Introduction. Currently, fluorine polymers have become quite widespread in various industries. One of the fields of application of fluoroplastic coatings in the oil industry is their use as protective coatings to prevent the deposition of paraffin plugs on the walls of tubing and field pipelines. Fluoroplastic parts find promising application in machines and units of oil refining and petrochemical industries, where high corrosion resistance, sufficient strength and high tribotechnical properties are required. The complexity of the ubiquity of fluoroplastic coatings is its low adhesion to the metal surface. In this regard, fluoroplastic coatings are typically complex systems comprising directly fluoroplastic polymer, binders and functional fillers. Materials and methods. The study used metal plates made of titanium alloy VT6 and carbon steel St3 coated with an aqueous fluoroplastic suspension. Fluoroplastic polymer coatings have poor adhesive strength to the metal surface on which they are applied. Therefore, in order to ensure a high level of adhesion of the coating to the metal substrate, it is necessary to use complex methods of preliminary surface preparation. The coating was applied to the pre-prepared surface of the metal plates by air spraying using a spray gun and compressed air. The key parameters for the formation of the fluoroplastic film were drying and sintering modes. Adhesion was evaluated by the methods of “X-shaped” notch (State Standard 32702.2-2014) and tearing in a tensile machine on cylinders (State Standard 32299-2025). Results. Proposed method comprises application of intermediate primer layer from suspension containing chromium (III) oxide, phosphoric acid, water and fluoroplastic. The intermediate adhesive primer layer was applied by air spraying under the same conditions as the base fluoroplastic coating. This ensured that the proposed drying and sintering conditions met the base layer. The use of a primer made it possible to realize a gradient transition from the metal substrate to the fluoroplastic layer and significantly increase the adhesion properties. Conclusion. The results show a significant improvement in adhesion compared to the control samples without primer: the tensile strength value by the tear method is 2.56 N/mm2, and by the X-notch method - from 5 points to 1 point (traces of peel ing or removal of the coating along the incisions). The method is easy to implement and promising for use in protective coatings.
Introduction. During welding, coating application, and assembly or installation operations, the tool’s position is specified in con junction with its orientation. A single specified pose may correspond to various sets of manipulator joint angles, and the solutions obtained for individual points do not always form a continuous trajectory. In such cases, the transition from one point to another involves a sudden change in joint angles, a factor that must be taken into account when setting movement speeds. The trajectory is defined either by joint angles or by an array of Cartesian tool poses. In the latter case, the input data consists of coordinates and orientations derived from a CAD model, teach points, or an external planner. Calculating the trajectory from this data requires reconciling inverse kinematics solutions at adjacent points; in the algorithm under consideration, this is achieved by passing the calculated angles to the computation for the next point. Methods and Materials. The object of study is a six-link manipulator with six degrees of freedom. Joint angles were determined based on specified Tool Center Point (TCP) positions and orientations using the pseudoinverse of the numerical Jacobian matrix, while the orientation error component was calculated using ZYX Euler angles. The solution obtained for a given point served as the initial approximation for the subsequent point. Verification was performed us ing trajectories comprising varying numbers of points. Results and Discussion. The procedure for formulating the six-dimensional error, the Jacobian calculation, and the iteration termination criteria are presented. Position and orientation errors, iteration counts, and computation times were determined for trajectories consisting of 5, 10, and 20 points; trajectories with up to 50 points were also examined. Calculation results for an identical geometric trajectory showed average iteration counts per point of 28, 18, and 12, respectively. Utilizing the previous solution reduced the number of iterations and, in the tests conducted, enabled the maintenance of the selected solution branch. Conclusion. The developed algorithm enables the derivation of a sequence of manipulator joint angles from a set of tool positions and orientations. In the calculations performed, the transfer of the solution between adjacent points ensured smooth angular variation; however, this mechanism alone does not guarantee the avoidance of a solution branch switch for every possible trajectory. The algorithm’s applicability is constrained by the convergence conditions of the numerical computation. When approaching a singular configuration or using sparse point spacing, it is necessary to additionally check the condition number of the Jacobian. Enhancing computational stability may require finer trajectory discretization and regularized pseudo-inversion.
The implementation of an AI-enabled video processing system for industry often faces a trade-off between accuracy, speed, cost, and safety. The authors present a plan and scheme of operation of an industrial AI system for searching objects in images in real time using only local budget solutions from the user segment. Introduction. This research describes the structure of an industrial scalable multi-camera system for detecting objects in a production environment based on text descriptors. The system is based on the OWLv2 (Open-World Localization Vision Transformer) model: a visual transformer for localizing objects in open space. Methods and materials. A video stream with various objects is used as objects, which must then be recognized and identified. The use of the open OWLv2 model and Nvidia's user-level GPU together with the microservices architecture allows you to create flexible software that can be scaled as the needs of the enterprise using a single local service that is completely isolated from the outside world. Such a service, among other things, will allow you to further implement advanced versions of models that solve complex problems, such as quality control of composites, without the need to significantly rebuild the service, while maintaining a single API. The system is designed to process real-time video streams and single images from multiple cameras in real time using graphics processing unit (GPU) acceleration, distributed task processing on Celery and RabbitMQ, centralized observability with Prometheus, Grafana and Loki. Results and discussion. The architecture prioritizes operational resilience, cost efficiency, and the ability to scale from two to a hundred cameras without a fundamental redesign. By adopting a decentralized, microservices approach from the outset, the project avoids the technical debt and refactoring burden that would arise from building a monolithic system and trying to distribute it later. Using MinIO, RabbitMQ, Prometheus, Loki, and Celery is a good choice for an industrial solution.
Introduction. Industrial pipeline valves are among the most important elements of energy metering, both within common gas distribution systems and as a precision control element directly acting on an actuator or mechanism. The most specific requirements apply to shut-off and control devices (SCDs) used in high-risk industries, as well as in precision high-tech critical manufacturing. The ability to change and regulate the flow characteristic, as well as the response time of the element separating the two parts of the communicating system, play a significant role. The use of SCDs to shape an inert gas flow, according to the established law, is a key requirement for actuators in systems for manufacturing parts (the material of which is, as a rule, in a nanostructured state) using superplastic forming (SPF). The requirements for the actuator of a gas distribution system to perform the SPF operation are determined by a graph based on the part geometry. A bellows shut-off needle valve is adopted as the actuator unit, as it is optimal in design due to the seal used, as well as a metering needle that allows changing the flow cross-section of the channel. Methods and Materials. Modeling and finite element (FE) analysis to determine the flow characteristics of a bellows shut-off needle valve in a gas distribution system were performed using a specialized software package for scenarios of control rod handle rotation at 10°, 45°, and 90°, taking into account the required boundary conditions. Full-scale tests to verify the finite element method (FEM) calculations were carried out on a test bench using a bellows shut-off needle valve with the required parameters of the test bench elements. Results and Discussion. The article presents the results of finite element analysis (FE) and full-scale bench tests to verify the modeling results. The research revealed that the dependence of the working fluid flow rate on the angle of rotation of the control rod handle is not linear. In the range of handle rotation angles from 0° to 40°, a stable increase in flow rate is observed. With a further increase in the handle opening angle from 40° to 60°, the nature of the change in the working fluid flow rate changes. Abrupt changes are observed, which can be explained by a relatively large opening of the housing seat. This leads to phenomena (stalls, flow swirls, etc.), causing flow rate fluctuations. After reaching a rotation angle of 60°, the flow rate graph becomes oscilla tory. In this section, the flow is constantly exposed to significant turbulent phenomena and becomes unstable, which complicates the accurate determination of the working fluid flow rate. Conclusion. A combination of finite element modeling and a full-scale experiment allowed us to verify the flow characteristic obtained through FEM calculations in a specialized software package with data from full-scale bench tests of a bellows-sealed shut-off needle valve. The discrepancy between the FE analysis results and those obtained during full-scale tests is within 5%, allowing the method described in this article to be used to obtain sufficiently accurate and reliable results.
Introduction. This review considers the choice of a nondestructive testing method for estimating the depth of the tempered martensitic layer in welded joints of martensitic steel pipes after high-temperature tempering. During heat treatment of welded joints, martensite does not always decompose through the entire weld thickness, especially in the root zone of thick-walled pipes, and averaged characteristics may conceal local areas of increased hardness and brittleness. Methods and Materials. Four groups of methods were compared: eddy current testing, magnetic Barkhausen noise analysis, ultrasonic methods and magnetic coercim etry. For each group, the depth from which the signal carries information about the structural-phase state and nanoscale features of the weld metal was assessed. Results. Eddy current and Barkhausen methods mainly characterize the surface and near-surface layer. Ultrasonic methods can probe deeper layers, but when the acoustic contrast between structures is weak, the tempered-layer boundary is difficult to identify from the backscattered signal, and the results are difficult to interpret. Coercimetry was chosen for field conditions. Interchangeable attached U-shaped electromagnets of different sizes magnetize the metal to different depths, which makes it possible to construct a conditional layer-by-layer magnetic profile. Discussion. It is proposed to select transducers, construct calibration curves on welded specimens, and check the transformed-layer thickness estimate by metallography, micro hardness testing and, if necessary, X-ray diffraction. Conclusion. The resulting layer-by-layer profile is conditional. Depth estima tion requires calibration for the specific steel grade and welding technology, with allowance for residual stresses and transducer orientation. Pipe inspection also requires allowance for lift-off, surface curvature and weld reinforcement.
