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International Conference on Electrical systems for Aircraft, Railway, Ship Propulsion and Road Vehicles & International Transportation Electrification Conference (ESARS-ITEC)

作者： D. Coupek A. Lechler A. Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany

ISBN: (纸本)9781509008155

Classical computing is shifted gradually into the cloud, offering completely new possibilities in information usage, computing power and application of learning algorithms. In this paper, a cloud-based architecture of control systems is investigated showing the benefit for multi-stage production systems. All sequential manufacturing and assembly processes are connected via a cloud-based architecture, which allows using information from a previous production step in one of the subsequent steps for downstream deviation compensation. This strategy is applied to the rotor production of electric motors in the automotive industry, as the current production shows high defect rates due to the lack of adequate sensor signals and optimization algorithms. The magnetization process of permanent magnets is executed in saturation, so that the generation of deviations cannot be avoided by process control or process optimization. Instead, the variance in the magnetization signal must be compensated in a downstream process, here the rotor assembly stage. Project results show how such a cloud-based architecture can increase the product quality while decreasing the amount of scrap parts in a real industrial scenario, consequently saving valuable resources like energy and raw materials. Reduction of deviations is crucial for this emerging industrial sector as electric motor production for vehicles is moving towards mass production.

关键词： Cloud computing Rotors Electric motors Production systems Magnetization Optimization

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The control architecture RoViDiAsS — A robotic visual disassembly and assembly system

The control architecture RoViDiAsS — A robotic visual disas...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Christian Friedrich Armin Lechler Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany

ISBN: (纸本)9781467380768

In highly automated and dynamic production systems the plant availability plays a crucial role, especially in terms of economic goals. In order to ensure a high system availability various maintenance strategies like preventive or predictive approaches are studied and applied. Through the increasing complexity of production systems, more and more methods for (semi-)automation of maintenance tasks are in use, especially for fault-diagnosis. Today, service or repairing tasks are usually performed by a human operator. To enable a flexible automation of different maintenance tasks this paper introduces the modular robot control architecture of RoViDiAsS (Robotic Visual Disassembly and Assembly System). RoViDiAsS combines CAD data from assembly models with vision system data for planning possible manipulations for an autonomous robot. The use of offline data from CAD and online data from the vision system enables the compensation of uncertainties as well as a suitable planning approach. RoViDiAsS is therefore divided into five function modules which handle different responsibilities from the management of the input data to controlling the different manipulations. The architecture is designed in a modular way, making it possible to integrate new functions and algorithms. This contribution describes the structure of the system architecture and closes with the preparation of experiments.

关键词： Solid modeling Maintenance engineering Robots Design automation Planning machine vision Production systems

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Approach for a General Pose-dependent Model of the Dynamic Behavior of Large Lightweight machine tools for Vibration Reduction

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Procedia CIRP 2016年 41卷 812-817页

作者： Stefanie Apprich Frederik Wulle Armin Lechler Andreas Pott Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) Universität Stuttgart Seidenstraße 36 70174 Stuttgart Germany

Large-scale machine tools for the manufacturing of large work pieces, e.g. blades, casings or gears for wind turbines, feature pose-dependent dynamic behavior. Small structural damping coefficients lead to long decay times for structural vibrations that have negative impacts on the production process. Typically, these vibrations are handled by increasing the stiffness of the structure by adding mass. That is counterproductive to the needs of sustainable manufacturing as it leads to higher resource consumption both in material and in energy. Recent research activities have led to higher resource efficiency by radical mass reduction that rely on control-integrated active vibration avoidance and damping methods. These control methods depend on information describing the dynamic behavior of the controlled machine tools in order to tune the avoidance or reduction method parameters according to the current state of the machine. The paper describes the approach for a general pose-dependent model of the dynamic behavior of large lightweight machine tools that provides the necessary input to the aforementioned vibration avoidance and reduction methods to properly tackle machine vibrations. The paper starts with an overview of the state of the art of the pose-dependent dynamic behavior of machine tools followed by the most common methods for vibration avoidance and reduction. Based on the results of an experimental modal analysis of a lightweight machine tool structure, the relevant pose-dependency is shown and the relevant parameters to derive the dynamic behavior are deduced. Then, a general model structure to model the machine tool's dynamic behavior is introduced. After updating the model parameters to different discrete machine poses the dynamical behavior of the model and the real machine tool structure are compared. Finally, it is explained how the model contributes to the actual vibration reduction of lightweight machine tools.

关键词： machine Tool Dynamics Modelling Pose-Dependency

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Global investments in pandemic preparedness and COVID-19: development assistance and domestic spending on health between 1990 and 2026

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The Lancet Global Health 2023年第3期11卷 e385-e413页

作者： Micah, Angela E. Bhangdia, Kayleigh Cogswell, Ian E. Lasher, Dylan Lidral-Porter, Brendan Maddison, Emilie R. Nguyen, Trang Nhu Ngoc Patel, Nishali Pedroza, Paola Solorio, Juan Stutzman, Hayley Tsakalos, Golsum Wang, Yifeng Warriner, Wesley Zhao, Yingxi Zlavog, Bianca S. Abbafati, Cristiana Abbas, Jaffar Abbasi-Kangevari, Mohsen Abbasi-Kangevari, Zeinab Abdelmasseh, Michael Abdulah, Deldar Morad Abedi, Aidin Abegaz, Kedir Hussein Abhilash, E.S. Aboagye, Richard Gyan Abolhassani, Hassan Abrigo, Michael R.M. Abubaker Ali, Hiwa Abu-Gharbieh, Eman Adem, Mohammed Hussien Afzal, Muhammad Sohail Ahmadi, Ali Ahmed, Haroon Ahmed Rashid, Tarik Aji, Budi Akbarialiabad, Hossein Akelew, Yibeltal Al Hamad, Hanadi Alam, Khurshid Alanezi, Fahad Mashhour Alanzi, Turki M. Al-Hanawi, Mohammed Khaled Alhassan, Robert Kaba Aljunid, Syed Mohamed Almustanyir, Sami Al-Raddadi, Rajaa M. Alvis-Guzman, Nelson Alvis-Zakzuk, Nelson J. Amare, Azmeraw T. Ameyaw, Edward Kwabena Amini-Rarani, Mostafa Amu, Hubert Ancuceanu, Robert Andrei, Tudorel Anwar, Sumadi Lukman Appiah, Francis Aqeel, Muhammad Arabloo, Jalal Arab-Zozani, Morteza Aravkin, Aleksandr Y. Aremu, Olatunde Aruleba, Raphael Taiwo Athari, Seyyed Shamsadin Avila-Burgos, Leticia Ayanore, Martin Amogre Azari, Samad Baig, Atif Amin Bantie, Abere Tilahun Barrow, Amadou Baskaran, Pritish Basu, Sanjay Batiha, Abdul-Monim Mohammad Baune, Bernhard T. Berezvai, Zombor Bhardwaj, Nikha Bhardwaj, Pankaj Bhaskar, Sonu Boachie, Micheal Kofi Bodolica, Virginia Botelho, João Silva Botelho Braithwaite, Dejana Breitborde, Nicholas J.K. Busse, Reinhard Cahuana-Hurtado, Lucero Catalá-López, Ferrán Chansa, Collins Charan, Jaykaran Chattu, Vijay Kumar Chen, Simiao Chukwu, Isaac Sunday Dadras, Omid Dandona, Lalit Dandona, Rakhi Dargahi, Abdollah Debela, Sisay Abebe Denova-Gutiérrez, Edgar Desye, Belay Dharmaratne, Samath Dhamminda Diao, Nancy Doan, Linh Phuong Dodangeh, Milad dos Santos, Wendel Mombaque Doshmangir, Leila Dube, John Eini, Ebrahim El Sayed Zaki, Maysaa El Tantawi, Maha Enyew, Daniel Berhanie Institute for Health Metrics and Evaluation University of Washington Seattle WA United States Department of Applied Mathematics University of Washington Seattle WA United States Department of Health Metrics Sciences School of Medicine University of Washington Seattle WA United States Nuffield Department of Medicine University of Oxford Oxford United Kingdom Department of Juridical and Economic Studies La Sapienza University Rome Italy Antai College of Economics Shanghai Jiao Tong University Shanghai China Non-communicable Diseases Research Center Tehran University of Medical Sciences Tehran Iran Research Center for Immunodeficiencies Tehran University of Medical Sciences Tehran Iran Multiple Sclerosis Research Center Tehran University of Medical Sciences Tehran Iran Children’s Medical Center Tehran University of Medical Sciences Tehran Iran Department of Epidemiology and Biostatistics Tehran University of Medical Sciences Tehran Iran Tehran Heart Center Tehran University of Medical Sciences Tehran Iran Faculty of Medicine Tehran University of Medical Sciences Tehran Iran National Institute for Health Research Tehran University of Medical Sciences Tehran Iran Department of Pharmacology Tehran University of Medical Sciences Tehran Iran Department of Cardiology Tehran University of Medical Sciences Tehran Iran Sina Trauma and Surgery Research Center Tehran University of Medical Sciences Tehran Iran Digestive Diseases Research Institute Tehran University of Medical Sciences Tehran Iran Department of Neurology Tehran University of Medical Sciences Tehran Iran Social Determinants of Health Research Center Shahid Beheshti University of Medical Sciences Tehran Iran Department of Epidemiology Shahid Beheshti University of Medical Sciences Tehran Iran Department of Health Economics and Statistics Shahid Beheshti University of Medical Sciences Tehran Iran Department of Neurosurgery Shahid Beheshti University of Medical Sciences Tehran Iran Ophthalmic R

Background: The COVID-19 pandemic highlighted gaps in health surveillance systems, disease prevention, and treatment globally. Among the many factors that might have led to these gaps is the issue of the financing of national health systems, especially in low-income and middle-income countries (LMICs), as well as a robust global system for pandemic preparedness. We aimed to provide a comparative assessment of global health spending at the onset of the pandemic;characterise the amount of development assistance for pandemic preparedness and response disbursed in the first 2 years of the COVID-19 pandemic;and examine expectations for future health spending and put into context the expected need for investment in pandemic preparedness. Methods: In this analysis of global health spending between 1990 and 2021, and prediction from 2021 to 2026, we estimated four sources of health spending: development assistance for health (DAH), government spending, out-of-pocket spending, and prepaid private spending across 204 countries and territories. We used the Organisation for Economic Co-operation and Development (OECD)'s Creditor Reporting System (CRS) and the WHO Global Health Expenditure Database (GHED) to estimate spending. We estimated development assistance for general health, COVID-19 response, and pandemic preparedness and response using a keyword search. Health spending estimates were combined with estimates of resources needed for pandemic prevention and preparedness to analyse future health spending patterns, relative to need. Findings: In 2019, at the onset of the COVID-19 pandemic, US$9·2 trillion (95% uncertainty interval [UI] 9·1–9·3) was spent on health worldwide. We found great disparities in the amount of resources devoted to health, with high-income countries spending $7·3 trillion (95% UI 7·2–7·4) in 2019;293·7 times the $24·8 billion (95% UI 24·3–25·3) spent by low-income countries in 2019. That same year, $43·1 billion in development assistance was provided

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Multi-level Energy Demand Optimizer System for machine Tool controls

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Procedia CIRP 2016年 41卷 783-788页

作者： Jan Schlechtendahl Philipp Eberspächer Philipp Schraml Alexander Verl Eberhard Abele Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) Seidenstraße 36 70174 Stuttgart Germany Institute of Production Management Technology and Machine Tools (PTW) Otto-Berndt-Str. 2 64287 Darmstadt Germany

The need to increase resource and energy efficiency for a sustainable production has led to saving potential analyses and afterwards saving strategies in a multitude of disciplines: product design, supply chain management, process chain design, production process development, energy-optimal machine or component control and even machine tool and component design. Each of those strategies resulted in numerous improvements, however, they still lack reciprocal consideration. To overcome this deficit, a machine-independent energy control system to include any control- or operation-based energy optimizer will be introduced in this paper. It is based on real-time control information from the machine and software-based energy demand optimizers targeting the machining process, the machine tool components control as well as the overlaying production process. The control system itself ensures the correct cooperative operation of the three optimizer types, to enable the much needed reciprocal consideration of the optimizer's effects.

关键词： Energy efficiency Optimization machine Tool

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Detection of Workpiece Shape Deviations for Tool Path Adaptation in Robotic Deburring systems

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Procedia CIRP 2016年 57卷 545-550页

作者： Alexander Kuss Manuel Drust Alexander Verl Fraunhofer Institute for Manufacturing Engineering and Automation IPA Nobelstrasse 12 70569 Stuttgart Germany Institute for Control Engineering of Machine Tools and Manufacturing Units ISW University of Stuttgart Seidenstrasse 36 70174 Stuttgart Germany

Robotic systems have the potential to automate deburring processes along edges of arbitrarily shaped workpieces. The desired robot movement can be realized by proper trajectory planning using the computer-aided design (CAD) model of the manufactured workpiece. A fundamental problem is that geometric shape deviations between the nominal CAD model and the manufactured parts might be beyond acceptable limits for correct execution of the deburring process. This paper proposes a novel, easy to implement and practical approach to detect shape deviations of workpieces for automatic adaptation of robotic deburring processes. The approach only uses dimensional tolerance specifications of the manufactured part provided by the product design to derive possible variations of the workpiece geometry model. A matching process is performed between point clouds for each of the considered variants and a measured point cloud from the manufactured workpiece using an Iterative Closest Point (ICP) approach. Resulting point distances are used for evaluation of shape similarity between the compared point clouds. Finally, the most similar geometry model is identified for subsequent trajectory planning and workpiece localization. Experimental validation is performed by an industrial robot equipped with a stereo camera for shape sensing and a milling tool for subsequent execution of a deburring process. The results demonstrate the effectiveness and practicality of the proposed approach in industrial applications and an increased deburring quality.

关键词： Deburring Industrial Robot System Shape Deviation CAD Model

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Determination of the Wrench-Closure Translational Workspace in Closed-Form for Cable-Driven Parallel Robots

Determination of the Wrench-Closure Translational Workspace ...

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IEEE International Conference on Robotics and Automation

作者： Andreas Pott Werner Kraus Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Seidenstr. 36 70174 Germany

ISBN: (纸本)9781467380270

Workspace determination for robots is an important step in analysis and synthesis. A couple of methods for computing the wrench-closure workspace of cable-driven parallel robots were reported in the literature but all methods tend to be time consuming. In this paper, a new algorithm is presented that exploits different techniques to speed up the computation. Pre-computation is largely exploited and benefit are gained both from considerations in computer algebra and efficient numerical routines. Results from the computation of the translational (sometimes also called constant orientation) wrench-closure workspace are presented and performance values are provided. To the best of the authors' knowledge, the method proposed in this paper is superior in terms of computational time to any other approach for workspace computation.

关键词： Determination Wrench-Closure Translational Workspace

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CESA~3R: Highly Versatile Plug-and-Produce Assembly System

CESA~3R: Highly Versatile Plug-and-Produce Assembly System

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IEEE International Conference on Automation Science and engineering

作者： Marian Vorderer Stefan Junker Armin Lechler Alexander Verl Corporate Sector Research and Advance Engineering Robert Bosch GmbH Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart

ISBN: (纸本)9781509024100

The presented machinery concept CESA~3R (Concept for engineering free, Scalable, Advanced Automated Assembly system for Rapid ramp up) addresses today's challenges in production such as product variety and quantity variation by enhancing versatility. Central elements are function oriented standardized automation devices, which are technically featured with independent structure recognition and self-descriptive capabilities. A precise localization unit combined with a skill based programming concept allows an automatic configuration and program generation. The devices can be arranged at runtime to automate a given assembly task without additional engineering and programming efforts.

关键词： Assembly systems autoconfiguration Program generation Automation Runtime Programming ramp-up

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Estimating inertial parameters of suspended cable-driven parallel robots — Use case on CoGiRo

Estimating inertial parameters of suspended cable-driven par...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Philipp Tempel Pierre-Elie Herve Olivier Tempier Marc Gouttefarde Andreas Pott Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany Tecnalia France Batiment 6- Centre Spatial Uni-versitaire Montpellier-Nîmes Montpellier France Laboratoire d'Informatique de Robotique et de Microèlectronique de Montpellier UM - CNRS Montpellier cedex 5 France Universitat Stuttgart Stuttgart Baden-WÃ¼rttemberg DE

Model based open-loop and closed-loop control systems make use of the system's inertial parameters. Unfortunately, not all of these values can be determined analytically nor can they be obtained from simple measurements. Established experiments for inertial parameters estimation have been applied to serial and parallel rigid-link manipulators, yet in very few cases to cable-driven parallel robots. Due to their kinematic properties and their unique setup, cable robots are more sensitive to incorrect estimates of the inertial parameters making it important to obtain such quantities through experiments. In this work, we assess the topic of inertial parameter identification of a parallel flexible-link manipulator exemplified by the suspended cable-driven parallel robot CoGIRo. Identification equations are derived from Newton-Euler equations of motion of an arbitrary point fixed to a rigid-body. Laboratory experiments for identification of the inertial parameters are then introduced and results are presented. Within the limitations of the sensors and data acquisition methods, reasonable results have been obtained, thereby validating the procedure for suspended cable-driven parallel robots.

关键词： Mathematical model Gravity Parallel robots Manipulators Kinematics Mobile communication

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Modeling and analysis of control valves applied in compressor plants with consideration of time-variable factors

Modeling and analysis of control valves applied in compresso...

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MECHATRONIKA International Symposium

作者： Tim Engelberth Anton Dietmair Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany MAN Diesel & Turbo SE Berlin Germany

ISBN: (纸本)9781509013036

In process industries, compressor plants provide process fluids with certain flows and pressures. The plant behavior may change over the entire life cycle due to component-specific time-variable factors. control valves applied in compressor plants are affected by time-variable factors. Their modeling with consideration of specific time-variable factors is described in this paper. control valves ensure functional reliability of the plant, as they are opened to blow off excessive compressed process fluid in order to prevent surging and thus to protect the compressor from damage. The influences of the time-variable factors fouling, leakage, changing friction force and loss of supply energy are investigated and integrated into the valve model. Fouling of the valve affects the overall flow and control behavior. Further on, leakage can occur in all flooded components and may jeopardize the functional capability, as required pressure values cannot be reached. In order to avoid leakage at the actuator, stuffing boxes are used for sealing the piston rod. These boxes cause friction forces, which depend on tightening force, temperature and wear of the box. Changing of friction force leads to deviating travel paths or even stick-slip effects. Furthermore, the provided pneumatic energy to run the control valve might be variable. Energy sources with insufficient performance lead to significant changes in movement time, because the provided pressure collapses once the control valve is opened. It can be stated that all investigated factors affect the positioning behavior and lead to deviating movement times, travel paths or end positions. The developed modeling approach depicts all of these changes and the gained knowledge can be used for developing diagnosis methods. Several model parts, especially the modeled variable factors, are reusable for other components, like non-return and throttle valves or even the compressor itself. Hence, a diagnosis system for the whole compressor pl

关键词： Valves Actuators Process control Fluids Friction Force Pistons

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