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31st CIRP Design Conference 2021, CIRP Design 2021

作者： Ellwein, Carsten Reichle, Alexander Herschel, Melanie Verl, Alexander Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Seidenstr. 36 StuttgartD-70174 Germany Institute Parallel and Distributed Systems University of Stuttgart Universit" atsstr. 38 StuttgartD-70569 Germany

The term co-design describes a collaborative design process, usually across the boundaries of individual areas. A major aspect, and often an obstacle in the implementation of the co-design approach, is the establishment of a centralized data management system. In the past, the data management concept has been approached from different perspectives. Current approaches usually are oriented along the process chain and thus reflect a unidirectional flow of information. Neither the information feedback nor the reaction to adjustments in upstream model steps is supported, which makes continuous collaboration more difficult and at best reduces the co-design approach for continuous data usage. This paper addresses these weaknesses while outlining an integrative data processing concept enabling co-design between the domains of construction and industrial prefabrication. Geometrical information generated during architectural design and construction planning is reused for the production of components, manufacturing-related design adjustments are transferred back into the domain of construction. Changes throughout the entire process are centrally recorded. To ensure independence from the software tools used and to consider their great diversity, data exchange is largely based on standards, namely industry foundation classes and the standard for the exchange of product model data. In order to counteract the sequential processing according to a waterfall model and to support the co-design approach, the industrial prefabrication toolchain, consisting of computer-aided manufacturing software and downstream postprocessors, is largely automated, so that reprocessing of a workpiece for minor geometric adjustments no longer requires any interaction of the production planner. © 2021 Elsevier B.V.. All rights reserved.

关键词： Computer aided design

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Gain-Scheduled Drive-based Damping control for Industrial Robots

TechRxiv

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TechRxiv 2021年

作者： Mesmer, Patrick Hinze, Christoph Lechler, Armin Verl, Alexander The Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart70174 Germany

The drivetrain flexibility of industrial robots limits their accuracy. To open up new areas of application for industrial robots, an increased dynamic path accuracy has to be obtained. Therefore, this paper addresses this issue by a gain-scheduled drive-based damping control for industrial robots with secondary encoders. For this purpose, a linear parameter-varying (LPV) model is derived as well as a system identification method is presented. Based on this, a gain-scheduled drive-based LPV damping control design is proposed, which guarantees stability and performance under variation of the manipulator configuration. The control performance of the approach is experimentally validated for the three base joints of a KUKA KR210-2 industrial robot. The approach realizes a trade-off between ease of implementation and control performance as well as robustness. © 2021, CC BY-SA.

关键词： Industrial robots

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Literature Review and Model Proposal on the machine Life Cycle in Industrial Automation from Different Perspectives

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Procedia CIRP 2023年 120卷 690-695页

作者： Valentin Stegmaier Tobias Eberhardt Walter Schaaf Nasser Jazdi Michael Weyrich Alexander Verl Graduate School of Excellence advanced Manufacturing Engineering (GSaME) University of Stuttgart Nobelstraße 12 70569 Stuttgart Germany Institute of Industrial Automation and Software Engineering University of Stuttgart Pfaffenwaldring 47 70569 Stuttgart Germany J. Schmalz GmbH Johannes-Schmalz-Straße 1 72293 Glatten Germany Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Seidenstraße 36 70174 Stuttgart Germany

The life cycle model of machines as idealistic subsequent phases is often used to analyze industrial automation systems. Depending on their focus, literature holds a number of different state of the art approaches for the machine life cycle with various phases. However, the consideration is mainly from the perspective of machine manufacturers. Often, the life cycle of the product, that is manufactured with the corresponding machine or the life cycle of the components installed in the machine are thoroughly considered. The development, production and operation of these assets can also be divided into corresponding phases. The aim of this paper is to provide an overview of existing approaches of machine life cycles based on a structured literature review. This will also address the differences in the life cycle phases for the typical stakeholders of the industrial value chain. Since the life cycles of the individual stakeholders of the industrial value chain are coupled, a chronological classification of the individual life cycle models based on the product creation process is presented one above the other.

关键词： machine life cycle Life cycle Industrial value chain Literature review

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FabOS: Towards an open, distributed, real-time-capable, and secure operating system for production 54

FabOS: Towards an open, distributed, real-time-capable, and ...

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54th CIRP Conference on manufacturing Ssystems, CMS 2021

作者： Lukas, Martin Stock, Daniel Csiszar, Akos TRUMPF Werkzeugmaschinen GmbH and Ko. KG Johann-Maus-Straße 2 Ditzingen71254 Germany Fraunhofer Institute for Manufacturing Engineering and Automation IPA Nobelstraße 12 Stuttgart70569 Germany Institute for Control Engineering of Machine Tools and Manufacturing Units Seidenstr. 36 Stuttgart70174 Germany

Software is rapidly becoming more important for the manufacturing sector. To address the need for software solutions in this sector, various organizations have published reference architectures, standards and implementations. The research project FabOS aims at building an open, distributed, secure and real-time capable software backbone for the manufacturing industry. This paper details the requirements for such a system and analyzes and compares several existing commercial and academic reference architectures, standards and implementations for Industry 4.0 applications. The goal is to identify the gaps between the already existing technology and the manufacturing industry's need for the factories of the future. © 2021 Elsevier B.V.. All rights reserved.

关键词： Cyber Physical System

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Patterns and tools in Robotic Systems Integration

Patterns and tools in Robotic Systems Integration

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IEEE International Conference on Robotic Computing (IRC)

作者： Nadia Hammoudeh Garcia Andreas Wortmann Robot and Assistive Systems Department Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) Nobelstr. 12 Stuttgart Germany Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Seidenstr. 36 Stuttgart Germany

ISBN: (纸本)9781665472616

Software integration activity is crucial to develop robotic applications. However, there is little specific literature dedicated to the integration process in robotics. The research in this field today is mostly focused on a concrete implementation phase and on the development of new technologies, but few researchers target their integration as an application-agnostic process. To shed light on the state of robotics software integration, we conducted a survey among researchers and practitioners in the field. As part of this survey we inquired how robotics software integration is currently performed. This study allowed us to find patterns in the way this process is carried out.

关键词： System integration Software Robots

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Graph-based Data Model for Assembly-Specific Capability Description for Fully Automated Assembly Line Design 2

Graph-based Data Model for Assembly-Specific Capability Desc...

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2nd IEEE Eurasia Conference on IOT, Communication and engineering, ECICE 2020

作者： Brovkina, Daniella Riedel, Oliver Stuttgart70569 Germany The Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart70174 Germany

ISBN: (纸本)9781728180601

Assembly systems are an essential component of industrial production. However, due to a lack of tools for decision-making support, these systems are usually planned and designed manually or with a low degree of automation. In this paper, a data model and a fully automated system for the design of assembly lines in the context of Model-based System engineering (MBSE) are presented. This system uses a graph-based description of the product and production capabilities, matches the product requirements to the available capabilities and resources, and enables an appropriate design generation using the Model-in-the-Loop and Software-in-the-Loop simulations. Explicit semantics and high flexibility of the graph-based data model allow a fine-grained description of the highly complex system. A particular focus is on the assembly-specific capability and product description, and generalizability of assembly systems through the use of the presented data model. For the data model evaluation, several scenarios are presented, where the production capabilities are being matched to a product description to form a logic assembly line structure. © 2020 IEEE.

关键词： Assembly

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Method for generating manufacturable, topology-optimized parts for laminated layer manufacturing 53

Method for generating manufacturable, topology-optimized par...

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53rd CIRP Conference on manufacturing Systems, CMS 2020

作者： Helfesrieder, Nico Lechler, Armin Verl, Alexander University of Stuttgart Institute for Control Engineering of Machine Tools and Manufacturing Units Seidenstraße 36 Stuttgart70174 Germany

The great flexibility provided by generative manufacturing offers immense potential for the structural component optimization. However, this freedom needs to be utilized by appropriate CAx tools. In this paper, we present a novel slicing method, enabling the automatic generation of topology-optimized Laminated Layer manufacturing (LLM) parts. With this method a part of arbitrary shape can be automatically sliced and equipped with a uniform virtual grid that is suitable for manufacturing. The optimal density distribution is then mapped onto the individual slices and locally approximated through the introduction of variably shaped cavities. By using 3D modeling techniques all LLM sheets are modeled parametrically and assembled automatically. To verify the functionality of the presented method, it is applied to two practical parts and compared with a conventional topology optimization method. © 2020 The Authors.

关键词： Topology

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Predicting coupling signals in a material flow real-time co-simulation with a Kalman filter 13

Predicting coupling signals in a material flow real-time co-...

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13th CIRP Conference on Intelligent Computation in manufacturing engineering, CIRP ICME 2019

作者： Kienzlen, Annika Scheifele, Christian Verl, Alexander University of Stuttgart Institute for Control Engineering of Machine Tools and Manufacturing Units Seidenstr. 36 Stuttgart70174 Germany

A hardware-in-the-loop simulation has to use the control cycle as simulation clock. This time-deterministic clocking can be difficult to meet for complex behavior models in a real-time simulation. To accelerate a real-time simulation, the calculation can be parallelized by co-simulation whereby multiple, differently detailed behavior models can be simulated parallelly. In these multi-scale models, a slower, detailed model guides a fast, abstract model. In this work, a Kalman filter is examined as a multi-rate method to predict the signals of a physical-based model for a material flow simulation in real-time. To improve the results, smoothing and boundary conditions are added. © 2020 The Authors.

关键词： Kalman filters

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Comparative Analysis of Factory Simulation Description Models for Comprehensive Description of Model Design 2

Comparative Analysis of Factory Simulation Description Model...

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2nd IEEE Eurasia Conference on IOT, Communication and engineering, ECICE 2020

作者： Brovkina, Daniella Kienzlen, Annika Riedel, Oliver Stuttgart70569 Germany The Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart70174 Germany

ISBN: (纸本)9781728180601

Simulation models are used during the entire life cycle of a factory. Because of a factory's complexity, different simulation tools with different scope emerged over time. The holistic mapping requires coupled simulations that consider the factory from different perspectives. Each simulation requires a new tool and simulation model, which, up to now, has usually been created manually. This paper presents an analysis of existing approaches and data models for factory simulation description. These approaches allow data exchange between single simulation models, but do not provide dynamic coupling and model generation, and often cannot include all relevant information for the factory simulation. To achieve a continuous and comprehensive factory simulation, a concept for a metamodel for factory simulation description is outlined. Its goal is not only to describe a skeleton of the factory and provide simulation coupling and data exchange but also to provide a dynamic model generation. © 2020 IEEE.

关键词： Electronic data interchange

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A Novel Approach for Unsupervised Sensor Error Classification

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Procedia CIRP 2024年 130卷 206-213页

作者： Samiha Durnagöz Tobias Eberhardt Felix Fuchs Peter Reimann Thomas Ackermann Maik Fiedler Mathias Mayer Marco F. Huber Alexander Verl Graduate School of Excellence advanced Manufacturing Engineering GSaME University of Stuttgart Nobelstraße 12 70569 Stuttgart Germany Institute of Industrial Manufacturing and Management IFF University of Stuttgart Allmandring 35 70569 Stuttgart Germany AUDI AG NSU-Straße 1 74172 Neckarsulm Germany Fraunhofer Institute for Manufacturing Engineering and Automation IPA Nobelstraße 12 70569 Stuttgart Germany Institute for Control Engineering of Machine Tools and Manufacturing Units ISW University of Stuttgart Seidenstraße 36 70174 Stuttgart Germany J. Schmalz GmbH Johannes-Schmalz-Straße 1 72293 Glatten Germany Institute of Parallel and Distributed Systems (IPVS) Universitätsstraße 38 70569 Stuttgart Germany

The precise detection and classification of sensor errors is crucial for the optimal operation of smart manufacturing systems. Sensor errors, which can manifest in various forms, such as drifts or constant values, significantly challenge data integrity. This work introduces a novel approach that combines unsupervised learning and system simulations to detect and classify relevant sensor errors. Our approach avoids extensive manual labeling and uses only error-free simulated time series data to create initial embeddings of sensor data. This establishes a baseline for normal sensor behavior. To facilitate a precise identification of error types through a classifier, simulated sensor errors are introduced to create context-aware embeddings. We further analyze and compare conventional to advanced embedding methods such as TS2Vec. We apply our approach to a synthetic dataset obtained from a vacuum handling system and accurately identify and classify relevant sensor error types. Our work contributes to advancing operational efficiency and reliability in automated manufacturing processes within the Industry 4.0 framework by improving the detection capabilities for sensor errors.

关键词： Unsupervised learning Sensor errors TS2Vec System simulation

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