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Workshop on Robotics Software engineering (RoSE)

作者： Nadia Hammoudeh Garcia Harshavardhan Deshpande Ruichao Wu Björn Kahl Andreas Wortmann Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) 70569 Stuttgart Germany Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart 70174 Stuttgart Germany

The benefits of using model-based technologies are well proven in different sectors. However, in robotics, where the dominant framework is one whose nature is to create the code by hand, MDD approaches are struggling to gain a foothold. Our approach is distinctly different from traditional MDD solutions, we have created models and tools with a bottom-up perspective, i.e. analyzing “ everyday” code and encapsulating this existing code in models. In this paper we present the lessons learned from (1) designing the models to encapsulate ROS hand-written code, (2) creating tools to ease the production and debugging of complex systems using the models, and (3) applying them to real use cases. Through this work we have identified in which situations it is worth using model-based technologies and in which situations the traditional approach is more meaningful. Our aim is to give a broad view of our conclusions and inspire the design of new model-based tools for the assistance of roboticists.

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Software-defined manufacturing: Data Representation

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Procedia CIRP 2023年 118卷 360-365页

作者： Carsten Ellwein Rebekka Neumann Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Seidenstraße 36 70174 Stuttgart Germany

Due to constantly decreasing product cycles, a fast adaptability of manufacturing plants is a prerequisite for profitable operation. The paradigm of Software-defined manufacturing (SDM) pursues this overriding goal by decoupling software from mechanical and electrical components. In this way, SDM allows the free definition of functionality, purely through software, limited only by the physical limitations of the machines and systems. This paper analyzes existing approaches that pursue the goal of digitally representing manufacturing to enable flexible adaptation. Based on this analysis, a model for the data representation is proposed that allows consistent use across the entire supply chain.

关键词： Software defined manufacturing Data representation manufacturing ontology

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Analysis and comparison of optimization techniques supporting the engineering planning of reconfigurable robot cells 56

Analysis and comparison of optimization techniques supportin...

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56th CIRP International Conference on manufacturing Systems, CIRP CMS 2023

作者： Ungen, Marc Kampert, David Riedel, Oliver Robert Bosch Gmbh Robert-Bosch-Campus 1 Renningen71272 Germany Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Seidenstr.36 Stuttgart70174 Germany

The present paper studies the automated optimization of reconfigurable robot cells to support engineering planning activities. The specific type of reconfigurable robot cells under investigation allows an arbitrary arrangement of functional machine modules on a base plane accessible to the robotic manipulators. The research is motivated by the fast-growing configuration space of reconfigurable robot cells which results from the configurability of the cell layout and the performed workflows. Searching for optimized configurations within this configuration space is an iterative procedure which currently requires lots of manual efforts and expert assessment skills for each iteration. Performing many optimization iterations requires much time, which typically results in only a few performable iterations and thus in suboptimal configurations. To compensate for this, automated support for the underlying planning problem is required. The specific planning problem under investigation concerns finding motion-time optimized layout configurations for fixed workflows. This planning problem was chosen because of its strong association with the productivity of robot cells and the fact that it is the basis for further considerations on the influences of performed workflows. The main contribution of the research is a guideline concerning the decomposition of the mentioned optimization problem. This decomposition concerns the specific formulation of the optimization problem as well as its solving principle. The approach of the paper is to compare combinations of single- and multi-objective problem formulations as well as single- and multi-step solving procedures. Respective variants of evolutionary and conventional algorithms are tested for solving the optimization problems. The experiments are conducted using a specifically developed simulation and optimization framework which supports layout reconfiguration, robot path planning, and time parametrization based on state-of-the-art m

关键词： Adaptability engineering planning Optimization Reconfigurable manufacturing systems Reconfigurable robot cells

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An engineering methodology to assess the economic viability of edge-cloud automation systems in manufacturing 56

An engineering methodology to assess the economic viability ...

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56th CIRP International Conference on manufacturing Systems, CIRP CMS 2023

作者： Giani, Marco Frank, Nelly Wiener, Patrick Verl, Alexander Robert Bosch GmbH Robert-Bosch-Campus 1 Renningen71272 Germany Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Seidenstr. 36 Stuttgart70174 Germany

The migration of industrial automation systems (IASs) to an edge-cloud hosted on factory premises can reduce the operation costs of a manufacturing line and increase its flexibility thanks to computation scalability and use of cloud-native operation concepts. However, the unclear assessment of costs of an edge-cloud automation system (ECAS) is a significant concern for manufacturing experts, which disincentives its adoption. An ECAS is expected to generate different costs than a traditional IAS, which depends on the requirements of the automation functions hosted in the edge-cloud. Because of this, methods to evaluate various realization concepts of an ECAS concerning their economic viability are required to support its engineering. In this paper, we provide a methodology that helps practitioners to define design specifications for an ECAS and assess their life-cycle costs (LCCs). To provide a robust and transparent LCCs assessment, we leverage the Monte Carlo method, which is a well-affirmed technique to address costs uncertainties. To do so, a cost model has been developed and implemented in a discrete-event simulator to calculate upfront and running costs of an ECAS. The application of the methodology is shown through an exemplar case study and its results are discussed. The presented work helps practitioners to evaluate whether an ECAS is economically viable for a manufacturing scenario, thus increasing the acceptance for this technology and fostering the transition towards flexible and smart manufacturing systems. © 2023 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0) Peer-review under responsibility of the scientific committee of the 56th CIRP International Conference on manufacturing Systems 2023.

关键词： edge-cloud automation Edge-cloud computing engineering methods life-cycle costs

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Decentralized Motion control for a Novel Planar Motor Intralogistics System 32

Decentralized Motion Control for a Novel Planar Motor Intral...

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32nd IEEE International Symposium on Industrial Electronics, ISIE 2023

作者： Steinle, Lukas Helfesrieder, Nico Lechler, Armin Verl, Alexander Montazeri, Ali Wang, Jinfan University of Stuttgart Institute for Control Engineering of Machine Tools and Manufacturing Units Stuttgart Germany FL Technology GmbH Griesheim Germany Southern University of Science and Technology FL Technology GmbH Shenzhen China

ISBN: (纸本)9798350399714

Modern production environments place high demands on the logistics systems that are used. High flexibility and high throughput are expected, combined with high availability and efficient operation. To meet these requirements, this paper presents a novel intralogistics system based on the functionality of a planar motor. Following the operating principle of a moving stator, the vehicles are entirely passive and the hardware for the generation of motion is integrated into the floor. This is achieved in the form of compact, decentrally interconnected floor units, several of which are simultaneously involved in a motion. In order to control this system with satisfactory reliability and performance, the theoretical foundations for a proper understanding of the system are examined before a system model is derived and parameterized through measurements. On this basis a specifically designed motion control system is developed, that features precise planar movement, decentralized computation and compensation of position dependent characteristics. Thereafter, a method for model-based parameterization is outlined, that takes into account robustness against disturbances and parameter variations. Finally, the developed approach is implemented on the actual hardware and validated in experimental investigations in terms of path accuracy. © 2023 IEEE.

关键词： Floors

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Anisotropic Damping and Stiffness of laminated steel parts using adhesive bonding – an empirical influence study

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Procedia CIRP 2023年 120卷 428-433页

作者： Nico Helfesrieder Michael Neubauer Armin Lechler Alexander Verl University of Stuttgart Institute for Control Engineering of Machine Tools and Manufacturing Units Seidenstraße 36 70174 Stuttgart Germany

Layered part manufacturing enables part topology to be optimized internally by structuring individual layers separately, which is especially promising for large machine parts. However, the resulting part properties as a function of the selected manufacturing parameters are largely unexplored. Therefore, this paper investigates the impacts of the slicing direction, the sheet thickness as well as the adhesive on anisotropic damping and stiffness values of adhesively bonded steel parts. A cantilever beam of symmetric cross-section is chosen as an easy-to-manufacture geometry. Three redundant specimens were prepared for each of six parameter variations investigated within this study, resulting in a total of 18 investigated beams. The results indicate highly anisotropic stiffness and damping as a function of the layer build-up direction and it was found that the modal damping rises with increasing amount of adhesive. These findings must be taken into account for future applications of layered lightweight machine parts and their simulative predictability should be studied.

关键词： Layer Laminated manufacturing (LLM) Laminated Object manufacturing (LOM) Adhesive Bonding Damping Experimental Modal Analysis (EMA)

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Semantic Integration and Interdisciplinary Collaboration in Production Planning: A Graph-Based Approach for Enhanced Data Consistency 57

Semantic Integration and Interdisciplinary Collaboration in ...

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18th IFAC Workshop on Time Delay Systems, TDS 2024

作者： Dausch, Valesko Lentes, Joachim Riedel, Oliver Kreimeyer, Matthias Institute for Engineering Design and Industrial Design University of Stuttgart Pfaffenwaldring 9 StuttgartDE-70569 Germany Fraunhofer Institute for Industrial Engineering Nobelstrasse 12 StuttgartDE-70569 Germany Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Seidenstrasse 36 StuttgartDE-70174 Germany

Based on increasing individualization, shorter innovation cycles and integrating services into products complexity in the development of products and production processes increases. In combination with digitalization, this results in an increased need for interdisciplinary work. A high level of data consistency is required to cope with the resulting diverse and complex data structures, leading to the need for a consistent data model that orchestrates information flows. PLM-systems fall short in their ambition of reaching an overarching data management across the product lifecycle. This results in a lot of administrative work in planning instead of value-adding as well as in inconsistencies and incomplete change processes. To improve interdisciplinary collaboration in production planning, goal of this work is to develop a method leading to a comprehensive data model and to show it's applicability by means of a case study. The steps of the research performed follow the typical circle of action research: diagnosis, planning, action, evaluation, and reflection. The data model resulting of the application of the method uses semantics to make relationships understandable for both humans and machines. This is necessary for downstream automation and the use of artificial intelligence. The three essential steps of the method are, firstly, an as-is modeling of the processes of interest. Then, the process models are used to evaluate the consistency and efficiency of the planning processes. The method is completed by a guideline for setting up the data model. The proposed approach aims to improve efficiency and quality in assembly planning processes, resulting in its importance for industrial companies. © 2024 The Authors.

关键词： Data consistency

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Identification of a Lumped-Parameter-Model for a Dual-Motor Robotic Drive Train with Backlash and Electrical Preload

Identification of a Lumped-Parameter-Model for a Dual-Motor ...

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International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM

作者： Benedikt Kaiser Adrian Schäfer Andreas Schütz Nejila Parspour Armin Lechler Alexander Verl Institute of Electrical Energy Conversion Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany

ISBN: (数字)9798350387599

ISBN: (纸本)9798350387605

The mechanical interface of rotating robot joints require torque to speed ratios that are not suitable for an elec-tromagnetic direct drive. Typically, gearboxes are used to convert torque and speed, although these introduce non-linear backlash into the system. By using a dual-motor drive train, it is possible to electrically preload the gearbox and compensate for the backlash. In order to describe the system dynamics, a lumped-parameter-model is presented for which the parameters are determined to represent an experimental setup. Measurements are carried out in various coupling scenarios and the associated parameters of the subsystems of the models are identified. The measurement and the model are further adapted through optimization. Based on the evaluated transfer functions, the model is able to describe the basic behavior of the system. The measurements with coupled motors and activated preload indicate persistent differences from the actual system. However, the presented model may be applied in simulation and control to improve the dynamics of a dual-motor robot drive train with backlash-prone gearing and the possibility of electrical preload.

关键词： Couplings Adaptation models Transient response Torque System dynamics Transfer functions Electric variables measurement

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Introduction of an industrial transfer learning use case systematization for machine tools

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Procedia CIRP 2023年 120卷 398-403页

作者： Dr.-Ing. Markus Netzer Jonas Michelberger Alexander Puchta Prof. Dr.-Ing. Alexander Verl Prof. Dr.-Ing. Jürgen Fleischer wbk Institute of Production Science Karlsruhe Institute of Technology Kaiserstraße 12 76131 Karlsruhe Germany ISW Institute for Control Engineering of Machine Tools and Manufacturing Units Keplerstraße 7 70174 Stuttgart Germany

Traditional intelligent systems such as fault detection are mainly developed for isolated use on single machines and are mostly trained individually. A cross-machine knowledge transfer of intelligent systems holds an immense potential and can reduce implementation effort of intelligent systems. To enable a structured analysis of real-world transfer problems, an industry-relevant, far-reaching systematization of typical machine tool use cases is developed. This provides the overview over different typical use case classes from the industrial use case perspective. Based on the derived transfer criteria of each use case class, a conceptual approach of concrete transfer methods is proposed.

关键词： Transfer learning industrial transfer learning knowledge transfer transfer learning systemization machine tools

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Systematic Component-Oriented Language Reuse

Systematic Component-Oriented Language Reuse

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Conference on Model Driven engineering Languages and Systems Companion (MODELS-C)

作者： Jérôme Pfeiffer Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany

Modern-day software is increasingly developed by domain experts. Domain-specific languages (DSLs) help them to bridge the conceptual gap between the problem and the solution domain. engineering these languages is complex, as it requires comprehensive white-box knowledge of constituents of DSLs, i.e., syntax and semantics, and their composition and realization in respective technological spaces of language workbenches. For efficient language engineering reusing existing languages by composition is essential. For this purpose, various language composition and variability mechanisms have been developed. However, in the literature, there exists no approach enabling systematic language reuse holistically, i.e., including syntax and semantics, in a black-box fashion. We propose an approach for the systematic component-oriented reuse of DSLs (SCOLaR) that supports the integrated reuse of syntax, well-formedness rules, and semantics via black-box language components that are composable along their interface in a language family. We implemented a prototypical version of our solution with the MontiCore language workbench, that supports embedding and aggregation of grammar-based languages with translational semantics realized with code-generators. In the future, we plan to improve our implementation with the support of other language workbenches and to provide a comprehensive evaluation with a series of case studies. With our work, we aim to advance the field of software language engineering by providing a novel method for black-box language reuse capturing syntax and semantics definitions for textual external, translational DSLs. This paper outlines our approach by stating the problem, motivating our research question, and proposing our solution, our plan for evaluation, and presenting expected contributions.

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