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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 Load-, Velocity-, and Temperature-Dependent Transmission Errors of Cycloidal Drives for Industrial Robots Using Fourier Series

Modeling Load-, Velocity-, and Temperature-Dependent Transmi...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Christian J. E. Bauer Valentin Kamm Marcel Dzubba Lukas Steinle Armin Lechler Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany

ISBN: (数字)9798331521950

ISBN: (纸本)9798331521967

Industrial robots are rarely used for machining tasks due to their limited path accuracy. This accuracy is mainly limited by inaccuracies in the drive trains. Compliance and transmission errors occur in the joint gearboxes. While transmission errors have been extensively studied for strain wave gears, there is little research on these errors in cycloidal drives. This gearbox type is commonly used in industrial robots for medium to heavy payloads. It is proposed to model the mainly periodic transmission errors using a Fourier series where amplitude and phase are defined as a polynomial function of the main influence factors load-torque, velocity, and temperature. Measurements of the transmission errors were conducted using an experimental setup representing a single robot joint. In the evaluation of the measurement data, harmonic frequencies were related to mechanical properties of the cycloidal drive. These frequencies were used to identify the parameters of the polynomial Fourier series model. Compared to validation measurements, the derived model shows an average root mean square error of 0.026 mrad. It is proposed to use the output of the resulting model in a feedforward control approach to compensate the transmission errors and to increase the path accuracy of industrial robots.

关键词： Temperature measurement Accuracy Temperature Gears Measurement uncertainty Industrial robots Polynomials Frequency measurement Fourier series Load modeling

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A Digital Twin Platform for service-based Testing and Optimization

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Procedia CIRP 2024年 126卷 260-265页

作者： Shengjian Chen Michael Neubauer Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Seidenstr. 36 70174 Stuttgart Germany

The use of digital twins enables the trend toward a flexible and dynamic production system. As an aspect of digital twins, virtual commissioning models are used to test machines in the engineering phase, before they are even built. These models, however, are no longer used after the engineering phase. In this paper, a concept is presented, for utilizing these models during the production phase in order to optimize the production process. In addition, simple geometrical faults can be detected in the virtual commissioning model and optimized before the control program of the product is deployed on the real machine.

关键词： digital twin platform simulation virtual commissioning software-defined manufacturing

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Endpoint Architecture for Distributed Real-Time Applications Based on TSN

Endpoint Architecture for Distributed Real-Time Applications...

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IEEE International Workshop on Factory Communication Systems (WFCS)

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

ISBN: (数字)9798350319347

ISBN: (纸本)9798350319354

Distributed real-time applications perform deterministic tasks across multiple connected compute platforms, referred to as endpoints. Deterministic behavior of the communication and the compute are prerequisites, but coordinating and managing both in a holistic way is a significant challenge. Converged real-time networks based on Time-Sensitive Networking (TSN) are considered the key enabler across industries for the required connectivity. To date, the potential of TSN cannot be exploited due to many sub-standards still being under development, gaps in the management and configuration functions, lack of best practices and unresolved integration with higher application layers and domain specific engineering. Previous work, focusing on a modular open source framework for the engineering and management of distributed real-time applications, identified a unified approach for TSN-based endpoints as a key gap. This paper presents a novel endpoint architecture to operate, engineer and manage distributed real-time applications by seamlessly integrating real-time networking and compute. The architecture provides interfaces to a central engineering, allows to integrate centralized as well as distributed network management and offers a unified data management. An abstraction layer for applications allows the efficient use and complements existing open source solutions.

关键词： Industries Communication systems Focusing Distributed databases Computer architecture Real-time systems Production facilities

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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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Analysis of the Applicability of Cloud Computing Scaling Techniques for Real-Time Workloads of Industrial control Systems

Analysis of the Applicability of Cloud Computing Scaling Tec...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Rebekka Neumann Florian Frick Armin Lechler Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany

ISBN: (数字)9798331527471

ISBN: (纸本)9798331527488

A key feature of cloud computing is elasticity, which enables resources to be allocated and de-allocated according to dynamic application demands. The evolution of Industrial control Systems (ICS) is moving towards a distributed converged infrastructure that incorporates computing and communication resources as well as software, replacing dedicated hardware running control applications. While modern ICS and cloud environments share similarities, the corresponding applications differ significantly in their execution models and timing requirements. To enhance the flexibility of ICS, control applications must adapt to changing requirements throughout operation, resulting in varying workloads. The potential for dynamic scaling in ICS is considerable, but is not yet being fully exploited. The objective of this paper is to examine the extent to which state-of-the-art cloud autoscaling concepts are applicable to the scaling of real-time workloads and to propose enhancements to these concepts in order to enable the implementation of dynamic auto scaling of real-time workloads. In conclusion, the fundamental concept of cloud autoscaling can be applied, but must be extended, in particular to ensure deterministic resource provisioning and to improve task isolation in order to guarantee predictable task timing behaviour.

关键词： Cloud computing Industrial control Elasticity Dynamic scheduling Real-time systems Software Hardware Timing Integrated circuit modeling Informatics

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Enhanced control Structure for Servo Drives with Adaptive PWM

Enhanced Control Structure for Servo Drives with Adaptive PW...

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International Conference on Power Electronic Drives

作者： Manuel Weiss Florian Frick Armin Lechler Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany

ISBN: (数字)9798350372472

ISBN: (纸本)9798350372489

The PWM switching frequency significantly impacts the performance and power dissipation of electrical servo drives. In many fields of application, such as industrial automation, static PWM frequencies are typically used. The novel adaptive PWM approach dynamically adjusts the PWM frequency according to process requirements of manufacturing processes. By adapting the PWM frequency, switching losses and the overall energy consumption of servo drives can be reduced. Changing the PWM frequency at runtime requires enhancements to the control structure for dynamic parameter adjustments and a stable operation of the controllers. To validate the enhanced control structure, an experimental evaluation of the performance at different, dynamically changing PWM frequencies is presented. It is shown that the controller operates with the expected behavior at different frequencies but that there are disturbances at the moment of adjusting the PWM frequency. Non-linearities are identified as a major source, including those caused by IGBT-deadtimes. A simple compensation mechanism is integrated in the enhanced control structure as a proof-of-concept, resulting in an almost complete cancelation of disturbances at the moment of adjusting the PWM frequency.

关键词： Adaptive systems Runtime manufacturing processes Switching frequency Switching loss Pulse width modulation Power electronics Power dissipation Servomotors Frequency control

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Software-Defined manufacturing: Reference Architecture

Software-Defined Manufacturing: Reference Architecture

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International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM

作者： Florian Frick Carsten Ellwein Armin Lechler Michael Neubauer Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany

ISBN: (数字)9798350387599

ISBN: (纸本)9798350387605

Solving current challenges in the manufacturing industry, for example, ever-increasing productivity, growing un-certainty and flexibility, as well as the digitalization, requires a shift in paradigm of how industrial production is thought, engineered and implemented. Software-defined manufacturing (SDM) replaces the production-system-centric approach by a production-solution-focused approach. Solutions are engineered virtually using software tools and defined by standardized model. The physical implementation of a software-defined solution is performed using services, that deploy the models on resources, representing available assets. The consistency between models and implementations of solutions enables continuous processes. SDM is an open ecosystem-based approach, combining key technologies, models and services. In this paper, a reference architecture for the SDM ecosystem is presented. Based on the definition of resources and solutions, the SDM-core is introduced connecting both. The core consists of data models and essential services, including asset management, orchestration and access management. The holistic architecture also includes human roles and external entities. The reference architecture is validated using representative use cases that were identified based on a large-scale use case study. The architecture is considered as a foundation for SDM and will be followed by a series of detailed publications regarding resources, technologies, use cases and applications.

关键词： manufacturing industries Productivity Ecosystems Computer architecture Turning Real-time systems Power electronics

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Orchestration of Heterogeneous, Distributed, Real-Time control Containers

Orchestration of Heterogeneous, Distributed, Real-Time Contr...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Moritz Walker Leonard Rupietta Armin Lechler Michael Neubauer Alexander VerI Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany

ISBN: (数字)9798331527471

ISBN: (纸本)9798331527488

In today's global market, manufacturers must be highly adaptable, producing profitably smaller batches. Disin-tegrating hardware and software and embracing modern IT concepts like containerization and Service-oriented Architecture enable this flexibility. While offering rapid reconfiguration, these approaches add complexity. Orchestration tools aid in analyzing response times, workload mapping, and parameter selection for containerized real-time applications. However, current tools struggle with managing distributed, heterogeneous, real-time apps. This paper proposes an orchestration solution based on Compositional Performance Analysis and Genetic Algorithm to optimize task allocation across diverse computing resources. The approach enables the orchestration of heterogeneously scheduled, container-based. distributed real-time systems.

关键词： Globalization Real-time systems Software Hardware Service-oriented architecture Performance analysis Time factors Resource management Informatics Genetic algorithms

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Concept of an Initial Requirements-Driven Factory Layout Planning and Synthetic Expert Verification for Industrial Simulation Based on LLM

Concept of an Initial Requirements-Driven Factory Layout Pla...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Erik-Felix Tinsel Armin Lechler Oliver Riedel Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany

ISBN: (数字)9798331527471

ISBN: (纸本)9798331527488

The value added by virtual commissioning of in-dustrial production systems is evident through significant cost savings achieved via early error detection. Detecting errors early in the development process enhances project success. However, the development of simulation models is associated with manual effort, particularly during the early phases of the project when it comes to creating the first models. To reduce costs and increase automation in the redesign of simulation models, a novel concept is presented that automatically transforms unstructured customer requirements into initial model placeholders within a simulation environment. The approach employs a large language model to identify necessary processes and machines, estimating their dimensions and positioning them relative to each other. The output is then converted to a simulation model format and imported into a simulation environment for further refinement. To verify the solution, a synthetic expert, trained using a large language model, learns the probability correlations between plant types, machines, and processes, thereby enabling a more accurate assessment of the resulting simulation model.

关键词： Solid modeling Costs Correlation Automation Three-dimensional displays Computational modeling Large language models Layout Transforms Production facilities

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