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7th German Conference on Robotics, ROBOTIK 2012

作者： Surdilovic, Dragoljub Zhao, Hongqing Schreck, Gerhard Kruger, Jorg Fraunhofer Institute for Production Systems and Design Technology IPK Berlin Germany

The research presented in this paper focuses on automatic machining of hard materials using standard industrial robots. The automation of robotic milling utilizes CAD/CAM, robotic planning tools and advanced robot control algorithms. In order to achieve high milling accuracy, the generated milling paths by CAM program have been optimized by means of a novel robotic milling toolbox. These tools take into consideration robot specific performance and constraints to optimize robotic milling before generating automatically executable program for the robot controllers. To cope with nonlinear effects of robot joint friction, path governor function has been developed, to regulate in real time the velocity in the case of increasing errors. The problems of grinding and polishing have been addressed using robust impedance and force control. The presented experimental results of robotic stone and metal machining illustrate high achievable performance and complete parts machining using conventional industrial robots. © 7th German Conference on Robotics, ROBOTIK 2012

关键词： Milling (machining)

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The Secure Information Society: Ethical, Legal and Political Challenges

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2012年

作者： Jrg Krger Bertram Nickolay Sandro Gaycken

ISBN: (纸本)9781447147626

In our modern information societies, we not only use and welcome computers; we are highly dependent upon them. There is a downside of this kind of progress, however. Computers are not 100% reliable. They are insecure. They are vulnerable to attackers. They can either be attacked directly, to disrupt their services, or they can be abused in clever ways to do the bidding of an attacker as a dysfunctional user. Decision-makers and experts alike always struggle with the amount of interdisciplinary knowledge needed to understand the nuts and bolts of modern information societies and their relation to security, the implications of technological or political progress or the lack thereof. This holds in particular for new challenges to come. These are harder to understand and to categorize; their development is difficult to predict. To mitigate this problem and to enable more foresight, The Secure Information Society provides an interdisciplinary spotlight onto some new and unfolding aspects of the uneasy relationship between information technology and information society, to aid the dialogue not only in its current and ongoing struggle, but to anticipate the future in time and prepare perspectives for the challenges ahead.

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Advanced methods for small batch robotic machining of hard materials

Advanced methods for small batch robotic machining of hard m...

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ROBOTIK 2012;7th German Conference on Robotics

作者： Dragoljub Surdilovic Hongqing Zhao Gerhard Schreck Joerg Krueger Fraunhofer Institute for Production Systems and Design Technology IPK - Berlin

关键词： Decision support systems Robots

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Ice Clean

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JOT-International Surface technology 2012年第2期5卷 32-35页

作者： Bilz, Martin Motschmann, Simon Uhlmann, Eckart Manufacturing technologies/Production systems Fraunhofer Institute for Production Systems and Design Technology (IPK) Berlin Germany

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Human-like variable-impedance control for life-cycle testing

Human-like variable-impedance control for life-cycle testing

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20th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2011

作者： Surdilovic, D. Nguyen, T.-M. Radojicic, J. Fraunhofer Institute for Production Systems and Design Technology IPK-Berlin Department Automation and Robotics Pascalstr. 8-9 10587 Berlin Germany

ISBN: (纸本)9781457715716

The paper presents robotic approach to life-cycle testing based on advanced compliance control algorithms. This strategy has been demonstrated as meaningful testing approach considering repeatability and reproducibility. Moreover, developed testing procedures mimic human motion and ensure human-like testing conditions. That is a crucial advantage over simple testing machines or convenient industrial robots, which can not realize comparable system behavior. Application of a variable-impedance control strategy provides a feasible approach in reproducing human behavior and realizing faster life-cycle test execution. © 2011 IEEE.

关键词： Compliance control

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Freight transport system for urban shipment and delivery

Freight transport system for urban shipment and delivery

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IEEE Forum on Integrated and Sustainable Transportation system (FISTS)

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

Many problems with present conventional delivery scenarios in urban areas are caused by use of conventional vehicles. These problems are amongst others limited efficiency, ecological damages, disturbance of moving traffic and pedestrians and difficulties to comply with environmental and traffic regulations, affecting local communities, business people and their customers as well as the logistic companies. Courier, Express & Parcel (CEP) providers are obliged to use conventional cars and vans due to the lack of specialized solutions. Therefore our approach is improvement of urban shipment and delivery based on existing infrastructure by means of an innovative vehicle concept. Core of the developed transport system is a uniaxial transport unit, designed for application both as part of a multiple trailer vehicle and for use as separate hand-guided transportation unit. The concept was developed based on a catalog of requirements for a vehicle for urban shipment and delivery, a result from the EU research project FIDEUS. The developed concept satisfies all formulated demands. A test vehicle of the transport system was built. Current research focuses on controller synthesis and implementation. The next step intended is execution of field tests involving logistic companies to prove the vehicle system's suitability for daily use and to discover potential for improvement.

关键词： Vehicles Companies Logistics Trajectory Manuals Security Propulsion

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Model based sustainable management of regional water supply systems

Model based sustainable management of regional water supply ...

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2011 International Symposium on Water Resource and Environmental Protection, ISWREP 2011

作者： Bernard, Thomas Krol, Oliver He, Guoping Rauschenbach, Thomas Linke, Hartmut Mu, Hong Business Department MRD Fraunhofer Institute of Optronics System Technologies and Image Exploitation IOSB 76131 Karlsruhe Germany Beijing Municipal Institute of Hydraulic Engineering Planning Design and Research No.21 Chegongzhuang West Road Haidian District Beijing China Fraunhofer Application Center System Technology AST Fraunhofer Institute of Optronics System Technologies and Image Exploitation IOSB 98693 Ilmenau Germany Fraunhofer Institute for Production and Information Beijing Representative Office Landmark Tower II 8 North Dongsanhuan Road Chaoyang District 100004 Beijing China

ISBN: (纸本)9781612843377

Sustainable management of water resources and a safe supply of drinking water will play a key role for the development of the human prosperity in the following decades. This paper presents an optimal control approach for the management of the total water resources in a fast developing region under a critical water shortage. A model of the water allocation system is developed which considers both surface and groundwater resources and the distribution network. The spatially distributed groundwater model is considered as a reduced model of the complex 3D Finite Element model. Hence the optimization problem, which is formulated as large scale structured non-linear programming problem, can be solved in an appropriate computation time. The performance of the proposed concept is demonstrated by close to reality optimization scenarios. © 2011 IEEE.

关键词： Decision support systems

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Influence of Structuring by Abrasive Machining on the Tribological Properties of Workpiece Surfaces

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Procedia Engineering 2011年 19卷 363-370页

作者： E. Uhlmann T. Borsoi Klein L. Hochschild C. Bäcker Institute for Machine Tools and Factory Management (IWF) Technische Universität Berlin Pascalstraße 8 - 9 10587 Berlin Germany Fraunhofer Institut for Production Systems and Design Technology (IPK) Pascalstraße 8 - 9 10587 Berlin Germany

Surface structuring of workpieces has a significant influence on the tribological properties of contact partners and can therefore lead to a significant increase of the life time of components [1] . To identify an appropriate surface structure, analytical and experimental investigations were done at the institute for Machine Tools and Factory Management (IWF) in order to improve the tribological properties in the contact area appreciably. To validate the theoretical analyses, technological investigations were carried out. 3D-surface structures were created on workpiece surfaces by varying process variables for a high speed 5-axes machine system to generate knowledge for developing defined surface structures by using kinematically modified grinding processes. Initial results show a positive influence of defined surface structures on the performance of contact partners.

关键词： Grinding Kinematic Structure Tribology

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Model Based Sustainable Management of Regional Water Supply systems

Model Based Sustainable Management of Regional Water Supply ...

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2011 International Symposium on Water Resource and Environmental Protection(ISWREP 2011)

作者： Thomas Bernard Oliver Krol Thomas Rauschenbach Hartmut Linke Guoping He Hong Mu Business Department MRD Fraunhofer Institute of Optronics System Technologies and Image Exploitation IOSB 76131 KarlsruheGermany Fraunhofer Application Center System Technology AST Fraunhofer Institute of Optronics System Technologies and Image Exploitation IOSB 98693 IlmenauGermany Beijing municipal institute of hydraulic engineering planning design & research Fraunhofer Institute for Production and Information Beijing Representative Office

Sustainable management of water resources and a safe supply of drinking water will play a key role for the development of the human prosperity in the following *** paper presents an optimal control approach for the management of the total water resources in a fast developing region under a critical water shortage.A model of the water allocation system is developed which considers both surface and groundwater resources and the distribution *** spatially distributed groundwater model is considered as a reduced model of the complex 3D Finite Element *** the optimization problem,which is formulated as large scale structured non-linear programming problem,can be solved in an appropriate computation *** performance of the proposed concept is demonstrated by close to reality optimization scenarios.

关键词： decision support systems large scale optimization model rduction water allocation modelling

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Potential of optical strain field measurement for the characterisation of the properties of resistance-spot-welded joints

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Welding and Cutting 2011年第1期10卷 48-52页

作者： Rethmeier, Michael Brauser, Stephan Weber, Gert Joining and Coating Technology Fraunhofer Institute for Production Systems and Design Technology IPK Berlin Germany Federal Institute for Materials Research and Testing BAM Berlin Germany Working Group Resistance Spot Welding in the Division Safety of Joined Components Federal Institute for Materials Research and Testing BAM Berlin Germany

For the designing of safety-relevant components particularly by means of finite element calculations, great significance is attached to the determination of local material parameters in the welding region. Conventional test methods can merely provide global parameters which, however, are frequently not sufficient precisely for the calculation of resistance-spot-welded components since these are characterised by the existence of joining zones with tight local limitations. In contrast, modern test methods such as optical strain field measurement permit the determination of the characteristic material data for concrete locations and times. In order to establish the potential of optical strain field measurements for the characterisation of the local material behaviour of spotwelded joints, tensile shear tests as well as tensile tests were carried out on resistance-spot-welded high-strength steels. The results show the high potential of this procedure not only for the quantification of the local strain behaviour in the joining region but also for the determination of local characteristic material data.

关键词： High strength steel

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