The Experts below are selected from a list of 324 Experts worldwide ranked by ideXlab platform

Mustafa Suphi Erden - One of the best experts on this subject based on the ideXlab platform.

  • CASE - Manual Welding with Robotic Assistance Compared to Conventional Manual Welding
    2018 IEEE 14th International Conference on Automation Science and Engineering (CASE), 2018
    Co-Authors: Mustafa Suphi Erden
    Abstract:

    This paper demonstrates the effectiveness of impedance compensation type robotic assistance, presented in a previous work, by comparing Manual Welding with robotic assistance to conventional Manual Welding without a robot. The novelty of the current paper is comparison of two sets of data that were published in separate studies, but were not yet compared to each other. One of these previous studies had demonstrated the effectiveness of the robotic assistance in comparison to Welding with the robot interactively while the assistance-scheme was off, but not to the case of conventional Manual Welding as applied every-day in workshops without a robot. The other previous work had collecting Welding data with a motion capture system while conventional Manual Welding in order to demonstrate the differences between novice and professional welders. The comparison presented in the current paper demonstrates that the robotic assistance significantly improves the performance of novice welders in comparison to conventional Welding without a robot, whereas the performance of the professional welders remains almost constant across conventional Welding and with robotic assistance. The results of this paper show the effectiveness of physically interactive robotic assistance technology to improve the performance of novice welders in the every-day industrial task of Manual Welding.

  • Robotic training for hand movements during Manual Welding with real-time alarm feedback
    Industrial Robot: An International Journal, 2015
    Co-Authors: Mustafa Suphi Erden, Aude Billard
    Abstract:

    Purpose – The purpose of this study is to develop a robotic training system for the hand movements during Manual Welding. The system provides real-time notice-feedback with sound or light alarms, whenever the Welding hand vibrates beyond the nominal level observed with professional welders. Design/methodology/approach – The large variations of hand movements are detected by monitoring the deviation of the tool position from a smooth curve estimated in real time by a Kalman filter. An alarm is generated in the form of a flashing light or beep sound whenever the deviations exceed a predetermined threshold. The performance of hand movements is measured in terms of the variations of the position data. Twelve novice and five professional welders took part in the experiments and answered a questionnaire that assessed the usability and work load of the system. Findings – Compared to the sound alarms, the light alarms resulted in a larger and statistically significant decrease in the variation of hand movements o...

  • Robotic Assistance by Impedance Compensation for Hand Movements While Manual Welding
    IEEE transactions on cybernetics, 2015
    Co-Authors: Mustafa Suphi Erden, Aude Billard
    Abstract:

    In this paper, we present a robotic assistance scheme which allows for impedance compensation with stiffness, damping, and mass parameters for hand manipulation tasks and we apply it to Manual Welding. The impedance compensation does not assume a preprogrammed hand trajectory. Rather, the intention of the human for the hand movement is estimated in real time using a smooth Kalman filter. The movement is restricted by compensatory virtual impedance in the directions perpendicular to the estimated direction of movement. With airbrush painting experiments, we test three sets of values for the impedance parameters as inspired from impedance measurements with Manual Welding. We apply the best of the tested sets for assistance in Manual Welding and perform Welding experiments with professional and novice welders. We contrast three conditions: 1) Welding with the robot’s assistance; 2) with the robot when the robot is passive; and 3) Welding without the robot. We demonstrate the effectiveness of the assistance through quantitative measures of both task performance and perceived user’s satisfaction. The performance of both the novice and professional welders improves significantly with robotic assistance compared to Welding with a passive robot. The assessment of user satisfaction shows that all novice and most professional welders appreciate the robotic assistance as it suppresses the tremors in the directions perpendicular to the movement for Welding.

  • Hand Impedance Measurements During Interactive Manual Welding With a Robot
    IEEE Transactions on Robotics, 2015
    Co-Authors: Mustafa Suphi Erden, Aude Billard
    Abstract:

    This paper presents a study of hand impedance measurements comparatively across ten professional and 14 novice Manual welders, when they are performing tungsten inert gas (TIG) Welding interactively with the KUKA lightweight robot arm (LWR). The results show that hand impedance differs across professional and novice welders. The Welding torch is attached to the KUKA LWR, which is admittance controlled via a force sensor to give the feeling of a free floating mass at its end-effector. The subjects perform TIG Welding on 1.5-mm-thick stainless steel plates by manipulating the torch. Impedance is measured by introducing external force disturbances and fitting a mass–damper–spring model to human hand reactions. The quality of Welding is measured using the variance of the position signals above 0.1 Hz. Professional welders demonstrate less variance and, in general, apply larger hand impedance (larger damping and stiffness) than the novice welders. The variance of position during nominal Welding is minimal for both professional and novice welders in the direction perpendicular to the Welding line in the plane of the plate, which is the most important direction for the quality of the weld. For both professional and novice welders, the mass and damping values are largest in this direction compared with the other two directions. Professional welders demonstrate larger damping than the novice welders in this direction.

  • end point impedance measurements at human hand during interactive Manual Welding with robot
    International Conference on Robotics and Automation, 2014
    Co-Authors: Mustafa Suphi Erden, Aude Billard
    Abstract:

    This paper presents a study of end-point impedance measurement at human hand, with professional and novice Manual welders when they are performing Tungsten Inert Gas (TIG) Welding interactively with the KUKA Light Weight Robot Arm (LWR). The Welding torch is attached to the KUKA LWR, which is admittance controlled via a force sensor to give the feeling of a free floating mass at its end-effector. The subjects perform TIG Welding on 1.5 mm thick stainless steel plates by manipulating the torch attached to the robot. The end-point impedance values are measured by introducing external force disturbances and by fitting a mass-damper-spring model to human hand reactions. Results show that, for professionals and novices, the mass, damping and stiffness values in the direction perpendicular to the Welding line are the largest compared to the other two directions. The novices demonstrate less resistance to disturbances in this direction. Two of the professionals present larger stiffness and one of them presents larger damping. This study supports the hypothesis that impedance measurements could be used as a partial indicator, if not direct, of skill level to differentiate across different levels of Manual Welding performances. This work contributes towards identifying tacit knowledge of Manual Welding skills by means of impedance measurements.

Axel Gräser - One of the best experts on this subject based on the ideXlab platform.

  • Augmented Reality — Helmet for the Manual Welding Process
    Virtual and Augmented Reality Applications in Manufacturing, 2004
    Co-Authors: B. Hillers, D. Aiteanu, Axel Gräser
    Abstract:

    An augmented reality (AR) system integrated in a newly developed Welding helmet improves the conditions for Manual Welding. The scene is acquired by a stereoscopic high dynamic range CMOS (HDRC) camera system that allows the observance of the Welding arc and the environment simultaneously. Using image processing, the scene will be enhanced and displayed on a video see-through head mounted display (HMD). Besides a better view of the Welding scene, the welder can operate an “on-screen” remote control of the Welding machine to change machine parameters without lifting the helmet or changing the working position. During the Welding process, the inclusion of additional on-line process data provides more information about the quality of the seam and erroneous states like sputter or sub-optimal Welding gun inclination. Electrical data and synchronized acquired images are recorded on-line and may be used for off-line documentation and quality inspection. With an AR helmet, the welder will be able to produce seams of higher quality and the inspection cost will decrease. The chapter presents the development and research of the helmet in detail.

  • A step forward in Manual Welding: demonstration of augmented reality helmet
    Mixed and Augmented Reality, 2003. Proceedings. The Second IEEE and ACM International Symposium on, 2003
    Co-Authors: D. Aiteanu, B. Hillers, Axel Gräser
    Abstract:

    A new Welding helmet for the Manual Welding process has been developed. The welders working conditions are improved by augmenting the visual information before and during Welding. The image is improved by providing a better view of the working area. An online quality assistant is available during Welding, suggesting the correction of the guns position or pointing out Welding errors, by analyzing the electrical Welding parameters. An assembly advisor will suggest the assembly sequence, by displaying the type and the position of the following piece into the actual ensemble. In addition, an available online documentation of the Welding process gives an opportunity to reduce the effort of post process quality assurance which often uses expensive X-ray investigations.

  • ISMAR - A step forward in Manual Welding: demonstration of augmented reality helmet
    The Second IEEE and ACM International Symposium on Mixed and Augmented Reality 2003. Proceedings., 1
    Co-Authors: D. Aiteanu, B. Hillers, Axel Gräser
    Abstract:

    A new Welding helmet for the Manual Welding process has been developed. The welders working conditions are improved by augmenting the visual information before and during Welding. The image is improved by providing a better view of the working area. An online quality assistant is available during Welding, suggesting the correction of the guns position or pointing out Welding errors, by analyzing the electrical Welding parameters. An assembly advisor will suggest the assembly sequence, by displaying the type and the position of the following piece into the actual ensemble. In addition, an available online documentation of the Welding process gives an opportunity to reduce the effort of post process quality assurance which often uses expensive X-ray investigations.

Aude Billard - One of the best experts on this subject based on the ideXlab platform.

  • Robotic training for hand movements during Manual Welding with real-time alarm feedback
    Industrial Robot: An International Journal, 2015
    Co-Authors: Mustafa Suphi Erden, Aude Billard
    Abstract:

    Purpose – The purpose of this study is to develop a robotic training system for the hand movements during Manual Welding. The system provides real-time notice-feedback with sound or light alarms, whenever the Welding hand vibrates beyond the nominal level observed with professional welders. Design/methodology/approach – The large variations of hand movements are detected by monitoring the deviation of the tool position from a smooth curve estimated in real time by a Kalman filter. An alarm is generated in the form of a flashing light or beep sound whenever the deviations exceed a predetermined threshold. The performance of hand movements is measured in terms of the variations of the position data. Twelve novice and five professional welders took part in the experiments and answered a questionnaire that assessed the usability and work load of the system. Findings – Compared to the sound alarms, the light alarms resulted in a larger and statistically significant decrease in the variation of hand movements o...

  • Robotic Assistance by Impedance Compensation for Hand Movements While Manual Welding
    IEEE transactions on cybernetics, 2015
    Co-Authors: Mustafa Suphi Erden, Aude Billard
    Abstract:

    In this paper, we present a robotic assistance scheme which allows for impedance compensation with stiffness, damping, and mass parameters for hand manipulation tasks and we apply it to Manual Welding. The impedance compensation does not assume a preprogrammed hand trajectory. Rather, the intention of the human for the hand movement is estimated in real time using a smooth Kalman filter. The movement is restricted by compensatory virtual impedance in the directions perpendicular to the estimated direction of movement. With airbrush painting experiments, we test three sets of values for the impedance parameters as inspired from impedance measurements with Manual Welding. We apply the best of the tested sets for assistance in Manual Welding and perform Welding experiments with professional and novice welders. We contrast three conditions: 1) Welding with the robot’s assistance; 2) with the robot when the robot is passive; and 3) Welding without the robot. We demonstrate the effectiveness of the assistance through quantitative measures of both task performance and perceived user’s satisfaction. The performance of both the novice and professional welders improves significantly with robotic assistance compared to Welding with a passive robot. The assessment of user satisfaction shows that all novice and most professional welders appreciate the robotic assistance as it suppresses the tremors in the directions perpendicular to the movement for Welding.

  • Hand Impedance Measurements During Interactive Manual Welding With a Robot
    IEEE Transactions on Robotics, 2015
    Co-Authors: Mustafa Suphi Erden, Aude Billard
    Abstract:

    This paper presents a study of hand impedance measurements comparatively across ten professional and 14 novice Manual welders, when they are performing tungsten inert gas (TIG) Welding interactively with the KUKA lightweight robot arm (LWR). The results show that hand impedance differs across professional and novice welders. The Welding torch is attached to the KUKA LWR, which is admittance controlled via a force sensor to give the feeling of a free floating mass at its end-effector. The subjects perform TIG Welding on 1.5-mm-thick stainless steel plates by manipulating the torch. Impedance is measured by introducing external force disturbances and fitting a mass–damper–spring model to human hand reactions. The quality of Welding is measured using the variance of the position signals above 0.1 Hz. Professional welders demonstrate less variance and, in general, apply larger hand impedance (larger damping and stiffness) than the novice welders. The variance of position during nominal Welding is minimal for both professional and novice welders in the direction perpendicular to the Welding line in the plane of the plate, which is the most important direction for the quality of the weld. For both professional and novice welders, the mass and damping values are largest in this direction compared with the other two directions. Professional welders demonstrate larger damping than the novice welders in this direction.

  • end point impedance measurements at human hand during interactive Manual Welding with robot
    International Conference on Robotics and Automation, 2014
    Co-Authors: Mustafa Suphi Erden, Aude Billard
    Abstract:

    This paper presents a study of end-point impedance measurement at human hand, with professional and novice Manual welders when they are performing Tungsten Inert Gas (TIG) Welding interactively with the KUKA Light Weight Robot Arm (LWR). The Welding torch is attached to the KUKA LWR, which is admittance controlled via a force sensor to give the feeling of a free floating mass at its end-effector. The subjects perform TIG Welding on 1.5 mm thick stainless steel plates by manipulating the torch attached to the robot. The end-point impedance values are measured by introducing external force disturbances and by fitting a mass-damper-spring model to human hand reactions. Results show that, for professionals and novices, the mass, damping and stiffness values in the direction perpendicular to the Welding line are the largest compared to the other two directions. The novices demonstrate less resistance to disturbances in this direction. Two of the professionals present larger stiffness and one of them presents larger damping. This study supports the hypothesis that impedance measurements could be used as a partial indicator, if not direct, of skill level to differentiate across different levels of Manual Welding performances. This work contributes towards identifying tacit knowledge of Manual Welding skills by means of impedance measurements.

  • ICRA - End-point Impedance Measurements at Human Hand during Interactive Manual Welding with Robot*
    2014 IEEE International Conference on Robotics and Automation (ICRA), 2014
    Co-Authors: Mustafa Suphi Erden, Aude Billard
    Abstract:

    This paper presents a study of end-point impedance measurement at human hand, with professional and novice Manual welders when they are performing Tungsten Inert Gas (TIG) Welding interactively with the KUKA Light Weight Robot Arm (LWR). The Welding torch is attached to the KUKA LWR, which is admittance controlled via a force sensor to give the feeling of a free floating mass at its end-effector. The subjects perform TIG Welding on 1.5 mm thick stainless steel plates by manipulating the torch attached to the robot. The end-point impedance values are measured by introducing external force disturbances and by fitting a mass-damper-spring model to human hand reactions. Results show that, for professionals and novices, the mass, damping and stiffness values in the direction perpendicular to the Welding line are the largest compared to the other two directions. The novices demonstrate less resistance to disturbances in this direction. Two of the professionals present larger stiffness and one of them presents larger damping. This study supports the hypothesis that impedance measurements could be used as a partial indicator, if not direct, of skill level to differentiate across different levels of Manual Welding performances. This work contributes towards identifying tacit knowledge of Manual Welding skills by means of impedance measurements.

D. Aiteanu - One of the best experts on this subject based on the ideXlab platform.

  • Augmented Reality — Helmet for the Manual Welding Process
    Virtual and Augmented Reality Applications in Manufacturing, 2004
    Co-Authors: B. Hillers, D. Aiteanu, Axel Gräser
    Abstract:

    An augmented reality (AR) system integrated in a newly developed Welding helmet improves the conditions for Manual Welding. The scene is acquired by a stereoscopic high dynamic range CMOS (HDRC) camera system that allows the observance of the Welding arc and the environment simultaneously. Using image processing, the scene will be enhanced and displayed on a video see-through head mounted display (HMD). Besides a better view of the Welding scene, the welder can operate an “on-screen” remote control of the Welding machine to change machine parameters without lifting the helmet or changing the working position. During the Welding process, the inclusion of additional on-line process data provides more information about the quality of the seam and erroneous states like sputter or sub-optimal Welding gun inclination. Electrical data and synchronized acquired images are recorded on-line and may be used for off-line documentation and quality inspection. With an AR helmet, the welder will be able to produce seams of higher quality and the inspection cost will decrease. The chapter presents the development and research of the helmet in detail.

  • A step forward in Manual Welding: demonstration of augmented reality helmet
    Mixed and Augmented Reality, 2003. Proceedings. The Second IEEE and ACM International Symposium on, 2003
    Co-Authors: D. Aiteanu, B. Hillers, Axel Gräser
    Abstract:

    A new Welding helmet for the Manual Welding process has been developed. The welders working conditions are improved by augmenting the visual information before and during Welding. The image is improved by providing a better view of the working area. An online quality assistant is available during Welding, suggesting the correction of the guns position or pointing out Welding errors, by analyzing the electrical Welding parameters. An assembly advisor will suggest the assembly sequence, by displaying the type and the position of the following piece into the actual ensemble. In addition, an available online documentation of the Welding process gives an opportunity to reduce the effort of post process quality assurance which often uses expensive X-ray investigations.

  • ISMAR - A step forward in Manual Welding: demonstration of augmented reality helmet
    The Second IEEE and ACM International Symposium on Mixed and Augmented Reality 2003. Proceedings., 1
    Co-Authors: D. Aiteanu, B. Hillers, Axel Gräser
    Abstract:

    A new Welding helmet for the Manual Welding process has been developed. The welders working conditions are improved by augmenting the visual information before and during Welding. The image is improved by providing a better view of the working area. An online quality assistant is available during Welding, suggesting the correction of the guns position or pointing out Welding errors, by analyzing the electrical Welding parameters. An assembly advisor will suggest the assembly sequence, by displaying the type and the position of the following piece into the actual ensemble. In addition, an available online documentation of the Welding process gives an opportunity to reduce the effort of post process quality assurance which often uses expensive X-ray investigations.

B. Hillers - One of the best experts on this subject based on the ideXlab platform.

  • Augmented Reality — Helmet for the Manual Welding Process
    Virtual and Augmented Reality Applications in Manufacturing, 2004
    Co-Authors: B. Hillers, D. Aiteanu, Axel Gräser
    Abstract:

    An augmented reality (AR) system integrated in a newly developed Welding helmet improves the conditions for Manual Welding. The scene is acquired by a stereoscopic high dynamic range CMOS (HDRC) camera system that allows the observance of the Welding arc and the environment simultaneously. Using image processing, the scene will be enhanced and displayed on a video see-through head mounted display (HMD). Besides a better view of the Welding scene, the welder can operate an “on-screen” remote control of the Welding machine to change machine parameters without lifting the helmet or changing the working position. During the Welding process, the inclusion of additional on-line process data provides more information about the quality of the seam and erroneous states like sputter or sub-optimal Welding gun inclination. Electrical data and synchronized acquired images are recorded on-line and may be used for off-line documentation and quality inspection. With an AR helmet, the welder will be able to produce seams of higher quality and the inspection cost will decrease. The chapter presents the development and research of the helmet in detail.

  • A step forward in Manual Welding: demonstration of augmented reality helmet
    Mixed and Augmented Reality, 2003. Proceedings. The Second IEEE and ACM International Symposium on, 2003
    Co-Authors: D. Aiteanu, B. Hillers, Axel Gräser
    Abstract:

    A new Welding helmet for the Manual Welding process has been developed. The welders working conditions are improved by augmenting the visual information before and during Welding. The image is improved by providing a better view of the working area. An online quality assistant is available during Welding, suggesting the correction of the guns position or pointing out Welding errors, by analyzing the electrical Welding parameters. An assembly advisor will suggest the assembly sequence, by displaying the type and the position of the following piece into the actual ensemble. In addition, an available online documentation of the Welding process gives an opportunity to reduce the effort of post process quality assurance which often uses expensive X-ray investigations.

  • ISMAR - A step forward in Manual Welding: demonstration of augmented reality helmet
    The Second IEEE and ACM International Symposium on Mixed and Augmented Reality 2003. Proceedings., 1
    Co-Authors: D. Aiteanu, B. Hillers, Axel Gräser
    Abstract:

    A new Welding helmet for the Manual Welding process has been developed. The welders working conditions are improved by augmenting the visual information before and during Welding. The image is improved by providing a better view of the working area. An online quality assistant is available during Welding, suggesting the correction of the guns position or pointing out Welding errors, by analyzing the electrical Welding parameters. An assembly advisor will suggest the assembly sequence, by displaying the type and the position of the following piece into the actual ensemble. In addition, an available online documentation of the Welding process gives an opportunity to reduce the effort of post process quality assurance which often uses expensive X-ray investigations.