Abstract: A method of programming robotic control includes the steps of defining executable actions in a control loop, and establishing sub-programs that effect modifications of or additions to the executable actions. The sub-programs are executed according to external binary inputs. The external binary inputs are provided during execution of the control loop so that the sub-programs can be executed as part of the control loop.

Abstract: Bucket tip tenons requiring refurbishment are removed from the bucket tips by grinding. Groups of buckets are clamped on a rotatable table in positions adjacent an induction heating coil and a robotic welding arm, respectively. While one group is preheated, the other group of buckets is in a welding location, enabling the welding head on the robotic arm to sequentially apply weld buildup material to the bucket tips. After applying weld buildup material in multiple passes and sequentially to the bucket tips, the buckets are removed, stress-relieved and the weld buildup material machined to provide refurbished tenons. Upon removal of the buckets from the table, the table is rotated to locate the preheated buckets in welding locations and additional buckets are clamped to the table for preheating.

Abstract: Bucket tip tenons requiring refurbishment are removed from the bucket tips by grinding. Groups of buckets are clamped on a rotatable table in positions adjacent an induction heating coil and a robotic welding arm, respectively. While one group is preheated, the other group of buckets is in a welding location, enabling the welding head on the robotic arm to sequentially apply weld buildup material to the bucket tips. After applying weld buildup material in multiple passes and sequentially to the bucket tips, the buckets are removed, stress-relieved and the weld buildup material machined to provide refurbished tenons. Upon removal of the buckets from the table, the table is rotated to locate the preheated buckets in welding locations and additional buckets are clamped to the table for preheating.

Abstract: An infrared inspection system and an induction heating system used in conjunction enable the inspection of rubber coated rolls, such as rolls used in the pulp and paper industry. The system effects non-destructive inspections of rubber coated rolls to detect a debonded condition between the metal core and rubber coating. The method includes supporting a roll for inspection, evenly heating or cooling the roll, and observing a thermal transient of the roll generated by the evenly heating process. Using an infrared camera, observed areas that are not transferring heat uniformly with respect to neighboring areas are suspected debonded areas.

Abstract: An infrared inspection system and an induction heating system used in conjunction enable the inspection of rubber coated rolls, such as rolls used in the pulp and paper industry. The system effects non-destructive inspections of rubber coated rolls to detect a debonded condition between the metal core and rubber coating. The method includes supporting a roll for inspection, evenly heating or cooling the roll, and observing a thermal transient of the roll generated by the evenly heating process. Using an infrared camera, observed areas that are not transferring heat uniformly with respect to neighboring areas are suspected debonded areas.

Abstract: A method of brazing a plurality of copper strands to a buss bar includes: a) cleaning the buss bar and the copper strands; b) positioning a filler shim on the surface of the buss bar; c) placing a copper strand on the filler shim, the filler shim and the strand having substantially equal lengths; d) stacking additional copper strands on the buss bar, with a filler shim between each adjacent pair of strands; and e) heating the filler shims utilizing an induction brazing coil to a temperature sufficient to cause melting of the shims and to thereby form a brazed lap joint between the copper strands and the buss bar.

Abstract: The welding method for repairing a turbine rotor dovetail includes removal of buckets from damaged dovetails, removing a damaged dovetail from a turbine wheel, leaving a rotor wheel body having a rim. A plurality of ring sections are disposed about the wheel body rim, leaving axially opening annular grooves along opposite sides of the wheel. Welding apparatus including an electrode, welding wire and gas-carrying tube are inserted into the groove through an axial face of the wheel. One or more cover plates are disposed to overlie the groove at the location of its opening through the axial face of the wheel to at least partially seal the groove at its opening and maintain welding gas in the groove, enveloping the electrode and weld wire.