Visuohaptic Simulation of a Borescope for Aircraft Engine Inspection

Consisting of a long, fiber optic probe containing a small CCD camera controlled by hand-held articulation interface, a video borescope is used for remote visual inspection of hard to reach components in an aircraft. The knowledge and psychomotor skills, specifically the hand-eye coordination, required for effective inspection are hard to acquire through limited exposure to the borescope in aviation maintenance schools. Inexperienced aircraft maintenance technicians gain proficiency through repeated hands-on learning in the workplace along a steep learning curve while transitioning from the classroom to the workforce. Using an iterative process combined with focused user evaluations, this dissertation details the design, implementation and evaluation of a novel visuohaptic simulator for training novice aircraft maintenance technicians in the task of engine inspection using a borescope. First, we describe the development of the visual components of the simulator, along with the acquisition and modeling of a representative model of a {PT-6} aircraft engine. Subjective assessments with both expert and novice aircraft maintenance engineers evaluated the visual realism and the control interfaces of the simulator. In addition to visual feedback, probe contact feedback is provided through a specially designed custom haptic interface that simulates tip contact forces as the virtual probe intersects with the {3D} model surfaces of the engine. Compared to other haptic interfaces, the custom design is unique in that it is inexpensive and uses a real borescope probe to simulate camera insertion and withdrawal. User evaluation of this simulator with probe tip feedback suggested a trend of improved performance with haptic feedback. Next, we describe the development of a physically-based camera model for improved behavioral realism of the simulator. Unlike a point-based camera, the enhanced camera model simulates the interaction of the borescope probe, including multiple points of contact along the length of the probe. We present visual comparisons of a real probe\u27s motion with the simulated probe model and develop a simple algorithm for computing the resultant contact forces. User evaluation comparing our custom haptic device with two commonly available haptic devices, the Phantom Omni and the Novint Falcon, suggests that the improved camera model as well as probe contact feedback with the 3D engine model plays a significant role in the overall engine inspection process. Finally, we present results from a skill transfer study comparing classroom-only instruction with both simulator and hands-on training. Students trained using the simulator and the video borescope completed engine inspection using the real video borescope significantly faster than students who received classroom-only training. The speed improvements can be attributed to reduced borescope probe maneuvering time within the engine and improved psychomotor skills due to training. Given the usual constraints of limited time and resources, simulator training may provide beneficial skills needed by novice aircraft maintenance technicians to augment classroom instruction, resulting in a faster transition into the aviation maintenance workforce

\u27TRANSFER EFFECT STUDY OF A VIRTUAL BORESCOPE IN TRAINING AIRCRAFT MAINTENANCE TECHNICIANS\u27

The Federal Aviation Administration (FAA) has acknowledged training as an important tactic to improve the trustworthiness of inspection. This study was conducted to test the transfer of the skills learned with a simulator into the real world. For this purpose, data from seventeen students in the AMT program of Greenville Technical College was analyzed. Objective data was taken to assess the group\u27s performance on the simulator after each session of training. The comparison between two groups was made using objective data, collected while the subjects went through a test on a real engine and using the real borescope, and subjective ratings they gave their respective training system after a minimalist contact with their tool, and at the end of the study. Results showed that performance was not statistically different between the two groups; however, the subjective ratings show that improvements could be made to the simulator as its users do not feel confident of the transferability of the skills learned while using it. This study can be used as a stepping stone in the determination of the most efficient total duration of training as it provides an upper bound

Redesigning the human-robot interface : intuitive teleoperation of anthropomorphic robots

textA novel interface for robotic teleoperation was developed to enable accurate and highly efficient teleoperation of the Industrial Reconfigurable Anthropomorphic Dual-arm (IRAD) system and other robotic systems. In order to achieve a revolutionary increase in operator productivity, the bilateral/master-slave approach must give way to shared autonomy and unilateral control; autonomy must be employed where possible, and appropriate sensory feedback only where autonomy is impossible; and today’s low-information/high feedback model must be replaced by one that emphasizes feedforward precision and minimal corrective feedback. This is emphasized for task spaces outside of the traditional anthropomorphic scale such as mobile manipulation (i.e. large task spaces) and high precision tasks (i.e. very small task spaces). The system is demonstrated using an anthropomorphically dimensioned industrial manipulator working in task spaces from one meter to less than one millimeter, in both simulation and hardware. This thesis discusses the design requirements and philosophy of this interface, provides a summary of prototype teleoperation hardware, simulation environment, test-bed hardware, and experimental results.Mechanical Engineerin

Integrated low-cost reading device targeting the accessibility to quality education for the visually impaired.

Masters Degree. University of KwaZulu- Natal, Durban.The movement of society into the Fourth Industrial Revolution introduces a fundamental shift in how Mechatronic devices are implemented in daily life and the workplace. Terms such as ‘efficiency’ and ‘competitive advantage’ bolster the drive to develop technology that sets one company, business or manufacturer apart from the rest. However, is there a possibility that the same technology can be used to unify society by providing equal opportunity within the workplace, academia, and everyday life? This research addresses the position of the South African visually impaired community within Industry 4.0 and how Mechatronic technology can be used to improve current employment statistics and quality of life. The purpose of the research project was to assess the financial and operational viability of a portable text to braille transcription device with focus on the implementation of novel small-scale Dielectric Elastomer Actuators (DEAs). The device was required to transcribe printed characters into braille in real-time. This allowed visually impaired individuals access to books, journals and newspapers without assistance or the need to wait for the production of a braille-embossed printed copy. In addition, the research included an assessment of the current employment and educational circumstances of the blind and visually impaired community of South Africa as well as an investigation of the ideal approach to address multiple key factors using a single device. The design of the selected device was comprised of three major subsystems; the optical character recognition hardware, the software and electronics required to transcribe the characters into a series of voltage outputs and the actuation system of the tactile display. The synthesis and operating conditions of the dielectric elastomer actuators were experimentally assessed. The tactile display was required to be low cost, small-scale, portable, and robust to present a sustainable solution to the challenges presented by the lack of accessible reading material and high cost of commercially available options. Scaled models of the DEA were synthesised. The subsequent experiments included the comparison of elastomer materials, electrode materials, the effect of pre-strain on DEA performance, the effect of different application methods of carbon electrodes and the performance of inflated DEA membranes. The electronic subsystem was simulated to investigate the reaction time of the device. Design challenges included the requirement of a high voltage power supply to actuate the DEA, the insulation of the synthesised membranes, electrical protection of the micro-controller and the incorporation of optical character recognition programmes. This research aimed to assist in the development of actuators with greater portability and scope for miniaturisation than commercially available pneumatic or piezoelectric alternatives while addressing the challenges faced by the visually impaired community of South Africa

Design Development Test and Evaluation (DDT and E) Considerations for Safe and Reliable Human Rated Spacecraft Systems

A team directed by the NASA Engineering and Safety Center (NESC) collected methodologies for how best to develop safe and reliable human rated systems and how to identify the drivers that provide the basis for assessing safety and reliability. The team also identified techniques, methodologies, and best practices to assure that NASA can develop safe and reliable human rated systems. The results are drawn from a wide variety of resources, from experts involved with the space program since its inception to the best-practices espoused in contemporary engineering doctrine. This report focuses on safety and reliability considerations and does not duplicate or update any existing references. Neither does it intend to replace existing standards and policy

Ideas Exchange: Design and the post bio-tech-body

This thesis situates speculative design as a valuable tool for thinking about design issues and the body. Bringing together historical, theoretical criticism and practice to show that speculative design is intimately linked with the body. The thesis’ arguments build on the basis that both the body and design have gone through a processes of anatomisation: they have been dissected, separated and segmented into parts and terms. Those parts and terms are then ordered in a fashion which may not necessarily be advantageous intra-disciplinarily, that is for collaborations and discussions within a discipline. A different anatomisation is proposed for more contemporary models of design where the frequent use of relative points of reference is evident, in particular in respect to speculative design. This model in which speculative design is considered as adjunct allows designers to more freely share resources with other disciplines at their converging membranes and through doing so that design itself in these new iterations may be considered a useful investigative instrument for exchanging ideas. Taking a ‘research through design’ approach, the text is informed by a portfolio of practice-based works that reveal the complex continuing relationship between design and the body. The eight original design works made for this thesis present body imaginaries influenced by technological change. The methods used to create the design outputs involved collaborative research and residencies which ultimately advocates the refinement of particular communicative tactics in speculative design. These tactics are outlined as a way to develop a sensibility for myself and those wishing to engage with the current zeitgeist of models of the body and design that may eventually be useful in fostering an ongoing exchange between them so that new forms may evolve in both body and design criticism