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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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Data Model for Adaptive Robotic Construction in Architecture 55

Data Model for Adaptive Robotic Construction in Architecture

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55th CIRP Conference on manufacturing Systems, CIRP CMS 2022

作者： Wolf, Martin Kaiser, Benjamin Hügle, Sebastian Verl, Alexander Middendorf, Peter Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Seidenstr. 36 StuttgartD-70174 Germany Institute of Aircraft Design University of Stuttgart Pfaffenwaldring 31 StuttgartD-70569 Germany

Robotic fabrication plays an essential role for the construction industry in the pursuit of higher productivity and greater flexibility. Modular robotic systems enable the off-site prefabrication of components for high-performance building systems from wood or fiber composites, while digital planning methods and computational design enable the efficient planning of highly specialized and unique lightweight structures. However, existing manufacturing systems do not provide an interface between the two domains that allows to utilize their combined potential. manufacturing instructions for the individual components are currently generated directly from the design model and don't consider the precise setup and configuration of the modular system. The parametric description in computational design thus ends in the planning phase and is converted into a non-parametric description in native robot code, losing a lot of information in the process. For a continuous description of the building components from planning to fabrication, a data model for the parametric description of the fabrication tasks is therefore needed. We present and such a data model for timber and fiber prefabrication applications. The model allows the generic description of the manufacturing process within a task graph, which gives the manufacturing system a way of adapting the tasks to its specific configuration and setup. In addition to the description of jobs, tasks and actions, the model also includes a description of the considered manufacturing environment, as well as a monitoring component for the acquisition of sensor values and system configurations for individual tasks. This not only allows the identification of manufacturing issues like collisions ahead of time, but also enables the implementation of a feed-back loop for iterative optimization of the paths for any given environment. In this work, we give the design considerations for this data model. © 2022 The Authors. Published by Elsevier B

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Assembly Process Model for Automated Assembly Line Design 3

Assembly Process Model for Automated Assembly Line Design

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3rd IEEE Eurasia Conference on IOT, Communication and engineering, ECICE 2021

作者： Brovkina, Daniella Riedel, Oliver Stuttgart Germany University of Stuttgart Fraunhofer Institute for Industrial Engineering Iao The Institute for Control Engineering of Machine Tools and Manufacturing Units Stuttgart Germany

ISBN: (纸本)9781665445160

Automated assembly line design faces multiple challenges. One of those challenges is the automation of resource selection, especially when heterogeneous machines are used. In this paper, a data model for the skill definition of heterogeneous machines is presented. The data model is based on state-of-the-art concepts and focuses on the standardization of capability representation. The data model is validated using different machines that can be employed within an assembly system. A particular focus is put on pick and place operations by structurally and logically different machines as typical assembly operations. Furthermore, the presented and validated data model is abstracted to define a generic assembly process model. The resulting model is a key to a fully automated matching of machines and processes that is required for product assembly within automated resource selection. © 2021 IEEE.

关键词： Automation

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Modelling for control of Vacuum Grippers in automatically reconfigurable Fixturing Systems for thin-walled Workpieces

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Procedia CIRP 2022年 115卷 226-231页

作者： Andreas Schütz Armin Lechler Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Seidenstrasse 36 70174 Stuttgart Germany

Automatically reconfigurable fixtures allow adaptation to geometry changes during manufacturing by repositioning contact elements or adjusting contact forces. Flexible suction cup grippers are widely used as contact elements because they adapt to curved surfaces of flexible workpieces. During gripping, the bellows and the sealing lip exert an unwanted force on the workpiece. This causes a deformation of low stiffness workpieces and affects the machining accuracy during fixture reconfiguration. This paper presents a simulation model and an algorithm to counteract the workpiece deformation in automatically reconfigurable fixtures caused by nonlinear stiffness of vacuum grippers during positioning through control of the vacuum.

关键词： Fixture Gripper controls Robot Machining

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Matching Algorithm for Automated Resource Selection within Assembly Line Design 3

Matching Algorithm for Automated Resource Selection within A...

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3rd IEEE Eurasia Conference on IOT, Communication and engineering, ECICE 2021

ISBN: (纸本)9781665445160

Despite all the technological progress and digitalization of manufacturing processes, assembly lines and their design are still far from the ideas of the fourth industrial revolution. The assembly planning process has high complexity and is still done manually or only partially automated. One of the biggest challenges is resource selection to automatically identify all the machines that can perform the required assembly process. Based on previous works, this paper presents a matching algorithm for an automated resource selection within a fully automated assembly design platform. This platform uses a set of graph-based models at its core: an assembly feature model for product structure representation, a standardized skill model, and a highly abstract process model. The resulting matching algorithm uses concepts of graph isomorphism and homomorphism for graph analysis to universally identify matches between skill definitions and processes. © 2021 IEEE.

关键词： Assembly

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Hierarchical Digital Twin Ecosystem for Industrial manufacturing Scenarios

Hierarchical Digital Twin Ecosystem for Industrial Manufactu...

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Euromicro Conference on Software engineering and Advanced Applications (SEAA)

作者： Matteo Martinelli Jingxi Zhang Ann-Kathrin Splettstoßer Marco Picone Marco Lippi Andreas Wortmann Department of Sciences and Methods for Engineering University of Modena and Reggio Emilia Italy Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) Germany Department of Information Engineering University of Florence Italy

ISBN: (数字)9798350380262

ISBN: (纸本)9798350380279

Modern industrial systems, characterised by distributed and fragmented equipment, present challenges due to their inherent heterogeneity and complexity. This should not impact the stakeholders' business logic, who are more concerned with the information itself rather than how it is collected or processed. Recently, Digital Twins - software copies of physical assets and systems - emerged as a pivotal strategy to bridge the cyber-physical world into an effective digital layer decoupling applications from the management and interaction with physical assets. Fostering this vision, we propose a structured industrial Digital Twins ecosystem exploiting twin relationships and hier-archies to build a digitalised replica of the whole manufacturing system structure enabling a simplified navigation and interaction with the physical world and the data it generates. To support the depicted visions, a fully functioning prototype has been implemented and evaluated in an experimental scenario.

关键词： Navigation Ecosystems Prototypes Software Digital twins Complexity theory Stakeholders Logic Software engineering manufacturing systems

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Study on Available Cloud manufacturing Platforms for Additive manufacturing Technologies

Study on Available Cloud Manufacturing Platforms for Additiv...

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IEEE Eurasia Conference on IOT, Communication and engineering (ECICE)

作者： Matthias Milan Strljic Islam Younes Oliver Riedel Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany

ISBN: (纸本)9781665482097

Additive manufacturing technologies provided one of the most adaptable manufacturing processes for digital commissioning via the growing cloud manufacturing paradigm. This was facilitated by a low-complexity tool chain for the manufacturing process along the CAD-CAM chain and the process to be executed on the equipment. However, additive processes have grown far beyond the initial FDM processes and also offer more complex materials with unique properties in addition to other processes. The four most common manufacturing processes FDM, SLA, SLS, and SLM were used as a basis, and existing cloud manufacturing platforms offering all these four technologies as a bundle were gathered via a structured survey. Out of 42 platforms, 17 platforms were researched, filtered and analyzed using sample components and a catalog of requirements consisting of five requirement clusters: material, functional scope, final costs, delivery and user-friendliness. The results were weighted for each technology and finally evaluated in an overarching discussion. The achieved scores and the special features of a platform are discussed and a recommendation is made.

关键词： manufacturing processes Costs Additives Production Three-dimensional printing manufacturing Frequency division multiplexing

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Study on Available Cloud manufacturing Platforms for CNC Milling Processes

Study on Available Cloud Manufacturing Platforms for CNC Mil...

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IEEE Eurasia Conference on IOT, Communication and engineering (ECICE)

作者： Matthias Milan Strljic Aleksandar Bakovic Oliver Riedel Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany

ISBN: (纸本)9781665482097

CNC milling processes represent the main group of production processes for components with a non-trivial surface geometry that are either brittle or have a material with a high melting point or have sensitive requirements for the manufacturing tolerances. Thus, a study was conducted on the adoption of CNC milling processes in the cloud manufacturing segment, highlighting the range of functions provided as well as the unit prices. In the process, multiple application scenarios were addressed via part enquiries to be manufactured, which have different technical requirements for the CNC milling machine cell to be manufactured. Thus, components were designed that require at least three, four, or five synchronous axes for production. In addition, components with geometric properties were added that can be realized either on a 4-axis system or on a 3-axis system with a reclaiming process. For the evaluation, 50 platform providers were researched via a structured search, which were filtered through an automated ordering process, accessibility, and available materials to a final eleven platforms to be evaluated. On these platforms, a total of 55 application scenarios were then compared in terms of their performance with the application of 22 evaluation criteria. After a weighted evaluation of the results, recommendations were made for component requests from identified groups in terms of geometry complexity, material, and number of pieces that resulted from the analysis.

关键词： Geometry Technical requirements Cloud computing Production Milling Software manufacturing

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A Virtual Assistant System for the Requirements Elicitation and Initial Simulation Model Variant Generation of Modular Industrial Plants

A Virtual Assistant System for the Requirements Elicitation ...

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International Conference on Mechatronics and machine Vision in Practice (M2VIP)

作者： Erik-Felix Tinsel Oliver Riedel Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany

ISBN: (纸本)9798350334340

Errors during the commissioning of machines and plants are costly and time-consuming. Costs increase the later an error is discovered in the development process. The earliest occurring errors can already result from insufficient coordination with the customer. This paper presents the ongoing research on a virtual assistance system designed to bridge the gap between the early requirements phase and the virtual commissioning of modular plants by creating interfaces for customers allowing them to outline their project, validate it by themselves and be actively integrated in the process of the virtual plant creation.

关键词： Mechatronics Costs Virtual assistants machine vision Industrial plants

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Towards Industrial control from the Edge-Cloud: A Structural Analysis of Adoption Challenges According to Industrial Experts 22

Towards Industrial Control from the Edge-Cloud: A Structural...

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Proceedings of the 12th International Conference on the Internet of Things

作者： Marco Giani Nelly Frank Alexander Verl Robert Bosch GmbH: Corporate Sector Research and Advance Engineering Germany University of Stuttgart: Institute for Control Engineering of Machine Tools and Manufacturing Units Germany

ISBN: (纸本)9781450396653

The migration of industrial controls to an edge-cloud hosted on factory premises can reduce operation costs and increase the interoperability and flexibility of industrial machines. However, the adoption of Industrial Internet of Things (IIoT) technologies to realize an industrial edge-cloud for factory automation is likely to lead to a number of challenges that have not yet been investigated. Based on an expert interviews study, this paper provides two main contributions: (1) the identification of 11 technology-, engineering-, organization-, and strategy-related challenges that, according to industrial experts, will hinder the adoption of edge-cloud control (ECC) in future factories, (2) the derivation of a structural model showing how challenges are interlinked. The results illustrate the dependency between profitability and both engineering and operation of an ECC system, suggesting the importance of improving the usability of ECC for automation experts with limited IT know-how, for instance through the reorganization of departments and the standardization of integration concepts for ECC in factories.

关键词： Industrial Automation Cloud Computing IIoT Edge Computing

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