scholarly journals Sparrow: A Magnetic Climbing Robot for Autonomous Thickness Measurement in Ship Hull Maintenance

2020 ◽  
Vol 8 (6) ◽  
pp. 469 ◽  
Author(s):  
Raihan Enjikalayil Abdulkader ◽  
Prabakaran Veerajagadheswar ◽  
Nay Htet Lin ◽  
Selva Kumaran ◽  
Suresh Raj Vishaal ◽  
...  
Keyword(s):  
Mechanical Design ◽  
Life Time ◽  
Thickness Measurement ◽  
Design System ◽  
Operating Efficiency ◽  
System Control ◽  
Ship Hulls ◽  
Inspection Robot ◽  
Metal Thickness ◽  
Human Operators

The maintenance of ship hulls involves a series of routine tasks during dry-docking that renews its life-time and operating efficiency. One such task is hull inspection, which is always seen as harmful for human operators and a time-consuming task. The shipping maintenance industries started using the robotic solutions in order to reduce the human risk. However, most of such robotic systems cannot operate fully autonomously due to the fact that it requires humans in the loop. On the other hand, an autonomous hull inspection robot, called Sparrow, is presented in this paper. The proposed robot is capable of navigating autonomously on the vertical metal surface and it could perform metal thickness inspection. This article summarizes the robot’s mechanical design, system control, autonomy, and the inspection module. We evaluated the robot’s performance by conducting experimental trials on three different metal plates that varied in thickness. The results indicate that the presented robot achieves significantly better locomotion while climbing, and it can autonomously measure the metal thickness, which significantly reduces the human efforts in real-time.

Process Control Method of Complex Product Multidisciplinary Collaborative Design System

2013 ◽  
Vol 712-715 ◽  
pp. 2888-2893
Author(s):  
Hai Qiang Liu ◽  
Ming Lv
Keyword(s):  
Information Sharing ◽  
Product Design ◽  
Design Process ◽  
Collaborative Design ◽  
Control Method ◽  
Integrated System ◽  
Design System ◽  
System Control ◽  
Complex Product ◽  
Product Design Process

In order to realize information sharing and interchange of complex product multidisciplinary collaborative design (MCD) design process and resources. The Process integrated system control of product multidisciplinary collaborative design was analyzed firstly in this paper, then design process of complex product for supporting multidisciplinary collaborative was introduced, a detailed description is given of the organization structure and modeling process of MCD-oriented Integration of Product Design Meta-model ; and concrete implement process of process integrated system control method was introduced to effectively realize information sharing and interchange between product design process and resources.

“IRIS” A Computerized High Head Pump Turbine Design System

1977 ◽  
Vol 99 (3) ◽  
pp. 567-577
Author(s):  
S. Chacour ◽  
J. E. Graybill
Keyword(s):  
Mechanical Design ◽  
Design Parameters ◽  
Design System ◽  
Performance Requirements ◽  
Manufacturing Process Planning ◽  
Depth Analysis ◽  
High Head ◽  
Critical Components ◽  
Limited Input Data ◽  
Turbine Design

“IRIS” is a computerized design and structural optimization system capable of generating all the major hydraulic and mechanical design parameters of high head pump/turbines from limited input data. The program will size the unit and select the proper hydraulic passage configuration according to performance requirements and optimize the dimensions of all the major components, generate command tapes used by a numerically controlled flame cutter, estimate cost, and issue manufacturing process planning. It also generates finite element models for the “in depth” analysis of critical components.

A Cooperative-Collaborative Design System for Multi-Disciplinary Mechanical Design

2005 ◽  
Author(s):  
Zhiqiang Chen ◽  
Zahed Siddique
Keyword(s):  
Product Design ◽  
Design Process ◽  
Collaborative Design ◽  
Process Model ◽  
Mechanical Design ◽  
System Level ◽  
Design System ◽  
Design Collaboration ◽  
Design Activities ◽  
Design Process Model

The emergence of computer and network technology has provided opportunities for researchers to construct and build systems to support dynamic, real-time, and collaborative engineering design in a concurrent manner. This paper provides an understanding of the product design in a distributed environment where designers are in different geographic locations and are required to be involved in the design process to ensure successful product design. A design process model that captures the major interactions among stakeholders is presented, based on the observation of cooperation and collaboration. The stakeholders’ interactions are divided into activity and system level to distinguish the interactions in group design activities and design perspective evolution. An initial computer implementation of the design model is presented. The design system consists of a set of tools associated with design and a management system to facilitate distributed designers to support various design activities, especially conceptual design. Our research emphasis of design collaboration in this paper is: (i) Model a Cooperative-collaborative design process; (ii) Support synchronized design activities; and (iii) Structure the complex relations of various design perspectives from engineering disciplines.

scholarly journals Design and Modeling of a Compliant Link for Inherently Safe Corobots

2017 ◽  
Vol 10 (1) ◽  
Author(s):  
Yu She ◽  
Hai-Jun Su ◽  
Deshan Meng ◽  
Siyang Song ◽  
Junmin Wang
Keyword(s):  
Mechanical Design ◽  
Dynamic Performance ◽  
Inherent Safety ◽  
Promising Alternative ◽  
Head Injury Criterion ◽  
Width Distribution ◽  
Human Operators ◽  
Safety Constraint ◽  
Traditional Approaches ◽  
And Control

In this paper, we propose a variable width compliant link that is designed for optimal trade-off of safety and control performance for inherently safe corobots. Intentionally introducing compliance to mechanical design increases safety of corobots. Traditional approaches mostly focus on the joint compliance, while few of them study the link compliance. Here, we propose a novel method to design compliant robotic links with a safety constraint which is quantified by head injury criterion (HIC). The robotic links are modeled as two-dimensional beams with a variable width. Given a safety threshold, i.e., HIC constraint, the width distribution along the link is optimized to give a uniform distribution of HIC, which guarantees inherent safety for human operators. This solution is validated by a human–robot impact simulation program built in matlab. A static model of the variable width link is derived and verified by finite element simulations. Not only stress in the link is reduced, this new design has a better control and dynamic performance quantified by a larger natural frequency and a larger bandwidth compared with designs made of uniform beams and compliant joints (CJs). The proposed variable width link takes full advantage of the link rigidity while keeps inherent safety during a human–robot impact. This paper demonstrates that the compliant link solution could be a promising alternative approach for addressing safety concerns of human–robot interactions.

scholarly journals Raptor: A Design of a Drain Inspection Robot

Sensors ◽  
2021 ◽  
Vol 21 (17) ◽  
pp. 5742
Author(s):  
M. A. Viraj J. Muthugala ◽  
Povendhan Palanisamy ◽  
S. M. Bhagya P. Samarakoon ◽  
Saurav Ghante Anantha Padmanabha ◽  
Mohan Rajesh Elara ◽  
...  
Keyword(s):  
Fuzzy Logic Controller ◽  
Mechanical Design ◽  
Health And Safety ◽  
Proper Function ◽  
Robot Design ◽  
Inspection Robot ◽  
Inspection Process ◽  
Test Scenarios ◽  
Public Health And Safety ◽  
Novel Design

Frequent inspections are essential for drains to maintain proper function to ensure public health and safety. Robots have been developed to aid the drain inspection process. However, existing robots designed for drain inspection require improvements in their design and autonomy. This paper proposes a novel design of a drain inspection robot named Raptor. The robot has been designed with a manually reconfigurable wheel axle mechanism, which allows the change of ground clearance height. Design aspects of the robot, such as mechanical design, control architecture and autonomy functions, are comprehensively described in the paper, and insights are included. Maintaining the robot’s position in the middle of a drain when moving along the drain is essential for the inspection process. Thus, a fuzzy logic controller has been introduced to the robot to cater to this demand. Experiments have been conducted by deploying a prototype of the design to drain environments considering a set of diverse test scenarios. Experiment results show that the proposed controller effectively maintains the robot in the middle of a drain while moving along the drain. Therefore, the proposed robot design and the controller would be helpful in improving the productivity of robot-aided inspection of drains.

Electromagnetic, Mechanical and Manufacturing Properties for Cable Wound Direct-Drive PM Linear Generators for Offshore Environments

2012 ◽  
Author(s):  
Erik Hultman ◽  
Boel Ekergård ◽  
Mats Leijon
Keyword(s):  
Energy Demand ◽  
Permanent Magnets ◽  
Mechanical Design ◽  
Electric Energy ◽  
Life Time ◽  
Tidal Energy ◽  
Industrial Robots ◽  
Direct Drive ◽  
Electromagnetic Design ◽  
Electromagnetic Losses

Renewable energy conversion in offshore environments, such as wave, wind and tidal energy, can potentially give a considerable contribution to the global electric energy demand. These harsh environments require robust generators with minimal need for maintenance at competitive costs. To reduce the generator cost, the electromagnetic design must be done with manufacturing in mind. An optimal design provides high electric efficiency, long device life-time, little need for maintenance and low manufacturing costs. Modern simulation tools can be used to optimize the electromagnetic design of a generator for a specific task and operation mode. Hereby both electromagnetic losses and material stresses can be reduced. Industrial robots might provide new possibilities to automate generator-specific manufacturing tasks. A generator design with a cable wound stator, surface mounted permanent magnets on the translator and direct-drive linear technology is investigated in this article. This concept has a simpler and more robust mechanical design, while both the electromagnetic losses and the need for maintenance are reduced. By reducing the number of generator assembly steps, manufacturing might also be facilitated. Further work is however needed in developing automated assembly methods and comparing them to conventional generator manufacturing.

scholarly journals Effects of Ultrasonic Impact Treatment on the Stress-Controlled Fatigue Performance of Additively Manufactured DMLS Ti-6Al-4V Alloy

2019 ◽  
Vol 9 (22) ◽  
pp. 4787 ◽  
Author(s):  
Walker ◽  
Malz ◽  
Trudel ◽  
Nosir ◽  
ElSayed ◽  
...  
Keyword(s):  
Fatigue Life ◽  
Residual Stresses ◽  
Surface Defects ◽  
Mechanical Design ◽  
Hydrostatic Stress ◽  
Fatigue Performance ◽  
Surface Porosity ◽  
Ultrasonic Impact Treatment ◽  
Ship Hulls ◽  
Before And After

Additive manufacturing (AM) offers many advantages for the mechanical design of metal components. However, the benefits of AM are offset to a certain extent by the poor surface finish and high residual stresses resulting from the printing process, which consequently compromise the mechanical properties of the parts, particularly their fatigue performance. Ultrasonic impact treatment (UIT) is a surface modification process which is often used to increase the fatigue life of welds in ship hulls and steel bridges. This paper studies the effect of UIT on the fatigue life of Ti-6Al-4V manufactured by Direct Metal Laser Sintering (DMLS). The surface properties before and after the UIT are characterized by surface porosity, roughness, hardness and residual stresses. Results show that UIT enhances the fatigue life of DMLS Ti-6Al-4V parts by suppressing the surface defects originating from the DMLS process and inducing compressive residual stresses at the surface. At the adopted UIT application parameters, the treatment improved the fatigue performance by 200%, significantly decreased surface porosity, reduced the surface roughness by 69%, and imposed a compressive hydrostatic stress of 1644 MPa at the surface.

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