GOALI: Adaptive Control of Inkjet Printing on 3D Curved Surfaces

GOALI：3D 曲面喷墨打印的自适应控制

• 批准号: 1563424
• 负责人: Nicholas Gans
• 金额: $ 29.45万
• 依托单位: University of Texas at Dallas
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2016
• 资助国家: 美国
• 起止时间: 2016-05-01 至 2019-06-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1563424&HistoricalAwards=false
• 关键词: GOALI; Adaptive; Control; Inkjet; Printing

This Grant Opportunity for Academic Liaison with Industry (GOALI) project will apply engineering techniques in adaptive control to greatly expand the surface geometries accessible to inkjet depositing. Inkjet depositing is a valuable technique, with potential applications that vary from wound treatment to advanced manufacturing. However, this potential is currently limited by the practical restriction of inkjet depositing to printing on flat surfaces. This research will enable new classes of technologies, products, and services. The work will be done through a university-industry partnership between researchers at The University of Texas at Dallas and experts at MicroFab Technologies, a Dallas-area organization. The team will focus on two real-world applications: 1) printing customized wound treatments directly onto wounds arising from cancer tissue removal or traumatic injury, and 2) printing labels onto manufactured parts to increase assembly efficiency. Research outcomes will be integrated into engineering education workshops at UT Dallas, as well as exhibits at the Perot Museum of Nature and Science in downtown Dallas.There is a lack of specific knowledge of droplet motion on curved surfaces after deposition/impact, necessitating methods to detect and alter drop placement to regulate final fluid distribution. This is a complicated problem incorporating estimation of surface geometry, surface chemistry, materials science, and estimation and control theory to regulate correct drop placement with a moving print head. This project requires innovative sensing and control strategies incorporating feedforward, feedback and adaptive control to address uncertainty in the surface measurement and models of the interactions between liquid and surface. Specifically, tools of information theory, nonlinear estimation, optimization, Lyapunov-based stability theory and geometric control will be used to establish a formal approach to conduct such printing with robot manipulators, along with understanding of liquid properties and surface chemistry.

这一学术与工业联系机会(GOALI)项目将应用自适应控制中的工程技术，以极大地扩展喷墨沉积的表面几何形状。喷墨沉积是一项有价值的技术，具有从伤口治疗到先进制造的各种潜在应用。然而，这种潜力目前受到喷墨沉积在平面上打印的实际限制的限制。这项研究将使新类别的技术、产品和服务成为可能。这项工作将通过达拉斯德克萨斯大学的研究人员和达拉斯地区组织MicroFab Technologies的专家之间的大学和行业合作伙伴关系来完成。该团队将专注于两个现实世界的应用：1)将定制的伤口处理直接打印到癌症组织切除或创伤损伤产生的伤口上，以及2)将标签打印到制造的部件上，以提高组装效率。研究成果将被整合到德克萨斯大学达拉斯分校的工程教育研讨会以及达拉斯市中心佩罗自然与科学博物馆的展品中。由于缺乏关于沉积/撞击后曲面上液滴运动的专门知识，因此有必要采用检测和改变液滴位置的方法来调节最终的流体分布。这是一个复杂的问题，融合了表面几何估计、表面化学、材料科学以及估计和控制理论，以调节移动打印头的正确液滴放置。该项目需要结合前馈、反馈和自适应控制的创新传感和控制策略，以解决表面测量中的不确定性和液体与表面之间相互作用的模型。具体地说，将使用信息论、非线性估计、优化、基于Lyapunov的稳定性理论和几何控制等工具来建立一种正式的方法，通过机器人操作手进行此类打印，并了解液体性质和表面化学。

项目成果

Geometric Trajectory Planning for Robot Motion Over a 3D Surface

3D 表面上机器人运动的几何轨迹规划

• DOI: 10.1115/dscc2019-9063
• 发表时间: 2019
• 期刊: ASME 2019 Dynamic Systems and Control Conference
• 作者: Hosseini Jafari, Bashir;Walker, Nolan;Smaldone, Ronald;Gans, Nicholas
• 通讯作者: Gans, Nicholas

A Robot System for Automated Wound Filling with Jetted Materials

使用喷射材料自动填充伤口的机器人系统

• DOI: 10.1109/iros.2018.8594252
• 发表时间: 2018
• 期刊: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS
• 作者: Jafari, Bashir Hosseini;Namhyung, Lee;Thompson, Rachael;Schellhorn, Jackson;Antohe, Bogdan;Gans, Nicholas
• 通讯作者: Gans, Nicholas

Parameter Estimation and Line Width Control of Robot Guided Inkjet Deposition

机器人引导喷墨沉积的参数估计和线宽控制

• DOI: 10.23919/acc.2018.8431733
• 发表时间: 2018
• 期刊: 2018 Annual American Control Conference (ACC
• 作者: Jafari, Bashir Hosseini;Lee, Namhyung;Antohe, Bogdan;Gans, Nicholas
• 通讯作者: Gans, Nicholas