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International Workshop on Advanced Motion control (AMC)

作者： Caren Dripke Daniel Schoebel Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Seidenstr. 36 Stuttgart Germany

ISBN: (数字)9781728131894

ISBN: (纸本)9781728131900

In this paper, we present an approach for a distributed interpolation which coordinates and synchronizes the movements of multiple linear axes without a central motion control unit. With this concept, axes equipped with novel individual miniature controls can achieve synchronized interpolation without a central coordination unit as a motion control or CNC present. This application is especially interesting for manufacturing setups undergoing frequent reconfigurations as the decentral setup has shorter configuration times and offers integration of multiple vendors independent of proprietary field bus communication standards thus offering reuse of automation components. We consult applications from swarm-robotics and transfer algorithms to the motion control problem. The proposed coordination algorithm is validated in a MATLAB Simulink environment, as well as a commercial four axes pick-and-place demonstrator.

关键词： Motion planning Interpolation Adaptation models Target tracking Motion segmentation Planning Synchronization

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Detection of Attacks in Smart Grids via Extended Kalman Filter and Correlation Analysis

Detection of Attacks in Smart Grids via Extended Kalman Filt...

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SICE Annual Conference

作者： Julia Sawodny Oliver Riedel Toru Namerikawa Keio University Tokyo Japan Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany

ISBN: (数字)9781728110899

ISBN: (纸本)9781728110905

This paper discusses the detection of attacks on decentralized and intelligent power networks, so-called smart grids. The approach used here, estimates the states of the power network, which is modelled by its power flow, via an Extended Kalman Filter. The use of this filter allows the consideration of nonlinearities, thus enabling the modelling of the losses of the systems. The final detection of attacks on a generator in a power network is realized by a correlation analysis. The correlation analysis provides the result of the inner correlation of sequential signals. Based on this, an assessment can be made as to whether or not the network is affected by an attack.

关键词： Correlation Generators Phasor measurement units Smart grids Kalman filters Reliability Load flow

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Static Characteristics of Fire Hose Actuators and Design of a Compliant Pneumatic Rotary Drive for Robotics

Static Characteristics of Fire Hose Actuators and Design of ...

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2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Johannes T. Stoll Kevin Schanz Michael Derstroff Andreas Pott Fraunhofer Institute for Manufacturing Engineering and Automation IPA Stuttgart Germany Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany

ISBN: (数字)9781728162126

ISBN: (纸本)9781728162133

In this work, we present and explain in detail the design of a new type of pneumatic actuator made of fire hose, the fire hose actuator (FHA), see Fig. 1. We model the force output of this type of actuator and we compare the theoretic results to the data measured on the laboratory test ***, we present the design of a pneumatic rotary drive that is actuated by four of the above-mentioned FHAs. The drive unit features intrinsic compliance and it is capable of high-precision positioning. Due to these characteristics, the design concept of the rotary drive is suitable for the potential use in robotics, especially in human-robot collaboration. In addition, we model the static torque distribution of the rotary drive and we compare the theoretic results to the data measured on the realized laboratory test stand. Moreover, we discuss the most important characteristics of the rotary drive. Hence, we present measurements of the adjustable stiffness and we show that high-precision positioning is possible with the system, reaching in ideal areas every bit of the used 17-bit encoder with a resolution of 0.0027°. Moreover, the drive unit is capable of continuous rotation while the maximum continuous torque possible is found to be 63.1 Nm.

关键词： Hoses Torque Pneumatic systems Drives Position measurement Data models Torque measurement

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Disturbance Observer-Based controller for Mimicking Mandibular Motion and Studying Temporomandibular Joint Reaction Forces by a Chewing Robot

Disturbance Observer-Based Controller for Mimicking Mandibul...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Naser Mostashiri Jaspreet S. Dhupia Alexander W. Verl Weiliang Xu Department of Mechanical Engineering The University of Auckland New Zealand Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Germany

ISBN: (数字)9781728167947

ISBN: (纸本)9781728167954

Study of reaction forces on temporomandibular joints (TMJs) during chewing different food materials provides useful information for diagnosis and prevention of common stomatognathic system ailments, such as the temporomandibular joint disorders. However, in-vivo study of TMJs reaction forces is complicated and invasive. Therefore, reproduction of a human subject's mandibular motion by a biologically inspired chewing robot has the potential for the invitro study of TMJs reaction forces. An active anti-disturbance controller is required to handle uncertainties and disturbances due to food-teeth interactions, unmodeled dynamics, and parameter perturbations in the chewing robot. In this paper, a disturbance observer-based controller is used to mimic a human subject's mandibular motion by the chewing robot for in-vitro measurement of the TMJs reaction forces while chewing peanuts and gum.

关键词： Conferences Mechatronics

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Cloud manufacturing: Theoretical localization within production theory

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Procedia CIRP 2021年 99卷 555-560页

作者： Robert Henzel Carsten Ellwein Georg Herzwurm Oliver Riedel University of Stuttgart Graduate School of Excellence advanced Manufacturing Engineering (GSaME) Nobelstr. 12 70569 Stuttgart Germany Germany Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Seidenstr. 36 D-70174 Stuttgart Germany University of Stuttgart Chair of Information Systems II Keplerstr. 17 70174 Stuttgart

The industrial production landscape is significantly affected by digitization. In the course of this development, various production paradigms have been proposed, such as ubiquitous manufacturing, distributed manufacturing or, most recently, cloud manufacturing. A selective discussion and interpretation of these similar concepts remains in the literature as a research gap. Following the call for research, the aim of this paper is to distinguish the concept of cloud manufacturing from neighboring production paradigms and to locate it within the theory. This goal will be achieved by means of a literature analysis as well as argumentation based on it and finally presented graphically.

关键词： Ubiquitous manufacturing Distributed manufacturing Cloud manufacturing

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Monitoring the Evolution of Dimensional Accuracy and Product Properties in Property-controlled Forming Processes

SSRN

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SSRN 2023年

作者： Stebner, Sophie Charlotte Martschin, Juri Arian, Bahman Dietrich, Stefan Feistle, Martin Hütter, Sebastian Lafarge, Rémi Laue, Robert Li, Xinyiang Schulte, Christopher Spies, Daniel Thein, Ferdinand Wendler, Frank Wrobel, Malte Vasquez, Julian Rozo Dölz, Michael Münstermann, Sebastian Integrity of Materials and Structures RWTH Aachen University Aachen Germany Institute of Forming Technology and Lightweight Components Dortmund University Dortmund Germany Forming and Machining Technology Paderborn University Paderborn Germany Institute for Applied Materials - Material Science Karlsruhe Institute of Technology Karlsruhe Germany Fraunhofer Institute for Casting Composite and Processing Technology Garching Germany Institute of Materials and Joining Technology Otto-von-Guericke University Magdeburg Germany Forming and Machining Processes Technische Universität Dresden Dresden Germany Institute for Machine Tools and Productions Processes Virtual Production Engineering Chemnitz University of Technology Chemnitz Germany Institute of Metal Forming RWTH Aachen University Aachen Germany Institute of Automatic Control RWTH Aachen University Aachen Germany Institute for Production Engineering and Forming Machines Technical University of Darmstadt Darmstadt Germany Institut für Geometrie und Praktische Mathematik RWTH Aachen University Aachen Germany Measurement and Sensor Technology Chemnitz University of Technology Chemnitz Germany Digital Process Engineering Group Institute for Mechanical Process Engineering and Mechanics Karlsruhe Institute of Technology Karlsruhe Germany Materials Test Engineering Dortmund University Dortmund Germany

As recent trends in manufacturing engineering disciplines show a clear development in the sustainable as well as economically efficient design of forming processes, monitoring techniques have been gaining in relevance. In terms of monitoring of product properties, most processes are currently open-loop controlled, entailing that the microstructure evolution, which determines the final product properties, is not considered. However, a closed-loop control that can adjust and manipulate the process actuators according to the required product properties of the component will lead to a considerable increase in efficiency of the processes regarding resources and will decrease postproduction of the component. For most forming processes, one set of component dimensions will result in a certain set of product properties. However, to successfully establish closed-loop property controls for the processes, a systematic understanding of the reciprocity of the dimensions after forming and final product properties must be established. This work investigates the evolution of dimensional accuracy as well as product properties for a series of forming processes that utilize different degrees of freedom for process control. © 2023, The Authors. All rights reserved.

关键词： Process control

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Connected production planning and control systems – implementation and the optimization process for subcontracting

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Procedia CIRP 2020年 88卷 191-196页

作者： Carsten Ellwein Anja Elser Marcel Vollmer Oliver Riedel Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Seidenstr. 36 D-70174 Stuttgart Germany University of Stuttgart Kepplerstr.7 D-70174 Stuttgart Germany

Production planning and control (PPC) systems are used to organize operating materials. In order to address connectivity demands of interacting PPC systems a new software architecture has been presented in prior work. This software architecture provides a basis for data exchange in-between such systems. It is up to this paper to describe an implementation approach realizing the theory. Furthermore, a new optimization process which targets subcontracting, dynamics and communication of interconnected PPC systems is presented. As a result, the mandatory and optional content of an order enquiry as well as of a response message is discussed.

关键词： Planning control systems Software architecture Industry 4.0 Cloud manufacturing

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Motion superimposition for machine tool trajectories using asynchronous axis interpolation ⁎

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IFAC-PapersOnLine 2019年第10期52卷 300-305页

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

This paper presents a method for reducing non-productive times in the planning and interpolation of lift movements during 2.5D machining. At the moment, this mostly vertical lift movement is executed separately from the position changing in the operating plane. This sequential processing of motions increases the non-productive time in processes with frequent changes of operating height, such as laser cutting. The reduction is realized by superimposing the planar path movements with lift motion. An asynchronous axis interpolation is applied to make use of the maximum machine dynamics. In addition, known obstacles can be taken into account by further parameters in the planning.

关键词： machine tools productivity simultaneous processing lift movement path optimization non-productive time reduction asynchronous interpolation

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A two-step digitalization level assessment approach for manufacturing companies

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Procedia Manufacturing 2021年 54卷 25-30页

作者： Günther Schuh Thomas Scheuer Gábor Nick Ádám Szaller Tamás Várgedő Laboratory for Machine Tools and Production Engineering (WZL) RWTH Aachen University Aachen 52074 Germany Fraunhofer Institute for Production Technology Aachen 52074 Germany Széchenyi University Research Center of Vehicle Industry Győr 9026 Hungary EPIC InnoLabs Ltd. Budapest 1111 Hungary Institute for Computer Science and Control Budapest 1111 Hungary Department of Manufacturing Science and Engineering Budapest University of Technology and Economics Budapest 1111 Hungary

Manufacturing companies are facing the fourth industrial revolution, which concerns itself with the real-time data-based communication and connection between cyber-physical systems and people. To initiate a successful digital transformation, many organizations turn to Industry 4.0 maturity models for orientation and advice. This paper aims to enable companies to find the model that suits them best. Therefore, several existing models are introduced and two of them, a quick-assessment model ( CCMS ) and a more extensive approach ( Industry 4.0 Maturity Index ), are described in detail. These two complementing models are combined into a new resource-efficient approach to assessing Industry 4.0 maturity.

关键词： Industry 4.0 Maturity model Readiness assessment Digitalization

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Securing the Data Flow for Blockchain Technology in a Production Environment ⁎

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IFAC-PapersOnLine 2019年第10期52卷 125-130页

作者： Tobias Korb David Michel Oliver Riedel Armin Lechler Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart 70174 Stuttgart Germany

For several years, blockchain technology have been used and tested in various prototypes for production environments. The main focus of these approaches is the feasibility of different applications. It is usually simply assumed that data in a blockchain is stored immutably. However, the path from data generation to entry into a blockchain is usually neglected. Exactly this topic is discussed in this paper and a solution proposal for a secure data flow from the machine to the blockchain is presented. For this, the hardware and software architecture of the solution is shown, followed by measurements of the operational capability of the solution.

关键词： Blockchain Manufacturing Immutability Trust Microcontroller Digitization

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