Constant probe orientation for fast contact-based inspection of 3D free-form surfaces using (3+2)-axis inspection machines

A new probe optimization method for contact based (3+2)-axis inspection machines is proposed. Given an inspection path of a stylus on a free-form surface, an optimal orientation of the stylus is computed such that (i) the inclination angle of the stylus is within a given angular range with respect to the surface normal, (ii) the motion of the stylus is globally collision free, and (iii) the stylus remains constant in the coordinate system of the measuring machine. The last condition guarantees that the inspection motion requires only the involvement of the three translational axes of the measuring machine. The numerical simulations were validated through physical experiments on a testcase of a tooth of a bevel gear due to the surface complexity and probe accessibility. This optimized method was compared to 3-axis and 5-axis inspection strategies, showing that the fixed (3+2)-axis stylus returns more accurate inspection results compared to the traditional 3-axis approach and similar to 5-axis approach.RYC-2017-2264

Possibilities of Evaluating the Dimensional Acceptability of Workpieces Using Computer Vision

This paper discusses the possibilities of an automated solution for determining dimensionally accurate and defective products using a computer vision system. In a real industrial environment, research was conducted on a prototype of a quality control machine, i.e. a machine that, based on product images, evaluates whether the product is accurate or defective using computer vision. Various geometric features are extracted from the obtained images of products, on the basis of which a fuzzy inference system based on Fuzzy C-means clustering features is created. The extracted geometric features represent the input variables, and the output variable has two values - true and false. The root mean square error in the evaluation of the accuracy and defectiveness of products ranges between 0.07 and 0.16. Through this research, valuable findings and conclusions were reached for the future research, since this topic is poorly examined in the most renowned databases

Constant probe orientation for fast contact-based inspection of 3D free-form surfaces using (3+2)-axis inspection machines

A new probe optimization method for contact based (3+2)-axis inspection machines is proposed. Given an inspection path of a stylus on a free-form surface, an optimal orientation of the stylus is computed such that (i) the inclination angle of the stylus is within a given angular range with respect to the surface normal, (ii) the motion of the stylus is globally collision free, and (iii) the stylus remains constant in the coordinate system of the measuring machine. The last condition guarantees that the inspection motion requires only the involvement of the three translational axes of the measuring machine. The numerical simulations were validated through physical experiments on a testcase of a tooth of a bevel gear due to the surface complexity and probe accessibility. This optimized method was compared to 3-axis and 5-axis inspection strategies, showing that the fixed (3+2)-axis stylus returns more accurate inspection results compared to the traditional 3-axis approach and similar to 5-axis approach

Investigation of 3D Non-Contact Laser-Based Inspection Techniques for Application in Gear Metrology

Gear shape accuracy, surface quality and, as a consequence, a proper gear inspection needed to guarantee these features, are critical in order to improve drivetrain efficiency as well as to reduce noise in automotive power transmission systems. Contact stylus type measuring methods using contact probes are today’s dominant indus- trial solution for gear metrology. Due to the difficulties of further improving those methods, new non-contact measuring systems have been developed in the past few years. The most promising option that meets the requirements of accuracy, repeatability and high cycle time is the 3D non-contact measurement method based on triangulation laser sensors. These laser scanners have been improved over the last few years both in terms of resolu- tion, optical quality, image processing and data analysis to make them comparable, if not superior, to the traditional contact probe. This thesis provides an evaluation of the surface profilometer Urano HC-N400, using the contact technology currently employed by Omega gear metrology labs as a benchmark. The measurements obtained with the alternative inspection system indicate that the analyzed non-contact solution is not ready yet for in-line and high volume inspection applications, but is well-suited to research and development purposes. Omega is also looking for the possible causes of a particular noise problem which is difficult to detect using current technology. One gear that exhibited this phantom phenomenon, also know as the ghost noise , has been analyzed and compared with another gear identified as the best of best . During the analysis, undulations have been found in both gears. The combination of those waves through the use of the Ripple Analysis software represents the best solution to discover other gears with the same problem in the early stages of inspection

SINGLE SITE ROBOTC DEVICE AND RELATED SYSTEMS AND METHODS

The embodiments disclosed herein relate to various medical device components, including components that can be incor porated into robotic and/or in vivo medical devices. Certain embodiments include various medical devices for in vivo medical procedures

LOCAL CONTROL ROBOTIC SURGICAL DEVICES AND RELATED METHODS

The various robotic medical devices include robotic devices that are disposed within a body cavity and positioned using a support component disposed through an orifice or opening in the body cavity. Additional embodiments relate to devices having arms coupled to a device body wherein the device has a minimal profile such that the device can be easily inserted through smaller incisions in comparison to other devices without such a small profile. Further embodiments relate to methods of operating the above devices

RollerBall: a mobile robot for intraluminal locomotion

There are currently a number of major drawbacks to using a colonoscope that limit its efficacy. One solution to this may be to use a warm liquid to distend the colon during inspection. Another is to replace the colonoscope with a small mobile robot – a solution many believe is the future of gastrointestinal intervention. This paper presents RollerBall, an intraluminal robot that uses wheeled-locomotion to traverse the length of a fluid-filled colon. The device provides a central, stable platform within the lumen for the use of diagnostic and therapeutic tools. The concept is described in detail and the feasibility demonstrated in a series of tests in a synthetic colon

Development of an Intelligent Robotic Manipulator

The presence of hazards to human health in chemical process plant and nuclear waste stores leads to the use of robots and more specifically manipulators in unmanned spaces. Rapid and accurate performance of robotic arm movement and positioning, coupled with a reliable manipulator gripping mechanism for variable orientation and a range of deformable and/or geometric and coloured products, will lead to smarter/intelligent operation of high precision equipment. The aim of the research is to design a more effective robot arm manipulator for use in a glovebox environment utilising control kinematics together with image processing / object recognition algorithms and in particular the work is aimed at improving the movement of the robot arm in the case of unresolved kinematics, seeking improved speed and performance of object recognition along with improved sensitivity of the manipulator gripper mechanism A virtual robot arm and associated workspace was designed within the LabView 2009 environment and prototype gripper arms were designed and analysed within the Solidworks 2009 environment. Visual information was acquired by barrel cameras. Field research determines the location of identically shaped objects, and the object recognition algorithms establish the difference between them. A touch/feel device installed within the gripper arm housing ensures that the applied force is adequate to securely grasp the object without damage, but also to adapt to any slippage whilst the manipulator moves within the robot workspace. The research demonstrates that complex operations can be achieved without the expense of specialised parts/components; and that implementation of control algorithms can compensate for any ambiguous signals or fault conditions that occur through the operation of the manipulator. The results show that system performance is determined by the trade-off between speed and accuracy. The designed system can be further utilised for control of multi-functional robots connected within a production line. The Graphic User Interface illustrated within the thesis can be customised by the supervisor to suit operational needs

Wireless capsule endoscope for targeted drug delivery

The diagnosis and treatment of pathologies of the gastrointestinal (GI) tract are performed routinely by gastroenterologists using endoscopes and colonoscopes, however the small intestinal tract is beyond the reach of these conventional systems. Attempts have been made to access the small intestines with wireless capsule endoscopes (WCE). These pill-sized cameras take pictures of the intestinal wall and then relay them back for evaluation. This practice enables the detection and diagnosis of pathologies of the GI tract such as Crohn's disease, small intestinal tumours such as lymphoma and small intestinal cancer. The problems with these systems are that they have limited diagnostic capabilities and they do not offer the ability to perform therapy to the affected areas leaving only the options of administering large quantities of drugs or surgical intervention. To address the issue of administering therapy in the small intestinal tract this thesis presents an active swallowable microrobotic platform which has novel functionality enabling the microrobot to treat pathologies through a targeted drug delivery system. This thesis first reviews the state-of-the-art in WCE through the evaluation of current and past literature. A review of current practises such as flexible sigmoidoscopy, virtual colonoscopy and wireless capsule endoscopy are presented. The following sections review the state-of-the-art in methods of resisting peristalsis, drug targeting systems and drug delivery. A review of actuators is presented, in the context of WCE, with a view to evaluate their acceptability in adding functionality to current WCEs. The thesis presents a novel biologically-inspired holding mechanism which overcomes the issue of resisting natural peristalsis in the GI tract. An analysis of the two components of peristaltic force, circumferential and longitudinal peristaltic contractions, are presented to ensure correct functionality of the holding mechanism. A detailed analysis of the motorised method employed to deploy the expanding mechanism is described and a 5:1 scale prototype is presented which characterises the gearbox and validates the holding mechanism. The functionality of WCE is further extended by the inclusion of a novel targeting mechanism capable of delivering a metered dose of medication to a target site of interest in the GI tract. A solution to the problem of positioning a needle within a 360 degree envelope, operating the needle and safely retracting the needle in the GI tract is discussed. A comprehensive analysis of the mechanism to manoeuvre the needle is presented and validation of the mechanism is demonstrated through the evaluation of scale prototypes. Finally a drug delivery system is presented which can expel a 1 ml dose of medication, stored onboard the capsule, into the subcutaneous tissue of the GI tract wall. An analysis of the force required to expel the medication in a set period of time is presented and the design and analysis of a variable pitch conical compression spring which will be used to deliver the medication is discussed. A thermo mechanical trigger mechanism is presented which will be employed to release the compressed conical spring. Experimental results using 1:1 scale prototype parts validate the performance of the mechanisms.Open Acces