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International Conference on Control, Automation, Robotics and Embedded systems

作者： Christoph Schweers Daniel Kruse Tobias Oesterwinter Ansgar Trachtler Fraunhofer Institute for Production Technology IPT Project Group Mechatronic Systems Design

ISBN: (纸本)9781467361521

Ever higher demands on modern mechatronic systems, along with increasing complexity and high development pressure, require a high degree of automation in the model-based development process. An automated generation of topology-oriented models on the basis of requirements, solution patterns, and solution elements poses new challenges to the design and application of state- and parameter estimators for control and condition monitoring. This paper presents a methodology for a highly automated integration of such models into a filter that can be used in real time for state- and parameter estimation as well as the layout of this filter. There need not be any expert knowledge of the underlying model or the algorithms of the filter. The presented methodology and applied tools are able to avoid the drawbacks of established procedures while achieving a considerably higher accuracy in the results.

关键词： Automated design Estimation FMU Nonlinear systems Unscented Kalman filter

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Application challenges of large-scale wire robots in agricultural plants

Application challenges of large-scale wire robots in agricul...

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2013 IFAC Bio-Robotics Conference, IFAC BioRobotics 2013

作者： Radojicic, J. Surdilovic, D. Krüger, J. Fraunhofer Institute for Production Systems and Design Technology Pascalstr 8-9 10587 Berlin Germany Institute for Machine Tools Factory Management Technical University Berlin Pascalstr. 8-9 10587 Berlin Germany

ISBN: (纸本)9783902823304

The paper presents an efficient approach for the modelling of wire robots kinematic and dynamics considering the effects of structural elasticity. Using the simulation and animation system several potential applications in agriculture have been simulated and analysed. The paper discusses possible robot configurations, system dynamic constraints and limits, as well as reachable performance for typical large-span wire robot applications in agriculture.

关键词： Agriculture

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Tailored microfluidic chips for biotechnology 13

Tailored microfluidic chips for biotechnology

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13th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2013

作者： Uhlmann, E. Mahr, F. Hein, C. Herms, K. Oberschmidt, D. Fraunhofer Institute for Production Systems and Design Technology Pascalstr. 8-9 10587 Berlin Germany Institute for Machine Tools and Factory Management Technische Universität Berlin Pascalstr. 8-9 10587 Berlin Germany

ISBN: (纸本)9780956679024

This work presents new approaches for the manufacturing of tailored microfluidic bioreactor chips, adapted to the requirements of innovative methods and to the evolutionary state of the process design. Taking a microfluidic bioreactor chip for cell-free protein synthesis as an example, this study describes in detail the advantages and disadvantages of different manufacturing procedures with regard to cost efficiency and process-related functionality. In this connection, different production processes for the manufacturing of prototypes, small and medium batches and for the manufacturing of mass-products are compared. Moreover, processing parameters were optimized in terms of the technological relevant characteristics such as surface roughness, planarity or structural resolution, were made. The qualitative assessment of the manufactured structures is made by manufacturing metrology and by an experimental study, based on the activity and yield of the cell-free expression of a fluorescent sample protein. As a result of this work, a detailed procedure for the manufacturing of microfluidic chips is recommended, along with an assessment of the impact on the performance of a biological system in the microfluidic devices.

关键词： Proteins

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Development and Optimization of the Die-Sinking EDM-technology for Machining the Nickel-based Alloy MAR-M247 for Turbine Components

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Procedia CIRP 2013年 6卷 180-185页

作者： E. Uhlmann D.C. Domingos Institute for Machine Tools and Factory Management IWF Technische Universität Berlin Pascalstraße 8-9 10587 Berlin Germany Fraunhofer Institute for Production Systems and Design Technology IPK Pascalstraße 8-9 10587 Berlin Germany

In this paper, the results regarding the optimization of the die-sinking EDM-technology for the fabrication of turbine components are presented. The main objective of this work was the reduction of machining time while producing cavities with a depth of 11 mm in the alloy MAR-M247, with respect to the requirements for surface roughness and sub-surface damage. The study was conducted using graphite electrodes of three different dimensions, totalizing 12 electrodes and a total electrode area of 89.50 mm 2 . The machine tool GENIUS 1000 THE CUBE was used in the experiments and IonoPlus IME-MH was used as dielectric fluid. The design of Experiments Methods (DoE) were applied in the planning and execution of all experiments. Firstly, experiments were conducted to estimate the maximal discharge current that can be applied for fulfilling the quality criteria regarding both surface roughness and thickness of affected sub-surface, since discharge current is known as the main influencing process parameter affecting both factors. In the second stage, the process was optimized by varying following electrical parameters of the machine tool: discharge current (ie), discharge duration (ti), pause duration (t0), ignition voltage (V) and duty factor (τ). Finally, both process parameters as well as machine tool's control parameters were adjusted to achieve optimized results regarding the total machining time and electrode wear with respect to the surface requirements of produced parts. A total machining time reduction of more than 50% in comparison to the technology currently employed by the industry was achieved. Requirements on both arithmetical surface roughness as well as affected sub-surface thickness could be fulfilled. This robust technology was developed for producing the cavities in MAR-M247 and all applied methods, studied parameters as well as the results regarding machining time, electrode wear and the quality of the achieved work piece are presented.

关键词： die-sinking EDM high aspect ratio cavities high temperature resistant materials turbine components

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Investigations on Vibration-Assisted EDM-Machining of Seal Slots in High-Temperature Resistant Materials for Turbine Components

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Procedia CIRP 2013年 6卷 71-76页

Modern aircraft engines are nowadays designed with the aim of reducing fuel consumption and emission of pollutant gases as well as increasing reliability and competitiveness in the manufacturing and repair costs. These requirements on the engines result in new requirements on components and manufacturing processes, to know: application of new engineering materials, higher component temperatures, increased demands on tightness, 3-D complex shapes as well as new manufacturing technologies. EDM-machining is typically chosen for applications including complex geometries like high aspect ratio cavities in high-temperature resistant materials, since the EDM-process is independent from the mechanical properties of the processed material. This paper addresses the design and utilization of a unit composed of piezoelectric actuators for machining seal slots in turbine components. This aims the optimization of the flushing mechanisms through vertical vibration of the tool electrodes while manufacturing high aspect ratios cavities and therewith the optimization and/or reduction of both process time and electrode wear. Firstly, the piezo-unit was designed and components like piezoelectric actuators and charge amplifier were chosen, in accordance to previous defined requirements regarding vibration frequencies and amplitudes. During the experimental investigations graphite electrodes were applied. A total of twelve cavities with an aspect ratio of 12 are simultaneously machined in the material MAR-247. During the process, a harmonic longitudinal vibration of the electrodes overlapped to the machine's feed movement is realized. Both vibration amplitude and frequency were varied during the experiments, ranging from 2 μm to 16 μm and from 50 Hz to 1 kHz, respectively. The results are compared to the conventional process without vibration, while the EDM-parameters remain unaltered. By applying longitudinal vibration to the tool electrodes the material removal rate was increas

关键词： die-sinking EDM vibration-assisted EDM high aspect ratio cavities high-temperature resistant materials turbine components

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Identification of reusable controller strategies for the system design of advanced mechatronic systems

Identification of reusable controller strategies for the sys...

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International Conference on Advances in Mechanical Engineering 2013, ICAME 2013

作者： Anacker, Harald Dumitrescu, Roman Gausemeier, Jürgen Low, Cheng Yee Heinz Nixdorf Institute University of Paderborn Fuerstenallee 11 33102 Paderborn Germany Fraunhofer Institute for Production Technology IPT Project Group Mechatronic Systems Design Zukunftsmeile 1 33102 Paderborn Germany Universiti Teknologi MARA 40450 Shah Alam Selangor Malaysia

ISBN: (纸本)9783037858233

Recently, mechatronics as a self-contained discipline has undoubtedly shaped the development of technical systems. Mechatronics stands for the close interaction of mechanics, electronics, control engineering and software engineering. Due to the advancement of information and communication technologies, the functionality of mechatronic systems will go far beyond current standards. The increasing complexity requires a consistent comprehension of the tasks between all the developers involved. Especially during the early design phases, the communication and cooperation between the engineers is necessary to design a first overall system model. In addition, reusing of once successfully implemented solution knowledge is becoming increasingly important related to the overall context of the triangle of tension formed by time, cost and quality. In our work, we will present an approach for the identification of reusable controller strategies for the system design of advanced mechatronic systems. © (2013) Trans Tech Publications, Switzerland.

关键词： systems analysis

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A novel concept of integrated process chain for surgical splint generation based on clinical assessment in orthognathic surgery

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Biomedizinische Technik 2013年第SUPPL.1期58卷

作者： Liu, Weichen Holzwarth, Floriane Adolphs, Nicolai Hoffmeister, Bodo Keeve, Erwin Department of Maxillofacial Surgery and Clinical Navigation Charité-Universitätsmedizin Berlin Germany Fraunhofer Institute for Production Systems and Design Technology Berlin Germany

A surgical splint with its individual negative dental impression defines a critical workflow-step in orthognathic surgery. It transfers the planning into a physical guid and in the same way also all the planning error and system deviation. Knowledge from our pioneer study with phantoms and ten clinic cases builds the fundament of this novel concept. It combines optimization in input modality, data preprocessing, GUI, user-interface, virtual planning and splint Generation. Our goal is to establish an integrated process chain that meets the need of the hectic clinical work. Future work is to realize this concept and a gradual adaption of this integrated process line for other patient specific implant planning application. © 2013 by Walter de Gruyter.

关键词： Chains

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Visualization of virtual reality neurological motor rehabilitation of the upper limb — A systematic review

Visualization of virtual reality neurological motor rehabili...

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International Workshop on Virtual Rehabilitation

作者： Luara Ferreira dos Santos Henning Schmidt Jörg Krüger Christian Dohle Rehabilitation Robotics Group (IPK/TU Berlin) DFG Research Training Group prometei Technische Universität Berlin Berlin Germany Dept of Automation Technology Fraunhofer Institute for Production Systems and Design Technology (IPK) Berlin Germany Dept of Neurological Rehabilitation University of Potsdam Germany

Most virtual rehabilitation environments rely on visual feedback. However, little is known on the optimum characteristics of these feedbacks. Here, we present first results of a systematic literature review to assess and compare visual feedback types in virtual reality (VR) based neurological motor rehabilitation of the upper limb. Overall we identified 104 relevant publications. Within these some applied multiple visual feedback types. We found six main visualization groups: Avatar Feedback (N=52), Augmented Reality Feedback (N=16), Abstract Feedback (N=40), Tracking Feedback (N=13), Performance Evaluation Feedback (N=2), and Combined Feedback (N=7). However, there is insufficient evidence for the choice of a specific visual feedback in relation to motor outcome. Thus, further research is necessary.

关键词： Visualization Avatars Systematics Abstracts Augmented reality Performance evaluation

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Advanced methods for small batch robotic machining of hard materials 7

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

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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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