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3rd International Conference on Applications of Intelligent Systems, APPIS 2020

作者： Schmidt, Alexander Schellroth, Florian Riedel, Oliver Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany

ISBN: (纸本)9781450376303

Using reinforcement learning to find new control strategies for manufacturing processes is a promising approach. However, in order to use reinforcement learning in a manufacturing environment, industrial requirements must be met. In this paper, a new control architecture is proposed that allows reinforcement learning frameworks to be executed on programmable logic controllers, which implies requirements regarding real-time execution. An agent exchange module is presented, that allows to automatically load agents from a non real-time learning environment to a control program running in a real-time environment of a programmable logic controller. The proposed architecture is evaluated on an experimental setup with a non-linear process and commercial off-the-shelf control hardware, to meet industrial requirements. A genetic algorithm is used to learn new control strategies without having prior knowledge of the system. © 2020 ACM.

关键词： Genetic algorithms

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Web-Based Tracing for Model-Driven Applications

Web-Based Tracing for Model-Driven Applications

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Euromicro Conference on Software engineering and Advanced Applications (SEAA)

作者： Jörg Chrisitian Kirchhof Lukas Malcher Judith Michael Bernhard Rumpe Andreas Wortmann Software Engineering RWTH Aachen University Aachen Germany Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany

Logging still is a core functionality used to understand the behavior of programs and executable models. Yet, modeling languages rarely consider logging as a first-level activity that is manifested in the language through modeling elements or their behavior. When logging is part of the code generated for the respective models or the corresponding runtime environment only, it must be generic, as the modeler cannot influence, through the models, what and when logging takes place. To enable modelers to log model behavior, we devised a method based on language extension and smart code generation that can integrate logging into arbitrary textual modeling languages. Based on this method, log entries can be produced, traced, and presented through a web application. This method and its infrastructure can facilitate lifting logging to the model level and, hence, improve the understanding of executable models.

关键词： Runtime environment Codes Software Behavioral sciences Software engineering

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Selection and Design Process for End-Effectors

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Procedia CIRP 2024年 130卷 969-976页

作者： Tobias Eberhardt Walter Schaaf Alexander Verl Graduate School of Excellence advanced Manufacturing Engineering (GSaME) University of Stuttgart Nobelstraße 12 70569 Stuttgart Germany Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Seidenstraße 36 70174 Stuttgart Germany J. Schmalz GmbH Johannes-Schmalz-Straße 1 72293 Glatten Germany

Due to increasing economic competition, many companies are automating their production processes by means of handling systems. One very important component of any handling system is the end-effector, as it comes into direct contact with the handling object. Therefore, selecting and designing the best end-effector is of enormous importance for the safe and successful operation of handling systems. This paper presents a concept of a process for the systematic selection and design of end-effectors. The concept presented here exemplified for vacuum suction grippers. A first implementation showed the feasibility of the concept.

关键词： End-Effector Vacuum Handling System Selection Process Design Process Recommendation System

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Decentralized Motion control for a Novel Planar Motor Intralogistics System

Decentralized Motion Control for a Novel Planar Motor Intral...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Lukas Steinle Nico Helfesrieder Armin Lechler Alexander Verl Ali Montazeri Jinfan Wang Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany FL Technology GmbH Griesheim Germany FL Technology GmbH Southern University of Science and Technology Shenzhen China

Modern production environments place high demands on the logistics systems that are used. High flexibility and high throughput are expected, combined with high availability and efficient operation. To meet these requirements, this paper presents a novel intralogistics system based on the functionality of a planar motor. Following the operating principle of a moving stator, the vehicles are entirely passive and the hardware for the generation of motion is integrated into the floor. This is achieved in the form of compact, decentrally interconnected floor units, several of which are simultaneously involved in a motion. In order to control this system with satisfactory reliability and performance, the theoretical foundations for a proper understanding of the system are examined before a system model is derived and parameterized through measurements. On this basis a specifically designed motion control system is developed, that features precise planar movement, decentralized computation and compensation of position dependent characteristics. Thereafter, a method for model-based parameterization is outlined, that takes into account robustness against disturbances and parameter variations. Finally, the developed approach is implemented on the actual hardware and validated in experimental investigations in terms of path accuracy.

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A Novel Approach for Unsupervised Sensor Error Classification 57

A Novel Approach for Unsupervised Sensor Error Classificatio...

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18th IFAC Workshop on Time Delay Systems, TDS 2024

作者： Durnagöz, Samiha Eberhardt, Tobias Fuchs, Felix Reimann, Peter Ackermann, Thomas Fiedler, Maik Mayer, Mathias Huber, Marco F. Verl, Alexander Graduate School of Excellence Advanced Manufacturing Engineering GSaME University of Stuttgart Nobelstraße 12 Stuttgart70569 Germany Institute for Control Engineering of Machine Tools and Manufacturing Units ISW University of Stuttgart Seidenstraße 36 Stuttgart70174 Germany Institute of Industrial Manufacturing and Management IFF University of Stuttgart Allmandring 35 Stuttgart70569 Germany Universitätsstraße 38 Stuttgart70569 Germany AUDI AG NSU-Straße 1 Neckarsulm74172 Germany J. Schmalz GmbH Johannes-Schmalz-Straße 1 Glatten72293 Germany

The precise detection and classification of sensor errors is crucial for the optimal operation of smart manufacturing systems. Sensor errors, which can manifest in various forms, such as drifts or constant values, significantly challenge data integrity. This work introduces a novel approach that combines unsupervised learning and system simulations to detect and classify relevant sensor errors. Our approach avoids extensive manual labeling and uses only error-free simulated time series data to create initial embeddings of sensor data. This establishes a baseline for normal sensor behavior. To facilitate a precise identification of error types through a classifier, simulated sensor errors are introduced to create context-aware embeddings. We further analyze and compare conventional to advanced embedding methods such as TS2Vec. We apply our approach to a synthetic dataset obtained from a vacuum handling system and accurately identify and classify relevant sensor error types. Our work contributes to advancing operational efficiency and reliability in automated manufacturing processes within the Industry 4.0 framework by improving the detection capabilities for sensor errors. © 2024 The Authors.

关键词： Smart manufacturing

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Towards a Product Line Architecture for Digital Twins

Towards a Product Line Architecture for Digital Twins

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IEEE International Conference on Software Architecture Workshops (ICSAW)

作者： Jérôme Pfeiffer Daniel Lehner Andreas Wortmann Manuel Wimmer Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany Christian Doppler Laboratory for Model-Integrated Smart Production (CDL-MINT) Institute for Business Informatics - Software Engineering Johannes Kepler University Linz Linz Austria

Digital twins are a new kind of software systems for which corresponding architectures in different engineering domains have emerged for enabling the efficient interaction of software systems with physical systems to realize cyber-physical systems (CPS). To facilitate the development of digital twins, various software platforms emerged in recent years, which often come with a certain architecture for the developed systems together with a set of domain-specific languages (DSLs) that help domain experts to configure the platform and implement the digital twins. This results in a set of architectures and DSLs which are currently used to realize the various concerns of digital twins. Thus, creating a comprehensive digital twin for a given system requires the combination of several architectures and DSLs, which is challenging as (i) the components of the different architectures have to be combined on a technological level, and (ii) the concerns specified with the different DSLs are developed in isolation which potentially leads to inconsistencies, especially during the evolution of digital *** tackle these challenges, we outline our vision of a product line architecture that explicitly specifies the different concerns of digital twins and their alignment on both, the technological level considering the different architectural elements as well as on the language level considering the different language elements. As a result, glue code that is currently required to compose the individual features together into particular digital twin systems is automatically generated. We demonstrate the applicability of this approach by (i) specifying an example product line architecture for selected structural and behavioral concerns of digital twins, and (ii) configuring an existing digital twin based architecture for self-adaptive systems based on this product line architecture by (iii) applying the selected platforms realizing these concerns to a smart room use case. Finally, we

关键词： Codes Software architecture Computer architecture Software systems Digital twins Behavioral sciences DSL

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Data Model for Adaptive Robotic Construction in Architecture

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Procedia CIRP 2022年 107卷 1035-1040页

作者： Martin Wolf Benjamin Kaiser Sebastian Hügle Alexander Verl Peter Middendorf Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Seidenstr. 36 D-70174 Stuttgart Germany Institute of Aircraft Design University of Stuttgart Pfaffenwaldring 31 D-70569 Stuttgart 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.

关键词： Co-Design CAD CAM Iterative CAM Robotic Construction Data Model

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Objective validation for short-term material flow simulation

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Procedia CIRP 2025年 134卷 526-531页

作者： Heiner Reinhardt Boran Bogdanow Roman Arnold Bastian Prell Philipp Klimant Frank Seifert Mahtab Mahdaviasl Steffen Ihlenfeldt Fraunhofer Institute for Machine Tools and Forming Technology IWU Reichenhainer Straße 88 09126 Chemnitz Germany Volkswagen Sachsen GmbH Kauffahrtei 47 09120 Chemnitz Germany Technical University of Applied Sciences Wildau Hochschulring 1 15745 Wildau Germany Professorship Virtual Technologies Hochschule Mittweida - University of Applied Sciences Technikumplatz 17 09648 Mittweida Germany Chemnitz University of Technology Straße der Nationen 62 09111 Chemnitz Germany Institute of Machine Tools and Control Engineering Technische Universität Dresden Helmholtzstraße 7a 01062 Dresden Germany

Material flow simulation, by means of discrete event simulation (DES), is utilized in various industries to support production planning and control. This is due to the fact that changes to manufacturing systems and production strategies can be virtually examined before actual implementation. Since the manual development and repeated adjustment of simulation models is time-consuming and error-prone, numerous studies suggest computerized model generation and synchronization. However, validation of such generated or synchronized models is rarely considered. Here, we present an extendible objective validation technique for the repeated short-term simulation of a generated model. To illustrate this, the technique is applied to a high-volume automotive production line and a series of simulation cycles.

关键词： Digital Twin Simulation Quality Optimization Manufacturing system control Analysis

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Time-optimal Path Planning of Multi-axis CNC Processes Using Variability of Orientation

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Procedia CIRP 2021年 96卷 324-329页

作者： Frederik Wulle Max Richter Christoph Hinze Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Seidenstrasse 36 70174 Stuttgart Germany

In multi-axis processes, such as welding or 3D printing, the determination of the orientation of the tool relative to the workpiece is usually determined by technology-dependent geometric algorithms. In the simplest case, the orientation of the tool is defined according to the surface normal vectors of the workpiece surfaces. However, with large curvature gradients, this method can lead to jumps in the orientation which lead to unwanted stopping of the translational motion. In the linear interpolation of this movement, the path speed usually decreases significantly due to the relatively large compensating movement of a kinematic system. This type of path movement usually has negative effects on the CNC process, which requires constant path velocities. This paper describes a method for time-optimized path planning that utilizes the orientation tolerances of multi-axis processes. Orientation tolerances are process-dependent tolerances that indicate which orientation ranges (angular positions) from tool to workpiece are permissible without decreasing the process quality. The potential time savings of this method are shown with an extreme example of a planar 3-axis kinematics and on an industrial 7-axis CNC system.

关键词： Dynamics Additive Manufacturing machine tool Optimization Tool path

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Quantitative Evaluation of Automated Behavior Model Creation for Applications of Industrial Automation

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Procedia CIRP 2024年 130卷 1327-1333页

作者： Valentin Stegmaier Tobias Eberhardt Nasser Jazdi Michael Weyrich Graduate School of Excellence advanced Manufacturing Engineering (GSaME) University of Stuttgart Nobelstraße 12 70569 Stuttgart Germany Institute of Industrial Automation and Software Engineering University of Stuttgart Pfaffenwaldring 47 70569 Stuttgart Germany J. Schmalz GmbH Johannes-Schmalz-Straße 1 72293 Glatten Germany Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Seidenstraße 36 70174 Stuttgart Germany

Creating behavior models for Digital Twins manually requires significant effort, which hinders their widespread use. One possible solution involves using automated approaches to create behavior models. There are several approaches available in literature. Different articles assume that automated creation of behavior models is superior to manual creation, but to provide comprehensive proof, an expert benchmark is necessary. This article conducts such a benchmark with 10 experts setting up 9 different behavior models. The recorded times are compared with an automated method for creating behavior models. The manual creation takes up to 54 times more time compared to the automated method.

关键词： Behavior Models Evaluation Quantitative Automated Creation Bechmark Industrial Automation

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