Automatic Inspection of Aeronautical Mechanical Assemblies by Matching the 3D CAD Model and Real 2D Images

International audienceIn the aviation industry, automated inspection is essential for ensuring quality of production. It allows acceleration of procedures for quality control of parts or mechanical assemblies. As a result, the demand of intelligent visual inspection systems aimed at ensuring high quality in production lines is increasing. In this work, we address a very common problem in quality control. The problem is verification of presence of the correct part and verification of its position. We address the problem in two parts: first, automatic selection of informative viewpoints before the inspection process is started (offline preparation of the inspection) and, second, automatic treatment of the acquired images from said viewpoints by matching them with information in 3D CAD models is launched. We apply this inspection system for detecting defects on aeronautical mechanical assemblies with the aim of checking whether all the subparts are present and correctly mounted. The system can be used during manufacturing or maintenance operations. The accuracy of the system is evaluated on two kinds of platform. One is an autonomous navigation robot, and the other one is a handheld tablet. The experimental results show that our proposed approach is accurate and promising for industrial applications with possibility for real-time inspection

Evaluating Material Consumption at the Intersection of Technological Innovation and Shifting Consumer Demand: A Case Study of Consumer Electronics

Increasing availability of consumer electronics offers the potential to improve quality of life, extend educational access, and improve efficiency of industrial processes, yet introduce their own set of challenges including increasingly diverse material supply chains, the fastest growing waste stream, and high life cycle resource demands. A significant body of research has been developed to understand material and energy flows across the product life cycle, but to date, that research has neglected to understand aggregate material flows across a community of interrelated products that are consumed, used, and disposed of together. This research explores that research gap, first evaluating the possibility of natural dematerialization due to technological innovation as a means of reducing material flows across the life cycle. A case study of a laptop computer over subsequent generations reveals that innovation is being realized as improved performance, rather than reduced material consumption, and thus total product mass is relatively constant over time. Extending the boundaries of the study from a single product over time to a group of products that interact within the average U.S. household reveals that, although per product material consumption stays relatively constant over time, community consumption increases as more products are consumed. Similar research has been conducted evaluating energy consumption by a community of products, resulting in a recommendation for a more energy efficient community of products. Lack of data linking community structure and consumption choices, however, raises the question of whether consumers would willingly adopt these alternative communities. Therefore, the final phase of the research collects data regarding consumption choices, product interactions, and changes in community structure, and models changes in community structure as the result of increasing technological awareness and improved product quality. The results from the model indicate that these types of improvements may shift the community structure, they do little to reduce community material consumption. Future research efforts should be directed at “closing the loop” and improving material recovery and recycling, in addition to educating consumers to move them toward more sustainable consumption (i.e. in general, consuming less)

A Haptic Surface Robot Interface for Large-Format Touchscreen Displays

This thesis presents the design for a novel haptic interface for large-format touchscreens. Techniques such as electrovibration, ultrasonic vibration, and external braked devices have been developed by other researchers to deliver haptic feedback to touchscreen users. However, these methods do not address the need for spatial constraints that only restrict user motion in the direction of the constraint. This technology gap contributes to the lack of haptic technology available for touchscreen-based upper-limb rehabilitation, despite the prevalent use of haptics in other forms of robotic rehabilitation. The goal of this thesis is to display kinesthetic haptic constraints to the touchscreen user in the form of boundaries and paths, which assist or challenge the user in interacting with the touchscreen. The presented prototype accomplishes this by steering a single wheel in contact with the display while remaining driven by the user. It employs a novel embedded force sensor, which it uses to measure the interaction force between the user and the touchscreen. The haptic response of the device is controlled using this force data to characterize user intent. The prototype can operate in a simulated free mode as well as simulate rigid and compliant obstacles and path constraints. A data architecture has been created to allow the prototype to be used as a peripheral add-on device which reacts to haptic environments created and modified on the touchscreen. The long-term goal of this work is to create a haptic system that enables a touchscreen-based rehabilitation platform for people with upper limb impairments

CHEMOMETRICS, SPECTROMETRY, AND SENSORS FOR INTEGRATED SENSING AND PROCESSING: ADVANCING PROCESS ANALYTICAL TECHNOLOGY

The research contained in the following dissertation spans a diverse range of scientific scholarship, including; chemometrics for integrated sensing and processing (ISP), near infrared and acoustic resonance spectrometry for analyte quantification and classification, and an ISP acoustic sensor as an alternative to conventional acoustic spectrometry. These topics may at first seem disjointed; however, closer inspection reveals that chemometrics, spectrometry, and sensors taken together form the umbrella under which applied spectrometry and analytical chemistry fall. The inclusion of each of these three serves to paint the complete portrait of the role of applied spectrometry for the advancement of process analytical technology. To illustrate the totality of this portrait, this research seeks to introduce and substantiate three key claims. (1) When applicable, optical spectrometry and acoustic spectrometry are preferred alternatives to slower and more invasive methods of analysis. (2) Chemometrics can be implemented directly into the physical design of spectrometers, thus sparing the need for computationally demanding post-collection multivariate analyses. (3) Using this principle, ISP sensors can be developed specifically for use in highly applied situations, making possible automatic analyte quantification or classification without the computational burden and extensive data analysis typically associated with conventional spectrometry. More concisely, these three claims can be stated as follows: spectrometry has a broad range of uses, chemometrics for ISP makes spectrometry more efficient, and for all analytical problems with a spectrometric solution, an ISP sensor, specifically tailored to the needs of the experiment, can more effectively solve the same analytical problem

Continuous maintenance and the future – Foundations and technological challenges

High value and long life products require continuous maintenance throughout their life cycle to achieve required performance with optimum through-life cost. This paper presents foundations and technologies required to offer the maintenance service. Component and system level degradation science, assessment and modelling along with life cycle ‘big data’ analytics are the two most important knowledge and skill base required for the continuous maintenance. Advanced computing and visualisation technologies will improve efficiency of the maintenance and reduce through-life cost of the product. Future of continuous maintenance within the Industry 4.0 context also identifies the role of IoT, standards and cyber security

Surrogate: A Body-Dexterous Mobile Manipulation Robot with a Tracked Base

Robotics platforms in accordance with various embodiments of the invention can be utilized to implement highly dexterous robots capable of whole body motion. Robotics platforms in accordance with one embodiment of the invention include: a memory containing a whole body motion application; a spine, where the spine has seven degrees of freedom and comprises a spine actuator and three spine elbow joints that each include two spine joint actuators; at least one limb, where the at least one limb comprises a limb actuator and three limb elbow joints that each include two limb joint actuators; a tracked base; a connecting structure that connects the at least one limb to the spine; a second connecting structure that connects the spine to the tracked base; wherein the processor is configured by the whole body motion application to move the at least one limb and the spine to perform whole body motion

Safe Intelligent Driver Assistance System in V2X Communication Environments based on IoT

In the modern world, power and speed of cars have increased steadily, as traffic continued to increase. At the same time highway-related fatalities and injuries due to road incidents are constantly growing and safety problems come first. Therefore, the development of Driver Assistance Systems (DAS) has become a major issue. Numerous innovations, systems and technologies have been developed in order to improve road transportation and safety. Modern computer vision algorithms enable cars to understand the road environment with low miss rates. A number of Intelligent Transportation Systems (ITSs), Vehicle Ad-Hoc Networks (VANETs) have been applied in the different cities over the world. Recently, a new global paradigm, known as the Internet of Things (IoT) brings new idea to update the existing solutions. Vehicle-to-Infrastructure communication based on IoT technologies would be a next step in intelligent transportation for the future Internet-of-Vehicles (IoV). The overall purpose of this research was to come up with a scalable IoT solution for driver assistance, which allows to combine safety relevant information for a driver from different types of in-vehicle sensors, in-vehicle DAS, vehicle networks and driver`s gadgets. This study brushed up on the evolution and state-of-the-art of Vehicle Systems. Existing ITSs, VANETs and DASs were evaluated in the research. The study proposed a design approach for the future development of transport systems applying IoT paradigm to the transport safety applications in order to enable driver assistance become part of Internet of Vehicles (IoV). The research proposed the architecture of the Safe Intelligent DAS (SiDAS) based on IoT V2X communications in order to combine different types of data from different available devices and vehicle systems. The research proposed IoT ARM structure for SiDAS, data flow diagrams, protocols. The study proposes several IoT system structures for the vehicle-pedestrian and vehicle-vehicle collision prediction as case studies for the flexible SiDAS framework architecture. The research has demonstrated the significant increase in driver situation awareness by using IoT SiDAS, especially in NLOS conditions. Moreover, the time analysis, taking into account IoT, Cloud, LTE and DSRS latency, has been provided for different collision scenarios, in order to evaluate the overall system latency and ensure applicability for real-time driver emergency notification. Experimental results demonstrate that the proposed SiDAS improves traffic safety