检索结果-内蒙古大学图书馆

IEEE International Conference on Robotics and Automation (ICRA)

作者： Manuel Zürn Markus Wnuk Armin Lechler Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany

This paper presents a new method for correspondence estimation between a previously known topology of a branched deformable linear object and an image representation from a 3D stereo camera. Although frequently encountered in production, robotic deformable linear object manipulation still lacks reliable sensor feedback. Especially for branched deformable linear objects, such as wire harnesses, correspondence estimation is very challenging. Due to their flexible nature, they have an infinite-dimensional configuration space, such that visual appearances of the same object can vary strongly. Knowing the correspondence is vital for various applications, e.g., estimating valid grasping positions for robotic wire routing or augmented reality support for workers. Therefore, this paper presents a method for matching the topology of a branched deformable linear object to camera sensor data. Asymmetries in the wire harness design reduce the solution space by comparing the known topology of a model to the topology extracted from sensor data. The problem of finding the most likely solution to the matching problem requires features extracted from camera images. These features are used to construct a graph-based topology representation, which can then be matched to a graph-based topology representation of the known branched deformable linear object. The presented method is evaluated using multiple different non-overlapping configurations of a wire harness, showing the effectiveness of a graph-based segment matching approach.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Automatic Generation of Digital Twin Models for Simulation of Reconfigurable Robotic Fabrication Systems for Timber Prefabrication 38

Automatic Generation of Digital Twin Models for Simulation o...

引用

38th International Symposium on Automation and Robotics in Construction, ISARC 2021

作者： Kaiser, Benjamin Littfinski, Daniel Verl, Alexander Institute for Control Engineering of Machine Tools and Manufacturing Systems University of Stuttgart Germany

ISBN: (纸本)9789526952413

Timber construction and prefabrication are becoming increasingly important in the building and construction industry. The degree of automation in this area is low. Caused by the great variability of construction projects and building components, automation systems that can adapt flexibly to different construction projects are required. However, a system that fulfills these conditions does not yet exist. Down-times for reconfiguration in between projects must be short. The use of robotics for the automation of prefabrication is constantly developing. Recent publications present a novel, flexible, reconfigurable, and transportable manufacturing platform using industrial robots. A system consisting of several of these modular platforms can be flexibly adapted to the changing requirements of different construction projects and set up on-site at local timber construction companies. To ensure the manufacturability of the timber components and to minimize downtimes between projects, the entire workflow from digital design to fabrication must be considered. The co-design approach makes this possible. It breaks up the currently existing sequential process from design to fabrication and considers all sub-steps holistically. Thus, enabling the consideration of the fabrication capabilities during building design. This allows the planning of building components and system layout so that fabrication is feasible. To achieve this, the fabricability of a given system layout has to be evaluated. This requires a digital twin of the fabrication system as a simulation model. The reconfigurability of the fabrication system must be reflected by the digital twin. The fabrication tasks and the system configuration are constantly changed in search of a valid combination. Therefore, with each iteration, the digital twin must be adapted or newly created. At present, this is mostly a manual process. This makes the whole approach unfeasible. To solve this problem, this work presents an approach

关键词： Cyber-Physical System Digital Twin Simulation Software Defined Manufacturing Timber Prefabrication

来源：评论

学校读者我要写书评

暂无评论

Method for the Calculation of Local Bead Volume in Multi-Axis Additive Manufacturing

引用

Procedia CIRP 2023年 120卷 1244-1249页

作者： Martin Wolf Vinzent Maier Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Seidenstr. 36 70174 Stuttgart Germany

In recent history, Multi-Axis Additive Manufacturing enjoys increasing attention for both industrial and research application. In comparison to traditional processes, the additional rotation axes enable parts to be printed with greater design flexibility, while reducing the need for support structures. The multi-axis motion additionally allows for optimization of structural properties of the parts. However, curved-layer printing requires significantly higher effort for planning and computation, as the layers exhibit curvature in their shape and feature local variations of the layer height and bead width. Consideration of these properties is often neglected in the development of path planning methods, although they pose a significant influence to the optical and structural quality of the printed parts. Local over- or under-extrusion can result in material accumulation or voids within the part and need to be avoided. Additionally, some Multi-Axis Additive Manufacturing processes like Directed Energy Deposition are especially prone to errors in practice, as the melt-pool behavior is hard to model and predict accurately. This paper introduces a method for the precise calculation and adjustment of local bead volume, as a possible solution to these problems. The method processes existing Cartesian paths and uses a model of the bead geometry to simulate the extrusion by rasterization. The method considers printing head orientation, as well as neighborhood information of adjacent beads and builds a volumetric map of the paths. Local extrusion volume is then determined for each waypoint of the path from this volume map and provided to the printer along with the G-Code, enabling adjusted volume deposition both in advance and during the process by iterative path-adaptation. The provided implementation is able to achieve favorable results for both use-cases but proves especially beneficial for the latter.

关键词： Multi-Axis Additive Manufacturing Computer-Aided Manufacturing Local Volume Calculation 3D Printing

来源：评论

学校读者我要写书评

暂无评论

Co-Design of Structural Timber Components Through Automated Model Generation for Manufacturing Simulation of Reconfigurable Manufacturing Systems

Co-Design of Structural Timber Components Through Automated ...

引用

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

作者： Benjamin Kaiser Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany

Manufacturing of products with high variability and small batch sizes, such as prefabricated timber building components, presents significant manufacturing challenges. In urban areas, the construction industry's relatively low productivity, coupled with rising demand for affordable housing and irregularly shaped spaces, calls for novel and innovative construction technologies. The method of computational design shows promise as a solution, allowing unique, optimized structures composed of individual components, departing from conventional modular construction. Automated prefabrication of these building components enhances construction productivity. Reconfigurable manufacturing systems offer a practical solution for addressing building component variations and changing project requirements, requiring frequent system re-configuration. The co-design process concurrently optimizes building components and manufacturing systems to ensure manufacturability and structural optimization through iterative design, validated by simulation. However, manual simulation implementation and validation for component manufacturability is time-consuming and error-prone, especially considering the numerous iterations and layout variants involved in the co-design process. This paper proposes a method for automatically generating and conducting simulations to check the manufacturability of building elements to enable co-design. The proposed method uses AutomationML as a modeling language for describing the manufacturing system and building components. We conduct several simulations with parametrically generated timber shell elements to validate the proposed method.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A Multicore control System Architecture as an Operating Platform for Industrial Digital Twins

引用

Procedia CIRP 2023年 118卷 294-299页

作者： Lars Klingel Karl Kübler Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Seidenstr. 36 70174 Stuttgart Germany

Digital Twins are seen as one of the core technologies and enablers of Industrie 4.0. There are various definitions of the term Digital Twin, but most agree that they are digital representations supporting the real production system throughout its lifecycle by providing models, data-integration and online-optimization. Currently, there are no implementations of Digital Twins to be used productively, which fulfill all parts of this definition. This work focuses on the simulation part of Digital Twins and the real-time requirements which arises from an online calculation. An approach that uses models of virtual commissioning, which are integrated in an industrial controller to tackle the problem of real-time calculation is presented. To enable the online simulation of complex and multi-physical models the simulation is parallelized and calculated on a multicore processor.

关键词： Industrial Digital Twin Co-simulation Partitioning Virtual Commissioning

来源：评论

学校读者我要写书评

暂无评论

Self-adaptive digital twin reference architecture to improve process quality

引用

Procedia CIRP 2023年 119卷 867-872页

作者： Ann-Kathrin Splettstößer Carsten Ellwein Andreas Wortmann Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Seidenstr. 36 D-70174 Stuttgart Germany

The aim of software-defined manufacturing is a more adaptable production through software. This requires highly adaptive, versatile cyber-physical production systems (CPPSs), which react flexibly to changes and perform crucial adjustments. Self-adaptive digital twins (DTs) enable adaptability through monitoring the behavior of a CPPS, identifying problems, and determining adjustments for the optimization of processes. DTs work with an idealized representation of the CPPS. Changes in system behavior that negatively impact the process execution, e.g., caused by tool wear or variations of environmental influences, and, thus, the quality of the resulting product, are ignored. This ignorance leads to defective products, sub-optimal product quality, and hazardous CPPS states. To mitigate this, we present an approach to incorporate quality awareness into a model-driven reference architecture of a self-adaptive DT. The devised concept automatically analyzes and optimizes system behavior. To this end, a component for quality evaluation extends the reference architecture. The DT and CPPS are connected via OPC UA. To validate the approach, a fiber laser machine is utilized. The DT can operate both on a physical and a virtual laser machine.

关键词： Digital Twin Model-Driven Development Software-Defined Manufacturing Quality Awareness

来源：评论

学校读者我要写书评

暂无评论

A modular configuration and management framework for distributed real-time applications based on converged networks using TSN

引用

Procedia CIRP 2023年 118卷 38-43页

作者： Stefan Oechsle Florian Frick Armin Lechler Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Seidenstr. 36 70174 Stuttgart Germany

Industrial control systems are distributed real-time applications deployed on field and controller devices, connected by fieldbuses. Their lack of interoperability, mutually and towards IT-systems, is a major obstacle for the digitalization. Converged networks are considered as the solution across industries with Time-Sensitive Networking (TSN) as the enabling technology. To ease the adoption of TSN for industrial automation, a modular framework was developed for future engineering tools. The core of the framework consists of a module management including interfaces and a YANG-based datastore, maintaining a system-wide data model. Modules are provided for network configuration implementing CUC-functions, monitoring and container-based application and deployment.

关键词： Time-Sensitive Networking distributed real-time applications engineering framework

来源：评论

学校读者我要写书评

暂无评论

Requirements and Challenges in the Configuration of a Real-Time Node for OPC UA Publish-Subscribe Communication

Requirements and Challenges in the Configuration of a Real-T...

引用

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

作者： Rebekka Neumann Christian von Arnim Michael Neubauer Armin Lechler Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany

Factory automation is evolving from a hierarchical structure towards an interconnected architecture in which systems at different levels can communicate seamlessly with each other. This requires an appropriate replacement of proprietary fieldbus systems in the automation sector. A promising solution to implement cross-plane end-to-end real-time capable communication between computing nodes is proposed in literature. The usage of Open Platform Communication Unified Architecture (OPC UA) as the information model with the Publish-Subscribe (PubSub) communication mechanism in combination with Time Sensitive Networking (TSN) is presented to fulfill the requirements for message transmission. In contrast to the state of the art of configuring fieldbus systems, the configuration of such a real-time communication node has to be done manually. This process is complex, as deep knowledge in different domains is required. In this work we elaborate the requirements for such a communication node and present the resulting implementation challenges, which can be used as the basis for a configuration tool.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Reflection-based Prototyping Framework for OPC UA Servers for Companion Specifications

Reflection-based Prototyping Framework for OPC UA Servers fo...

引用

IEEE International Conference on Industrial Technology (ICIT)

作者： Moritz Walker Christian von Arnim Michael Neubauer Armin Lechler Oliver Riedel Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany

Domain-specific Companion Specifications (CS) define OPC UA information models for specific use cases, devices, or industries and define how to use OPC UA in specific environments. A sample OPC UA server is required to evaluate an OPC UA CS and develop clients. Such a server needs to be easily changed on updates of the CS and must ensure that all instances comply with the specified OPC UA types. This paper introduces an OPC UA server prototyping framework that maps OPC UA instances to $\mathbf{C++}$ data types using reflection. Using OPC UA types for instantiation, all created instances comply with the CS. The mapping to $\mathbf{C++}$ data structures provides a simplified API for handling sample instances by enabling users with limited knowledge about OPC UA to build CS-conformant servers. Four use cases show the usefulness of the approach: OPC UA Events, OPC UA PubSub and creating CS compliant servers.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Safeguarded Continuous Deployment of control Containers through Real-Time Simulation

Safeguarded Continuous Deployment of Control Containers thro...

引用

International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Moritz Walker Lars Klingel Stefan Oechsle Michael Neubauer Armin Lechler Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany

Static configurations and slow adaption to changing requirements characterize today’s production systems. In order to cope with variable external influences, these systems need to become more flexible. One building block towards meeting this requirement from the software perspective is employing quality-preserving processes to develop and update automation applications. While this condition applies to classical automation applications, it is increased if Software-defined Manufacturing (SDM) is applied. Containers can be used to deploy software through orchestration. Orchestration covers initial deployment and the roll-out of new software versions. This makes it in theory possible to deploy automation applications, such as computerized numerical control (CNC) software. However, available tools from information technology cannot be used to orchestrate and update automation applications, as real-time requirements must be considered. This work presents an approach that supports orchestration, specifically the deployment and update process, of real-time containers safeguarded by real-time capable simulation coupled with the control system during the operation phase. It shows how to achieve the right timing for real-time software updates and how to prevent causing damage by observation and safeguarding through information obtained from the real-time simulation. Using real-time simulation in the operating phase, container-based control and real-time orchestration become safer and more applicable in industrial manufacturing systems.

关键词：

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：