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.

这种与工业联络（Goari）项目的学术联络机会的机会将应用工程技术来自适应控制，以极大地扩大用于喷墨沉积的表面几何形状。喷墨沉积是一种有价值的技术，其潜在应用从伤口治疗到高级制造。但是，目前，这种潜力受到对喷墨沉积在平坦表面上打印的实际限制的限制。这项研究将实现新的技术，产品和服务。这项工作将通过德克萨斯大学达拉斯大学研究人员与达拉斯地区组织Microfab Technologies的专家之间的大学 - 行业合作伙伴关系完成。该团队将重点关注两个现实世界的应用：1）将定制的伤口处理直接印刷到癌症组织切除或创伤性损伤引起的伤口上，以及2）将标签印刷在制造零件上以提高组装效率。研究成果将纳入UT达拉斯的工程教育研讨会，以及达拉斯市中心Perot自然与科学博物馆的展览。在沉积/影响后，缺乏对弯曲表面上液滴运动的特定知识，需要在检测和更改下降放置以调节最终流体分布的方法。这是一个复杂的问题，它结合了表面几何形状，表面化学，材料科学以及估计和控制理论的估计，以用移动的打印头调节正确的下降放置。该项目需要结合进食，反馈和适应性控制的创新感测和控制策略，以解决表面测量和液体与表面之间相互作用的模型中的不确定性。具体而言，信息理论的工具，非线性估计，优化，基于Lyapunov的稳定性理论和几何控制将用于建立一种正式的方法，以使用机器人操纵器进行这种印刷，并了解液体性能和表面化学。

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