Desenvolvimento de um sistema automatizado para ensaios mecânicos

Nowadays, predict or characterize material's behaviour are arduous tasks which involve performing repetitive tests using different testing machines and sensors (internal, such as load cells, and externals, such as cameras that measure deformations). When performed manually, they result in inaccurate data, due to the repeatability of the process. However, these handling specimen tasks could be performed automatically using traditional robotic manipulators, and creating systems based on automatic mechanical testing. Consequently, the precision of the testing results increases, as well as the automatism of the processes and the test's throughput. Some commercial products are already available on the market, but these options are offered in complete systems and cannot adapt themselves to existing equipment or retrofit systems. In this work, it is created a communication infrastructure between the equipment to be included in the automatic system designed. The whole process is managing the interface communication between devices and, consequently, composing the automatic material testing routine. This requires implementing several changes in the testing machine selected aiming to increase its degree of automation and, consequently, allow further integration in the fully automatic testing procedure. Additionally, a visual perception system is created using a specimen tray randomly positioned on a setup, which includes a camera and robotic manipulator that is automatically operating the traditional specimen handling of testing. The calibration methods are accomplished using ROS framework and the final system achieved operates in automatic mode, handling specimens from the tray prototype (designed for this work) to a fixed position previously taught to the manipulator, which represents the exact feeding position in machine tests.Atualmente, prever ou caracterizar o comportamento dos materiais é uma tarefa demasiado laboriosa que envolve a realização de muitos testes repetitivos utilizando diferentes tipos de máquinas de ensaio, sensores internos (células de carga para medir forças) e externos (câmaras que medem deformações). Estes ensaios, quando executados manualmente por um operador, originam erros de imprecisão devido á repetibilidade do processo. No entanto, estas tarefas podem ser adaptadas a recursos automáticos, tirando partido da fiabilidade dos manipuladores robóticos e, aumentando assim, a precisão e quantidade de ensaios realizados no mesmo espaço de tempo. Algumas soluções comerciais já existem no mercado, porém, estas são oferecidas de forma integral que não permitem facilmente a integração de uma nova estacão (equipamento) ou o uso de uma máquina de ensaios standard mais antiga. Neste trabalho é criada uma estrutura de comunicação entre os equipamentos que permite a interface e, consequentemente, a reprodução automática de um sistema para ensaios mecânicos numa máquina tradicional de carregamento uniaxial. Para tal, um conjunto de alterações numa máquina de ensaios é sugerido visando aumentar o seu grau de automação e, consequentemente, contribuindo para a integração num sistema de ensaios totalmente automático. Adicionalmente, é criado um sistema de perceção visual (com as devidas calibrações em ROS) capaz proceder á manipulação de provetes a partir de um tabuleiro (posicionado aleatoriamente no espaço) e cujas manobras são operadas por um manipulador robótico e respetiva câmara instalados. Como resultado, o sistema executa o manuseamento automático de provetes para uma posição fixa que representa o local de abastecimento das máquinas de ensaios.Mestrado em Engenharia de Automação Industria

Aerospace medicine and biology: A continuing bibliography with indexes (supplement 359)

This bibliography lists 164 reports, articles and other documents introduced into the NASA Scientific and Technical Information System during Jan. 1992. Subject coverage includes: aerospace medicine and physiology, life support systems and man/system technology, protective clothing, exobiology and extraterrestrial life, planetary biology, and flight crew behavior and performance

Technology for large space systems: A special bibliography with indexes (supplement 03)

A bibliography containing 217 abstracts addressing the technology for large space systems is presented. State of the art and advanced concepts concerning interactive analysis and design, structural concepts, control systems, electronics, advanced materials, assembly concepts, propulsion, solar power satellite systems, and flight experiments are represented

Aerospace medicine and biology: A continuing bibliography with indexes (supplement 320)

This bibliography lists 125 reports, articles and other documents introduced into the NASA Scientific and Technical Information System during January, 1989. Subject coverage includes: aerospace medicine and psychology, life support systems and controlled environments, safety equipment, exobiology and extraterrestrial life, and flight crew behavior and performance

MATLAB

This excellent book represents the final part of three-volumes regarding MATLAB-based applications in almost every branch of science. The book consists of 19 excellent, insightful articles and the readers will find the results very useful to their work. In particular, the book consists of three parts, the first one is devoted to mathematical methods in the applied sciences by using MATLAB, the second is devoted to MATLAB applications of general interest and the third one discusses MATLAB for educational purposes. This collection of high quality articles, refers to a large range of professional fields and can be used for science as well as for various educational purposes

Automation and Robotics: Latest Achievements, Challenges and Prospects

This SI presents the latest achievements, challenges and prospects for drives, actuators, sensors, controls and robot navigation with reverse validation and applications in the field of industrial automation and robotics. Automation, supported by robotics, can effectively speed up and improve production. The industrialization of complex mechatronic components, especially robots, requires a large number of special processes already in the pre-production stage provided by modelling and simulation. This area of research from the very beginning includes drives, process technology, actuators, sensors, control systems and all connections in mechatronic systems. Automation and robotics form broad-spectrum areas of research, which are tightly interconnected. To reduce costs in the pre-production stage and to reduce production preparation time, it is necessary to solve complex tasks in the form of simulation with the use of standard software products and new technologies that allow, for example, machine vision and other imaging tools to examine new physical contexts, dependencies and connections

Technology 2003: The Fourth National Technology Transfer Conference and Exposition, volume 2

Proceedings from symposia of the Technology 2003 Conference and Exposition, Dec. 7-9, 1993, Anaheim, CA, are presented. Volume 2 features papers on artificial intelligence, CAD&E, computer hardware, computer software, information management, photonics, robotics, test and measurement, video and imaging, and virtual reality/simulation

Remote control of the digital pneumatics in a scope of Industry 4.0

У овој докторској дисертацији, акценат је стављен на анализу даљински управљаних дигиталних пнеуматских система у концепту Индустрије 4.0. Доприноси тезе су сљедећи: 1) Показано је на који начин је могуће, постојеће пнеуматске системе надградити тако да се омогући даљинско управљање кретањем пнеуматских радних елемената, даљинска регулација притиска и даљинска регулација протока. 2) Показано је на који начин је могуће развити даљински управљан дигитални пнеуматски систем, који има могућност даљинске промјене управљачких параметара (радног притиска и/или протока) у току процеса рада, и који је искључиво софтверски реконфигурабилан, те реализован на оптималан начин, чиме достиже ниво флексибилности потребан да се задовољи основни концепт Индустрије 4.0. Примјена добијених резултата могућа је у свим индустријским, а потом и неиндустријским системима, у којима постоје пнеуматски радни елементи.U ovoj doktorskoj disertaciji, akcenat je stavljen na analizu daljinski upravljanih digitalnih pneumatskih sistema u konceptu Industrije 4.0. Doprinosi teze su sljedeći: 1) Pokazano je na koji način je moguće, postojeće pneumatske sisteme nadgraditi tako da se omogući daljinsko upravljanje kretanjem pneumatskih radnih elemenata, daljinska regulacija pritiska i daljinska regulacija protoka. 2) Pokazano je na koji način je moguće razviti daljinski upravljan digitalni pneumatski sistem, koji ima mogućnost daljinske promjene upravljačkih parametara (radnog pritiska i/ili protoka) u toku procesa rada, i koji je isključivo softverski rekonfigurabilan, te realizovan na optimalan način, čime dostiže nivo fleksibilnosti potreban da se zadovolji osnovni koncept Industrije 4.0. Primjena dobijenih rezultata moguća je u svim industrijskim, a potom i neindustrijskim sistemima, u kojima postoje pneumatski radni elementi.In this PhD thesis, the emphasis is placed on the analysis of remotely controlled digital pneumatic systems in the scope of Industry 4.0. The contributions of the thesis are the following: 1) The possibility of upgrading an existing pneumatic systems to allow remote motion control of pneumatic actuators, remote pressure control and remote flow control, is shown. 2) The possibility of developing a remotely controlled digital pneumatic system, which has the ability of remote change of the control parameters (the operating pressure and/or the flow) during the operating process, and which is exclusively software reconfigurable and optimally implemented, is shown. At that way, it is achieving a level of flexibility needed to meet the basic concept of Industry 4.0. The application of the obtained results is possible in all industrial and then non-industrial systems, where pneumatic actuators exist

RFID Technology in Intelligent Tracking Systems in Construction Waste Logistics Using Optimisation Techniques

Construction waste disposal is an urgent issue for protecting our environment. This paper proposes a waste management system and illustrates the work process using plasterboard waste as an example, which creates a hazardous gas when land filled with household waste, and for which the recycling rate is less than 10% in the UK. The proposed system integrates RFID technology, Rule-Based Reasoning, Ant Colony optimization and knowledge technology for auditing and tracking plasterboard waste, guiding the operation staff, arranging vehicles, schedule planning, and also provides evidence to verify its disposal. It h relies on RFID equipment for collecting logistical data and uses digital imaging equipment to give further evidence; the reasoning core in the third layer is responsible for generating schedules and route plans and guidance, and the last layer delivers the result to inform users. The paper firstly introduces the current plasterboard disposal situation and addresses the logistical problem that is now the main barrier to a higher recycling rate, followed by discussion of the proposed system in terms of both system level structure and process structure. And finally, an example scenario will be given to illustrate the system’s utilization