Industrial

Cooperative localization of a team of AUVs by a tetrahedral configuration
This paper investigates the principles of a Cooperative Localization Algorithm for a team of at least three Autonomous Underwater Vehicles (AUVs) with respect to a surface support ship, without the use of Ultra-Short Baseline (USBL). It is assumed that each AUV is equipped with a low-cost Inertial Measurement Unit (IMU), a compass and a depth sensor, but only one of them has a high accuracy nav...


Vision based sparse topological mapping
Most of the existing appearance based topological mapping algorithms produce dense topological maps in which each image stands as a node in the topological graph. Sparser maps can be built by representing groups of visually similar images of a sequence as nodes of a topological graph. In this paper, we present a sparse/hierarchical topological mapping framework which uses Image Sequence Partiti...
Extensions to vector field SLAM for large environments
Vector field SLAM is a framework for localizing a mobile robot in an unknown environment by learning the spatial distribution of continuous signals such as those emitted by WiFi or active beacons. In our previous work we showed that this approach is capable of keeping a robot localized in small to medium sized areas, e.g. in a living room, where four continuous signals of an active beacon are ...


Passivity-based adaptive backstepping control of quadrotor-type UAVs
We propose a novel unified passivity-based adaptive backstepping control framework for “mixed” quadrotor-type unmanned aerial vehicles (UAVs), which consists of the translation dynamics with thrust force input λ ∈ ℜ and the attitude kinematics with the angular velocity input w ∈ ℜ 3 evolving on SE. We also show how our proposed unified framework can be used for velocity f...
Characterization of electrically-assisted micro-rolling for surface texturing using embedded sensor
Electrically-assisted micro-rolling (EAμR) takes advantage of localized heating by loading current through the deformation zone to enhance the texturing capability of Ti-6Al-4V and AA3003-H14. The challenge to achieve a desired deformation pattern is the lack of reliable models to capture the often non-uniform mechanical and thermal behaviors. In this paper, pressure distributions are measured...


Compensation of CMM geometrical errors by the GEMIL technique: Experimental results
Gemil (Geometrical Errors by Measurement of Independent Lines) is a technique for compensating geometrical errors of Coordinate Measuring Machines (CMMs), first introduced in . It is intended for industrial application, with a focus on deriving the error components as inexpensively as possible, while still achieving state of the art accuracy. The simulations reported in were validated experimen...
Process force and technology model for designing and controlling finishing operations with rotating grinding tools
Today the technological design of fine machining processes like finishing of plane surfaces is still a procedure based on experience. In addition, finishing technology is the result of an empirical approach. Innovative methods for designing and controlling finish operations make use of models and the implementation of procedures that allow the derivation of optimal technological parameters and ...

Cutting and ploughing forces for small clearance angles of hexa-octahedron shaped diamond grains
Investigations on the cutting behaviour of hexa-octahedron diamonds outlined an enormous influence of the grains’ clearance angle on the material removal process. Small negative clearance angles lead to increased specific cutting forces, decreased cutting force ratios and micro-structural changes. This is caused by additional ploughing of the material. This paper presents a kinematic-phenomen...
Optimization of the plasma oxidation and abrasive polishing processes in plasma-assisted polishing for highly effective planarization of 4H-SiC
For the finishing of difficult-to-machine materials, plasma-assisted polishing (PAP), which combines modification by water vapor plasma and polishing by a soft abrasive, was proposed. Optimization of plasma oxidation and abrasive polishing was conducted to increase the material removal rate of PAP, which was applied to 4H-SiC (0001). It was found that with a low concentration of water vapor in ...

Modelling and analysis of uncertainty in the form characterization of ultra-precision freeform surfaces on coordinate measuring machines
This paper presents an uncertainty analysis model for the form characterization of ultra-precision freeform surfaces on coordinate measuring machines (CMM). The model is developed by incorporating the effect of the CMM, the sampling plan, and the evaluation method taking into account workpiece form deviations. It allows the analysis of the uncertainty of evaluated surface parameters with respec...
Characterisation of kinematic hardening and yield surface evolution from uniaxial to biaxial tension with continuous strain path change
With respect to multistage forming processes the material behaviour and the history of the strain path during the process is of special interest for the improvement of the numerical prediction of forming processes. While different researchers investigated the Bauschinger effect during a load reversal and biaxial loading with pre-strained specimens, in this paper the yield locus evolution in the...

Remote robotic assembly guided by 3D models linking to a real robot
This paper presents a 3D model-driven remote robotic assembly system. It constructs 3D models at runtime to represent unknown geometries at the robot side, where a sequence of images from a calibrated camera in different poses is used. Guided by the 3D models over the Internet, a remote operator can manipulate a real robot instantly for remote assembly operations. Experimental results show that...
Nano-CT characterization of the microstructure in the nonwoven polishing wheel
This research presents an approach to characterize the 3D microstructure of the abrasive, epoxy resin, polyethylene terephthalate (PET) fiber, and porosity in a nonwoven polishing wheel using the nano-computed tomography (nano-CT). The 0.8μm pixel size nano-CT scanning enables detailed spatial reconstruction of a wheel sample to measure the size, spacing, volumetric ratios and connectivity of ...
Automated in-service damage identification
Service damage for mechanical components includes surface delamination, impact damage, crack, wear and corrosion. Automated service damage identification for better analysis of a component remaining life in order to reduce the service cost is increasingly necessary for industrial product-service systems, e.g. power-by-hour contracts. This paper presents a novel approach to apply active thermogr...
Prediction of machined part accuracy from machining system capability
A novel methodology for linking machining system capability to the accuracy of a machined part is presented. Using special testing equipment, force-deviation functions in the real machine workspace are obtained. an elastically linked multi-body simulation and FE model evaluates the volumetric deviations. The deviation values are then calculated for a particular tool path. The forces and the dev...