This project aims to contribute with the scientific and technologic development and the naval and offshore construction innovation in Brasil, by using advanced techniques of automation and computation, in different steps of the process of constructing a dockyard. The objective will be executed by a multidisciplinar team, envolving the Group of Automation and Intelligent Robotics from FURG, the Program of Oceanic Engineering from UFRJ and the Institute of Economics, Administratives and Accounting Sciences from FURG.

 

 

Bruno Quaresma Leonardo Lattes

Automation Engineer from Federal University of Rio Grande (FURG)

 

Cristiano Rafael Steffens Lattes

Master in Computer Engineering from Federal University of Rio Grande(FURG) 

 

Sidnei Carlos da Silva Filho Lattes

Majoring in Computer Engineering from Federal University of Rio Grande(FURG) 

 

Eduardo do Amaral Leivas - Lattes

Majoring in Computer Engineering at Federal University of Rio Grande (FURG) 

 

Fernando da Fonseca Schneider - Lattes

Majoring in Automation Engineering at Federal University of Rio Grande (FURG) 

 

Jusoan Lan Mór Lattes

Master's Student in Computer Engineering at Federal University of Rio Grande (FURG) 

 

Marcio Rozante Aguiar Lattes

Majoring in Automation Engineering at Federal University of Rio Grande (FURG) 

 

Sibyla Andreuchetti Vioto e Silva - Lattes

Majoring in Computer Engineering at Federal University of Rio Grande (FURG) 

 

Valquíria Hüttner Lattes

Majoring in Computer Engineering at Federal University of Rio Grande (FURG

 

Ygor Quadros de Aguiar  - Lattes

Majoring in Automation Engineering at  Federal University of Rio Grande (FURG)

 

 

The project aims to improve the welding process through automation and robotics. As a general goal, we seek to foster multidisciplinary collaboration of the teams involved, resulting in the formation of qualified human resources and a wide view of the great challenges the Brazilian marine and offshore industry faces nowadays. The project includes the customization of the solutions currently used and the development of new equipment and solutions. The specific goals are:
 
  • Study of the state of the art in robotics for welding steel plates, especially associated with automation and computing aspects related to perception systems and closed loop control;
  • Hardware design and software development for extracting dimensional characteristics of the groove and development of linear welding robot, adapted to different weld beads;
  • Trajectory correction system development capable of performing welding operations with real-time control and closed loop, based on the online perception of the process;
  • Testing and validation of robotic tool in shop floor.
 
The quality of electric arc welding is highly dependent on the parametrization of the equipment. Voltage, current, tractor speed, welding gun position, wire feed speed and weaving, among other parameters, when not properly configured, will result in plate warping, weld spatter, slag and smoke. In order to avoid these problems, the project proposes a VBM System (Video Based Measurement) to recognize the Welding groove geometry, automatically setting the proper parameters for each welding operation. Using computer vision, the system estimates the 3D volume welding groove, mapping the geometry of the bevel in control attitudes for the welding process. The system is tested and validated on the Bug-O Matic Weaver robot.

 

 

Manual control interface of the Bug-O Matic Weaver robot

Bug o mds1005

 

Automated control module robot

 

modulo nautec

  • Robot Initial images

in1          in2                                        

  • Processed images

proc1           proc2

  • Results of processing the images

out1           out2                

  • Results of processing

img1          img2

 

 

STEFFENS, C. R.; LEONARDO B. Q.; SILVA, S. d.;  HUTTNER, V.; AGUIAR, M. R; LEIVAS, E. d. A.; ROSA, V. S.; BOTELHO, S. S. C. Automated  control module based on VBM for shipyard welding applications:Study case on the Bug-O Matic Weaver.  In LARS/SBR 2015 I, oct 2015.

 

STEFFENS, C. R.; LEONARDO B. Q.; SILVA, S. d.;  HUTTNER, V.; AGUIAR, M. R; LEIVAS, E. d. A.; ROSA, V. S.; BOTELHO, S. S. C. A VMB System for Intelligent Robotic Welding.  In SBAI – Simpósio Brasileiro de Automação Inteligente, 2015.



STEFFENS, C. R.; LEONARDO B. Q.; SILVA, S. d.; HUTTNER, V.; ROSA, V. S.; BOTELHO, S. S. C. Welding Groove Mapping: Image Acquisition and Processing on Shiny Surfaces.  In VISAPP, feb 2016.