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Towards learning digital twin: case study on an anisotropic non-ideal rotor system

Procedia CIRP 2024年 130卷 689-694页

作者： Zhibo Zhou Michael Walther Alexander Verl Robert Bosch GmbH Robert Bosch Campus 1 Renningen 71272 Germany Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Seidenstraße 36 Stuttgart 70174 Germany

In the manufacturing industry, the digital twin (DT) is becoming a central topic. It has the potential to enhance the efficiency of manufacturing machines and reduce the frequency of errors. In order to fulfill its purpose, a DT must be an exact enough replica of its corresponding physical object. Nevertheless, the physical object endures a lifelong process of degradation. As a result, the digital twin must be modified accordingly in order to satisfy the accuracy requirement. This article introduces the novel concept of ”learning digital twin (LDT),” which concentrates on the temporal behavior of the physical object and highlights the digital twin’s capacity for lifelong learning. The structure of a LDT is first described. Then, in-depth descriptions of various algorithms for implementing each component of a LDT are provided. The proposed LDT is validated on the simulated degradation process of an anisotropic non-ideal rotor system.

关键词： Digital twin Lifelong learning Model calibration

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Automated workflow generation supporting the value stream design of reconfigurable robot assembly cells

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Procedia CIRP 2024年 128卷 609-614页

作者： Marc Ungen David Kampert Benedikt Feldotto Elias Huber Oliver Riedel Robert Bosch GmbH Robert-Bosch-Campus 1 71272 Renningen Germany Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Seidenstr.36 70174 Stuttgart Germany

The paper addresses the automated generation of value stream optimized assembly workflows for reconfigurable robot cells. The focus is on the generation of asynchronous concurrent action workflows from assembly task descriptions. The main motivation is to enable automated search for optimized solutions within the enormous design spaces of these systems which results from their structural and procedural configurability. The proposed approach conducts task assignment, task sequencing and logical task planning (AI Planning) for multiple agents. The approach combines existing methods from the distinct research fields of robot task sequencing and discrete task planning. The contribution of the research is twofold. Firstly, the paper proposes a generic domain meta model enabling automated workflow generation for multi-agent assembly tasks. Secondly, a workflow generation approach based on artificial intelligence planning combined with the game-theoretic concept of extensive form games is presented. The approach iteratively generates a cooperative strategy for acting agents which is subsequently optimized in terms of individual strategies. The obtained logical action plans are further transformed into parametric concurrent action schedules to support downstream design activities. Both the meta model and the workflow generation approach are applied in a case study and provide valuable information on achievable assembly speedup.

关键词： Model-based systems engineering Artificial intelligence Design methodology tools technologies

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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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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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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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Energy Efficiency of ROS Nodes in Different Languages: Publisher-Subscriber Case Studies

Energy Efficiency of ROS Nodes in Different Languages: Publi...

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Workshop on Robotics Software engineering (RoSE)

作者： Michel Albonico Paulo Júnior Varela Adair José Rohling Andreas Wortmann Paraná (UTFPR) Federal University of Technology Francisco Beltrão Brazil Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Germany

ISBN: (数字)9798400705663

ISBN: (纸本)9798350365160

The Robot Operating System (ROS) is a de facto standard for programming robotic systems. It currently provides well-established client libraries for two major languages: $\mathrm{C}++$ and Python. Different programming languages are known for their different abstraction levels, and as a consequence, their resource usage, including energy consumption. With energy efficiency being recurrently a quality requirement, it is important to understand how programming in those two languages may affect the energy consumption of robotic systems. In this study, we analyze the impact on energy consumption when programming ROS nodes in those two main supported languages. We design and conduct an empirical experiment on ROS 2 nodes implemented in C++ and Python for simple and well-documented topic-based examples. We statistically assess to what extent energy consumption is affected by language choice, where nodes programmed in $\mathrm{C}++$ presented a consistently better energy efficiency. A deeper analysis of the measured variables indicates that the energy efficiency difference between the two client libraries is closely related to the underlying *** CONCEPTS• Software and its engineering → Software design tradeoffs; • Computer systems organization → Robotics; • Hardware → Impact on the environment.

关键词： Energy consumption Standards organizations Programming Energy efficiency Libraries Software Software measurement

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

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Procedia CIRP 2024年 130卷 1364-1371页

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

关键词： Data driven development knowledge management data continuity method

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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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Offline and Online Energy Simulation using Virtual Commissioning Models with Extended Dynamical Behavior

Offline and Online Energy Simulation using Virtual Commissio...

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IEEE/SICE International Symposium on System Integration

作者： Darius Deubert Denis Pfeifer Christian Scheifele Jörg Fehr Alexander Verl Bosch Rexroth AG 97816 Lohr am Main Germany and Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany Denis Pfeifer is with ISG Industrielle Steuerungstechnik GmbH 70563 Stuttgart and Institute of Engineering and Computational Mechanics University of Stuttgart Stuttgart Germany ISG Industrielle Steuerungstechnik GmbH Stuttgart Institute of Engineering and Computational Mechanics University of Stuttgart Stuttgart Germany Alexander Verl is with Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany

ISBN: (数字)9798331531614

ISBN: (纸本)9798331531621

Considering energy consumption and dynamical behavior within the simulation of manufacturing systems emerges as an important objective for their development, commissioning, and operation. Currently, these aspects are often neglected in many fields including virtual commissioning. This work presents an approach to extend highly detailed virtual commissioning models of components from industrial automation by dynamics models for the calculation of energy consumption in an offline simulation and for reuse in an online simulation. To validate the presented approach, an exemplary offline virtual commissioning simulation of a pick-and-place robot application is implemented and subsequently transferred to an online simulation. The validation shows a good accuracy of the simulated energy consumption, enabling virtual commissioning engineers to analyze and optimize energy consumption already in the design phase of manufacturing systems. Additionally, the dynamical behavior was well reflected in the online simulation, contributing to the capability of simulation in the operation phase.

关键词： Energy consumption Automation Accuracy Service robots System integration Manufacturing systems

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