Automatic Detection of Industrial Robot Tool Damage Based on Force Measurement

This paper proposes a solution for diagnosing the condition of the tools applied in metal alloy robotic machining. Determination of the condition of a cutting tool requires specific methods that depend on the damage type or the wear level. Methods that involved measurements of basic geometric dimensions of cutting tools based on force sensor, and testing the forces of inertia caused by tool unbalance were applied in the work covered herein. Damage of cutting tool, including unbalance, fracture or complete tool wear were detected with a system of force measurement, which was part of the standard equipment of the robot in a process used to investigate the methods covered herein. All methods proposed herein were performed automatically and require no human intervention. This paper presents examples of solutions for determining the condition of a grinding pin, which is a common machining tool

Robotic Grinding Process of Turboprop Engine Compressor Blades with Active Selection of Contact Force

The work presents a robotic system for grinding the blades of a turboprop engine compressor. The proprietary conceptual solution includes a data acquisition system based on a robotic 3D scanner, a neural decision system and a robot performing a grinding process with force control. The contact force of the tool to the blade was assumed as a variable and controlled process parameter. A neural network was used to generate the contact force on the basis of measured machining allowances on the blade. A virtual grid of several dozen regularly spaced points was placed on the surface of the blade. The neural network was learned the allowance-force dependence for the selected points, making it possible to select the proper contact force on the surface to be machined. The developed algorithm for the process of robotic grinding of the blades takes into account the necessity of ongoing quality control of the processing and the introduction of corrections in the process

Robot-operated inspection of aircraft engine turbine rotor guide vane segment geometry

U radu je prikazana metoda robotom upravljane kontrole geometrije jednog segmenta statora turbine avionskog motora, primjenom ABB IRB 1600 robota, opremljenog Atos core 3D skenerom u sučelju s Atos Professional softverskim paketom. Kontrola geometrije preliminarna je geometrijska verifikacija odljevka tankih stijenki u odnosu na CAD-generirani nominalni model. Ako su zadovoljene tolerancije geometrije odljevka, određuju se karakteristične koordinate točaka na odljevku za njihovu daljnju prilagodbu tijekom alternativnog mjerenja debljine stijenke lopatice uz pomoć robota, što je učinjeno s ABB IRB 140 robotom primjenom UTT metode.This paper presents a method for robot-assisted geometrical inspection of an aircraft engine turbine stator segment employing the ABB IRB 1600 robot, equipped with the Atos Core 3D scanner and interfaced with the Atos Professional software suite. The geometrical inspection is a preliminary geometrical verification of a thin-wall casting against a CAD-generated nominal model. If the casting geometry tolerances are met, characteristic coordinates of points across the casting are determined for their further adaptation during an alternative robot-assisted vane wall thickness measurement, which is done with the ABB IRB 140 robot and by employing the UTT method

Software for the robot-operated inspection station for engine guide vanes taking into consideration the geometric variability of parts

U radu je prikazan proces projektiranja i izgradnje softvera za robotsku ispitnu stanicu koja se koristi za provjeru statora. Softver je razvijen za stanicu sa ABB IRB 140 robotskim manipulatorom i PC radnom stanicom koja upravlja s dva ultrazvučna senzora i pokreće LabVIEW softverski paket. Kontrolni algoritmi robota uključuju potencijalne razlike u geometrijskim značajkama pregledanih elemenata na ispitnoj stanici i nastalim razlikama u stazama kretanja manipulatora alata. Softver je dizajniran i isporučen Pratt & Whitney Rzeszów Sp. z o.o.The paper presents a process of designing and building software for a robotic test stand used for inspection of stators. The software was developed for a test stand comprising the ABB IRB 140 robotic manipulator, and a PC workstation that handles two ultrasound sensors and runs the LabVIEW software suite. The control algorithms of the robot include the potential differences in the geometric features of the items inspected on the test stand and the resulting differences in the manipulator tool motion paths. The software was designed for and delivered to Pratt & Whitney Rzeszów Sp. z o.o

Design and dynamic testing of a roller coaster running wheel with a passive vibration damping system

This paper presents a design, a numerical analysis, a build-up and dynamic testing of an engineered and fabricated wheel with a passive vibration damping system designed for a roller coaster system. Taking into account the limited amount of space for fixing a wheel to a roller-coaster, this study shows an approach in which a special wheel design and viscoelastic inserts are used to reduce vibrations. A wheel comprises a rim and hub separated by a viscoelastic material and simultaneously connected by using spring steel fasteners with contractions ensuring elasticity. The dynamic tests of the wheel with a passive vibration damping system were completed with an assessment of the vibration reduction ratio in comparison to conventional roller coaster wheel types currently operated at the amusement park Energylandia located in Zator, Poland. Laboratory test results show reduction of vibrations by 36 % in the low frequency range, by 63 % in the medium frequency range and by 45 % in the high frequency range

A genome-wide association study of anorexia nervosa

Anorexia nervosa (AN) is a complex and heritable eating disorder characterized by dangerously low body weight. Neither candidate gene studies nor an initial genome wide association study (GWAS) have yielded significant and replicated results. We performed a GWAS in 2,907 cases with AN from 14 countries (15 sites) and 14,860 ancestrally matched controls as part of the Genetic Consortium for AN (GCAN) and the Wellcome Trust Case Control Consortium 3 (WTCCC3). Individual association analyses were conducted in each stratum and meta-analyzed across all 15 discovery datasets. Seventy-six (72 independent) SNPs were taken forward for in silico (two datasets) or de novo (13 datasets) replication genotyping in 2,677 independent AN cases and 8,629 European ancestry controls along with 458 AN cases and 421 controls from Japan. The final global meta-analysis across discovery and replication datasets comprised 5,551 AN cases and 21,080 controls. AN subtype analyses (1,606 AN restricting; 1,445 AN binge-purge) were performed. No findings reached genome-wide significance. Two intronic variants were suggestively associated: rs9839776 (P=3.01×10−7) in SOX2OT and rs17030795 (P=5.84×10−6) in PPP3CA. Two additional signals were specific to Europeans: rs1523921 (P=5.76×10−6) between CUL3 and FAM124B and rs1886797 (P=8.05×10−6) near SPATA13. Comparing discovery to replication results, 76% of the effects were in the same direction, an observation highly unlikely to be due to chance (P= 4×10−6), strongly suggesting that true findings exist but that our sample, the largest yet reported, was underpowered for their detection. The accrual of large genotyped AN case-control samples should be an immediate priority for the field

A genome-wide association study of anorexia nervosa suggests a risk locus implicated in dysregulated leptin signaling

J. Kaprio, A. Palotie, A. Raevuori-Helkamaa ja S. Ripatti ovat työryhmän Eating Disorders Working Group of the Psychiatric Genomics Consortium jäseniä. Erratum in: Sci Rep. 2017 Aug 21;7(1):8379, doi: 10.1038/s41598-017-06409-3We conducted a genome-wide association study (GWAS) of anorexia nervosa (AN) using a stringently defined phenotype. Analysis of phenotypic variability led to the identification of a specific genetic risk factor that approached genome-wide significance (rs929626 in EBF1 (Early B-Cell Factor 1); P = 2.04 x 10(-7); OR = 0.7; 95% confidence interval (CI) = 0.61-0.8) with independent replication (P = 0.04), suggesting a variant-mediated dysregulation of leptin signaling may play a role in AN. Multiple SNPs in LD with the variant support the nominal association. This demonstrates that although the clinical and etiologic heterogeneity of AN is universally recognized, further careful sub-typing of cases may provide more precise genomic signals. In this study, through a refinement of the phenotype spectrum of AN, we present a replicable GWAS signal that is nominally associated with AN, highlighting a potentially important candidate locus for further investigation.Peer reviewe

Associations between Attention-Deficit/Hyperactivity Disorder and various eating disorders: A Swedish nationwide population study using multiple genetically informative approaches

Background Although attention-deficit hyperactivity/impulsivity disorder (ADHD) and eating disorders (EDs) frequently co-occur, little is known about the shared etiology. In this study we comprehensively investigated the genetic association between ADHD and various EDs, including anorexia nervosa (AN) and other EDs (OED, including bulimia nervosa [BN]). Methods We applied different genetically informative designs to register-based information of a Swedish nationwide population (N=3,550,118). We first examined the familial co-aggregation of clinically diagnosed ADHD and EDs across multiple types of relatives. We then applied quantitative genetic modeling in full-sisters and maternal half-sisters to estimate the genetic correlations between ADHD and EDs. We further tested the associations between ADHD polygenic risk scores (PRS) and ED symptoms, and between AN PRS and ADHD symptoms, in a genotyped population-based sample (N=13,472). Results Increased risk of all types of EDs was found in individuals with ADHD (any ED: OR [95% CI]=3.97 [3.81-4.14], AN: 2.68 [2.15-2.86], OED: 4.66 [4.47-4.87], BN: 5.01 [4.63-5.41]) and their relatives compared to individuals without ADHD and their relatives. The magnitude of the associations reduced as the degree of relatedness decreased, suggesting shared familial liability between ADHD and EDs. Quantitative genetic models revealed stronger genetic correlation of ADHD with OED (0.37 [0.31-0.42]) than with AN (0.14 [0.05-0.22]). ADHD PRS correlated positively with ED symptom measures overall and sub-scales “drive for thinness” and “body dissatisfaction”, despite small effect sizes. Conclusions We observed stronger genetic association with ADHD for non-AN EDs than AN, highlighting specific genetic correlation beyond a general genetic factor across psychiatric disorders