In order to ensure that the off-line arm of a two-arm-wheel combined inspection robot can reliably grasp the line in case of autonomous obstacle crossing,a control method is proposed for line grasping based on hand-ey...In order to ensure that the off-line arm of a two-arm-wheel combined inspection robot can reliably grasp the line in case of autonomous obstacle crossing,a control method is proposed for line grasping based on hand-eye visual servo.On the basis of the transmission line's geometrical characteristics and the camera's imaging principle,a line recognition and extraction method based on structure constraint is designed.The line's intercept and inclination are defined in an imaging space to represent the robot's change of pose and a law governing the pose decoupling servo control is developed.Under the integrated consideration of the influence of light intensity and background change,noise(from the camera itself and electromagnetic field)as well as the robot's kinetic inertia on the robot's imaging quality in the course of motion and the grasping control precision,a servo controller for grasping the line of the robot's off-line arm is designed with the method of fuzzy control.An experiment is conducted on a 1:1 simulation line using an inspection robot and the robot is put into on-line operation on a real overhead transmission line,where the robot can grasp the line within 18 s in the case of autonomous obstacle-crossing.The robot's autonomous line-grasping function is realized without manual intervention and the robot can grasp the line in a precise,reliable and efficient manner,thus the need of actual operation can be satisfied.展开更多
A new type of estimator is developed for the satellite formation to track and inspect on-orbit targets. The follower satellite in the formation works without relative sensors, and its target pointing commands are deri...A new type of estimator is developed for the satellite formation to track and inspect on-orbit targets. The follower satellite in the formation works without relative sensors, and its target pointing commands are derived based on relative orbital dynamics. The centralized estimator based on truth measurement is designed, however, this estimator is proved unstable because of the lack of necessary measurement information. After that, an alternative estimator based on pseudo measurement is designed, and its observability and controllability are analyzed to qualitatively evaluate the convergence performance. Finally, an on-orbit target inspection scenario is numerically simulated to verify the performance of the estimator based on pseudo measurement.展开更多
A mobile robot developed by Wuhan University for full-path hotline inspection on 220 kV transmission lines was presented. With 4 rotating joints and 2 translational ones, such robot is capable of traveling along non- ...A mobile robot developed by Wuhan University for full-path hotline inspection on 220 kV transmission lines was presented. With 4 rotating joints and 2 translational ones, such robot is capable of traveling along non- obstaclestraight-line segment and surmounting straight-line segment obstacles as well as transferring between two spans automatically. Lagrange’s equations were utilized to derive dynamic equations of all the links, including items of inertia, coupling inertia, Coriolis acceleration, centripetal acceleration and gravity. And a dynamic response experiment on elemental motions of robot prototype’s travelling along non-obstacle straight-line segment and surmounting obstacles was performed on 220 kV 1∶1 simulative overhanging transmission-line in laboratory. In addition, dynamic numerical simulation was conducted in the corresponding condition. Comparison and analysis on results of experiment and numerical simulation have validated theoretical model and simulation resolution. Therefore, the dynamic model formed hereunder can be used for the study of robot control.展开更多
With the increasing number of vehicles,manual security inspections are becoming more laborious at road checkpoints.To address it,a specialized Road Checkpoints Robot(RCRo)system is proposed,incorporated with enhanced ...With the increasing number of vehicles,manual security inspections are becoming more laborious at road checkpoints.To address it,a specialized Road Checkpoints Robot(RCRo)system is proposed,incorporated with enhanced You Only Look Once(YOLO)and a 6-degree-of-freedom(DOF)manipulator,for autonomous identity verification and vehicle inspection.The modified YOLO is characterized by large objects’sensitivity and faster detection speed,named“LF-YOLO”.The better sensitivity of large objects and the faster detection speed are achieved by means of the Dense module-based backbone network connecting two-scale detecting network,for object detection tasks,along with optimized anchor boxes and improved loss function.During the manipulator motion,Octree-aided motion control scheme is adopted for collision-free motion through Robot Operating System(ROS).The proposed LF-YOLO which utilizes continuous optimization strategy and residual technique provides a promising detector design,which has been found to be more effective during actual object detection,in terms of decreased average detection time by 68.25%and 60.60%,and increased average Intersection over Union(Io U)by 20.74%and6.79%compared to YOLOv3 and YOLOv4 through experiments.The comprehensive functional tests of RCRo system demonstrate the feasibility and competency of the multiple unmanned inspections in practice.展开更多
The rigid-flexible coupling dynamic modeling and simulation of an inspection robot were conducted to study the influences of the flexible obstructive working environment i.e. overhead transmission line on the robot＇s...The rigid-flexible coupling dynamic modeling and simulation of an inspection robot were conducted to study the influences of the flexible obstructive working environment i.e. overhead transmission line on the robot＇s dynamic performance. First, considering the structure of the obstacles and symmetrical mechanism of the robot prototype, four basic subactions were abstracted to fulfill full-path kinematic tasks. Then, a multi-rigid-body dynamic model of the robot was built with Lagrange equation, whil^e a multi-flexible-body dynamic model of a span of lin~ was obtained by combining finite element method （FEM）, modal synthesis method and Lagrange equation. The two subsystem models were coupled under rolling along no-obstacle segment and overcoming obstacle poses, and these simulations of three subactions along different spans of line were performed in ADMAS. The simulation results, including the coupling vibration parameters and driving moment of joint motors, show the dynamic performances of the robot along ftexibile obstructive working path： in flexible obstructive working environment, the robot can fulfill the preset motion goals; it responses slower in more flexible path; the fluctuation of robot as well as driving moment of the corresponding joint in startup and brake region is greater than that in rigid environment; the fluctuation amplitude increases with increasing working environment flexibility.展开更多
Wafer bin map(WBM)inspection is a critical approach for evaluating the semiconductor manufacturing process.An excellent inspection algorithm can improve the production efficiency and yield.This paper proposes a WBM de...Wafer bin map(WBM)inspection is a critical approach for evaluating the semiconductor manufacturing process.An excellent inspection algorithm can improve the production efficiency and yield.This paper proposes a WBM defect pattern inspection strategy based on the DenseNet deep learning model,the structure and training loss function are improved according to the characteristics of the WBM.In addition,a constrained mean filtering algorithm is proposed to filter the noise grains.In model prediction,an entropy-based Monte Carlo dropout algorithm is employed to quantify the uncertainty of the model decision.The experimental results show that the recognition ability of the improved DenseNet is better than that of traditional algorithms in terms of typical WBM defect patterns.Analyzing the model uncertainty can not only effectively reduce the miss or false detection rate but also help to identify new patterns.展开更多
The optimization of inspection intervals for composite structures has been proposed,but only one damage type,dent damage,has been addressed so far.The present study focuses on the two main damage types of dent and del...The optimization of inspection intervals for composite structures has been proposed,but only one damage type,dent damage,has been addressed so far.The present study focuses on the two main damage types of dent and delamination,and a model for optimizing the inspection interval of composite structures is proposed to minimize the total maintenance cost on the premise that the probability of structure failure will not exceed the acceptable level.In order to analyze the damage characteristics and the residual strength of the composite structure,the frequency,energy,size,and depth of the damage are studied,and the situation of missing detection during the inspection is considered.The structural residual strength and total maintenance cost are quantified corresponding to different inspection intervals.The proposed optimization method relieves the constraints in previous simulation methods,and is more consistent with the actual situation.Finally,the outer wing of aircraft is taken as an example,and with the historical cases and experimental data,the optimization method is verified.The optimal inspection interval is shorter than the actually implemented inspection interval,and the corresponding maintenance cost is reduced by 23.3%.The result shows the feasibility and effectiveness of the proposed optimization method.展开更多
Plenty of dams in China are in danger while there are few effective methods for underwater dam inspections of hidden problems such as conduits,cracks and inanitions.The dam safety inspection remotely operated vehicle(...Plenty of dams in China are in danger while there are few effective methods for underwater dam inspections of hidden problems such as conduits,cracks and inanitions.The dam safety inspection remotely operated vehicle(DSIROV) is designed to solve these problems which can be equipped with many advanced sensors such as acoustical,optical and electrical sensors for underwater dam inspection.A least-square parameter estimation method is utilized to estimate the hydrodynamic coefficients of DSIROV,and a four degree-of-freedom(DOF) simulation system is constructed.The architecture of DSIROV's motion control system is introduced,which includes hardware and software structures.The hardware based on PC104 BUS,uses AMD ELAN520 as the controller's embedded CPU and all control modules work in VxWorks real-time operating system.Information flow of the motion system of DSIROV,automatic control of dam scanning and dead-reckoning algorithm for navigation are also discussed.The reliability of DSIROV's control system can be verified and the control system can fulfill the motion control mission because embankment checking can be demonstrated by the lake trials.展开更多
This paper considers an optimal sequential inspection schedule for a second-hand product after that the free nonrenewable warranty is expired. The length of warranty is prespecified and during the warranty period, the...This paper considers an optimal sequential inspection schedule for a second-hand product after that the free nonrenewable warranty is expired. The length of warranty is prespecified and during the warranty period, the product is minimally repaired by the dealer when it fails. Following the expiration of the non-renewing warranty, the product is inspected and upgraded sequentially a fixed number of times at the expenses of the customer.At each inspection, the failure rate of the product is reduced proportionally so that the product is upgraded. The product is assumed to deteriorate as it ages and the replacement of the product occurs when a fixed number of inspections are rendered. In addition,the intervals between two successive inspections are assumed to decrease monotonically. The main objective of this paper is to determine the optimal improvement level to upgrade the product at each inspection so that the expected maintenance cost during the life cycle of the product is minimized from the perspective of the customer. Under the given cost structures, we derive an explicit formula to obtain the expected maintenance cost incurred during the life cycle of the product and discuss the method to find the optimal level of the improvement analytically in case the failure times follow the Weibull distribution. Numerical results are analyzed to observe the impact of relevant parameters on the optimal solution.展开更多
This paper proposes a joint inspection-based maintenance and spare ordering optimization policy that considers the problem of integrated inspection,preventive maintenance,spare ordering,and quality control for a four-...This paper proposes a joint inspection-based maintenance and spare ordering optimization policy that considers the problem of integrated inspection,preventive maintenance,spare ordering,and quality control for a four-state single-unit manufacturing system.When an inspection detects a minor defect,a second phase inspection is initiated and a regular order is placed.Product quality begins to deteriorate when the system undergoes a severe defect.To counter this,an advanced replacement of the minor defective system is carried out at the Jth second phase inspection.If a severe defect is recognized prior to the Jth inspection,or if system failure occurs,preventive or corrective replacement is executed.The timeliness of replacement depends on the availability of spare.We adopt two modes of ordering:a regular order and an emergency order.Meanwhile,a threshold level is introduced to determine whether an emergency order is preferred even when the regular order is already ordered but has not yet arrived.The optimal joint inspection-based maintenance and spare ordering policy is formulated by minimizing the expected cost per unit time.A simulation algorithm is proposed to obtain the optimal two-phase inspection interval,threshold level and advanced replacement interval.Results from several numerical examples demonstrate that,in terms of the expected cost per unit time,our proposed model is superior to some existing models.展开更多
A mathematical model to determine the optimal production lot size for a deteriorating production system under an extended product inspection policy is developed. The last-K product inspection policy is considered so t...A mathematical model to determine the optimal production lot size for a deteriorating production system under an extended product inspection policy is developed. The last-K product inspection policy is considered so that the nonconforming items can be reduced, under which the last K products in a production lot are inspected and the nonconforming items from those inspected are reworked. Consider that the products produced towards the end of a production lot are more likely to be nonconforming, is proposed an extended product inspection policy for a deteriorating production system. That is, in a production lot, product inspections are performed among the middle K1 items and after inspections, all of the last K2 products are directly reworked without inspections. Our objective here is the joint optimization of the production lot size and the corresponding extended inspection policy such that the expected total cost per unit time is minimized. Since there is no closed form expression for our optimal policy, the existence for the optimal production inspection policy and an upper bound for the optimal lot size are obtained. Furthermore, an efficient solution procedure is provided to search for the optimal policy. Finally, numerical examples are given to illustrate the proposed model and indicate that the expected total cost per unit time of our product inspection model is less than that of the last-K inspection policy.展开更多
The paper proposes an experimental method of material inspection,which is based on digital processing of multi-frequency eddy current measurement data.The influences of various factors(conductivity,the gap between the...The paper proposes an experimental method of material inspection,which is based on digital processing of multi-frequency eddy current measurement data.The influences of various factors(conductivity,the gap between the sample surface and the sensor,the thickness of the sample) on the obtained hodographs are examined by taking the aluminum alloys for example,and the possibility of separation of various factors is analyzed.The results obtained are indicative of how much promise the proposed method offers for the inspection and testing of products made of aluminum alloys.展开更多
基金Project(2006AA04Z202)supported by the National High Technology Research and Development Program of ChinaProject(51105281)supported by the National Natural Science Foundation of China
文摘In order to ensure that the off-line arm of a two-arm-wheel combined inspection robot can reliably grasp the line in case of autonomous obstacle crossing,a control method is proposed for line grasping based on hand-eye visual servo.On the basis of the transmission line's geometrical characteristics and the camera's imaging principle,a line recognition and extraction method based on structure constraint is designed.The line's intercept and inclination are defined in an imaging space to represent the robot's change of pose and a law governing the pose decoupling servo control is developed.Under the integrated consideration of the influence of light intensity and background change,noise(from the camera itself and electromagnetic field)as well as the robot's kinetic inertia on the robot's imaging quality in the course of motion and the grasping control precision,a servo controller for grasping the line of the robot's off-line arm is designed with the method of fuzzy control.An experiment is conducted on a 1:1 simulation line using an inspection robot and the robot is put into on-line operation on a real overhead transmission line,where the robot can grasp the line within 18 s in the case of autonomous obstacle-crossing.The robot's autonomous line-grasping function is realized without manual intervention and the robot can grasp the line in a precise,reliable and efficient manner,thus the need of actual operation can be satisfied.
基金supported by the National Natural Science Foundation of China (11102018)
文摘A new type of estimator is developed for the satellite formation to track and inspect on-orbit targets. The follower satellite in the formation works without relative sensors, and its target pointing commands are derived based on relative orbital dynamics. The centralized estimator based on truth measurement is designed, however, this estimator is proved unstable because of the lack of necessary measurement information. After that, an alternative estimator based on pseudo measurement is designed, and its observability and controllability are analyzed to qualitatively evaluate the convergence performance. Finally, an on-orbit target inspection scenario is numerically simulated to verify the performance of the estimator based on pseudo measurement.
文摘A mobile robot developed by Wuhan University for full-path hotline inspection on 220 kV transmission lines was presented. With 4 rotating joints and 2 translational ones, such robot is capable of traveling along non- obstaclestraight-line segment and surmounting straight-line segment obstacles as well as transferring between two spans automatically. Lagrange’s equations were utilized to derive dynamic equations of all the links, including items of inertia, coupling inertia, Coriolis acceleration, centripetal acceleration and gravity. And a dynamic response experiment on elemental motions of robot prototype’s travelling along non-obstacle straight-line segment and surmounting obstacles was performed on 220 kV 1∶1 simulative overhanging transmission-line in laboratory. In addition, dynamic numerical simulation was conducted in the corresponding condition. Comparison and analysis on results of experiment and numerical simulation have validated theoretical model and simulation resolution. Therefore, the dynamic model formed hereunder can be used for the study of robot control.
基金supported by the National Key Research and Development Program of China(grant number:2017YFC0806503)。
文摘With the increasing number of vehicles,manual security inspections are becoming more laborious at road checkpoints.To address it,a specialized Road Checkpoints Robot(RCRo)system is proposed,incorporated with enhanced You Only Look Once(YOLO)and a 6-degree-of-freedom(DOF)manipulator,for autonomous identity verification and vehicle inspection.The modified YOLO is characterized by large objects’sensitivity and faster detection speed,named“LF-YOLO”.The better sensitivity of large objects and the faster detection speed are achieved by means of the Dense module-based backbone network connecting two-scale detecting network,for object detection tasks,along with optimized anchor boxes and improved loss function.During the manipulator motion,Octree-aided motion control scheme is adopted for collision-free motion through Robot Operating System(ROS).The proposed LF-YOLO which utilizes continuous optimization strategy and residual technique provides a promising detector design,which has been found to be more effective during actual object detection,in terms of decreased average detection time by 68.25%and 60.60%,and increased average Intersection over Union(Io U)by 20.74%and6.79%compared to YOLOv3 and YOLOv4 through experiments.The comprehensive functional tests of RCRo system demonstrate the feasibility and competency of the multiple unmanned inspections in practice.
基金Project(50575165) supported by the National Natural Science Foundation of ChinaProjects(2006AA04Z202, 2005AA2006-1) supported by the National High-Tech Research and Development Program of China+1 种基金Project(20813) supported by the Natural Science Foundation of Hubei Province, ChinaProject(20045006071-28) supported by the Youth Chenguang Project of Science and Technology of Wuhan City, China
文摘The rigid-flexible coupling dynamic modeling and simulation of an inspection robot were conducted to study the influences of the flexible obstructive working environment i.e. overhead transmission line on the robot＇s dynamic performance. First, considering the structure of the obstacles and symmetrical mechanism of the robot prototype, four basic subactions were abstracted to fulfill full-path kinematic tasks. Then, a multi-rigid-body dynamic model of the robot was built with Lagrange equation, whil^e a multi-flexible-body dynamic model of a span of lin~ was obtained by combining finite element method （FEM）, modal synthesis method and Lagrange equation. The two subsystem models were coupled under rolling along no-obstacle segment and overcoming obstacle poses, and these simulations of three subactions along different spans of line were performed in ADMAS. The simulation results, including the coupling vibration parameters and driving moment of joint motors, show the dynamic performances of the robot along ftexibile obstructive working path： in flexible obstructive working environment, the robot can fulfill the preset motion goals; it responses slower in more flexible path; the fluctuation of robot as well as driving moment of the corresponding joint in startup and brake region is greater than that in rigid environment; the fluctuation amplitude increases with increasing working environment flexibility.
基金Project(Z135060009002)supported by the Ministry of Industry and Information Technology of ChinaProject(KZ202010005004)supported by Beijing Municipal Commission of Education and Beijing Municipal Natural Science Foundation of China。
文摘Wafer bin map(WBM)inspection is a critical approach for evaluating the semiconductor manufacturing process.An excellent inspection algorithm can improve the production efficiency and yield.This paper proposes a WBM defect pattern inspection strategy based on the DenseNet deep learning model,the structure and training loss function are improved according to the characteristics of the WBM.In addition,a constrained mean filtering algorithm is proposed to filter the noise grains.In model prediction,an entropy-based Monte Carlo dropout algorithm is employed to quantify the uncertainty of the model decision.The experimental results show that the recognition ability of the improved DenseNet is better than that of traditional algorithms in terms of typical WBM defect patterns.Analyzing the model uncertainty can not only effectively reduce the miss or false detection rate but also help to identify new patterns.
基金supported by the National Natural Science Foundation of China(U1533202)the Fundamental Research Funds for the Central Universities(NP2019408)。
文摘The optimization of inspection intervals for composite structures has been proposed,but only one damage type,dent damage,has been addressed so far.The present study focuses on the two main damage types of dent and delamination,and a model for optimizing the inspection interval of composite structures is proposed to minimize the total maintenance cost on the premise that the probability of structure failure will not exceed the acceptable level.In order to analyze the damage characteristics and the residual strength of the composite structure,the frequency,energy,size,and depth of the damage are studied,and the situation of missing detection during the inspection is considered.The structural residual strength and total maintenance cost are quantified corresponding to different inspection intervals.The proposed optimization method relieves the constraints in previous simulation methods,and is more consistent with the actual situation.Finally,the outer wing of aircraft is taken as an example,and with the historical cases and experimental data,the optimization method is verified.The optimal inspection interval is shorter than the actually implemented inspection interval,and the corresponding maintenance cost is reduced by 23.3%.The result shows the feasibility and effectiveness of the proposed optimization method.
基金Project(20100480964) supported by China Postdoctoral Science FoundationProjects(2002AA420090,2008AA092301) supported by the National High Technology Research and Development Program of China
文摘Plenty of dams in China are in danger while there are few effective methods for underwater dam inspections of hidden problems such as conduits,cracks and inanitions.The dam safety inspection remotely operated vehicle(DSIROV) is designed to solve these problems which can be equipped with many advanced sensors such as acoustical,optical and electrical sensors for underwater dam inspection.A least-square parameter estimation method is utilized to estimate the hydrodynamic coefficients of DSIROV,and a four degree-of-freedom(DOF) simulation system is constructed.The architecture of DSIROV's motion control system is introduced,which includes hardware and software structures.The hardware based on PC104 BUS,uses AMD ELAN520 as the controller's embedded CPU and all control modules work in VxWorks real-time operating system.Information flow of the motion system of DSIROV,automatic control of dam scanning and dead-reckoning algorithm for navigation are also discussed.The reliability of DSIROV's control system can be verified and the control system can fulfill the motion control mission because embankment checking can be demonstrated by the lake trials.
基金supported by the Research Base Construction Fund Support Program funded by Chonbuk National University in 2013the Mid-career Research Program(2016R1A2B4010080)through NRF Grant funded by MEST
文摘This paper considers an optimal sequential inspection schedule for a second-hand product after that the free nonrenewable warranty is expired. The length of warranty is prespecified and during the warranty period, the product is minimally repaired by the dealer when it fails. Following the expiration of the non-renewing warranty, the product is inspected and upgraded sequentially a fixed number of times at the expenses of the customer.At each inspection, the failure rate of the product is reduced proportionally so that the product is upgraded. The product is assumed to deteriorate as it ages and the replacement of the product occurs when a fixed number of inspections are rendered. In addition,the intervals between two successive inspections are assumed to decrease monotonically. The main objective of this paper is to determine the optimal improvement level to upgrade the product at each inspection so that the expected maintenance cost during the life cycle of the product is minimized from the perspective of the customer. Under the given cost structures, we derive an explicit formula to obtain the expected maintenance cost incurred during the life cycle of the product and discuss the method to find the optimal level of the improvement analytically in case the failure times follow the Weibull distribution. Numerical results are analyzed to observe the impact of relevant parameters on the optimal solution.
基金This work was supported by the National Natural Science Foundation of China(71471015)the Social Science Fund Base Project of Beijing(19JDGLA001).
文摘This paper proposes a joint inspection-based maintenance and spare ordering optimization policy that considers the problem of integrated inspection,preventive maintenance,spare ordering,and quality control for a four-state single-unit manufacturing system.When an inspection detects a minor defect,a second phase inspection is initiated and a regular order is placed.Product quality begins to deteriorate when the system undergoes a severe defect.To counter this,an advanced replacement of the minor defective system is carried out at the Jth second phase inspection.If a severe defect is recognized prior to the Jth inspection,or if system failure occurs,preventive or corrective replacement is executed.The timeliness of replacement depends on the availability of spare.We adopt two modes of ordering:a regular order and an emergency order.Meanwhile,a threshold level is introduced to determine whether an emergency order is preferred even when the regular order is already ordered but has not yet arrived.The optimal joint inspection-based maintenance and spare ordering policy is formulated by minimizing the expected cost per unit time.A simulation algorithm is proposed to obtain the optimal two-phase inspection interval,threshold level and advanced replacement interval.Results from several numerical examples demonstrate that,in terms of the expected cost per unit time,our proposed model is superior to some existing models.
基金supported by the National Natural Science Foundation of China(60874034).
文摘A mathematical model to determine the optimal production lot size for a deteriorating production system under an extended product inspection policy is developed. The last-K product inspection policy is considered so that the nonconforming items can be reduced, under which the last K products in a production lot are inspected and the nonconforming items from those inspected are reworked. Consider that the products produced towards the end of a production lot are more likely to be nonconforming, is proposed an extended product inspection policy for a deteriorating production system. That is, in a production lot, product inspections are performed among the middle K1 items and after inspections, all of the last K2 products are directly reworked without inspections. Our objective here is the joint optimization of the production lot size and the corresponding extended inspection policy such that the expected total cost per unit time is minimized. Since there is no closed form expression for our optimal policy, the existence for the optimal production inspection policy and an upper bound for the optimal lot size are obtained. Furthermore, an efficient solution procedure is provided to search for the optimal policy. Finally, numerical examples are given to illustrate the proposed model and indicate that the expected total cost per unit time of our product inspection model is less than that of the last-K inspection policy.
基金supported by Program for Basic Scientific Research of the State Academies of Sciences for 2013e2020the RF Ministry of Education and Science (Contract No. 02.G25.31.0063)
文摘The paper proposes an experimental method of material inspection,which is based on digital processing of multi-frequency eddy current measurement data.The influences of various factors(conductivity,the gap between the sample surface and the sensor,the thickness of the sample) on the obtained hodographs are examined by taking the aluminum alloys for example,and the possibility of separation of various factors is analyzed.The results obtained are indicative of how much promise the proposed method offers for the inspection and testing of products made of aluminum alloys.
