Bieke Decraemer

In HMLV manufacturing, assembly mistakes by operators are common due to the ever increasing product variability and complexity. If mistakes can be detected early-on in the design process, product designers can reduce the possibility for mistakes. We present an algorithm to automatically detect and evaluate potential misplacements of parts that need to be fastened. Evaluation starts from a product CAD and returns the risk of misplacement as well as visual feedback on possible misplacements. An implementation with FreeCAD of our algorithm is illustrated on different use cases.

As the industry shifts to automated manufacturing and the assembly of parts in smaller batches, there is a clear need for an efficient design of grippers. This paper presents a method for automated grasp planning and finger design for multiple parts using four grasp quality measures that capture the following important requirements for grasping: (i) uniform contact force distribution; (ii) better gravity wrench resistance; (iii) robustness against gripper positioning error; and (iv) ability to resist larger external wrench on the object. We introduce the fingertip score to quantify the grasp performance of a fingertip design over all the objects. The method takes the CAD model of the objects as the input and outputs the optimal grasp location and the best finger design. We use the method for a three-point grasp with a parallel jaw gripper. We validate our method on two sets of objects. Results show how each grasp quality measure behaves on different objects and the variation in the fingertip score with finger design. Finally, we test the effectiveness of the optimal finger design experimentally. The three-point grasp is suitable for grasping objects larger than is possible with shape-matching fingertips.

Transverse waves are sometimes observed in solar helmet streamers, typically after the passage of a coronal mass ejection (CME). The CME-driven shock wave moves the streamer sideways, and a decaying oscillation of the streamer is observed after the CME passage. Previous works generally reported observations of streamer oscillations taken from a single vantage point (typically the Solar and Heliospheric Observatory (SOHO) spacecraft). We conduct a data survey searching for streamer wave events observed by the COR2 coronagraphs on board the STEREO spacecraft. For the first time, we report observations of streamer wave events from multiple vantage points by using the COR2 instrument on both STEREO A and B, as well as the SOHO/LASCO C2+C3 coronagraphs. We investigate the properties of streamer waves by comparing the different events and performing a statistical analysis. Common observational features give us additional insight on the physical nature of streamer wave events. The most important conclusion is that there appears to be no relation between the speed of the CME and the phase speed of the resulting streamer wave, indicating that the streamer wave speed is determined by the physical properties of the streamer rather than the properties of the CME. This result makes streamer wave events excellent candidates for coronal seismology studies. From a comparison between the measured phase speeds and the phase speeds calculated from the measured periods and wavelengths, we could determine that the speed of the postshock solar wind flow in our streamers is around 300 km s⁻¹.

Helmet streamers are a prominent manifestation of magnetic structures with current sheets in the solar corona. These large-scale structures are regions with high plasma density, overlying active regions and filament channels. We investigate the three-dimensional (3D) structure of a coronal streamer, observed simultaneously by white-light coronagraphs from two vantage points near quadrature (the Solar and Heliospheric Observatory (SOHO)/Large Angle and Spectrometric Coronagraph Experiment (LASCO) and the Solar Terrestrial Relations Observatory (STEREO)/Coronagraph 2 (COR2)). We design a forward model based on plausible assumptions about the 3D streamer structure taken from physical models (a plasma slab centered around a current sheet). The streamer stalk is approximated by a plasma slab, with an electron density that is characterized by three separate functions describing the radial, transverse, and face-on profiles, respectively. For the first time, we simultaneously fit the observational data from SOHO and STEREO using a multivariate minimization algorithm. The streamer plasma sheet contains a number of brighter and darker ray-like structures with the density contrast up to about a factor of 3 between them. The densities derived using polarized and unpolarized data are similar. We demonstrate that our model corresponds well to the observations.

Aims. We investigate the effect of a background solar wind on breakout coronal mass ejections, in particular, the effect on the different current sheets and the flux rope formation process. Methods. We obtained numerical simulation results by solving the magnetohydrodynamics equations on a 2.5D (axisymmetric) stretched grid. Ultrahigh spatial resolution is obtained by applying a solution adaptive mesh refinement scheme by increasing the grid resolution in regions of high electrical current, that is, by focussing on the maximum resolution of the current sheets that are forming. All simulations were performed using the same initial base grid and numerical schemes; we only varied the refinement level. Results. A background wind that causes a surrounding helmet streamer has been proven to have a substantial effect on the current sheets that are forming and thus on the dynamics and topology of the breakout release process. Two distinct ejections occur: first, the top of the helmet streamer detaches, and then the central arcade is pinched off behind the top of the helmet streamer. This is different from the breakout scenario that does not take the solar wind into account, where only the central arcade is involved in the eruption. In the new ultrahigh-resolution simulations, small-scale structures are formed in the lateral current sheets, which later merge with the helmet streamer or reconnect with the solar surface. We find that magnetic reconnections that occur at the lateral breakout current sheets deliver the major kinetic energy contribution to the eruption and not the reconnection at the so-called flare current sheet, as was seen in the case without background solar wind.