Search results

Because of the advantages of high deposition efficiency and low manufacturing cost compared with other additive technologies, robotic wire arc additive manufacturing (WAAM) technology has been widely applied for fabricating medium- to large-scale metallic components. The additive manufacturing (AM) method is a relatively complex process, which involves the workpiece modeling, conversion of the model file, slicing, path planning and so on. Then the structure is formed by the accumulated weld bead. However, the poor forming accuracy of WAAM usually leads to severe dimensional deviation between the as-built and the predesigned structures. This paper aims to propose a visual sensing technology and deep learning–assisted WAAM method for fabricating metallic structure, to simplify the complex WAAM process and improve the forming accuracy.

Instead of slicing of the workpiece modeling and generating all the welding torch paths in advance of the fabricating process, this method is carried out by adding the feature point regression branch into the Yolov5 algorithm, to detect the feature point from the images of the as-built structure. The coordinates of the feature points of each deposition layer can be calculated automatically. Then the welding torch trajectory for the next deposition layer is generated based on the position of feature point.

The mean average precision score of modified YOLOv5 detector is 99.5%. Two types of overhanging structures have been fabricated by the proposed method. The center contour error between the actual and theoretical is 0.56 and 0.27 mm in width direction, and 0.43 and 0.23 mm in height direction, respectively.

The fabrication of circular overhanging structures without using the complicate slicing strategy, turning table or other extra support verified the possibility of the robotic WAAM system with deep learning technology.

Maintaining the safety of the human is a major concern in factories where humans co-exist with robots and other physical tools. Typically, the area around the robots is monitored using lasers. However, lasers cannot distinguish between human and non-human objects in the robot’s path. Stopping or slowing down the robot when non-human objects approach is unproductive. This research contribution addresses that inefficiency by showing how computer-vision techniques can be used instead of lasers which improve up-time of the robot.

A computer-vision safety system is presented. Image segmentation, 3D point clouds, face recognition, hand gesture recognition, speed and trajectory tracking and a digital twin are used. Using speed and separation, the robot’s speed is controlled based on the nearest location of humans accurate to their body shape. The computer-vision safety system is compared to a traditional laser measure. The system is evaluated in a controlled test, and in the field.

Computer-vision and lasers are shown to be equivalent by a measure of relationship and measure of agreement. R² is given as 0.999983. The two methods are systematically producing similar results, as the bias is close to zero, at 0.060 mm. Using Bland–Altman analysis, 95% of the differences lie within the limits of maximum acceptable differences.

In this paper an original model for future computer-vision safety systems is described which is equivalent to existing laser systems, identifies and adapts to particular humans and reduces the need to slow and stop systems thereby improving efficiency. The implication is that computer-vision can be used to substitute lasers and permit adaptive robotic control in human–robot collaboration systems.

The purpose of this work is to optimize the monitoring of vibrations on dynamometric test rigs for railway brakes. This is a quite demanding application considering the continuous increase of performances of high-speed trains that involve higher testing specifications for brake pads and disks.

In this work, authors propose a mixed approach in which relatively simple finite element models are used to support the optimization of a diagnostic system that is used to monitor vibration levels and rotor-dynamical behavior of the machine. The model is calibrated with experimental data recorded on the same rig that must be identified and monitored. The whole process is optimized to not interfere with normal operations of the rig, using common inertial sensor and tools and are available as standard instrumentation for this kind of applications. So at the end all the calibration activities can be performed normally without interrupting the activities of the rig introducing additional costs due to system unavailability.

Proposed approach was able to identify in a very simple and fast way the vibrational behavior of the investigated rig, also giving precious information concerning the anisotropic behavior of supports and their damping. All these data are quite difficult to be found in technical literature because they are quite sensitive to assembly tolerances and to many other factors. Dynamometric test rigs are an important application widely diffused for both road and rail vehicles. Also proposed procedure can be easily extended and generalized to a wide value of machine with horizontal rotors.

Most of the studies in literature are referred to electrical motors or turbomachines operating with relatively slow transients and constant inertial properties. For investigated machines both these conditions are not verified, making the proposed application quite unusual and original with respect to current application. At the same time, there is a wide variety of special machines that are usually marginally covered by standard testing methodologies to which the proposed approach can be successfully extended.

This paper aims to estimate contact location from sparse and high-dimensional soft tactile array sensor data using the tactile image. The authors used three feature extraction methods: handcrafted features, convolutional features and autoencoder features. Subsequently, these features were mapped to contact locations through a contact location regression network. Finally, the network performance was evaluated using spherical fittings of three different radii to further determine the optimal feature extraction method.

This paper aims to estimate contact location from sparse and high-dimensional soft tactile array sensor data using the tactile image.

This research indicates that data collected by probes can be used for contact localization. Introducing a batch normalization layer after the feature extraction stage significantly enhances the model’s generalization performance. Through qualitative and quantitative analyses, the authors conclude that convolutional methods can more accurately estimate contact locations.

The paper provides both qualitative and quantitative analyses of the performance of three contact localization methods across different datasets. To address the challenge of obtaining accurate contact locations in quantitative analysis, an indirect measurement metric is proposed.

The present study assesses the impact resistance of the shear thickening fluids-filled (STFs-filled) foam through drop-hammer impact tests.

The maximum residual impact load and specific impact energy absorption rate of STF-filled foam are studied with varying thickness (4–14 mm), densities (0.35–0.6 g/cm3) and hardness (40–50 Rockwell Hardness C Scale (HRC)) under different ambient temperatures (−20−20 °C) and impact energies (25–75 J).

The following conclusions are obtained from this study: (1) the higher the impact energy, the greater the maximum residual impact force and energy absorption efficiency of the material; (2) the impact resistance of STF-filled foam can be improved with the decrease of ambient temperature, achieving the highest energy absorption rate at −10?. (3) STF-filled foam substrate has the highest impact resistance, the lowest maximum residual impact force and the highest energy absorption coefficient when the density is 0.35  g/cm3, the hardness is 45HC and the thickness is 10 mm.

This is the first paper to analyze the impact of both environmental factors and material properties on the impact resistance of STF-filled foam. The results show that the decrease in temperature and the increase in hardness can enhance the impact resistance of STF-filled foam.

Digital twin (DT) and building information modeling (BIM) are interconnected in some ways. However, there has been some misconception about how DT differs from BIM. As a result, industry professionals reject DT even in BIM-based construction projects due to reluctance to innovate. Furthermore, researchers have repeatedly developed tools and techniques with the same goals using DT and BIM to assist practitioners in construction projects. Therefore, this study aims to assist industry professionals and researchers in understanding the relationship between DT and BIM and synthesize existing works on DT and BIM.

A systematic review was conducted on published articles related to DT and BIM. A total record of 54 journal articles were identified and analyzed.

The analysis of the selected journal articles revealed four types of relationships between DT and BIM: BIM is a subset of DT, DT is a subset of BIM, BIM is DT, and no relationship between BIM and DT. The existing research on DT and BIM in construction projects targets improvements in five areas: planning, design, construction, operations and maintenance, and decommissioning. In addition, several areas have emerged, such as developing geo-referencing approaches for infrastructure projects, applying the proposed methodology to other construction geometries and creating 3D visualization using color schemes.

This study contributed to the existing body of knowledge by overviewing existing research related to DT and BIM in construction projects. Also, it reveals research gaps in the body of knowledge to point out directions for future research.

Soft robots are known for their excellent safe interaction ability and promising in surgical applications for their lower risks of damaging the surrounding organs when operating than their rigid counterparts. To explore the potential of soft robots in cardiac surgery, this paper aims to propose an adaptive iterative learning controller for tracking the irregular motion of the beating heart.

In continuous beating heart surgery, providing a relatively stable operating environment for the operator is crucial. It is highly necessary to use position-tracking technology to keep the target and the surgical manipulator as static as possible. To address the position tracking and control challenges associated with dynamic targets, with a focus on tracking the motion of the heart, control design work has been carried out. Considering the lag error introduced by the material properties of the soft surgical robotic arm and system delays, a controller design incorporating iterative learning control with parameter estimation was used for position control. The stability of the controller was analyzed and proven through the construction of a Lyapunov function, taking into account the unique characteristics of the soft robotic system.

The tracking performance of both the proportional-derivative (PD) position controller and the adaptive iterative learning controller are conducted on the simulated heart platform. The results of these two methods are compared and analyzed. The designed adaptive iterative learning control algorithm for position control at the end effector of the soft robotic system has demonstrated improved control precision and stability compared with traditional PD controllers. It exhibits effective compensation for periodic lag caused by system delays and material characteristics.

Tracking the beating heart, which undergoes quasi-periodic and complex motion with varying accelerations, poses a significant challenge even for rigid mechanical arms that can be precisely controlled and makes tracking targets located at the surface of the heart with the soft robot fraught with considerable difficulties. This paper originally proposes an adaptive interactive learning control algorithm to cope with the dynamic object tracking problem. The algorithm has theoretically proved its convergence and experimentally validated its performance at the cable-driven soft robot test bed.

Microwave curing (MC) can facilitate rapid concrete repair in cold climates without using conventional accelerated curing technologies which are environmentally unsustainable. Accelerated curing of concrete under MC can contribute to the decarbonisation of the environment and provide economies in construction in several ways such as reducing construction time, energy efficiency, lower cement content, lower carbonation risk and reducing emissions from equipment.

The paper investigates moisture loss and pore properties of six cement-based proprietary concrete repair materials subjected to MC. The impact of MC on these properties is critically important for its successful implementation in practice and current literature lacks this information. Specimens were microwave cured for 40–45 min to surface temperatures between 39.9 and 44.1 °C. The fast-setting repair material was microwave cured for 15 min to 40.7 °C. MC causes a higher water loss which shows the importance of preventing drying during MC and the following 24 h.

Portland cement-based normal density repair mortars, including materials incorporating pfa and polymer latex, benefit from the thermal effect of MC on hydration, resulting in up to 24% reduction in porosity relative to normal curing. Low density and flowing repair materials suffer an increase in porosity up to 16% due to MC. The moisture loss at the end of MC and after 24h is related to the mix water content and porosity, respectively.

The research on the application of MC for rapid repair of concrete is original. The research was funded by the European commission following a very rigorous and competitive review process which ensured its originality. Original data on the parameters of porosity and moisture loss under MC are provided for different generic cementitious repair materials which have not been studied before. Application of MC to concrete construction especially in cold climates will provide environmental, economic and energy benefits.

Polymer laser powder bed fusion (PBF-LB/P) is an additive manufacturing technology that is sustainable due to the possibility of recycling the powder multiple times and allowing the fabrication of gears without the aid of support structures and subsequent assembly. However, there are constraints in the process that negatively affect its adoption compared to other additive technologies such as material extrusion to produce gears. This study aims to demonstrate that it is possible to overcome the problems due to the physics of the process to produce accurate mechanism.

Technological aspects such as orientation, wheel-shaft thicknesses and degree of powder recycling were examined. Furthermore, the evolving tooth profile was considered as a design parameter to provide a manufacturability map of gear-based mechanisms.

Results show that there are some differences in the functioning of the gear depending on the type of powder used, 100% virgin or 50% virgin and 50% recycled for five cycles. The application of a groove on a gear produced with 100% virgin powder allows the mechanism to be easily unlocked regardless of the orientation and wheel-shaft thicknesses. The application of a specific evolutionary profile independent of the diameter of the reference circle on vertically oriented gears guarantees rotation continuity while preserving the functionality of the assembled mechanism.

In the literature, there are various studies on material aging and reuse in the PBF-LB/P process, mainly focused on the powder deterioration mechanism, powder fluidity, microstructure and mechanical properties of the parts and process parameters. This study, instead, was focused on the functioning of gears, which represent one of the applications in which this technology can have great success, by analyzing the two main effects that can compromise it: recycled powder and vertical orientation during construction.

The purpose of this study is to determine what technological strategies were used within each of the phases of the ADDIE framework when developing content for professional training. The study also examined the affordances of those technologies in training.

A PRISMA systematic review methodology (Moher et al., 2015) was utilized to answer the four questions guiding this study. Specifically, the PRISMA extension Preferred Reporting Items for Systematic Reviews and Meta-Analysis for Protocols (PRISMA-P, Moher et al., 2015) was used to direct each stage of the research, from the literature review to the conclusion. In addition, the Preferred Reporting Items for Systematic Reviews and Meta-Analysis (PRISMA principles; Liberati et al., 2009) are used to guide the article selection process.

The findings reveal that the majority of the studies were in healthcare (36%) and education (24%) and used an online format (65%). There was a wide distribution of ADDIE used with technology across the globe. The coding for the benefits of technology use in the development of the training solution revealed four trends: 1) usability, 2) learning approaches, 3) learner experience and 4) financial.

This systematic review only examined articles published in English, which may bias the findings to a Western understanding of how technology is used within the ADDIE framework. Furthermore, the study examined only peer-review academic articles from scholarly journals and conferences. While this provided a high level of assurance about the quality of the studies, it does not include other reports directly from training providers and other organizations.

These findings can be used as a springboard for training providers, scholars, funders and practitioners, providing rigorous insight into how technology has been used within the ADDIE framework, the types of technology, and the benefits of using technology. This insight can be used when designing future training solutions with a better understanding of how technology can support learning.

This study provides insight into the uses of technology in training. Many of these findings and uses of technology within ADDIE can also transfer to other aspects of society.

This study is unique in that it provides the scholarly community with the first systematic review to examine what technological strategies were used within each of the phases of the ADDIE structure and how these technologies provided benefits to developing a training solution.