# US 10,162,317 B2 · Real-time feedback control for performing tooling operations in assembly processes > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,162,317 B2 - Document ID: US10162317B2 - Status: Granted - Kind: B2 - Application number: 13/929,138 - Filed: 2013-06-27 - Published: 2015-01-01 - Granted: 2018-12-25 - Earliest claimed: 2013-06-27 - Assignees: The Boeing Company - Applicants: The Boeing Company - Inventors: Chin H. Toh - Web page: https://patentgrep.com/patent/US10162317B2 ## CPC - G05B 15/02: electric - B21J 15/02: Riveting procedures - B21J 15/28: Control devices specially adapted to riveting machines not restricted to one of the preceding subgroups - B21J 15/285: {for controlling the rivet upset cycle} - G05B 13/042: {in which a parameter or coefficient is automatically adjusted to optimise the performance} - G05B 19/41805: {characterised by assembly} - G05B 19/41885: {characterised by modeling, simulation of the manufacturing system} - G05B 2219/31031: Assembly, manipulator cell - G05B 2219/32182: If state of tool, product deviates from standard, adjust system, feedback - G05B 2219/32216: If machining not optimized, simulate new parameters and correct machining - G05B 2219/32359: Modeling, simulating assembly operations - G05B 2219/36252: Generate machining program based on a simulation to optimize a machine parameter - G05B 2219/37576: Post-process, measure worpiece after machining, use results for new or same - G05B 2219/45088: Riveting robot - Y02P 90/02: Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS] - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - B21J: FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES (rolling of metal B21B; making particular products by forging or pressing B21K; cladding or plating B23K; finishing surfaces by hammering B23P9/04; compacting surfaces by blasting with particulate material B24C1/10; general features of presses, presses for consolidating scrap B30B; furnaces in general F27) - Y02P: CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS ## Abstract 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. ## Claims ### Claim 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; and identifying, 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. ### Claim 2 (depends on 1) 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. ### Claim 3 (depends on 1) 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; and identifying, 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. ### Claim 4 (depends on 3) 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. ### Claim 5 (depends on 1) 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. ### Claim 6 (depends on 1) 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. ### Claim 7 (depends on 1) 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. ### Claim 8 (depends on 1) 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; and determining, 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; and interface 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. ### Claim 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; and a 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; and interface 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. ### Claim 10 (depends on 9) 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. ### Claim 11 (depends on 9) 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. ### Claim 12 (depends on 11) 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. ### Claim 13 (depends on 12) 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. ### Claim 14 (depends on 9) 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. ### Claim 15 (depends on 9) 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. ### Claim 16 (depends on 9) The apparatus of claim 9, wherein the set of parameters includes at least one of a speed, interfacial friction conditions, loads, and geometries. ### Claim 17 (depends on 9) 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. ### Claim 18 (depends on 17) 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. ### Claim 19 (depends on 9) The apparatus of claim 9, wherein the modeler, the quality checker, and the parameter modifier are implemented in a supercomputer.