{"id":22,"date":"2016-11-04T16:31:31","date_gmt":"2016-11-04T16:31:31","guid":{"rendered":"http:\/\/sites.tntech.edu\/scanfield\/?page_id=22"},"modified":"2019-04-30T11:58:29","modified_gmt":"2019-04-30T17:58:29","slug":"research","status":"publish","type":"page","link":"https:\/\/sites.tntech.edu\/scanfield\/research\/","title":{"rendered":"Research"},"content":{"rendered":"<h3 style=\"text-align: center\"><b>Research Interest Areas<\/b><\/h3>\n<ul>\n<li>Mobile Manufacturing Robots in unstructured environments,\n<ul>\n<li>Design of adaptive suspension systems for high-mobility vehicles<\/li>\n<li>Kinematics and Dynamics of vehicle systems on planar\/non-planar terrain<\/li>\n<li>Autonomous capabilities in Non-holonomic (wheeled) platforms,<\/li>\n<\/ul>\n<\/li>\n<li>Automated Mobile Robotic Welding, Inspection<\/li>\n<li>Kinematics and Dynamics of in-space robotic mechanisms<\/li>\n<li>Design and manufacture of distributed-compliance robots and mechanisms<\/li>\n<li>Engineering Education\n<ul>\n<li>Flipped Classrooms<\/li>\n<li>Contextualized\/Situational learning<\/li>\n<li>Service Learning in the classroom<\/li>\n<li>Concept Inventories in Dynamics of Machinery<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<h3>Research Projects<\/h3>\n<h3 style=\"text-align: center\">Mobile Robotics for Manufacturing and Inspection in Unstructured Environments;<\/h3>\n<h4>Mobile Manipulators for Automated Welding Processes<\/h4>\n<p><a href=\"http:\/\/See https:\/\/vimeo.com\/user24777265\/hmmrwelding\" target=\"_blank\" rel=\"noopener noreferrer\">Collar welding with HMMR<\/a><\/p>\n<p><strong>Synopsis: <\/strong>Robotic welding cells trace their origins to the 1960\u2019s. The robotic welding arms used then and those used now in US shipyards have not changed much in size and weight. But today there exists small welding arms that can be mounted on advanced mobile manufacturing platforms and brought to the most common ship welds: collars, clips and erection welds.<\/p>\n<p><strong>Scope of Problem &amp; Support: <\/strong>The problem is universally known. Large structures have never lent themselves well to automation. Robots are most effectively used in factories where the material can be brought to the robots. Ships are built in yards. When automation is used, it is generally used on panel lines where Gantry\u2019s manipulate heavy robotic arms or material handling systems manipulate heavy plate to a stationary robot.<\/p>\n<p><strong>Technical Detail<\/strong><\/p>\n<p>The process goal is advanced mechanized weld capability for joining structural components in ship frames. The proposed CCE-A Robot is a manipulator arm mounted on a mobile base<br \/>\nbased on an extension of our\u00a0high-mobility platform merged with an adaptation of the OUR-1 portable 6 dof (degrees of freedom) arm available through Smokey Robotics to give coordinated motion control. An intuitive operator interface is enabled through onboard<br \/>\nsensing of geometric features in the workspace (bulkheads, stiffeners) to permit torch motion control in a natural fashion &#8211; parallel to a feature, in and out from the surface, along<br \/>\nsurface intersections etc. Furthermore, the system is man-portable (&lt; 50lbs) and provides extended mobility to operate in flat or vertical configurations and transition between surfaces. The combination of portability and mobility bring high-dexterity torch control to a wide range of spaceship compartments<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-106\" src=\"http:\/\/sites.tntech.edu\/scanfield\/wp-content\/uploads\/sites\/59\/2016\/11\/HMMR-weld-sequence-around-collar-144x300.jpg\" alt=\"\" width=\"144\" height=\"300\" srcset=\"https:\/\/sites.tntech.edu\/scanfield\/wp-content\/uploads\/sites\/59\/2016\/11\/HMMR-weld-sequence-around-collar-144x300.jpg 144w, https:\/\/sites.tntech.edu\/scanfield\/wp-content\/uploads\/sites\/59\/2016\/11\/HMMR-weld-sequence-around-collar.jpg 358w\" sizes=\"auto, (max-width: 144px) 100vw, 144px\" \/>\u00a0\u00a0<img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-105\" src=\"http:\/\/sites.tntech.edu\/scanfield\/wp-content\/uploads\/sites\/59\/2016\/11\/HMMR-plus-arm-300x166.jpg\" alt=\"\" width=\"300\" height=\"166\" srcset=\"https:\/\/sites.tntech.edu\/scanfield\/wp-content\/uploads\/sites\/59\/2016\/11\/HMMR-plus-arm-300x166.jpg 300w, https:\/\/sites.tntech.edu\/scanfield\/wp-content\/uploads\/sites\/59\/2016\/11\/HMMR-plus-arm.jpg 654w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-104\" src=\"http:\/\/sites.tntech.edu\/scanfield\/wp-content\/uploads\/sites\/59\/2016\/11\/Canfield-with-HMMR-218x300.jpg\" alt=\"\" width=\"218\" height=\"300\" srcset=\"https:\/\/sites.tntech.edu\/scanfield\/wp-content\/uploads\/sites\/59\/2016\/11\/Canfield-with-HMMR-218x300.jpg 218w, https:\/\/sites.tntech.edu\/scanfield\/wp-content\/uploads\/sites\/59\/2016\/11\/Canfield-with-HMMR.jpg 395w\" sizes=\"auto, (max-width: 218px) 100vw, 218px\" \/><\/p>\n<h4>High Mobility Manufacturing Robot:<\/h4>\n<h4><img loading=\"lazy\" decoding=\"async\" class=\"alignnone wp-image-114 size-full\" src=\"http:\/\/sites.tntech.edu\/scanfield\/wp-content\/uploads\/sites\/59\/2016\/11\/Developing-HMMR-for-Ship-Compartments.jpg\" width=\"501\" height=\"469\" srcset=\"https:\/\/sites.tntech.edu\/scanfield\/wp-content\/uploads\/sites\/59\/2016\/11\/Developing-HMMR-for-Ship-Compartments.jpg 501w, https:\/\/sites.tntech.edu\/scanfield\/wp-content\/uploads\/sites\/59\/2016\/11\/Developing-HMMR-for-Ship-Compartments-300x281.jpg 300w\" sizes=\"auto, (max-width: 501px) 100vw, 501px\" \/><\/h4>\n<h4>Mobile Robotic Welding System (MRWS) for Automating Welding Processes in the Shipbuilding Industry<\/h4>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone wp-image-110 size-full\" src=\"http:\/\/sites.tntech.edu\/scanfield\/wp-content\/uploads\/sites\/59\/2017\/01\/advanced-systems-development-of-MRWS.jpg\" width=\"510\" height=\"445\" srcset=\"https:\/\/sites.tntech.edu\/scanfield\/wp-content\/uploads\/sites\/59\/2017\/01\/advanced-systems-development-of-MRWS.jpg 510w, https:\/\/sites.tntech.edu\/scanfield\/wp-content\/uploads\/sites\/59\/2017\/01\/advanced-systems-development-of-MRWS-300x262.jpg 300w\" sizes=\"auto, (max-width: 510px) 100vw, 510px\" \/><\/p>\n<h4>Improved GMAW\/FCAW for Primed Steel and Aluminum<\/h4>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone wp-image-111 size-full\" src=\"http:\/\/sites.tntech.edu\/scanfield\/wp-content\/uploads\/sites\/59\/2017\/01\/Improved-GMAW.jpg\" width=\"509\" height=\"353\" srcset=\"https:\/\/sites.tntech.edu\/scanfield\/wp-content\/uploads\/sites\/59\/2017\/01\/Improved-GMAW.jpg 509w, https:\/\/sites.tntech.edu\/scanfield\/wp-content\/uploads\/sites\/59\/2017\/01\/Improved-GMAW-300x208.jpg 300w\" sizes=\"auto, (max-width: 509px) 100vw, 509px\" \/><\/p>\n<h4>High-Mobility Robots for Nuclear Fuel Cask Inspection<\/h4>\n<p>The Electric Power Research Institute (EPRI) and other industry stakeholders including the Nuclear Regulatory Commission (NRC), National Laboratories (e.g., Los Alamos National Laboratory, Idaho National Laboratory, etc.), Dry Canister Storage System (DCSS) manufacturers and nuclear power providers have performed evaluations that show that under certain conditions, the DCSS\u2019s used to store spent (used) nuclear fuel (SNF) are potentially susceptible to chloride-induced stress corrosion cracking.<\/p>\n<p>Due to the lack of a permanent repository facility, DCSSs will need to be utilized for longer periods than their original licensed design life, at their existing independent spent fuel storage facilities (ISFSIs) or at an interim site. With this new time frame in mind, the NRC must license and renew licenses at these locations. To do so, the NRC will require that the facilities perform inspections according to codes and standards that are in process. Currently, there are no generally accepted (and preferable) audit protocols or aging canister management standards in place that account for current realities<a href=\"#_ftn1\" name=\"_ftnref1\">[1]<\/a>.<\/p>\n<p>EPRI is addressing a <u>variety of ways<\/u> to support DCSS inspections. In 2014, EPRI worked with Robotic Technologies of Tennessee (RTT) on robotic delivery systems for NDE equipment under Agreement No. 1003313. This Agreement was designed to create a &#8220;proof of concept&#8221; ROV to determine if an ROV could be designed, built and tested that met the requirements of that Agreement.<\/p>\n<p><a href=\"#_ftnref1\" name=\"_ftn1\">[1]<\/a> The NRC has approved a 40-year license renewal for the AREVA TN NUHOMS\u00ae dry-cask independent spent fuel storage installation at Exelon Generation\u2019s Calvert Cliffs Nuclear Power Plant that includes an aging management plan for canisters. However the process approved here involves activities that many hope can be eliminated or minimized (i.e., removing the caps on DCSS).<\/p>\n<h4>High Capability Portable Foreign Object Debris (FOD) Removal System for Naval Aircraft<\/h4>\n<p>Robotic Technologies of Tennessee (\u201cRTT\u201d) has been tasked with developing a multimodal approach to remediating foreign object debris (FOD) in three areas: (1) parkways and ramps; (2) hangers and (3) engine areas.<\/p>\n<h4>Advancing Precision Manufacturing in Non-Factory environments with Low-Cost Positioning Sensor<\/h4>\n<h4>Mobile Robot for HLAW (Hybrid Laser Assist Welding)<\/h4>\n<p>Our lab has\u00a0been developing robots for mobile inspection and manufacturing applications for over fifteen years, resulting in a climbing mobile robotic system capable of supporting metal joining operations based on GMAW (Gas Metal Arc Welding) processes.\u00a0 This system provides position tracking on the order of 0.050 inches at travel speeds on the order of 20 inches per minute.\u00a0 These systems are capable of traversing climbing surfaces at much higher speeds of 300 inches per minute or greater.\u00a0 However, at such speeds the current design does not provide a stable, controllable path required for many manufacturing operations.\u00a0 This document will discuss the technology developed required to push the operational capabilities of our climbing class platforms significantly higher to a precision of 0.010 inches at travel speeds on the order of 100 inches per minute or greater.\u00a0 Such a development would result in a mobile, robotic HLAW system suitable for high performance welding (hi productivity\/efficiency) in unstructured environments.\u00a0 In recent years, significant technology has been advanced in laser welding, resulting in commercially available HLAW systems provided by several companies specializing in welding integration equipment (examples include ESAB, Lincoln, IPG).\u00a0 The HLAW systems are particularly well suited for manufacturing in unstructured environments because they are robust to large tolerances in the fit-up process but is significantly limited by available motion control environments (fixed base robots, gantry-mounted robots).\u00a0 These represent 1) large initial investment and 2) no- on-site manufacture, 3) limits in size and scope of manufacture process (must move the part to the tool rather than the tool to the part).\u00a0 Mobile, non-holonomic systems present a transformative approach to enable this manufacturing technology.<\/p>\n<h4>Dry Adhesive Mobile Robot for High-Payload Applications<\/h4>\n<p>Many industrial applications require robots to scale and inspect non-ferrous structures, such as those made from, or lined with, aluminum, acrylic, and glass surfaces. On these surfaces, magnetic attachment methods can not be used. To resolve this issue, TTURobotics has developed a mobile climbing platform that attaches to smooth walls with dry adhesives. Using a patented load-distributing suspension, the roughly 8 kg (18 lb) robot is able to carry an additional 32 kg (70 lb) of external payload &#8211; approximately 25 times more than any existing dry adhesive climbing robot to date. This impressive results allows this platform to be used in most industrial applications requiring on-board equipment.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\" wp-image-274 aligncenter\" src=\"http:\/\/sites.tntech.edu\/scanfield\/wp-content\/uploads\/sites\/59\/2019\/04\/Climbing-Bot-Dry-Adhesives.png\" alt=\"\" width=\"834\" height=\"203\" srcset=\"https:\/\/sites.tntech.edu\/scanfield\/wp-content\/uploads\/sites\/59\/2019\/04\/Climbing-Bot-Dry-Adhesives.png 1782w, https:\/\/sites.tntech.edu\/scanfield\/wp-content\/uploads\/sites\/59\/2019\/04\/Climbing-Bot-Dry-Adhesives-300x73.png 300w, https:\/\/sites.tntech.edu\/scanfield\/wp-content\/uploads\/sites\/59\/2019\/04\/Climbing-Bot-Dry-Adhesives-768x187.png 768w, https:\/\/sites.tntech.edu\/scanfield\/wp-content\/uploads\/sites\/59\/2019\/04\/Climbing-Bot-Dry-Adhesives-1024x249.png 1024w\" sizes=\"auto, (max-width: 834px) 100vw, 834px\" \/><\/p>\n<p><iframe loading=\"lazy\" width=\"860\" height=\"484\" src=\"https:\/\/www.youtube.com\/embed\/jEbodeomyHE?start=2&#038;feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture\" allowfullscreen><\/iframe><\/p>\n<h3 style=\"text-align: center\">Automated Mobile Robotic Inspection<\/h3>\n<p>TTURobotics led an effort to develop a mobile, climbing robotic system for mechanizing inspections in the Electric Power Industry, supported through EPRI with primary implementations across the TVA system. Key results included:<\/p>\n<ul>\n<li>Boiler Inspection Robot<\/li>\n<li>Pennstock inspection robot<\/li>\n<li>Surge Tank Inspection robots<\/li>\n<\/ul>\n<h3 style=\"text-align: center\">Mechanisms for In-Space Applications<\/h3>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-117\" src=\"http:\/\/sites.tntech.edu\/scanfield\/wp-content\/uploads\/sites\/59\/2016\/11\/coversheet-final-report-229x300.jpg\" alt=\"\" width=\"229\" height=\"300\" srcset=\"https:\/\/sites.tntech.edu\/scanfield\/wp-content\/uploads\/sites\/59\/2016\/11\/coversheet-final-report-229x300.jpg 229w, https:\/\/sites.tntech.edu\/scanfield\/wp-content\/uploads\/sites\/59\/2016\/11\/coversheet-final-report.jpg 604w\" sizes=\"auto, (max-width: 229px) 100vw, 229px\" \/>A team consisting of collaborators from Tennessee Technological University, MSFC, BD Systems and the University of Delaware (herein called the TTU team) conducted specific research and development activities in MXER tether systems during the base period of 5-15-04 through 3-24-06 under contract (numbers NNM04AB13C).\u00a0 The team addressed two primary topics related to the MXER tether system; development of validated, high-fidelity dynamic models of an elastic, rotating tether and development of feasible mechanisms to enable reliable rendezvous and capture.\u00a0 The following report will describe in detail the activities that were performed during the base period of this cycle 2 MXER tether activity, and will summarize the results of this funded activity<\/p>\n<h4><\/h4>\n","protected":false},"excerpt":{"rendered":"<p>Research Interest Areas Mobile Manufacturing Robots in unstructured environments, Design of adaptive suspension systems for high-mobility vehicles Kinematics and Dynamics of vehicle systems on planar\/non-planar terrain Autonomous capabilities in Non-holonomic (wheeled) platforms, Automated Mobile Robotic Welding, Inspection Kinematics and Dynamics of in-space robotic mechanisms Design and manufacture of distributed-compliance robots and mechanisms Engineering Education Flipped Classrooms Contextualized\/Situational learning Service Learning<\/p>\n","protected":false},"author":66,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-22","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/sites.tntech.edu\/scanfield\/wp-json\/wp\/v2\/pages\/22","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/sites.tntech.edu\/scanfield\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/sites.tntech.edu\/scanfield\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/sites.tntech.edu\/scanfield\/wp-json\/wp\/v2\/users\/66"}],"replies":[{"embeddable":true,"href":"https:\/\/sites.tntech.edu\/scanfield\/wp-json\/wp\/v2\/comments?post=22"}],"version-history":[{"count":14,"href":"https:\/\/sites.tntech.edu\/scanfield\/wp-json\/wp\/v2\/pages\/22\/revisions"}],"predecessor-version":[{"id":278,"href":"https:\/\/sites.tntech.edu\/scanfield\/wp-json\/wp\/v2\/pages\/22\/revisions\/278"}],"wp:attachment":[{"href":"https:\/\/sites.tntech.edu\/scanfield\/wp-json\/wp\/v2\/media?parent=22"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}