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17th CIRP Conference on Intelligent Computation in manufacturing engineering, CIRP ICME 2023

作者： Stegmaier, Valentin Eberhardt, Tobias Schaaf, Walter Jazdi, Nasser Weyrich, Michael Verl, Alexander University of Stuttgart Nobelstraße 12 Stuttgart70569 Germany Institute of Industrial Automation and Software Engineering University of Stuttgart Pfaffenwaldring 47 Stuttgart70569 Germany Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Seidenstraße 36 Stuttgart70174 Germany J. Schmalz GmbH Johannes-Schmalz-Straße 1 Glatten72293 Germany

The diversity of component manufacturers' product portfolios is often one of their greatest assets, as it allows them to offer appropriate solutions to a wide variety of customers. However, this diversity is also one of the greatest challenges, as it often makes it nearly impossible to design an optimal mechatronic system by manually selecting components. This is where the Digital Twin of the components can help. By providing behavior models and relevant information, existing optimization algorithms can be used to optimize for system-relevant key performance indicators enabling an automated system design process. The method presented in this paper is validated for a vacuum gripping systems. © 2024 Elsevier B.V.. All rights reserved.

关键词： Smart manufacturing

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Lifting ROS to Model-Driven Development: Lessons Learned from a bottom-up approach

Lifting ROS to Model-Driven Development: Lessons Learned fro...

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Workshop on Robotics Software engineering (RoSE)

作者： Nadia Hammoudeh Garcia Harshavardhan Deshpande Ruichao Wu Björn Kahl Andreas Wortmann Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) 70569 Stuttgart Germany Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart 70174 Stuttgart Germany

The benefits of using model-based technologies are well proven in different sectors. However, in robotics, where the dominant framework is one whose nature is to create the code by hand, MDD approaches are struggling to gain a foothold. Our approach is distinctly different from traditional MDD solutions, we have created models and tools with a bottom-up perspective, i.e. analyzing “ everyday” code and encapsulating this existing code in models. In this paper we present the lessons learned from (1) designing the models to encapsulate ROS hand-written code, (2) creating tools to ease the production and debugging of complex systems using the models, and (3) applying them to real use cases. Through this work we have identified in which situations it is worth using model-based technologies and in which situations the traditional approach is more meaningful. Our aim is to give a broad view of our conclusions and inspire the design of new model-based tools for the assistance of roboticists.

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Design and Damping Characterization of Sandwich Composite Made of Particle-Filled Hollow Spheres and Steel Sheets

SSRN

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SSRN 2024年

作者： Zhou, Xin Penter, Lars Jehring, Ulrike Göhler, Hartmut Weißgärber, Thomas Ihlenfeldt, Steffen Chair of Machine Tools Development and Adaptive Control Institute of Mechatronic Engineering Technische Universität Dresden Germany Fraunhofer Institute for Machine Tools and Forming Technology IWU Germany Fraunhofer Institute for Manufacturing Technology and Advanced Materials IFAM Branch Lab Dresden Germany

Sandwich composites of particle-filled hollow sphere structures (PHSS) and steel plates offer outstanding lightweight and damping properties, making them ideal for high-speed machine tool components under dynamic loads. Previous research has focused on single particle-filled hollow sphere (PHS) and small-sized PHSS, leaving gap in understanding of the behavior of PHSS/steel sandwich composites. As a result, this material cannot yet be used in the design of machine tools. In this study, a test rig was developed, a design of experiments approach and response surface analysis were used to investigate the effect of design parameters (shell and core thickness), and particle parameters (filling ratio and particle size) on the damping performance of PHSS/steel sandwich. The experimental results indicate that the design parameters have a more significant influence on damping, so they should be given priority in the design of PHSS/steel sandwiches. Secondly, the correlation between design and particle parameters substantially affects the damping performance of the sandwich. Minimizing particle size, increasing filling ratio, thinning the face layer, and thickening the core layer significantly increase structural *** address the manufacturing tolerances of the cellular structure, this study develops a finite element (FE) model-based optimization approach that accurately determines the material parameters of PHSS. These parameters were used in a FE-model of PHSS/steel composite using identified contact parameters by minimizing the difference of measurement and simulation. It shows that the homogenized material model and linear model using global damping parameters accurately replicates the dynamic properties of PHSS/steel sandwich composite in low vibration modes. © 2024, The Authors. All rights reserved.

关键词： Damping

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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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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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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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Resulting Artifacts and Application Scenarios of the Communication Intermediate Layer SFCS with A Focus on Usability for the Automation Industry 4

Resulting Artifacts and Application Scenarios of the Communi...

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4th IEEE International Conference on Knowledge Innovation and Invention, ICKII 2021

作者： Strljic, Matthias Milan Prokop, Eric Saueressig, Sebastian Riedel, Oliver Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany Sotec Software Entwicklungs GmbH Smart Connected Systems Stuttgart Germany

ISBN: (纸本)9781665423076

Due to the influence of the digital transformation, communication between individual shop-floor components is changing more dynamic communication patterns and development platforms such as messaging and microservices. For a user-friendly entry into these interaction patterns, the research project SFSC (Shop-Floor Service Connector) created a communication layer that makes it easier for users from the automation sector and abstracts infrastructure aspects, such as a service registry, from the user in order to simplify the transformation for employees from the automation sector. For this purpose, the integrated messaging pattern publish/subscribe, request/reply, and channels with the SFSC architecture have already been presented in previous work. This architecture has now been extended with a microcontroller implementation and a deployment environment and finally validated with a demonstrator, which is presented with its performance results. The validation environment consists of a CNC milling cell, supplying assembly lines, a camera-based quality control, and a handling robot arm. Application scenario-typical data flow for data integration is mapped with the help of the PLC4X project and data-driven value-added services are realized and connected based on these. © 2021 IEEE.

关键词： Data integration

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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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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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