Fanuk IOT System - FIELD

FANUC FIELD system
FIELD system (FANUC Intelligent Edge Link & Drive) is a FANUC developed Industrial IoT (Internet of Things) platform that allows users to connect production machines of different generations and all manufacturers - not just FANUC equipment - in a system.
https://www.fanucamerica.com/products/industrial-iot/field-system

https://www.fanucamerica.com/products/cnc/cnc-software-solutions/mtlink-i



FANUC's Industrial IoT Platform FIELD system launches in Europe
10 December, 2019
https://www.cnctimes.com/editorial/fanucs-industrial-iot-platform-field-system-launches-in-europe

SKF and FANUC demonstrate edge platform technology solution for machine tool industry
2019 September 18, 10:00
CET
Gothenburg, Sweden, 18 September 2019: SKF and FANUC will be demonstrating an edge platform technology solution for automated anomaly detection of machine tool health at EMO Hannover Fair from 16-21 September.
https://www.skf.com/cz/news-and-events/news/2019/2019-09-18-skf-and-fanuc-demonstrate-edge-platform-technology-solution-for-machine-tool-industry

Crank Shaft Grinding - Specification - Process

Crankshaft journal surfaces should be ground and polished to a surface finish of 15 micro inches roughness average Ra or better. Journals on highly loaded crankshafts such as diesel engines or high performance racing engines require a finish of 10 micro inches Ra or better.


To prevent rapid, premature wear of the crankshaft bearings and to aid in the formation of an oil film, journal surfaces must be ground opposite to engine rotation and polished in the direction of rotation.

https://www.mahle-aftermarket.com/na/en/support/installation-tips/crank-grinding-and-polishing.jsp





CRANKSHAFT GRINDING SPECIFICATIONS

Bearing Size      Crankshaft Main Journal OD                               Crankshaft Rod Journal OD
Standard       79.324--79.350 mm (3.1229--3.1240 in.)  77.800--77.826 mm (3.0629--3.0640 in.)
0.25 mm (0.010 in.)  Undersize   79.074--79.100 mm (3.1131--3.1141 in.)       77.550--77.576 mm (3.0531--3.0541 in.)
Main and Connecting Rod Journal Surface Finish (AA) .....................Lap 0.20 um (8 AA)
Thrust Surface Finish (AA) ..................................................................Lap 0.40 um (16 AA)
Thrust Bearing Journal Width ..............................................................38.952--39.028 mm (1.5335--1.5365 in.)


Direction of Crankshaft Rotation (viewed from flywheel end):
Grinding ...............................................................................................clockwise
Lapping ................................................................................................counterclockwise
Engine Stroke ......................................................................................127 mm (5.00 i


http://constructionexcavators.tpub.com/TM-5-3805-280-24-2/TM-5-3805-280-24-200248.html

Grinding Machines

Okamoto Corporation
http://www.okamotocorp.com/

SURFACE

SADDLE
Manual Linear
AutomaticACC- 6•18 Series
.ACC-GX Series
ACC-SA1 Series
CNCACC-8•18NC
UPZ-8•20Li


COLUMN
AutomaticACC-DX Series
CNCACC-CAiQ Series
ACC-DXNC Series


DOUBLE COLUMN
CNCACC-CHiQ Series
.ACC-CHNC Series
.DCG Series

ROTARY
MDIPRG-DX Series
CNCPRG-DXNC Series

INTERNAL
MDIIGM-2MB
CNCIGM-15NCIII
IGM-15NCIII/2
UGM-5V

CYLINDRICAL
AutomaticOGM-8•20UDX
MDIOGM-III Series
CNCOGM-NCIII Series
OGM-12•20NCAGIII

SPECIAL
AEROLAP POLISHER
SEMI-CONDUCTOR
CASTINGS

Grinding Applications

Automotive Applications

OD and ID grinding of  brake cylinders, brake pistons, hydraulic steering pistons, selector shafts, spline and gear shafts, connecting rods, camshafts, and crank shafts are done.

Precision grinding of outside shaft diameters provides near-perfect fit between gears, bearings and other mating components. OD grinding of these components enhances concentricity of the shaft to its centerline while ensuring that accompanying diameters are concentric to one another. Offset ODs for non-concentric diameters, such as crank pin journals and cam lobes, are also precision ground. For this application, special crank and camshaft grinders are used.
ID grinding is required for precise fitting of brake cylinders, connecting rods and other applications.

Medical Industry

The medical industry uses grinding to produce surgical drills, dental drill bits, hip stems, hip balls, hip sockets, femoral knee joints and needles.

The aerospace industry

Turbine rings, turbine shafts, and inner and outer rings are a few of the aerospace components which are commonly precision ground.

Machine tool manufacturers

In machine tool components,  spindles, linear guideways, ballscrews, Hirth couplings in indexers and rotary tables, roller bearings, cams, racks, valve spools, and pistons are produced using grinding as a process.

Die/mold industry

In the die/mold industry,  thread dies, stamping dies, press brake tools, draw dies, thread rolling dies and mold inserts are some items that use grinding.  There are many other die and mold components that require grinding.

Tooling industry

The tooling industry that supports the die/mold and machine tool industries uses precision grinding to produce three- and four-jaw chucks, profile inserts, step drills, drill points, reamers, taps, ring gages and collets. ISO and HSK adapters and shanks for toolholding also require grinding.

https://www.americanmachinist.com/machining-cutting/article/21898453/chapter-17-cutting-tool-applications-grinding-methods-and-machines

https://www.hkdivedi.com/2015/12/applications-and-advantages-of-grinding.html

https://www.mmsonline.com/blog/post/buying-a-grinder-applications-for-grinding-machines

Robots - Industrial Applications - News - Bibliography

https://www.robotics.org/     https://www.robocup.org/   https://ifr.org/

Journal - Autonomous Robots  https://link.springer.com/journal/10514

International Journal of Advanced Robotic Systems (IJARS): Peer-reviewed, open access, international journal focusing on the full spectrum of robotics research. The journal is comprised of fifteen key Topic Areas, each led by an expert Topic Editor in the field.
https://journals.sagepub.com/home/arx

MIT News on Robots  http://news.mit.edu/topic/robots

https://www.fanucamerica.com/products/robots/series/crx  New Cobots from Fanuc in 2019


https://www.facebook.com/pg/FanucEurope/post



2020

19 February 2020
Spot - The Robot Dog

Boston Dynamics is communicating to the construction industry, as part of marketing Spot the robot dog, the services of Spot, as a vehicle for carrying image capturing or laser scanning equipment. It can even go where humans may not be able to.

Currently, Spot is available through an early adopter program, with lease prices that are less than the lease prices of cars. The robot is taking walks on construction jobsites in demonstrations. It has ability to autonomously walk, open doors and handle uneven terrain makes. It is  ideal for work on construction sites.

FANUC supplies 3,500 robots to BMW group
18 February 2020
Industrial robot manufacturer FANUC and automotive group BMW AG have signed a framework agreement for the supply of 3,500 robots for new production lines and plants.
https://www.eppm.com/machinery/fanuc-supplies-3-500-robots-to-bmw-group/


What is an Average Price for a Collaborative Robot ?
Mathieu Bélanger-Barretteby Mathieu Bélanger-Barrette. Last updated on Feb 05, 2020 2:28 PM
Posted on Feb 03, 2016 7:00 AM
https://blog.robotiq.com/what-is-the-price-of-collaborative-robots

24 Jan 2020
The Indian Space Research Organisation (ISRO) has released footage of its newest astronaut: a half-humanoid robot named Vyommitra.
https://www.popularmechanics.com/technology/robots/a30646158/india-humanoid-robot-vyommitra/

2019

AUTOMATION AND ROBOTICS
Calculating a Robot's ROI
Determining the total cost and return on investment of an industrial robot is not a straightforward evaluation.
DEC 24, 2019
https://www.americanmachinist.com/automation-and-robotics/article/21119237/calculating-a-robots-roi-tm-robotics

https://www.bcg.com/de-at/publications/2019/advanced-robotics-factory-future.aspx


FANUC’s New CRX-10iA Robot Raises the Bar in Collaborative Technology
FANUC America Corporation
POSTED 12/23/2019
https://www.robotics.org/content-detail.cfm/Industrial-Robotics-News/FANUC-s-New-CRX-10iA-Robot-Raises-the-Bar-in-Collaborative-Technology/content_id/8562

https://www.aithority.com/internet-of-things/fanucs-new-crx-10ia-robot-raises-the-bar-in-collaborative-technology/


Industrial Robots - Transforming the future
April May Automation and Digitization Issue
https://www.industr.com/en/A-and-D-Magazine/_storage/asset/2373432/storage/master/file/18754485/A&D%20Apr-May19.pdf


2018

KUKA lightweight robot LBR iiwa  in electronics assembly
Fujitsu Partners with KUKA to pioneer human-robot collaboration in mainboard handling and testing
This latest project requires a robot like the sensitive KUKA lightweight robot LBR iiwa that can handle the highly sensitive boards.”
Latest Newsby Sarah Mead, Web Editor, 12/04/2018
https://www.automationmagazine.co.uk/articles/fujitsu-partners-with-kuka-to-pioneer-human-robot-collaboration-in-mainboard-handling-and-testing/

2017
https://www.robotics.org/blog-article.cfm/Robotic-Material-Handling-Market-Set-for-Explosive-Growth/51


2016
https://www.manufacturingtomorrow.com/article/2016/07/robots-in-manufacturing-applications/8333

2013
Smart Robots: A Handbook of Intelligent Robotic Systems
V. Hunt
Springer Science & Business Media, 07-Mar-2013 - Technology & Engineering - 378 pages
https://books.google.co.in/books?id=kpXbBwAAQBAJ

2012

Groover - Appilcations of Robots Chapters

https://books.google.co.in/books?id=OsKjAgAAQBAJ&pg=PA357#v=onepage&q&f=false



Updated on 23 Feb 2020,  27 December 2019
13 September 2019

Productivity in Milling - Material Removal Rate

Material Removal Rate or Metal Removal Rate (MRR),  amount material is removed from a part in a given period of time. To increase  MRR, changes have to be made in  Radial Depth of Cut (RDOC), Axial Depth of Cut (ADOC), and feed in Inches Per Minute (IPM).

The formula for  Material Removal Rate  =  RDOC x ADOC x Feed Rate.

High Efficiency Milling

High Efficiency Milling (HEM) is a milling technique for roughing that utilizes a lower RDOC and a higher ADOC.  This results in a greater ability to increase your MRR, while maintaining and even prolonging tool life versus traditional machining methods.

In this machining process, while the increase in ADOC is compensated by decrease in RDOC, feed rate is increased by 10 times in one illustration and the MRR increases by 10 times.

https://www.harveyperformance.com/in-the-loupe/material-removal-rate-efficiency/

Productivity in Grinding - Increase in Material Removal Rate

DEVELOPMENTS IN PRODUCTIVITY

1915 Guest
It appears to be accepted that the work surface speed is the controlling feature.

Formerly it was the practice to run work at surface speeds from 150 feet per minute upwards to twice that amount or more. To-day the speeds used are much lower, but are very varied, some authorities advocating speeds from 10 to 20 and others from 60 to 70 feet per minute. The intermediate
portion of that extreme range is that which is most usually used. 

The following firms, who manufacture and use grinding machines, recommend the work surface speeds given

AUTHORITY                     WORK SURFACE SPEED

                                       IN FEET PER MINUTE.

Brown & Sharpe                      35-65

The Churchill Tool Co., Ltd.        35-70

Greenwood & Batley                  25

Alfred Herbert, Ltd. (Mr. Darby shire) 25

The Landis Tool Co.                  25


Where a different work speed can be used for finishing it should be higher than for the roughing out ; from 25 to 75 per cent, increase is reasonable. A still more may frequently be used with advantage and without introducing troubles from vibration. With this view  most authorities agree, but some  like Mr. Darbyshire, of Messrs.. Alfred Herbert's, and Mr. Edge, of the British Abrasive Wheel Co., among them advise a 25 per cent, reduction of the work speed for finishing.


2009
Huge increases in productivity have been achieved in grinding due to advances in grinding
wheel technology. The developments in wheel technology were supported by parallel developments in the machines and auxiliary equipment employed. Grinding wheels operated  at low wheel speeds in the early twentieth century. Now  advanced conventional abrasives and superabrasives operate at high wheel speeds.  Over this period, material removal rates have increased for some grinding
processes by a staggering 10 to 100 times.

GRINDING  WHEELS TREND TOWARD HIGHER SPEEDS

Vitrified CBN wheel speeds have risen significantly.  In 1980, 60 m/s was considered high speed; by 1990, 80 m/s was becoming common in production; by 1995, the speed reached 120 m/s; and then by 2000, the speed was 160 m/s. Further reports are available that  several machines for vitrified wheels are entering production for grinding cast iron at 200 m/s. Speeds of up to 500 m/s have been reported experimentally with plated CBN [Koenig and Ferlemann 1991].


Conventional vitrified bonded wheels generally default to a maximum wheel speed of 23 to 35
m/s depending on bond strength and wheel shape. Certain exceptions exist; thread and flute grinding
wheels tend to operate at 40 to 60 m/s and internal wheels up to 42 m/s. (A full list is given in
ANSIB7.1 2000 Table 23.)

Automobile Body in White Design - Production of Components and Assembly

https://www.linkedin.com/pulse/body-white-biw-design-fundamentals-part1-mahm%C3%BCd-hosseinjani

https://www.linkedin.com/pulse/body-white-design-fundamentals-part-2-mahm%C3%BCd-hosseinjani-



https://sites.google.com/site/bodyiinwhite/biw-body-in-white


BIW Types

Body on Frame Construction
Body is mounted on a separate chassis / frame
Used in utility vehicles, trucks, buses
Wheels and suspension are mounted on chassis

Monocoque construction (Chassis in built in Body)

Chassis is inbuilt with BIW itself and there is no separate chassis
Used in all the passenger cars and to some extent in utility vehicles
Wheels and suspension are directly mounted to BIW

https://sites.google.com/site/bodyiinwhite/biw-body-in-white/biw-components

Welding in BIW

https://sites.google.com/site/bodyiinwhite/biw-body-in-white/biw-assembly




https://www.kth.net/product-information/automotive-underbody/


https://books.google.co.in/books?id=YgaJAgAAQBAJ&pg=PA198#v=onepage&q&f=false



https://books.google.co.in/books?id=ZBrg8iwcRfsC&pg=PA354&lpg=PA354#v=onepage&q&f=false

30 minute video BMW X2 Plant
______________

______________

http://www.madehow.com/Volume-1/Automobile.html


https://projects.skill-lync.com/projects/INTRODUCTION-OF-BIW-FIXTURES-26037

Industrial Robot Software

https://www.fanucamerica.com/products/robots/software

Seven - 7 Axis Robot

https://roboticsandautomationnews.com/2017/11/23/fanuc-launches-new-seven-axis-robot-for-automotive-spot-welding/15114/

https://www.mfgnewsweb.com/archives/4/50979/Metalforming-Fabricating-Waterjet-apr18/Automotive-Spot-Welding-with-7-Axis-Robot.aspx

https://www.roboticstomorrow.com/article/2019/07/worlds-first-composite-concrete-7th-axis-used-for-the-first-time-in-series-production-at-car-manufacturer/13885/

Grinding Science and Parameters

GRINDING SCIENCE

An early device for dressing a sandstone grinding wheel was patented by Altzschner in 1860 .
Seminal publications by Alden and Guest started the process of bringing the art of grinding into a scientific basis [Alden1914, Guest 1915].

Grinding is a machining process that employs an abrasive grinding wheel rotating at high speed
to remove material from a softer material. In modern industry, grinding technology is highly
developed according to particular product and process requirements. Many grinding machines combine computer-controlled feed-drives and slide-way motions, allowing complex shapes to be manufactured free from manual intervention. Modern systems will usually incorporate algorithms to compensate for wheel and dressing tool wear processes. Programmable controls may also allow fast push-button set-up. Monitoring sensors and intelligent control introduce the potential for a degree of self-optimization.

Faster grinding wheel speeds and improved grinding wheel technology have allowed greatly
increased removal rates. Grinding wheel speeds have increased by two to ten times over the last century. Removal rates have increased by a similar factor and in some cases by even more. Removal rates of 30 mm3/mm/s were considered fast 50 years ago, whereas today, specific removal rates of 300 mm3/mm/s are increasingly reported for easy-to-grind materials. In some cases, removal rates exceed 1,000 mm3/mm/s. Depths of cut have increased by up to 1,000 times values possible 50 years ago. This was achieved through the introduction of creep-feed and high-efficiency deep grinding technology.

Advances in productivity have relied on increasing sophistication in the application of abrasives.
The range of abrasives employed in grinding wheels has increased with the introduction of new
ceramic abrasives based on sol gel technology, the development of superabrasive cubic boron nitride
(CBN), and diamond abrasives based on natural and synthetic diamond.

New grinding fluids and methods of delivering grinding fluid have also contributed in achieving higher removal rates while maintaining quality. Developments include high-velocity
jets, shoe nozzles, factory-centralized delivery systems, neat mineral oils, synthetic oils, vegetable
ester oils, and new additives. Minimum quantity lubrication provides an alternative to flood and
jet delivery aimed at environment-friendly manufacturing.

The problems experienced in grinding include thermal damage, rough surfaces, vibrations, chatter, wheel glazing, and rapid wheel wear. Overcoming these problems quickly and efficiently is helped by a correct understanding of the interplay of factors in grinding.

Evaluation of grinding system costs including labor, equipment, and nonproductive time is taking place now.

Grinding  Parameters

Grinding Process Parameters

2.1.1 Wheel Life
2.1.2 Redress Life
2.1.3 Cycle Time
2.2 Process Parameters
2.2.1 Uncut Chip Thickness or Grain Penetration Depth
2.2.2 Wheel Speed
2.2.3 Work Speed
2.2.4 Depth of Cut
2.2.5 Equivalent Wheel Diameter
2.2.6 Active Grit Density
2.2.7 Grit Shape Factor
2.2.8 Force per Grit
2.2.9 Specific Grinding Energy
2.2.10 Specific Removal Rate
2.2.11 Grinding Power
2.2.12 Tangential Grinding Force
2.2.13 Normal Grinding Force
2.2.14 Coefficient of Grinding
2.2.15 Surface Roughness
2.2.16 RT Roughness
2.2.17 RA Roughness
2.2.18 Rz Roughness
2.2.19 Material or Bearing Ratio
2.2.20 Peak Count
2.2.21 Comparison of Roughness Classes
2.2.22 Factors That Affect Roughness Measurements
2.2.23 Roughness Specifications on Drawings
2.2.24 Stock Removal Parameter
2.2.25 Decay Constant τ
2.2.26 G-Ratio
2.2.27 P-Ratio
2.2.28 Contact Length
2.2.29 Geometric Contact Length
2.2.30 Real Contact Length

Grinding Temperatures Related Parameters
2.3.1 Surface Temperature
2.3.2 Maximum Workpiece Surface Temperature
2.3.3 The Cmax Factor
2.3.4 The Transient Thermal Property βw
2.3.5 Workpiece Partition Ratio Rw
2.3.6 Effect of Grinding Variables on Temperature
2.3.7 Heat Convection by Coolant and Chips
2.3.8 Control of Thermal Damage

Cyber Physical Machine Tool - Machine Tool 4.0

A new generation of machine tools are to be developed to be parts of Industry 4.0 production systems. Machine Tool 4.0 will be CyberPhysical Machine Tool (CPMT) and it will be a key component of  CPPS.

The proposed CPMT consists of four main components:
(1) CNC Machine Tool, (2) Data Acquisition Devices,
(3)Machine Tool Cyber Twin (MTCT), and
(4) Smart Human Machine Interfaces (HMIs).

MTCT comprises four main components:
a) Information Model,
b) Database,
c) Intelligent Algorithms and Analytics, and
d) Machine-to-Machine (M2M) Interfaces.


x The Information Model comprehensively represents both the structure of the machine tool and the real-time status of each critical component by taking full advantage of the real-time data coming from the Data Acquisition Devices.

x The Database records all the important historical information of the machine tool, making it available for further analysis both locally and in the cloud.

x Intelligent algorithms and analytics transform the data coming from Data Acquisition Devices into meaningful information and offer various intelligent and autonomous functions, such as Prognostics and Health Management (PHM), machining optimization and Augmented Reality (AR)-assisted process visualization. Intelligent algorithms and analytics make the machine tool more adaptive to the changing machining conditions.

x M2M Interfaces allow the MTCT to semantically
communicate with the Cyber Twins of other field-level
devices (robots, AGVs, workpieces, etc.). Embedded
algorithms enable the physical objects in the
manufacturing system to monitor and control each other,
leading towards an autonomous-cooperative manufacturing
environment.

Robots in Automotive Assembly - Industry

2/13/2020 |
Robot Developments for Automotive Applications
Spot welding continues to be a major application area in automotive and robot manufacturers are improving the tech to make that happen as efficiently as possible.
https://www.autobeatonline.com/articles/robot-developments-for-automotive-applications


The rise of robots in the Indian automobile industry
21/06/2019
https://www.maschinenmarkt.international/english/global/articles/839593/

Kuka Automotive Robots

2020

Innovations and successes for the automotive industry

The robots of our KR QUANTEC series are ideal for catering to various requirements of the automotive industry. For example, our portfolio includes the KR QUANTEC nano F exclusive washers, the precise robots of the KR QUANTEC extra family or the powerful industrial robots of the KR QUANTEC ultra family.
Our production facility in Toledo, Ohio, where we use our own technologies, is one of the most efficient car body factories in North America according to the Harbor Report.

KUKA cooperates in numerous research projects with institutions such as Arena 2036 or the E3 Research Fraunhofer Institute, the Technical University Munich and the German Aerospace Center. Over the course of the projects, we have already implemented several applications in our software, for example, KUKA.UserTech in order to ensure optimal data transmission and easy programming.
We work with customers all over the world to help shape and drive forward-looking business models and contract forms such as pay-per-use business models. Please feel free to contact us if you are interested.
https://www.kuka.com/en-in/industries/automotive



November 2013


KUKA Robotics India unveiled the KR QUANTEC Series Robot KR 210R2700 extra series variant and the KR C4 robot controller, new KR AGILUS series KR 6 R900 and the KR C4 compact robot controller at the KUKA Robotics India product launch event at Pune.

 New products, expansion of the service-proven robot family and innovative control technologies enable the Augsburg-based robotics specialist to demonstrate its areas of expertise in general industry.

The KR AGILUS excels in the 6 kg and 10 kg payload categories with utmost precision at extremely high speeds. It is for handling tasks with very short cycle times.

KUKA Robotics India presented its new KR QUANTEC robot series – the successor to the bestselling comp and 2000 series. With its extensive range of models, comprising 15 basic robot types with various mounting options, the KR QUANTEC series ensures that there is a perfectly suited robot for every customer-specific application. The robot family covers the entire high payload range from 90 to 300 kg, with reaches from 2,500 to 3,100 mm, press-linking robots for the metalworking industry, shelf-mounted robots for the plastics industry, palletising robots for
the logistics sector and foundry variants for foundry settings are demonstrating their flexibility in applications covering all areas of general industry.

All KUKA robot types have something in common: their open architecture and the features of the KR C4 controller generation. In addition to robot, motion, sequence and process control; safety control has also been seamlessly integrated into the control system. The KR C4 thus not only ensures the simple implementation of dedicated monitoring functions; more importantly, the control technology ensures that the motion and velocity of the robot can be influenced safely.  The machine tool industry now has the software packages mxAutomation and KUKA.CNC at its disposal, enabling the robot and machine tool to work together more efficiently as a system and simplifying production.


https://www.oemupdate.com/uncategorized/kuka-makes-automation-as-easy-as-a-b-c/

KUKA launches new generation of the KR QUANTEC series 0

 MARCH 21, 2019
 the . The new generation KR QUANTEC can be ordered from January onwards with initial delivery scheduled for April 2019. Among other things, the series has been optimized in terms of performance, cost-effectiveness and flexibility.

Since its market launch in 2010, over 100,000 KR QUANTEC series robots have been delivered. With a payload capacity of between 120 to 300 kg, the robots are designed for use in nearly every market segment – such as the automotive industry, the foundry sector and the field of medicine, as well as for processing and materials handling tasks.

For more information, or to request a brochure, please email:

sales@kuka-robotics.co.uk  or contact: 0121 505 9970

KUKA India Sales
KUKA India Private Limited- Head Office, 404, Good Earth Business Bay, Sector 58, Gurugram 122101, Haryana , India
Phone 91 124 4748300



The KR QUANTEC prime is virtually unbeatable when it comes to robustness. It has a maximum reach of 2,500 millimeters with a payload of 240 kilograms. Yet it is as streamlined and light as its other family members. As a result, the prime robots are the new performance benchmark in spot welding. As shelf-mounted robots, they are optimized to minimize space requirements and that extends the economical reach range.

https://www.kuka.com/en-in/products/robotics-systems/industrial-robots/kr-quantec-prime


KUKA ready2_spot
KUKA ready2_spot is the right KUKA solution for achieving fast and uncomplicated integration of robots for spot welding. Costs and efforts are reduced and quality increases.
https://www.kuka.com/en-de/products/robot-systems/ready2_use/kuka-ready2_spot
https://www.kuka.com/en-de/products/robot-systems/industrial-robots
https://www.kuka.com/en-de/products/robot-systems/software/application-software/kuka-servogun

spot welding kuka processes
https://www.kuka.com/en-in/products/process-technologies/2016/07/spot-welding

Cyber Physical System Components

NIST Special Publication 1500-201

Framework for Cyber-Physical Systems: 

Volume 1, Overview, Version 1.0
Cyber-Physical Systems Public Working Group
Smart Grid and Cyber-Physical Systems Program Office
Engineering Laboratory

This publication is available free of charge from:
https://doi.org/10.6028/NIST.SP.1500-201


This document defines a CPS as follows:

Cyber-physical systems integrate computation, communication, sensing, and actuation with physical systems to fulfill time-sensitive functions with varying degrees of interaction with the environment, including human interaction.

CPS should be characterized by well-defined components. They should provide components with well-known characteristics described using standardized semantics and syntax. Components should use standardized component/service definitions, descriptions, and component catalogs.

Components that contain sensors and/or actuators should have an appropriate level of awareness of physical location and time. For example, the accuracy requirement for location will change based upon the application. To support such applications, components may need the ability to access and/or report both location and the associated uncertainty of the location.

component:  Modular, deployable, and replaceable part of a system that encapsulates implementation and exposes a set of interfaces.
[Source: ISO TS 19104:2008, Geographic information – Terminology,
https://www.iso.org/standard/45020.html]

Grinding Process and Machines - Evolution and Development 100+ Years History

1847
List of patents for inventions and designs,
issued by the United States, from 1790 to 1847, with the patent laws and notes of decisions of the courts of the United States for the same period:
compiled and published under the direction of Edmund Burke, commissioner of patents.
https://catalog.hathitrust.org/Record/001511243

1891
A treatise on the construction and use of universal and plain grinding machines, for cylindrical and conial surfaces,
https://catalog.hathitrust.org/Record/001616161

1898
Construction and use of universal grinding machines, for cylindrical and conical surfaces.
Brown & Sharpe Mfg. Co., Providence, R.I., U.S.A. Manufactures of machinery and tools.
https://catalog.hathitrust.org/Record/005752009


1908
American machinist grinding book :
modern machines and appliances, methods and results /
by Fred H. Colvin and Frank A. Stanley.
https://catalog.hathitrust.org/Record/012305699

1909
Grits and grinds.
Worcester, Mass., Norton Company.
Subjects: Grinding and polishing > Grinding and polishing /Periodicals.
Note: Ceased publication with v. 62, no. 2, 1971.
Monthly, 1909-June 1932, 1941-71; bimonthly, July 1932-1940 (irregular).
https://catalog.hathitrust.org/Record/008616040
More volumes available

1913
Abrasive age.
Devoted to the better use of abrasives.
Corporate Author: Carborundum Company (Niagara Falls, N.Y.)
 Full view vol-2(1913-July 1914)
https://catalog.hathitrust.org/Record/100156661

1915
Advanced grinding practice;
a treatise on precision grinding methods and the equipment used in modern grinding practice,
by Douglas T. Hamilton ... and Franklin D. Jones ...
https://catalog.hathitrust.org/Record/001616168

1917
How to lay-out turret lathe tools: a handbook for those who design tools for use on turret and capstan lathes and automatic turning machines.
https://catalog.hathitrust.org/Record/012305701

1918
Uniform cost system for grinding wheel manufacturers /
by Henry Duckworth, Samuel P. Byers, Charles D. Shaw.
https://catalog.hathitrust.org/Record/100677857


1919
"Abrasive" grinding wheels.
Catalogue No. 7.
Abrasive Company, Philadelphia, Pa.
https://catalog.hathitrust.org/Record/100758768


1919
Abrasives & abrasive wheels, their nature, manufacture and use;
a complete treatise on the manufacture and practical use of abrasives, abrasive wheels and grinding operation ...
by Fred B. Jacobs. A practical handbook forengineers, factory superintendents, foundrymen, shop foremen and mechanics in general.
https://catalog.hathitrust.org/Record/002024223

1920
Steadyrests,
form grinding, grinding of plane surfaces,
by Howard W. Dunbar.
https://catalog.hathitrust.org/Record/012305707


Little known facts about grinding and grinding kinks;
a series of brief articles, treating of commonplace facts concerning grinding ...
[By] Howard W. Dunbar.
https://catalog.hathitrust.org/Record/005752011

1921
Lapping and polishing;
a treatise on lapping and polishing practice, including the abrasives used for lapping, methods of charging laps, materials for polishing, and polishing wheels,
by Edward K. Hammond.
https://catalog.hathitrust.org/Record/011272106

Grinding machines and their use, the main principles, equipment and methods of precision grinding based on long experience in the design, construction, and application of grinding machines, for students, mechanics, designers, and practising engineers
by Shaw, Thomas Raynor
Publication date 1921
https://archive.org/details/grindingmachines00shawrich/page/n6/mode/2up


1922
Grinding, wheels, machines, methods;
information on modern practice in the production and application of abrasives, grinding wheels and grinding machines,
comp. by members of the executive and technical staffs of the Norton Company.
https://catalog.hathitrust.org/Record/005752017

Grits and Grinds
Series of articles on grinding methods
https://babel.hathitrust.org/cgi/pt?id=uiug.30112002882956&view=1up&seq=82

1935
A bibliography on the cutting of metals ...
Vol 1 to Vol 3
https://catalog.hathitrust.org/Record/001171948

1937
Tool room grinding,
by Fred B. Jacobs.
https://catalog.hathitrust.org/Record/005752015

1938
Grinding wheels and their uses :
a handbook and textbook on modern grinding and polishing practice and theory /
by Johnson Heywood under the auspices of the Grinding wheel manufacturers association and the Abrasive grain association.
https://catalog.hathitrust.org/Record/001616170

Artificial abrasives and abrasive products
https://catalog.hathitrust.org/Record/100900729

1940
Grinding machines;
prepared under direction of the chief of the Air corps.
https://catalog.hathitrust.org/Record/009212694

1942
Surface finish;
report of the Research department
by Dr. Geo. Schlesinger ... January 1942 ...
https://catalog.hathitrust.org/Record/001045042

1944
Diamond tools
[by] Paul Grodzinski.
https://catalog.hathitrust.org/Record/001616080

1945
Artificial abrasives and abrasive products.
https://catalog.hathitrust.org/Record/102360284

1946
Machine operation times for estimators;
standard data and methods,
https://catalog.hathitrust.org/Record/001510827

[1952 Standard data for turret lathes and hand screw machines.  https://catalog.hathitrust.org/Record/006183552]

1948
Artificial abrasives and abrasive products.
https://catalog.hathitrust.org/Record/100901349

1949
Thread Grinding And Measurement
by Dawney W. H.
Publication date 1949
archive.org

1952
US Patent 2601747: Grinding apparatus
by American Bosch Corp
Publication date 1952-07-01
https://archive.org/details/us_patent_2601747

1953
Design change on the two stone dressing tool used in dressing the grinding wheel on a contour centerless grinder /
Charles J. Michel
https://catalog.hathitrust.org/Record/100610611

Ceramic wheel sphere grinder /
by Peter Senio and Charles W. Tucker, Jr.
https://catalog.hathitrust.org/Record/101827720


1954
Effect of water and alcohol on the grinding of metals /
by V.D. Kuznetsov, corresponding member of the USSR Academy of Science, and V.D. Taranenko.
https://catalog.hathitrust.org/Record/102199342

1955
Getting the most out of your abrasive tools;
a complete handbook covering all branches of abrasive tool operation in the home workshop with over 250 photographic illus. and line drawings.
https://catalog.hathitrust.org/Record/006216557

Titanium in industry :
technology of structural titanium /
Stanley Abkowitz, John J. Burke, Ralph H. Hiltz.
https://catalog.hathitrust.org/Record/001513526

1959
Belt grinding of titanium sheet and plate /
Carl T. Olofso
https://catalog.hathitrust.org/Record/102326431

Dimensional control in precision manufacturing,
as applied in production machining to effect higher production and lower unit costs.
https://catalog.hathitrust.org/Record/010084720

1960
Metal cutting bibliography, 1943-1956.
https://catalog.hathitrust.org/Record/001171949

Machine shop operations and setups /
Harold W. Porter, Charles H. Lawshe, Orville D. Lascoe.
https://catalog.hathitrust.org/Record/009127258
Other editions available

1963
Sintered corundum.
https://catalog.hathitrust.org/Record/101877660

1964
Operator's manual :
grinding machine, valve face (K.O. Lee model K403 CM) (4910-540-4679).
https://catalog.hathitrust.org/Record/009785949

Industrial diamond;
a materials survey /
by Henry P. Chandler.
https://catalog.hathitrust.org/Record/005889562


1965
Machining and grinding of titanium and its alloys /
C.T. Olofson, F.W. Boulger, and J.A. Gurklis.
https://catalog.hathitrust.org/Record/100960721


1967
Operator's manual :
grinding machine, machine tool attachment, internal and external grinding, 5" maximum external diameter wheel, 1/4" minimum internal diameter wheel, 4,600 to 42,400 rpm spindle speed, 1/2 hp, AC/DC, 115 V, 60-C, single phase (Dumore series 5) ...
https://catalog.hathitrust.org/Record/009786041

1968
Principles of Grinding
NBS Special Publication, Issue 225
U.S. Government Printing Office, 1968
https://books.google.co.in/books?hl=en&lr=&id=wzdr8mw0sZgC
https://books.google.co.in/books?hl=en&lr=&id=wzdr8mw0sZgC&oi=fnd&pg=PA59#v=onepage&q&f=false


1969
Operator's manual :
grinding machine, cylinder head (Cedar Rapids Engineering model 860), FSN 4910-889-2051.
https://catalog.hathitrust.org/Record/009786817

1974
An Experimental Investigation of Grinding Machine Compliances and Improvements in Productivity
Proceedings of the Fourteenth International Machine Tool Design and Research Conference, 1974,  pp 479-486
https://link.springer.com/chapter/10.1007/978-1-349-01921-2_61

1976
Selection of Operating Parameters in Surface Grinding of Steels
S. Malkin
J. Eng. Ind. Feb 1976, 98(1): 56-62 (7 pages)

1981
Grinding Cycle Optimization
Stephen Malkin
CIRP Annals
Volume 30, Issue 1, 1981, Pages 223-226

1984
Optimal Infeed Control for Accelerated Spark-Out in Plunge Grinding
S. Malkin , Y. Koren
J. Eng. Ind. Feb 1984, 106(1): 70-74 (5 pages)

1985
Current Trends in CBN Grinding Technology
S.Malkin
CIRP Annals
Volume 34, Issue 2, 1985, Pages 557-563


1988
Speed-Stroke Grinding of Advanced Ceramics
Author links open overlay panelI.Inasaki
CIRP Annals
Volume 37, Issue 1, 1988, Pages 299-302

1990
Time-optimum adaptive control of plunge grinding
J.Webster, Y.W.Zhao
International Journal of Machine Tools and Manufacture
Volume 30, Issue 3, 1990, Pages 413-421

1992
Modelling and Simulation of Grinding Processes
H.K.Tönshoff, J.Peters, I.Inasaki, T.Paul
CIRP Annals
Volume 41, Issue 2, 1992, Pages 677-688

1993
Autonomous System for Multistage Cylindrical Grinding
Guoxian Xiao , Stephen Malkin , Kourosh Danai
J. Dyn. Sys., Meas., Control. Dec 1993, 115(4): 667-672 (6 pages)

1996
On-Line Optimization for Internal Plunge Grinding
G.Xiao, S.Malkin
CIRP Annals
Volume 45, Issue 1, 1996, Pages 287-292

2000
High Speed Grinding of Silicon Nitride With Electroplated Diamond Wheels, Part 2: Wheel Topography and Grinding Mechanisms 
T. W. Hwang , C. J. Evans , S. Malkin, Distinguished Professor, Fellow of ASME
J. Manuf. Sci. Eng. Feb 2000, 122(1): 42-50 (9 pages)

New Technology in Metalworking Fluids and Grinding Wheels Achieves Tenfold Improvement in Grinding Performance
Presented at the
Coolants/Lubricants for Metal Cutting and Grinding Conference
Session 5: Optimizing Fluid Interaction in Cutting and Grinding Systems
The Ambassador West Hotel
Chicago, Illinois
June 7, 2000
M. K. Krueger*, S. C. Yoon, D.Gong – Milacron, Inc.
S. B. McSpadden Jr.*, L. J. O’Rourke,
R. J. Parten – Oak Ridge National Laboratory

2001

High-speed grinding with CBN grinding wheels — applications and future technology

M.J.Jacksona, C.J.Davis, M.P.Hitchiner, B.Mills

Journal of Materials Processing Technology

Volume 110, Issue 1, 1 March 2001, Pages 78-88

2002
Multi-parameter optimization and control of the cylindrical grinding process
G.F.Li, L.S.Wang, L.B.Yang
Journal of Materials Processing Technology
Volume 129, Issues 1–3, 11 October 2002, Pages 232-236

2006
Optimization of Grinding Process Through Design of Experiment (DOE)—A Comparative Study
N. Alagumurthi ,K. Palaniradja &V. Soundararajan
Materials and Manufacturing Processes
Volume 21, 2006 - Issue 1

High-performance grinding—A review
J.Kopac, P.Krajnik
Journal of Materials Processing Technology
Volume 175, Issues 1–3, 1 June 2006, Pages 278-284

2009
( RWTHedition) Fritz Klocke (auth.) Manufacturing Processes 2 Grinding, Honing, Lapping Springer Verlag Berlin Heidelberg ( 2009)

Industrial challenges in grinding
J.F.G.Oliveira,E.J.SilvabC.Guo, F.Hashimoto
CIRP Annals
Volume 58, Issue 2, 2009, Pages 663-680


2010
Applications of High-Efficiency Abrasive Process with CBN
by Y Hou - ‎2010 -
https://www.scirp.org/pdf/Engineering20100300007_27519096.pdf

11/10/2010
Advanced Grinding, Plain and Simple
Advanced grinding equipment gives this shop the flexibility and automation it needs to serve customers with either rapid-response or high-volume jobs.
https://www.mmsonline.com/articles/advanced-grinding-plain-and-simple



2016
High Performance Grinding☆
Fritz Klocke, Sebastian Barth, Patrick Mattfeld
Procedia CIRP
Volume 46, 2016, Pages 266-271
https://www.sciencedirect.com/science/article/pii/S2212827116302542

2017
automation of in feed centerless grinding machine - IJESRT
http://www.ijesrt.com/issues%20pdf%20file/Archive-2017/April-2017/109.pdf

Carborundum Universal Limited (CUMI) has developed  ‘Micro Crystalline Grain – EX Series for higher productivity in grinding
Micro crystalline grain – Ex series
Features :
These are sharp/extruded grains of micro crystalline in nature with an aspect ratio of four times more than that of a regular grain
Capable of handling higher feed rates (upto 3 times than a conventional grain).
Few Major applications: Gear grinding, roll grinding, angular grinding, internal grinding, centreless grinding, crank grinding, cylindrical grinding, creep feed grinding.
https://www.industr.com/en/productivity-improvement-in-grinding-process-2313730

CUMI's Grinding System Engineering or GSE
CUMI's Grinding System Engineering or GSE can generate a Quantum Leap in Productivity and a reduction in total grinding cost. It combines CUMI's grinding wheels, MWF's and services to achieve a Quantum Leap in Productivity.
GSE:  gse_abrasives@cumi.murugappa.com
https://www.cumi-murugappa.com/abrasives/grinding-system-engineering/


2018
Adaptive Profile Gear Grinding Boosts Productivity of this Operation on the CNC Machine Tools
Design, Simulation, Manufacturing: The Innovation Exchange
DSMIE 2018: Advances in Design, Simulation and Manufacturing pp 79-88
https://link.springer.com/chapter/10.1007/978-3-319-93587-4_9


2019
Optimization of Grinding Parameters for Minimum Grinding Time When Grinding Tablet Punches by CBN Wheel on CNC Milling Machine
Applied Sciences  Volume 9  Issue 5 2019



Updated on 24 Feb 2020
20 Feb 2020

Autonomous Mobile Robots - Evolution, Development and Applications

1999

DESIGN, CONTROL, AND APPLICATIONS OF AUTONOMOUS MOBILE ROBOTS

D. FLOREANO, J. GODJEVAC, A. MARTINOLI, F. MONDADA AND J-D. NICOUD
Micro-computing Laboratory, Swiss Federal Institute of Technology in Lausanne, LAMI-INF-EPFL, CH-1015 Ecublens

The paper described the Khepera miniature robots developed to support research and developments in research upto that period.

Khepera miniature mobile robot was initially designed in 1991 by E. Franzi, A. Guignard, and F. Mondada, based on ideas of J-D. Nicoud.

F. Mondada, E. Franzi, and P. Ienne. Mobile robot miniaturization: A tool for investigation in control algorithms. In T. Yoshikawa and F. Miyazaki, editors, Proceedings of the Third International Symposium on Experimental Robotics, pages 501{513, Tokyo, 1993. Springer Verlag. 31. A. Murciano and J. del R. Mill an. Lear

Some important features of the robot.

MINIATURISATION
Miniaturisation of a mobile robot brings some advantages to the researcher

HARDWARE AND SOFTWARE MODULARITY
Hardware modularity enables different possible con gurations and experiments using the same basic components. It means also possible extensions and, globally, cheaper equipment. Software modularity means exibility and possibilities for extensions, which enables the software developer to write only parts of the program required for the specifi c application. Khepera is based on this concept of modularity, both in hardware and software.

FROM SIMULATIONS TO APPLICATIONS USING KHEPERA

Several researchers in the field of autonomous mobile robots belong to computer science, arti ficial intelligence. Being a physical robot, it introduces most of the characteristics of robots used for real-world applications. Several Khepera users who have moved from simulations to the miniature robot and have highlighted the advantages of using these modes.  Recent construction of the new larger Koala robot, which is software compatible with Khepera, enables the transfer of developments made on the Khepera to a more complex platform which can be used for real-world applications.

Basic con guration

In its basic con guration ( gs. 1 and 2), Khepera consists of two layers corresponding to two main boards: the sensory-motor board and the CPU board. The motor system consists of two lateral wheels and two pivots on the front and back. This con figuration is very good for facing complex geometric obstacles because the robot can turn in place without lateral displacement. The sensory system available in the basic con guration is placed on the lower board, consisting of 8 infrared-light proximity sensors distributed around the body, 6 on one side and two on the other. These
sensors can detect the presence of objects by emitting and measuring reected light and can also be used as simple passive infrared light sensors.

On the sensorimotor board are also placed NiCd batteries with a capacity of 110 mAh which allow the robot to be self-su cient for approximately 30-40 minutes. The CPU board encloses the robot's main processor (a Motorola MC68331 with 128 K-bytes of EEPROM and 256 K-bytes of static
RAM). An A/D converter allows the acquisition of analog signals coming from the sensory-motor board. An RS232 serial line is also available on the board via a miniature connector. On this same connection, a wire can also provide continuous power supply from an external source.

Fuzzy control

Fuzzy logic offers the possibility to express and implement human know-how in the form of linguistic if-then rules which can be applied for the control of nonlinear systems, such as mobile robots. Every rule has two parts: the antecedent part (premise), expressed by If. . . , and the consequent part, expressed by: then. . . . The general form of a linguistic if-then rule is: If a set of conditions is satis ed then a set of consequences can be inferred.

A fuzzy controller is composed of four principal modules.  The fuzzi cation interface performs the transformation of crisp values into fuzzy sets. The know ledge base supplies the fuzzi cation module,
the inference engine, and the defuzzi cation interface with necessary information (parameters of membership functions and rules) for their proper functioning. The decision making unit, or inference engine, computes the meaning of the set of linguistic rules. The defuzzi cation interface trans forms the union of fuzzy sets (individual contributions of each rule in the rule base) into a crisp output.
Although one can implement a simple controller for obstacle avoidance on the Khepera with few rules, the main effort is that of designing the appropriate membership functions and choosing the rules.

NEURO-FUZZY CONTROL FOR OBSTACLE AVOIDANCE

Evolutionary Robotics

Evolutionary Robotics is a technique for automatic creation of control systems for autonomous robots that is inspired upon the Darwinian principle of selective reproduction of the fittest individuals.

CO-EVOLUTIONARY ROBOTICS

FULLY AUTONOMOUS ROBOTS APPLICATIONS
A fully autonomous, widely marketed robot is the Husqvarna lawn-mower for at and prepared terrains. The robot is 15 cm high and has a surface of 80 cm by 40 cm covered by solar power cells which let it work for several months when the sun is high over the sky (a small battery back-up is used by the processor when sun light is not strong enough to power the robot). The robot moves randomly, exploiting small irregularities of the terrain, while checking for an electric wire (solar powered too) positioned on the perimeter by the owner. In case the robot gets stuck in unexpected situations, it starts beeping and waiting for human help. Lawn-mowing is a simple navigation
task where random walk seems acceptable; furthermore, since the wheels move faster when the lawn is cut, the robot tends to spend more time on areas not yet cleared. Pool cleaning robots share some characteristics with the autonomous lawn-mower. Although several types are available on
the market (e.g., see http://h2o-marketing.com/aquabot/aqua.html),
they generally perform a random walk on the bottom and on the sides
while scrubbing, vacuum cleaning, and ltering the pool. They are generally
powered via a cable hanging from the centre of the pool and can also
be remotely controlled, if necessary. A more systematic cleaning of the
pool inner surface can be achieved by pressure sensors which exploit the
regularities of tiles.
Currently, autonomous vacuum cleaning robots are restricted to speci FIc large environments, such as airport lounges (Narita airport in Japan, e.g.). A prototype robot in the Paris metro was designed to follow a line buried in the ground, whereas the recently completed CLEAN Eureka pro ject (nr. EU-1094 on the Eureka database: http://www.eureka.be) has attempted to develop a robot for
cleaning hyper-market surfaces by exploiting pre-positioned active landmarks.

Recently, a
legged water-proof robot has been developed for landmines positioned on the surf zone, which is a rather regular and de ned terrain. All these robots are supposed to blow up mines by hitting them (and being destroyed in the meanwhile).

The Mars So journer (http://mpfwww.jpl.nasa.gov/default.html) is a popular example of a robot with full energy autonomy, but limited behavioural autonomy. Since it moves very slowly, a rather small area of solar cells is sufficient to power the robot. It receives instructions from Earth on
its destination, but it has to get there autonomously.

Another application with similar behavioral requirements is the autonomous wheelchair. Several handicapped persons find it difficult to steer precisely their own wheelchair to get around corners or passing through doorways. By supplying these chairs with additional sensors and appropriate control systems that support semi-autonomous navigation, the owner can instruct the chair on the desired destination and let it get there autonomously.

Semi-autonomous mobile robots have a large potential market, from rescue robots to robots for maintenance of nuclear plants, and have several military applications, such as reconnaissance
ying drones.

An application that has attracted the interest of several industries, research institutes, and funding agencies is a semi-autonomous vehicle capable of navigating in daily tra c as well as on rough terrains. A well-known example is NavLab [20], developed by Carnegie Mellon University. The Swiss Serpentine is a urban semi-autonomous vehicle designed for accommodating several
standing persons which follows an inductive track providing power, self-localisation, and general directives on the task to be accomplished.

Autonomous Robots - A Note for Industrial Engineers for Industrial Engineering 4.0 (IE 4.0)

Lesson 445  of  Industrial Engineering ONLINE Course - Applied Industrial Engineering Module

Autonomous Robots and Productivity

Have you noticed these communications

Maximize productivity and accuracy

LocusBots deliver 3x to 5x more productivity. That translates to substantially more tasks with less labor in the same workspace. You see a significant reduction in your labor costs, including costs associated with “task interleaving” and overtime. It also minimizes the impact of wage and healthcare increases.

Less drudge work, more effective workers

LocusBots take away the drudgery that diminishes worker productivity to dramatically improve worker throughput and order accuracy. LocusBots work collaboratively with workers, helping them become more effective and efficient using their already established workflow and procedures.
http://www.locusrobotics.com/why-locus/productivity/  (Accessed on 9 January 2018)

Service robots: The next big productivity platform
September 8, 2016 by Lamont Woo
http://usblogs.pwc.com/emerging-technology/service-robots-the-next-big-productivity-platform/

Autonomous robots are already in service and more developments are occurring to increase their application in industrial and service sector activities.

Autonomous Robots - Introduction

Autonomous robots are intelligent machines capable of performing tasks in the world by themselves, without explicit human control. Examples range from autonomous helicopters to Roomba, the robot vacuum cleaner.

Roboticists created new programs and sensor systems to make robots smarter and more perceptive. Today, robots can effectively navigate a variety of environments.

Simpler mobile robots use infrared or ultrasound sensors to see obstacles.  The robot sends out a sound signal or a beam of infrared light and detects the signal's reflection. The robot locates the distance to obstacles based on how long it takes the signal to bounce back. More advanced robots use stereo vision to see the world around them. Two cameras are used to  give these robots depth perception, and image-recognition software is used to classify various objects. Some robots  use microphones and smell sensors to analyze the world around them. Some autonomous robots are capable of working only in a familiar, constrained environment. An office-cleaning robot may take a fixed route in a  building to do its task. More advanced robots can analyze and adapt to unfamiliar environments.  These robots use visual sensors and based on the image take certain actions or stop completely or give way to the other objects that are coming in the same path. If an obstruction is encountered,they can change direction travel in a different path.

In the year 2018, that is the current year,  you might notice a fresh face in many office rooms: a robot.

Robots are being used in factories for number of years.  And the dirt-sucking Roomba and its peers are popular in many homes. Now, there are  robots that monitor and stock shelves in grocery stores. There are robots that are  mowing the lawns. Of course driverless cars are already on the road on trial basis. There are food delivery robots in some restaurants. Decades of advances in the robotics science, engineering and commercialization have been aided by the information technology industry developments—such as the growing library of open source software,  increasingly powerful and energy-efficient processors, and cheap sensors. So “smart” autonomous robots are getting produced at lower costs and are available at affordable prices for companies to use in their production and business activities.

Autonomous robots are increasing productivity. Guy Michaels and  Georg Graetz in research reported in 2015 found that robots are increasing productivity. Industrial engineers have to do engineering economic analysis of various robot implementation ideas or proposals and recommend using robots to increase productivity. As already noted, autonomous robot technology is a significant component of Industry 4.0 technology set.

References

Guy Michaels and  Georg Graetz,  http://voxeu.org/article/robots-productivity-and-jobs




Chapter of the Blog Book - Industrial Engineering 4.0 - IE in the Era of Industry 4.0 - Blog Book

Previous Chapter

Industry 4.0 - A Note for Industrial Engineers for Industrial Engineering 4.0 (IE 4.0)

Bibliography - Autonomous Robots

Books

Autonomous Robots Research Advances
Weihua Yang
Nova Publishers, 2008
https://books.google.co.in/books?id=iXqTFOsTT2IC

Introduction to Autonomous Mobile Robots
second edition
Roland Siegwart, Illah R. Nourbakhsh, and Davide Scaramuzza
2011
https://mitpress.mit.edu/sites/default/files/titles/content/9780262015356_sch_0001.pdf

INTRODUCTION TO AUTONOMOUS ROBOTS
MATTIAS WAHDE
2016
http://www.me.chalmers.se/~mwahde/courses/aa/2016/FFR125_LectureNotes.pdf


Autonomous Robots
From Biological Inspiration to Implementation and Control
By George A. Bekey, 2017
https://mitpress.mit.edu/books/autonomous-robots

Papers and Articles

Robots Seem to Be Improving Productivity, Not Costing Jobs
Mark MuroScott Andes
HBR, JUNE 2015
https://hbr.org/2015/06/robots-seem-to-be-improving-productivity-not-costing-jobs

Online articles

Autonomous Mobile Robots (AMR)
4 Jan 2020

Kuka Robotics is mounting cobots on top of mobile robots. Its KMR iiwa combines its LBR iiwa lightweight robot with a mobile, flexible platform. The system adapts easily to changing manufacturing processes to optimize production. They can go to the place where they are needed. The robots can communicate with each other to more easily work together as a complete system.

AGVs vs AMRs

The distinction between AGVs and AMRs: AMRs do not require external infrastructure to localize themselves and are built with sensors and cameras to self-navigate their environments.

https://www.packworld.com/issues/business-intelligence/article/21108397/robotics-industry-to-shift-from-fixed-automation-to-mobile-systems

2018

Collaborative Robots in Automotive Manufacturing PSA Group, Europe’s second-largest car manufacturer, is modernizing its European manufacturing sites with Universal Robots’ UR10 collaborative robots.

By David Greenfield , Director of Content/Editor-in-Chief, on April 12, 2018

https://www.automationworld.com/article/industry-type/discrete-manufacturing/collaborative-robots-automotive-manufacturing

Universal Robots Drives Cost Savings, Improved Quality and Worker Ergonomics at PSA Group, Europe’s Second-Largest Car Manufacturer

With significant results in just eight months, PSA Group will modernize all of its European manufacturing sites with its patented production system that integrates UR robots

March 21, 2018

https://www.businesswire.com/news/home/20180321005876/en/Universal-Robots-Drives-Cost-Savings-Improved-Quality

2017

http://fortune.com/2016/03/29/autonomous-robots-startups/

https://science.howstuffworks.com/robot4.htm

https://simplicable.com/new/autonomous-robots

http://usblogs.pwc.com/emerging-technology/service-robots-the-next-big-productivity-platform/

Reports

The Impact of Robots on Productivity, Employment and Jobs
A positioning paper by the International Federation of Robotics
April 2017
https://ifr.org/img/office/IFR_The_Impact_of_Robots_on_Employment.pdf


Updated on 23 Feb 2020,  21 April 2018, 9 January 2018

Fritz Klocke on Grinding - Book Information

Contents
Symbols and Abbreviations ............................................................................ XIII
1 Introduction ........................................................................................................1
2 Principles of Cutting Edge Engagement...........................................................3
2.1 Cutting Edge Form.......................................................................................4
2.2 Cutting Edge Engagement ...........................................................................7
2.3 Distribution of Force and Energy in the Grinding Process ........................11
2.4 Grit and Bond Wear...................................................................................14
3 Structure and Composition of Grinding Wheels ...........................................17
3.1 Grit Material ..............................................................................................17
3.1.1 Natural Grit Materials ........................................................................17
3.1.2 Synthetic Grit Materials .....................................................................19
3.2 Bonds .........................................................................................................37
3.2.1 Resin Bonds........................................................................................38
3.2.2 Vitrified Bonds...................................................................................39
3.2.3 Metallic Bonds ...................................................................................40
3.2.4 Other bonds ........................................................................................40
3.2.5 Fillers and Additives ..........................................................................41
3.3 Tool Structure and Designation .................................................................42
3.3.1 Composition of Conventional Grinding Wheels ................................43
3.3.2 The Designation of Conventional Tools.............................................45
3.3.3 Composition of Superabrasive Grinding Wheels ...............................50
3.3.4 The Designation of Superabrasive Grinding Wheels .........................51
3.4 Tool Manufacture ......................................................................................54
3.4.1 The Manufacture of Tools with Conventional Abrasives...................54
3.4.2 The Manufacture of Superabrasive Grinding Wheels ........................58
3.5 Tool Testing...............................................................................................61
3.5.1 Hardness Testing ................................................................................62
3.5.2 Investigations in Grit Break-out .........................................................64
3.6 Abrasive Belts (Coated Abrasives) ............................................................66
3.6.1 Composition of Abrasive Belts ..........................................................66
3.6.2 The Manufacture and Structure of Abrasive Belts .............................66
VIII Contents
4 The Machinability of Various Materials ........................................................73
4.1 The Concept of “Machinability” in the Grinding Process ......................... 73
4.2 Influencing the Material Properties of Steels.............................................74
4.2.1 Material Properties as a Function of Carbon Content ........................74
4.2.2 The Influence of Alloying Elements on Material Properties..............77
4.2.3 Material Properties as a Function of Heat Treatment.........................79
4.3 The Structure of Various Steel Materials...................................................83
4.3.1 Case-Hardened Steels.........................................................................83
4.3.2 Heat-Treated Steels ............................................................................84
4.3.3 Nitrided Steels....................................................................................86
4.3.4 Roller Bearing Steels..........................................................................87
4.3.5 Tool Steels..........................................................................................88
4.3.6 Non-Corrosion, Fireproof and High-Temperature Steels...................89
4.4 Grinding Various Structural Components in Steels...................................91
4.5 Grinding Iron-Casting Materials................................................................92
4.6 Grinding Nickel-Based Materials ..............................................................94
4.6.1 Construction and Structure.................................................................94
4.6.2 Properties and Uses ............................................................................96
4.6.3 Grinding Behaviour – Influences on the Grinding Process ................96
4.7 Grinding Titanium Materials .....................................................................99
4.7.1 Construction and Structure.................................................................99
4.7.2 Properties and Uses ..........................................................................102
4.7.3 Grinding Behaviour – Influences on the Grinding Process ..............103
4.8. Grinding Brittle Materials.......................................................................105
4.8.1 The Machining Behaviour of Brittle Materials ................................106
4.8.2 Machining High-Performance Ceramics..........................................107
4.8.3 Glass Machining...............................................................................108
4.8.4 Silicon ..............................................................................................110
5 Cooling Lubricants.........................................................................................113
5.1 Principles of Cooling Lubricants in the Grinding Process.......................113
5.1.1 General Functions ............................................................................113
5.1.2 The Tribological System of Grinding...............................................114
5.1.3 Requirements of Cooling Lubricants in the Grinding Process .........114
5.2 Classification, Structure and Properties...................................................116
5.2.1 Oils...................................................................................................116
5.2.2 Emulsions.........................................................................................117
5.2.3 Aqueous Solutions ...........................................................................119
5.2.4 Use of Additives...............................................................................119
5.3 The Influence of Cooling Lubrication on the Grinding Process ..............120
5.3.1 Cooling Lubricant Type ...................................................................120
5.3.2 Cooling Lubricant Supply ................................................................123
5.4 Supervision, Maintenance and Disposal ..................................................129

6 Grinding ..........................................................................................................135
6.1 Preparation...............................................................................................135
6.1.1 Dressing Kinematics.........................................................................136
6.1.2 Sharpening........................................................................................142
6.1.3 Further Dressing Methods – Special Methods..................................146
6.1.4 Cleaning ...........................................................................................152
6.1.5 Dressing Variables and Effective Mechanisms – The Influence of
 Tool Preparation on the Grinding Process .......................................153

6.2 Parameters................................................................................................161

6.3. Methodological Variants according to DIN 8589...................................177
6.3.1 Introduction ......................................................................................177
6.3.2 External Cylindrical Grinding ..........................................................182
6.3.3 Internal Cylindrical Grinding ...........................................................210
6.3.4 Surface Grinding ..............................................................................212
6.3.5 Coated Abrasives..............................................................................215

6.4 Other Variants..........................................................................................227
6.4.1 Gear Grinding...................................................................................227
6.4.2 Gear Honing .....................................................................................248

6.5 Process Design.........................................................................................251
6.5.1 The Influence of Variables and Parameters on the Result................251
6.5.2 The Influence of the Grinding Tool on the Output...........................269
6.5.3 Multistage Processes ........................................................................273
6.5.4 Disturbances.....................................................................................280

6.6 Application Examples..............................................................................287
6.6.1 External Cylindrical Peripheral Plunge Grinding.............................287
6.2.2 External Form Grinding ...................................................................290
6.6.3 Internal Cylindrical Peripheral Plunge Grinding..............................293
6.6.4 Centreless Plunge Grinding..............................................................296
6.6.5 Surface Peripheral Plunge Grinding.................................................299


10 Process Monitoring.......................................................................................390
10.1 The Necessity of Process Monitoring ....................................................390
10.2 Sensors for Process Monitoring.............................................................392
10.2.1 Force Sensors .................................................................................392
10.2.2 Current Sensors ..............................................................................393
10.2.3 AE-Sensors.....................................................................................394
10.3 First Contact Control .............................................................................397
10.4 Collision Monitoring .............................................................................400
10.5 Dressing Monitoring..............................................................................401
10.6 Service Life Monitoring while Grinding Using AE...............................403
10.6.1 Monitoring Grinding Wheel Wear with the AE Effective Value ...403
10.6.2 Detecting Chattering ......................................................................404
10.6.3 Process Step Recognition as an Element of Reliable Monitoring ..405
10.7 Control of Workpiece Properties ...........................................................406
10.8 Reliability of Process Monitoring..........................................................408

Professor MANOJ KUMAR TIWARI - Professor of Industrial Engineering

Presently Director, NITIE, Mumbai
on Deputation from Professor (HAG), IIT Kharagpur

http://www.mktiwari.in/

307 papers published in journals of repute 22 February 2020.


1999-2004: PhD -“Application of intelligent search heuristic to resolve the complexities of machine loading problems of FMS” Department of Production Engineering, University of Jadavpur, West Bengal, India

1988-1990 : M. Tech. (Production Engg.)  Department of Mechanical Engineering, Motilal Nehru Regional Engineering College (now known as MNIT), Allahabad, Uttar Pradesh, India

1982-1986 : B. E. in Mechanical Engineering  Department of Mechanical Engineering, Visvesvaraya Regional Engineering College (now known as VNIT), Nagpur, Maharashtra, India



Research Papers

Manufacturing

Characteristics of redistributed manufacturing systems; a comparative study of emerging industry supply networks, Manoj Kumar Tiwari. International Journal of Production Research. (Accepted for publication 2016).



Updated on 23 February 2020
16 Dec 2019.

Productivity Bibliography - 2006 to 2010

Productivity growth in U.S agriculture / Keith O. Fuglie, James M. MacDonald and Eldon Ball
Published
2007
Author
Fuglie, Keith Owen.
Ball, V. Eldon.
MacDonald, James M.
United States. Department of Agriculture. Economic Research Service.
https://catalog.hathitrust.org/



The Fall River long-term site productivity study in coastal Washington : site characteristics, methods, and biomass and carbon and nitrogen stores before and after harvest /...
Published
2007
Author
Ares, Adrian.
Pacific Northwest Research Station (Portland, Or.)
(view record to see multiple volumes)
https://catalog.hathitrust.org/

https://catalog.hathitrust.org/

Productivity Bibliography - 2001 to 2005

Decennial censuses : historical data on enumerator productivity are limited / United States General Accounting Office.
Published
2001
Author
United States. General Accounting Office.



The status of timber resources in the North Central United States : a summary of forest conditions, growth, removals, consumption, and opportunities in the 7-state North Central...
Published
2002
Author
Shifley, Stephen R.
Sullivan, Neal H., 1960-
United States. Forest Service. North Central Research Station.



New transportation and service productivity measures.
Published
2003
Author
United States. Bureau of Labor Statistics.



Industrial transformation: key to sustaining the productivity boom : a white paper / prepared by National Coalition fro Advanced Manufacturing.
Published
2003
Author
National Coalition for Advanced Manufacturing (NACFAM)



Instability in Latin America : United States policy and the role of the international community : hearing before the Subcommittee on International Trade and Finance of the...
Published
2003
Author
United States. Congress. Senate. Committee on Banking, Housing, and Urban Affairs. Subcommittee on International Trade and Finance.



Labor management in agriculture : cultivating personnel productivity / Gregory Encina Billikopf.
Published
2003
Author
Billikopf, Gregory Encina.



Instability in Latin America : United States policy and the role of the international community : hearing before the Subcommittee on International Trade and Finance of the...
Published
2003
Author
United States. Congress. Senate. Committee on Banking, Housing, and Urban Affairs. Subcommittee on International Trade and Finance.



Measuring up : productivity and performance in the HOME Program / prepared by ICF Consulting.
Published
2004
Author
United States. Office of Community Planning and Development.
ICF Consulting.

(view record to see multiple volumes)

Roundtable on productivity : are we making as much progress as we think we are? : roundtable before the Subcommittee on Tax, Finance and Exports of the Committee on Samll...
Published
2004
Author
United States. Congress. House. Committee on Small Business. Subcommittee on Tax, Finance, and Exports.



A consistent accounting of U.S. productivity growth / Eric J. Bartelsman and J. Joseph Beaulieu.
Published
2004
Author
Bartelsman, Eric J.
Beaulieu, J. Joseph.



Description of the Fork Mountain long-term soil productivity study : site characterization / Mary Beth Adams ... [et al.].
Published
2004
Author
Adams, Mary Beth, 1958-
United States. Forest Service. Northeastern Research Station.



New service industry productivity measures
Published
2004
Author
United States. Bureau of Labor Statistics



Productivity of Western forests : a forest products focus / Constance A. Harrington and Stephen H. Schoenholtz, technical editors.
Published
2005
Author
Schoenholtz, Stephen Hanley, 1954-
Harrington, Constance A.
Pacific Northwest Research Station (Portland, Or.)


https://catalog.hathitrust.org/

Productivity Bibliography - 1996 to 2000

Hands-on solutions to improve your profits & productivity.
Published
1996
Author
United States. Dept. of Energy.

(view record to see multiple volumes)

Productivity and the highway network : a look at the economic benefits to industry from investment in the highway network / [Federal Highway Administration ; U.S. Department of...
Published
1996
Author
United States. Federal Highway Administration.



A BLS reader on productivity.
Published
1996
Author
United States. Bureau of Labor Statistics.

(view record to see multiple volumes)

Implications of intermodal freight movements for infrastructure access, capacity, and productivity / Prepared by John A. Volpe National Transportation Systems Center. [Authors:...
Published
1996
Author
Norris, Bahar B.
Haines, Marsha J.
United States. Dept. of Transportation.
John A. Volpe National Transportation Systems Center (U.S.)



Determinants of farm productivity in Africa : a synthesis of four case studies / by Thomas Reardon, Valerie Kelley, Eric Crawford [et al].
Published
1996
Author
Reardon, Thomas Anthony.



Cash crop and foodgrain productivity in Senegal : historical view, new survey evidence, and policy implications / Valerie Kelly ... [et al.].
Published
1996
Author
Kelly, Valerie Auserehl.



Assessment of water quality, nutrients, algal productivity, and management alternatives for low-flow conditions, South Umpqua River basins, Oregon, 1990-92 / by Dwight Q. Tanner...
Published
1996
Author
Tanner, Dwight Q.
Anderson, Chauncey W.
Douglas County (Or.)
Geological Survey (U.S.)

(view record to see multiple volumes)

News. Productivity and costs. Manufacturing industries / United States Department of Labor, Bureau of Labor Statistics.
Published
1997
Author
United States. Bureau of Labor Statistics.

(view record to see multiple volumes)

Cyclical productivity with unobserved input variation / Susanto Basu, Miles S. Kimball.
Published
1997
Author
Basu, Susanto.
Kimball, Miles S.



Changes in the U.S. beef cow-calf industry, 1993-1997. Part IV / National Animal Health Monitoring System.
Published
1998
Author
United States. Animal and Plant Health Inspection Service. Veterinary Services.
National Animal Health Monitoring System (U.S.)



Measuring state and local government labor productivity : examples from eleven services / U. S. Department of Labor, Bureau of Labor Statistics.
Published
1998
Author
United States. Bureau of Labor Statistics.



News. Productivity and costs. Service-producing and mining industries / United States. Bureau of Labor Statistics.
Published
1998
Author
United States. Bureau of Labor Statistics.

(view record to see multiple volumes)

Importance of income in cow-calf management and productivity.
Published
1998
Author
National Animal Health Monitoring System (U.S.)



SeaWiFS technical report series. Volume 42, satellite primary productivity data and algorithm development : a science plan for mission to planet Earth / Paul G. Falkowski ......
Published
1998
Author
Falkowski, Paul G
Firestone, Elaine R
Hooker, Stanford B
Goddard Space Flight Center



Agricultural productivity in the United States / Mary Ahearn ... [et al.].
Published
1998
Author
Ahearn, Mary.
United States. Dept. of Agriculture. Economic Research Service.

(view record to see multiple volumes)

Growth of lodgepole pine thinned to various densities on two sites with differing productivities in central Oregon / P.H. Cochran and Walter G. Dahms.
Published
1999
Author
Cochran, P. H.
Dahms, Walter G.
Pacific Northwest Research Station (Portland, Or.)



Industrial wood productivity in the United States, 1900-1998 / Peter J. Ince.
Published
2000
Author
Ince, Peter J.
Forest Products Laboratory (U.S.)



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