Experimental Study of Inconel 718 Surface Treatment by Edge Robotic Deburring with Force Control
We present the results of investigations into the application of robotics for deburring and chamfering to a predefined geometric quality. The robotic application was used for a part of the manufacturing process of an aircraft engine detail.
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Інститут проблем міцності ім. Г.С. Писаренко НАН України
2017
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| Цитувати: | Experimental Study of Inconel 718 Surface Treatment by Edge Robotic Deburring with Force Control / A. Burghardt, D. Szybicki, K. Kurc, M. Muszyńska, J. Mucha // Проблемы прочности. — 2017. — № 4. — С. 123-134. — Бібліогр.: 27 назв. — англ. |
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irk-123456789-1736952020-12-17T01:26:01Z Experimental Study of Inconel 718 Surface Treatment by Edge Robotic Deburring with Force Control Burghardt, A. Szybicki, D. Kurc, K. Muszyńska, M. Mucha, J. Научно-технический раздел We present the results of investigations into the application of robotics for deburring and chamfering to a predefined geometric quality. The robotic application was used for a part of the manufacturing process of an aircraft engine detail. Представлены результаты исследования по оценке использования робототехники для снятия заусенец и фасок с жестким геометрическим допуском. Робототехнические средства использовались для части процесса изготовления деталей авиационных двигателей. 2017 Article Experimental Study of Inconel 718 Surface Treatment by Edge Robotic Deburring with Force Control / A. Burghardt, D. Szybicki, K. Kurc, M. Muszyńska, J. Mucha // Проблемы прочности. — 2017. — № 4. — С. 123-134. — Бібліогр.: 27 назв. — англ. 0556-171X http://dspace.nbuv.gov.ua/handle/123456789/173695 539.4 en Проблемы прочности Інститут проблем міцності ім. Г.С. Писаренко НАН України |
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Научно-технический раздел Научно-технический раздел |
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Научно-технический раздел Научно-технический раздел Burghardt, A. Szybicki, D. Kurc, K. Muszyńska, M. Mucha, J. Experimental Study of Inconel 718 Surface Treatment by Edge Robotic Deburring with Force Control Проблемы прочности |
| description |
We present the results of investigations into the application of robotics for deburring and chamfering to a predefined geometric quality. The robotic application was used for a part of the manufacturing process of an aircraft engine detail. |
| format |
Article |
| author |
Burghardt, A. Szybicki, D. Kurc, K. Muszyńska, M. Mucha, J. |
| author_facet |
Burghardt, A. Szybicki, D. Kurc, K. Muszyńska, M. Mucha, J. |
| author_sort |
Burghardt, A. |
| title |
Experimental Study of Inconel 718 Surface Treatment by Edge Robotic Deburring with Force Control |
| title_short |
Experimental Study of Inconel 718 Surface Treatment by Edge Robotic Deburring with Force Control |
| title_full |
Experimental Study of Inconel 718 Surface Treatment by Edge Robotic Deburring with Force Control |
| title_fullStr |
Experimental Study of Inconel 718 Surface Treatment by Edge Robotic Deburring with Force Control |
| title_full_unstemmed |
Experimental Study of Inconel 718 Surface Treatment by Edge Robotic Deburring with Force Control |
| title_sort |
experimental study of inconel 718 surface treatment by edge robotic deburring with force control |
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Інститут проблем міцності ім. Г.С. Писаренко НАН України |
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2017 |
| topic_facet |
Научно-технический раздел |
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http://dspace.nbuv.gov.ua/handle/123456789/173695 |
| citation_txt |
Experimental Study of Inconel 718 Surface Treatment by Edge Robotic Deburring with Force Control / A. Burghardt, D. Szybicki, K. Kurc, M. Muszyńska, J. Mucha // Проблемы прочности. — 2017. — № 4. — С. 123-134. — Бібліогр.: 27 назв. — англ. |
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UDC 539.4
Experimental Study of Inconel 718 Surface Treatment by Edge Robotic
Deburring with Force Control
A. Burghardt,
a
D. Szybicki,
a
K. Kurc,
a
M. Muszyñska,
a
and J. Mucha
b,1
a Department of Applied Mechanics and Robotics, Rzeszów University of Technology, Rzeszów,
Poland
b Department of Mechanical Engineering, Rzeszów University of Technology, Rzeszów, Poland
1 j_mucha@prz.edu.pl
We present the results of investigations into the application of robotics for deburring and chamfering
to a predefined geometric quality. The robotic application was used for a part of the manufacturing
process of an aircraft engine detail. Aircraft engine diffuser machining requires manual deburring of
many edges. Finishing by hand results in several non-conforming quality details for each diffuser.
This paper presents the concept of edge deburring with a controlled force progression pneumatic
tool. A specific methodology was used to select and optimise the edge deburring process for robotic
chamfering processing to a finer machining tolerance. The investigated machining process included
a measurement system for the determination of the manufactured chamfer as a function of contact
forces with feed force progression. The investigation work discussed in the paper helped to identify a
specific interval of processing parameters, including the contact force and TCP motion velocity at
which deburring is effective and a chamfer with specific geometric tolerance is produced. The
experimental part of the investigation was conducted at a preset feed force of the high-speed
machining file, tool ref. FDB150. The experimental machining sample was made from poorly
machinable titanium alloy (Inconel 718), a material applied in the aerospace industry. The
machining process optimisation included an approximation of the chamfer width definition points.
The resulting function provided a derivative, defining the chamfer value change rate and corresponding
to the actual machining tool infeed. The experimental measurement results were compared to the
assumed quality indicators, by which a group of suboptimal parameters was defined.
Keywords: process automation, industrial manipulators, chamfering the edges, optimization
process, design for sustainability.
Introduction. Aside from the increasing popularity of CNC machine tool applications
in the aerospace industry, robots have been used to replace human operators in certain
manufacturing processes. There has been a noticeable trend in smart manufacturing through
the application of industrial robotics [1–4]. Adaptive force control (AFC) systems are used
for machining complex geometrical features, as in the case of milling [5–7]. Zuperl et al.
[8] presented a method for AFC application in three-axis milling with a CNC machine tool.
Optimizing the AFC CNC milling parameters facilitates a precise quality control of the
geometrical structure of the surface [9]. Khanghah et al. [10] presented a study of burr
removal through the application of an AFC algorithm.
Robots are not exclusively used for typical machining operations. [7] discusses a
method for generating robotic motion trajectories with contact force to remove the effects
of changes in processed part geometry. [11] discusses aircraft part surface finishing with a
robotic manipulator programmed to polish a curved canopy of an unknown geometry.
Jamisol et al. [11] provided a process control solution with a constant normal force applied
to a sheet surface during tool motion with tangent contact. [12, 13] presents the diagnostics
of a manipulator tool during a force control deburring process. Doulgeri and Karayiannidis
[14] prepared one of the very few papers to date concerning a mathematical control model
for force control machining of an unknown rigid convex surface. The authors of [14]
proposed a control method which guarantees asymptotic stability of the force error when
© A. BURGHARDT, D. SZYBICKI, K. KURC, M. MUSZYÑSKA, J. MUCHA, 2017
ISSN 0556-171X. Ïðîáëåìû ïðî÷íîñòè, 2017, ¹ 4 123
the maximum surface orientation error is less than 90 degrees. This approach ensures a
defined shape error in the processing of unknown surfaces. Doulgeri et al. proposed an
AFC for processing of surfaces with unknown rigidity [15]. The authors proved that the
application of force control is reasonable when the estimated surface orientation matches
the actual surface values. Constant working parameters, including feed force, is critical in
typical manufacturing processes and other applications, including medicine [16].
High-speed drive units are used to increase machining throughput. Machining with
high-speed drive units helps retain proper processing efficiency and increase product
precision. There is little information concerning AFC applications in robotics for the
minimization of shape errors in HSM. Matsuoka et al. [17] presented an integration of an
industrial robot with a high-speed drive unit. Abele et al. [18] provided analytical modeling
of this application study.
This paper presents the experimental results of robotized Inconel 718 edge milling.
The paper describes the method for selecting the parameters for robotic edge deburring
with an HSM file and pneumatic feed force progression.
Methodology and Results. The topic examined herein is the research and experimental
work into robotic applications for aircraft component manufacturing which is epitomized
by the machining of V2500 engine diffuser edges (Fig. 1a). The V2500 engine is a
propulsion unit dedicated to the Airbus A320 and McDonnell Douglas MD-90 aircraft. The
manufacturing operations of machining V2500 engine diffuser castings (Fig. 1b) were
studied for the viability of automation. Edge deburring is one of the final manufacturing
stages for these parts.
Problem Definition. The aerospace industry usually involves small series manufacturing,
which requires certain finishing operations to be completed manually. Edge deburring of
aerospace components with complex geometries is done by hand. The process is completed
most often with dedicated filing tools or semi-automated by applying hand-held power
cutters with small rotating blades. Aerospace engine components are usually exposed to
high operating stress and vibration levels [19]. Burrs and sharp edges may reduce the
mating performance of aerospace assembly components. It is then necessary to deburr and
bevel or chamfer these edges. Aerospace component engineering involves strict acceptance
criteria for finished parts to ensure high quality of production and operation. These
stringent quality criteria provide the benefit of structural safety. It is not possible to assure
the repeatability of precision machining processes without automation. While the human
A. Burghardt, D. Szybicki, K. Kurc, et al.
124 ISSN 0556-171X. Ïðîáëåìû ïðî÷íîñòè, 2017, ¹ 4
a b
Fig. 1. Cutaway view of the V2500 aircraft engine with the diffuser assembly shown (a) and the
actual diffuser assembly casting (b).
factor plays a major role in manufacturing processes, it can easily become their weakest
link. Hand machining is required due to the presence of parts that are somewhat
randomized in shape. This restricted randomization of shape is caused by the application of
precision casting processes, the part geometry produced by which is inherently variable
with the manufacturing precision of casting molds and solidification shrinkage. These
effects cause problems with precise shape definition. This, in turn, results in the need for
hand machining (such as edge deburring) and the impossibility of providing a repeatable
definition of tool paths. This results in a high risk of producing parts with defects caused by
human factors (such as fatigue, errors, or stress). It is extremely difficult to produce a
strictly defined chamber along the entire processed edge by hand deburring. This has made
it necessary to develop a new approach to the production of chamfers with specified quality
characteristics.
Aircraft engine diffuser manufacturing requires the manual deburring of many edges.
The V2500 engine diffuser assembly features ten types of edge forms that require
deburring. The test detail was the three-cornered boss of the diffuser (Fig. 2). The as-cast
surface condition of the three-cornered boss is shown in Fig. 2a. The machined surface and
holes of the boss are shown in Fig. 2b.
The edge deburring quality is visually inspected at several selected inspection points.
In most deburring scenarios, the effects are visually inspected by a quality inspector. This
quality inspection is intended to reject parts with sharp edges or notches. It is an undisputed
fact that surface edges reduce the fatigue life of affected parts.
During high-speed machining, the non-stabilized pressure results in the impact of
the tool edges with the workpiece. The high stresses in the tool invoke its local damages
(Fig. 3a and b), which act as stress raisers. The material loss and damaged tool edge excite
the tool vibration. The material processing by a damaged tool causes the irregular shape of
the workpiece surface (Fig. 4). Each tool travel and workpiece processing cycle corresponds
to the tool loading cycle. After some time, a complete failure of the tool occurs (Fig. 3c).
An example of a damaged surface of a conical cutter and characteristic lines of the final
fracture are depicted in Fig. 3d.
Methodology. Robotic system solutions may feature several manipulator trajectory
adaptation methods, executed either in real time or according to predefined measurements.
The manipulator trajectory adaptation to varying external conditions is determined by the
process carried out with the manipulator. High-frequency processes with low contact forces
feature proactive tools with variable contact force [20, 21]. Odham [20] presented a method
for deburring with a rotating wire brush. The key to the success of the method was the
Experimental Study of Inconel 718 Surface Treatment ...
ISSN 0556-171X. Ïðîáëåìû ïðî÷íîñòè, 2017, ¹ 4 125
a b
Fig. 2. The diffuser three-cornered boss to be machined: (a) as cast; (b) as machined with edges to
deburr.
capacity of the robotic deburring system to deal with continuously variable part tolerances
and burr sizes with active or passive force control tools. Shiakolas et al. [21] presented an
application of a system based on parametric process modeling and an approach for solving
the optimum process parameter definitions. Another work which presents an indirect force
control strategy as a method for operating actual robotic controllers with advanced
functionalities of torque force sensors was developed by Pires et al. [22]. A similar
approach to this control process development was applied by Neto et al. [23].
The processes with contact forces of over 10 N use robotic force control systems [24,
25]. An alternative solution is the generation of the tool motion path by measuring the
processed shape with laser or video sensor systems. Also noteworthy are learning systems.
They include programming-coupled force control systems with software that records
digitized tool trajectory points. In this case, the process is divided into the learning stage
and the actual robot motion stage. Although very precise in performance, this type of
solution requires much more time to execute.
126 ISSN 0556-171X. Ïðîáëåìû ïðî÷íîñòè, 2017, ¹ 4
a b
c d
Fig. 3. Damaged zones obtained by treatment of machine parts from Inconel 718.
Fig. 4. 3D scans obtained after successive treatment iterations.
A. Burghardt, D. Szybicki, K. Kurc, et al.
Approach. The developed manufacturing process was divided into three stages:
addition (flash) removal, chamfering, and machined surface grinding. In the first stage, a
dedicated tool with a support bearing is used to cut off the flash. This is done by a force
controlled robot manipulator. In the second stage, the edges are burred with a pneumatic
force progression tool. In the third stage, a force-controlled robot (Fig. 5a) performs the
finish grinding of processed features.
The entire experimental machining process discussed above was done with an ABB
IRB140 robotic manipulator, whereas the successive stages were completed by retooling
with a 4-position tool changer. The robot controller was digitally interfaced with a feed
pressure setting system, which in turn was interfaced with the machining tool (FDB150).
The pneumatic tool was programmed to operate (and control) the pressure between 1.4 and
4.1 bar. The initial experiments with the pneumatic tool helped to determine that it was not
possible to effectively control pressure changes, i.e., the contact force. This was because of
the complex geometrical shape of the diffuser details the machining of which was
attempted. Given the relatively small amount of deducted material, the pneumatic tool was
moving at a high velocity with low contact forces. The TCP motion velocity was high
enough to result in a system feedback time value higher than the input change demand
caused by the complex form of the workpiece. The compressibility of air in the pneumatic
control system resulted in a tool response lag (an inertia of the system). This phenomenon
attenuated high-frequency changes of the force preset by the robot’s controller. This
behavior necessitated the selection of machining parameters, or the definition of a motion
execution strategy, air pressure values (and thus the contact force), and a TCP motion
velocity.
Edge Deburring with Feed Force Progression. The implementation of pneumatic feed
force progression of tools facilitated the machining of surfaces and edges; the locations
(orientation and geometry) of which are unknown [13, 26]. The machining process control
with pneumatic feed force progression was insensitive to the movement of the three-
cornered boss edges. A general essential concept of this solution is shown in Fig. 5b, and
the operating principle is shown in Fig. 5c. The allowed deviation of the tool axis from the
tool base axis by �5 mm ensured insensitivity to the limited displacement of the machined
surfaces. With the maximum spread of the as-cast three-cornered boss at �2 mm, an offset
ISSN 0556-171X. Ïðîáëåìû ïðî÷íîñòè, 2017, ¹ 4 127
Fig. 5. Characteristics of the edge deburring solution: (a) process flowchart; (b) experimental process
stage execution; (c) functional diagram of a rotary file with pneumatic feed force progression.
a b c
Experimental Study of Inconel 718 Surface Treatment ...
trajectory of the tool could be designed. The offset trajectory was determined with a
nominal model, and the assumed offset trajectory value was doff � 1.7 mm. Figure 6a
shows an overview of the nominal model trajectory, whereas Fig. 6b shows the offset
trajectory.
The critical parameters of the FDB150 machining tool were a rotational speed of
65,000 rpm and a force adjustment range between 3.1 and 6.7 N (where the force was
pressure-dependent).
A classical approach to robotic manipulator motion programming assumes that the
workpiece is stationary in relation to the TCP trajectory. Here the angles at the robotic
manipulator joints must be altered to execute a trajectory along complex geometric shapes.
The more complex the shape is the higher the joint velocity and acceleration values that are
needed. This results in the high imprecision of the preset TCP motion velocity. In
machining conditions, this changes the deburring chamfer width, for example. To assure a
smooth surface finish and the prevention of high material removal fluctuations, the robot
manipulator work was executed with MultiMove interrelated motions. The MultiMove
method is based on simultaneous movements of the workpiece and the TCP. This helped
reduce the velocity change rates of robot manipulator joints (i.e., the translation of the
positioning device helped to execute the trajectory); hence, the actual value of the TCP
velocity was closer to the preset velocity value. Figure 7a shows the modeling of the
three-cornered boss machining with MultiMove, and the actual execution of the modeling
is shown in Fig. 7b.
Two cutting tool forms were studied at the initial stages of research: a slotting mill
(HFC 0313.03.Z5 Lukas) and a tapered mill (HFM 0307.03.Z7). At later stages of research,
the tapered mill was abandoned because of problems with the machining process stability,
and especially the stability of the deburring chamfer width.
a b
Fig. 6. RobotStudio machining process model: nominal (a) and offset (b) trajectories.
128 ISSN 0556-171X. Ïðîáëåìû ïðî÷íîñòè, 2017, ¹ 4
a b
Fig. 7. Execution of edge deburring with MultiMove: (a) as modeled in RobotStudio; (b) actual
machining of the test workpiece.
A. Burghardt, D. Szybicki, K. Kurc, et al.
Selection of Process Parameters. The series of tests was completed with robotic
automatic measurement systems [27], due to the very large number of measurements
required. The edge deburring process was controlled with a robotic workstation comprising
an IRB1600 robot, a 3D scanner (Fig. 8), and the ATOS Professional software suite. The
measurement control points were defined at locations with the highest expected deburring
inaccuracy (Fig. 9a). Twelve such measurement control points were selected for the
three-cornered boss, as shown in Fig. 9b (black line highlight). The chamfer deviations
were analyzed with a 3D scan of the model at defined measurement control points. An
example of a three-cornered boss scanned and converted to a 3D model is shown in Fig. 9c.
Based on the required accuracy class, the deburring accuracy and deviation limits
were defined for the nominal part detail. An experimental measurement was proposed to
determine the produced chamfer width as a function of the contact force. The measurement
results were plotted on a chart (Fig. 10) which represents the produced chamfer width
values (Fig. 10a) and the tool feed force values (Fig. 10b). The measured chamfer width
values were collated for the following robot TCP velocity values V: 50, 100, 250, 500, 750,
and 1000 mm/s (Fig. 11). The minimum and maximum limits of the chamfer width
dimension were marked with continuous horizontal lines (Fig. 11b). The chart was plotted
for the tool feed force values of 3.1, 4, 5, 6, and 6.7 N. An example of the measurement
report for a single tool contact force and a single preset TCP velocity is shown in Fig. 11a.
The chart in Fig. 11b was plotted with 12 measurement control points. There were 5
iterations of measurement at each measurement control point.
ISSN 0556-171X. Ïðîáëåìû ïðî÷íîñòè, 2017, ¹ 4 129
Fig. 8. The chamfer is measured with the 3D scanner.
a b
Fig. 9. Characteristics of the chamfer width measurement method: (a) required deburring accuracy;
(b) identification of the measurement control points.
Experimental Study of Inconel 718 Surface Treatment ...
130 ISSN 0556-171X. Ïðîáëåìû ïðî÷íîñòè, 2017, ¹ 4
a b
Fig. 10. Measurement results: (a) chamfer width values; (b) tool feed force.
a
Fig. 11. Measurement results for the chamfer width (dimension): (a) example of a measurement
report (point 9); (b) chamfer width (dimension) with limit values.
b
A. Burghardt, D. Szybicki, K. Kurc, et al.
Based on these results, the authors hereof noted that there was a wide span of the
following process parameters at the nominal preset tool velocity (V): contact force and TCP
motion velocity, at which the chamfer width meets the manufacturing specification
requirements. An optimisation procedure was proposed to facilitate the selection of those
parameters of the parameter set which ensure the best execution of the machining process
in question.
Optimization of Process Parameters. The real-life quality control of deburring at
manufacturing plants is done by visual inspection. This permits deburring chamfer width
values within a predefined tolerance range; however, the values themselves may vary
greatly within the tolerance limits (with sudden changes in width). A deburring chamfer
with those characteristics is unacceptable.
As a result of the experimental research, 26 two-element parameter sets were
produced (Fig. 11b) which ensured machining in accordance with the predefined
requirements. An optimization procedure was proposed to select a suboptimal set of
parameters. First, the parameters were organized in an ascending order with a quality
indicator assumed for the research. The quality indicator was the sum square of chamfer
nominal width value deviations. The maximum shape change function differential coefficient
value was used as an indicator to determine the surface shape change rate. The nominal
width value deviation was digitized into a set of points: the tool path was divided by n
points spaced every 1 mm, and the chamfer width error values that corresponded to these
points were recorded with reference to the nominal width value (level 0 in Fig. 12).
The resulting values at the points were then approximated with a 3rd order spline in
Matlab/Simulink:
F n e( ) ,� (1)
where e is the chamfer width value error and n the respective tool path point.
ISSN 0556-171X. Ïðîáëåìû ïðî÷íîñòè, 2017, ¹ 4 131
Fig. 12. Produced chamfer accuracy changes vs. tool path. (Three-cornered boss top edge, measurement
No. 16.)
Experimental Study of Inconel 718 Surface Treatment ...
Second, the generated function was used to determine the proposed quality indicators
for the measurements at points No. 1 to 26 (Fig. 11b). The quality indicators corresponded
to a sum square of the nominal width value deviation, and the maximum absolute value of
the error function differential coefficient (Fig. 13a). The sum square indicator was
determined for every measurement from:
E e dn
N
� � 2
0
, (2)
whereas for the error function differential coefficient maximum absolute value:
� max(| | ).maxe e
n N
n�
�
(3)
Collating the resulting indicator values in Fig. 13b helped select the process
parameters from measurement No. 24. The resulting parameters of tool contact force and
TCP velocity at the preset nominal tool rotational speed were adopted as the best solution to
the available set.
Conclusions. The experimental results presented herein provide the tolerance limits
of compliant tools that can be applied to effective edge deburring. Note that the results
were obtained for Inconel 718 and an HFC 0313.03.25 machining tool, and as such cannot
be universally applied. The authors advocate a procedure of work that facilitates the
selection of suboptimal process parameters. In the case contemplated herein, the suboptimal
process parameters were the TCP velocity and the tool contact force.
The proposed optimization procedure helped to indicate a set of process parameters
that ensured machining in conformity with the process specifications. The solution is an
engineering one by nature and not a classic case of finding a function extremum with the
two adopted criteria (the quality indicators discussed above). An advantage of the proposed
solution lies in its simplicity which ensures the improvement of edge deburring quality.
This is very important for industrial applications. To recapitulate, the best processing values
are: tool rotational speed = 65,000 rpm, tool contact force = 3.1 N, and TCP velocity =
500 mm/s.
132 ISSN 0556-171X. Ïðîáëåìû ïðî÷íîñòè, 2017, ¹ 4
a b
Fig. 13. Function of machining execution accuracy value changes and its differential coefficient for
measurement No. 16 (a) and list of quality indicators (b).
A. Burghardt, D. Szybicki, K. Kurc, et al.
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/NLD (Gebruik deze instellingen om Adobe PDF-documenten te maken die zijn geoptimaliseerd voor prepress-afdrukken van hoge kwaliteit. De gemaakte PDF-documenten kunnen worden geopend met Acrobat en Adobe Reader 5.0 en hoger.)
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/ENU (Use these settings to create Adobe PDF documents best suited for high-quality prepress printing. Created PDF documents can be opened with Acrobat and Adobe Reader 5.0 and later.)
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>>
/Namespace [
(Adobe)
(Common)
(1.0)
]
/OtherNamespaces [
<<
/AsReaderSpreads false
/CropImagesToFrames true
/ErrorControl /WarnAndContinue
/FlattenerIgnoreSpreadOverrides false
/IncludeGuidesGrids false
/IncludeNonPrinting false
/IncludeSlug false
/Namespace [
(Adobe)
(InDesign)
(4.0)
]
/OmitPlacedBitmaps false
/OmitPlacedEPS false
/OmitPlacedPDF false
/SimulateOverprint /Legacy
>>
<<
/AddBleedMarks false
/AddColorBars false
/AddCropMarks false
/AddPageInfo false
/AddRegMarks false
/ConvertColors /ConvertToCMYK
/DestinationProfileName ()
/DestinationProfileSelector /DocumentCMYK
/Downsample16BitImages true
/FlattenerPreset <<
/PresetSelector /MediumResolution
>>
/FormElements false
/GenerateStructure false
/IncludeBookmarks false
/IncludeHyperlinks false
/IncludeInteractive false
/IncludeLayers false
/IncludeProfiles false
/MultimediaHandling /UseObjectSettings
/Namespace [
(Adobe)
(CreativeSuite)
(2.0)
]
/PDFXOutputIntentProfileSelector /DocumentCMYK
/PreserveEditing true
/UntaggedCMYKHandling /LeaveUntagged
/UntaggedRGBHandling /UseDocumentProfile
/UseDocumentBleed false
>>
]
>> setdistillerparams
<<
/HWResolution [2400 2400]
/PageSize [612.000 792.000]
>> setpagedevice
|