material are reported. These experiments include the manufacture of 'heterogeneous' joints, which means joining of irradiated stainless steel of type AISI 316L-SPH to 'fresh' unirradiated material. The newly developed laser welding facility in the ECN Hot Cell Laboratory and experimental procedures are described. Visual inspections of welded joints are reported as well as results of electron microscopy and preliminary metallographic examinations. (orig.)

  9. Inline-process and quality control of spotwelds of car bodies - ultrasonic sensors integrated in resistance welding electrodes

    Energy Technology Data Exchange (ETDEWEB)

    Vogt, G.; Rieger, D.; Koehler, C. [Vogt Werkstoffpruefsysteme, Burgwedel (Germany)

    2006-07-01

    The self-developed inline ultrasonic testing system SPOTline is used for inspection and process control of resistant spot weldings. SPOTline provides with directly into the welding tong integrated ultrasonic sensors a 100% inspection during the welding process. The through transmission and pulse echo signals will be collected, stored and evaluated by means of fuzzy-logic and neuronal network technic. The results will be transmitted online from the spotline-client in the sql-data-base of the server for processing. World-wide SPOTline is the only ultrasonic inspection system, which is working under real production conditions in a network of welding robots. Test with 2 and 3 plates, high strength steels and all coatings demonstrate the accurately identification of discrepant welds. (orig.)

  10. Percutaneous Radiofrequency Ablation Versus Robotic-Assisted Partial Nephrectomy for the Treatment of Small Renal Cell Carcinoma

    International Nuclear Information System (INIS)

    Pantelidou, Maria; Challacombe, Ben; McGrath, Andrew; Brown, Matthew; Ilyas, Shahzad; Katsanos, Konstantinos; Adam, Andreas

    2016-01-01

    IntroductionThe authors compared the oncologic outcomes of radiofrequency ablation (RFA) with robotic-assisted partial nephrectomy (RPN) for the treatment of T1 stage renal cell carcinoma (RCC).Materials and methodsThis was a retrospective data analysis of a high-volume single tertiary centre. Patients were treated with RFA or RPN following multidisciplinary decision making. Only histologically proven RCCs were included. Baseline demographics were collected, and PADUA scores of tumour features were calculated to standardize baseline anatomy. Peri-operative complications, kidney function and oncological outcomes were compared.ResultsSixty-three cases were included in each group. Baseline renal function was poorer in RFA, and 16/63 RFA patients had tumours in single kidneys compared to 1/63 RPN cases (p < 0.001). Length of stay was shorter in RFA (1 vs. 3 days, p < 0.0001). Post-procedure renal function decline at 30 days was significantly less in RFA [(−0.8) ± 9.6 vs. (−16.1) ± 19.5 mls/min/1.73 m"2; p < 0.0001]. More minor complications were recorded in RPN (10/63 vs. 4/63, p = 0.15), but local recurrence was numerically higher in RFA (6/63 vs. 1/63, p = 0.11). Disease-free survival (DFS) was not significantly different (adjusted HR = 0.6, 95 % Cl 0.1–3.7; p = 0.60). Increasing tumour size was an independent predictor of local recurrence (adjusted HR = 1.7; 95 % Cl 1.1–2.6 per cm; p = 0.02).ConclusionsBoth RPN and RFA offer very good oncological outcomes for the treatment of T1 RCC with low peri-operative morbidity and similar oncologic outcomes. RFA demonstrated fewer peri-operative complications and better preservation of renal function, whereas RPN had an insignificantly lower local recurrence rate. RFA should be offered alongside RPN for selected cases.

  11. Percutaneous Radiofrequency Ablation Versus Robotic-Assisted Partial Nephrectomy for the Treatment of Small Renal Cell Carcinoma

    Energy Technology Data Exchange (ETDEWEB)

    Pantelidou, Maria [King’s Health Partners, Department of Interventional Radiology, Guy’s and St. Thomas’ Hospitals, NHS Foundation Trust (United Kingdom); Challacombe, Ben [King’s Health Partners, Department of Urology, Guy’s and St. Thomas’ Hospitals, NHS Foundation Trust (United Kingdom); McGrath, Andrew [King’s Health Partners, Department of Interventional Radiology, Guy’s and St. Thomas’ Hospitals, NHS Foundation Trust (United Kingdom); Brown, Matthew [King’s Health Partners, Department of Urology, Guy’s and St. Thomas’ Hospitals, NHS Foundation Trust (United Kingdom); Ilyas, Shahzad; Katsanos, Konstantinos, E-mail: konstantinos.katsanos@gstt.nhs.uk; Adam, Andreas [King’s Health Partners, Department of Interventional Radiology, Guy’s and St. Thomas’ Hospitals, NHS Foundation Trust (United Kingdom)

    2016-11-15

    IntroductionThe authors compared the oncologic outcomes of radiofrequency ablation (RFA) with robotic-assisted partial nephrectomy (RPN) for the treatment of T1 stage renal cell carcinoma (RCC).Materials and methodsThis was a retrospective data analysis of a high-volume single tertiary centre. Patients were treated with RFA or RPN following multidisciplinary decision making. Only histologically proven RCCs were included. Baseline demographics were collected, and PADUA scores of tumour features were calculated to standardize baseline anatomy. Peri-operative complications, kidney function and oncological outcomes were compared.ResultsSixty-three cases were included in each group. Baseline renal function was poorer in RFA, and 16/63 RFA patients had tumours in single kidneys compared to 1/63 RPN cases (p < 0.001). Length of stay was shorter in RFA (1 vs. 3 days, p < 0.0001). Post-procedure renal function decline at 30 days was significantly less in RFA [(−0.8) ± 9.6 vs. (−16.1) ± 19.5 mls/min/1.73 m{sup 2}; p < 0.0001]. More minor complications were recorded in RPN (10/63 vs. 4/63, p = 0.15), but local recurrence was numerically higher in RFA (6/63 vs. 1/63, p = 0.11). Disease-free survival (DFS) was not significantly different (adjusted HR = 0.6, 95 % Cl 0.1–3.7; p = 0.60). Increasing tumour size was an independent predictor of local recurrence (adjusted HR = 1.7; 95 % Cl 1.1–2.6 per cm; p = 0.02).ConclusionsBoth RPN and RFA offer very good oncological outcomes for the treatment of T1 RCC with low peri-operative morbidity and similar oncologic outcomes. RFA demonstrated fewer peri-operative complications and better preservation of renal function, whereas RPN had an insignificantly lower local recurrence rate. RFA should be offered alongside RPN for selected cases.

  12. Automation, robotics and remote handling technology in the nuclear fuel cycle

    International Nuclear Information System (INIS)

    Rajagopalan, C.; Venugopal, S.

    2013-01-01

    Automation and Robotics technology are making significant contributions in almost all fields of engineering and technology and their presence is felt in all spheres of human life. The importance of automation and robotics has increased rapidly in the recent years to cater to the global competitive pressures by the manufacturing industry by utilizing the increased productivity and improved quality this technology offers. Improvement of productivity, quality, profitability and, indeed, survival are the major motivating factors in the implementation of automation and robotics technology in the manufacturing sector. Robots are used extensively in the automotive industry, primarily for welding, painting and material handling applications. The electronics, aerospace, metalworking and consumer goods industries are also major potential robot users. The common uses of robots in industries mostly include the four Ps - Picking, Placing, Packaging and Painting - apart from other industrial routines like assembly and welding. As is the case with industrial tools and machineries, a properly designed robot (for the appropriate task) has almost unlimited endurance with the added benefit of precisions unmatched by human workers. With robot technology as a key element, integrated factory automation systems touch on nearly all types of manufacturing. The productivity and competitiveness in these industries will depend in large part on flexible automation through robotics

  13. Welding technologies for nuclear machinery and equipment

    International Nuclear Information System (INIS)

    Kobayashi, Masahiro; Yokono, Tomomi.

    1991-01-01

    The main welding methods applied to nuclear machinery and equipment are shielded metal arc welding, submerged arc welding, MAG welding and TIG welding. But in the last 10 years, in order to improve the reliability required for the welding of nuclear machinery and equipment, the welding technologies aiming at the reduction of heat input, the decrease of the number of welding pass and the automatic control of welding factors have been applied for the main purpose of bettering the quality and excluding human errors. The merits and the technology of narrow gap, pulsed MAG welding and melt-through welding are explained. As the automation of TIG welding, image processing type narrow gap, hot wire TIG welding and remote control type automatic TIG welding are described. For the longitudinal welding of active metal sheet products, plasma key-hole welding is applied. Since the concentration of its arc is good, high speed welding with low heat input can be done. For the stainless steel cladding by welding, electroslag welding has become to be employed in place of conventional submerged arc welding. Arc is not generated in the electroslag welding, and the penetration into base metal is small. (K.I.)

  14. Understanding Friction Stir Welding

    Science.gov (United States)

    Nunes, A. C., Jr.

    2018-01-01

    This Technical Memorandum explains the friction stir welding process in terms of two basic concepts: the concentration of deformation in a shear surface enveloping the tool and the composition of the overall plastic flow field around the tool from simple flow field components. It is demonstrated how weld structure may be understood and torque, drag, and lateral tool forces may be estimated using these concepts. Some discrepancies between computations and accompanying empirical data are discussed in the text. This work is intended to be helpful to engineers in diagnosing problems and advancing technology.

  15. Application of CO2 laser beam weld for repair of fuel element of nuclear reactor 'YAYOI'

    International Nuclear Information System (INIS)

    Hashimoto, Mitsuo; Yanagi, Hideharu; Sukegawa, Toshio; Saito, Isao; Sasuga, Norihiko; Aizawa, Nagaaki; Miya, Kenzo

    1986-01-01

    The present studies are to develop CO 2 laser beam welding techniques in order to apply for repoint of nuclear reactor fuel of Fast Neutron Source Reactor YAYOI. For that purpos, many experiments were conduted to obtain various effects of laser welding variables with use of SUS 304 plates, pipes and simulated dumy fuels. These experiments provided us an optimal welding condition through metallurgical observations, non-destructive and mechanical tests. It was found that the laser welds exhibited properties equivalent to those of the base metal, in addition they provided us a favorable system than that of electron beam welds against a cladding of radioactive nuclear fuel in a hot cell. The present paper reports on the characteristics of laser welds, structural analysis of fuel element and a system design of remotely operated devices setting in a hot cell. (author)

  16. WARRIOR II, a high performance modular electric robot system

    International Nuclear Information System (INIS)

    Downton, G.C.

    1996-01-01

    Initially designed for in-reactor welding by the Central Electricity Generating Board, WARRIOR has been developed using the concept of modular technology to become a light-weight, high performance robotic system. Research work on existing machines for in-reactor inspection and repair and heavy duty hydraulic manipulators was progressed in order to develop WARRIOR II, a versatile in-reactor welding system usable at any nuclear power station light enough to be deployed by existing remote handling equipment. WARRIOR II can be significantly reconfigured quickly to pursue different ends. (UK)

  17. Efficient Symbolic Task Planning for Multiple Mobile Robots

    Science.gov (United States)

    2016-12-13

    shows a map of the testing environment. S1 and S2 ( green rectangles) are the initial positions of two robots, and G1 and G2 (red ellipses) show their...intelligence, pages 1594–1597. AAAI Press, 2008. [25] Mausam and D. S. Weld . Planning with durative actions in stochastic domains. J. Artif. Intell. Res...JAIR), 31:33–82, 2008. [26] D. McDermott, M. Ghallab, A. Howe, C. Knoblock, A. Ram, M. Veloso, D. Weld , and D. Wilkins. Pddl-the planning domain

  18. Welding method by remote handling

    International Nuclear Information System (INIS)

    Hashinokuchi, Minoru.

    1994-01-01

    Water is charged into a pit (or a water reservoir) and an article to be welded is placed on a support in the pit by remote handling. A steel plate is disposed so as to cover the article to be welded by remote handling. The welding device is positioned to the portion to be welded and fixed in a state where the article to be welded is shielded from radiation by water and the steel plate. Water in the pit is drained till the portion to be welded is exposed to the atmosphere. Then, welding is conducted. After completion of the welding, water is charged again to the pit and the welding device and fixing jigs are decomposed in a state where the article to be welded is shielded again from radiation by water and the steel plate. Subsequently, the steel plate is removed by remote handling. Then, the article to be welded is returned from the pit to a temporary placing pool by remote handling. This can reduce operator's exposure. Further, since the amount of the shielding materials can be minimized, the amount of radioactive wastes can be decreased. (I.N.)

  19. Ultrasonic inspection of austenitic welds

    Energy Technology Data Exchange (ETDEWEB)

    Tomlinson, J R; Wagg, A R; Whittle, M J [N.D.T. Applications Centre, CEGB, Manchester (United Kingdom)

    1980-11-01

    The metallurgical structure of austenitic welds is described and contrasted with that found in ferritic welds. It is shown that this structure imparts a marked elastic anisotropy in the ultrasonic propagation parameters. Measurements of variations in the apparent attenuation of sound and deviations in the beam direction are described. The measurements are interpreted in terms of the measured velocity anisotropy. Two applications of the fundamental work are described. In the first it is shown how, by using short pulse compression wave probes, and with major modification of the welding procedure, a stainless steel fillet weld in an AGR boiler can be inspected. In the second application, alternative designs of a transition butt weld have been compared for ease of ultrasonic inspection. The effects of two different welding processes on such an inspection are described. Finally, the paper examines the prospects for future development of inspection and defect-sizing techniques for austenitic welds. (author)

  20. Visualization of Spot- welding Resistance

    Directory of Open Access Journals (Sweden)

    Michal Černý

    2016-01-01

    Full Text Available This contribution devotes to monitoring of processes running during joining of steel sheets by incadescent so called point welding using non-destructive trial method – acoustic emission (AE. The joining process is detailed described within experimental measuring from the point of view of metallurgic effects runnig during weld creation (records obtained by means of AE method. It takes into consideration quality of joined steels within welding data of steel producer. Steel welding (determined by chemical composition during mechanical verification and firmness of welds consider results of measurement AE and fracture effect of point joints. The measurement also demonstrates conclusion about connection of metallurgic processes with material wave effects (AE measurement and their impact on firmness of joint at steel with guaranteed welding, difficult welding and at their potential combination.

  1. Micro Robotics Lab

    Data.gov (United States)

    Federal Laboratory Consortium — Our research is focused on the challenges of engineering robotic systems down to sub-millimeter size scales. We work both on small mobile robots (robotic insects for...

  2. Robots of the Future

    Indian Academy of Sciences (India)

    two main types of robots: industrial robots, and autonomous robots. .... position); it also has a virtual CPU with two stacks and three registers that hold 32-bit strings. Each item ..... just like we can aggregate images, text, and information from.

  3. Presentation robot Advee

    Czech Academy of Sciences Publication Activity Database

    Krejsa, Jiří; Věchet, Stanislav; Hrbáček, J.; Ripel, T.; Ondroušek, V.; Hrbáček, R.; Schreiber, P.

    2012-01-01

    Roč. 18, 5/6 (2012), s. 307-322 ISSN 1802-1484 Institutional research plan: CEZ:AV0Z20760514 Keywords : mobile robot * human - robot interface * localization Subject RIV: JD - Computer Applications, Robot ics

  4. Towards Sociable Robots

    DEFF Research Database (Denmark)

    Ngo, Trung Dung

    This thesis studies aspects of self-sufficient energy (energy autonomy) for truly autonomous robots and towards sociable robots. Over sixty years of history of robotics through three developmental ages containing single robot, multi-robot systems, and social (sociable) robots, the main objective...... of roboticists mostly focuses on how to make a robotic system function autonomously and further, socially. However, such approaches mostly emphasize behavioural autonomy, rather than energy autonomy which is the key factor for not only any living machine, but for life on the earth. Consequently, self......-sufficient energy is one of the challenges for not only single robot or multi-robot systems, but also social and sociable robots. This thesis is to deal with energy autonomy for multi-robot systems through energy sharing (trophallaxis) in which each robot is equipped with two capabilities: self-refueling energy...

  5. Modular Power Supply for Micro Resistance Welding

    Directory of Open Access Journals (Sweden)

    Bondarenko Oleksandr

    2017-07-01

    Full Text Available The study is devoted to the important issue of enhancing the circuitry and characteristics of power supplies for micro resistance welding machines. The aim of the research is to provide high quality input current and to increase the energy efficiency of the output pulse generator by means of improving the circuit topologies of the power supply main blocks. In study, the principle of constructing the power supply for micro resistance welding, which provides high values of output welding current and high accuracy of welding pulse formation, makes it possible to reduce energy losses, and provides high quality of consumed input current, is represented. The multiphase topology of the charger with power factor correction based on SEPIC converters is suggested as the most efficient for charging the supercapacitor storage module. The multicell topology of the supercapacitor energy storage with voltage equalizing is presented. The parameters of the converter cells are evaluated. The calculations of energy efficiency of the power supply’s input and output converters based on suggested topologies are carried out and verified in MATLAB Simulink. The power factor value greater than 99 % is derived.

  6. Recent Corrosion Research Trends in Weld Joints

    International Nuclear Information System (INIS)

    Kim, Hwan Tae; Kil, Sang Cheol; Hwang, Woon Suk

    2007-01-01

    The increasing interest in the corrosion properties of weld joints in the corrosive environment is placing stringent demands on the manufacturing techniques and performance requirements, and the manufacture employs the high quality and efficiency welding process to produce welds. Welding plays an important role in the fabrication of chemical plants, nuclear power plant, ship construction, and this has led to an increasing attention to the corrosion resistant weld joints. This paper covers recent technical trends of welding technologies for corrosion resistance properties including the COMPENDEX DB analysis of welding materials, welding process, and welding fabrications

  7. Welding technology transfer task/laser based weld joint tracking system for compressor girth welds

    Science.gov (United States)

    Looney, Alan

    1991-01-01

    Sensors to control and monitor welding operations are currently being developed at Marshall Space Flight Center. The laser based weld bead profiler/torch rotation sensor was modified to provide a weld joint tracking system for compressor girth welds. The tracking system features a precision laser based vision sensor, automated two-axis machine motion, and an industrial PC controller. The system benefits are elimination of weld repairs caused by joint tracking errors which reduces manufacturing costs and increases production output, simplification of tooling, and free costly manufacturing floor space.

  8. Cloud Robotics Model

    OpenAIRE

    Mester, Gyula

    2015-01-01

    Cloud Robotics was born from the merger of service robotics and cloud technologies. It allows robots to benefit from the powerful computational, storage, and communications resources of modern data centres. Cloud robotics allows robots to take advantage of the rapid increase in data transfer rates to offload tasks without hard real time requirements. Cloud Robotics has rapidly gained momentum with initiatives by companies such as Google, Willow Garage and Gostai as well as more than a dozen a...

  9. A wall-crawling robot for reactor vessel inspection in advanced reactors

    International Nuclear Information System (INIS)

    Spelt, P.F.; Crane, C.; Feng, L.; Abidi, M.; Tosunoglu, S.

    1994-01-01

    A consortium of four universities and the Center for Engineering Systems Advanced Research of the Oak Ridge National Laboratory has designed a prototype wall-crawling robot to perform weld inspection in advanced nuclear reactors. Design efforts for the reactor vessel inspection robot (RVIR) concentrated on the Advanced Liquid Metal Reactor because it presents the most demanding environment in which such a robot must operate. The RVIR consists of a chassis containing two sets of suction cups that can alternately grasp the side of the vessel being inspected, providing both locomotion and steering functions. Sensors include three CCD cameras and a weld inspection device based on new shear-wave technology. The restrictions of the inspection environment presented major challenges to the team. These challenges were met in the prototype, which has been tested in a non-radiation, room-temperature mockup of the robot work environment and shown to perform as expected. (author)

  10. A wall-crawling robot for reactor vessel inspection in advanced reactors

    International Nuclear Information System (INIS)

    Spelt, P.F.; Crane, C.; Feng, L.; Abidi, M.; Tosunoglu, S.

    1994-01-01

    A consortium of four universities and the Center for Engineering Systems Advanced Research of the Oak Ridge National Laboratory has designed a prototype wall-crawling robot to perform weld inspection in advanced nuclear reactors. Design efforts for the reactor vessel inspection robot (RVIR) concentrated on the Advanced Liquid Metal Reactor because it presents the most demanding environment in which such a robot must operate. The RVIR consists of a chassis containing two sets of suction cups that can alternately grasp the side of the vessel being inspected, providing both locomotion and steering functions. Sensors include three CCD cameras and a weld inspection device based on new shear-wave technology. The restrictions of the inspection environment presented major challenges to the team. These challenges were met in the prototype, which has been tested in a non-radiation, room-temperature mockup of the robot work environment and shown to perform as expected

  11. 49 CFR 192.225 - Welding procedures.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 3 2010-10-01 2010-10-01 false Welding procedures. 192.225 Section 192.225... BY PIPELINE: MINIMUM FEDERAL SAFETY STANDARDS Welding of Steel in Pipelines § 192.225 Welding procedures. (a) Welding must be performed by a qualified welder in accordance with welding procedures...

  12. ICT diagnostic method of beryllium welding quality

    International Nuclear Information System (INIS)

    Sun Lingxia; Wei Kentang; Ye Yunchang

    2002-01-01

    To avoid the interference of high density material for the quality assay of beryllium welding line, a slice by slice scanning method was proposed based upon the research results of the Industrial Computerized Tomography (ICT) diagnostics for weld penetration, weld width, off-centered deviation and weld defects of beryllium-ring welding seam with high density material inside

  13. Numerical analysis of weld pool oscillation in laser welding

    Energy Technology Data Exchange (ETDEWEB)

    Cho, Jung Ho [Chungbuk National University, Cheongju (Korea, Republic of); Farson, Dave F [The Ohio State University, Columbus (United States); Hollis, Kendall; Milewski, John O. [Los Alamos National Laboratory, Los Alamos (United States)

    2015-04-15

    Volume of fluid (VOF) numerical simulation was used to investigate melt flow and volumetric oscillation of conduction-mode pulsed laser weld pools. The result is compared to high speed video stream of titanium laser spot welding experiment. The total simulation time is 10ms with the first 5 ms being heating and melting under constant laser irradiation and the remaining 5 ms corresponding to resolidification of the weld pool. During the melting process, the liquid pool did not exhibit periodic oscillation but was continually depressed by the evaporation recoil pressure. After the laser pulse, the weld pool was excited into volumetric oscillation by the release of pressure on its surface and oscillation of the weld pool surface was analyzed. The simulation model suggested adjusting thermal diffusivity to match cooling rate and puddle diameter during solidification which is distinguishable from previous weld pool simulation. The frequency continuously increased from several thousand cycles per second to tens of thousands of cycles per second as the weld pool solidified and its diameter decreased. The result is the first trial of investigation of small weld pool oscillation in laser welding although there have been several reports about arc welding.

  14. Deconvoluting the Friction Stir Weld Process for Optimizing Welds

    Science.gov (United States)

    Schneider, Judy; Nunes, Arthur C.

    2008-01-01

    In the friction stir welding process, the rotating surfaces of the pin and shoulder contact the weld metal and force a rotational flow within the weld metal. Heat, generated by the metal deformation as well as frictional slippage with the contact surface, softens the metal and makes it easier to deform. As in any thermo-mechanical processing of metal, the flow conditions are critical to the quality of the weld. For example, extrusion of metal from under the shoulder of an excessively hot weld may relax local pressure and result in wormhole defects. The trace of the weld joint in the wake of the weld may vary geometrically depending upon the flow streamlines around the tool with some geometry more vulnerable to loss of strength from joint contamination than others. The material flow path around the tool cannot be seen in real time during the weld. By using analytical "tools" based upon the principles of mathematics and physics, a weld model can be created to compute features that can be observed. By comparing the computed observations with actual data, the weld model can be validated or adjusted to get better agreement. Inputs to the model to predict weld structures and properties include: hot working properties ofthe metal, pin tool geometry, travel rate, rotation and plunge force. Since metals record their prior hot working history, the hot working conditions imparted during FSW can be quantified by interpreting the final microstructure. Variations in texture and grain size result from variations in the strain accommodated at a given strain rate and temperature. Microstructural data from a variety of FSWs has been correlated with prior marker studies to contribute to our understanding of the FSW process. Once this stage is reached, the weld modeling process can save significant development costs by reducing costly trial-and-error approaches to obtaining quality welds.

  15. Robot Programming.

    Science.gov (United States)

    1982-12-01

    Paris, France, June, 1982, 519-530. Latoinbe, J. C. "Equipe Intelligence Artificielle et Robotique: Etat d’avancement des recherches," Laboratoire...8217AD-A127 233 ROBOT PROGRRMMING(U) MASSACHUSETTS INST OFGTECHi/ CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB T LOZANO-PEREZ UNCLASSIFIED DC8 AI-9 N884...NAME AND ADDRESS 10. PROGRAM ELEMENT. PROJECT. TASK Artificial Intelligence Laboratory AREA I WORK UNIT NUMBERS ,. 545 Technology Square Cambridge

  16. Welding in nuclear engineering

    International Nuclear Information System (INIS)

    1982-01-01

    The 3rd international conference 'Welding in nuclear engineering', organized in 1978 by the Deutscher Verband fuer Schweisstechnik e.V., was, like the two foregoing conferences in 1970 and 1974, an absolute success. The noteworthy echo to this meeting in the international technical world - the number of 650 participants from 26 countries is self-evidence - and this fact, was for the Deutscher Verband fuer Schweisstechnik e.V. occasion and at the same time an obligation now to follow in the same way, the meeting that was started 12 years ago, by organizing the international conference 'Welding in nuclear engineering'. The conference this year offers in addition to the two plenary session lectures, 34 short reports and a further 28 single contributions in the form of two poster-sessions. Unfortunately, it was again not possible to accept all the papers submitted because the conference was limited to 2 days only. Nevertheless, the papers will offer a representative cross-section through the total range of welding engineering. In particular, the poster session, which take place for the first time within the scope of a meeting organized by the Working Group 'Welding in Nuclear Engineering', should contribute to the aim that this time again the discussions will form the main point of the conference. (orig./RW) [de

  17. Welding. Student Learning Guide.

    Science.gov (United States)

    Palm Beach County Board of Public Instruction, West Palm Beach, FL.

    This student learning guide contains 30 modules for completing a course in welding. It is designed especially for use in secondary schools in Palm Beach County, Florida. Each module covers one task, and consists of a purpose, performance objective, enabling objectives, learning activities keyed to resources, information sheets, student self-check…

  18. Thermal Stresses in Welding

    DEFF Research Database (Denmark)

    Hansen, Jan Langkjær

    1998-01-01

    Studies of the transient temperature fields and the hereby induced deformations and stressses in a butt-welded mild steel plate modelledrespectively in 2D plane stress state (as well as plane strain state) and in full 3D have been done. The model has been implemented in the generalpurpose FE...

  19. State Skill Standards: Welding

    Science.gov (United States)

    Pointer, Mike; Naylor, Randy; Warden, John; Senek, Gene; Shirley, Charles; Lefcourt, Lew; Munson, Justin; Johnson, Art

    2005-01-01

    The Department of Education has undertaken an ambitious effort to develop statewide occupational skill standards. The standards in this document are for welding programs and are designed to clearly state what the student should know and be able to do upon completion of an advanced high-school program. The writing team determined that any statewide…

  20. Elementary TIG Welding Skills.

    Science.gov (United States)

    Pierson, John E., III

    The text was prepared to help deaf students develop the skills needed by an employed welder. It uses simplified language and illustrations to present concepts which should be reinforced by practical experience with welding skills. Each of the 12 lessons contains: (1) an information section with many illustrations which presents a concept or…

  1. Friendly network robotics; Friendly network robotics

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1997-03-01

    This paper summarizes the research results on the friendly network robotics in fiscal 1996. This research assumes an android robot as an ultimate robot and the future robot system utilizing computer network technology. The robot aiming at human daily work activities in factories or under extreme environments is required to work under usual human work environments. The human robot with similar size, shape and functions to human being is desirable. Such robot having a head with two eyes, two ears and mouth can hold a conversation with human being, can walk with two legs by autonomous adaptive control, and has a behavior intelligence. Remote operation of such robot is also possible through high-speed computer network. As a key technology to use this robot under coexistence with human being, establishment of human coexistent robotics was studied. As network based robotics, use of robots connected with computer networks was also studied. In addition, the R-cube (R{sup 3}) plan (realtime remote control robot technology) was proposed. 82 refs., 86 figs., 12 tabs.

  2. An Evaluation of Camera Pose Methods for an Augmented Reality System: Application to Teaching Industrial Robots

    OpenAIRE

    Maidi , Madjid; Mallem , Malik; Benchikh , Laredj; Otmane , Samir

    2013-01-01

    International audience; In automotive industry, industrial robots are widely used in production lines for many tasks such as welding, painting or assembly. Their use requires, from users, both a good manipulation and robot control. Recently, new tools have been developed to realize fast and accurate trajectories in many production sectors by using the real prototype of vehicle or a generalized design within a virtual simulation platform. However, many issues could be considered in these cases...

  3. Cultural Robotics: The Culture of Robotics and Robotics in Culture

    OpenAIRE

    Hooman Samani; Elham Saadatian; Natalie Pang; Doros Polydorou; Owen Noel Newton Fernando; Ryohei Nakatsu; Jeffrey Tzu Kwan Valino Koh

    2013-01-01

    In this paper, we have investigated the concept of “Cultural Robotics” with regard to the evolution of social into cultural robots in the 21st Century. By defining the concept of culture, the potential development of a culture between humans and robots is explored. Based on the cultural values of the robotics developers, and the learning ability of current robots, cultural attributes in this regard are in the process of being formed, which would define the new concept of cultural robotics. Ac...

  4. Welding, Bonding and Fastening, 1984

    Science.gov (United States)

    Buckley, J. D. (Editor); Stein, B. A. (Editor)

    1985-01-01

    A compilation of papers presented in a joint NASA, American Society for Metals, The George Washington University, American Welding Soceity, and Society of Manufacturing Engineers conference on Welding, Bonding, and Fastening at Langley Research Center, Hampton, VA, on October 23 to 25, 1984 is given. Papers were presented on technology developed in current research programs relevant to welding, bonding, and fastening of structural materials required in fabricating structures and mechanical systems used in the aerospace, hydrospace, and automotive industries. Topics covered in the conference included equipment, hardware and materials used when welding, brazing, and soldering, mechanical fastening, explosive welding, use of unique selected joining techniques, adhesives bonding, and nondestructive evaluation. A concept of the factory of the future was presented, followed by advanced welding techniques, automated equipment for welding, welding in a cryogenic atmosphere, blind fastening, stress corrosion resistant fasteners, fastening equipment, explosive welding of different configurations and materials, solid-state bonding, electron beam welding, new adhesives, effects of cryogenics on adhesives, and new techniques and equipment for adhesive bonding.

  5. Galvanic corrosion of beryllium welds

    International Nuclear Information System (INIS)

    Hill, M.A.; Butt, D.P.; Lillard, R.S.

    1997-01-01

    Beryllium is difficult to weld because it is highly susceptible to cracking. The most commonly used filler metal in beryllium welds is Al-12 wt.% Si. Beryllium has been successfully welded using Al-Si filler metal with more than 30 wt.% Al. This filler creates an aluminum-rich fusion zone with a low melting point that tends to backfill cracks. Drawbacks to adding a filler metal include a reduction in service temperature, a lowering of the tensile strength of the weld, and the possibility for galvanic corrosion to occur at the weld. To evaluate the degree of interaction between Be and Al-Si in an actual weld, sections from a mock beryllium weldment were exposed to 0.1 M Cl - solution. Results indicate that the galvanic couple between Be and the Al-Si weld material results in the cathodic protection of the weld and of the anodic dissolution of the bulk Be material. While the cathodic protection of Al is generally inefficient, the high anodic dissolution rate of the bulk Be during pitting corrosion combined with the insulating properties of the Be oxide afford some protection of the Al-Si weld material. Although dissolution of the Be precipitate in the weld material does occur, no corrosion of the Al-Si matrix was observed

  6. In-field Welding and Coating Protocols

    Science.gov (United States)

    2009-05-12

    Gas Technology Institute (GTI) and Edison Welding Institute (EWI) created both laboratory and infield girth weld samples to evaluate the effects of weld geometry and hydrogen off-gassing on the performance of protective coatings. Laboratory made plat...

  7. Perspectives of special welding methods. 1

    International Nuclear Information System (INIS)

    Herden, G.; Buness, G.; Wiesner, P.

    1976-01-01

    Laser, electron, ion, and light beam welding as well as plasma arc welding are considered to be special fusion welding methods. The stage of development and possible future applications of these methods are described. (author)

  8. Improvements in and relating to welding

    International Nuclear Information System (INIS)

    Taylor, B.D.

    1979-01-01

    This invention concerns apparatus for use in welding, particularly welding which must be effected in a predetermined, for example, inert atmosphere, e.g. the welding of reactive materials such as zircaloy, titanium, magnesium, aluminium, etc. (U.K.)

  9. Welding for the CRBRP steam generators

    International Nuclear Information System (INIS)

    Spalaris, C.N.; Ring, P.J.; Durand, R.E.; Wright, E.A.

    1979-01-01

    The rationale for selecting weld design, welding procedures and inspection methods was based upon the desire to obtain the highest reliability welds for the CRBRP steam generators. To assure the highest weld reliability, heavy emphasis was placed on the control of material cleanliness and composition substantially exceeding the requirements of the ASME Code for 2-1/4Cr--1Mo. The high tube/tubesheet weld quality was achieved through close material control, an extensive weld development program and the selection of high reliability welding equipment. Shell and nozzle weld fabrication using TIG, MIG, and submerged arc procedures are also being controlled through precise specifications, including preheat and postheat programs, together with radiography and ultrasonic inspection to ascertain the weld quality desired. Details of the tube/tubesheet welding and shell welding are described and results from the weld testing program are discussed

  10. Robotic Manufacturing of 5.5 Meter Cryogenic Fuel Tank Dome Assemblies for the NASA Ares I Rocket

    Science.gov (United States)

    Jones, Ronald E.

    2012-01-01

    The Ares I rocket is the first launch vehicle scheduled for manufacture under the National Aeronautic and Space Administration's (NASA's) Constellation program. A series of full-scale Ares I development articles have been constructed on the Robotic Weld Tool at the NASA George C. Marshall Space Flight Center in Huntsville, Alabama. The Robotic Weld Tool is a 100 ton, 7-axis, robotic manufacturing system capable of machining and friction stir welding large-scale space hardware. This presentation will focus on the friction stir welding of 5.5m diameter cryogenic fuel tank components; specifically, the liquid hydrogen forward dome (LH2 MDA), the common bulkhead manufacturing development articles (CBMDA) and the thermal protection system demonstration dome (TPS Dome). The LH2 MDA was the first full-scale, flight-like Ares I hardware produced under the Constellation Program. It is a 5.5m diameter elliptical dome assembly consisting of eight gore panels, a y-ring stiffener and a manhole fitting. All components are made from aluminumlithium alloy 2195. Conventional and self-reacting friction stir welding was used on this article. An overview of the manufacturing processes will be discussed. The LH2 MDA is the first known fully friction stir welded dome ever produced. The completion of four Common Bulkhead Manufacturing Development Articles (CBMDA) and the TPS Dome will also be highlighted. Each CBMDA and the TPS Dome consists of a 5.5m diameter spun-formed dome friction stir welded to a y-ring stiffener. The domes and y-rings are made of aluminum 2014 and 2219 respectively. The TPS Dome has an additional aluminum alloy 2195 barrel section welded to the y-ring. Manufacturing solutions will be discussed including "fixtureless" welding with self reacting friction stir welding.

  11. Calibration of Robot Reference Frames for Enhanced Robot Positioning Accuracy

    OpenAIRE

    Cheng, Frank Shaopeng

    2008-01-01

    This chapter discussed the importance and methods of conducting robot workcell calibration for enhancing the accuracy of the robot TCP positions in industrial robot applications. It shows that the robot frame transformations define the robot geometric parameters such as joint position variables, link dimensions, and joint offsets in an industrial robot system. The D-H representation allows the robot designer to model the robot motion geometry with the four standard D-H parameters. The robot k...

  12. Developments in welding and joining methods of metallic materials

    International Nuclear Information System (INIS)

    Pilarczyk, J.

    2007-01-01

    The impact of the welding technology on the economy development. The welding and joining methods review. The particular role of the laser welding and its interesting applications: with filler metal, twin spot laser welding, hybrid welding process, remote welding. The fiber lasers. The high intensity electron beams applications for surface modification. The TIG welding with the use of the active flux. Friction welding, friction stir welding and friction linear welding. (author)

  13. Selected Topics in MicroNano-robotics for Biomedical Applications

    CERN Document Server

    2013-01-01

    Selected Topics in Micro/Nano-robotics for Biomedical Applications features a system approach and incorporates modern methodologies in autonomous mobile robots for programmable and controllable micro/nano-robots aiming at biomedical applications. The book provides chapters of instructional materials and cutting-edge research results in micro/nanorobotics for biomedical applications. The book presents new sensing technology on nanofibers, new power supply techniques including miniature fuel cells and energy harvesting devices, and manipulation techniques including AFM-based nano-robotic manipulation, robot-aided optical tweezers, and robot-assisted catheter surgery systems. It also contains case studies on using micro/nano-robots in biomedical environments and in biomedicine, as well as a design example to conceptually develop a Vitamin-pill sized robot to enter human’s gastrointestinal tract. Each chapter covers a different topic of the highly interdisciplinary area. Bring together the selected topics into ...

  14. Retention Strength of Conical Welding Caps for Fixed Implant-Supported Prostheses.

    Science.gov (United States)

    Nardi, Diego; Degidi, Marco; Sighinolfi, Gianluca; Tebbel, Florian; Marchetti, Claudio

    This study evaluated the retention strength of welding caps for Ankylos standard abutments using a pull-out test. Each sample consisted of an implant abutment and its welding cap. The tests were performed with a Zwick Roell testing machine with a 1-kN load cell. The retention strength of the welding caps increased with higher abutment diameters and higher head heights and was comparable or superior to the values reported in the literature for the temporary cements used in implant dentistry. Welding caps provide a reliable connection between an abutment and a fixed prosthesis without the use of cement.

  15. Welding wire pressure sensor assembly

    Science.gov (United States)

    Morris, Timothy B. (Inventor); Milly, Peter F., Sr. (Inventor); White, J. Kevin (Inventor)

    1994-01-01

    The present invention relates to a device which is used to monitor the position of a filler wire relative to a base material being welded as the filler wire is added to a welding pool. The device is applicable to automated welding systems wherein nonconsumable electrode arc welding processes are utilized in conjunction with a filler wire which is added to a weld pool created by the electrode arc. The invention senses pressure deviations from a predetermined pressure between the filler wire and the base material, and provides electrical signals responsive to the deviations for actuating control mechanisms in an automatic welding apparatus so as to minimize the pressure deviation and to prevent disengagement of the contact between the filler wire and the base material.

  16. Fundamental Laser Welding Process Investigations

    DEFF Research Database (Denmark)

    Bagger, Claus; Olsen, Flemming Ove

    1998-01-01

    In a number of systematic laboratory investigations the fundamental behavior of the laser welding process was analyzed by the use of normal video (30 Hz), high speed video (100 and 400 Hz) and photo diodes. Sensors were positioned to monitor the welding process from both the top side and the rear...... side of the specimen.Special attention has been given to the dynamic nature of the laser welding process, especially during unstable welding conditions. In one series of experiments, the stability of the process has been varied by changing the gap distance in lap welding. In another series...... video pictures (400 Hz), a clear impact on the seam characteristics has been identified when a hump occurs.Finally, a clear correlation between the position of the focus point, the resultant process type and the corresponding signal intensity and signal variation has been found for sheets welded...

  17. INERT GAS SHIELD FOR WELDING

    Science.gov (United States)

    Jones, S.O.; Daly, F.V.

    1958-10-14

    S>An inert gas shield is presented for arc-welding materials such as zirconium that tend to oxidize rapidly in air. The device comprises a rectangular metal box into which the welding electrode is introduced through a rubber diaphragm to provide flexibility. The front of the box is provided with a wlndow having a small hole through which flller metal is introduced. The box is supplied with an inert gas to exclude the atmosphere, and with cooling water to promote the solidification of the weld while in tbe inert atmosphere. A separate water-cooled copper backing bar is provided underneath the joint to be welded to contain the melt-through at the root of the joint, shielding the root of the joint with its own supply of inert gas and cooling the deposited weld metal. This device facilitates the welding of large workpieces of zirconium frequently encountered in reactor construction.

  18. Metals welding by using laser

    International Nuclear Information System (INIS)

    Al-Qaisy, R.A.W.

    1991-01-01

    In the present work, same welding ''conduction limited type'' under atmospheric conditions was performed using pulsed Ng:YAG laser to weld; low carbon steel (LCS), stainless steel (304) (SUS304), stainless steel (303) (SUS303), and brass. Microstructure of welded zone, heat affected zone (HAZ), and the laser energy on penetration depth and effective diameter were studied. Tensile test, micro-hardness, and surface roughness of welded and parent metals were also dealt with. Melting efficiency was worked out and an under vacuum seam welding of low carbon steel has been accomplished. Finally spot welding of aluminium tungsten, and platinium wires were employed using different layer energies. 34 tabs.; 82 figs.; 51 refs.; 1 app

  19. Corrosion of carbon steel welds

    International Nuclear Information System (INIS)

    Daniel, B.

    1988-09-01

    This report assesses the factors which cause preferential attack to occur in carbon steel fusion welds. It was concluded that the main factors were: the inclusion content of the weld metal, the potential of the weld metal being less noble than that of the parent, and the presence of low-temperature transformation products in the heat-affected zone of the weld. These factors should be minimized or eliminated as appropriate so that the corrosion allowances determined for carbon steel waste drums is also adequate for the welds. An experimental/theoretical approach is recommended to evaluate the relative corrosion resistance of welds prepared from BS 4360 grade 43A steel to that of the parent material. (author)

  20. Investigation on mechanical properties of welded material under different types of welding filler (shielded metal arc welding)

    Science.gov (United States)

    Tahir, Abdullah Mohd; Lair, Noor Ajian Mohd; Wei, Foo Jun

    2018-05-01

    The Shielded Metal Arc Welding (SMAW) is (or the Stick welding) defined as a welding process, which melts and joins metals with an arc between a welding filler (electrode rod) and the workpieces. The main objective was to study the mechanical properties of welded metal under different types of welding fillers and current for SMAW. This project utilized the Design of Experiment (DOE) by adopting the Full Factorial Design. The independent variables were the types of welding filler and welding current, whereas the other welding parameters were fixed at the optimum value. The levels for types of welding filler were by the models of welding filler (E6013, E7016 and E7018) used and the levels for welding current were 80A and 90A. The responses were the mechanical properties of welded material, which include tensile strength and hardness. The experiment was analyzed using the two way ANOVA. The results prove that there are significant effects of welding filler types and current levels on the tensile strength and hardness of the welded metal. At the same time, the ANOVA results and interaction plot indicate that there are significant interactions between the welding filler types and the welding current on both the hardness and tensile strength of the welded metals, which has never been reported before. This project found that when the amount of heat input with increase, the mechanical properties such as tensile strength and hardness decrease. The optimum tensile strength for welded metal is produced by the welding filler E7016 and the optimum of hardness of welded metal is produced by the welding filler E7018 at welding current of 80A.

  1. Pulsed ultrasonic stir welding system

    Science.gov (United States)

    Ding, R. Jeffrey (Inventor)

    2013-01-01

    An ultrasonic stir welding system includes a welding head assembly having a plate and a rod passing through the plate. The rod is rotatable about a longitudinal axis thereof. During a welding operation, ultrasonic pulses are applied to the rod as it rotates about its longitudinal axis. The ultrasonic pulses are applied in such a way that they propagate parallel to the longitudinal axis of the rod.

  2. Viewing Welds By Computer Tomography

    Science.gov (United States)

    Pascua, Antonio G.; Roy, Jagatjit

    1990-01-01

    Computer tomography system used to inspect welds for root penetration. Source illuminates rotating welded part with fan-shaped beam of x rays or gamma rays. Detectors in circular array on opposite side of part intercept beam and convert it into electrical signals. Computer processes signals into image of cross section of weld. Image displayed on video monitor. System offers only nondestructive way to check penetration from outside when inner surfaces inaccessible.

  3. Welding facilities for NPP assembling

    International Nuclear Information System (INIS)

    Rojtenberg, S.S.

    1987-01-01

    Recommendations concerning the choice of equipment for welding in pre-assembling work shops, in the enlarging assembling shops and at the assembling site, are given. Advanced production automatic welders and semiautomatic machines, applied during the NPP equipment assembling as well as automatic machines specially produced for welding the main reactor components and pipelines are described. Automatic and semiautomatic machine and manual welding post supply sources are considered

  4. Educational Robotics as Mindtools

    Science.gov (United States)

    Mikropoulos, Tassos A.; Bellou, Ioanna

    2013-01-01

    Although there are many studies on the constructionist use of educational robotics, they have certain limitations. Some of them refer to robotics education, rather than educational robotics. Others follow a constructionist approach, but give emphasis only to design skills, creativity and collaboration. Some studies use robotics as an educational…

  5. ROILA : RObot Interaction LAnguage

    NARCIS (Netherlands)

    Mubin, O.

    2011-01-01

    The number of robots in our society is increasing rapidly. The number of service robots that interact with everyday people already outnumbers industrial robots. The easiest way to communicate with these service robots, such as Roomba or Nao, would be natural speech. However, the limitations

  6. Robotic Hand

    Science.gov (United States)

    1993-01-01

    The Omni-Hand was developed by Ross-Hime Designs, Inc. for Marshall Space Flight Center (MSFC) under a Small Business Innovation Research (SBIR) contract. The multiple digit hand has an opposable thumb and a flexible wrist. Electric muscles called Minnacs power wrist joints and the interchangeable digits. Two hands have been delivered to NASA for evaluation for potential use on space missions and the unit is commercially available for applications like hazardous materials handling and manufacturing automation. Previous SBIR contracts resulted in the Omni-Wrist and Omni-Wrist II robotic systems, which are commercially available for spray painting, sealing, ultrasonic testing, as well as other uses.

  7. Pulsed ultrasonic stir welding method

    Science.gov (United States)

    Ding, R. Jeffrey (Inventor)

    2013-01-01

    A method of performing ultrasonic stir welding uses a welding head assembly to include a plate and a rod passing through the plate. The rod is rotatable about a longitudinal axis thereof. In the method, the rod is rotated about its longitudinal axis during a welding operation. During the welding operation, a series of on-off ultrasonic pulses are applied to the rod such that they propagate parallel to the rod's longitudinal axis. At least a pulse rate associated with the on-off ultrasonic pulses is controlled.

  8. Socket welds in nuclear facilities

    International Nuclear Information System (INIS)

    Anderson, P.A.; Torres, L.L.

    1995-01-01

    Socket welds are easier and faster to make than are butt welds. However, they are often not used in nuclear facilities because the crevices between the pipes and the socket sleeves may be subject to crevice corrosion. If socket welds can be qualified for wider use in facilities that process nuclear materials, the radiation exposures to welders can be significantly reduced. The current tests at the Idaho Chemical Processing Plant (ICPP) are designed to determine if socket welds can be qualified for use in the waste processing system at a nuclear fuel processing plant

  9. Programmable Automated Welding System (PAWS)

    Science.gov (United States)

    Kline, Martin D.

    1994-01-01

    An ambitious project to develop an advanced, automated welding system is being funded as part of the Navy Joining Center with Babcock & Wilcox as the prime integrator. This program, the Programmable Automated Welding System (PAWS), involves the integration of both planning and real-time control activities. Planning functions include the development of a graphical decision support system within a standard, portable environment. Real-time control functions include the development of a modular, intelligent, real-time control system and the integration of a number of welding process sensors. This paper presents each of these components of the PAWS and discusses how they can be utilized to automate the welding operation.

  10. Comparison of Welding Residual Stresses of Hybrid Laser-Arc Welding and Submerged Arc Welding in Offshore Steel Structures

    DEFF Research Database (Denmark)

    Andreassen, Michael Joachim; Yu, Zhenzhen; Liu, Stephen

    2016-01-01

    In the offshore industry, welding-induced distortion and tensile residual stresses have become a major concern in relation to the structural integrity of a welded structure. Particularly, the continuous increase in size of welded plates and joints needs special attention concerning welding induced...... residual stresses. These stresses have a negative impact on the integrity of the welded joint as they promote distortion, reduce fatigue life, and contribute to corrosion cracking and premature failure in the weld components. This paper deals with the influence and impact of welding method on the welding...... induced residual stresses. It is also investigated whether the assumption of residual stresses up to yield strength magnitude are present in welded structures as stated in the design guidelines. The fatigue strength for welded joints is based on this assumption. The two welding methods investigated...

  11. Construction and final assembly of an automatic arc welding machine; Construccion y puesta a punto de una maquina automatica para soldadura remota por arco bajo atmosfera inerte

    Energy Technology Data Exchange (ETDEWEB)

    Herrero Alvarez, J; Diaz Diaz, J; Diaz Diaz, J L

    1972-07-01

    It has been constructed a remote are welding machine, wholly transistorized, to be used in a Hot Cell of 1.000 Cu. In this work are presented the different parts of the equipment and its electronic description. Finally, some works of final preparation are shown such as ending of irradiation capsules, thermocouples welding, stainless steel cover welding. For these types of welding are quoted its relative programs. (Author)

  12. Time course of subacute pain after transoral robotic surgery (TORS) for oropharyngeal squamous cell carcinoma versus traditional bilateral tonsillectomy in adults - a case-control study

    DEFF Research Database (Denmark)

    Scott, Susanne Irene; Madsen, Anne Kathrine Østergaard; Rubek, Niclas

    2018-01-01

    OBJECTIVE: To examine pain after Transoral Robotic Surgery (TORS) for oropharyngeal squamous cell carcinoma (OPSCC) versus traditional bilateral tonsillectomy in adults. METHODS: Pain evolvement was assessed in a prospective case-control design of 16 consecutive patients treated with TORS for early...... stage OPSCC versus 12 patients, who underwent bilateral tonsillectomy on suspicion of malignant disease. The TORS group received an optimized analgesia regime of preoperative oral celecoxib and gabapentin, intra- and postoperative high-dose intravenous dexamethasone, and regular postoperative oral...... contalgin, gabapentin, celecoxib, paracetamol and rescue morphine. The tonsillectomy group received the departmental standard analgesia regime with low-dose preoperative oral dexamethasone, celecoxib and paracetamol. Postoperative regular analgesia consisted of oral NSAID and paracetamol with weak opioids...

  13. Steels and welding nuclear

    International Nuclear Information System (INIS)

    Sessa, M.; Milella, P.P.

    1987-01-01

    This ENEA Data-Base regards mechanical properties, chemical composition and heat treatments of nuclear pressure vessel materials: type A533-B, A302-B, A508 steel plates and forgings, submerged arc welds and HAZ before and after nuclear irradiation. Irradiation experiments were generally performed in high flux material test reactors. Data were collected from international available literature about water nuclear reactors pressure vessel materials embrittlement

  14. ROCLA robots repaired after tough times

    CERN Multimedia

    2004-01-01

    The team of five welders and five mechanics, represented by Pascal Mésenge (right) and Fabrice Multon (left), worked during two week-ends to repair the two ROCLA. At the centre, Oliver Boettcher, technical manager for the robot. The two LHC magnet transport robots ROCLA have recently been repaired after cracks were found in the welds of their load-bearing structure. The Safety Commission suspended the use of one robot and limited the operation conditions of the other. These vehicles are used intensively for the transport of the LHC cryodipoles between the test and the assembly facilities SM18 and SMA18. As a consequence, a speedy solution had to be implemented to minimize the potential disruption to the LHC schedule. Appropriate CERN resources were immediately focused on the problem. As soon as TS/MME had designed a reinforced gantry support, the necessary raw material was ordered. Less than 10 days were required to get the two ROCLA robots operating again. This included 2 full weekends, many extra hours a...

  15. BEAM–TO-COLUMN CONNECTION CALCULATIONS USING ROBOT SOFTWARE

    Directory of Open Access Journals (Sweden)

    Mykhaylo Pashechko

    2015-08-01

    Full Text Available A beam–to-column connection design and results of engineer calculations using Autodesk’s Robot Structural analysis are shown in the article. Two types of connections, bolted and welded, were calculated. The tensile resistance amounted to 912.74 kN, bending resistance to 100.87 kN·m and effective design capacity of the bolt amounted to 27.69 kN. Normal stress in the weld amounted to σ⊥max = τ⊥max = 72.72 MPa, in the vertical weld to σ⊥= τ⊥= 63.34 MPa and tangent stress amounted to τ|| = 4.37 MPa. The results allowed us to implement minor changes such as increasing the distance between the bolt and the edge and decreasing the size of the fillet welds. The design is fully compliant with the EN 1993-1-8 norm. Using Robot Structural Analysis substantially increased the pace of calculations giving precise and clear outcomes.

  16. Modular Robotic Wearable

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop; Pagliarini, Luigi

    2009-01-01

    In this concept paper we trace the contours and define a new approach to robotic systems, composed of interactive robotic modules which are somehow worn on the body. We label such a field as Modular Robotic Wearable (MRW). We describe how, by using modular robotics for creating wearable....... Finally, by focusing on the intersection of the combination modular robotic systems, wearability, and bodymind we attempt to explore the theoretical characteristics of such approach and exploit the possible playware application fields....

  17. Heat Control via Torque Control in Friction Stir Welding

    Science.gov (United States)

    Venable, Richard; Colligan, Kevin; Knapp, Alan

    2004-01-01

    In a proposed advance in friction stir welding, the torque exerted on the workpiece by the friction stir pin would be measured and controlled in an effort to measure and control the total heat input to the workpiece. The total heat input to the workpiece is an important parameter of any welding process (fusion or friction stir welding). In fusion welding, measurement and control of heat input is a difficult problem. However, in friction stir welding, the basic principle of operation affords the potential of a straightforward solution: Neglecting thermal losses through the pin and the spindle that supports it, the rate of heat input to the workpiece is the product of the torque and the speed of rotation of the friction stir weld pin and, hence, of the spindle. Therefore, if one acquires and suitably processes data on torque and rotation and controls the torque, the rotation, or both, one should be able to control the heat input into the workpiece. In conventional practice in friction stir welding, one uses feedback control of the spindle motor to maintain a constant speed of rotation. According to the proposal, one would not maintain a constant speed of rotation: Instead, one would use feedback control to maintain a constant torque and would measure the speed of rotation while allowing it to vary. The torque exerted on the workpiece would be estimated as the product of (1) the torque-multiplication ratio of the spindle belt and/or gear drive, (2) the force measured by a load cell mechanically coupled to the spindle motor, and (3) the moment arm of the load cell. Hence, the output of the load cell would be used as a feedback signal for controlling the torque (see figure).

  18. Hexapod Robot

    Science.gov (United States)

    Begody, Ericka

    2016-01-01

    The project I am working on at NASA-Johnson Space Center in Houston, TX is a hexapod robot. This project was started by various engineers at the Trick Lab. The goal of this project is to have the hexapod track a yellow ball or possibly another object from left to right and up/down. The purpose is to have it track an object like a real creature. The project will consist of using software and hardware. This project started with a hexapod robot which uses a senor bar to track a yellow ball but with a limited field of vision. The sensor bar acts as the robots "head." Two servos will be added to the hexapod to create flexion and extension of the head. The neck and head servos will have to be programmed to be added to the original memory map of the existing servos. I will be using preexisting code. The main programming language that will be used to add to the preexisting code is C++. The trick modeling and simulation software will also be used in the process to improve its tracking and movement. This project will use a trial and error approach, basically seeing what works and what does not. The first step is to initially understand how the hexapod works. To get a general understanding of how the hexapod maneuvers and plan on how to had a neck and head servo which works with the rest of the body. The second step would be configuring the head and neck servos with the leg servos. During this step, limits will be programmed specifically for the each servo. By doing this, the servo is limited to how far it can rotate both clockwise and counterclockwise and this is to prevent hardware damage. The hexapod will have two modes in which it works in. The first mode will be if the sensor bar does not detect an object. If the object it is programmed to look for is not in its view it will automatically scan from left to right 3 times then up and down once. The second mode will be if the sensor bar does detect the object. In this mode the hexapod will track the object from left to

  19. Gas Metal Arc Welding. Welding Module 5. Instructor's Guide.

    Science.gov (United States)

    Missouri Univ., Columbia. Instructional Materials Lab.

    This guide is intended to assist vocational educators in teaching an eight-unit module in gas metal arc welding. The module is part of a welding curriculum that has been designed to be totally integrated with Missouri's Vocational Instruction Management System. The following topics are covered in the module: safety and testing, gas metal arc…

  20. Laser Welding Test Results with Gas Atmospheres in Welding Chamber

    Energy Technology Data Exchange (ETDEWEB)

    Joung, Chang-Young; Hong, Jin-Tae; Ahn, Sung-Ho; Heo, Sung-Ho; Jang, Seo-Yun; Yang, Tae-Ho [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

    2015-10-15

    The weld beads of specimens welded under identical conditions in the helium and argon gas were cleaner, more regular, and steadier than those in a vacuum. The penetration depth of the FZ in the vacuum was much deeper than those in the helium and argon gas. To measure the irradiation properties of nuclear fuel in a test reactor, a nuclear fuel test rod instrumented with various sensors must be fabricated with assembly processes. A laser welding system to assemble the nuclear fuel test rod was designed and fabricated to develop various welding technologies of the fuel test rods to joint between a cladding tube and end-caps. It is an air-cooling optical fiber type and its emission modes are a continuous (CW) mode of which the laser generates continuous emission, and pulse (QCW) mode in which the laser internally generates sequences of pulses. We considered the system welding a sample in a chamber that can weld a specimen in a vacuum and inert gas atmosphere, and the chamber was installed on the working plate of the laser welding system. In the chamber, the laser welding process should be conducted to have no defects on the sealing area between a cladding tube and an end-cap.

  1. Sustainability of Welding Process through Bobbin Friction Stir Welding

    Science.gov (United States)

    Sued, M. K.; Samsuri, S. S. M.; Kassim, M. K. A. M.; Nasir, S. N. N. M.

    2018-03-01

    Welding process is in high demand, which required a competitive technology to be adopted. This is important for sustaining the needs of the joining industries without ignoring the impact of the process to the environment. Friction stir welding (FSW) is stated to be benefitting the environment through low energy consumption, which cannot be achieved through traditional arc welding. However, this is not well documented, especially for bobbin friction stir welding (BFSW). Therefore, an investigation is conducted by measuring current consumption of the machine during the BFSW process. From the measurement, different phases of BFSW welding process and its electrical demand are presented. It is found that in general total energy in BFSW is about 130kW inclusive of all identified process phases. The phase that utilise for joint formation is in weld phase that used the highest total energy of 120kWs. The recorded total energy is still far below the traditional welding technology and the conventional friction stir welding (CFSW) energy demand. This indicates that BFSW technology with its vast benefit able to sustain the joining technology in near future.

  2. [New welding processes and health effects of welding].

    Science.gov (United States)

    La Vecchia, G Marina; Maestrelli, Piero

    2011-01-01

    This paper describes some of the recent developments in the control technology to enhance capability of Pulse Gas Metal Arc Welding. Friction Stir Welding (FSW) processing has been also considered. FSW is a new solid-state joining technique. Heat generated by friction at the rotating tool softens the material being welded. FSW can be considered a green and energy-efficient technique without deleterious fumes, gas, radiation, and noise. Application of new welding processes is limited and studies on health effects in exposed workers are lacking. Acute and chronic health effects of conventional welding have been described. Metal fume fever and cross-shift decline of lung function are the main acute respiratory effects. Skin and eyes may be affected by heat, electricity and UV radiations. Chronic effects on respiratory system include chronic bronchitis, a benign pneumoconiosis (siderosis), asthma, and a possible increase in the incidence of lung cancer. Pulmonary infections are increased in terms of severity, duration, and frequency among welders.

  3. Robotic tool positioning process using a multi-line off-axis laser triangulation sensor

    Science.gov (United States)

    Pinto, T. C.; Matos, G.

    2018-03-01

    Proper positioning of a friction stir welding head for pin insertion, driven by a closed chain robot, is important to ensure quality repair of cracks. A multi-line off-axis laser triangulation sensor was designed to be integrated to the robot, allowing relative measurements of the surface to be repaired. This work describes the sensor characteristics, its evaluation and the measurement process for tool positioning to a surface point of interest. The developed process uses a point of interest image and a measured point cloud to define the translation and rotation for tool positioning. Sensor evaluation and tests are described. Keywords: laser triangulation, 3D measurement, tool positioning, robotics.

  4. A control system for uniform bead in fillet arc welding on tack welds

    International Nuclear Information System (INIS)

    Kim, Jae Woong; Lee, Jun Young

    2008-01-01

    Positioning a workpiece accurately and preventing weld distortion, tack welding is often adopted before main welding in the construction of welded structures. However, this tack weld deteriorates the final weld bead profile, so that the grinding process is usually performed for a uniform weld bead profile. In this study, a control system for uniform weld bead is proposed for the fillet arc welding on tack welds. The system consists of GMA welding machine, torch manipulator, laser vision sensor for measuring the tack weld size and the database for optimal welding conditions. Experiments have been performed for constructing the database and for evaluating the control capability of the system. It has been shown that the system has the capability to smooth the bead at the high level of quality

  5. Effects of Fusion Tack Welds on Self-Reacting Friction Stir Welds

    Science.gov (United States)

    Nunes, A. C., Jr.; Pendleton, M. L.; Brooke, S. A.; Russell, C. K.

    2012-01-01

    In order to know whether fusion tack welds would affect the strength of self-reacting friction stir seam welds in 2195-T87 aluminum alloy, the fracture stresses of 144 tensile test coupons cut from 24 welded panels containing segments of friction stir welds were measured. Each of the panels was welded under unique processing conditions. A measure of the effect of the tack welds for each panel was devised. An analysis of the measures of the tack weld effect supported the hypothesis that fusion tack welds do not affect the strength of self-reacting friction stir welds to a 5% level of confidence.

  6. Residual stress reduction in the penetration nozzle weld joint by overlay welding

    International Nuclear Information System (INIS)

    Jiang, Wenchun; Luo, Yun; Wang, B.Y.; Tu, S.T.; Gong, J.M.

    2014-01-01

    Highlights: • Residual stress reduction in penetration weld nozzle by overlay welding was studied. • The overlay weld can decrease the residual stress in the weld root. • Long overlay welding is proposed in the actual welding. • Overlay weld to decrease residual stress is more suitable for thin nozzle. - Abstract: Stress corrosion cracking (SCC) in the penetration nozzle weld joint endangers the structural reliability of pressure vessels in nuclear and chemical industries. How to decrease the residual stress is very critical to ensure the structure integrity. In this paper, a new method, which uses overlay welding on the inner surface of nozzle, is proposed to decrease the residual stresses in the penetration joint. Finite element simulation is used to study the change of weld residual stresses before and after overlay welding. It reveals that this method can mainly decrease the residual stress in the weld root. Before overlay welding, large tensile residual stresses are generated in the weld root. After overlay weld, the tensile hoop stress in weld root has been decreased about 45%, and the radial stress has been decreased to compressive stress, which is helpful to decrease the susceptibility to SCC. With the increase of overlay welding length, the residual stress in weld root has been greatly decreased, and thus the long overlay welding is proposed in the actual welding. It also finds that this method is more suitable for thin nozzle rather than thick nozzle

  7. Ultrasonic inspection of austenitic welds

    International Nuclear Information System (INIS)

    Baikie, B.L.; Wagg, A.R.; Whittle, M.J.; Yapp, D.

    1976-01-01

    Optical and X-ray metallography combined with ultrasonic testing by compression waves was used for inspection of stainless steel weld metal produced by three different welding techniques. X-ray diffraction showed that each weld possessed a characteristic fibre textured structure which was shown by optical microscopy to be parallel to columnar grain boundaries. Metallographic evidence suggested that the development of fibre texture is due to the mechanism of competitive growth. From observations made as a result of optical metallographic examination the orientation of the fibre axis could be predicted if the weld geometry and welding procedure were known. Ultrasonic velocity and attenuation measurements as a continuous function of grain orientation, made on cylinders machined from weld samples, showed that attenuation was strongly orientation dependent. It was concluded that the sensitivity of ultrasonic inspection to small defects is unlikely to be as high for austenitic welds as for ferritic even when transmission is improved by modifying the welding procedure to improve the ultrasonic transmission. (U.K.)

  8. Metal Working and Welding Operations.

    Science.gov (United States)

    Marine Corps Inst., Washington, DC.

    This student guide, one of a series of correspondence training courses designed to improve the job performance of members of the Marine Corps, deals with the skills needed by metal workers and welders. Addressed in the six individual units of the course are the following topics: weldable metals and their alloys, arc welding, gas welding,…

  9. Welding abilities of UFG metals

    Science.gov (United States)

    Morawiński, Łukasz; Chmielewski, Tomasz; Olejnik, Lech; Buffa, Gianluca; Campanella, Davide; Fratini, Livan

    2018-05-01

    Ultrafine Grained (UFG) metals are characterized by an average grain size of welded joints with similar properties to the base of UFG material are crucial for the production of finished engineering components. Conventional welding methods based on local melting of the joined edges cannot be used due to the UFG microstructure degradation caused by the heat occurrence in the heat affected zone. Therefore, the possibility of obtaining UFG materials joints with different shearing plane (SP) positions by means of friction welded processes, which do not exceed the melting temperature during the process, should be investigated. The article focuses on the Linear Friction Welding (LFW) method, which belongs to innovative welding processes based on mixing of the friction-heated material in the solid state. LFW is a welding process used to joint bulk components. In the process, the friction forces work due to the high frequency oscillation and the pressure between the specimens is converted in thermal energy. Character and range of recrystallization can be controlled by changing LFW parameters. Experimental study on the welded UFG 1070 aluminum alloy by means of FLW method, indicates the possibility of reducing the UFG structure degradation in the obtained joint. A laboratory designed LFW machine has been used to weld the specimens with different contact pressure and oscillation frequency.

  10. Arc modeling for welding analysis

    International Nuclear Information System (INIS)

    Glickstein, S.S.

    1978-04-01

    A one-dimensional model of the welding arc that considers heat generation by the Joule effect and heat losses by radiation and conduction has been used to study the effects of various gases and gas mixtures currently employed for welding applications. Minor additions of low ionization potential impurities to these gases are shown to significantly perturb the electrical properties of the parent gas causing gross changes in the radial temperature distribution of the arc discharge. Such changes are reflected in the current density distribution and ultimately in the input energy distribution to the weldment. The result is observed as a variation in weld penetration. Recently published experiments and analyses of welding arcs are also evaluated and shown to contain erroneous data and results. Contrary to previous beliefs, the inclusion of a radiation loss term in the basic energy balance equation is important and cannot be considered as negligible in an argon arc at temperatures as low as 10,000 0 K. The one-dimensional analysis of the welding arc as well as the evaluation of these earlier published reports helps to explain the effects of various gases used for welding, improves our understanding of the physics of the welding arc, and provides a stepping stone for a more elaborate model which can be applied to help optimize welding parameters

  11. Next generation light robotic

    DEFF Research Database (Denmark)

    Villangca, Mark Jayson; Palima, Darwin; Banas, Andrew Rafael

    2017-01-01

    -assisted surgery imbibes surgeons with superhuman abilities and gives the expression “surgical precision” a whole new meaning. Still in its infancy, much remains to be done to improve human-robot collaboration both in realizing robots that can operate safely with humans and in training personnel that can work......Conventional robotics provides machines and robots that can replace and surpass human performance in repetitive, difficult, and even dangerous tasks at industrial assembly lines, hazardous environments, or even at remote planets. A new class of robotic systems no longer aims to replace humans...... with so-called automatons but, rather, to create robots that can work alongside human operators. These new robots are intended to collaborate with humans—extending their abilities—from assisting workers on the factory floor to rehabilitating patients in their homes. In medical robotics, robot...

  12. Distributed Robotics Education

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop; Pagliarini, Luigi

    2011-01-01

    Distributed robotics takes many forms, for instance, multirobots, modular robots, and self-reconfigurable robots. The understanding and development of such advanced robotic systems demand extensive knowledge in engineering and computer science. In this paper, we describe the concept of a distribu......Distributed robotics takes many forms, for instance, multirobots, modular robots, and self-reconfigurable robots. The understanding and development of such advanced robotic systems demand extensive knowledge in engineering and computer science. In this paper, we describe the concept...... to be changed, related to multirobot control and human-robot interaction control from virtual to physical representation. The proposed system is valuable for bringing a vast number of issues into education – such as parallel programming, distribution, communication protocols, master dependency, connectivity...

  13. An Adaptive Robot Game

    DEFF Research Database (Denmark)

    Hansen, Søren Tranberg; Svenstrup, Mikael; Dalgaard, Lars

    2010-01-01

    The goal of this paper is to describe an adaptive robot game, which motivates elderly people to do a regular amount of physical exercise while playing. One of the advantages of robot based games is that the initiative to play can be taken autonomously by the robot. In this case, the goal is to im......The goal of this paper is to describe an adaptive robot game, which motivates elderly people to do a regular amount of physical exercise while playing. One of the advantages of robot based games is that the initiative to play can be taken autonomously by the robot. In this case, the goal...... is to improve the mental and physical state of the user by playing a physical game with the robot. Ideally, a robot game should be simple to learn but difficult to master, providing an appropriate degree of challenge for players with different skills. In order to achieve that, the robot should be able to adapt...

  14. Robotic intelligence kernel

    Science.gov (United States)

    Bruemmer, David J [Idaho Falls, ID

    2009-11-17

    A robot platform includes perceptors, locomotors, and a system controller. The system controller executes a robot intelligence kernel (RIK) that includes a multi-level architecture and a dynamic autonomy structure. The multi-level architecture includes a robot behavior level for defining robot behaviors, that incorporate robot attributes and a cognitive level for defining conduct modules that blend an adaptive interaction between predefined decision functions and the robot behaviors. The dynamic autonomy structure is configured for modifying a transaction capacity between an operator intervention and a robot initiative and may include multiple levels with at least a teleoperation mode configured to maximize the operator intervention and minimize the robot initiative and an autonomous mode configured to minimize the operator intervention and maximize the robot initiative. Within the RIK at least the cognitive level includes the dynamic autonomy structure.

  15. Robotic membranes

    DEFF Research Database (Denmark)

    Ramsgaard Thomsen, Mette

    2008-01-01

    The relationship between digital and analogue is often constructed as one of opposition. The perception that the world is permeated with underlying patterns of data, describing events and matter alike, suggests that information can be understood apart from the substance to which it is associated......, and that its encoded logic can be constructed and reconfigured as an isolated entity. This disembodiment of information from materiality implies that an event like a thunderstorm, or a material like a body, can be described equally by data, in other words it can be read or written. The following prototypes......, Vivisection and Strange Metabolisms, were developed at the Centre for Information Technology and Architecture (CITA) at the Royal Danish Academy of Fine Arts in Copenhagen as a means of engaging intangible digital data with tactile physical material. As robotic membranes, they are a dual examination...

  16. Engineering models and methods for industrial cell control

    DEFF Research Database (Denmark)

    Lynggaard, Hans Jørgen Birk; Alting, Leo

    1997-01-01

    This paper is concerned with the engineering, i.e. the designing and making, of industrial cell control systems. The focus is on automated robot welding cells in the shipbuilding industry. The industrial research project defines models and methods for design and implemen-tation of computer based...... SHIPYARD.It is concluded that cell control technology provides for increased performance in production systems, and that the Cell Control Engineering concept reduces the effort for providing and operating high quality and high functionality cell control solutions for the industry....... control and monitor-ing systems for production cells. The project participants are The Danish Academy of Technical Sciences, the Institute of Manufacturing Engineering at the Technical University of Denmark and ODENSE STEEL SHIPYARD Ltd.The manufacturing environment and the current practice...

  17. Laser welding of tailored blanks

    International Nuclear Information System (INIS)

    Pecas, P.; Gouveia, H.; Quintino, L.; Olsen, F.O.

    1998-01-01

    Laser welding has an increasing role in the automotive industry, namely on the sub-assemblies manufacturing. Several sheet-shape parts are laser welded, on a dissimilar combination of thicknesses and materials, and are afterwards formed (stamped) being transformed in a vehicle body component. In this paper low carbon CO 2 laser welding, on the thicknesses of 1,25 and 0.75 mm, formability investigation is described. There will be a description of how the laser welded blanks behave in different forming tests, and the influence of misalignment and undercut on the formability. The quality is evaluated by measuring the limit strain and limit effective strain for the laser welded sheets and the base material, which will be presented in a forming limit diagram. (Author) 14 refs

  18. Reduction of Biomechanical and Welding Fume Exposures in Stud Welding.

    Science.gov (United States)

    Fethke, Nathan B; Peters, Thomas M; Leonard, Stephanie; Metwali, Mahmoud; Mudunkotuwa, Imali A

    2016-04-01

    The welding of shear stud connectors to structural steel in construction requires a prolonged stooped posture that exposes ironworkers to biomechanical and welding fume hazards. In this study, biomechanical and welding fume exposures during stud welding using conventional methods were compared to exposures associated with use of a prototype system that allowed participants to weld from an upright position. The effect of base material (i.e. bare structural beam versus galvanized decking) on welding fume concentration (particle number and mass), particle size distribution, and particle composition was also explored. Thirty participants completed a series of stud welding simulations in a local apprenticeship training facility. Use of the upright system was associated with substantial reductions in trunk inclination and the activity levels of several muscle groups. Inhalable mass concentrations of welding fume (averaged over ~18 min) when using conventional methods were high (18.2 mg m(-3) for bare beam; 65.7 mg m(-3) for through deck), with estimated mass concentrations of iron (7.8 mg m(-3) for bare beam; 15.8 mg m(-3) for through deck), zinc (0.2 mg m(-3) for bare beam; 15.8 mg m(-3) for through deck), and manganese (0.9 mg m(-3) for bare beam; 1.5 mg m(-3) for through deck) often exceeding the American Conference of Governmental Industrial Hygienists Threshold Limit Values (TLVs). Number and mass concentrations were substantially reduced when using the upright system, although the total inhalable mass concentration remained above the TLV when welding through decking. The average diameters of the welding fume particles for both bare beam (31±17 nm) through deck conditions (34±34 nm) and the chemical composition of the particles indicated the presence of metallic nanoparticles. Stud welding exposes ironworkers to potentially high levels of biomechanical loading (primarily to the low back) and welding fume. The upright system used in this study improved exposure

  19. 46 CFR 154.660 - Pipe welding.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 5 2010-10-01 2010-10-01 false Pipe welding. 154.660 Section 154.660 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) CERTAIN BULK DANGEROUS CARGOES SAFETY STANDARDS FOR... § 154.660 Pipe welding. (a) Pipe welding must meet Part 57 of this chapter. (b) Longitudinal butt welds...

  20. 49 CFR 195.214 - Welding procedures.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 3 2010-10-01 2010-10-01 false Welding procedures. 195.214 Section 195.214... PIPELINE Construction § 195.214 Welding procedures. (a) Welding must be performed by a qualified welder in accordance with welding procedures qualified under Section 5 of API 1104 or Section IX of the ASME Boiler and...

  1. 29 CFR 1910.255 - Resistance welding.

    Science.gov (United States)

    2010-07-01

    ... 29 Labor 5 2010-07-01 2010-07-01 false Resistance welding. 1910.255 Section 1910.255 Labor... OCCUPATIONAL SAFETY AND HEALTH STANDARDS Welding, Cutting and Brazing § 1910.255 Resistance welding. (a.... Ignitron tubes used in resistance welding equipment shall be equipped with a thermal protection switch. (3...

  2. METHOD AND SYSTEM FOR LASER WELDING

    DEFF Research Database (Denmark)

    2008-01-01

    The invention relates to laser welding of at least two adjacent, abutting or overlapping work pieces in a welding direction using multiple laser beams guided to a welding region, wherein at least two of the multiple laser beams are coupled into the welding region so as to form a melt and at least...

  3. 49 CFR 179.300-9 - Welding.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 2 2010-10-01 2010-10-01 false Welding. 179.300-9 Section 179.300-9... Specifications for Multi-Unit Tank Car Tanks (Classes DOT-106A and 110AW) § 179.300-9 Welding. (a) Longitudinal... fusion welded on class DOT-110A tanks. Welding procedures, welders and fabricators must be approved in...

  4. Tailor-welded blanks and their production

    Science.gov (United States)

    Yan, Qi

    2005-01-01

    Tailor welded blanks had been widely used in the automobile industry. A tailor welded blank consists of several flat sheets that were laser welded together before stamping. A combination of different materials, thickness, and coatings could be welded together to form a blank for stamping car body panels. As for the material for automobile industry, this technology was one of the development trend for automobile industry because of its weight reduction, safety improvement and economical use of materials. In this paper, the characters and production of tailor welded blanks in the market were discussed in detail. There had two major methods to produce tailor welded blanks. Laser welding would replace mesh seam welding for the production of tailor welded blanks in the future. The requirements on the edge preparation of unwelded blanks for tailor welded blanks were higher than the other steel processing technology. In order to produce the laser welded blank, there had the other process before the laser welding in the factory. In the world, there had three kinds of patterns for the large volume production of tailor welded blanks. In China, steel factory played the important role in the promotion of the application of tailor welded blanks. The competition for the supply of tailor welded blanks to the automobile industry would become fierce in the near future. As a result, the demand for the quality control on the production of tailor welded blanks would be the first priority concern for the factory.

  5. Clamp and Gas Nozzle for TIG Welding

    Science.gov (United States)

    Gue, G. B.; Goller, H. L.

    1982-01-01

    Tool that combines clamp with gas nozzle is aid to tungsten/inert-gas (TIG) welding in hard-to-reach spots. Tool holds work to be welded while directing a stream of argon gas at weld joint, providing an oxygen-free environment for tungsten-arc welding.

  6. Electron beam welding fundamentals and applications

    International Nuclear Information System (INIS)

    Mara, G.L.; Armstrong, R.E.

    1975-01-01

    The electron beam welding process is described and the unique mode of operation and penetration explained by a description of the forces operating within the weld pool. This penetration model is demonstrated by high speed cinematography of the weld pool on several materials. The conditions under which weld defects are formed are discussed and examples are presented. (auth)

  7. Electron beam welding of aluminium components

    International Nuclear Information System (INIS)

    Maajid, Ali; Vadali, S.K.; Maury, D.K.

    2015-01-01

    Aluminium is one of the most widely used materials in industries like transportation, shipbuilding, manufacturing, aerospace, nuclear, etc. The challenges in joining of aluminium are distortion, cleanliness and quality. Main difficulties faced during fusion welding of aluminium components are removal of surface oxide layer, weld porosity, high heat input requirement, distortion, hot cracking, etc. Physical properties of aluminium such as its high thermal conductivity, high coefficient of thermal expansion, no change in colour at high temperature, large difference in the melting points of the metal and its oxide (∼ 1400 °C) compound the difficulties faced during welding. Gas Tungsten Arc Welding (GTAW), Gas Metal Arc Welding (GMAW), Plasma Arc Welding (PAW), etc are generally used in industries for fusion welding of aluminium alloys. However in case of thicker jobs the above processes are not suitable due to requirements of elaborate edge preparation, preheating of jobs, fixturing to prevent distortion, etc. Moreover, precise control over the heat input during welding and weld bead penetration is not possible with above processes. Further, if heat sensitive parts are located near the weld joint then high energy density beam welding process like Electron Beam Welding (EBW) is the best possible choice for aluminium welding.This paper discusses EB welding of aluminium components, typical geometry of components, selection/optimization of welding parameters, problems faced during standardization of welding and process parameters and their remedies etc.

  8. Robotics Potential Fields

    Directory of Open Access Journals (Sweden)

    Jordi Lucero

    2009-01-01

    Full Text Available This problem was to calculate the path a robot would take to navigate an obstacle field and get to its goal. Three obstacles were given as negative potential fields which the robot avoided, and a goal was given a positive potential field that attracted the robot. The robot decided each step based on its distance, angle, and influence from every object. After each step, the robot recalculated and determined its next step until it reached its goal. The robot's calculations and steps were simulated with Microsoft Excel.

  9. Designing Emotionally Expressive Robots

    DEFF Research Database (Denmark)

    Tsiourti, Christiana; Weiss, Astrid; Wac, Katarzyna

    2017-01-01

    Socially assistive agents, be it virtual avatars or robots, need to engage in social interactions with humans and express their internal emotional states, goals, and desires. In this work, we conducted a comparative study to investigate how humans perceive emotional cues expressed by humanoid...... robots through five communication modalities (face, head, body, voice, locomotion) and examined whether the degree of a robot's human-like embodiment affects this perception. In an online survey, we asked people to identify emotions communicated by Pepper -a highly human-like robot and Hobbit – a robot...... for robots....

  10. Spot Welding Characterizations With Time Variable

    International Nuclear Information System (INIS)

    Abdul Hafid; Pinitoyo, A.; History; Paidjo, Andryansyah; Sagino, Sudarmin; Tamzil, M.

    2001-01-01

    For obtain spot welding used effective data, this research is made, so that time operational of machine increasing. Welding parameters are material classification, electrical current, and weld time. All of the factors are determined welding quality. If the plate more thick, the time must be longer when the current constant. Another factor as determined welding quality are surface condition of electrode, surface condition of weld material, and material classifications. In this research, the weld machine type IP32A2 VI (110 V), Rivoira trademark is characterized

  11. Development of automatic laser welding system

    International Nuclear Information System (INIS)

    Ohwaki, Katsura

    2002-01-01

    Laser are a new production tool for high speed and low distortion welding and applications to automatic welding lines are increasing. IHI has long experience of laser processing for the preservation of nuclear power plants, welding of airplane engines and so on. Moreover, YAG laser oscillators and various kinds of hardware have been developed for laser welding and automation. Combining these welding technologies and laser hardware technologies produce the automatic laser welding system. In this paper, the component technologies are described, including combined optics intended to improve welding stability, laser oscillators, monitoring system, seam tracking system and so on. (author)

  12. Research on the Effects of Technical Parameters on the Molding of the Weld by A-TIG Welding

    OpenAIRE

    Shi, Kai; Pan, Wu

    2012-01-01

    The effects of welding parameters on the molding of weld by A-TIG welding of a 4mm thickness mild steel plate is studied in the present paper. The results obtained show that: as welding current increases A-TIG welding penetration gets deeper than TIG welding; size and shape of HAZ has remarkable change; A-TIG welding has the narrower weld pool width than TIG welding.

  13. Advanced mechanics in robotic systems

    CERN Document Server

    Nava Rodríguez, Nestor Eduardo

    2011-01-01

    Illustrates original and ambitious mechanical designs and techniques for the development of new robot prototypes Includes numerous figures, tables and flow charts Discusses relevant applications in robotics fields such as humanoid robots, robotic hands, mobile robots, parallel manipulators and human-centred robots

  14. Plasma spot welding of ferritic stainless steels

    International Nuclear Information System (INIS)

    Lesnjak, A.; Tusek, J.

    2002-01-01

    Plasma spot wedding of ferritic stainless steels studied. The study was focused on welding parameters, plasma and shieldings and the optimum welding equipment. Plasma-spot welded overlap joints on a 0.8 mm thick ferritic stainless steel sheet were subjected to a visual examination and mechanical testing in terms of tension-shear strength. Several macro specimens were prepared Plasma spot welding is suitable to use the same gas as shielding gas and as plasma gas , i. e. a 98% Ar/2% H 2 gas mixture. Tension-shear strength of plasma-spot welded joint was compared to that of resistance sport welded joints. It was found that the resistance welded joints withstand a somewhat stronger load than the plasma welded joints due to a large weld sport diameter of the former. Strength of both types of welded joints is approximately the same. (Author) 32 refs

  15. Automatic welding of stainless steel tubing

    Science.gov (United States)

    Clautice, W. E.

    1978-01-01

    The use of automatic welding for making girth welds in stainless steel tubing was investigated as well as the reduction in fabrication costs resulting from the elimination of radiographic inspection. Test methodology, materials, and techniques are discussed, and data sheets for individual tests are included. Process variables studied include welding amperes, revolutions per minute, and shielding gas flow. Strip chart recordings, as a definitive method of insuring weld quality, are studied. Test results, determined by both radiographic and visual inspection, are presented and indicate that once optimum welding procedures for specific sizes of tubing are established, and the welding machine operations are certified, then the automatic tube welding process produces good quality welds repeatedly, with a high degree of reliability. Revised specifications for welding tubing using the automatic process and weld visual inspection requirements at the Kennedy Space Center are enumerated.

  16. Precise Truss Assembly Using Commodity Parts and Low Precision Welding

    Science.gov (United States)

    Komendera, Erik; Reishus, Dustin; Dorsey, John T.; Doggett, W. R.; Correll, Nikolaus

    2014-01-01

    Hardware and software design and system integration for an intelligent precision jigging robot (IPJR), which allows high precision assembly using commodity parts and low-precision bonding, is described. Preliminary 2D experiments that are motivated by the problem of assembling space telescope optical benches and very large manipulators on orbit using inexpensive, stock hardware and low-precision welding are also described. An IPJR is a robot that acts as the precise "jigging", holding parts of a local structure assembly site in place, while an external low precision assembly agent cuts and welds members. The prototype presented in this paper allows an assembly agent (for this prototype, a human using only low precision tools), to assemble a 2D truss made of wooden dowels to a precision on the order of millimeters over a span on the order of meters. The analysis of the assembly error and the results of building a square structure and a ring structure are discussed. Options for future work, to extend the IPJR paradigm to building in 3D structures at micron precision are also summarized.

  17. Torque Measurement of Welding of Endplug-Endplate using Multi-pin Remote Welding System

    Energy Technology Data Exchange (ETDEWEB)

    Koo, Dae-Seo; Kim, Soo-Sung; Park, Geun-Il; Lee, Jung-Won; Song, Kee-Chan [Korea Atomic Energy Research Institute, Taejon (Korea, Republic of)

    2006-07-01

    As fuel bundles in PHWR irradiates, inner pressure in claddings of fuel rods increases owing to outer pressure and fission products of nuclear fissions. Because of leak possibility of welding between cladding and end plug, this welding part connects with safety of nuclear fuel rods. Because of importance of this welding part, weldability of end plug-cladding of nuclear fuel rods is continually researched. Welding method for research and commercialization is classified as melting, solid type welding or resistance welding. End plug cladding welding of nuclear fuel rods in PHWR takes advantage of resistance upset butt welding using multicycle mode. This method makes weld flash and shapes re-entrant corner owing to welding heat due to resistivity, contact resistance of cladding-end plug, and inelasticity deformation due to pressure. Welding part between cladding and end plug receives stresses and makes small cracks. In this study, remote welding system for multi-pin assembly was designed, fabricated and welding specimens of end plug-endplate were made using electrical resistance method. The torques of welding between end plug and endplate were measured. These results on welding current, pressure of main electrode and pressure of branch electrode were analyzed. Weldability between end plug and endplate was confirmed through metallographic examinations. In the future, optimal welding examinations due to welding current, welding pressure and welding time will be performed to improve weldability of end plug-endplate.

  18. Welding Penetration Control of Fixed Pipe in TIG Welding Using Fuzzy Inference System

    Science.gov (United States)

    Baskoro, Ario Sunar; Kabutomori, Masashi; Suga, Yasuo

    This paper presents a study on welding penetration control of fixed pipe in Tungsten Inert Gas (TIG) welding using fuzzy inference system. The welding penetration control is essential to the production quality welds with a specified geometry. For pipe welding using constant arc current and welding speed, the bead width becomes wider as the circumferential welding of small diameter pipes progresses. Having welded pipe in fixed position, obviously, the excessive arc current yields burn through of metals; in contrary, insufficient arc current produces imperfect welding. In order to avoid these errors and to obtain the uniform weld bead over the entire circumference of the pipe, the welding conditions should be controlled as the welding proceeds. This research studies the intelligent welding process of aluminum alloy pipe 6063S-T5 in fixed position using the AC welding machine. The monitoring system used a charge-coupled device (CCD) camera to monitor backside image of molten pool. The captured image was processed to recognize the edge of molten pool by image processing algorithm. Simulation of welding control using fuzzy inference system was constructed to simulate the welding control process. The simulation result shows that fuzzy controller was suitable for controlling the welding speed and appropriate to be implemented into the welding system. A series of experiments was conducted to evaluate the performance of the fuzzy controller. The experimental results show the effectiveness of the control system that is confirmed by sound welds.

  19. Versatile Friction Stir Welding/Friction Plug Welding System

    Science.gov (United States)

    Carter, Robert

    2006-01-01

    A proposed system of tooling, machinery, and control equipment would be capable of performing any of several friction stir welding (FSW) and friction plug welding (FPW) operations. These operations would include the following: Basic FSW; FSW with automated manipulation of the length of the pin tool in real time [the so-called auto-adjustable pin-tool (APT) capability]; Self-reacting FSW (SRFSW); SR-FSW with APT capability and/or real-time adjustment of the distance between the front and back shoulders; and Friction plug welding (FPW) [more specifically, friction push plug welding] or friction pull plug welding (FPPW) to close out the keyhole of, or to repair, an FSW or SR-FSW weld. Prior FSW and FPW systems have been capable of performing one or two of these operations, but none has thus far been capable of performing all of them. The proposed system would include a common tool that would have APT capability for both basic FSW and SR-FSW. Such a tool was described in Tool for Two Types of Friction Stir Welding (MFS- 31647-1), NASA Tech Briefs, Vol. 30, No. 10 (October 2006), page 70. Going beyond what was reported in the cited previous article, the common tool could be used in conjunction with a plug welding head to perform FPW or FPPW. Alternatively, the plug welding head could be integrated, along with the common tool, into a FSW head that would be capable of all of the aforementioned FSW and FPW operations. Any FSW or FPW operation could be performed under any combination of position and/or force control.

  20. Robotics_MobileRobot Navigation, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — Robots and rovers exploring planets need to autonomously navigate to specified locations. Advanced Scientific Concepts, Inc. (ASC) and the University of Minnesota...

  1. Robots Social Embodiment in Autonomous Mobile Robotics

    Directory of Open Access Journals (Sweden)

    Brian Duffy

    2008-11-01

    Full Text Available This work aims at demonstrating the inherent advantages of embracing a strong notion of social embodiment in designing a real-world robot control architecture with explicit ?intelligent? social behaviour between a collective of robots. It develops the current thinking on embodiment beyond the physical by demonstrating the importance of social embodiment. A social framework develops the fundamental social attributes found when more than one robot co-inhabit a physical space. The social metaphors of identity, character, stereotypes and roles are presented and implemented within a real-world social robot paradigm in order to facilitate the realisation of explicit social goals.

  2. Corrosion Properties of Laser Welded Stainless Steel

    DEFF Research Database (Denmark)

    Weldingh, Jakob; Olsen, Flemmming Ove

    1997-01-01

    In this paper the corrosion properties of laser welded AISI 316L stainless steel are examined. A number of different welds has been performed to test the influence of the weld parameters of the resulting corrosion properties. It has been chosen to use the potential independent critical pitting...... temperature (CPT) test as corrosion test. The following welding parameters are varied: Welding speed, lsser power, focus point position and laser operation mode (CW or pulsed)....

  3. Heat Source - Materials Interactions during Fusion Welding.

    Science.gov (United States)

    1982-04-30

    the capabilities of ultrasonic weld pool measurement, and to address questions of applications to active pool size control. -- mom- 44 TIG welding ...preparation. The fraction of absorbed power increases dramatically upon formation of a keyhole . As a result, welds made with sharply beveled edge...laser end electron beam welding processes characteristically produce a deel,, narrow weld bead. This bead is formed by a keyhole mode of operation in

  4. Real time computer controlled weld skate

    Science.gov (United States)

    Wall, W. A., Jr.

    1977-01-01

    A real time, adaptive control, automatic welding system was developed. This system utilizes the general case geometrical relationships between a weldment and a weld skate to precisely maintain constant weld speed and torch angle along a contoured workplace. The system is compatible with the gas tungsten arc weld process or can be adapted to other weld processes. Heli-arc cutting and machine tool routing operations are possible applications.

  5. Collection of arc welding process data

    OpenAIRE

    K. Luksa; Z. Rymarski

    2006-01-01

    Purpose: The aim of the research was to examine the possibility of detecting welding imperfections by recording the instant values of welding parameters. The microprocessor controlled system for real-time collection and display of welding parameters was designed, implemented and tested.Design/methodology/approach: The system records up to 4 digital or analog signals collected from welding process and displays their run on the LCD display. To disturb the welding process artificial disturbances...

  6. Analysis And Control System For Automated Welding

    Science.gov (United States)

    Powell, Bradley W.; Burroughs, Ivan A.; Kennedy, Larry Z.; Rodgers, Michael H.; Goode, K. Wayne

    1994-01-01

    Automated variable-polarity plasma arc (VPPA) welding apparatus operates under electronic supervision by welding analysis and control system. System performs all major monitoring and controlling functions. It acquires, analyzes, and displays weld-quality data in real time and adjusts process parameters accordingly. Also records pertinent data for use in post-weld analysis and documentation of quality. System includes optoelectronic sensors and data processors that provide feedback control of welding process.

  7. Friction Welding of Titanium and Carbon Steel

    OpenAIRE

    Atsushi, HASUI; Yoichi, KIRA; Faculty of Science and Technology, Keio University; Ishikawajima-Harima Heavy Industries, Co., Ltd.

    1985-01-01

    Titanium-steel is a combination of dissimilar materials, which are difficult to weld in general, owing to inevitable formation of brittle intermetallic compounds. A prominent feature of friction welding process is ability to weld dissimilar materials in many kinds of combinations. This report deals with friction weldabilily of pure titanium and S25C steel, which are 12 mm in diameter. Main results are summarized as follows; (1) Suitable welding conditions to obtain a sound weld, which has a j...

  8. Recent advances in the TIG welding process and the application of the welding of nuclear components

    International Nuclear Information System (INIS)

    Lucas, W.; Males, B.O.

    1982-01-01

    Recent advances in the field of precision arc welding techniques and infacilities for production of nuclear power plant components arc presented. Of the precision welding techniques, pulsed TIG welding, pulsed plasma arc welding, hot-wire TIG welding, and pulsed inert-gas metal-arc welding. In the field of weld cladding, GMA plasma welding is cited as an alternative to submerged-arc welding with a strip electrode. Transistors and computer-controlled welding systems get a special mention. Applications of TIG welding in the UK are cited, e.g. welding of components for the AGR nuclear power plant and construction of equipment for repair work in feedwater pipes of the MAGNOX reactor. (orig.) [de

  9. Investigation into Variations of Welding Residual Stresses and Redistribution Behaviors for Different Repair Welding Widths

    International Nuclear Information System (INIS)

    Park, Chiyong; Lee, Hweesueng; Huh, Namsu

    2014-01-01

    In this study, we investigated the variations in welding residual stresses in dissimilar metal butt weld due to width of repair welding and re-distribution behaviors resulting from similar metal welding (SMW) and mechanical loading. To this end, detailed two-dimensional axi-symmetric finite element (FE) analyses were performed considering five different repair welding widths. Based on the FE results, we first evaluated the welding residual stress distributions in repair welding. We then investigated the re-distribution behaviors of the residual stresses due to SMW and mechanical loads. It is revealed that large tensile welding residual stresses take place in the inner surface and that its distribution is affected, provided repair welding width is larger than certain value. The welding residual stresses resulting from repair welding are remarkably reduced due to SMW and mechanical loading, regardless of the width of the repair welding

  10. Robotized Surface Mounting of Permanent Magnets

    Directory of Open Access Journals (Sweden)

    Erik Hultman

    2014-10-01

    Full Text Available Using permanent magnets on a rotor can both simplify the design and increase the efficiency of electric machines compared to using electromagnets. A drawback, however, is the lack of existing automated assembly methods for large machines. This paper presents and motivates a method for robotized surface mounting of permanent magnets on electric machine rotors. The translator of the Uppsala University Wave Energy Converter generator is used as an example of a rotor. The robot cell layout, equipment design and assembly process are presented and validated through computer simulations and experiments with prototype equipment. A comparison with manual assembly indicates substantial cost savings and an improved work environment. By using the flexibility of industrial robots and a scalable equipment design, it is possible for this assembly method to be adjusted for other rotor geometries and sizes. Finally, there is a discussion on the work that remains to be done on improving and integrating the robot cell into a production line.

  11. 10,170 flawless welds

    CERN Multimedia

    Antonella Del Rosso

    2014-01-01

    The welding of tubes containing the principal current-carrying busbars in the LHC magnets was one of the main activities of the SMACC project. After a year of preparation and another of intense activity in the tunnel, the last weld was completed on Wednesday 14 May. Over 10,170 welds have been inspected and not a single fault has been found.    The welder (above) creates the weld using an orbital welding machine (below) specifically designed for CERN. Each of the eight sectors of the LHC contains around 210 interconnects between the superconducting magnets. Consolidating these interconnections was the SMACC project’s primary objective. One of the last jobs before closing the interconnects is the welding of the M lines: each has a 104 mm diameter and a radial clearance of just 45 mm. In total: 10,170 welds carried out in a single year of activities. A true challenge, which was carried out by a team of 30 highly specialised welders, working under the supervision o...

  12. Deformation During Friction Stir Welding

    Science.gov (United States)

    White, Henry J.

    2002-01-01

    Friction Stir Welding (FSW) is a solid state welding process that exhibits characteristics similar to traditional metal cutting processes. The plastic deformation that occurs during friction stir welding is due to the superposition of three flow fields: a primary rotation of a radially symmetric solid plug of metal surrounding the pin tool, a secondary uniform translation, and a tertiary ring vortex flow (smoke rings) surrounding the tool. If the metal sticks to the tool, the plug surface extends down into the metal from the outer edge of the tool shoulder, decreases in diameter like a funnel, and closes up beneath the pin. Since its invention, ten years have gone by and still very little is known about the physics of the friction stir welding process. In this experiment, an H13 steel weld tool (shoulder diameter, 0.797 in; pin diameter, 0.312 in; and pin length, 0.2506 in) was used to weld three 0.255 in thick plates. The deformation behavior during friction stir welding was investigated by metallographically preparing a plan view sections of the weldment and taking Vickers hardness test in the key-hole region.

  13. LASER WELDING WITH MICRO-JET COOLING FOR TRUCK FRAME WELDING

    OpenAIRE

    Jan PIWNIK; Bożena SZCZUCKA-LASOTA; Tomasz WĘGRZYN; Wojciech MAJEWSKI

    2017-01-01

    The aim of this paper is to analyse the mechanical properties of the weld steel structure of car body truck frames after laser welding. The best welding conditions involve the use of proper materials and alloy elements in steel and filer materials, in addition to welding technology, state of stress and temperature of exploitation. We present for the first time the properties of steel track structures after laser welding with micro-jet cooling. Therefore, good selection of both welding paramet...

  14. Springer handbook of robotics

    CERN Document Server

    Khatib, Oussama

    2016-01-01

    The second edition of this handbook provides a state-of-the-art cover view on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives. The credible prospect of practical robots among humans is the result of the scientific endeavour of a half a century of robotic developments that established robotics as a modern scientific discipline. The ongoing vibrant expansion and strong growth of the field during the last decade has fueled this second edition of the Springer Handbook of Robotics. The first edition of the handbook soon became a landmark in robotics publishing and won the American Association of Publishers PROSE Award for Excellence in Physical Sciences & Mathematics as well as the organization’s Award for Engineering & Technology. The second edition o...

  15. Project ROBOTICS 2008

    DEFF Research Database (Denmark)

    Conrad, Finn

    Mathematical modelling of Alto Robot, direct- and inverse kinematic transformation,simulation and path control applying MATLAB/SIMULINK.......Mathematical modelling of Alto Robot, direct- and inverse kinematic transformation,simulation and path control applying MATLAB/SIMULINK....

  16. Project Tasks in Robotics

    DEFF Research Database (Denmark)

    Sørensen, Torben; Hansen, Poul Erik

    1998-01-01

    Description of the compulsary project tasks to be carried out as a part of DTU course 72238 Robotics......Description of the compulsary project tasks to be carried out as a part of DTU course 72238 Robotics...

  17. CMS cavern inspection robot

    CERN Document Server

    Ibrahim, Ibrahim

    2017-01-01

    Robots which are immune to the CMS cavern environment, wirelessly controlled: -One actuated by smart materials (Ionic Polymer-Metal Composites and Macro Fiber Composites) -One regular brushed DC rover -One servo-driven rover -Stair-climbing robot

  18. RHOBOT: Radiation hardened robotics

    Energy Technology Data Exchange (ETDEWEB)

    Bennett, P.C.; Posey, L.D. [Sandia National Labs., Albuquerque, NM (United States)

    1997-10-01

    A survey of robotic applications in radioactive environments has been conducted, and analysis of robotic system components and their response to the varying types and strengths of radiation has been completed. Two specific robotic systems for accident recovery and nuclear fuel movement have been analyzed in detail for radiation hardness. Finally, a general design approach for radiation-hardened robotics systems has been developed and is presented. This report completes this project which was funded under the Laboratory Directed Research and Development program.

  19. Micro robot bible

    International Nuclear Information System (INIS)

    Yoon, Jin Yeong

    2000-08-01

    This book deals with micro robot, which tells of summary of robots like entertainment robots and definition of robots, introduction of micro mouse about history, composition and rules, summary of micro controller with its history, appearance and composition, introduction of stepping motor about types, structure, basic characteristics, and driving ways, summary of sensor section, power, understanding of 80C196KC micro controller, basic driving program searching a maze algorithm, smooth turn and making of tracer line.

  20. RHOBOT: Radiation hardened robotics

    International Nuclear Information System (INIS)

    Bennett, P.C.; Posey, L.D.

    1997-10-01

    A survey of robotic applications in radioactive environments has been conducted, and analysis of robotic system components and their response to the varying types and strengths of radiation has been completed. Two specific robotic systems for accident recovery and nuclear fuel movement have been analyzed in detail for radiation hardness. Finally, a general design approach for radiation-hardened robotics systems has been developed and is presented. This report completes this project which was funded under the Laboratory Directed Research and Development program