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David Bourne
Principal Systems Scientist, RI
Email:
Office: NSH 1612C
Phone: (412) 268-7811
Fax: 412-268-5569
  Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213
Administrative Assistant: Marliese Bonk
Affiliated Center(s):
 Center for Integrated Manfacturing Decision Systems (CIMDS)

Current Projects
 
Backgage Hardware
Bend Sequence Planner
Finds the best sequence of bending operations and repositionings of the part in the robot gripper to make a bent sheet metal part.
BendCad Modeler
Sheet metal design system for the Intelligent Bending Workstation
Fine Motion Planner
The fine-motion planner computes a sequence of robot moves to safely unload the workpiece from the bending machine.
Fine Motion Planning for Assembly
Fine Motion Planning for Mobile Robots in Large Structure Assembly
Grasping Planner
Sheet metal grasp planning for the Intelligent Bending Workstation.
Motion Planner
Product Decomposition
a method of decomposing sheet-metal products into a few, easily manufactured parts
Stacking Planner
Generates plans for polyhedral sheet metal parts.
Tooling Planner
Supports various decision making steps related to bending tools and press-brake setups.
Weld Sequence Planning
Many manufacturing processes require considerable setup time and offer a large potential for schedule compression. For example, Pratt&Miller Inc. constructed a military spec HMMWV welded spaceframe with best-practice methods, this took 89 billable hours — cutting square tubes, preparing them for welding, and then performing the final welding tasks to build the structure. On analysis, we discovered that the time actually spent on constructive processes was only 3% (slightly over two hours) of that total. Thus 97% of the overall time can potentially be eliminated. We built a system to exploit this opportunity that includes a welding robot, an augmented reality projection system and a laser displacement sensor. To test the system, we fabricated a custom variant of a HMMWV welded spaced frame where pre-process tasks were automated: BOM acquisition, component preparation, sequence planning, weld parameter optimization, fixture planning, workpiece localization and finally automated work assignments were delegated to a robot and a person. In the end, we were able to make the custom welded product nearly 9x faster than was previously possible. This achievement also translates economically to the bottom line because the cost of raw materials was only 6% of the total costs. This talk will highlight the technical achievements that made this possible.