AFRC’s image processing platform : a high speed user-friendly architecture for real time object detection in forging processes

Real-time detection and measurements of hot parts is desirable to permit real-time process control and automated part handling in harsh environments like forging and forming. The image processing platform described provides improved performance of Graphical User Interface (GUI), fast processing speed and integrity over industrial packages which are typically used in process control of forging processes or harsh manufacturing environments. A flexible, image processing software package for detecting objects in manufacturing environments has been developed at the Advanced Forming Research Centre (AFRC). The software consists of a set of image processing tools, written in MFC/C++ and OpenCV for Windows platforms. The software provides a powerful flowchart-based GUI for designing image processing algorithms. AFRC’s Image Processing Platform can be easily integrated with other industrial software packages like GE Proficy® using ActiveX technology. The package was successfully tested for real-time hot object detection inside a hot furnace in a forging environment

Flexible integration of robotics, ultrasonics and metrology for the inspection of aerospace components

The performance of modern robotic manipulators has allowed research in recent years, for the development of fast automated non-destructive testing (NDT) of complex geometries. Contemporary robots are well suited for their accuracy and flexibility when adapting to new tasks. Several robotic inspection prototype systems and a number of commercial products have been created around the world. This paper describes the latest progress of a new phase of the research applied to a composite aerospace component of size 1 by 3 metres. A multi robot flexible inspection cell was used to take the fundamental research and the feasibility studies to higher technology readiness levels, all set for future industrial exploitation. The robot cell was equipped with high accuracy and high payload robots, mounted on 7 metre tracks, and an external rotary axis. A robotically delivered photogrammetry technique was first used to assess the position of the components placed within the robot working envelope and their deviation to CAD. Offline programming was used to generate a scan path for phased array ultrasonics testing (PAUT) which was implemented using high data rate acquisition from a conformable wheel probe. Real-time robot path-correction, based on force-torque control (FTC), was deployed to achieve the optimum ultrasonic coupling and repeatable data quality. New communication software was developed that enabled the simultaneous control of the multiple robots performing different tasks and the reception of accurate positional feedback positions. All aspects of the system were controlled through a purposely developed graphic user interface that enabled the flexible use of the unique set of hardware resources, the data acquisition, visualisation and analysis. This work was developed through the VIEWS project (Validation and Integration of Manufacturing Enablers for Future Wing Structures), part funded by the UK’s innovation agency (Innovate UK)

Promoting neurological recovery by maximising sensory-motor activation during stepping and walking, development and assessment of robotics-assisted delivery platforms

Spinal cord injury results in severe physical disability and a wide range of progressive medical complications. The main challenge for clinicians and neuroscientists is to develop methods for enhancing recovery after spinal cord injury. New researches have demonstrated that robotic or manual assisted treadmill training can have long lasting positive effects on the recovery of locomotion in incomplete SCI human patients. By moving limbs and progressively modifying body weight support, the patterned sensory information arising from the robotic or manual guidance of movement is considered to increase the potential for the gait recovery. Commonly, deficits in walking in incomplete spinal cord injured patients are often revealed as deficits in ankle control. Accordingly, it is believed that successful recovery of stepping requires a degree of sparing in sensory and motor pathways that subserve ankle control. We therefore have begun experiments that examine ways to facilitate activation in pathways that influence the ankle joint control and that can be used within the context of body weight support rehabilitation programs. The work focused on developing a system for vibratory stimulation of the foot sole that can act as a surrogate stimulus for ground contact and also we studied the physiological effects of vibration in spinal and supraspinal levels. Findings in this thesis demonstrated that short periods of foot vibrotactile stimulation can produce measureable effect at cortical and spinal level in normal subjects. The findings suggest that activation of foot mechanoreceptors using localized vibrotactile stimulation interact with spinal inhibitory control mechanism contributing to the control of locomotion in human. This type of stimulation will most likely can have practical benefits for normalising gait and restoring reflex modulation during gait training. Finding in this study showed that an insole device can make this happen and can be used in gait training of SCI subjects.Spinal cord injury results in severe physical disability and a wide range of progressive medical complications. The main challenge for clinicians and neuroscientists is to develop methods for enhancing recovery after spinal cord injury. New researches have demonstrated that robotic or manual assisted treadmill training can have long lasting positive effects on the recovery of locomotion in incomplete SCI human patients. By moving limbs and progressively modifying body weight support, the patterned sensory information arising from the robotic or manual guidance of movement is considered to increase the potential for the gait recovery. Commonly, deficits in walking in incomplete spinal cord injured patients are often revealed as deficits in ankle control. Accordingly, it is believed that successful recovery of stepping requires a degree of sparing in sensory and motor pathways that subserve ankle control. We therefore have begun experiments that examine ways to facilitate activation in pathways that influence the ankle joint control and that can be used within the context of body weight support rehabilitation programs. The work focused on developing a system for vibratory stimulation of the foot sole that can act as a surrogate stimulus for ground contact and also we studied the physiological effects of vibration in spinal and supraspinal levels. Findings in this thesis demonstrated that short periods of foot vibrotactile stimulation can produce measureable effect at cortical and spinal level in normal subjects. The findings suggest that activation of foot mechanoreceptors using localized vibrotactile stimulation interact with spinal inhibitory control mechanism contributing to the control of locomotion in human. This type of stimulation will most likely can have practical benefits for normalising gait and restoring reflex modulation during gait training. Finding in this study showed that an insole device can make this happen and can be used in gait training of SCI subjects

Flexible Integration of Robotics, Ultrasonics and Metrology for the Inspection of Aerospace Components

The performance of modern robotic manipulators has allowed research in recent years, for the development of fast automated non-destructive testing (NDT) of complex geometries. Contemporary robots are well suited for their accuracy and flexibility when adapting to new tasks. Several robotic inspection prototype systems and a number of commercial products have been created around the world. This paper describes the latest progress of a new phase of the research applied to a composite aerospace component of size 1 by 3 metres. A multi robot flexible inspection cell was used to take the fundamental research and the feasibility studies to higher technology readiness levels, all set for future industrial exploitation. The robot cell was equipped with high accuracy and high payload robots, mounted on 7 metre tracks, and an external rotary axis. A robotically delivered photogrammetry technique was first used to assess the position of the components placed within the robot working envelope and their deviation to CAD. Offline programming was used to generate a scan path for phased array ultrasonics testing (PAUT) which was implemented using high data rate acquisition from a conformable wheel probe. Real-time robot path-correction, based on force-torque control (FTC), was deployed to achieve the optimum ultrasonic coupling and repeatable data quality. New communication software was developed that enabled the simultaneous control of the multiple robots performing different tasks and the reception of accurate positional feedback positions. All aspects of the system were controlled through a purposely developed graphic user interface that enabled the flexible use of the unique set of hardware resources, the data acquisition, visualisation and analysis.</p

Brain activity and upper limb movement analysis in children with Down syndrome undergoing transcranial direct current stimulation combined with virtual reality training : study protocol for a randomized controlled trial

Abstract: Background: Children with Down syndrome have poorer functional and sensory skills compared to children with typical development. Virtual reality (VR) training could help improve these skills. Moreover, transcranial direct current stimulation (tDCS) has achieved promising results in terms of enhancing the effects of physical and sensory therapy by modulating cortical excitability. Methods/design: Two investigations are proposed: (1) an observational study with a convenience sample consisting of children with Down syndrome (group 1—cognitive age of 6 to 12 years according to the Wechsler Abbreviated Scale of Intelligence) and children with typical development 6 to 12 years of age (group 2). Both groups will undergo evaluations on a single day involving a three-dimensional analysis of upper limb movements, an analysis of muscle activity of the biceps and brachial triceps muscles and an analysis of visuospatial and cognitive-motor variables. (2) Analysis of clinical intervention: a pilot study and clinical trial will be conducted involving individuals with Down syndrome (cognitive age of 6 to 12 years according to the Wechsler Abbreviated Scale of Intelligence). The sample will be defined after conducting a pilot study with the same methodology as that to be used in the main study. The participants will be randomly allocated to two groups: An experimental group submitted to anodal tDCS combined with a VR game and a manual motor task and a control group submitted to sham tDCS combined with a VR game and a manual motor task. The training protocol will involve 10 sessions of active or sham tDCS during memory and motor task games. Three 20-min sessions will be held per week for a total of 10 sessions. Evaluations will be performed on three different occasions: pre-intervention, post-intervention (after 10 sessions) and follow-up (1 month after the intervention). Evaluations will consist of analyses of electroencephalographic signals, electromyographic signals of the biceps and triceps brachii, and the three-dimensional reconstruction of the reaching movement. The results will be analyzed statistically with the significance level set at 5% (p ≤ 0.05). Discussion: The optimization of the results obtained with virtual reality training is believed to be related to the interactive experience with a wide range of activities and scenarios involving multiple sensory channels and the creation of exercises, the intensity of which can be adjusted to the needs of children. Therefore, the proposed study aims to complement the literature with further information on tDCS and VR training considering different variables to provide the scientific community with clinical data on this combination of interventions. Trial registration: Brazilian Clinical Trials Registry (REBEC) protocol number RBR-43pk59 registered on 2019 March 27 https://ensaiosclinicos.gov.br/rg/RBR-43pk59 and Human Research Ethics Committee number 3.608.521 approved on 2019 September 30. Protocol version 2021 October 20. Any changes to the protocol will be reported to the committees and approved. Informed consent will be obtained from all participants by the clinical research coordinator and principal investigator