Intelligent 3D seam tracking and adaptable weld process control for robotic TIG welding

Tungsten Inert Gas (TIG) welding is extensively used in aerospace applications, due to its unique ability to produce higher quality welds compared to other shielded arc welding types. However, most TIG welding is performed manually and has not achieved the levels of automation that other welding techniques have. This is mostly attributed to the lack of process knowledge and adaptability to complexities, such as mismatches due to part fit-up. Recent advances in automation have enabled the use of industrial robots for complex tasks that require intelligent decision making, predominantly through sensors. Applications such as TIG welding of aerospace components require tight tolerances and need intelligent decision making capability to accommodate any unexpected variation and to carry out welding of complex geometries. Such decision making procedures must be based on the feedback about the weld profile geometry. In this thesis, a real-time position based closed loop system was developed with a six axis industrial robot (KUKA KR 16) and a laser triangulation based sensor (Micro-Epsilon Scan control 2900-25). [Continues.

Machine Learning and System Identification for Estimation in Physical Systems

In this thesis, we draw inspiration from both classical system identification and modern machine learning in order to solve estimation problems for real-world, physical systems. The main approach to estimation and learning adopted is optimization based. Concepts such as regularization will be utilized for encoding of prior knowledge and basis-function expansions will be used to add nonlinear modeling power while keeping data requirements practical.The thesis covers a wide range of applications, many inspired by applications within robotics, but also extending outside this already wide field.Usage of the proposed methods and algorithms are in many cases illustrated in the real-world applications that motivated the research.Topics covered include dynamics modeling and estimation, model-based reinforcement learning, spectral estimation, friction modeling and state estimation and calibration in robotic machining.In the work on modeling and identification of dynamics, we develop regularization strategies that allow us to incorporate prior domain knowledge into flexible, overparameterized models. We make use of classical control theory to gain insight into training and regularization while using tools from modern deep learning. A particular focus of the work is to allow use of modern methods in scenarios where gathering data is associated with a high cost.In the robotics-inspired parts of the thesis, we develop methods that are practically motivated and make sure that they are implementable also outside the research setting. We demonstrate this by performing experiments in realistic settings and providing open-source implementations of all proposed methods and algorithms

Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021

This Open Access proceedings presents a good overview of the current research landscape of assembly, handling and industrial robotics. The objective of MHI Colloquium is the successful networking at both academic and management level. Thereby, the colloquium focuses an academic exchange at a high level in order to distribute the obtained research results, to determine synergy effects and trends, to connect the actors in person and in conclusion, to strengthen the research field as well as the MHI community. In addition, there is the possibility to become acquatined with the organizing institute. Primary audience is formed by members of the scientific society for assembly, handling and industrial robotics (WGMHI)

Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021

This Open Access proceedings presents a good overview of the current research landscape of assembly, handling and industrial robotics. The objective of MHI Colloquium is the successful networking at both academic and management level. Thereby, the colloquium focuses an academic exchange at a high level in order to distribute the obtained research results, to determine synergy effects and trends, to connect the actors in person and in conclusion, to strengthen the research field as well as the MHI community. In addition, there is the possibility to become acquatined with the organizing institute. Primary audience is formed by members of the scientific society for assembly, handling and industrial robotics (WGMHI)

Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021

This Open Access proceedings presents a good overview of the current research landscape of assembly, handling and industrial robotics. The objective of MHI Colloquium is the successful networking at both academic and management level. Thereby, the colloquium focuses an academic exchange at a high level in order to distribute the obtained research results, to determine synergy effects and trends, to connect the actors in person and in conclusion, to strengthen the research field as well as the MHI community. In addition, there is the possibility to become acquatined with the organizing institute. Primary audience is formed by members of the scientific society for assembly, handling and industrial robotics (WGMHI)

Welding Processes

Despite the wide availability of literature on welding processes, a need exists to regularly update the engineering community on advancements in joining techniques of similar and dissimilar materials, in their numerical modeling, as well as in their sensing and control. In response to InTech's request to provide undergraduate and graduate students, welding engineers, and researchers with updates on recent achievements in welding, a group of 34 authors and co-authors from 14 countries representing five continents have joined to co-author this book on welding processes, free of charge to the reader. This book is divided into four sections: Laser Welding; Numerical Modeling of Welding Processes; Sensing of Welding Processes; and General Topics in Welding

Flexible Automation and Intelligent Manufacturing: The Human-Data-Technology Nexus

This is an open access book. It gathers the first volume of the proceedings of the 31st edition of the International Conference on Flexible Automation and Intelligent Manufacturing, FAIM 2022, held on June 19 – 23, 2022, in Detroit, Michigan, USA. Covering four thematic areas including Manufacturing Processes, Machine Tools, Manufacturing Systems, and Enabling Technologies, it reports on advanced manufacturing processes, and innovative materials for 3D printing, applications of machine learning, artificial intelligence and mixed reality in various production sectors, as well as important issues in human-robot collaboration, including methods for improving safety. Contributions also cover strategies to improve quality control, supply chain management and training in the manufacturing industry, and methods supporting circular supply chain and sustainable manufacturing. All in all, this book provides academicians, engineers and professionals with extensive information on both scientific and industrial advances in the converging fields of manufacturing, production, and automation