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Feature-Space Reinforcement Learning for Robotic Manipulation 5

Feature-Space Reinforcement Learning for Robotic Manipulatio...

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5th International Conference on Transdisciplinary AI, TransAI 2023

作者： Gulde, Ralf Nguyen, Khanh Tuscher, Marc Riedel, Oliver Verl, Alexander Institute of Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart70174 Germany

ISBN: (纸本)9798350358018

Reinforcement Learning (RL) has gained popularity for developing intelligent robots, but challenges such as sample inefficiency and lack of generalization persist. The choice of observation space significantly influences RL algorithms' sample efficiency in robotics. While end-to-end learning has been emphasized, it increases complexity and inefficiency as the agent must re-learn forward and inverse kinematics. To address these issues, we propose a straightforward approach that utilizes readily available control techniques, such as forward and inverse kinematics, to capitalize on domain knowledge. Our approach involves enhancing the observation space with task-space features and utilizing task-space inverse kinematics. Our contributions include a proposal for mathematical formulation and a framework for RL algorithms in robotics. © 2023 IEEE.

关键词： Reinforcement learning

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Modeling Capabilities of Digital Twin Platforms - Old Wine in New Bottles?

Modeling Capabilities of Digital Twin Platforms - Old Wine i...

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Modellierung 2024

作者： Pfeiffer, Jérôme Lehner, Daniel Wortmann, Andreas Wimmer, Manuel Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Germany CDL-MINT Institute of Business Informatics - Software Engineering JKU Linz Austria

ISBN: (纸本)9783885797425

This extended abstract summarizes our paper [Pf22] on studying emerging modeling languages provided by digital twin platforms and contrasting them to established object-oriented modeling languages in the field of software engineering. This work has been originally published at the 18th European Conference on Modelling Foundations and Applications (proceedings are published in the Journal of Object Technology (JOT)) in 2022. © 2024 Gesellschaft fur Informatik (GI). All rights reserved.

关键词： Software engineering

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Anisotropic Damping and Stiffness of laminated steel parts using adhesive bonding - an empirical influence study 56

Anisotropic Damping and Stiffness of laminated steel parts u...

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56th CIRP International Conference on manufacturing systems, CIRP CMS 2023

作者： Helfesrieder, Nico Neubauer, Michael Lechler, Armin Verl, Alexander University of Stuttgart Institute for Control Engineering of Machine Tools and Manufacturing Units Seidenstraße 36 Stuttgart70174 Germany

Layered part manufacturing enables part topology to be optimized internally by structuring individual layers separately, which is especially promising for large machine parts. However, the resulting part properties as a function of the selected manufacturing parameters are largely unexplored. Therefore, this paper investigates the impacts of the slicing direction, the sheet thickness as well as the adhesive on anisotropic damping and stiffness values of adhesively bonded steel parts. A cantilever beam of symmetric cross-section is chosen as an easy-to-manufacture geometry. Three redundant specimens were prepared for each of six parameter variations investigated within this study, resulting in a total of 18 investigated beams. The results indicate highly anisotropic stiffness and damping as a function of the layer build-up direction and it was found that the modal damping rises with increasing amount of adhesive. These findings must be taken into account for future applications of layered lightweight machine parts and their simulative predictability should be studied. © 2023 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0) Peer-review under responsibility of the scientific committee of the 56th CIRP International Conference on manufacturing systems 2023.

关键词： Adhesive Bonding Damping Experimental Modal Analysis (EMA) Laminated Object manufacturing (LOM) Layer Laminated manufacturing (LLM)

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Software-defined manufacturing: Data Representation 16

Software-defined Manufacturing: Data Representation

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16th CIRP Conference on Intelligent Computation in manufacturing engineering, CIRP ICME 2022

作者： Ellwein, Carsten Neumann, Rebekka Verl, Alexander Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Seidenstraße 36 Stuttgart70174 Germany

Due to constantly decreasing product cycles, a fast adaptability of manufacturing plants is a prerequisite for profitable operation. The paradigm of Software-defined manufacturing (SDM) pursues this overriding goal by decoupling software from mechanical and electrical components. In this way, SDM allows the free definition of functionality, purely through software, limited only by the physical limitations of the machines and systems. This paper analyzes existing approaches that pursue the goal of digitally representing manufacturing to enable flexible adaptation. Based on this analysis, a model for the data representation is proposed that allows consistent use across the entire supply chain. © 2023 Elsevier B.V.. All rights reserved.

关键词： Supply chains

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Evaluation of external control of KUKA Industrial Robots for laboratory and prototype environments 56

Evaluation of external control of KUKA Industrial Robots for...

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56th International Symposium on Robotics, ISR Europe 2023

作者： Mehner, Malte Matkovic, Nikolas Mühlbeier, Edgar Mayer, Dominik Fleischer, Jürgen Verl, Alexander wbk Institute of Production Science Karlsruhe Institute of Technology Germany Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Germany

ISBN: (纸本)9783800761418

To conduct research projects in production science KUKA industrial robots are commonly used. For experimental applications, robot programs need to be adjusted very frequently, which requires a quick and automated way to transfer programs created offline in simulation tools. External control via programmable logic controller is not practical for research applications due to limited freedom to operate, necessary know-how and additional hardware. Answering the question on how to automate a KUKA externally can be challenging if experience in this topic is missing. This article gives a guideline to the three main interfaces: Ethernet-KRL-Interface, Robot Sensor Interface and KUKA Variable Proxyserver. Short descriptions on how to set each one up are given and experiences collected during this process are shared. Application examples using each interface are included. In the end recommendations are given depending on key criteria such as implementation effort, interface restrictions, real-time-capability and cyclic data exchange. © VDE VERLAG GMBH Berlin Offenbach.

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Self-adaptive digital twin reference architecture to improve process quality 33

Self-adaptive digital twin reference architecture to improve...

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33rd CIRP Design Conference

作者： Splettstößer, Ann-Kathrin Ellwein, Carsten Wortmann, Andreas Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Seidenstr. 36 StuttgartD-70174 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. © 2023 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0)

关键词： Fiber lasers

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Toward Automating the Composition of Digital Twins Within System-of-systems 29

Toward Automating the Composition of Digital Twins Within Sy...

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29th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2024

作者： Gill, Milapji Singh Zhang, Jingxi Wortmann, Andreas Fay, Alexander Institute of Automation Technology Helmut Schmidt University Hamburg Germany Institute of Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Germany Automation Ruhr University Bochum Germany

ISBN: (纸本)9798350361230

Cyber-Physical Production systems necessitate efficient configuration and continuous reconfiguration to adapt to evolving requirements and shifting goals. This process involves integrating various system structures to derive new functions and behaviors. The concept of the Digital Twin, which allows for effective integration and testing, is instrumental in facilitating this task. However, a fundamental prerequisite is that Digital Twins of individual system components must be composed efficiently and in accordance with dynamic System-of-systems. We address this challenge by introducing an approach for the automated horizontal and vertical composition of Digital Twins, aimed at minimizing manual intervention and enhancing adaptability. Therefore, a pipeline specifically designed for this goal is proposed, which includes the generation of new functions and behaviors. This approach is intended to provide a foundation for future research. © 2024 IEEE.

关键词： System of systems

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A Virtual Assistant System for the Requirements Elicitation and Initial Simulation Model Variant Generation of Modular Industrial Plants 28

A Virtual Assistant System for the Requirements Elicitation ...

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28th International Conference on Mechatronics and machine Vision in Practice, M2VIP 2022

作者： Tinsel, Erik-Felix Riedel, Oliver Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany

ISBN: (纸本)9798350334333

Errors during the commissioning of machines and plants are costly and time-consuming. Costs increase the later an error is discovered in the development process. The earliest occurring errors can already result from insufficient coordination with the customer. This paper presents the ongoing research on a virtual assistance system designed to bridge the gap between the early requirements phase and the virtual commissioning of modular plants by creating interfaces for customers allowing them to outline their project, validate it by themselves and be actively integrated in the process of the virtual plant creation. © 2022 IEEE.

关键词： Errors

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Study on Available Cloud manufacturing Platforms for Additive manufacturing Technologies 4

Study on Available Cloud Manufacturing Platforms for Additiv...

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4th IEEE Eurasia Conference on IoT, Communication and engineering, ECICE 2022

作者： Strljic, Matthias Milan Younes, Islam Riedel, Oliver University of Stuttgart Institute for Control Engineering of Machine Tools and Manufacturing Units Stuttgart Germany

ISBN: (纸本)9781665482080

Additive manufacturing technologies provided one of the most adaptable manufacturing processes for digital commissioning via the growing cloud manufacturing paradigm. This was facilitated by a low-complexity tool chain for the manufacturing process along the CAD-CAM chain and the process to be executed on the equipment. However, additive processes have grown far beyond the initial FDM processes and also offer more complex materials with unique properties in addition to other processes. The four most common manufacturing processes FDM, SLA, SLS, and SLM were used as a basis, and existing cloud manufacturing platforms offering all these four technologies as a bundle were gathered via a structured survey. Out of 42 platforms, 17 platforms were researched, filtered and analyzed using sample components and a catalog of requirements consisting of five requirement clusters: material, functional scope, final costs, delivery and user-friendliness. The results were weighted for each technology and finally evaluated in an overarching discussion. The achieved scores and the special features of a platform are discussed and a recommendation is made. © 2022 IEEE.

关键词： 3D printing

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Study on Available Cloud manufacturing Platforms for CNC Milling Processes 4

Study on Available Cloud Manufacturing Platforms for CNC Mil...

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4th IEEE Eurasia Conference on IoT, Communication and engineering, ECICE 2022

作者： Strljic, Matthias Milan Bakovic, Aleksandar Riedel, Oliver Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany

ISBN: (纸本)9781665482080

CNC milling processes represent the main group of production processes for components with a non-trivial surface geometry that are either brittle or have a material with a high melting point or have sensitive requirements for the manufacturing tolerances. Thus, a study was conducted on the adoption of CNC milling processes in the cloud manufacturing segment, highlighting the range of functions provided as well as the unit prices. In the process, multiple application scenarios were addressed via part enquiries to be manufactured, which have different technical requirements for the CNC milling machine cell to be manufactured. Thus, components were designed that require at least three, four, or five synchronous axes for production. In addition, components with geometric properties were added that can be realized either on a 4-axis system or on a 3-axis system with a reclaiming process. For the evaluation, 50 platform providers were researched via a structured search, which were filtered through an automated ordering process, accessibility, and available materials to a final eleven platforms to be evaluated. On these platforms, a total of 55 application scenarios were then compared in terms of their performance with the application of 22 evaluation criteria. After a weighted evaluation of the results, recommendations were made for component requests from identified groups in terms of geometry complexity, material, and number of pieces that resulted from the analysis. © 2022 IEEE.

关键词： Milling (machining)

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