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Reduction of Support Structures and Building Time by Optimized Path Planning Algorithms in Multi-axis Additive Manufacturing

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Procedia CIRP 2018年 67卷 221-226页

作者： Daniel Coupek Jens Friedrich David Battran Oliver Riedel Institute for Control Engineering of Machine Tools and Manufacturing Units Seidenstr. 36 Stuttgart 70174 Germany

Additive manufacturing is an emerging technology that enables new product design. However, major inhibitors are long building times and a fixed build direction of the workpieces. In this article, new optimization and path planning methods for multi-axis additive manufacturing are presented going beyond conventional three-axis systems. This includes an adaptation of the building direction and an algorithm for the special case of cylindrical axes. These methods can reduce the production time drastically by avoiding support structures and by using the integration of predefined building blocks to substitute the infill. We present both, the new manufacturing process and the necessary computation methods for optimal process and path planning. Decreasing the building time and the amount of support structures paves the way for new application domains of additive manufacturing in the future.

关键词： Additive manufacturing Multi-axis Path planning Trajectory Support structures

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Persistent data backend for OPC UA namespaces in IT infrastructures

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Procedia CIRP 2018年 72卷 174-178页

作者： Felix Kretschmer Christian von Arnim Armin Lechler Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units Seidenstr. 36 70174 Stuttgart Germany

This paper presents an approach for persistent data backends for OPC UA namespaces. OPC UA as M2M protocol is used in various manufacturing machines and provides data access to e.g. sensors and setpoints. The central and persistent data storage for e.g. data-mining and condition-monitoring services in information technology infrastructures is challenging. Therefore, a holistic approach for storing OPC UA information in lightweight directory access protocol server is presented including a model for storing namespaces, information models and values in LDAP trees of scalable enterprise infrastructures to fulfil manufacturing and IT requirements in the context of Industry 4.0.

关键词： opc ua ldap it architectures data backend

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Online Learning of Stability Lobe Diagrams in Milling

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Procedia CIRP 2018年 67卷 278-283页

作者： Jens Friedrich Jonas Torzewski Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Seidenstrae 36 70174 Stuttgart Germany

The productivity of milling machines is limited by chatter vibrations. Stability lobe diagrams (SLD) allow the selection of suitable process parameters to maximize the productivity. However, the calculation of SLDs is very time-consuming and requires complex experiments. In this article a new online learning method is presented, which allows the calculation of SLDs during the production process. The algorithm is a combination of reinforcement learning and nearest-neighbor-classification and allows the estimation of the stability border based on measured vibration signals during machining. The proposed algorithm is capable of being continuously trained with sorted input data. A trust criterion is introduced, which allows judging the prediction quality of the algorithm. The algorithm is validated with analytical benchmark functions and with a 2-DOF milling stability simulation.

关键词： Milling Stability Chatter Learning

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Reinforcement Learning of Material Flow control Logic Using Hardware-in-the-Loop Simulation

Reinforcement Learning of Material Flow Control Logic Using ...

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Artificial Intelligence for Industries (AI4I)

作者： Florian Jaensch Akos Csiszar Annika Kienzlen Alexander Verl Institute of control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany

ISBN: (纸本)9781538694633;9781538692097

In this paper the concept of reinforcement learning agent is presented, which can deduce the correct control policy of a plant by acting in its digital twin (the HiL simulation). This way the agent substitutes a real control system. By using reinforcement learning methods, a proof of concept application is presented for a simplistic material flow system, with the same type of access to the digital twin which a PLC controller-hardware would have. With the presented approach the agent is able to find the correct control policy.

关键词： Reinforcement learning Belts Hardware-in-the loop simulation control systems Process control Software Training

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A Symbolic-Numeric Method to Capture the Impact of Varied Geometrical Parameters on the Translational Workspace of a Planar Cable-Driven Parallel Robot

A Symbolic-Numeric Method to Capture the Impact of Varied Ge...

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ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR

作者： Felix Trautwein Philipp Tempel Andreas Pott Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany

In this paper, an approach to capture and visualize the impact of a geometrical adjustments of a cable-driven parallel robot is presented. This method combines the precision of an analytic description with the efficiency of numeric methods. The translational workspace of the robot, corresponding to a set of geometrical parameters, is determined by a piecewise assembly of boundary segments. The intersections of the curves, defining the workspace border, are computed by utilizing their shape as conic sections. Calculation examples are also given, comparing the impact of different parameter sets on the workspace.

关键词： Transmission line matrix methods Robot kinematics Mathematical model Shape Kinematics Redundancy

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Kernel Selection for Support Vector machines for System Identification of a CNC Machining Center

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IFAC-PapersOnLine 2019年第29期52卷 192-198页

作者： Muzaffer Ay David Stenger Max Schwenzer Dirk Abel Thomas Bergs Institute of Automatic Control RWTH Aachen University Campus-Boulevard 30 Aachen Germany David Stenger is an associated member of the research training group GRK 1856 of the german research foundation Laboratory for Machine Tools and Production Engineering (WZL) RWTH Aachen University Campus-Boulevard 30 Aachen Germany

Advanced learning methods enable the model-based control of systems with complex unknown dependencies. Within the German cluster of excellence “Internet of Production”, a configuration for an interconnected data-base is proposed, where data-driven model-based control strategies can be applied using the collective knowledge and adapted online according to data. For the exchanged data it is imperative to establish a generalizing learning technique for the controller design. A machine learning technique with inherent generalization ability is the Support Vector machines (SVM) algorithm, where the choice of kernel is crucial for the resulting model quality. In the related literature, usually a radial basis function (RBF) is chosen as kernel, although many studies show the necessity of a more sophisticated kernel selection. This work tackles the point of a kernel selection based on composite kernel search in context of data-driven model-based control of a CNC machining center. The results support the capability of the presented approach to further automate and improve the identification of the controller model for the machining center.

关键词： kernel selection support vector machines machine learning system identification data driven control internet of production

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Model-Based Systems engineering for machine tools and Production Systems (Model-Based Production engineering)

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Procedia Manufacturing 2018年 24卷 216-221页

作者： Karl Kübler Stefan Scheifele Christian Scheifele Oliver Riedel Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Seidenstr. 36 70174 Stuttgart Germany

Model-Based Systems engineering (MBSE) has been known in aerospace and automotive industries for more than a decade and is based on a model-driven approach to integrate all engineering disciplines. This paper shows a promising approach to meet the ongoing challenges in the development of production systems. First, the current sequential, mechatronic engineering process of production systems is summarized and deficits are pointed out. Then, the paper outlines a roadmap with necessary steps to adapt the MBSE approach to the engineering of production systems, called Model-Based Production engineering (MBPE). This roadmap includes the definition of a design language for production systems.

关键词： MBPE MBSE CPS CPPS HILS

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Smart centering for rotation-symmetric parts in multi-stage production systems for zero-defect manufacturing

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Procedia CIRP 2019年 79卷 27-32页

作者： Colin Reiff Florian Eger Philipp Tempel Maria Chiara Magnanini Jon Ander Ortiz Marcello Colledani Alexander Verl Iñigo Sarries Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Seidenstr. 36 70174 Stuttgart Germany Politecnico di Milano Department of Mechanical Engineering Via la Masa 1 20156 Milan Italy IK4-Ideko Arriaga Industrialdea 2 Elgoibar 20870 Spain MiiRA CAF J.M. Iturrioz 26 Beasain 20200 Spain

During manufacturing, geometrical deviations occur, e.g. due to heating processes. In multi-stage production systems, these errors propagate and lead to expensive rework or, even, to unusable products. In this paper, a method for smart centering of rotation-symmetric parts is introduced. The method is used in the scope of achieving zero-defect manufacturing processes. For this purpose, the products are measured and automatically compared with the required specifications. Based on the identified deviations, process parameters can be adjusted and thus, defects can be compensated in downstream production steps. The method is exemplified in the context of an industrial use case.

关键词： Manufacturing Process Machining Compensation Measurement Quality assurance

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A generic data structure for the specific domain of robotic arc welding

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Procedia CIRP 2018年 72卷 322-327页

作者： Alexander Schmidt Christoph Martin Thomas Dietz Andreas Pott Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) Seidenstraße 36 70174 Stuttgart Germany Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) Nobelstraße 12 70569 Stuttgart Germany

The systematic analysis of robotic arc welding processes requires unified structured data, which is currently not available due to the diversity of data sources. This paper proposes an integrated data structure for the specific domain of robotic gas metal arc welding. The presented data structure contains a description of the welding system, the design of the welded parts, welding instructions, and time series of measured process data. Collected data enriched with semantic context is stored and analyzed using this data structure. The usefulness is exemplified but not limited by a use-case suggesting welding process parameters to the worker.

关键词： arc welding big data analysis industrial robots

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Dynamic Real-time Orchestration of I4.0 Components based on Time-Sensitive Networking

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Procedia CIRP 2018年 72卷 910-915页

作者： Frederick Prinz Michael Schoeffler Armin Lechler Alexander Verl Corporate Sector Research and Advanced Engineering Robert Bosch GmbH 71272 Renningen Germany Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart 70174 Stuttgart Germany

Future production systems demand for a standardized digital representation of I4.0 components including their capabilities. Many concepts of such a digital representation have been published under the term administration shell. However, these concepts do not explicitly cover the use of administration shells to orchestrate real-time capable I4.0 components. In this paper, we recap an existing I4.0 framework that enables the dynamic orchestration of non-real-time I4.0 components. As main contribution, we integrate real-time capable I4.0 components into this framework. Thereby, the entire communication is standard-compliant to the new real-time technology Time-Sensitive Networking (IEEE 802.1). The advantages of our approach are demonstrated by a dynamic plug-and-produce scenario in which real-time axes are controlled based on G-code.

关键词： Cyber-physical production systems Industry 4.0 Framework Administration shell Real-time communication Time-Sensitive Networking engineering G-code

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