Designing and Optimization of an Off-line Programming System for Robotic Belt Grinding Process

Off-line programming （OLP） system becomes one of the most important programming modules for the robotic belt grinding process, however there lacks research on increasing the grinding dexterous space depending on the OLP system. A new type of grinding robot and a novel robotic belt grinding workcell are forwarded, and their features are briefly introduced. An open and object-oriented off-line programming system is developed for this robotic belt grinding system. The parameters of the trimmed surface are read from the initial graphics exchange specification （IGES） file of the CAD model of the workpiece. The deBoor-Cox basis function is used to sample the grinding target with local contact frame on the workpiece. The numerical formula of inverse kinematics is set up based on Newton＇s iterative procedure, to calculate the grinding robot configurations corresponding to the grinding targets. After the grinding path is obtained, the OLP system turns to be more effective than the teach-by-showing system. In order to improve the grinding workspace, an optimization algorithm for dynamic tool frame is proposed and performed on the special robotic belt grinding system. The initial tool frame and the interval of neighboring tool frames are defined as the preparation of the algorithm. An optimized tool local frame can be selected to grind the complex surface for a maximum dexterity index of the robot. Under the optimization algorithm, a simulation of grinding a vane is included and comparison of grinding workspace is done before and after the tool frame optimization. By the algorithm, the grinding workspace can be enlarged. Moreover the dynamic tool frame can be considered to add one degree-of-freedom to the grinding kinematical chain, which provides the theoretical support for the improvement of robotic dexterity for the complex surface grinding.

VISUAL SIMULATION OF COLD ROLL-FORMING BASED ON OBJECT ORIENTED PROGRAMMING

To simulate the process of cold roll-forming process, a new method isadopted. The theoretical foundation of this method is an elastic-plastic large deformation splinefinite strip method based on object-oriented programming. Combined with the computer graphicstechnology, the visual simulation of cold roll-forming is completed and the system is established.By analyzing common channel steel, the process is shown and explained including theory method, modeland result display. So the simulation system is already a kind of mature and effective tool toanalyze the process of cold roll forming.

An Object-Oriented Robot Programming and Simulation System

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Off-line simulation of robot welding of radar pedestal

A study of the interference simulation based on robot welding of the radar pedestal was carried out by using the KUKA Sim Pro simulation software and off-line program technology. Compared with the actual robot welding process, it was found that the trajectory of the simulated robot welding process in line with that recorded in the actual welding process, and the actual limit and interference appeared at the same place as the simulation process. There was no interference phenomenon on the outside weld-seam; on the internal weld-seam, especially on the weld-joint of support plate connected to the cylinder, a phenomenon of interference appeared. It was helpful to use the simulation method to guide the actual robot welding so as to protect robot from impacting and reduce the weld defects.

An object oriented multi-robotic graphic simulation environment for programming the welding tasks

An object oriented multi robotic graphic simulation environment is described in this paper. Object oriented programming is used to model the physical objects of the robotic workcell in the form of software objects or classes. The virtual objects are defined to provide the user with a user friendly interface including realistic graphic simulation and clarify the software architecture. The programming method of associating the task object with active object effectively increases the software reusability, maintainability and modifiability. Task level programming is also demonstrated through a multi robot welding task that allows the user to concentrate on the most important aspects of the tasks. The multi thread programming technique is used to simulate the interaction of multiple tasks. Finally, a virtual test is carried out in the graphic simulation environment to observe design and program errors and fix them before downloading the software to the real workcell.

Study on path planning and compensation of off-line programming for thick walled curve welding

Thick walled curve welding are usually joined by multi-layer and multi-pass welding, which quality and efficiency could be improved by off-line programming of robot welding. However, the precision of off-line programming welding path was decreased due to the deviation between the off-line planned welding path and the actual welding path. A path planning algorithm and a path compensation algorithm of multi-layer and multi-pass curve welding seam for off-line programming of robot welding are developed in this paper. Experimental results show that the robot off-line programming improves the welding efftcieney and precision for thick walled curve welding seam.

Efficient Origin-Destination Estimation Using Microscopic Traffic Simulation with Restricted Rerouting

Traffic simulators are utilized to solve a variety of traffic-related problems.For such simulators,origin-destination(OD)traffic volumes as mobility demands are required to input,and we need to estimate them.The authors regard an OD estimation as a bi-level programming problem,and apply a microscopic traffic simulation model to it.However,the simulation trials can be computationally expensive if full dynamic rerouting is allowed,when employing multi-agent-based models in the estimation process.This paper proposes an efficient OD estimation method using a multi-agent-based simulator with restricted dynamic rerouting to reduce the computational load.Even though,in the case of large traffic demand,the restriction on dynamic rerouting can result in heavier congestion.The authors resolve this problem by introducing constraints of the bi-level programming problem depending on link congestion.Test results show that the accuracy of the link traffic volume reproduced with the proposed method is virtually identical to that of existing methods but that the proposed method is more computationally efficient in a wide-range or high-demand context.

Using Automation Controller System and Simulation Program for Testing Closed Circuits of Mini-Sprinkler Irrigation System

The field experiments were conducted at the experimental farm of Faculty of agricultural, southern Illinois University SIUC, USA. The project makes the irrigation automated. With the use of low cost sensors and the simple circuitry makes currently project a low cost product, which can be bought even by a poor farmer. This research work is best suited for places where water is scares and has to be used in limited quantity and this proposal is a model to modernize the agriculture industries at a mass scale with optimum expenditure. In the field of agricultural engineering, use of sensor method of irrigation operation is important and it is well known that closed circuits of Mini-sprinkler irrigation system are very economical and efficient. Closed circuits are considered one of the modifications of Mini-sprinkler irrigation system, and added advantages to Mini-sprinkler irrigation system because it can relieve low operating pressures problem at the end of the lateral lines. In the conventional closed circuits of Mini-sprinkler irrigation system, the farmer has to keep watch on irrigation timetable, which is different for different crops. Using this system, one can save manpower, water to improve production and ultimately profit. The data could be summarized in following: Irrigation methods under study when using lateral length 60 mcould be ranked in the following ascending order according the values of the predicted and measured head losses CM1M-SIS CM2M-SIS.The correlation (Corr.) coefficients were used to compare the predicted and measured head losses along the lateral lines of all the closed circuits designs. Generally, the values of correlation analysis were (>0.90) were obtained with 0% field slope60 mlength (experimental conditions) for all closed circuits.The interaction between irrigation methods: at the start there are significant differences between CM2M-SIS and CM1M-SIS.

A simulation program for analysing fiber optic Bragg gratings

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Study on motion simulation of arc welding robot based on UG

The motion simulation of arc welding robot is the basis of the system of robot off-line programming, and it has been one of the important research directions. The UGNX 4. 0 is adopted to establish 3D simulating model of MOTOMAN-HP6 arc welding robot. The kinematic model under link-pole coordinate system is established by the second development function offered by UG/OPEN API and the method of programming using VC ＋＋ 6. 0. The methods of founding model and operational procedures are introduced, which provides a good basis for off-line programming technique under Unigraphies condition.

Simulation and Experiment for Oxygen-enriched Combustion Engine Using Liquid Oxygen to Solidify CO2

For capturing and recycling of CO2 in the internal combustion engine, Rankle cycle engine can reduce the exhaust pollutants effectively under the condition of ensuring the engine thermal efficiency by using the techniques of spraying water in the cylinder and optimizing the ignition advance angle. However, due to the water spray nozzle need to be installed on the cylinder, which increases the cylinder head design difficulty and makes the combustion conditions become more complicated. In this paper, a new method is presented to carry out the closing inlet and exhaust system for internal combustion engines. The proposed new method uses liquid oxygen to solidify part of cooled CO2 from exhaust system into dry ice and the liquid oxygen turns into gas oxygen which is sent to inlet system. The other part of CO2 is sent to inlet system and mixed with oxygen, which can reduce the oxygen-enriched combustion detonation tendency and make combustion stable. Computing grid of the IP52FMI single-cylinder four-stroke gasoline-engine is established according to the actual shape of the combustion chamber using KIVA-3V program. The effects of exhaust gas recirculation （EGR） rate are analyzed on the temperatures, the pressures and the instantaneous heat release rates when the EGR rate is more than 8%. The possibility of enclosing intake and exhaust system for engine is verified. The carbon dioxide trapping device is designed and the IP52FMI engine is transformed and the CO2 capture experiment is carried out. The experimental results show that when the EGR rate is 36% for the optimum EGR rate. When the liquid oxygen of 35.80-437.40 g is imported into the device and last 1-20 min, respectively, 21.50-701.30 g dry ice is obtained. This research proposes a new design method which can capture CO2 for vehicular internal combustion engine.

Optimization of circulating cooling water systems based on chance constrained programming

Recent research on deterministic methods for circulating cooling water systems optimization has been well developed. However, the actual operating conditions of the system are mostly variable, so the system obtained under deterministic conditions may not be stable and economical. This paper studies the optimization of circulating cooling water systems under uncertain circumstance. To improve the reliability of the system and reduce the water and energy consumption, the influence of different uncertain parameters is taken into consideration. The chance constrained programming method is used to build a model under uncertain conditions, where the confidence level indicates the degree of constraint violation. Probability distribution functions are used to describe the form of uncertain parameters. The objective is to minimize the total cost and obtain the optimal cooling network configuration simultaneously.An algorithm based on Monte Carlo method is proposed, and GAMS software is used to solve the mixed integer nonlinear programming model. A case is optimized to verify the validity of the model. Compared with the deterministic optimization method, the results show that when considering the different types of uncertain parameters, a system with better economy and reliability can be obtained(total cost can be reduced at least 2%).

Numerical Simulation of Retrofit Scheme of a Boiler Tail Flue

Aiming at the problem that the total pressure loss of the flue of the electric precipitator of the 350 MW unit of a power plant to the inlet of the draft fan is too large,the numerical simulation software Fluent and the standard k-εmodel was used to simulate the flue,the results show that the main part of the flue mean total pressure loss is derived from the confluence header and elbow.In order to reduce the loss and consider the cost of transformation,the concept of twodimensional feature surface is established,gradually proposed three sets of flue transformation program and analysis of the flue transformation program drag reduction effect,the results show that the total reduction of the flue can be reduced from 486 Pa to 89 Pa and the reduction rate is 81.7%,which is the best solution;The concept of two-dimensional feature plane is helpful for quick condensing of flue;Double V-type structure of the convergence of the box has a better drag reduction effect.

Design and Movement Simulation to the Cam of the Testing Device for Capacitor Encapsulation Equipment

In this paper, in order to design a cam mechanism be up to the mustard, a set of methods are put forward that using the Visual Basic programming language based on solidworks to draw cam contour line and then get its 3D models and generate the cam motion simulation by the solidworks motion. In the end, it’s proved that the cam designed though this method met the requirement.

COMPUTER DYNAMIC SIMULATION FOR PRISMATIC PARTS MANUFACTURED ON MACHINING CENTER

This paper describes a dynamic simulation system for manufacturing prismatic components on machining centers named NCDSS. It is a subsystem of CAD/CAPP/NC integrated system for prismatic parts that we are working on. Based on the system of CAD and CAPP, it can automati. cally generate NC program used on machining centers and can simulate the machining process in the sequence of technology. Techniques of automatically producing NC program for prismaic parts and the method of dynamic simulation are also discussed.

A Simulation-Based Decision Support System for Manufacturing Enterprise

The simulation-based decision support system (SBDSS) is designed to achieve a highlevel of performance, flexibility and adaptability, in response to meet the special needs of productionand logistics management during the economic system reform era in China. It consists two subsys-tems: the object library modeler (OLM) and the simulation engine and its manager (SEM). UsingSBDSS the decision makers can work out their optimal production choice under certain circumstancesthrough scenario simulations. And they can test a set of virtual organizations reflecting systems re-form before a real reorganization has been taken, as well as perform a virtual manufacturing processfor a new product design (Copyright @ 1998 IFAC).

CAREFUL NUMERICAL SIMULATION AND ANALYSIS OF MIGRATION-ACCUMULATION OF TANHAI REGION

Numerical simulation of careful parallel arithmetic of oil resources migration-accumulation of Tanhai Region ( three-layer) was done. Careful parallel operator splitting-up implicit iterative scheme, parallel arithmetic program, parallel arithmetic information and alternating-direction mesh subdivision were put forward. Parallel arithmetic and analysis of different CPU combinations were done. This numerical simulation test and the actual conditions are basically coincident. The convergence estimation of the model problem has successfully solved the difficult problem in the fields of permeation fluid mechanics, computational mathematics and petroleum geology.

Ground motion record simulation for structural analysis by consideration of spectral acceleration autocorrelation pattern

A novel approach is introduced to generate simulated ground motion records by considering spectral acceleration correlations at multiple periods. Most of the current reliable Ground Motion Record(GMR) simulation procedures use a seismological model including source, path and site characteristics. However, the response spectrum of simulated GMR is somewhat different when compared with the response spectrum based on recorded GMRs. More specifi cally, the correlation between the spectral values at multiple periods is a characteristic of a record which is usually different between simulated and recorded GMRs. As this correlation has a signifi cant infl uence on the structural response, it is needed to investigate the consistency of the simulated ground motions with actual records. This issue has been investigated in this study by incorporating an optimization algorithm within the Boore simulation technique. Eight seismological key parameters were optimized in order to achieve approximately the same correlation coeffi cients and spectral acceleration between two sets of real and simulated records. The results show that the acceleration response spectra of the synthetic ground motions also have good agreement with the real recorded response spectra by implementation of the proposed optimized values.

Development of a Simulation Package with Expert System for FMS in Windows Environment

This paper introduces the method of developing a simulation package with expert systemfor a flexible manufacturing system(FMS)in Windows environment and presents some sim-ulation results for real examples.