Browsing by Author "Alberdi, Nerea"
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Item Skills for vision-based applications in robotics application to aeronautics assembly pilot station(Institute of Electrical and Electronics Engineers Inc., 2015-10-30) Herrero, Hector; Pacheco, Raquel; Alberdi, Nerea; Rumayor, Mikel; Salle, Damien; Depina, Karmele Lopez; Grana, Manuel; Corchado, Emilio; Fraile-Ardanuy, Jesus; Quintian, Hector; Kakarountas, Athanasios; Haase, Jan; Debono, Carl James; ROBOTICA_FLEXThis paper presents an approach which allows solving different computer vision problems organized in skills to execute them in an industrial robot. Vision applications are generally very specific and very dependent of the problem. The the use of skill-based programming is attempting to ease the use of vision in robotics field. Through this abstraction level, vision skills can be reused in different robots and applications. To demonstrate it, two skill are presented: 3D CAD Matching and feature detection. Additionaly the integration of these skills in ROS is presented and demonstrated in an aeronautics assembly industrial application.Item Towards Zero-Defect Manufacturing Based on Artificial Intelligence through the Correlation of Forces in 5-Axis Milling Process(2024-04) Cascón-Morán, Itxaso; Gómez, Meritxell; Fernández, David; Gil Del Val, Alain; Alberdi, Nerea; González, Haizea; ROBOTICA_FLEXZero-Defect Manufacturing (ZDM) is a promising strategy for reducing errors in industrial processes, aligned with Industry 4.0 and digitalization, aiming to carry out processes correctly the first time. ZDM relies on digital tools, notably Artificial Intelligence (AI), to predict and prevent issues at both product and process levels. This study’s goal is to significantly reduce errors in machining large parts. It utilizes data from process models and in situ monitoring for AI-driven predictions. AI algorithms anticipate part deformation based on manufacturing data. Mechanistic models simulate milling processes, calculating tool deflection from cutting forces and assessing geometric and dimensional errors. Process monitoring provides real-time data to the models during execution. The research focuses on a high-value component from the oil and gas industry, serving as a test piece to predict geometric errors in machining based on the deviation of cutting forces using AI techniques. Specifically, an AISI 1095 steel forged flange, intentionally misaligned to introduce error, undergoes multiple milling operations, including 3-axis roughing and 5-axis finishing, with 3D scans after each stage to monitor progress and deviations. The work concludes that Support Vector Machine algorithms provide accurate results for the estimation of geometric errors from the machining forces.