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Autonomous Systems for Maintenance Tasks – Requirements and Design of a control Architecture

Procedia Technology 2014年 15卷 595-604页

作者： Christian Friedrich Armin Lechler Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units Seidenstraße 36 Stuttgart 70174 Germany

The technological change of the maintenance process from reactive to preventive methods correlates with the awareness, that maintenance is not only a cost factor but a business process, which is part of the added value of a company. The automation of maintenance tasks allows to plan the operation optimally and fast. This creates a significant economic advantage for the manufacturing industry and is the opportunity for autonomous systems to show their potential. The following work gives an introduction into the possibilities to automate the maintenance process, suggestions and a probable concept architecture for automated services and maintenance.

关键词： Automated maintenance condition monitoring autonomous systems control architecture

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Automatic Conformance Test Generation Based on a Verified Model of a Bus System Standard

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Procedia CIRP 2014年 25卷 305-312页

作者： Armin Lechler Tomas Macias Agus Atmosudiro Institute for Control Engineering of Machine Tools and Manufacturing Units Seidenstr. 36 Stuttgart 70174 Germany

In automation domain, the conformance of field bus devices in regard to the corresponding bus system standard is ensured by deploying conformance tests. The correctness of the tests is therefore decisive. A common practice to develop conformance test manually is fault-prone due to the fact that the test engineer can misinterpret the standard or the standard itself has defects. Therefore, in this present work we argue that a conformance test development should be based on formally verified requirements and propose an approach to automatically generate conformance tests based on the verified model of a bus system standard in order to assure the test correctness.

关键词： Model-based engineering Automatic test generation Conformance test

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Aspects concerning kinetostatic properties of parallel robots 45

Aspects concerning kinetostatic properties of parallel robot...

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Joint Conference of ISR 2014 - 45th International Symposium on Robotics and Robotik 2014 - 8th German Conference on Robotics, ISR/ROBOTIK 2014

作者： Brisan, Cornel Boanta, Catalin Csiszar, Akos Verl, Alexander Department of Mechatronics and Machine Dynamics Technical University of Cluj-Na-poca Cluj-Napoca Romania Graduate School of Excellence Advanced Manufacturing Engineering University of Stuttgart Stuttgart Germany Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany

ISBN: (纸本)9783800736010

This paper presents a factorial analysis of the compensation of dynamic characteristics of a special class of reconfigurable haptic device. The haptic device is a reconfigurable parallel structure with having a revolute joint as actuated joint. In order to decrease the inertia and the moving mass of the mechanism this actuated joint is attached to the fixed platform of the mechanism. The haptic device interacts with a human operator by the means of its end effector. The dynamic compensation takes in consideration the mechanical properties of the robot in order to achieve a "transparent" mechanical structure. A "transparent" mechanical structure implies that forces or movements rendered through a haptic device remain unaltered due to friction, inertia or gravity (i.e. dynamic behavior) of the structure. Interaction with a virtual world has to be an immersive experience. The 'transparent' mechanical structure achieved by dynamic compensation facilitates the immersiveness of the haptic experience. © VDE VERLAG GMBH Berlin Offenbach.

关键词： Fixed platforms

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Communication Mechanisms for Cloud based machine controls

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Procedia CIRP 2014年 17卷 830-834页

作者： Jan Schlechtendahl Felix Kretschmer Armin Lechler Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) Seidenstr.36 70174 Stuttgart Germany

Current machine tool controls are limited from a technical viewpoint in different areas like scalability, start-up and reconfiguration time and security of the process knowledge against unwanted access, to only name some of them. These limitations demand for a radically new concept for machine controls addressing current and future requirements. The chosen approach is to split the physical location of the machine tool control from the machine tool and move the control in a cloud providing machine control as a service (MCaaS). This paper presents the concept of how the communication between machine and cloud-based control could be realized.

关键词： cloud based manufacturing cyber physical system realtime communication

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Flexible, Self-configuring control System for a Modular Production System

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Procedia Technology 2014年 15卷 398-405页

作者： Stefan Scheifele Jens Friedrich Armin Lechler Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Seidenstr. 36 70174 Stuttgart Germany

This paper presents a control concept of a modular manufacturing system (MPS). Having exchangeable process modules, the system can produce a wide range of products. For process modules a new concept for a Configuration and Information Memory (CIMory) is proposed. The CIMory provides a description of the module and its capabilities. Based on this information the control system, as well as the guidance system configures itself. The control follows a holistic approach with a hybrid structure to support both, modules with internal intelligence or with a simple command executing I/O unit. A Workflow Manager (WFM) organizes the production processes and the data exchange between all modules and the human-machine interface (HMI).

关键词： Modular Production System (MPS) Configuration and Information Memory (CIMory) Workflow Manager (WFM) self-configuration

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A Model- and Signal-based Power Consumption Monitoring Concept for Energetic Optimization of machine tools

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Procedia CIRP 2014年 15卷 44-49页

作者： Philipp Eberspächer Philipp Schraml Jan Schlechtendahl Alexander Verl Eberhard Abele Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) Seidenstraße 36 70174 Stuttgart Germany Institute of Production Management Technology and Machine Tools (PTW) Otto-Berndt-Str. 2 64287 Darmstadt Germany

As energy consumption is one of the main drivers for production and operational cost of a product, it is necessary to make operators of manufacturing units and machine tools aware of the current power consumption of their operating equipment. However, it is not sufficient to provide the current overall power consumption but to give different levels of detail. This paper presents an approach to combine power measurements, control signals and information with consumption simulation models to provide the operators with highly detailed power consumption data and how it is distributed over the components of their machine tools. An implementation of the monitoring approach on a HSC milling machine is presented in detail, followed by an overview of its use for energetic optimization.

关键词： energy efficiency consumption modeling energy monitor ECOMATION energy optimization machine tools

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A robust algorithm for autotuning controllers in mechatronic modules

A robust algorithm for autotuning controllers in mechatronic...

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WGP Congress 2014

作者： Friedrich, Christian Stanicki, Andreas Bröcker, Markus Lechler, Armin Verl, Alexander Universität Stuttgart Institute for Control Engineering of Machine Tools and Manufacturing Units Seidenstraße 36 Stuttgart Germany Schunk GmbH and Co. KG R and D Automation and Mechatronics Bahnhofstraße 106-134 Lauffen/Neckar Germany Hochschule Heilbronn Laboratory for Control Engineering and System Simulation Max-Planck-Straße 39 Heilbronn Germany

ISBN: (纸本)9783038352457

Electric actuators are an important part of every manufacturing system. Often it is a problem to get a good motion control configuration which allows high performance tasks. This contribution shows how the mechanical load and the self-dynamics of the system associate. Based on this, it is possible to formulate an identification algorithm to estimate the mechanical load. Now all system parameters are known and the controller can be computed automatically. Therefore we show the results in an experiment with a classic cascaded and a flatness-based controller. © (2014) Trans Tech Publications, Switzerland.

关键词： Actuators

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Aspects Concerning Kinetostatic Properties of Parallel Robots

Aspects Concerning Kinetostatic Properties of Parallel Robot...

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ISR/Robotik 2014;41st International Symposium on Robotics

作者： Cornel Brisan Catalin Boanta Akos Csiszar Alexander Verl Department of Mechatronics and Machine Dynamics Technical University of Cluj-Napoca Graduate School of Excellence advanced Manufacturing Engineering University of Stuttgart Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart

关键词： haptic device MECHANICAL STRUCTURES Fixed platforms compensated Revolute joints Inertial forces moving mass Hyalin Parallel robots end effectors Factor analysis Mechanical properties aspect dynamic characteristics configurability

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Productivity Increase through Joint Space Path Planning for Robot Machining

Productivity Increase through Joint Space Path Planning for ...

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Computer Modeling and Simulation, EMS, UKSIM European Symposium on FLAGGED

作者： Agus Atmosudiro Matthias Keinert Ali Karim Armin Lechler Alexander Verl Akos Csizar Department of Mechanical Engineering Institute for Control Engineering of Machine Tools and Manufacturing Units Stuttgart Germany University of Stuttgart Graduate School of Excellence advanced Manufacturing Engineering Stuttgart Germany

ISBN: (纸本)9781479974139

machine tools realize tool movements with high accuracy mainly due to highly developed computerized numerical controls (CNCs). As articulated industrial robots are used more and more for machining, robot controllers (RC) have to be equipped with additional path planning capabilities, similar to machine tools. A RC is very similar to a CNC from a software and hardware point of view, but with one major difference, the RC has an additional transformation stage, the transformation from Cartesian space to joint space. Machining with robots is a field intensely researched in the last years. CNC systems for robots are commercially available, furthermore, more and more CAM systems have extensions for machining with robots. Most of these offer a simulation of the machining process using a robot model, in order to solve the inverse kinematic problem and, additionally, to take into consideration axis motion limits (maximum angular amplitudes) and singularities. Moreover, path planning for machining robots is done in exactly the same way as for machine tools, with the mentioned additional transformation stage. This paper describes the advantages and challenges which result from the integration of the kinematic transformation in the path planning stage.

关键词： Joints Machining Accuracy Computer numerical control Path planning Service robots

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Holistic Ontology-Based Assistance System for Efficient Process Model Parameter Identification

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Journal of Computational engineering 2015年第1期2015卷

作者： Burkhard Hensel Thomas Wagner André Gellrich Klaus Kabitzsch Bernd Kauschinger Chair for Technical Information Systems Dresden University of Technology 01062 Dresden Germanytu-dresden.de Institute of Machine Tools and Control Engineering Dresden University of Technology 01062 Dresden Germanytu-dresden.de

Accurate models of technical systems are the basis for many tasks like system analysis, predictions, or controller design. Usually, the values of several important parameters cannot be determined by theoretical analysis only; instead, process identification is necessary. For several applications, the efficiency of the identification procedure is very important, for example, for the creation of thermal models of machine tools, because of the large time constants and the expensive machine time. The goal of the authors is the support of this task as far as possible by software. This paper contributes to that goal twofold: on the one hand, it provides a collection of influences which have to be considered for supporting the identification procedure. On the other hand, concepts for computer-based support are presented—ontologies and automatic design methods based on evolutionary algorithms.

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