The subject matter of the above paper presents part of the research carried out as part of the robotization of the manufacturing processes of aircraft engine components. The paper concerns robotic ...deburring of the V2500 diffuser’s sharp edges. The diffuser is a precision casting characterized by a slight variation in the geometry of the workpiece depending on the accuracy of the casting molds and the phenomenon of shrinkage during solidification. Due to the small degree of deburring and thus low cutting forces, robotic machining with the FDB150 tool was used. This tool is characterized by compliance with adjustable force, which enables machining of workpieces with a randomly changing shape. The authors of the paper propose a procedure for carrying out work allowing for the selection of suboptimal process parameters. In the analyzed case, these parameters are the speed of movement of the characteristic point of the tool (TCP) and the tool/workpiece contact force. The proposed procedure for determining the parameters of the force and speed of movement allowed for indicating a set of parameters ensuring the performance of the product in accordance with the requirements defined in the documentation. The proposed solution is of an engineering nature and is not a classic search for the extreme of a function from the point of view of the adopted criteria (quality indicators). Its advantage is simplicity, which is very important from the point of view of an industrial application.
The impulse for writing the paper is the observation of the works related to the implementation of robotization of processes such as machining, glue application, welding and painting. The ...abovementioned processes, in addition to the correct implementation of the trajectory, require the definition of various parameters (e.g., speed) in the robot’s software. In the trajectories where the reconfiguration of the robot arms is observed, there are significant errors in the implementation of the defined speed. Robotic technology suppliers, in the event of speed disturbances, manually increase the defined speed value or experimentally select other parameters. It is a cumbersome process, and the lack of information about the process parameters makes it time-consuming and inaccurate. In this paper, one representative process is selected, namely machining performed with various tools by ABB robots. In order for the robotic process to be controlled, it is necessary to compare the defined path with the speed profile. Then, the speed parameters can be controlled and corrected. The approach proposed in the paper allows for improving the quality of implemented robotic processes. It presents the available IT tools for station monitoring and how to use them. The advantages of the proposed solutions and their limitations are shown in the examples of implementation of robotic stations in the industry.
This paper presents a method for robot-assisted geometrical inspection of an aircraft engine turbine stator segment employing the ABB IRB 1600 robot, equipped with the Atos Core 3D scanner and ...interfaced with the Atos Professional software suite. The geometrical inspection is a preliminary geometrical verification of a thin-wall casting against a CAD-generated nominal model. If the casting geometry tolerances are met, characteristic coordinates of points across the casting are determined for their further adaptation during an alternative robot-assisted vane wall thickness measurement, which is done with the ABB IRB 140 robot and by employing the UTT method.
The paper presents the concept of operation and methods of using laser trackers in robotics. So far, a small amount of research on software for sharing and exchanging data with trackers has been ...done. As a result of the identified demand, a proprietary application for communication between the laser tracker and robots, as well as other software, was developed. The developed solution is based on the software development kit (SDK) provided by Leica and the Python language. The structure and functioning of the developed software were described in detail. The software meets the goals set at the beginning of the design process regarding online communication with the tracker and using the universal, popular TCP/IP standard. The functioning of the developed software was shown in the paper in a few examples related to manipulating robots and mobile robots. The capabilities of the developed software were described, as well as the planned work on its development.
The paper presents a process of designing and building software for a robotic test stand used for inspection of stators. The software was developed for a test stand comprising the ABB IRB 140 robotic ...manipulator, and a PC workstation that handles two ultrasound sensors and runs the LabVIEW software suite. The control algorithms of the robot include the potential differences in the geometric features of the items inspected on the test stand and the resulting differences in the manipulator tool motion paths. The software was designed for and delivered to Pratt & Whitney Rzeszów Sp. z o.o.
Observational studies have reported an inverse relationship between selenium status (blood or toenail) and the risk of laryngeal cancer; however, the impact of low serum selenium level on survival ...has not been evaluated.
We conducted a prospective study of 296 patients diagnosed with laryngeal cancer in Szczecin, Poland. Serum selenium was measured at diagnosis and prior to treatment. Patients were followed from the date of diagnosis to death at five years. Vital status was obtained by linkage to the Polish National Death Registry.
The five-year survival after diagnosis was 82.0% (95% CI: 68% to 91%) for individuals in the highest quartile of serum selenium (> 66.8 μg/L) and was 28.6% (95% CI 19% to 42%) for individuals in the lowest quartile (<50.0 μg/L). In an age- and sex-adjusted analysis, the hazard ratio (HR) for death from all causes was 7.01 (95% CI 3.81 to 12.9) for patients in the lowest quartile of serum selenium, compared to those in the highest quartile. The corresponding multivariate HR was 3.07 (95% CI 1.59 to 5.94).
This study suggests that a selenium level in excess of 70 μg/L is associated with improved outcome among patients undergoing treatment for laryngeal cancer. Further studies are needed to evaluate if selenium supplementation to achieve this level might improve overall prognosis.
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