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IEEE International Conference on Automation Science and engineering (CASE)

作者： Manuel Zürn Annika Kienzlen Lars Klingel Armin Lechler Alexander Verl Shiyi Ren Weiliang Xu Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany Department of Mechanical and Mechatronics Engineering The University of Auckland Auckland New Zealand

Branched deformable linear objects, like wire harnesses, are vastly used in the electrical industry to interconnect multiple electronic components while allowing small relative motions. Their deformable nature gives them an infinite-dimensional configuration space, which is challenging for robotic manipulation and requires sensor feedback about the actual configuration. Cameras have been used before in automation attempts as sensor feedback of branched deformable linear objects. However, image processing is sensible to occlusions and unstructured environments. This paper presents a method of using deep learning-based instance segmentation networks to extract topological features like connectors, clips, branch points and overlapping points on the branched deformable linear object. The topological features originate from features that can be used for matching a stretched representation of the branched deformable linear object to its sensor representation. Our results show that the network is capable of extracting the features for different datasets with high accuracy. Furthermore, this paper evaluates the use of preliminary results in the training process to facilitate annotation by predicting the labels. For now, this paper only uses 2D images of the branched deformable linear objects. Future work will also use depth images, such that individual deformable linear object features, such as length or radius, can be extracted from the images. We anticipate the usage of wire harness automation with robotic manipulation, augmented reality support of the worker or quality control of wire harnesses.

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An engineering methodology to assess the economic viability of edge-cloud automation systems in manufacturing

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Procedia CIRP 2023年 120卷 517-522页

作者： Marco Giani Nelly Frank Patrick Wiener Alexander Verl Robert Bosch GmbH Robert-Bosch-Campus 1 71272 Renningen Germany Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Seidenstr. 36 70174 Stuttgart Germany

The migration of industrial automation systems (IASs) to an edge-cloud hosted on factory premises can reduce the operation costs of a manufacturing line and increase its flexibility thanks to computation scalability and use of cloud-native operation concepts. However, the unclear assessment of costs of an edge-cloud automation system (ECAS) is a significant concern for manufacturing experts, which disincentives its adoption. An ECAS is expected to generate different costs than a traditional IAS, which depends on the requirements of the automation functions hosted in the edge-cloud. Because of this, methods to evaluate various realization concepts of an ECAS concerning their economic viability are required to support its engineering. In this paper, we provide a methodology that helps practitioners to define design specifications for an ECAS and assess their life-cycle costs (LCCs). To provide a robust and transparent LCCs assessment, we leverage the Monte Carlo method, which is a well-affirmed technique to address costs uncertainties. To do so, a cost model has been developed and implemented in a discrete-event simulator to calculate upfront and running costs of an ECAS. The application of the methodology is shown through an exemplar case study and its results are discussed. The presented work helps practitioners to evaluate whether an ECAS is economically viable for a manufacturing scenario, thus increasing the acceptance for this technology and fostering the transition towards flexible and smart manufacturing systems.

关键词： Edge-cloud computing edge-cloud automation engineering methods life-cycle costs

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Analysis and comparison of optimization techniques supporting the engineering planning of reconfigurable robot cells

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Procedia CIRP 2023年 120卷 81-86页

作者： Marc Ungen David Kampert Oliver Riedel Robert Bosch Gmbh Robert-Bosch-Campus 1 71272 Renningen Germany Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Seidenstr. 36 70174 Stuttgart Germany

The present paper studies the automated optimization of reconfigurable robot cells to support engineering planning activities. The specific type of reconfigurable robot cells under investigation allows an arbitrary arrangement of functional machine modules on a base plane accessible to the robotic manipulators. The research is motivated by the fast-growing configuration space of reconfigurable robot cells which results from the configurability of the cell layout and the performed workflows. Searching for optimized configurations within this configuration space is an iterative procedure which currently requires lots of manual efforts and expert assessment skills for each iteration. Performing many optimization iterations requires much time, which typically results in only a few performable iterations and thus in suboptimal configurations. To compensate for this, automated support for the underlying planning problem is required. The specific planning problem under investigation concerns finding motion-time optimized layout configurations for fixed workflows. This planning problem was chosen because of its strong association with the productivity of robot cells and the fact that it is the basis for further considerations on the influences of performed workflows. The main contribution of the research is a guideline concerning the decomposition of the mentioned optimization problem. This decomposition concerns the specific formulation of the optimization problem as well as its solving principle. The approach of the paper is to compare combinations of single- and multi-objective problem formulations as well as single- and multi-step solving procedures. Respective variants of evolutionary and conventional algorithms are tested for solving the optimization problems. The experiments are conducted using a specifically developed simulation and optimization framework which supports layout reconfiguration, robot path planning, and time parametrization based on state-of-the-art m

关键词： Reconfigurable robot cells Reconfigurable manufacturing systems engineering planning Optimization Adaptability

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Assembly procedure generation for reconfigurable robot cells considering operation concurrency and geometrical constraints

Assembly procedure generation for reconfigurable robot cells...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Marc Ungen Elias Huber David Kampert Oliver Riedel Bosch Corporate Research Robert Bosch GmbH Renningen Germany Robert Bosch GmbH Stuttgart Germany the Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

The paper concerns the automated generation of optimized machine assembly procedures for reconfigurable robot cells (RRCs). RRCs are built from individual modules resulting in many possible structural configurations. For the optimization of production performance, assembly procedures must be generated to estimate objectives like productivity or cycle time. However, generating machine procedures is currently subject to manual planning and optimization which requires considerable time and effort. This leads to the investigation of few configuration concepts and thus poor optimization. The main contribution is a simulation-based approach to generate assembly procedures for RRCs. The approach solves the combinatorial problems of robot task assignment and assembly process sequencing jointly. The generation process minimizes the procedure duration by exploiting temporal concurrency while ensuring the geometrical feasibility of the individual robot motions. The paper further presents experimental results from a conducted case study with different RRC configuration concepts, robot synchronization and batch processing modes. The results reveal that significant production speedups can be achieved.

关键词： Concurrent computing Robot motion Productivity Sequential analysis Manuals Planning Synchronization Assembly Robots Optimization

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Semantic Integration and Interdisciplinary Collaboration in Production Planning: A Graph-Based Approach for Enhanced Data Consistency

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Procedia CIRP 2024年 130卷 1364-1371页

作者： Valesko Dausch Joachim Lentes Oliver Riedel Matthias Kreimeyer Institute for Engineering Design and Industrial Design of University of Stuttgart Pfaffenwaldring 9 DE-70569 Stuttgart Germany Fraunhofer Institute for Industrial Engineering Nobelstrasse 12 DE-70569 Stuttgart Germany Institute for Control Engineering of Machine Tools and Manufacturing Units of University of Stuttgart Seidenstrasse 36 DE-70174 Stuttgart Germany

Based on increasing individualization, shorter innovation cycles and integrating services into products complexity in the development of products and production processes increases. In combination with digitalization, this results in an increased need for interdisciplinary work. A high level of data consistency is required to cope with the resulting diverse and complex data structures, leading to the need for a consistent data model that orchestrates information flows. PLM-systems fall short in their ambition of reaching an overarching data management across the product lifecycle. This results in a lot of administrative work in planning instead of value-adding as well as in inconsistencies and incomplete change processes. To improve interdisciplinary collaboration in production planning, goal of this work is to develop a method leading to a comprehensive data model and to show it’s applicability by means of a case study. The steps of the research performed follow the typical circle of action research: diagnosis, planning, action, evaluation, and reflection. The data model resulting of the application of the method uses semantics to make relationships understandable for both humans and machines. This is necessary for downstream automation and the use of artificial intelligence. The three essential steps of the method are, firstly, an as-is modeling of the processes of interest. Then, the process models are used to evaluate the consistency and efficiency of the planning processes. The method is completed by a guideline for setting up the data model. The proposed approach aims to improve efficiency and quality in assembly planning processes, resulting in its importance for industrial companies.

关键词： Data driven development knowledge management data continuity method

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Automatic Generation of Digital Twin Models for Simulation of Reconfigurable Robotic Fabrication Systems for Timber Prefabrication 38

Automatic Generation of Digital Twin Models for Simulation o...

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38th International Symposium on Automation and Robotics in Construction, ISARC 2021

作者： Kaiser, Benjamin Littfinski, Daniel Verl, Alexander Institute for Control Engineering of Machine Tools and Manufacturing Systems University of Stuttgart Germany

ISBN: (纸本)9789526952413

Timber construction and prefabrication are becoming increasingly important in the building and construction industry. The degree of automation in this area is low. Caused by the great variability of construction projects and building components, automation systems that can adapt flexibly to different construction projects are required. However, a system that fulfills these conditions does not yet exist. Down-times for reconfiguration in between projects must be short. The use of robotics for the automation of prefabrication is constantly developing. Recent publications present a novel, flexible, reconfigurable, and transportable manufacturing platform using industrial robots. A system consisting of several of these modular platforms can be flexibly adapted to the changing requirements of different construction projects and set up on-site at local timber construction companies. To ensure the manufacturability of the timber components and to minimize downtimes between projects, the entire workflow from digital design to fabrication must be considered. The co-design approach makes this possible. It breaks up the currently existing sequential process from design to fabrication and considers all sub-steps holistically. Thus, enabling the consideration of the fabrication capabilities during building design. This allows the planning of building components and system layout so that fabrication is feasible. To achieve this, the fabricability of a given system layout has to be evaluated. This requires a digital twin of the fabrication system as a simulation model. The reconfigurability of the fabrication system must be reflected by the digital twin. The fabrication tasks and the system configuration are constantly changed in search of a valid combination. Therefore, with each iteration, the digital twin must be adapted or newly created. At present, this is mostly a manual process. This makes the whole approach unfeasible. To solve this problem, this work presents an approach

关键词： Cyber-Physical System Digital Twin Simulation Software Defined manufacturing Timber Prefabrication

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Navigating the Low-Code Landscape: A Comparison of Development Platforms

Navigating the Low-Code Landscape: A Comparison of Developme...

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Conference on Model Driven engineering Languages and Systems Companion (MODELS-C)

作者： Jörg Christian Kirchhof Nico Jansen Bernhard Rumpe Andreas Wortmann Software Engineering RWTH Aachen University acronio GmbH Aachen Germany Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany

Low-code development is a software-development paradigm that can reduce the conceptual gap between application domain problem expertise and software engineering solution expertise. Hence, it might be a vital means to reduce the impact of the world-wide scarcity of software-developers. Consequently, many different low-code development platforms (LCDPs) have surfaced in the last 5–10 years, which domain experts must understand to chose the best-possible LCDP for their applications. This choice is not made restricting to front-end features of these LCDPs, but also to back-end features, which the domain experts are usually less familiar with. To support domain experts in making this decision, we have investigated popular LCDPs for features relevant to domain experts. Our findings aim to guide these domain experts, but also researchers in better understanding the landscape of LCDPs.

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Survey on Robotic Systems Integration

Survey on Robotic Systems Integration

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Workshop on Robotics Software engineering (RoSE)

作者： Nadia Hammoudeh Garcia Andreas Wortmann Robot and Assistive Systems Department 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

Software integration is central to successfully developing, deploying, and operating robotics applications. Yet, the particular integration process and its challenges are poorly understood. The continuous evolution of the robotics sector, incorporating constantly a growing number of technologies, makes the unification of processes increasingly complicated. Nevertheless, current research on robotics software integration largely focuses on specific integration activities instead of considering the overall activity as a process. To provide some insight into the state of robotics software integration, we drove a survey among researchers and practitioners in the field. In this survey, we inquired how robotics software integration is currently performed in order to identify similarities with traditional software development methodologies. Through this study, we discovered commonalities in the phases of the process and potential directions of a future research to address the current challenges in the area.

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Literature Review and Model Proposal on the machine Life Cycle in Industrial Automation from Different Perspectives 56

Literature Review and Model Proposal on the Machine Life Cyc...

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56th CIRP International Conference on manufacturing Systems, CIRP CMS 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 life cycle model of machines as idealistic subsequent phases is often used to analyze industrial automation systems. Depending on their focus, literature holds a number of different state of the art approaches for the machine life cycle with various phases. However, the consideration is mainly from the perspective of machine manufacturers. Often, the life cycle of the product, that is manufactured with the corresponding machine or the life cycle of the components installed in the machine are thoroughly considered. The development, production and operation of these assets can also be divided into corresponding phases. The aim of this paper is to provide an overview of existing approaches of machine life cycles based on a structured literature review. This will also address the differences in the life cycle phases for the typical stakeholders of the industrial value chain. Since the life cycles of the individual stakeholders of the industrial value chain are coupled, a chronological classification of the individual life cycle models based on the product creation process is presented one above the other. © 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： Industrial value chain Life cycle Literature review machine life cycle

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Towards learning digital twin: case study on an anisotropic non-ideal rotor system

arXiv

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arXiv 2024年

作者： Zhou, Zhibo Walther, Michael Verl, Alexander Robert Bosch GmbH Robert Bosch Campus 1 Renningen71272 Germany Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Seidenstraße 36 Stuttgart70174 Germany

In the manufacturing industry, the digital twin (DT) is becoming a central topic. It has the potential to enhance the efficiency of manufacturing machines and reduce the frequency of errors. In order to fulfill its purpose, a DT must be an exact enough replica of its corresponding physical object. Nevertheless, the physical object endures a lifelong process of degradation. As a result, the digital twin must be modified accordingly in order to satisfy the accuracy requirement. This article introduces the novel concept of"learning digital twin (LDT)," which concentrates on the temporal behavior of the physical object and highlights the digital twin’s capacity for lifelong learning. The structure of a LDT is first described. Then, in-depth descriptions of various algorithms for implementing each component of a LDT are provided. The proposed LDT is validated on the simulated degradation process of an anisotropic non-ideal rotor system. © 2024, CC BY-NC-ND.

关键词： Adversarial machine learning

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