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4th International Conference on Electrical, Computer, Communications and Mechatronics engineering, ICECCME 2024

作者： Kienzlen, Annika Verl, Alexander Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany

ISBN: (纸本)9798350391183

While the importance of virtual commissioning is increasing and not only individual machines but also production lines are being simulated, the simulation of material flow for numerous piece goods is still a challenge. Combining models in a multi-scale simulation can exploit their advantages. The macroscopic flow model excels at modeling the behavior of large quantities of piece goods, however, it cannot provide information about individual piece goods. This led to the approach of the combination with a microscopic physics-based model in a multi-scale material flow simulation. To switch between models, the coordinates of the positions (microscopic) have to be translated in one direction into the material description of the macroscopic flow model (the density distribution). In the other direction, the density distribution has to be translated into the coordinates of the positions, leading to a computationally intensive optimization problem. This paper develops various methods for finding a start solution and compares them to a method of the state of the art. The evaluation is based on their accuracy with reference to various parameters of the data set. The results show the best accuracies for the method which traverses the density distribution and calculates the sum of the densities until it matches a single piece good. Depending on the accuracy required, it may be possible to use the start solution directly without further optimization. © 2024 IEEE.

关键词： Digital elevation model

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Real-time simulation environment for machine-tools

Real-time simulation environment for machine-tools

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作者： Röck, S. Rüdele, H. Pritschow, G. Institute for Control Engineering Machine Tools and Manufacturing Units Stuttgart Germany

ISBN: (纸本)9780415390620

By taking advantage of the ever increasing capabilities of information systems, simulation technology can nowadays be applied to very complex systems. This paper outlines the development of an integrated environment that allows simulation of machine-tools in real-time. Both the kinematic and dynamic behaviour of the simulated machine-tools can be analysed. The numerical algorithms used for solving the corresponding differential equations were optimised for their real-time capabilities, hence the simulation environment can be utilised in hardware-in-the-loop configurations. Thus it is possible to operate the real motion control system in combination with the simulation environment. The paper discusses the software architecture of the simulation environment, its numerical nucleus and its well-defined interfaces. Finally specific usage scenarios for the simulation environment are described and analysed in regard to the benefit they provide for the stake holders. © 2005 Taylor & Francis Group.

关键词： machine tools

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Architecture and Implementation of an Interface for Intelligent tools in machine tools

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Procedia manufacturing 2017年 11卷 2077-2082页

作者： Vieler, Hendrik Lechler, Armin Riedel, Oliver Institute for Control Engineering of Machine Tools and Manufacturing Units Seidenstraße 36 Stuttgart 70174 Germany

Nowadays a growing number of additional features, provided by intelligent tools, are used in machine tools to improve the quality of machined products or to enhance functionality of machine tools. This brings some problems concerning interfaces as each manufacturer of additional tools uses his own interfaces, which may exclude others. In this paper an interface is described, which is manufacturer independent and allows integration of additional functionality into machine tools with minimal effort for integration and configuration. © 2017 The Authors

关键词： Communication Cyber Physical Systems Industry 4.0 Milling machines

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A control model for downstream compensation strategy in multi-stage manufacturing systems of complex parts

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IFAC-PapersOnLine 2019年第13期52卷 1473-1478页

作者： Magnanini, Maria Chiara Eger, Florian Reiff, Colin Colledani, Marcello Verl, Alexander Dipartimento di Meccanica Politecnico di Milano Milano Italy Institute for Control Engineering of Machine Tools and Manufacturing Units ISW University of Stuttgart Stuttgart Germany

The capability of delivering high-quality products with the required service level is a key factor for competitiveness in manufacturing companies. Zero-Defect manufacturing control strategies aim at ensuring these targets grounding on the combination of knowledge extraction from the process and advanced statistical tools. This work presents the approach proposed within the EU-funded project ForZDM for selected use-cases in different industrial sectors characterized by multi-stage manufacturing systems and high-value complex parts. The control model is proposed and the overall control strategy is presented with respect to the state-of-the-art solutions, in order to show a comprehensive methodology integrating the joint product-system quality-oriented approach. © 2019, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Adaptive control systems Defects Statistical mechanics Statistical process control Adaptive control Compensation strategy High quality products manufacturing companies manufacturing control strategies Multi stage manufacturing systems Variation models Zero defects

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A planning system for generating manipulation sequences for the automation of maintenance tasks

A planning system for generating manipulation sequences for ...

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2016 IEEE International Conference on Automation Science and engineering, CASE 2016

作者： Friedrich, Christian Lechler, Armin Verl, Alexander Institute of Control Engineering Machine Tools and Manufacturing Units University of Stuttgart Stuttgart70174 Germany

ISBN: (纸本)9781509024094

The adaption of autonomous robots to complex assignments like automating maintenance tasks, requires the study of novel planning systems for task generation which use a priori and sensor-based data. This paper presents an approach to disassembly and assembly planning for automating maintenance tasks in production systems. The planning system combines CAD data with visual data from an RGB-D sensor. This allows the creation of a consistent environmental model, which can be used to plan a (dis)assembly task for an autonomous robot. The proposed method allows to compute manipulations directly in the task space of the robot. The algorithm uses a geometric and semantic reasoning concept to compute a relational graph which describes the individual degrees of freedom in-between the components. The proposed algorithm is highly time efficient, thus being particularly suited for the automation of maintenance tasks. With the additional integration of visual data, it is possible to compensate environmental uncertainty from the CAD data as well. This paper describes the planning architecture and algorithms in detail and concludes with an experimental validation. © 2016 IEEE.

关键词： Degrees of freedom (mechanics)

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Analysis of CNC software modules regarding parallelization capability 24

Analysis of CNC software modules regarding parallelization c...

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24th International Conference on Flexible Automation and Intelligent manufacturing, FAIM 2014

作者： Keinert, Matthias Kaiser, Benjamin Lechler, Armin Verl, Alexander Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart70174 Germany

ISBN: (纸本)9781605951737

The software design of current CNC systems is of limited suitability for real parallel execution on multicore systems. Even though CNC systems are rudimentarily designed in a modular way, a good load balancing and therefore an efficient use of multiple processor cores is not satisfactorily to be accomplished, as the modularization is not sophisticated enough. A parallelization of CNC functions and algorithms would remedy this deficit. This paper presents an analysis on which parts of a CNC system show the capability for parallelization. Furthermore an approach is presented on how the parallelization of a specific function, namely the look-ahead function, can be accomplished. © Copyright 2014 by DEStech Publications, Inc. All rights reserved.

关键词： Software design

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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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A data model for data gathering from heterogeneous IoT and Industry 4.0 applications

A data model for data gathering from heterogeneous IoT and I...

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18th International Stuttgart Symposium on Automotive and Engine Technology, 2018

作者： Strljic, Matthias Milan Tasci, Timur Schmidt, Alexander Korb, Tobias Riedel, Oliver Institute of Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Germany

ISBN: (纸本)9783658211936

Industry 4.0 (I4.0) offers the opportunity to gain a detailed insight into the current production process by means of an increased networking of production plants. This crosslinking makes it possible to record the entire state of a production plant and to trace it within a later analysis. The aim of this analysis is to optimize the monitored production process resulting from analyses of I4.0 value-adding services [1, 2]. Figure 1 schematically visualizes the information flow for such a scenario. Data from the various levels of production are collected, stored in a data storage facility and evaluated by a valueadding service pipeline. The results are integrated back into the production process as optimizations. In this work, first the requirements for such a value-adding service pipeline are determined, which results in a total of five requirements and is abbreviated with R1 to R5. Subsequently, a suitable system architecture from the Big Data area is selected in order to meet the previously established requirements and thus implement a value-adding service pipeline. The requirements R1 - R5 and the system architecture will then flow into a data model for data acquisition and transmission within the shop floor of the production. © Springer Fachmedien Wiesbaden GmbH, ein Teil von Springer Nature 2018.

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Automation of the casting process using a model-based NC architecture 4

Automation of the casting process using a model-based NC arc...

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4th IFAC Workshop on Mining, Mineral and Metal Processing, MMM 2015

作者： Birkhold, M. Friedrich, C. Lechler, A. Institute for Control Engineering of Machine Tools and Manufacturing Units Seidenstrasse 36 Stuttgart70174 Germany

Automation of the casting process in foundries is most commonly limited to foundry lines for series manufacturing. The employed teach-in method for programming the process is time-consuming and, therefore, only suited for large lot sizes. Thus, manufacturing of small lot sizes or single parts still necessitates the handwork and expertise of workers pouring the molten metal into the mould. This creates a dangerous environment for the worker. In recent years researchers have developed a model-based process control, which allows precise casting control without having to previously teach the process. Usage of these process models has been limited to special process control systems, specifically designed for a certain machine. In this paper, a novel approach is presented, in which a NC (Numerical control) system is enhanced by process models. Instead of programming the NC in kinematic coordinates, it will be shown that programming in process coordinates allows robust and flexible casting, even for small lot sizes. The paper will prove the feasibility of the approach by evaluation of the processing time of the model. © 2015, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Foundries

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Introducing an automated reconfiguration mechanism for flexible metal forming systems using a web service-based architecture approach 22

Introducing an automated reconfiguration mechanism for flexi...

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22nd International Conference on Production Research, ICPR 2013

作者： Birkhold, M. Abel, M. Verl, A. Institute for Control Engineering of Machine Tools and Manufacturing Units Seidenstraße 36 Stuttgart70174 Germany

Classic mechanical presses limit the flexibility of metal forming systems due to their fixed sinusoidal motion. Servo presses are no longer limited to a fixed sinusoidal motion, combining the free motion capability of hydraulic presses with the speed of classic mechanical presses. This new freedom of the press motion allows the integration of peripheral processes into the forming tool, reducing the necessity of follow-up processes. However, this new capability comes at the cost of increased complexity of the tool, which needs its own control system. Current techniques for the integration of peripheral systems lack granularity and need tedious hand tweaking. Therefore, many tool manufacturers have yet to embrace the new capabilities of servo presses. In this paper we introduce a novel approach, in which a press tool uses a middleware to automatically set-up the fieldbus configuration, during reconfiguration of the press. The considered peripheral system consists of three transfer modules which combine two forming parts in the tool for welding. The access to additional system data is necessary for the sophisticated transfer motions in this tool. Additionally, the necessity of manually tweaking the synchronization of the transfer is eliminated by this new approach. The capabilities of the new approach are demonstrated using state of the art controllers of a production system.

关键词： Presses (machine tools)

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