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International Workshop on Robot Motion and Control (RoMoCo)

作者： Axel Vick Vojtěch Vonásek Robert Pěnička Jörg Krüger Department of Industrial Automation Technology Technische Universität Berlin Berlin Germany Faculty of electrical engineering Czech Technical University in Prague Prague Czech Republic Department of Robotics and Automation Fraunhofer Institute for Production Systems and Design Technology IPK Berlin Germany

This paper introduces a new concept for flexible motion planning and control of industrial robots. Instead of a closed monolithic architecture, an open service-based framework is proposed. The services can be run hardware-independent on a decentralized IT infrastructure (Cloud) allowing a fast reconfiguration of control modules and their multiple usage in different tasks. The services can be run on a dedicated PC or on individual virtual machines inside a single computing cluster. The proposed service-based framework was implemented and tested for the motion planning of a robotic manipulator. Effects on control performance, availability and scalability are investigated and documented.

关键词： Planning Collision avoidance Service robots Robot kinematics Robot sensing systems Interpolation

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Strategies to improve the measuring time for industrial X-ray 3D Computed Tomography 14

Strategies to improve the measuring time for industrial X-ra...

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14th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2014

作者： Uhlmann, E. Oberschmidt, D. Sawczyn, N. Institute for Machine Tools and Factory Management Technische Universität Berlin Germany Fraunhofer IPK Institute for Production Systems and Design Technology Germany

ISBN: (纸本)9780956679031

The measuring time tm is a limiting factor for the application of industrial X-ray 3D Computed Tomography (CT) as a test method for measuring tasks, especially in technical application areas with varying components [1]. The paper shows the influence of the number of projections np and the rotation technique on the image quality in dependence of the geometry and material of test objects for industrial X-ray 3D CT.

关键词： Computerized tomography

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Additive Manufacturing of Titanium Alloy for Aircraft Components

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Procedia CIRP 2015年 35卷 55-60页

作者： Eckart Uhlmann Robert Kersting Tiago Borsoi Klein Marcio Fernando Cruz Anderson Vicente Borille Fraunhofer Institute for Production Systems and Design Technology IPK Pascalstr. 8-9 10587 Berlin Germany Embraer S/A Avenida Brigadeiro Faria Lima 2170 São José dos Campos 12227-901 São Paulo Brazil Aeronautical Institute of Technology CCM/ITA Praça Marechal Eduardo Gomes 50 São José dos Campos 12228-900 São Paulo Brazil

Selective Laser melting (SLM) is an additive manufacturing technology that uses laser as a power source to sinter powdered metals to produce solid structures. The application of SLM permits engineers to develop and implement components with topologically optimized designs and resultant material properties in comparison to conventionally produced casting parts. Current aviation programs as ACARE 2020 (Advisory Council for Aviation Research and Innovation in the EU) and Flightpath 2050 request a reduction of fuel consumption as well as CO 2 and NOx emissions in the next years. To meet these requirements there is a clear trend to produce light-weight components for engines and structural parts of aircrafts through SLM. Since SLM process is a key technology for aeronautical application, this paper focusses on the qualification of a high performance titanium alloy as well as on the investigation of optimized process parameters and positioning strategies of the structures produced in the SLM machine.

关键词： additive manufacturing titanium alloy light-weight components aircraft

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Misalignment correction in open cone-beam CT

Misalignment correction in open cone-beam CT

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2014 Eurographics Workshop on Visual Computing for Biology and Medicine, VCBM 2014

作者： Wieckowski, A. Stopp, F. Käseberg, M. Keeve, E. Fraunhofer Institute for Production Systems and Design Technology IPK Medical Technology Berlin Germany Charité - Universitätsmedizin Berlin Dept. of Navigation and Robotics Berlin Germany

ISBN: (纸本)9783905674620

Cone-beam computed tomography (CBCT) is an established standard for both, medical and industrial volumetric imaging. To compute a 3D volume, multiple 2D x-ray projection images of an object of interest are acquired from different directions. Using the geometric information about the acquisition geometry of each image, the volume is reconstructed. Incorrect geometric information (misalignments) leads to blurring and other artifacts in the resulting reconstruction. The exact acquisition geometry is commonly calculated by the analysis of a scan of a dedicated calibration body (off-line calibration). Such approach requires high repeat accuracy of the scanner mechanics and cannot account for non-systematic deviations. Current methods allowing for misalignment correction without a dedicated phantom, e.g. by iteratively adapting the geometry to minimize the arising artifacts, were developed to work with planar trajectories. It poses a problem for open CBCT systems driving complex trajectories. Therefore, we propose an enhanced method allowing for misalignment correction for general trajectories. We developed a new quality function and a flexible modeling for misalignments. We successfully applied our method to real datasets acquired along planar and non-planar trajectories. The correction with our approach substantially increases the resulting volume quality. © Eurographics Workshop on Visual Computing for Biology and Medicine, VCBM 2014. All rights reserved.

关键词： Trajectories

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Verification of design rules for additive manufacturing

Verification of design rules for additive manufacturing

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ASPE 2014 Spring Topical Meeting: Dimensional Accuracy and Surface Finish in Additive Manufacturing

作者： Uhlmann, Eckart Bergmann, André John, Patrick Kashevko, Vasyl Institute for Machine Tools and Factory Management IWF Technical University Berlin Berlin Germany Institute for Production Systems and Design Technology IPK Fraunhofer-Gesellschaft Berlin Germany

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Generative tool manufacturing for the replication of micro-optical components

Generative tool manufacturing for the replication of micro-o...

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ASPE 2014 Spring Topical Meeting: Dimensional Accuracy and Surface Finish in Additive Manufacturing

作者： Uhlmann, Eckart Hein, Christoph Bergmann, André Oberschmidt, Dirk Institute for Machine Tools and Factory Management IWF Technical University Berlin Berlin Germany Institute for Production Systems and Design Technology IPK Fraunhofer-Gesellschaft Berlin Germany

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Stabilisation and manoeuvre of electrically powered pedestrian controlled uniaxial vehicles for goods transport

Stabilisation and manoeuvre of electrically powered pedestri...

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UKACC International Conference on Control (CONTROL)

作者： Matthias Brüning Werner Schönewolf Jörg Krüger Fraunhofer Institute for Production Systems and Design Technology IPK Berlin Germany

Uniaxial vehicles for goods transport such as hand trucks are popular with many transport tasks. They offer intuitive manoeuvrability with little space requirements. The disadvantage of this class of pedestrian controlled means of transportation is the need for the user to apply force for stabilisation and propulsion. To eliminate this disadvantage a solution approach is to equip the vehicle with a controlled drive system providing force for both balancing and propulsion. To make possible stabilisation of a uniaxial vehicle for goods transport without need for external support the frame's pitch angle must be adapted with every change of load, which is a fundamental difference to uniaxial vehicles without payload or for passenger transportation. To make possible intuitive and convenient pedestrian controlled manoeuvre even with high payload the controller must set translational and rotational speed based on low interaction forces applied by the user going along. To allow for cheap production we developed a balance and manoeuvre controller not requiring sensor information of both load's absolute weight and user interaction forces. Main components of the concept are a balance controller including a Kalman state estimator for identification of frame's and load's combined centre of gravity's pitch angle, a manoeuvre controller based on state space control and a sophisticated program sequence switching automatically between operating modes for reload and manoeuvre. The control concept was designed and implemented using our new uniaxial vehicle system for urban goods transport. This vehicle is the first electrically powered hand truck that both balances adaptive to changing payload and allows for pedestrian controlled manoeuvre without need to operate control levers for setting speed or steering angle. The experimental results presented in this paper show the correct operation of the approach.

关键词： Vehicles Force Acceleration Aerospace electronics Switches Estimation

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Cutting Edge Preparation of Micro Milling Tools

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Procedia CIRP 2014年 14卷 349-354页

作者： E. Uhlmann D. Oberschmidt Y. Kuche A. Löwenstein Institute for Machine Tools and Factory Management Technische Universität Berlin Pascalstraße 8-9 10587 Berlin Germany Fraunhofer Institute for Production Systems and Design Technology (IPK) Pascalstraße 8-9 10587 Berlin Germany

Micro milling is commonly used industrially for the production of precision components. Premature tool wear is usually the reason for a short tool life of cemented carbide end mills. An approach to improve the tool wear behavior is the defined cutting edge preparation. In this contribution, experimental investigations on the formation of cutting edge geometry during immersed tumbling of micro milling tools are presented and discussed. It could be shown that it is possible to prepare end mills with a diameter D = 1 mm and to generate edge radii of 4.0 μm ≤ rβ ≤ 31.2 μm. Investigations about the correlations between the cutting edge geometry and the tool wear behavior in micro milling operations showed decreased flank and crater wear as a result of an appropriate cutting edge preparation.

关键词： Immersed Tumbling Micro Milling Cutting Edge Geometry

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Welding Simulation in Car Body Construction

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PhotonicsViews 2015年第2期12卷

作者： Raphael Thater Dr. Philipp Wiethop Michael Rethmeier Fraunhofer Institute for Production Systems and Design Technology (IPK) Joining and Coating Technology Pascalstraße 8-9 10587 Berlin Germany Tel.: +49 (0)30 / 3 90 06-375 Philipp Wiethop Audi AG I/PG-A3I 85045 Ingolstadt Germany Audi AG I/PG-A3I 85045 Ingolstadt Germany Raphael Thater Fraunhofer Institute for Production Systems and Design Technology (IPK) Joining and Coating Technology Pascalstraße 8-9 10587 Berlin Germany Tel.: +49 (0)30 / 3 90 06-375

Laser remote welding is a dynamic and flexible joining technology which enables various new approaches in welding sequence and weld position planning. However, the challenge is to find the optimal set-up within this large parameter space. In this article, numerical welding simulation is used to deal with this challenge. For a car door, different welding sequences and weld positions were numerically analyzed and compared with respect to its welding distortion behavior.

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The industrial robot as intelligent tool carrier for human-robot interactive artwork

The industrial robot as intelligent tool carrier for human-r...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Axel Vick Dragoljub Surdilovic Ajit Kai Dräger Jörg Krüger Department of Industrial Automation Technology Technische Universität Berlin Germany Department of Automation and Robotics Fraunhofer Institute for Production Systems and Design Technology IPK Berlin Germany Atelier Kai Dräger Berlin Germany

This paper gives an introduction to the process of an experimental project in pertaining to the planning and integrating of a human-robot interactive stone carving system. The process includes an analysis of manual stone carving by a professional sculptor, a risk assessment of the projected robotic assistant system resulting in the safety concepts, a design of a tool carrier with force sensors and the human-machine interface. A standard industrial robot was selected and enhanced with extensive periphery to build up the intelligent tool carrier. Besides scientific results regarding work space and contact force suitable for human-robot collaboration, this paper presents the sculptural aspects within the experiment project. The professional scluptor evaluated the results as beyond manual processing.

关键词： Service robots Robot sensing systems Force Impedance Control systems

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