This paper presents OpenLMD, a novel open-source solution for on-line multimodal monitoring of Laser Metal Deposition (LMD). The solution is also applicable to a wider range of laser-based applications that require on-line control (e.g. laser welding). OpenLMD is a middleware that enables the orchestration and virtualization of a LMD robot cell, using several open-source frameworks (e.g. ROS, OpenCV, PCL). The solution also allows reconfiguration by easy integration of multiple sensors and processing equipment. As a result, OpenLMD delivers significant advantages over existing monitoring and control approaches, such as improved scalability, and multimodal monitoring and data sharing capabilities.
OpenLMD (http://openlmd.github.io/) is a set of software components provided to demonstrate last advances on laser processing control systems. Built on ROS (Robot Operating System), the modular approach of OpenLMD pursues a direct deployment of new algorithms beyond the state-of-the-art in real facilities, fixing common interoperability and standardization issues. Moreover, it takes advantage from open source and most advanced robotics, vision, and machine learning research.
BULK IEEE 2014-15 PROJECTS LIST FOR DIGITAL IMAGE PROCESSINGShane Saro
ECRUITMENT SOLUTION provides bulk ieee projects to its regular clients and satisfies all their requirements on time, Also it provides 24/7 supports to all its clients in delivering the resources which is including source code delavery,Documents delivery,Algorithms delivery etc...,ECRUITMENT SOLUTIONS is also having around 100 clinets throughout India and across the World.
Pre-Integrated Volume-Rendering with Randomized Transfer-Functions (V3D2 Work...Frank Oellien
Usage of volume rendering techniques in Chemitry and Medicine
V3D2 Workshop 2002, Braunschweig,
Strategic DFG research initiative "V3D2" ("Distributed Processing and Exchange of Digital Documents")
Thickness Control During the Galvanizing ProcessOlympus IMS
This presentation from AISTech 2018 outlines the following:
- XRF Theory
- Coating Specification Review
- Handheld X-ray Fluorescence (HHXRF) Coating Analysis
- Integration/Management of Process Data
For more information, visit: https://www.olympus-ims.com/en/innovx-xrf-xrd/
OpenLMD (http://openlmd.github.io/) is a set of software components provided to demonstrate last advances on laser processing control systems. Built on ROS (Robot Operating System), the modular approach of OpenLMD pursues a direct deployment of new algorithms beyond the state-of-the-art in real facilities, fixing common interoperability and standardization issues. Moreover, it takes advantage from open source and most advanced robotics, vision, and machine learning research.
BULK IEEE 2014-15 PROJECTS LIST FOR DIGITAL IMAGE PROCESSINGShane Saro
ECRUITMENT SOLUTION provides bulk ieee projects to its regular clients and satisfies all their requirements on time, Also it provides 24/7 supports to all its clients in delivering the resources which is including source code delavery,Documents delivery,Algorithms delivery etc...,ECRUITMENT SOLUTIONS is also having around 100 clinets throughout India and across the World.
Pre-Integrated Volume-Rendering with Randomized Transfer-Functions (V3D2 Work...Frank Oellien
Usage of volume rendering techniques in Chemitry and Medicine
V3D2 Workshop 2002, Braunschweig,
Strategic DFG research initiative "V3D2" ("Distributed Processing and Exchange of Digital Documents")
Thickness Control During the Galvanizing ProcessOlympus IMS
This presentation from AISTech 2018 outlines the following:
- XRF Theory
- Coating Specification Review
- Handheld X-ray Fluorescence (HHXRF) Coating Analysis
- Integration/Management of Process Data
For more information, visit: https://www.olympus-ims.com/en/innovx-xrf-xrd/
very good to have a this type of context in theRemember that a 3D printer works by depositing raw material layer by layer along the X, Y and Z axis. The accuracy of the 3D printer therefore depends upon the minimum distance the nozzle can travel vertically (the Z axis). Minimum the distance it can move, more the points along the sinusoid that it can capture, and better the accuracy.For Stratasys 3D printers, which are the pioneers of the FDM printers, the current best possible dimensional accuracy is about 0.127 mm. Of course, the choice of raw material too plays an important part in achieving dimensional stability. It should also be remembered that the accuracy comes at the cost of printing time required.
A few advantages of FDM 3D printers include: slideshare FDM 3D Printers find application in:
creating prototypes for Fit, Form and Function testing
rapid tooling patterns and mould inserts
creating and testing any parts that work under thermal loads
production of precise and complex end-use parts e.g. jigs & fixtures
Sectors that use FDM 3D Printers include:
Automotive
Aerospace
Manufacturing
Industrial
Medical
Architecture
Consumer Goods
Fashion
Education & Research
Overall, FDM 3D printers give a very high value for money and a
Introduction to mago3D, an Open Source Based Digital Twin PlatformSANGHEE SHIN
This talk was given at the Busan Eco Delta City(Korea National Pilot Smart City) technical workshop held on 18th July. I talked about introduction and history of mago3D, some core technologies, real cases, and lessons learnt in this workshop.
Current State of mago3D, an Open Source Based Digital Twin PlatformSANGHEE SHIN
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3D perception is crucial for understanding the real world. It offers many benefits and new capabilities over 2D across diverse applications, from XR and autonomous driving to IOT, camera, and mobile. 3D perception with machine learning is creating the new state of the art (SOTA) in areas, such as depth estimation, object detection, and neural scene representation. Making these SOTA neural networks feasible for real-world deployment on mobile devices constrained by power, thermal, and performance has been a challenge. Qualcomm AI Research has developed not only novel AI techniques for 3D perception but also full-stack AI optimizations to enable real-world deployments and energy-efficient solutions. This presentation explores the latest research that is enabling efficient 3D perception while maintaining neural network model accuracy. You’ll learn about:
- The advantages of 3D perception over 2D and the need for 3D perception across applications
- Advancements in 3D perception research by Qualcomm AI Research
- Our future 3D perception research directions
State of mago3D, An Open Source Based Digital Twin PlatformSANGHEE SHIN
I gave this talk at the FOSS4G Thailand 2019 which was held at Chulalongkorn University, Bangkok on 4th Nov 2019. I talked about the recent achievements and improvements of mago3D project, an open source based Digital Twin platform. mago3D(http mago3d.com) is relatively new project first released in July 2017. The ultimate goal of mago3D is developing an open source based digital twin platform that can replicate and simulate the real world objects, processes, and phenomena on web environment. mago3D has been used in various industry sectors including ship building, urban management, indoor data management, and national defense. In this talk I showcased several real projects that used the mago3D and shared what I learnt from these projects. Also I introduced new features and future plan of mago3D.
LF Energy Webinar: Electrical Grid Modelling and Simulation Through PowSyBl -...DanBrown980551
Do you want to learn how to model and simulate an electrical network from scratch in under an hour?
Then welcome to this PowSyBl workshop, hosted by Rte, the French Transmission System Operator (TSO)!
During the webinar, you will discover the PowSyBl ecosystem as well as handle and study an electrical network through an interactive Python notebook.
PowSyBl is an open source project hosted by LF Energy, which offers a comprehensive set of features for electrical grid modelling and simulation. Among other advanced features, PowSyBl provides:
- A fully editable and extendable library for grid component modelling;
- Visualization tools to display your network;
- Grid simulation tools, such as power flows, security analyses (with or without remedial actions) and sensitivity analyses;
The framework is mostly written in Java, with a Python binding so that Python developers can access PowSyBl functionalities as well.
What you will learn during the webinar:
- For beginners: discover PowSyBl's functionalities through a quick general presentation and the notebook, without needing any expert coding skills;
- For advanced developers: master the skills to efficiently apply PowSyBl functionalities to your real-world scenarios.
very good to have a this type of context in theRemember that a 3D printer works by depositing raw material layer by layer along the X, Y and Z axis. The accuracy of the 3D printer therefore depends upon the minimum distance the nozzle can travel vertically (the Z axis). Minimum the distance it can move, more the points along the sinusoid that it can capture, and better the accuracy.For Stratasys 3D printers, which are the pioneers of the FDM printers, the current best possible dimensional accuracy is about 0.127 mm. Of course, the choice of raw material too plays an important part in achieving dimensional stability. It should also be remembered that the accuracy comes at the cost of printing time required.
A few advantages of FDM 3D printers include: slideshare FDM 3D Printers find application in:
creating prototypes for Fit, Form and Function testing
rapid tooling patterns and mould inserts
creating and testing any parts that work under thermal loads
production of precise and complex end-use parts e.g. jigs & fixtures
Sectors that use FDM 3D Printers include:
Automotive
Aerospace
Manufacturing
Industrial
Medical
Architecture
Consumer Goods
Fashion
Education & Research
Overall, FDM 3D printers give a very high value for money and a
Introduction to mago3D, an Open Source Based Digital Twin PlatformSANGHEE SHIN
This talk was given at the Busan Eco Delta City(Korea National Pilot Smart City) technical workshop held on 18th July. I talked about introduction and history of mago3D, some core technologies, real cases, and lessons learnt in this workshop.
Current State of mago3D, an Open Source Based Digital Twin PlatformSANGHEE SHIN
I gave this talk at the FOSS4G 2019 Bucharest. I talked about the recent achievements and improvements of mago3D project, an open source based Digital Twin platform. mago3D(http mago3d.com) is relatively new project first released in July 2017. The ultimate goal of mago3D is developing an open source based digital twin platform that can replicate and simulate the real world objects, processes, and phenomena on web environment. mago3D is on its way to achieve this goal now. mago3D has been used in various industry sectors including ship building, urban management, indoor data management, and national defense. In this talk I showcased several real projects that employed the mago3D and shared what I learnt from these projects.
3D perception is crucial for understanding the real world. It offers many benefits and new capabilities over 2D across diverse applications, from XR and autonomous driving to IOT, camera, and mobile. 3D perception with machine learning is creating the new state of the art (SOTA) in areas, such as depth estimation, object detection, and neural scene representation. Making these SOTA neural networks feasible for real-world deployment on mobile devices constrained by power, thermal, and performance has been a challenge. Qualcomm AI Research has developed not only novel AI techniques for 3D perception but also full-stack AI optimizations to enable real-world deployments and energy-efficient solutions. This presentation explores the latest research that is enabling efficient 3D perception while maintaining neural network model accuracy. You’ll learn about:
- The advantages of 3D perception over 2D and the need for 3D perception across applications
- Advancements in 3D perception research by Qualcomm AI Research
- Our future 3D perception research directions
State of mago3D, An Open Source Based Digital Twin PlatformSANGHEE SHIN
I gave this talk at the FOSS4G Thailand 2019 which was held at Chulalongkorn University, Bangkok on 4th Nov 2019. I talked about the recent achievements and improvements of mago3D project, an open source based Digital Twin platform. mago3D(http mago3d.com) is relatively new project first released in July 2017. The ultimate goal of mago3D is developing an open source based digital twin platform that can replicate and simulate the real world objects, processes, and phenomena on web environment. mago3D has been used in various industry sectors including ship building, urban management, indoor data management, and national defense. In this talk I showcased several real projects that used the mago3D and shared what I learnt from these projects. Also I introduced new features and future plan of mago3D.
LF Energy Webinar: Electrical Grid Modelling and Simulation Through PowSyBl -...DanBrown980551
Do you want to learn how to model and simulate an electrical network from scratch in under an hour?
Then welcome to this PowSyBl workshop, hosted by Rte, the French Transmission System Operator (TSO)!
During the webinar, you will discover the PowSyBl ecosystem as well as handle and study an electrical network through an interactive Python notebook.
PowSyBl is an open source project hosted by LF Energy, which offers a comprehensive set of features for electrical grid modelling and simulation. Among other advanced features, PowSyBl provides:
- A fully editable and extendable library for grid component modelling;
- Visualization tools to display your network;
- Grid simulation tools, such as power flows, security analyses (with or without remedial actions) and sensitivity analyses;
The framework is mostly written in Java, with a Python binding so that Python developers can access PowSyBl functionalities as well.
What you will learn during the webinar:
- For beginners: discover PowSyBl's functionalities through a quick general presentation and the notebook, without needing any expert coding skills;
- For advanced developers: master the skills to efficiently apply PowSyBl functionalities to your real-world scenarios.
Encryption in Microsoft 365 - ExpertsLive Netherlands 2024Albert Hoitingh
In this session I delve into the encryption technology used in Microsoft 365 and Microsoft Purview. Including the concepts of Customer Key and Double Key Encryption.
GDG Cloud Southlake #33: Boule & Rebala: Effective AppSec in SDLC using Deplo...James Anderson
Effective Application Security in Software Delivery lifecycle using Deployment Firewall and DBOM
The modern software delivery process (or the CI/CD process) includes many tools, distributed teams, open-source code, and cloud platforms. Constant focus on speed to release software to market, along with the traditional slow and manual security checks has caused gaps in continuous security as an important piece in the software supply chain. Today organizations feel more susceptible to external and internal cyber threats due to the vast attack surface in their applications supply chain and the lack of end-to-end governance and risk management.
The software team must secure its software delivery process to avoid vulnerability and security breaches. This needs to be achieved with existing tool chains and without extensive rework of the delivery processes. This talk will present strategies and techniques for providing visibility into the true risk of the existing vulnerabilities, preventing the introduction of security issues in the software, resolving vulnerabilities in production environments quickly, and capturing the deployment bill of materials (DBOM).
Speakers:
Bob Boule
Robert Boule is a technology enthusiast with PASSION for technology and making things work along with a knack for helping others understand how things work. He comes with around 20 years of solution engineering experience in application security, software continuous delivery, and SaaS platforms. He is known for his dynamic presentations in CI/CD and application security integrated in software delivery lifecycle.
Gopinath Rebala
Gopinath Rebala is the CTO of OpsMx, where he has overall responsibility for the machine learning and data processing architectures for Secure Software Delivery. Gopi also has a strong connection with our customers, leading design and architecture for strategic implementations. Gopi is a frequent speaker and well-known leader in continuous delivery and integrating security into software delivery.
DevOps and Testing slides at DASA ConnectKari Kakkonen
My and Rik Marselis slides at 30.5.2024 DASA Connect conference. We discuss about what is testing, then what is agile testing and finally what is Testing in DevOps. Finally we had lovely workshop with the participants trying to find out different ways to think about quality and testing in different parts of the DevOps infinity loop.
Transcript: Selling digital books in 2024: Insights from industry leaders - T...BookNet Canada
The publishing industry has been selling digital audiobooks and ebooks for over a decade and has found its groove. What’s changed? What has stayed the same? Where do we go from here? Join a group of leading sales peers from across the industry for a conversation about the lessons learned since the popularization of digital books, best practices, digital book supply chain management, and more.
Link to video recording: https://bnctechforum.ca/sessions/selling-digital-books-in-2024-insights-from-industry-leaders/
Presented by BookNet Canada on May 28, 2024, with support from the Department of Canadian Heritage.
Securing your Kubernetes cluster_ a step-by-step guide to success !KatiaHIMEUR1
Today, after several years of existence, an extremely active community and an ultra-dynamic ecosystem, Kubernetes has established itself as the de facto standard in container orchestration. Thanks to a wide range of managed services, it has never been so easy to set up a ready-to-use Kubernetes cluster.
However, this ease of use means that the subject of security in Kubernetes is often left for later, or even neglected. This exposes companies to significant risks.
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SAP Sapphire 2024 - ASUG301 building better apps with SAP Fiori.pdfPeter Spielvogel
Building better applications for business users with SAP Fiori.
• What is SAP Fiori and why it matters to you
• How a better user experience drives measurable business benefits
• How to get started with SAP Fiori today
• How SAP Fiori elements accelerates application development
• How SAP Build Code includes SAP Fiori tools and other generative artificial intelligence capabilities
• How SAP Fiori paves the way for using AI in SAP apps
Essentials of Automations: The Art of Triggers and Actions in FMESafe Software
In this second installment of our Essentials of Automations webinar series, we’ll explore the landscape of triggers and actions, guiding you through the nuances of authoring and adapting workspaces for seamless automations. Gain an understanding of the full spectrum of triggers and actions available in FME, empowering you to enhance your workspaces for efficient automation.
We’ll kick things off by showcasing the most commonly used event-based triggers, introducing you to various automation workflows like manual triggers, schedules, directory watchers, and more. Plus, see how these elements play out in real scenarios.
Whether you’re tweaking your current setup or building from the ground up, this session will arm you with the tools and insights needed to transform your FME usage into a powerhouse of productivity. Join us to discover effective strategies that simplify complex processes, enhancing your productivity and transforming your data management practices with FME. Let’s turn complexity into clarity and make your workspaces work wonders!
UiPath Test Automation using UiPath Test Suite series, part 4DianaGray10
Welcome to UiPath Test Automation using UiPath Test Suite series part 4. In this session, we will cover Test Manager overview along with SAP heatmap.
The UiPath Test Manager overview with SAP heatmap webinar offers a concise yet comprehensive exploration of the role of a Test Manager within SAP environments, coupled with the utilization of heatmaps for effective testing strategies.
Participants will gain insights into the responsibilities, challenges, and best practices associated with test management in SAP projects. Additionally, the webinar delves into the significance of heatmaps as a visual aid for identifying testing priorities, areas of risk, and resource allocation within SAP landscapes. Through this session, attendees can expect to enhance their understanding of test management principles while learning practical approaches to optimize testing processes in SAP environments using heatmap visualization techniques
What will you get from this session?
1. Insights into SAP testing best practices
2. Heatmap utilization for testing
3. Optimization of testing processes
4. Demo
Topics covered:
Execution from the test manager
Orchestrator execution result
Defect reporting
SAP heatmap example with demo
Speaker:
Deepak Rai, Automation Practice Lead, Boundaryless Group and UiPath MVP
Welcome to the first live UiPath Community Day Dubai! Join us for this unique occasion to meet our local and global UiPath Community and leaders. You will get a full view of the MEA region's automation landscape and the AI Powered automation technology capabilities of UiPath. Also, hosted by our local partners Marc Ellis, you will enjoy a half-day packed with industry insights and automation peers networking.
📕 Curious on our agenda? Wait no more!
10:00 Welcome note - UiPath Community in Dubai
Lovely Sinha, UiPath Community Chapter Leader, UiPath MVPx3, Hyper-automation Consultant, First Abu Dhabi Bank
10:20 A UiPath cross-region MEA overview
Ashraf El Zarka, VP and Managing Director MEA, UiPath
10:35: Customer Success Journey
Deepthi Deepak, Head of Intelligent Automation CoE, First Abu Dhabi Bank
11:15 The UiPath approach to GenAI with our three principles: improve accuracy, supercharge productivity, and automate more
Boris Krumrey, Global VP, Automation Innovation, UiPath
12:15 To discover how Marc Ellis leverages tech-driven solutions in recruitment and managed services.
Brendan Lingam, Director of Sales and Business Development, Marc Ellis
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In this work, we equipped AFL, a popular fuzzer, with DIAR and examined two critical Linux libraries -- Libxml's xmllint, a tool for parsing xml documents, and Binutil's readelf, an essential debugging and security analysis command-line tool used to display detailed information about ELF (Executable and Linkable Format). Our preliminary results show that AFL+DIAR does not only discover new paths more quickly but also achieves higher coverage overall. This work thus showcases how starting with lean and optimized seeds can lead to faster, more comprehensive fuzzing campaigns -- and DIAR helps you find such seeds.
- These are slides of the talk given at IEEE International Conference on Software Testing Verification and Validation Workshop, ICSTW 2022.
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The Art of the Pitch: WordPress Relationships and Sales
OpenLMD, Multimodal Monitoring and Control of LMD processing
1. OpenLMD, Multimodal Monitoring
and Control of LMD processing
Jorge Rodríguez-Araújo
AIMEN Technology Center, Porriño, Spain
Photonics WEST 2017, 1-2-2017
2. openlmd.github.io | jorge.rodriguez@aimen.es 2
Index
Index
1. Laser Metal Deposition
2. Motivation and innovative character
3. Open Laser Metal Deposition
4. ROS-based robot cell integration
5. Multimodal monitoring and virtualization
6. Image registration and data acquisition
7. Closed-loop laser power control
8. 3D geometrical monitoring
9. Adaptive LMD path planning
10.Conclusions and future work
3. openlmd.github.io | jorge.rodriguez@aimen.es 3
Laser Metal Deposition (LMD)
Promising additive manufacturing technique
Parts are built up layer by layer directly from a 3D CAD model
The material is directly deposited on the previous surface
For repair and direct fabrication of pieces
Near-net-shape (close to the final shape)
Manufacturing of large metallic parts
LMD issues
Complex setup and adjustment of parameters
Time consuming robot programming for repairing tasks
Thermal heating accumulation and dimensional distortion
Repeatability, rising defects, and metalurllical properties
Traditional off-line process (with constant parameters) becomes unsucessful for large metallic parts
LMD, Laser Metal Deposition
4. openlmd.github.io | jorge.rodriguez@aimen.es 4
Motivation and innovative character
Motion
Controller
Off-line
Path Programming
6-Axis
Robot
Laser
Powder
Feeder
Power
Controller
Flow
Controller
Motivation
Lots of industrial robotized laser cells
Mostly manually operated
Lack of integration for monitoring and control
Innovation
Retrofit current laser cladding facilities for LMD
Empower robotized laser cells for effective AM
Apply state of the art robotic software solutions
Goals
Build a modular architecture for LMD full automation
Reduce heating accumulation for large parts
Adapt robot programming to the real part
Increase geometry accuracy and repeatability
Conventional Robotized
Laser Cladding Cell
5. openlmd.github.io | jorge.rodriguez@aimen.es 5
Open Laser Metal Depositon
Concept and approach
Open-source solution for on-line multimodal monitoring and control of LMD
Modular set of software components. Built on ROS (Robot Operating System)
Robotics, machine vision, embedded control, machine learning, big data
Full compatible with current robotized laser cladding cells
Focus on interoperability and standardization
ROS-based architecture
Multiprocessing architecture based on message publishing
Multi-node and multi-machine
Modular (e.g. robot, laser, camera)
Synchronized data acquisition (common timestamp)
High bandwidth data management (i.e. images)
Visualization tools and components (e.g. rviz)
Advanced robotics environment
6. openlmd.github.io | jorge.rodriguez@aimen.es 6
ROS-based robot cell integration
Powder
Feeder
Fiber Laser
6-Axis Industrial Robot
PC
Controller
Cladding
Head
ROS-Driver
(ABB Rapid)
Geometrical
Cell Description
(URDF)
STATE
PUBLISHER
Laser Source
(slave)
Powder Feeder
(slave)
COMMAND
SERVER
Power
Speed
Powder flow
Motion path
States
Commands
ROBOT
Process
parameters
AIMEN’s LMD robotized laser cell
ROS-based integration of modular laser cells
The PC commands the robot integrating interfaces and modules with ROS
The robot controls all the cell elements
ROS components for robot integration
Geometrical description (URDF)
ROS driver
7. openlmd.github.io | jorge.rodriguez@aimen.es 7
Multimodal monitoring and virtualization
Multimodal Cladding Head
3D System
Tachyon
MWIR
NIR
MWIR+NIR
Multispectral
Imaging
LMD Cell Virtualization
Multimodal monitoring approach
Coaxial SWIR/MWIR images (thermal monitoring): NIT microcore (1000fps) [1-3um]
Coaxial NIR images (surface monitoring): CMOS camera (100fps) [830-880nm]
Off-axis 3D system: on-line 3D point cloud scanning (50fps)
8. openlmd.github.io | jorge.rodriguez@aimen.es 8
Coaxial sensors registration
Image registration: process of transforming different sets of data into one coordinate system
Data acquisition
High throughput (28MB/s)
NIR + MWIR + 3D point cloud + robot
Data management and analysis
Bag files and Pandas DataFrames
NIT NIR
(0, 0)
vel
x
y
Image registration and data acquisition
Calibration → Projection
9. openlmd.github.io | jorge.rodriguez@aimen.es 9
Closed-loop laser power control
High speed SWIR/MWIR thermal meltpool monitoring (1000fps)
NIT Europe Tachyon 1024 microcore camera
Meltpool geometrical monitoring (elliptical approximation)
Increased geometry repeatability and reduced dilution and heat accumulation
Closed-loop laser power control
Meltpool, ellipse
approach
Width
(mm)
Time
(s)
10. openlmd.github.io | jorge.rodriguez@aimen.es 10
3D
triangulation
working
table
nozzle
3D geometrical monitoring
Industrial Robotic Laser Cell
ROBOT
ROS-DRIVER
CAMERA
IDS-DRIVER
State Publisher Peak Finder
Robot Pose
Tool-Camera
Laser
TriangulationCalibration
3D ProfileCamera Pose
3D Point Cloud
Working Cell Coordinate
On-line 3D geometrical reconstruction
On-line 3D point cloud registration
Real-time point cloud registration
Actual metric measurement (mm)
Direct acquisition in robot coordinates
11. openlmd.github.io | jorge.rodriguez@aimen.es 11
Adaptive LMD path planning
Adapts the path to the real geometry
3D vision guided full automated laser cladding repair of complex metallic parts
Automatic generation of robot trajectories
1. Part scanning and filtering
2. Surface selection and path generation
3. Repair job generation and supervision 3D Filtering
Initialization
(setup)
Scan layer
Depth mapTarget
Depth map
Disparity
Data
Layer path
planning
Layer Path Planning
(geometrical control)
Laser Cell
supervisor
Robotized Cell
0 Finished
Repair
Job
3D geometrical control
Coated surface
12. openlmd.github.io | jorge.rodriguez@aimen.es 12
Automatic coating of surfaces
3D scanning and robot path planning
Enabled by the 3D point cloud directly provided by the
3D geometrical monitoring solution
1. Workarea scanning (direct part information in
1. cell coordinates) [mm]
2. 3D point cloud projection (2D Zmap image)
3. Surface selection directly in the 2D image
4. Segmentation of the Zmap image
5. Contours calculation from the segmented surface
6. Contours and Zmap feed the path planner
7. A new path is automatically calculated from that
1. information
A second scanning after the process enables an
adaptive path planning strategy in a full automatic way
Surface selection
3D scanned surfaces
13. openlmd.github.io | jorge.rodriguez@aimen.es 13
Conclusions
Integration and data acquisition
Spatial reference system and temporally synchronized
Monitoring and control
Real-time closed-loop laser power control
Adaptive path planning
Work in-progress
Embedded image monitoring and control
Big data and deep learning approaches
Robot
Pose
Process speed
3D geometry
Point cloud
(<0.5mm)
SWIR/MWIR-NIR
2D melt pool
geometry
Thermal
distribution and
texture
Conclusions and future work
Reconfigurable
Modular and
reconfigurable
Interoperability
Large parts
Low-cost
solution
Scalability
14. AIMEN – Central y Laboratorios
c/ Relva 27 A
36410 – O PORRIÑO (Pontevedra)
Telf.+34 986 344 000 – Fax. +34 986 337 302
Thank you for your
attention
Jorge Rodríguez-Araújo | Research Engineer
Ph +34 986 344 000 | jorge.rodriguez@aimen.es
www.aimen.es | aimen@aimen.es
This work has receive funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement Nº 637081.
The dissemination of results herein reflects only the author’s view and the
Commission is not responsible for any use that may be made of the
information it contains.
http://openlmd.github.io