published_or_final_version / Industrial and Manufacturing Systems Engineering / Master / Master of Philosophy

No description available.

One-, two- and three-dimensional transient heat transfer finite element models are developed to simulate the resistance welding process of pre-consolidated unidirectional AS4 carbon fibre reinforced Poly-ether-ether-ketone (APC-2/AS4) laminates with a metal mesh heating element, in a lap-shear configuration. The finite element models are used to investigate the effect of process and material parameters on the thermal behaviour of the coupon size welds, yielding to a better understanding of the process. The 1-D model determines: (a) the importance of including the latent heat of PEEK, and (b) the through-thickness temperature gradient away from the edges, for different tooling plate materials. The 2-D model simulates the cross-section of the process, considering the convective and irradiative heat losses from the areas of the heating element exposed to air. The 3-D model includes the heat conduction along the length of the laminates, to fully depict the thermal behaviour of the welds. Finally, the models are compared with experimental data.

People are unique and display a variety of preferences with regard to the products that are / Thesis (M.Sc.Eng.)-University of KwaZulu-Natal, 2007.

The concept of mass producing custom products, though extremely beneficial to the commercial, and retail industries, does come with some limitations. One of these is the occurrence of bottlenecks in the materials handling systems associated with reconfigurable manufacturing systems tasked with achieving the goal of mass customisation manufacturing. This specific problem requires the development of an intervention system for rerouting parts and materials waiting in line, around bottlenecks and/or work flow disruptions, to alternative destinations. Mobile robots can be used for the resolution of bottlenecks, and similar disruptions in work flow, in these situations. Embedding autonomy into mobile robots in a manufacturing environment, releases the higher level production management systems from routing of parts and materials. The principle of the inverted pendulum has recently become popular in mobile robotics applications, and is being implemented in research projects around the world. The use of this principle produces a two-wheeled mobile robot that is able to actively stabilise itself while in operation. The dissertation is focused on the research, design, assembly, testing and validation of a two-wheeled autonomous materials handling robot for application in reconfigurable manufacturing systems. This robot should be dynamically or statically stable during different phases of operation. The mechatronic engineering approach of system integration has been used in this project in order to produce a more reliable robotic system. The application of the inverted pendulum principle requires that a suitable control strategy be formulated. It also necessetates the ues of sensors to track the state of the robot. Control engineering theory was used to develop an optimal control strategy that is robust enough to cope with varying payload characteristics. The Kalman filter is employed as state estimation measure to improve sensor data. For a mobile robot to be deemed autonomous, one of the requirements is that the robot should be able to navigate through its environment without colliding with obstacles in its path, and without human intervention. A navigation system has been designed, through field specific research, to enable this. The robot is also required to communicate with remote computers housing production management systems as well as with mobile robots that form part of the same materials handling system. Performance analysis and testing proves the feasibility of a mobile robot system. / Thesis (M.Sc.Eng.)-University of KwaZulu-Natal, Durban, 2010.

Mechatronics encompass a holistic approach to the design, development, production, maintenance and disposal of complex engineering systems, products and processes. The control and modelling of the manufacturing process are carried out in a networked environment allowing for realistic real time control and simulation. This is achieved through the declarative definition of Computer Integrated Manufacturing (CIM) components, the standardisation of CIM interfaces and the object-orientated approach to model development and data management. The development ofthe Modular Mechatronic CIM control system is aimed at intelligently scheduling, controlling and monitoring manufacturing processes in realtime over Internet capable networks. Modular Mechatronics is an alternative design approach that requires the decomposition of a project into separate modules, identifiable by their individual mechatronic functionality. Modular Mechatronic control for Internet manufacturing produces an efficient and effective solution for CIM processes. This approach allows a remote user to monitor and control CIM processes in real time over the Internet allow for a supervisory control structure to control and manage these processes. The modular mechatronic design approach has been applied to the development of the CIM Internet control system, to optimise the overall function ofthe CIM system. A flexible, low cost Modular Mechatronic design approach was used to develop the CIM architecture and computer interface network, which served as the backbone of the Modular Mechatronic CIM control system. The modular designed control system was used to control CIM components in real time over the Internet. The Modular Mechatronic building block development allows for future integration of other CIM components. / Thesis (M.Sc.Eng.)-University of Natal, Durban, 2002.

Modern trends in customer demand have resulted in the development of a class of manufacturing system known as Reconfigurable Manufacturing Systems (RMS). Reconfigurable systems are designed around the idea that they must be able to be reconfigured in both their production capacity as well as in the machining processes they perform. A subset of the RMS paradigm is a group of machines called Modular Reconfigurable Machines (MRMs). Modular machines are built up from different hardware modules. They offer the user the possibility of only purchasing the required tooling for the specific need at the time. As reconfigurable machines are able to offer flexibility in machining functions, their ability to have easy access to a variety of machine tools would greatly influence their effectiveness and production capacity. This project presents a machine tooling system that would provide MRMs with an efficient way to change tools. A major requirement of the unit was that it should automatically calibrate itself in terms of its position relative to the machine it was servicing. In order for the unit to realize this requirement, it needed a method that would provide it with real-time 3D tracking of the spindle with which it was interacting. Commercially available systems that offer this facility are very costly. A popular gaming controller, the Nintendo Wii remote, was used to provide the tool-changing unit with a very economical real-time 3D tracking capability. This dissertation details the design, implementation and testing of the positioning system for the tool-changing unit. / Thesis (M.Sc.Eng.)-University of KwaZulu-Natal, Durban, 2011.

This thesis is concerned with the problem of recognizing industrial objects rapidly and flexibly. The system design is based on a general strategy that consists of a generalized local feature detector, an extended learning algorithm and the use of unique structure of the objects. Thus, the system is not designed to be limited to the industrial environment. The generalized local feature detector uses the gradient image of the scene to provide a feature description that is insensitive to a range of imaging conditions such as object position, and overall light intensity. The feature detector is based on a representative point algorithm which is able to reduce the data content of the image without restricting the allowed object geometry. Thus, a major advantage of the local feature detector is its ability to describe and represent complex object structure. The reliance on local features also allows the system to recognize partially visible objects. The task of the learning algorithm is to observe the feature description generated by the feature detector in order to select features that are reliable over the range of imaging conditions of interest. Once a set of reliable features is found for each object, the system finds unique relational structure which is later used to recognize the objects. Unique structure is a set of descriptions of unique subparts of the objects of interest. The present implementation is limited to the use of unique local structure. The recognition routine uses these unique descriptions to recognize objects in new images. An important feature of this strategy is the transference of a large amount of processing required for graph matching from the recognition stage to the learning stage, which allows the recognition routine to execute rapidly. The test results show that the system is able to function with a significant level of insensitivity to operating conditions; The system shows insensitivity to its 3 main assumptions -constant scale, constant lighting, and 2D images- displaying a degree of graceful degradation when the operating conditions degrade. For example, for one set of test objects, the recognition threshold was reached when the absolute light level was reduced by 70%-80%, or the object scale was reduced by 30%-40%, or the object was tilted away from the learned 2D plane by 300-400. This demonstrates a very important feature of the learning strategy: It shows that the generalizations made by the system are not only valid within the domain of the sampled set of images, but extend outside this domain. The test results also show that the recognition routine is able to execute rapidly, requiring 10ms-500ms (on a PDP11/24 minicomputer) in the special case when ideal operating conditions are guaranteed. (Note: This does not include pre-processing time). This thesis describes the strategy, the architecture and the implementation of the vision system in detail, and gives detailed test results. A proposal for extending the system to scale independent 3D object recognition is also given.

No description available.

Advances in additive manufacturing technologies have brought a new paradigm shift to both design and manufacturing. There is a much bigger design space in which designers can achieve a level of complexity and customizability, which are infeasible using traditional manufacturing processes. One application of this technology is for fabrication of meso-scale lattice structures (MSLS). These types of structures are designed to have material where it is needed for specific applications. They are suitable for any weight-critical applications, particularly in industries where both low weight and high strength are desired. MSLS can easily have hundreds to thousands of individual strut, where the diameter of each strut can be treated as a design variable. As a result, the design process poses a computational challenge. Since the computational complexity of the design problem often scales exponentially with the number of design variables, topological optimization that requires multi-variable optimization algorithm is infeasible for large-scale problems. In previous research, a new method was presented for efficiently optimizing MSLS by utilizing a heuristic that reduces the multivariable optimization problem to a problem of only two variables. The method is called the Size Matching and Scaling (SMS) method, which combines solid-body analysis and predefined unit-cell library to generate the topology of the structure. However, the method lacks a systematic methodology to generate the initial ground geometry for the design process, which limits the previous implementations of the SMS method to only simple, axis-aligned structures. In this research, an augmented SMS method is presented. The augmented method includes the integration of free-mesh approach in generating the initial ground geometry. The software that embodies that ground geometry generation process is integrated to commercial CAD system that allows designer to set lattice size parameters through graphical user interface. In this thesis, the augmented method and the unit-cell library are applied to various design examples. The augmented SMS method can be applied effectively in the design of conformal lattice structure with highly optimized stiffness and volume for complex surface. Conformal lattice structures are those conformed to the shape of a part's surface and that can used to stiffen or strengthen a complex and curved surface. This design approach removes the need for a rigorous topology optimization, which is a main bottleneck in designing MSLS.