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A method and apparatus for controlling a tooling operation to be performed by a tooling system in an assembly process. A current set of parameter values for a set of parameters for the tooling system are modified iteratively, until the current set of parameter values are determined to result in the

A method and apparatus for controlling a tooling operation to be performed by a tooling system in an assembly process. A current set of parameter values for a set of parameters for the tooling system are modified iteratively, until the current set of parameter values are determined to result in the tooling operation producing an output that meets a set of criteria, to form a final set of parameter values. The tooling operation is performed with the tooling system using the final set of parameter values. A determination is made as to whether the output of the tooling operation meets the set of criteria based on sensor data about the output. A new set of parameter values are identified as the current set of parameter values to be evaluated in response to a determination that the output of the tooling operation does not meet the set of criteria.

대표청구항 ▼

1. A method for performing a riveting operation by a riveting system, the method comprising: modifying, iteratively by a computer system, a current set of parameter values for a set of parameters for the riveting system, until the current set of parameter values predict the riveting operation produc

1. A method for performing a riveting operation by a riveting system, the method comprising: modifying, iteratively by a computer system, a current set of parameter values for a set of parameters for the riveting system, until the current set of parameter values predict the riveting operation producing a riveted structure that meets a set of criteria, to form a final set of parameter values, wherein the riveting system comprises a first robotic arm having an anvil or die for applying a first force to deform a first end of a member inserted between a first plate and a second plate, a second robotic arm having a die for applying a second force to deform a second end of the member, and a position tracker configured to track a position of the riveting system, wherein the position tracker sends position data to a controller;performing the riveting operation with the riveting system using the final set of parameter values to produce the riveted structure, wherein the riveted structure comprises the first plate, the second plate, and a rivet formed by deforming the first end of the member into a first end shape and the second end of the member into a second end shape, wherein the first end is cylindrical having a first diameter and the second end is hemispherical having a height and a second diameter adjacent the second plate;determining, by the computer system, whether the riveted structure of the riveting operation meets the set of criteria based on sensor data about the riveted structure of the riveting operation, wherein when a decision is made that the riveted structure of the riveting operation does not meet the set of criteria, the current set of parameter values for the set of parameters for the riveting system are recalculated while concurrently performing a number of tooling operations, wherein recalculating is defined as identifying a new set of parameters that allow a tooling operation to be performed according to the set of criteria that reduces an amount of error associated with the tooling operation, wherein the number of tooling operations includes the riveting operation, a drilling operation, a fastening operation, a nailing operation, and a rotating operation; andidentifying, by the computer system, a new set of parameter values as the current set of parameter values to be evaluated in response to a determination that the riveted structure of the riveting operation does not meet the set of criteria. 2. The method of claim 1 further comprising: repeating modifying, iteratively by the computer system, the current set of parameter values to form the final set of parameter values after identifying the new set of parameter values as the current set of parameter values to be evaluated. 3. The method of claim 1, wherein modifying, iteratively, the current set of parameter values to form the final set of parameter values comprises: forming, by the computer system, a number of models of the riveted structure that would be produced by the riveting operation based on the current set of parameter values;determining, by the computer system, whether the riveted structure that would be produced by the riveting operation meets the set of criteria; andidentifying, by the computer system, the new set of parameter values to be evaluated as the current set of parameter values in response to the determination that the riveted structure that would be produced by the riveting operation does not meet the set of criteria. 4. The method of claim 3, wherein forming the number of models of the riveted structure that would be produced by the riveting operation based on the current set of parameter values comprises: forming, by the computer system, the number of models of the riveted structure that would be produced by the riveting operation based on the current set of parameter values using finite-element assisted modeling. 5. The method of claim 1 further comprising: generating the sensor data about a set of properties of the riveted structure of the riveting operation using a laser sensor device, wherein the set of properties includes at least one of the first end shape and the second end shape. 6. The method of claim 1 further comprising: generating the sensor data about a set of properties of the riveted structure of the riveting operation using a backscatter x-ray sensor device, wherein the set of properties includes interface properties of an interference fit formed by the interface between a rivet in the riveted structure produced by the riveting operation and a set of plates fastened together by the riveting operation. 7. The method of claim 1 further comprising: identifying, by the computer system, an initial set of parameter values for the set of parameters for the riveting system as the current set of parameter values to be evaluated based on the riveting operation to be performed, wherein the riveting operation is an operation in an assembly process. 8. The method of claim 1, wherein determining whether the riveted structure that would be produced by the riveting operation meets the set of criteria comprises: running, by the computer system, at least one of a number of tests and a number of simulations based on a number of models to form test data; anddetermining, by the computer system, whether the riveted structure that would be produced by the riveting operation meets the set of criteria based on the test data, wherein the set of criteria includes specifications about a set of properties of the riveted structure, wherein the set of properties includes: the first end shape of the rivet in the riveted structure produced by the riveting operation;the second end shape of the rivet in the riveted structure produced by the riveting operation; andinterface properties of an interference fit formed by an interface between the rivet in the riveted structure produced by the riveting operation and a set of plates fastened together by the riveting operation; wherein the set of plates comprises the first plate and the second plate. 9. An apparatus comprising: a riveting system comprising a first robotic arm having an anvil or die for applying a first force to deform a first end of a member inserted between a first plate and a second plate, a second robotic arm having a die for applying a second force to deform a second end of the member, and a position tracker configured to track a position of the riveting system, wherein the position tracker sends position data to a controller;a riveted structure formed by the riveting system, wherein the riveted structure comprises the first plate, the second plate, and a rivet formed by deforming the first end of the member into a first end shape and the second end of the member into a second end shape, wherein the first end is cylindrical having a first diameter and the second end is hemispherical having a height and a second diameter adjacent the second plate;a modeler configured to modify, iteratively, a current set of parameter values for a set of parameters for the riveting system, until the current set of parameter values predict a riveting operation producing the riveted structure that meets a set of criteria, to form a final set of parameter values;a quality checker configured to determine whether the riveted structure of the riveting operation meets the set of criteria based on sensor data about the riveted structure of the riveting operation, wherein when a decision is made that the riveted structure of the riveting operation does not meet the set of criteria, the current set of parameter values for the set of parameters for the riveting system can be recalculated while concurrently performing a number of tooling operations, wherein recalculating is defined as identifying a set of parameters that allow a tooling operation to be performed according to the set of criteria that reduces an amount of error associated with the tooling operation, wherein the number of tooling operations includes the riveting operation, a drilling operation, a fastening operation, a nailing operation, and a rotating operation; anda parameter modifier configured to identify a new set of parameter values as the current set of parameter values to be evaluated in response to a determination that the riveted structure of the riveting operation does not meet the set of criteria;wherein the modeler is configured to determine whether the riveted structure that would be produced by the riveting operation meets the set of criteria based on test data, wherein the test data is digital test data, wherein the set of criteria includes specifications about a set of properties of the riveted structure, wherein the set of properties includes: the first end shape of a rivet in the riveted structure produced by the riveting operation;the second end shape of the rivet in the riveted structure produced by the riveting operation; andinterface properties of an interference fit formed by an interface between the rivet in the riveted structure produced by the riveting operation and a set of plates fastened together by the riveting operation;wherein the set of plates comprises the first plate and the second plate. 10. The apparatus of claim 9, wherein the modeler is configured to use the parameter modifier to iteratively modify the current set of parameter values to form the final set of parameter values. 11. The apparatus of claim 9, wherein the modeler is configured to form a number of models of the riveted structure that would be produced by the riveting operation based on the current set of parameter values and to determine whether the riveted structure that would be produced by the riveting operation meets the set of criteria. 12. The apparatus of claim 11, wherein the modeler is configured to run at least one of a number of tests and a number of simulations based on the number of models to form test data. 13. The apparatus of claim 12, wherein the parameter modifier is configured to identify the new set of parameter values to be evaluated as the current set of parameter values in response to the determination that the riveted structure that would be produced by the riveting operation does not meet the set of criteria and to send the new set of parameter values to the modeler for evaluation. 14. The apparatus of claim 9 further comprising: the controller configured to receive the final set of parameter values and to control the riveting system based on the final set of parameter values. 15. The apparatus of claim 9 further comprising: a sensor system configured to generate the sensor data about the riveted structure of the riveting operation performed using the final set of parameter values. 16. The apparatus of claim 9, wherein the set of parameters includes at least one of a speed, interfacial friction conditions, loads, and geometries. 17. The apparatus of claim 9, wherein the set of criteria is for a set of properties of the riveted structure produced by the riveting operation. 18. The apparatus of claim 17, wherein the riveted structure includes a rivet and wherein the set of properties includes at least one of the first end shape, the second end shape, and a number of interface properties. 19. The apparatus of claim 9, wherein the modeler, the quality checker, and the parameter modifier are implemented in a supercomputer.