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2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Johannes T. Stoll Kevin Schanz Michael Derstroff Andreas Pott Fraunhofer Institute for Manufacturing Engineering and Automation IPA Stuttgart Germany Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany

ISBN: (数字)9781728162126

ISBN: (纸本)9781728162133

In this work, we present and explain in detail the design of a new type of pneumatic actuator made of fire hose, the fire hose actuator (FHA), see Fig. 1. We model the force output of this type of actuator and we compare the theoretic results to the data measured on the laboratory test ***, we present the design of a pneumatic rotary drive that is actuated by four of the above-mentioned FHAs. The drive unit features intrinsic compliance and it is capable of high-precision positioning. Due to these characteristics, the design concept of the rotary drive is suitable for the potential use in robotics, especially in human-robot collaboration. In addition, we model the static torque distribution of the rotary drive and we compare the theoretic results to the data measured on the realized laboratory test stand. Moreover, we discuss the most important characteristics of the rotary drive. Hence, we present measurements of the adjustable stiffness and we show that high-precision positioning is possible with the system, reaching in ideal areas every bit of the used 17-bit encoder with a resolution of 0.0027°. Moreover, the drive unit is capable of continuous rotation while the maximum continuous torque possible is found to be 63.1 Nm.

关键词： Hoses Torque Pneumatic systems Drives Position measurement Data models Torque measurement

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Distributed Interpolation: Synchronization of motion-controlled axes with coordination vector and decentralized segment controllers

Distributed Interpolation: Synchronization of motion-control...

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International Workshop on Advanced Motion control (AMC)

作者： Caren Dripke Daniel Schoebel Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Seidenstr. 36 Stuttgart Germany

ISBN: (数字)9781728131894

ISBN: (纸本)9781728131900

In this paper, we present an approach for a distributed interpolation which coordinates and synchronizes the movements of multiple linear axes without a central motion control unit. With this concept, axes equipped with novel individual miniature controls can achieve synchronized interpolation without a central coordination unit as a motion control or CNC present. This application is especially interesting for manufacturing setups undergoing frequent reconfigurations as the decentral setup has shorter configuration times and offers integration of multiple vendors independent of proprietary field bus communication standards thus offering reuse of automation components. We consult applications from swarm-robotics and transfer algorithms to the motion control problem. The proposed coordination algorithm is validated in a MATLAB Simulink environment, as well as a commercial four axes pick-and-place demonstrator.

关键词： Motion planning Interpolation Adaptation models Target tracking Motion segmentation Planning Synchronization

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Detection of Attacks in Smart Grids via Extended Kalman Filter and Correlation Analysis

Detection of Attacks in Smart Grids via Extended Kalman Filt...

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SICE Annual Conference

作者： Julia Sawodny Oliver Riedel Toru Namerikawa Keio University Tokyo Japan Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany

ISBN: (数字)9781728110899

ISBN: (纸本)9781728110905

This paper discusses the detection of attacks on decentralized and intelligent power networks, so-called smart grids. The approach used here, estimates the states of the power network, which is modelled by its power flow, via an Extended Kalman Filter. The use of this filter allows the consideration of nonlinearities, thus enabling the modelling of the losses of the systems. The final detection of attacks on a generator in a power network is realized by a correlation analysis. The correlation analysis provides the result of the inner correlation of sequential signals. Based on this, an assessment can be made as to whether or not the network is affected by an attack.

关键词： Correlation Generators Phasor measurement units Smart grids Kalman filters Reliability Load flow

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Shop-Floor Service Connector - a message-oriented Middleware Focused on the Usability and Infrastructure Requirements of SMEs Developing Smart Services

Shop-Floor Service Connector - a message-oriented Middleware...

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IEEE International Conference on Knowledge Innovation and Invention (ICKII)

作者： Matthias Milan Strljic Chris Vollmann Oliver Riedel Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany Fraunhofer Institute for Industrial Engineering IAO Stuttgart Germany

ISBN: (数字)9781728193335

ISBN: (纸本)9781728193342

Digitalization causes an intensive change in the way software components are developed within the shop floor. The blending of technology domains with current automation technologies leads to high integration efforts with a low degree of reusability. This problem is further reinforced by a diverging system understanding within individual domains and the use of heterogeneous development platforms. Existing solutions from the field of cloud computing are applied in the context of the Industrial Internet of Things (IIoT). However, these systems do not fulfill the requirements of user-friendliness, resource demands, performance, and infrastructure, which is why they are only partially suitable for the current needs of small and medium-sized enterprises (SMEs). For this purpose, the communication middleware Shop-Floor-Service-Connector (SFSC) is developed. Based on the broker-less messaging system ZeroMQ, an overlaid SFSC protocol is implemented. Subsequently, an example scenario is used to illustrate the usage of the system. Finally, the next steps for further developing the middleware are presented.

关键词： Complexity theory Technological innovation Middleware Quality of service Protocols Computational modeling Epidemics

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Disturbance Observer-Based controller for Mimicking Mandibular Motion and Studying Temporomandibular Joint Reaction Forces by a Chewing Robot

Disturbance Observer-Based Controller for Mimicking Mandibul...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Naser Mostashiri Jaspreet S. Dhupia Alexander W. Verl Weiliang Xu Department of Mechanical Engineering The University of Auckland New Zealand Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Germany

ISBN: (数字)9781728167947

ISBN: (纸本)9781728167954

Study of reaction forces on temporomandibular joints (TMJs) during chewing different food materials provides useful information for diagnosis and prevention of common stomatognathic system ailments, such as the temporomandibular joint disorders. However, in-vivo study of TMJs reaction forces is complicated and invasive. Therefore, reproduction of a human subject's mandibular motion by a biologically inspired chewing robot has the potential for the invitro study of TMJs reaction forces. An active anti-disturbance controller is required to handle uncertainties and disturbances due to food-teeth interactions, unmodeled dynamics, and parameter perturbations in the chewing robot. In this paper, a disturbance observer-based controller is used to mimic a human subject's mandibular motion by the chewing robot for in-vitro measurement of the TMJs reaction forces while chewing peanuts and gum.

关键词： Conferences Mechatronics

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Connected production planning and control systems – implementation and the optimization process for subcontracting

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Procedia CIRP 2020年 88卷 191-196页

作者： Carsten Ellwein Anja Elser Marcel Vollmer Oliver Riedel Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Seidenstr. 36 D-70174 Stuttgart Germany University of Stuttgart Kepplerstr.7 D-70174 Stuttgart Germany

Production planning and control (PPC) systems are used to organize operating materials. In order to address connectivity demands of interacting PPC systems a new software architecture has been presented in prior work. This software architecture provides a basis for data exchange in-between such systems. It is up to this paper to describe an implementation approach realizing the theory. Furthermore, a new optimization process which targets subcontracting, dynamics and communication of interconnected PPC systems is presented. As a result, the mandatory and optional content of an order enquiry as well as of a response message is discussed.

关键词： Planning control systems Software architecture Industry 4.0 Cloud manufacturing

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Motion superimposition for machine tool trajectories using asynchronous axis interpolation ⁎

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IFAC-PapersOnLine 2019年第10期52卷 300-305页

作者： T. König A. Verl A. Lechler Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Germany

This paper presents a method for reducing non-productive times in the planning and interpolation of lift movements during 2.5D machining. At the moment, this mostly vertical lift movement is executed separately from the position changing in the operating plane. This sequential processing of motions increases the non-productive time in processes with frequent changes of operating height, such as laser cutting. The reduction is realized by superimposing the planar path movements with lift motion. An asynchronous axis interpolation is applied to make use of the maximum machine dynamics. In addition, known obstacles can be taken into account by further parameters in the planning.

关键词： machine tools productivity simultaneous processing lift movement path optimization non-productive time reduction asynchronous interpolation

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

Comparative Analysis of Factory Simulation Description Model...

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

作者： Daniella Brovkina Annika Kienzlen Oliver Riedel Graduate School of Excellence advanced Manufacturing Engineering (GSaME) University of Stuttgart Stuttgart Germany The Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany Fraunhofer Institute for Industrial Engineering IAO Stuttgart Germany

ISBN: (数字)9781728180601

ISBN: (纸本)9781728180618

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.

关键词： Modeling Data models Unified modeling language Analytical models Production facilities Computational modeling tools

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

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

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

作者： Daniella Brovkina Oliver Riedel Graduate School of Excellence advanced Manufacturing Engineering (GSaME) University of Stuttgart Stuttgart Germany The Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany Fraunhofer Institute for Industrial Engineering IAO Stuttgart Germany

ISBN: (数字)9781728180601

ISBN: (纸本)9781728180618

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.

关键词： Data models Communication cables Layout Force Parallel robots Creep Virtual manufacturing

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Securing the Data Flow for Blockchain Technology in a Production Environment ⁎

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IFAC-PapersOnLine 2019年第10期52卷 125-130页

作者： Tobias Korb David Michel Oliver Riedel Armin Lechler Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart 70174 Stuttgart Germany

For several years, blockchain technology have been used and tested in various prototypes for production environments. The main focus of these approaches is the feasibility of different applications. It is usually simply assumed that data in a blockchain is stored immutably. However, the path from data generation to entry into a blockchain is usually neglected. Exactly this topic is discussed in this paper and a solution proposal for a secure data flow from the machine to the blockchain is presented. For this, the hardware and software architecture of the solution is shown, followed by measurements of the operational capability of the solution.

关键词： Blockchain manufacturing Immutability Trust Microcontroller Digitization

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