Back-Stepping and Neural Network Control of a Mobile Robot for Curved Weld Seam Tracking

AbstractThis paper proposes a back-stepping and neural network hybrid control method for mobile platform and slider of mobile robot used in shipbuilding welding. The kinematics model of the robot is built firstly, and then a motion controller is designed based on the model and back-stepping method. Stability of the controller is proved through use of Liapunov theory. For improving the tracking precision and anti-interference performance of the controller, a neural network is designed to identify the kinematical model of the robot and to adjust the control coefficients in real time based on the tracking errors. The simulation and experiments have been done to verify the effectiveness of the proposed controllers

Kajian Aplikasi Robot dalam Industri Perkapalan

Paper ini membahas tentang aplikasi sistem robot dalam proses pembangunan kapal. Aplikasi yang ditinjau untuk pekerjaan welding, blasting dan painting, baik untuk struktur terbuka atau struktur tertutup (double hull). Beberapa kelebihan dan kekurangan pada aplikasi robot akan dibahas untuk mengembangkan aplikasi penggunaan robot yang sudah ada, salah satunya adalah dengan menggunakan konsep humanoid. Studi ini juga mengusulkan beberapa modifikasi aplikasi robot yang sudah ada dalam pembangunan kapal. Hasil dari usulan konsep membutuhkan studi analisis lanjut baik mengenai struktural mekanik pada body robot maupun kajian sistem yang lebih tepat untuk diterapkan

Friction stir welding for marine applications : mechanical behaviour and microstructural characteristics of Al-Mg-Si-Cu plates

Friction stir welding is a multipurpose solid-state joining process mainly used for aluminium and steel plates and frames. Friction stir welded non-ferrous metallic alloys, similar or dissimilar, in particular aluminium alloys, provide opportunities for the improvement and developement of new product designs. This paper investigates the correlation between the mechanical behaviour and morphological structures of friction stir welded Al-Mg-Si(Cu) alloy plates in two temper conditions. Micro Vickers hardness and tensile tests were carried out. Additionally, morphology was investigated using optical microscopy and scanning electron microscopy. Samples subjected to the post weld heat treatment were shown to have the best properties owing to the formation of a significant number of hardening particles which, added to the nugget grain refinement, resulted in the increase of the material strength

Friction Stir Welding for Marine Applications: Mechanical Behaviour and Microstructural Characteristics of Al-Mg-Si-Cu Plates

Friction stir welding is a multipurpose solid-state joining process mainly used for aluminium and steel plates and frames. Friction stir welded non-ferrous metallic alloys, similar or dissimilar, in particular aluminium alloys, provide opportunities for the improvement and developement of new product designs. This paper investigates the correlation between the mechanical behaviour and morphological structures of friction stir welded Al-Mg-Si(Cu) alloy plates in two temper conditions. Micro Vickers hardness and tensile tests were carried out. Additionally, morphology was investigated using optical microscopy and scanning electron microscopy. Samples subjected to the post weld heat treatment were shown to have the best properties owing to the formation of a significant number of hardening particles which, added to the nugget grain refinement, resulted in the increase of the material strength