Publications associées à Robotic training for hand movements during manual welding with real-time alarm feedback

VDMNav: Software Architecture for Aerodynamically Constrained Navigation on Small Fixed-Wing Drones

Navigation of drones is predominantly based on sensor fusion algorithms. Most of these algorithms make use of some form of Bayesian filtering with a majority employing an Extended Kalman Filter (EKF), wherein inertial measurements are fused with a Global N ...

2024

Experimental Investigation of Instability-Free Welded Moment Connections With Simplified Weld Details

Dimitrios Lignos, Andronikos Skiadopoulos

In capacity designed steel moment resisting frames, inelastic deformations are mostly concentrated in the steel beams and the column fixed ends of the first story. This design concept limits the participation of the column web’s panel zone in the energy di ...

2023

Distributed Alarm System Based on OTDR Interrogation of Side Air-Hole Fibers

Luc Thévenaz, Marcelo Alfonso Soto Hernandez, Yuting Yang

A distributed sensor for multi-event alarm triggering is demonstrated by measuring the loss change induced by the liquefaction of pressured CO2 trapped along a side air-hole fiber. ...

2023

Control of intermetallics in the interface in directed energy deposition of titanium on stainless steel 316L

Di Cui

Application of a single metal or alloy is often restricted by its properties from optimal combination of performance and cost. Therefore, there is a vast need of joining dissimilar metals for various applications in biomedical, aerospace, automobile and ma ...

EPFL2023

Development of a Robotic Microsurgeon for Embryonic Research

Ece Özelçi

Understanding how biological matter takes its shape is instrumental to biology, bioengineering, medicine, and bioinspired engineering. Gaining information on the principles of morphogenesis could enable clinicians to correct developmental abnormalities, ev ...

EPFL2023

Enabling four-arm laparoscopic surgery by controlling two robotic assistants via haptic foot interfaces

Mohamed Bouri, Aude Billard, Walid Amanhoud, Jacob Hernandez Sanchez

Robotic surgery is a promising direction to improve surgeons and assistants’ daily life with respect to conventional surgery. In this work, we propose solo laparoscopic surgery in which two robotic arms, controlled via haptic foot interfaces, assist the ta ...

2023

Full-scale testing of European steel beams with reduced beam section under reversed cyclic loading

Dimitrios Lignos, Hiroyuki Inamasu

Steel beams with reduced beam section (RBS) are often used as part of prequalified connections in seismic regions. However, RBS connections are not as common in Europe. Reasons relate to easiness in fabrication, which requires on-site welding, and the seis ...

Springer Nature2022

Generation of elastic geodesic gridshells with anisotropic cross sections

Olivier Baverel, Corentin Jean Dominique Fivet, Nicolas Robin Montagne

Geodesic gridshells are shell structures made of continuous elements following geodesic lines. Their properties ease the use of beams with anisotropic cross-sections by avoiding bending about their strong axis. However, such bending may arise when flatteni ...

2021

Are Functional Measures Sufficient to Capture Acceptance? A Qualitative Study on Lower Limb Exoskeleton Use for Older People

Mohamed Bouri

Lower limb exoskeletons (LLE) are robotic devices developed to assist walk. In the field of healthcare, this technology has been available for almost a decade, yet it still faces important acceptance issues. While LLE were first developed for patients with ...

SPRINGER2022

Foot Control of a Surgical Laparoscopic Gripper via 5DoF Haptic Robotic Platform: Design, Dynamics and Haptic Shared Control

Mohamed Bouri, Aude Billard, Walid Amanhoud, Jacob Hernandez Sanchez

Foot devices have been ubiquitously used in surgery to control surgical equipment. Most common applications are foot switches for electro-surgery, endoscope positioning and tele-robotic consoles. Switches fall short of providing continuous control as requi ...

2021

Adaptive Laser Welding Control: A Reinforcement Learning Approach

Silvio Zanoli, Giulio Masinelli

Despite extensive research efforts in the field of laser welding, the imperfect repeatability of the weld quality still represents an open topic. Indeed, the inherent complexity of the underlying physical phenomena prevents the implementation of an effecti ...

2020

Recommendations for Improved Welding Procedures for Thick Steel Plates Through Thermo-Mechanical Analysis

Dimitrios Lignos

Welding of steel plates is accompanied by residual stresses that increase as the constraint provided by the welded components becomes greater. Consequently, crack initiation has been reported after welding thick plates due to the high residual stresses dev ...

2019

Residual stresses of friction melt bonded aluminum/steel joints determined by neutron diffraction

Jean-Marie Drezet

Near interfacial residual stresses are investigated in a joint composed of aluminum alloy and dual phase steel. A small step neutron diffraction scan was initially performed to determine the weld interface position along the measured transverse cross secti ...

ELSEVIER SCIENCE SA2019

Folded-Tube Soft Pneumatic Actuators for Bending

Wyatt Marshall Felt

This article presents a model and experimental results for a new class of bending soft pneumatic actuators (SPAs) made from a single section of thin-walled flexible tubing. The actuator is formed by creasing the tubing into fin-like rectangular folds and i ...

MARY ANN LIEBERT, INC2019

Strain-based approach to fatigue crack initiation on high-strength-steel welded joints under multiaxial loading

Alain Nussbaumer, Martin Antonio René Garcia, Heikki Tapani Remes

A recently novel strain-based approach recently proposed by Remes (Remes 2013) for the fatigue strength modelling of welded steel joints is extended here to consider multiaxial loading conditions and three dimensions finite element models. Only the first s ...

CRC Press (Taylor & Francis)2019

Localization of inexpensive robots with low-bandwidth sensors

Francesco Mondada, Stéphane Magnenat, Shiling Wang, Ming Liu

Recent progress in electronics has allowed the construction of affordable mobile robots. This opens many new opportunities, in particular in the context of collective robotics. However, while several algorithms in this field require global localization, th ...

SPRINGER INTERNATIONAL PUBLISHING AG2019

Interface microstructure formation of dissimilar Fe/Fe-Mn-C steel RSW joints

Léa Deillon

An experiment was developed to simulate the interface between liquid high manganese carbon steel and solid ultra-low alloyed steel in a thermal gradient, corresponding to the nugget/sheet interface of resistance spot welds. Despite the large difference in ...

Elsevier Science Sa2018

Microstructural evolution and mechanical property development with nickel addition in low-carbon weld butt joints

Cyril Cayron, Roland Logé, Rui Cao, Gaojun Mao

Four metal powder flux-cored wires with added nickel (Ni) were designed to systematically investigate how Ni influences the microstructure and toughness in low-carbon bainitic weld metals (WMs). The microstructure was safely predicted by utilizing reasonab ...

2018

On the Prediction of Hot Tearing in Al-to-Steel Welding by Friction Melt Bonding

Jean-Marie Drezet

Aluminum alloy AA6061 was welded to dual-phase steel 980 (DP980) by the friction melt bonding (FMB) process. Hot tears have been suppressed by controlling the thermomechanical cycle. In particular, the welding speed and the thermal conductivity of the back ...

2018

Fatigue Strength Upgrading of Cover Plate Ends by Welded Extensions in Existing Steel Bridge Girders

Alain Nussbaumer, Vasileios Grigoriou, Dimitrios Lignos

This paper investigates the fatigue upgrading of typical cover plate joint connections in existing steel bridge girders through cover plate extension. The upgraded detail is created by removing the existing transverse end weld, then welding the extension t ...

2018