Workspace analysis to generate a collision-free torch path for a ship welding robot

We propose a method to determine the optimal initial location and to generate torch paths for a ship welding robot with 6 degrees of freedom (DOF). The optimal initial location is determined using an objective function, which is set up by combining constraints on the torch posture, manipulability, and the range of each joint angle to avoid collisions. A genetic algorithm (GA) is used to optimize the objective function because it does not require additional derivatives. After the initial location is determined, torch paths are generated by interpolating the starting point, endpoints and torch postures using inverse kinematics. Our method can be applied to automate the welding job for each block during ship building, irrespective of the shape of the robots, by changing the objective function.     

哈夫边舵柄结构强度有限元计算

某船边舵柄设计时所取的舵杆与拉杆轴线距离不足造成舵柄与拉杆之间产生干涉现象，为此在舵柄上切削出一个平面，为了保证该哈夫边舵柄在设计载荷作用下有足够的强度，采用有限元方法对其结构强度进行直接计算和校核。     

Development of a mobile welding robot for double-hull structures in shipbuilding

This paper describes the development of a self-driving mobile welding robot. The robot is used to weld U-shaped welding areas in enclosed double-hull structures. In order to place itself inside the double-hull structure, the robot is capable of passing through an access hole 600 mm wide and 800 mm high. This research addresses the mechanical and control systems of the robot. The mechanical system of the robot consists of an eight-axis mobile platform, and a six-axis welding unit. The control system consists of a main controller, a welding machine controller (arc sensor board), and seam tracking sensors, i.e., a touch sensor, a laser sensor, and an arc sensor. To reduce the number of cables that would be dragged by the welding robot, the main controller is designed as an embedded type that is mounted on the back of the mobile platform.     

Spreading distinctive insignia benefits from mobile service: evidence from a mobile application of transportation

ABSTRACT

Mobile commerce (m-commerce) faces a growing array of client devices for which applications are designed. Applications developed for general consumer use must be compatible with a wide range of devices. This research investigates how perceived usefulness and enjoyment affect intention to use a mobile application service (T-Express). In this study, we formulate a commitment model from the perspective of the social identity and technology acceptance perspective. Empirical data were collected by conducting a field survey of users of T-Express from Taiwan High Speed Rail Corporation (THSRC) stations in Taiwan. The main findings of the study are that wireless technology provides great value to businesses when it allows consumers to access real-time data to make timely decisions that either decrease costs or increase revenues; and to achieve a higher intention to use mobile applications, there should be a clear communication process between mobile application and passenger. Our findings indicate that one of the more overt illustrations of the power of packaging symbolism involves package design strategies that serve to provide a radical new upscale positioning for the THSRC brand.