Painting Task Research Articles

DETERMINATION OF THE MINIMUM ACQUISITION TIME FOR OBTAINING MUSCULAR LOAD PROFILE BY APDF FUNCTION

The study is based on data collected from ten male subjects in their normal working conditions into an automobile plant. Six muscles (upper and lower trapezius, anterior and posterior deltoid, and common flexor and extensor digits) were recorded for one hour of a painting task, using a sample frequency of 1000 MHz. The cycle time of the repetitive task was 1.5 minutes. The estimation of the APDF profile is based on successive larger windows of time. Starting in the beginning of the activity, the window of analysis increases with steps of 1.5 minutes, and intermediate APDF profiles were successively estimated, until it reaches the final acquisition time (fig.1).

Implementation of Industrial Robot for Painting Applications

Robot for painting is one of the earliest applications for industrial robot, however, the precision and finishing for the painting is an important issue for any painting job. Accordingly, the aim of this project is utilize an industrial robot (ABB robot model IRB1410) for painting applications. The robot was programmed to paint alphabets using its Flexpendant. The FlexPendant was used to manually teach the robot how to follow the paths for specific targets of letters. The robot End Effector (painting tool) was chosen and mounted on the robot to perform an effective painting task. It was programmed based on its functionality. Finally suitable painting environment was designing. Two software packages were used in this project. The Computer Aided Design (CAD) of the system work-objects and end effector was programmed based on Solidworks software. Robotstudio Software used to program the paths and target of the alphabets to be painted by the IRB1400 Robot which generate a RAPID GUI code used for robot interfacing. The final results demonstrate that implementation such system helps to boost the quality of painting, reduce paint consumption and improve safety.

On the use of functional redundancy in industrial robotic manipulators for optimal spray painting

AbstractRobotic spray painting is a well-established industrial application usually performed with a 6-axes industrial robot. This task leaves an extra degree of freedom which can be exploited in order to achieve any additional goal. Unfortunately, typical proprietary industrial robotic controllers do not allow the programmer to modify the inverse kinematics algorithm, and thus to solve task redundancy following any specified criterion. In this paper a method to enforce an arbitrary redundancy resolution criterion on top of an industrial robot controller is discussed and applied to the execution of a spray painting task. The extra degree of freedom is used to maximize the manipulability index. Simulations and experimental results achieved on the ABB IRB 140 industrial robot are presented.

Realization of Seurat’s pointillism via non-photorealistic rendering

Photorealistic rendering is one of the oldest and most important research areas in computer graphics. More recently, the concept of non-photorealistic rendering has been proposed as an alternative with important advantages for numerous application areas. The popularity of non-photorealism can be mainly attributed to its simplicity, which could potentially lead to a state of aesthetics and succinctness. Reality often presents too many details and too much complexity, thus offsetting the observation of the essence of objects, and objects’ interaction with lights. Based on a similar belief, impressionism focuses primarily on conveying the interaction of light and shadows without emphasizing the fine details of a scene. In recent years, there has been a trend towards simulating impressionism with computers. Among the various styles of impressionism, we are particularly interested in simulating the style of pointillism, especially the style presented by Georges-Pierre Seurat, deemed the founder of pointillism. The reason his style attracts us is twofold. First, the painting process of pointillism is extremely laborious, so unloading the main proportion of the manual painting task is mostly desired. Second, though several existing general-purposed algorithms may be able to approximate pointillism with point-like strokes, some delicate features frequently observed in Seurat’s paintings are still not satisfactorily reflected. To achieve simulating Seurat’s painting style, we have made careful observations of all accessible Seurat’s paintings and extracted from them some important features, such as the relatively few primitive colors, color juxtaposition, point sizes, and, in particular, the effects of complementary colors and halos. These features have been more successfully simulated and results are comparable with not only Seurat’s existing paintings, but also with previous attempted simulations.

Respiratory Protection from Isocyanate Exposure in the Autobody Repair and Refinishing Industry

This study, part of the Survey of Painters and Repairers of Auto bodies by Yale (SPRAY), evaluated the effectiveness of respiratory protection against exposure to aliphatic polyisocyanates. A total of 36 shops were assessed for respiratory protection program completeness; 142 workers were measured for respirator fit factor (FF) using PortaCount Plus respirator fit tester. Twenty-two painters from 21 shops were sampled using NIOSH method 5525 to determine the workplace protection factor (WPF) of negative pressure, air-purifying half-facepiece respirators equipped with organic vapor cartridges and paint prefilters during spray-painting and priming activities. Only 11 shops (30%) had written respiratory protection programs. Eighty percent of all fit tested workers passed the test on the first try with FF ≥ 100, and 92% passed the second test after respirator use training. Overall geometric mean (GM) FF was 1012 for all fit tested workers. Significant differences on pass rate (92% vs. 72%) and on FF (1990 vs. 736) were found between previously fit tested workers vs. nontested workers. Twenty-nine WPF samples were collected. The outside facepiece GM concentration of total isocyanate group (NCO) was 378.4 μ g NCO/m3 with 96% concentrations exceeding the U.K. short-term exposure limit, 70 μ g NCO/m3, but no in-facepiece concentrations exceeded the limit. The GM WPF of total NCO was 319 (GSD 4) and the 5th percentile was 54. WPF of total NCO was positively correlated with the duration of painting task. FF positively correlated with WPF when FF was ≤450 but negatively correlated with WPF when FF was >450. We conclude that negative pressure, air-purifying half-facepiece respirators equipped with organic vapor cartridges and paint prefilters provide effective protection against isocyanate exposure in spray and priming operations if workers are properly trained and fitted.

Characterization of a laboratory model of computer mouse use—Applications for studying risk factors for musculoskeletal disorders

In the present study, we assessed the wrist kinetics (range of motion, mean position, velocity and mean power frequency in radial/ulnar deviation, flexion/extension, and pronation/supination) associated with performing a mouse-operated computerized task involving painting rectangles on a computer screen. Furthermore, we evaluated the effects of the painting task on subjective perception of fatigue and wrist position sense. The results showed that the painting task required constrained wrist movements, and repetitive movements of about the same magnitude as those performed in mouse-operated design tasks. In addition, the painting task induced a perception of muscle fatigue in the upper extremity (Borg CR-scale: 3.5, p<0.001) and caused a reduction in the position sense accuracy of the wrist (error before: 4.6°, error after: 5.6°, p<0.05). This standardized painting task appears suitable for studying relevant risk factors, and therefore it offers a potential for investigating the pathophysiological mechanisms behind musculoskeletal disorders related to computer mouse use.

The PumaPaint Project

The PumaPaint Project is an online robot that allows World Wide Web users to create original artwork. This paper describes the PumaPaint Project at two locations: the original site at Wilkes University and the site at Roger Williams University. Each site allows control of a PUMA robot equipped with four paintbrushes, jars of red, green, blue and yellow paint and white paper attached to a vertical easel. A Java™ interface executing within a web browser allows interactive control of the robot. This interface contains two windows showing live camera views of the easel and various controls for connecting to the robot, viewing the task status and controlling the painting task. The original site operated from June 1998 to March 2000 with approximately 25,000 unique-addressed machines downloading the interface to produce about 500 canvases. The new site has been in operation since August 2002. This paper discusses the author's experiences in operating the original site, and the motivation for and the challenges of reviving the site in its current location.

SPRAY-PAINTING MOTION PLANNING AND QUALITY ANALYSIS IN POWDER COATING SYSTEMS

The paper reports results on the automation of the spray-painting process in industrial powder coating plants. The automation of the spray-painting process requires a painting model and the definition of appropriate metrics for painting task validation. Two main topics are addressed in the paper: motion planning of paint deposition and paint quality analysis. A paint quality function is formulated and results concerning experimental analysis are presented.

Dynamics of anthropomorphic painting robot: Quality analysis and cost reduction

Application of robots in spray-painting tasks results in low-cost production, persistent quality and protects humans from a hostile working environment. Automated planning of applicator’s trajectory requires a model of paint deposition onto the treated surface and formulation of an appropriate criterion for the painting quality. In previous research several painting models and quality measures were derived. The research efforts were concentrated on the determination of the trajectory that provided the best quality of painting. In contrast with previous approaches, painting quality here is not considered as a criterion function, which is to be maximized, but as a constraint — we limit its lower level. This gives an opportunity for proper minimization of some additional cost function. Particular objective is ergonomic-based optimization of the painting task that results in reduced motor load, energy consumption, and control jerks, preserving the required quality. Practical fulfilment of such objectives requires a painting model applicable for an arbitrary spray-gun’s position, orientation and velocity. Since existing models only partially satisfy these requirements, our research also includes derivation of the appropriate painting model. Thus, this paper treats two topics: modeling and simulation of the spray-painting process, and dynamic optimization of an anthropomorphic painting robot. An ergonomic shape of the spray-gun’s trajectory is proposed. A set of diagrams for the optimal choice of characteristic trajectory parameters, in the sense of minimum energy consumption and preserved painting quality, is given. Benefits of the applied approach on reduced paint wastage and increased efficiency of the job, are pointed out.

The design of a planar robotic manipulator for optimum performance of prescribed tasks

The application of a general optimization methodology, previously proposed by the authors, is extended here to the design of a three link revolute-joint planar manipulator performing more practical and complicated prescribed tasks. In particular a tool moving task and a spray painting task are considered. Both the minimization of average torque and energy usage required for execution of the tasks are addressed and the optimization is carried out with the link lengths and base coordinates taken as the five design variables. In addition to simple physical bounds placed on the variables, the maximum deliverable torques of the driving motors represent further constraints on the system. Joint angle constraints, not previously considered but of great practical importance, are also imposed in this study. This results in significantly more challenging optimization problems than those previously tackled. The complications arising from lock-up and nonassembly are handled by specially devised procedures. The optimization is carried out via penalty function formulations of the constrained problems to which the Snyman unconstrained trajectory optimization algorithm is applied in a special way. For both tasks and for both objective functions, with the full complement of constraints imposed, feasible designs with low objective function values are obtained by using, in each case, four different infeasible designs as starting points for the algorithm.

摩擦力情報を利用した作業状態の監視

A new method of observing the state of tasks is presented. When a robot rubs an object with an end effector, it generates a frictional force which contains much information on the state of tasks. Force measured with a wrist force sensor is analyzed. The friction is classified into viscous friction or Coulomb friction, according to the relation between the friction force and velocity. The state of contact can be determined by estimating the type of friction: if the friction is viscous, a surface contact is supposed, while Coulomb suggests a point contact. This function can be useful in the reliable performance of assembly tasks.In addition, by gauging the magnitude of the frictional force, we can detect the shortage of paint held in a brush in a painting task. This function can also be applied to other tasks such as polishing a floor with wax or wiping off an oil stain.In the experiment, surface contact between two planes is successfully achieved, and a board is uniformly painted, demonstrating the effectiveness of the proposed method.

Field Evaluation of an Empirical—Conceptual Exposure Model

Abstract Empirical-conceptual models relate exposure to various process parameters responsible for the generation and transport of airborne contaminants. If the model includes all process parameters important to defining the exposure, it has the potential for a priori exposure prediction. This research tested the ability of an empirical-conceptual model of a spray painting task to predict worker exposures in the field. The model relates paint mist concentrations to spray booth ventilation rates and other process parameters, including spray gun nozzle pressure, paint viscosity, mist generation rates, and worker orientation to the booth freestream. Eight workers in a paint shop were sampled over a 5-week period. A total of 55 tasks were sampled; 40 percent of the measured task exposures are within the estimated experimental error of the model prediction and 71 percent are within a factor of three. Excluding tasks that either did not fit the model assumptions well or where a sampling error may have occurred ...

A Model to Estimate Worker Exposure to Spray Paint Mists

Abstract Exposure models traditionally have emphasized the statistical association between process parameters and measured exposures. These empirical-statistical models can identify factors important in controlling exposure, but are difficult to generalize for various reasons. Different modeling techniques may have wider applicability. Known as empirical-conceptual models, they are based on a conceptual analysis that identifies contaminant generation and transport processes leading to the exposure. Dimensional analysis is used to group important process parameters into independent, nondimensional ratios. The relationship among these ratios is then determined from experiment. This research develops an empirical-conceptual model of exposure to mists generated during a spray painting task. Dimensional analysis is used to identify four important dimensionless quantities. Laboratory wind tunnel experiments with a mannequin, flat plate, and spray nozzle provided data to determine the mathematical relationship b...

The effects on asthmatics of exposure to a conventional water-based and a volatile organic compound-free paint

The water-based paints now frequently used for house painting still contain small amounts of volatile organic compounds (VOCs), with the potential to exacerbate symptoms of asthma. Because of these potential problems and environmental concerns, some manufacturers have produced paints with no VOC content. We wished to compare the effects on asthmatics of conventional water-based paint and the new VOC-free paint. Seventeen asthmatics were recruited on the basis of having previously reported exacerbation of symptoms by paint or other odours. Each undertook a standard painting task with identically coloured conventional acrylic and VOC-free paints in a double-blind, crossover study. Respiratory symptoms, lung function, and airway responsiveness were measured at each visit. A significant increase in reported "wheeze" was detected during use of conventional paint (p<0.01), but not with the new paint. There was also a significantly greater increase in reported "breathlessness" whilst using conventional paint than with the new paint (p<0.05). In contrast, lung function measurements showed a small but significant increase during the use of both paints (p<0.05). There was no significant change in airway responsiveness after use of either paint. The new paint appears to be less likely to cause a worsening of respiratory symptoms than conventional acrylic paint, although this difference is not reflected in measurements of lung function or airway responsiveness. Although the benefit conferred in the majority of asthmatics is probably modest, there may be some patients with an increased sensitivity to paint odour, who would derive a useful symptomatic benefit from using the VOC-free paint.

自己評価と行動基準の組合わせが幼児の図形ぬりつぶし行動に及ぼす効果

The present study was designed to inv estigate the function of self-evaluation (SE) and behavior standard on painting task in a preschool classroom. The subjects were 117 children aged six and divided into 5 groups. A 2×2 factorial design with SE or non-SE, and general behavior standard (GBS) or concrete behavior standard (CBS) was used. In addition, a control group was introduced. The task was to paint in crayon a geometrical figure without deviating from the frame for a day and done during 8 consecutive days. The GBS was set to decrease the deviation, and the CBS was set to decrease the number of deviation clearly checked in advance by the experimenter. The results were as follows: (1) CBS had both informational and motivational functions,(2) SE had a goaloriented function, and (3) girls had more stringent criterion on SE than boys.

Retinal painting and visual information storage

As a measure of visual information storage (VIS), Haber and Nathanson (1968) have used a retinal painting task involving passing a narrow slit across a drawing which the S has to see as a single percept. Two experiments were conducted to evaluate this task as a measure of VIS. In experiment 1 it was shown that contrary to other measures of VIS, adults have longer values than children. In experiment 2 dyslexic and control children performed at equivalent levels on this task. It is suggested that retinal painting involves a different persistence effect to that normally used as a measure of VIS.