Monthly Archives: September 2023

Robotic arms have increasingly become a crucial part of our modern world, revolutionizing industries ranging from manufacturing to healthcare. As we look towards the future, it is essential to explore the potential advancements, challenges, and the impact that these robotic arms may have on society. In this blog post, we will delve into the exciting developments on the horizon, the obstacles that need to be overcome, and the potential implications for our everyday lives.

One of the most promising aspects of the future of robotic arms is their increasing integration with artificial intelligence (AI). By combining the mechanical precision of robotic arms with the cognitive abilities of AI, we can expect to see unprecedented levels of automation and efficiency. Robotic arms equipped with advanced AI algorithms will be capable of learning and adapting to new situations, enabling them to perform complex tasks with minimal human intervention. This has the potential to revolutionize industries such as manufacturing, where robotic arms will be able to troubleshoot production issues, make autonomous decisions, and optimize processes for maximum productivity.

The development of collaborative robotic arms

The development of collaborative robotic arms, also known as cobots, is another area of innovation that holds great promise for the future. Cobots are designed to work alongside humans, assisting with tasks that require both precision and flexibility. Unlike traditional robotic arms that require safety barriers and operate separately from humans, cobots can function near humans, making them ideal for applications such as assembly lines, healthcare, and even household tasks. The future of cobots lies in the advancement of their safety features and their ability to adapt to various working environments, facilitating seamless collaboration between humans and robotic arms.

Challenges of robotic arms 

However, with these advancements come a set of challenges that need to be addressed. 

Here are some important challenges: 

1. Accuracy and Precision: Ensuring that robotic arms perform tasks with high accuracy and precision can be challenging due to factors such as mechanical limitations or calibration errors. Solution: Implementing advanced sensing technologies and precise motion control algorithms to enhance accuracy.

2. Complex Task Planning: Programming robotic arms to perform complex tasks involving multiple steps and variations can be difficult. Solution: Implementing advanced path planning and motion control algorithms to enable efficient and flexible task execution.

3. Object Recognition and Handling: Robotic arms may face challenges in accurately recognizing and manipulating objects with varying shapes, sizes, and textures. Solution: Incorporating computer vision techniques to enable object recognition and adaptive grasping algorithms for effective object handling.

4. Safety Concerns: Ensuring the safety of operators and the surrounding environment when working with powerful robotic arms is crucial. Solution: Implementing safety protocols such as built-in sensors, emergency stop mechanisms, and collaborative robotic systems that can detect human presence and adjust their behavior accordingly.

5. Limited Dexterity and Flexibility: Robotic arms may have limitations in terms of their range of motion, flexibility, or ability to handle complex tasks requiring fine motor skills. Solution: Utilizing advanced robotic arm designs, such as multi-link or flexible arms, to enhance dexterity and flexibility for a wider range of tasks.

6. Cost and Complexity: Implementing robotic arms can be expensive and time-consuming, requiring specialized expertise for installation, programming, and maintenance. Solution: Fostering advancements in robotic arm technology to reduce costs, simplify programming interfaces, and enhance user-friendly operation.

7. Integration with Existing Systems: Integrating robotic arms into existing production lines or workflows can present compatibility and integration challenges. Solution: Collaborating with experts in system integration to ensure seamless connectivity with other equipment and software in the production process.

8. Maintenance and Reliability: Robotic arms, like any mechanical system, require regular maintenance to ensure optimal performance and longevity. Solution: Implementing preventive maintenance routines and utilizing predictive maintenance techniques, such as monitoring system health and using advanced diagnostics, to identify and address issues before they lead to failures.

9. Power and Energy Efficiency: Robotic arms consume significant amounts of power, and optimizing energy efficiency is essential to reduce operational costs and environmental impact. Solution: Incorporating energy-efficient components, using regenerative braking systems, and implementing intelligent power management techniques to minimize energy consumption.

10. Adaptability to Changing Requirements: Adapting robotic arms to handle different tasks or changing production requirements can be challenging. Solution: Develop modular designs that allow for easy customization, reconfiguration, and the integration of additional sensors or tooling to accommodate evolving needs.

While these challenges exist, ongoing advancements in robotics and automation technologies continue to address and overcome these obstacles.

Certainly! Here are solutions that address and overcome the 10 challenges of robotic arms:

1. Accuracy and Precision: Develop advanced calibration techniques and feedback control systems to ensure precise and accurate movements.

2. Complex Task Planning: Implement advanced algorithms for path planning and motion control to enable efficient execution of complex tasks.

3. Object Recognition and Handling: Combine computer vision algorithms with machine learning techniques to enhance object recognition and develop adaptive grasping algorithms for effective object handling.

4. Safety Concerns: Incorporate safety features such as collision detection sensors, force limiters, and human-robot collaboration technologies to ensure safe operation.

5. Limited Dexterity and Flexibility: Design robotic arms with additional degrees of freedom, modular configurations, and flexible end effectors to enhance dexterity and adaptability to different tasks.

6. Cost and Complexity: Continually advance robotic arm technology to reduce costs, simplify programming interfaces, and enhance ease of use for operators.

7. Integration with Existing Systems: Collaborate with system integration experts to develop standardized communication protocols and interfaces for seamless integration with existing production lines.

8. Maintenance and Reliability: Implement preventive and predictive maintenance techniques, such as remote monitoring, condition-based maintenance, and proactive system diagnostics, to ensure optimal performance and reduce downtime.

9. Power and Energy Efficiency: Develop energy-efficient servo systems, power management techniques, and energy recovery systems to minimize power consumption and optimize efficiency.

By continually advancing technology, investing in research and development, and collaborating with experts in various fields, the robotics industry can address these challenges and overcome them to make robotic arms more efficient, reliable, and adaptable to a wide range of applications.

The potential impact of robotic arms on society

The potential impact of robotic arms on society is vast and multi-faceted. Robotic arms have the potential to bring a significant impact on various aspects of society. Here are some potential areas where their impact can be observed:

1. Automation and Industry: Robotic arms can revolutionize manufacturing processes by increasing productivity, improving efficiency, and reducing costs. They can perform repetitive and hazardous tasks with precision, speed, and consistency, leading to higher production rates and improved quality of goods.
2. Job Market: While robotic arms can automate certain tasks, they also have the potential to create new job opportunities. As automation increases productivity, businesses can expand, leading to the creation of new jobs in areas such as robotics engineering, maintenance, programming, and system integration.
3. Safety and Risk Reduction: Robotic arms can handle dangerous tasks, reducing the exposure of human workers to potentially harmful environments. This improves workplace safety, decreases the risk of accidents, and protects workers from physical harm in high-risk industries like manufacturing, construction, and mining.
4. Healthcare and Medicine: Robotic arms have made significant contributions to medical procedures, allowing for precise and minimally invasive surgeries. They enable surgeons to perform intricate procedures with enhanced dexterity and accuracy, resulting in reduced patient recovery time, smaller incisions, and improved treatment outcomes.
5. Assistance and Rehabilitation: Robotic arms can assist individuals with disabilities by restoring or enhancing their mobility, independence, and quality of life. Prosthetic robotic arms can provide amputees with the ability to perform delicate tasks and regain a sense of normalcy.
6. Agriculture and Farming: Robotic arms can perform tasks in the agricultural sector, such as precision planting, harvesting, and crop maintenance. This can improve efficiency, optimize resource utilization, and help address challenges like labor shortages and food production demands.

Overall, robotic arms have the potential to transform various industries, improve workplace safety, enhance productivity, and create new opportunities for innovation and economic growth. While considerations surrounding ethical implications, skills development, and job displacement should be addressed, the potential benefits they bring to society are significant.

In conclusion, the future of robotic arms is incredibly promising, with advancements in AI, collaboration, and adaptability paving the way for unprecedented integration into various industries. However, to fully realize the potential benefits, society must address the accompanying challenges, such as workforce displacement and ethical considerations. By preparing for these changes, we can harness the power of robotic arms to enhance productivity, improve quality of life, and create a more sustainable and inclusive society. The future is indeed bright for robotic arms, and we must embrace it with careful consideration and foresight.

Robotic-assisted surgery enables you to receive sophisticated treatments with less downtime. It uses specialized technology to deliver precise care, even in hard-to-reach areas. Robotic surgery treats conditions affecting your heart, digestive system, bladder, prostate, and more.

What is robotic surgery?

Robotic surgery is a type of minimally invasive surgery that uses specialized robotic systems to assist the surgeon during the operation. These systems consist of a console where the surgeon sits and controls the robotic arms, which are equipped with surgical instruments that can be inserted into the patient’s body through small incisions. The surgeon uses hand and foot controls to manipulate the robotic arms, which have a greater range of motion and precision than human hands. The robotic system also includes a high-definition camera that provides the surgeon with a 3D view of the surgical field. Robotic surgery is used in a variety of procedures, including urologic, gynecologic, cardiac, and general surgeries. It offers several potential benefits over traditional open surgery, such as smaller incisions, less pain and scarring, and faster recovery times.

Who performs robotic surgery?

Robotic surgery is typically performed by a specially trained surgeon who has expertise in using the robotic surgical system. The surgeon controls the robotic arms and instruments from a console near the operating table, and the robot translates their hand movements into precise movements of the instruments inside the patient’s body. While the robot is performing some aspects of the procedure, the surgeon is still fully in charge of the operation and makes all the important decisions about how to proceed.

What types of robotic-assisted surgery are available?

Robotic surgical procedure is suitable for plenty of kinds of procedures. It’s often utilized by urologists, gynecologic surgeons, preferred surgeons, cardiothoracic surgeons, and colorectal surgeons.

Types of robotic procedures currently available include:

There are several types of robotic surgery available today, including:

• Robotic-assisted laparoscopic surgery: This type of surgery uses a robot to assist the surgeon in performing minimally invasive procedures through small incisions.
• Robotic-assisted cardiac surgery: This type of surgery is used for complex heart surgeries that require high precision and accuracy.
• Robotic-assisted colorectal surgery: This type of surgery is used for colorectal cancer or other diseases that affect the colon or rectum.
• Robotic-assisted gynecologic surgery: This type of surgery is used for procedures such as hysterectomy, myomectomy, and endometriosis treatment.
• Robotic-assisted urologic surgery: This type of surgery is used for procedures such as prostatectomy, cystectomy, and nephrectomy.
• Robotic-assisted orthopedic surgery: This type of surgery is used for joint replacement procedures, such as knee and hip replacements.
• The specific type of robotic surgery used depends on the patient’s condition and the surgeon’s expertise.

How is robotic surgery different from traditional, open surgery?

Robotic surgery, also known as robot-assisted surgery, is a type of minimally invasive surgery that uses robotic systems to assist surgeons in performing surgical procedures. Traditional open surgery involves making a large incision to access the surgical site, while in robotic surgery, small incisions are made, and the surgeon controls the robotic arms to perform the procedure.

One of the main advantages of robotic surgery over traditional open surgery is that it allows for greater precision and control. The robotic arms used in the procedure can move with greater dexterity than human hands, allowing for more precise movements in delicate areas. Additionally, robotic surgery often involves less blood loss, smaller incisions, less pain, and shorter recovery times than traditional open surgery.

However, robotic surgery may not be appropriate or effective for all types of surgical procedures. It is important to discuss the risks and benefits of robotic surgery versus other types of surgical approaches with your healthcare provider.

What happens during robotic surgery?

• An assistant stays next to you to help the surgeon by changing the instruments when needed.
• First, your general practitioner makes one or greater small incisions.
• Through those incisions, your general practitioner locations ports (skinny tubes). The robotic is connected to those ports and gadgets are then positioned via them.
• A lengthy skinny digital digicam (endoscope) is positioned via one of the ports. The digital digicam affords high-definition pictures in three-D at some stage in the surgery.
• Surgical gadgets are positioned via the opposite ports, which lets the general practitioner to the operation.
• Your surgeon controls the robot arm at the same time as sitting at a console some feet from you.
• An assistant remains safteryou to assist the general practitioner via way of means of converting the gadgets whilst needed.

What are the benefits of robotic surgery?

With robot-assisted surgery, you may experience:

Less Pain and Scarring: Robotic surgery uses small incisions that are less painful than the larger incisions made during open surgery. This also results in smaller scars.

Reduced Blood Loss: The robotic system’s precision and control may lead to less blood loss during surgery.

Faster Recovery Time: Patients who undergo robotic surgery may experience a quicker return to normal activities due to the smaller incisions and less trauma to the body.

More Precise Surgery: The robotic system allows for precise movements of surgical instruments, providing greater accuracy and control than traditional surgery.

Enhanced Visualization: Surgeons can view the surgical site in high definition with 3D imaging, providing better visualization of the area being operated on.

Reduced Risk of Complications: The smaller incisions and more precise surgery may result in a reduced risk of complications such as infection and bleeding.

Shorter Hospital Stay: Patients who undergo robotic surgery may have a shorter hospital stay compared to traditional surgery.

Overall, robotic surgery can provide several benefits for patients, including improved outcomes, reduced complications, and faster recovery times.

What are the disadvantages of robotic surgery?

Robotic surveying, like any technology, has its own set of disadvantages. Here are some of them:

Cost: Robotic surveying equipment can be expensive to purchase and maintain, which may make it less accessible to smaller companies or individuals.

Limited functionality: While robotic surveying equipment is highly advanced, it can still be limited in certain situations. For example, it may not be able to perform well in heavily wooded areas or on unstable terrain.

Dependence on technology: Surveyors who rely too heavily on technology may become complacent and overlook important details that could affect the accuracy of their work. Additionally, if the equipment malfunctions or breaks down, it can disrupt the entire surveying process.

Lack of personal touch: Robotic surveying removes the human element from the process, which can make it more difficult to establish and maintain relationships with clients.

Data overload: Robotic surveying equipment generates vast amounts of data, which can be overwhelming to sort through and analyze. This can be especially challenging for those who are not familiar with data analysis software.

What can I expect when I come home from the hospital?

You’ll receive at-home care instructions that are specific to the procedure you had. They typically include:

• Take it easy for a few days or however long your surgeon recommends.
• Resuming everyday activities gradually. If you’re not on prescription pain medications, you can start driving when you’re ready.
• Not lifting anything heavy until you follow up with your doctor.
• Watching for signs of infection near your incision site.
• Taking medications for pain or constipation.

When should I contact my healthcare provider after having robotic-assisted surgery?

Your care should include follow-up appointments to track your recovery. Contact your healthcare provider immediately if you experience:

• Blood-soaked dressings, which can be a sign of excessive bleeding.
• Infections that cause a fever or yellowish discharge from your incision.
• Pain that doesn’t respond to medications.
• Signs of blood clots, such as abnormal swelling in your groin or lower leg.
• Vomiting and not being able to keep fluids down.

Additional Details 

What are common myths about robotic surgery?

Myth: The robot performs the procedure.

Reality: Robotic surgical technology can’t move on its own. Surgeons are in control at all times. There are safety mechanisms in place to ensure the robot doesn’t move without the surgeon controlling it.

Myth: Robots are so precise that I don’t have to worry about complications.

Reality: Robotic-assisted surgery lowers the risk of certain complications. But they’re still possible.

Myth: Open surgery is better because the surgeon has a direct view of the surgical area.

Reality: With robot-assisted technology, surgeons have an enhanced view. A camera provides real-time, high-resolution, magnified images with 3D capabilities.

Robotic surgery is a rapidly growing field that has the potential to revolutionize the way surgeries are performed. While it offers many benefits such as improved precision, smaller incisions, and reduced recovery time, there are also some challenges, including the high cost of equipment and training, as well as concerns about safety and efficacy.

Overall, robotic surgery holds great promise for improving patient outcomes, but it is important to continue to evaluate its effectiveness and ensure that it is being used appropriately and safely. As technology continues to advance and more research is conducted, we will likely see even more widespread adoption of robotic surgical techniques in the future.

References:

1. https://my.clevelandclinic.org/health/treatments/22178-robotic-surgery

As technology advances at an unprecedented rate, robotics has emerged as one of the most significant and transformative developments of the 21st century. Across a wide range of industries, from manufacturing and construction to medicine and beyond, Robotic systems have revolutionized every area, bringing about significant increases in efficiency, precision, and safety.

One area where robotics has had a particularly significant impact is welding. In this industry, robots perform repetitive tasks that would otherwise require manual labor. 

Another field of robotics is painting. Robotic painting systems are in different industries, from automotive manufacturing to aerospace engineering. 

In the medical industry, robotics has enabled doctors and surgeons to perform complex procedures that were once thought unreal. 

Beyond these specific industries, robotics is also being used in a wide range of applications, from logistics and transportation to agriculture and environmental monitoring. In these fields, robots are being employed to automate repetitive tasks, gather data, and perform operations that are too dangerous or difficult for humans to undertake.

In this blog, we will explore the various ways that robotics are being used in industry, examining the benefits they bring as well as some of the potential drawbacks. Through this analysis, we hope to gain a deeper understanding of the role that robotics play in modern society, and how they may continue to shape the future of work for years to come.

Types of Robotic Welding Processes

Welding requires a high level of education and skill. However, the number of professional welders does not meet the needs of the industry.

To help with the demands of the industry, manufacturers can use robotic welding equipment to supplement in-person applications.

The use of robotic welding systems provides numerous benefits, including increased speed, accuracy, and consistency, while also reducing the risk of injury for human welders. This has led to significant cost savings for companies that rely on welding as part of their manufacturing processes. There are various welding processes including arc welding, resistance welding, spot welding, TIG welding, and more.

Arc welding is one of the most common types of welding and involves the use of a welding power supply to create an electric arc between an electrode and a base material to melt the metals at the welding point. Welding robots equipped for arc welding can use various methods such as MIG, TIG, and plasma welding.

1. Resistance welding 

uses heat generated by passing an electric current through the resistance caused by two or more metal parts that were held together under pressure. This type of welding is used in automotive and aerospace industries where high-quality welds are required.

• Arc Welding

One of the most common types of robotic welding is the arc process. In this method, an electric arc generates extreme heat, up to 6,500 degrees Fahrenheit, which melts the metal. Molten metal joins parts together, solidifying into a stable connection after cooling. When a project requires a large volume of accurately conjoined metals, arc welding serves as an ideal application.[1]

• Spot welding 

is a type of resistance welding that involves applying pressure and electrical current at specific locations on the metal to create a weld. This method is often used for joining thin sheets of metal together, and it is commonly seen in the production of automobiles.

• TIG welding

It is also known as tungsten inert gas welding, uses a non-consumable tungsten electrode to produce the weld, and is often used for high-precision welding applications where a clean and precise weld is required. Welding robots equipped with TIG welding capability can be used for both manual and automated welding tasks.

• Other types of welding robots

 include laser welding, friction stir welding, and electron beam welding. Each of these methods has its own set of advantages and disadvantages and is used in various industries depending on the application requirements.

How Robotic Welding Works

Articulating robot welding arms can move in multiple planes, while rectilinear ones move in three dimensions. The robot, while a high-energy torch melts metal to begin the process of Welding, is receiving wire according to need by placing it through an auxiliary wire feeder. These devices can meet high temperatures, approximately a thousand degrees Celsius, to protect human workers.

The manipulator in a robot arm is heating the metal to join the desired pieces. The wire feeder is supplying the arm and torch with more metal wire, if necessary. The arm moves the torch to the cleaner to remove any metal splatters from the component, which can be hardened without this process while waiting for the following parts to be welded.

Overall, welding robots offer numerous advantages over manual welding, including increased productivity, improved quality, and reduced labor costs.[1]

Pros of Robotic Welding

There are several advantages of using robotic welding in various industries, including:

1. Increased efficiency and productivity: Robotic welding machines can operate continuously without the need for breaks or rest, allowing for faster and more consistent production.

2. Improved quality and precision: Robots are capable of consistently producing high-quality welds with a high level of precision and accuracy, which leads to better product quality and reduces the likelihood of defects.

3. Enhanced safety: Welding can be a dangerous task for workers due to the high heat and potentially hazardous fumes. Robotic welding eliminates the need for a human operator to be exposed to these hazards, making the workplace safer.

4. Reduced costs: Robotic welding can reduce labor costs by eliminating the need for skilled human welders, while also minimizing material waste and reducing the need for rework.

1. Flexibility: Robotic welding systems can be programmed to perform a wide range of tasks, making them suitable for use in a variety of industries and applications.

Robotic welding has a wide range of applications in various industries, including:

1. Automotive industry: Robotic welding is extensively used in the automotive industry for manufacturing car bodies, chassis, exhaust systems, and other components.

2. Aerospace industry: Robotic welding is used to manufacture aircraft parts, such as engine components, landing gear, and wings.

3. Construction industry: Robotic welding is used to weld steel beams to construct buildings, bridges, and other infrastructure projects.

Painting robots [2]

By using advanced sensors and algorithms, these systems can apply paint with incredible precision, resulting in a flawless finish every time. Not only does this increase efficiency and reduce costs, but it also improves overall quality, making it possible to produce products that meet even the most stringent of standards. Painting robots have several benefits, including:

1. Increased Efficiency: Painting robots are capable of working at high speeds and around the clock, which increases productivity and reduces production time.

2. Consistent Quality: Robots can consistently apply a uniform amount of paint, ensuring consistent quality across all parts and products.

3. Reduced Labor Costs: Using painting robots can reduce labor costs by eliminating the need for manual painters and reducing labor-related expenses such as sick days and vacation time.

4. Improved Safety: Painting robots eliminate the hazards associated with manual painting, including exposure to harmful fumes and repetitive strain injuries.

5. Lower Material Waste: Due to their consistent application, painting robots can reduce material waste by minimizing overspray and overuse of paint.

6. Flexibility: Painting robots can be programmed to work on a wide range of surfaces and materials, making them well-suited for use in a variety of industries.

Robotic Painting applications 

Painting robots have a wide range of applications in various industries, including:

1. Automotive industry: Painting robots are used to paint car bodies, bumpers, and other components.

2. Aerospace industry: Painting robots are used to paint airplane parts, including fuselage sections, wings, and landing gear.
3. Consumer goods industry: Painting robots are used to paint appliances, furniture, electronics, and other consumer products.
4. Construction industry: Painting robots are used to paint buildings, bridges, and other infrastructure projects.
5. Industrial manufacturing: Painting robots are used to paint machinery, industrial equipment, and other large-scale components.

Overall, painting robots are ideal for any application that requires high-quality, consistent painting while increasing productivity and workplace safety.

Robotic surgery 

Robotic surgical systems provide a level of precision that simply cannot be matched by human hands, allowing for safer and more effective surgeries. These systems are useful in delicate procedures, such as brain surgery, where even the slightest error could have catastrophic consequences.

Robotic surgery, also known as robot-assisted surgery, is a type of minimally invasive surgery that uses robotic systems to perform surgical procedures. The benefits of robotic surgery include

1. Increased precision: Robotic systems allow for greater precision during surgery, which can reduce the risk of complications and improve outcomes.

2. Minimally invasive: Robotic surgery is less invasive than traditional surgery, which can lead to less pain, scarring, and a faster recovery time.

3. Improved visualization: Robotic systems provide surgeons with enhanced visualization of the surgical site, allowing for better accuracy and control during the procedure.

4. Reduced blood loss: Robotic surgery can result in less blood loss during the procedure, reducing the need for blood transfusions.

Drawbacks of robotic surgery 

However, there are also some drawbacks to robotic surgery, including:

1. High cost: The equipment and maintenance required for robotic surgery can be expensive, making it inaccessible for some patients and healthcare providers.

2. Limited tactile feedback: Robotic systems lack the tactile feedback that surgeons have during traditional surgery, which can make it difficult for them to assess tissue and organ texture.

3. Longer operating times: Robotic surgeries can take longer to perform due to the setup and calibration required for the robotic system.

Robotic surgery applications

Robotic surgery has a wide range of applications across various medical specialties. Some examples of the application of robotic surgery include:

1. Gynecology: Robotic surgery can be used to perform gynecological procedures such as hysterectomies, myomectomies, and endometriosis excision.
2. Urology: Robotic surgery is commonly used for prostatectomies, kidney surgeries, and bladder surgeries.
3. Cardiology: Robotic surgery can be used for minimally invasive heart surgery such as mitral valve repair or replacement.
4. General surgery: Robotic surgery can be used for gallbladder removal, hernia repair, and colorectal surgery.

Overall drawbacks 

Of course, as with any new technology, there are also potential drawbacks to the widespread use of robotics in industry. One concern is the impact that automation may have on employment, particularly for low-skilled workers whose jobs are most at risk of being replaced by robots. Additionally, there are questions about the safety and security of robotic systems, particularly as they become more sophisticated and interconnected.

Despite these concerns, however, it is clear that the introduction of robotics has had an overwhelmingly positive impact on a wide range of industries. From increased efficiency and precision to improved safety and quality, the benefits of these systems are difficult to ignore. As we continue to develop new and more advanced robotic technologies, likely, their impact will only continue to grow, shaping the future of work and transforming our world in ways we can only begin to imagine.

References:

1. https://www.summitsteelinc.com/resources/blog/robotic-welding-processes/ 
2. https://ieeexplore.ieee.org/document/9812008