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How can the programming of impedance control be simplified?

Procedia CIRP 2021年 97卷 266-271页

作者： Arturo Bastidas Cruz Marcel Radke Kevin Haninger Jörg Krüger Fraunhofer Institute for Production Systems and Design Technology (IPK) Division of Automation Technology Berlin Germany

Impedance control uses force/torque measurements to adapt a robot’s motion, broadening a robot’s capabilities in contact tasks. However, potential benefits of impedance control are largely not realized in industry, partly due to complexity: it requires a large number of parameters (compliance frame, impedance parameters, reference position/force) and expertise to set these parameters for a specific application. Pre-defined action templates can be used to hide and preset parameters as required for a specific action, potentially reducing the expertise and time required for an integration. However, objectives and methods to design such primitives are not well-established. This paper considers application requirements common in impedance control, and how actions can be designed to support such requirements. Parameter sensitivity and independence are considered, supported experimentally with a ‘hole-in-peg’ assembly task, where the impact of compliance frame and environmental uncertainty are analyzed.

关键词： Impedance control Robotic assembly Action primitives

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Experimental Investigations of the Preload-time-behaviour of Lockstud systems Enhanced by Finite Element Analysis 34th

Experimental Investigations of the Preload-time-behaviour of...

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34th International Ocean and Polar Engineering Conference, ISOPE 2024

作者： Hagemann, Melanie Schwarz, Mathias Schröder, Markus Blunk, Christoph Glienke, Ralf Schwerdt, Daniela Henkel, Knuth-Michael University of Applied Sciences Technology Business and Design Wismar Germany Fraunhofer-Institute for Large Structures in Production Engineering IGP Rostock Germany Howmet Fastening Systems-Industrial Fastener Division Telford United Kingdom University of Rostock Faculty of Mechanical Engineering and Marine Technology Chair of Joining Technology Rostock Germany

ISBN: (纸本)9781880653784

This article presents current results on the initial preload of Lockstud systems of nominal sizes M12 to M20, property class 8.8 and 10.9 in uncoated black, zinc flake coated and hot-dip galvanised conditions during the assembly process. In addition, it provides design recommendations for the preload as given in accordance with Technical Bulletin DVS/EFB 3435-2. Comprehensive numerical investigations of Lockstud systems have shown validated simulations of the assembly process, including the resulting preload (2D model), the stress concentrations with critical failure locations (3D model) and additionally the slip load of a slip-resistant connection (3D model). © 2024 by the International Society of Offshore and Polar Engineers (ISOPE).

关键词： Finite element method

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F5G OpenLab: Enabling Twin Transition through Ubiquitous Fiber Connectivity

F5G OpenLab: Enabling Twin Transition through Ubiquitous Fib...

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International Conference on Transparent Optical Networks

作者： Mihail Balanici Behnam Shariati Pooyan Safari Paul Chojecki Moritz Chemnitz David Przewozny Johannes Karl Fischer Ronald Freund Fraunhofer Institute for Telecommunications Heinrich-Hertz-Institut Berlin Germany Fraunhofer Institute for Production Systems and Design Technology Berlin Germany

The paper introduces a new open laboratory, the F5G OpenLab, which aims at fostering the advancement of fiber-based solutions for everything. F5G OpenLab intends to aid in creating a sustainable and eco-friendly ICT industry and accelerate the digital transformation through autonomous networking solutions that are secure and trustworthy. In particular, the purpose of the F5G OpenLab is to establish an ecosystem for the validation of optical networking solutions that facilitate twin transition, provide a vendor-neutral platform for the assessment of vertical use cases, and enable the development of fiber-based solutions. It provides a platform to verify and unify next-gen networking solutions, access to early hardware and software releases, and unique testing and measurement facilities. Finally, the F5G OpenLab supports the development of blueprints for a green and digital transformation, capitalizing on the benefits of fiber technology for all industry sectors. We present its architecture as well as key features and capabilities. Moreover, we report several proof-of-concept demonstrations focused on industry 4.0 vertical use-cases.

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Distributed real-time production control for resilient manufacturing systems

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Procedia CIRP 2023年 120卷 1274-1279页

作者： Eckart Uhlmann Julian Polte Christopher Mühlich Technische Universität Berlin Institute for Machine Tools and Factory Management IWF Pascalstraße 8-9 10587 Berlin Germany Fraunhofer Institute for Production Systems and Design Technology IPK Pascalstraße 8-9 10587 Berlin Germany

To enable resilient manufacturing, production control systems must be able to adapt quickly and flexibly to unexpected changes. Motivated by Industrie 4.0, multi-agent systems offer a promising approach to meet these requirements. This paper presents a method for distributed production control that enables production entities to make optimal decisions regarding capacity utilization and the compliance of delivery dates in real-time despite disruptive events. Based on a multi-agent Markov Decision Process, production entities are modeled as autonomous software agents that can solve Flexible Job-Shop Problems through message passing. The performance of the proposed method is evaluated in a simulated production environment.

关键词： Industrie 4.0 resilient manufacturing systems distributed production control multi-agent system Flexible Job-Shop Problem

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Infrared-based Detection of Porosity Formation in Laser-based Powder Bed Fusion of Ti6Al4V

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Procedia CIRP 2025年 134卷 443-448页

作者： Eckart Uhlmann Gustavo Reis de Ascencao Bernhard Hesse Jussi-Petteri Suuronen Paul Helmerking David Carlos Domingos Fraunhofer Institute for Production Systems and Design Technology (IPK) Pascalstraße 8-9 10587 Berlin Germany Technische Universität Berlin – Institute for Machine Tools and Factory Management (IWF) Pascalstraße 8-9 Berlin 10587 Germany XPLORAYTION GmbH Invalidenstraße 34 10115 Berlin Germany

The prospects of a broad industrial adoption of additive manufacturing technologies are strongly dependent on the capability of manufacturing systems to consistently deliver high quality parts. While closed loop control is still in its infancy, the in-situ identification of defects is currently of scientific and industrial interest. Radiative measurements have been gaining ground in the monitoring of laser-based powder bed fusion of Metals due to key features that can be extracted from the melt pool and surrounding regions. This paper presents an investigation of the use of high-speed short-wave infrared imaging and photodiodes for the detection of porosity formation in Ti6Al4V parts during processing. The formation of sparks and the material cooldown information are geometrically registered to micro computed tomography data of each sample, building a labelled database for the development of a logistic regression-based porosity prediction model. The model performance is assessed for low, mid, and high energy processing conditions, resulting in F1-scores between 0.51 and 0.81 for the classification of layers, depending on the dataset used for training and testing as well as on the defect threshold selected for binary labelling.

关键词： Additive Manufacturing Laser-based Powder Bed Fusion of Metals PBF-LB/M Process Monitoring Thermography Computed Tomography CT

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ENHANCING THE EUROPEAN ENTREPRENEURIAL ECOSYSTEM BY CLOSING THE GAP BETWEEN HIGH AND LOW/MODERATE INNOVATION REGIONS: THE ENTREPRENEDU CASE 74

ENHANCING THE EUROPEAN ENTREPRENEURIAL ECOSYSTEM BY CLOSING ...

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74th International Astronautical Congress, IAC 2023

作者： Roscani, Valerio Scatena, Lorenzo Lombardi, Eleonora Barlas, Achilleas Singer-Coudoux, Katrin Buxmann, Henry Nicolai Fernández, Abel Fondazione E. Amaldi c/o Italian Space Agency Rome Italy The Business Applications Department Fondazione E. Amaldi c/o Italian Space Agency Rome Italy University of Thessaly Volos Greece Fraunhofer Institute for Production Systems and Design Technology IPK Berlin Germany EU Projects Director EBAN Brussels Belgium

The European entrepreneurial ecosystems are facing increasing global competition, nevertheless closing the innovation gap among European countries and regions is still a necessity to provide education schemes and supporting mechanisms for youth and startups. Technologically driven sectors such as spacetech and deeptech are well suited for innovation but new entrepreneurs, students and researchers often lack the necessary know-how to build a resilient and successful business. To provide the right expertise, support the birth of innovative ideas and ultimately strengthen entrepreneurial ecosystems the project ENTREPRENEDU - Enhancing Entrepreneurial Ecosystems for Education - brings together several innovation stakeholders and educational entities from 6 different European countries, 3 low/moderate innovative regions Italy, Bulgaria and Greece and 3 high innovative regions Belgium, Germany and Ireland. ENTREPRENEDU - is a Horizon Europe financed programme, coordinated by Fondazione E. Amaldi, that aims to create a more innovative, entrepreneurial and sustainable European higher education system. The project is conceived for students, young entrepreneurs and start-ups working in the space economy, deep tech and green and digital transition and aims at creating a high replicable and scalable Venture Building Program for both businesses and educational systems via a series of 3 Hackathons, developed at regional level, supporting developed concept and ideas to become concrete solutions. ENTREPRENEDU aims to foster the birth of innovative ideas that will have an impact on both the Green Deal and the SDGs, as well as on gender equality with the goal of having concrete projects for a better and more sustainable world. The goal of this paper is to illustrate the best practices regarding the structuring and implementation of the scalable and replicable ENTREPRENEDU Venture Building programme. This study will present the results of the first hackathon focusing on deeptech, the

关键词： business acceleration entrepreneurship hackathon innovation ecosystems mentoring venture building

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End-of-life decision support to enable circular economy in the automotive industry based on digital twin data

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Procedia CIRP 2023年 119卷 1071-1077页

作者： Janine Mügge Inka Rebekka Hahn Theresa Riedelsheimer Johannes Chatzis Joachim Boes Fraunhofer Institute for Production Systems and Design Technology IPK Pascalstraße 8-9 10587 Berlin Germany tec4U-Ingenieurgesellschaft mbH Saar-Lor-Lux-Straße 15 66115 Saarbrücken Germany

With the EU Green Deal and the UN Sustainable Developments Goals, the vision of a greenhouse gas-neutral and resource-efficient economy is already firmly anchored in world politics. In this context, the automotive industry faces many challenges including the increasing scarcity of natural resources, a rising demand in terms of sustainable vehicle design, production and materials sourcing. Due to all this, end-of-life decisions regarding dismantling have become increasingly important. A high proportion of secondary materials will be required in the vehicles of the future. To response to these challenges, companies have turned their focus towards the circular economy as a central approach to close material loops. In the German research project “Catena-X” a new data ecosystem with digital twins is one enabler that is being developed. The digital twins represent a promising approach to the circular economy by ensuring transparent, product-specific and end-to-end data exchange throughout the entire product lifecycle, from the material sourcing to the eventual dismantling and recycling. As one particular and unique solution, a decision framework that facilitates the best circular strategy at the end of a vehicle's life is developed and presented in this paper. The underlying data-driven decision support framework is based on circular economy KPIs. This includes material, components and specific vehicle KPIs to best identify the most suitable circular strategy. The framework was methodologically developed by an interdisciplinary team of partners, who are stakeholders throughout the value chain and participants in the Catena-X project. An integrated approach of user-centered design, an adapted version of the V-model and the Scaled Agile Framework were used for the methodology in the development of the solution. The paper presents the concept of a digital twin for a decision support system, that includes a central decision logic that also includes the relevant KPIs and a sur

关键词： Digital Twin Circular Economy Sustainability Catena-X Decision Support

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Towards Individualized production with Flexible Shopfloor IT based on Distributed OPC UA Services 13

Towards Individualized Production with Flexible Shopfloor IT...

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13th International DAAAM Baltic Conference and 29th International Baltic Conference, BALTMATTRIB 2021

作者： Wolff, Tobias Vick, Axel Fraunhofer Institute for Production Systems and Design Technology Pascalstraße 8-9 Berlin Germany

Nowadays, manufacturers face the problems to adjust their production according to the fast-changing global competition. Car manufacturers, for example, are in front of a new era of individual mobility. They need to switch from combustion engines to electric drives. In general, manufacturers have to develop production strategies to lower set up time and meet requirements faster. The classical production line is most effective if the product variety is low and the lot size is high but facing the rapid growing demand for individualized products and fast-changing requirements, manufacturers must discover new ways of manufacturing. One possibility is the flexible shopfloor. In this work, we will present our concept of a flexible shopfloor IT for controlling a robotic demonstrator. We use OPC UA over TSN as a platform for communication and CODESYS as SoftSPS for the control of sensors and actuators. In order to create valid data for ongoing discussions we use function point analysis and counting lines of sourcecode to measure software size. Our expectation is that the initial effort for implementing a flexible shopfloor IT is higher compared to the classic approach, but for all the following implementation it will take less time, because of the possibility of reuse already developed systems. © 2021 DAAAM International. All rights reserved.

关键词： Electric drives

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Prediction of Quality in Thermographic Spray Spot Applications with Machine Learning Algorithms

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Procedia CIRP 2023年 120卷 1215-1219页

作者： Eckart Uhlmann Julian Polte Nikolaos-Stefanos Koutrakis Lasse Pyka Müslüm Ider Georg Thomas Christian Rupprecht Fraunhofer Institute for Production Systems and Design Technology IPK Pascalstraße 8-9 10587 Berlin Germany Institute for Machine Tools and Factory Management (IWF) Technische Universität Berlin Pascalstraße 8-9 Berlin 10587 Germany

Due to the high number of influences in production applications, quality fluctuation and deviating results in thermal spray applications are a challenging issue in manufacturing processes. This paper presents a concept for an adaptive process control based on different machine learning algorithms that are utilized to correlate input parameters with output results in thermal spray processes. For that purpose, a test environment was developed, incorporating different application scenarios with various input parameters. During the experiments, a series of measurements was performed, that is used to describe and evaluate the process. The extracted data of the conducted experiments are transformed into features and serve as the data input for the development of machine learning models based on various algorithms. These algorithms offer a prediction of the peak position, which describes the deviation of the programmed application spot, thus offering a quality prediction by utilizing solely the input process parameters. This work provides an approach based on the compared algorithms, that can be applied to create an adaptive process control, by adjusting the input parameters during the thermal spray application process.

关键词： Machine learning thermal spray process quality prediction process control

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Tool wear prevention in ultra-precision polymer machining 20

Tool wear prevention in ultra-precision polymer machining

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20th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2020

作者： Uhlmann, E. Fang, F. Polte, J. Hein, C. Lai, M. Dörr, M. Jahnke, C. Fraunhofer Institute for Production Systems and Design Technology IPK Germany Tianjin University China

ISBN: (纸本)9780995775176

Polymers become more relevant in the field of optical components as their optical properties, like refractive index n and wavelength dependent dispersion n = f(λ), can be adjusted easily by additives. Due to their low density ρ polymeric optics are lightweight compared to glasses. The demand for ultra-precision machined polymer lenses is increasing. Small series and individualised components can only be produced economically by using ultra-precision machining. Within theses studies the influence of different measures to reduce diamond tool wear occurring during ultra-precision diamond face turning of polycarbonate (PC) and polysulfone (PSU) will be investigated. Continuous and interrupted face turning experiments are conducted to analyse the effects from separation of the diamond tool and workpiece. Results show increasing tool wear in interrupted cutting. Changes of the environmental conditions in the cutting process show an influence of increasing humidity H on diamond tool wear. This contribution gives a qualitative and quantitative overview on the influencing factors on diamond tool wear in ultra-precision turning of polymers and gives an outlook on strategies to avoid its occurrence. Copyright © Proceedings of the 20th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2020. All rights reserved.

关键词： Turning

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