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On-Line Conference (ONCON), Industrial Electronics Society Annual

作者： Sönke Niemann Oliver Heimann Carolina Schorn Jörg Krüger Process Automation and Robotics Fraunhofer IPK Berlin Germany Machine Vision Fraunhofer IPK Berlin Germany Industrial Automation Technische Universitat Berlin Berlin Germany

ISBN: (数字)9798331540319

ISBN: (纸本)9798331540326

Mobile Manipulators are on the path to becoming a general purpose automation solution with applications in fields of manufacturing, healthcare among others. However, the potential of mobile manipulators for high mix - low volume production is not exhausted, with operation to be expected more time-efficient, resilient and most of all more flexible. This paper presents an approach to mobile manipulator path planning for servicing tasks in a factory environment. The proposed algorithm enables time-efficient manipulator motion planning for recurring pick-and-place tasks through online path planning that is guided by offline-generated support data. This leverages the existing redundancy of information between recurring service tasks and reduces the overall computation needed. The results show that this approach is faster than sampling-based planning in static environments and produces comparably short trajectories in static environments with collisions created through human error.

关键词： Measurement Service robots Redundancy Medical services Manipulators Production facilities Trajectory Planning Manufacturing Standards

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Energy Efficiency Optimization using automationML modeling and an EnPI methodology

Energy Efficiency Optimization using AutomationML modeling a...

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International Conference on Emerging Technologies and Factory automation (ETFA)

作者： Gregor Thiele Niloufar Khorsandi Jörg Krüger Department for Process Automation and Robotics Institute for Production Systems and Design Technology Berlin Germany Department for Industrial Automation Technology Technical University of Berlin Berlin Germany

Industrial facilities are complex and heterogeneous systems in permanent technological change. The ambitions towards smart factories heighten the requirements for the flexible interconnection of various devices. These industrial entities are controlled, observed and optimized by many services. The tuning of process parameters of several linked components in order to boost the overall energy efficiency is one example of such services. automationML (AML) provides a hierarchical description language for industrial systems considering both structure and properties. An extension of the established standard allows for intuitive modeling of energy optimization problems. An approved energy performance indicator (EnPI) methodology was integrated in the libraries of AML in order to simplify and shorten the modeling procedure for the optimization task. The procedure is demonstrated using the example of an industrial cooling system.

关键词： Optimization Object oriented modeling Cooling Planning Energy consumption Biological system modeling Databases

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Immersion and Invariance based Adaptive Attitude Tracking Control of a Quadrotor UAV in the Presence of Parametric Uncertainty

Immersion and Invariance based Adaptive Attitude Tracking Co...

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第三十三届中国控制会议

作者： Bo Zhao Bin Xian Yao Zhang Xu Zhang The Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and ControlSchool of Electrical Engineering and Automation Tianjin University

ISBN: (纸本)9781479947249

In this paper, a new adaptive controller for a quadrotor unmanned aerial vehicle(UAV) is presented via Immersion and Invariance(I&I) approach. The quadrotor's dynamic model is subjected to some uncertain parameters such as the inertial moments, aerodynamic damping coefficients and so on. In particular, the mass-eccentric effects by the payloads are also *** all these uncertainties above, the proposed adaptive controller is still capable of driving the quadrotor UAV's attitude asymptotically to a desired trajectory. The stability analysis is performed by Lyapunov techniques and LaSalle's invariance theorem. Numerical simulation results illustrate the good tracking performance of the proposed scheme.

关键词： quadrotor,UAV,adaptive control,immersion and invariance,I&I

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A real-time Java system on a multithreaded Java microcontroller

A real-time Java system on a multithreaded Java microcontrol...

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International Symposium on Object-Oriented Real-Time Distributed Computing

作者： M. Pfeffer S. Uhrig T. Ungerer U. Brinkschulte Institute for Computer Science University of Augsburg Augsburg Germany Institute for Process Control Automation and Robotics University of Karlsruhe Karlsruhe Germany

This paper presents a real-time Java hardware and software system for use in embedded applications. The system includes a multithreaded Java microcontroller, an adapted Java Virtual Machine (JVH) and an extended application programming interface (API). The microcontroller core is designed with a multithreaded pipeline and hardware support for real-time scheduling algorithms. The Java Virtual Machine consists of trap routines for complex Java byte-codes, real-time garbage collection and a class loader for creating real-time data structures. On a higher level, the application programming interface provides easy real-time thread management and access to hardware components like serial interfaces and timer/counter units.

关键词： Java Real time systems Microcontrollers Hardware Application software Virtual machining Software systems Algorithm design and analysis Pipelines Scheduling algorithm

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Concepts for End-to-end Augmented Reality based Human-Robot Interaction Systems

arXiv

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arXiv 2019年

作者： Puljiz, David Hein, Björn Intelligent Process Automation and Robotics Lab Karlsruhe Institute of Technology Karlsruhe Germany Karlsruhe University of Applied Sciences Karlsruhe Germany

The field of Augmented Reality (AR) based Human Robot Interaction (HRI) has progressed significantly since its inception more than two decades ago. With more advanced devices, particularly head-mounted displays (HMD), freely available programming environments and better connectivity, the possible application space expanded significantly. Here we present concepts and systems currently being developed at our lab to enable a truly end-to-end application of AR in HRI, from setting up the working environment of the robot, through programming and finally interaction with the programmed robot. Relevant papers by other authors will also be overviewed. We demonstrate the use of such technologies with systems not inherently designed to be collaborative, namely industrial manipulators. By trying to make such industrial systems easily-installable, collaborative and interactive, the vision of universal robot co-workers can be pushed one step closer to reality. The main goal of the paper is to provide a short overview of the capabilities of HMD-based HRI to researchers unfamiliar with the concepts. For researchers already using such techniques, the hope is to perhaps introduce some new ideas and to broaden the field of research. Copyright © 2019, The Authors. All rights reserved.

关键词： Human robot interaction

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General hand guidance framework using microsoft HoloLens

arXiv

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arXiv 2019年

作者： Puljiz, David Stöhr, Erik Riesterer, Katharina S. Hein, Björn Kröger, Torsten Intelligent Process Automation and Robotics Lab Karlsruhe Institute of Technology Karlsruhe Germany Karlsruhe University of Applied Sciences Karlsruhe Germany

Hand guidance emerged from the safety requirements for collaborative robots, namely possessing joint-torque sensors. Since then it has proven to be a powerful tool for easy trajectory programming, allowing lay-users to reprogram robots intuitively. Going beyond, a robot can learn tasks by user demonstrations through kinesthetic teaching, enabling robots to generalise tasks and further reducing the need for reprogramming. However, hand guidance is still mostly relegated to collaborative robots. Here we propose a method that doesn't require any sensors on the robot or in the robot cell, by using a Microsoft HoloLens augmented reality head mounted display. We reference the robot using a registration algorithm to match the robot model to the spatial mesh. The in-built hand tracking and localisation capabilities are then used to calculate the position of the hands relative to the robot. By decomposing the hand movements into orthogonal rotations and propagating it down through the kinematic chain, we achieve a generalised hand guidance without the need to build a dynamic model of the robot itself. We tested our approach on a commonly used industrial manipulator, the KUKA KR-5. Copyright © 2019, The Authors. All rights reserved.

关键词： Collaborative robots

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A component based design framework for robot software architecture

A component based design framework for robot software archit...

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2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Hongxing Wei Xinming Duan Shiyi Li Guofeng Tong Tianmiao Wang Robotics Institute Beijing University of Aeronautics and Astronautics Beijing China Institute of A.I. and Robotics and Key Laboratory of Integrated Automation of Process Industry Northeastern University Shenyang China

Componentization is an important method to improve the reusability of robot software and reduce the difficulty of system design. In this paper, we propose a component based design framework for robot software architecture. First, the robot system is functionally decomposed into reusable components. On this basis, the static model and run-time model of component are established, and a component interface definition language based on the model is designed. Second, a lightweight middleware is proposed according to the communication mode between robot components, and a component development tool and a visual component assembly environment based on the middleware are designed to facilitate the developers. Finally, an application based on the framework is introduced to verify the validation of the design framework.

关键词： Software architecture Robot sensing systems Middleware Hardware robotics and automation Service robots Application software Control systems Intelligent robots Software reusability

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A practical approach to reduce energy consumption in a serial production environment by shutting down subsystems of a machine tool

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Procedia Manufacturing 2019年 33卷 343-350页

作者： Alperen Can Gregor Thiele Jörg Krüger Jessica Fisch Carsten Klemm Daimler AG 040-N202 12277 Berlin Germany Department for process automation and robotics Fraunhofer IPK Pascalstraße 8-9 10587 Berlin Germany

Energy efficiency in production is becoming increasingly important for the automotive industry, motivated by political regulations and competitiveness. Many theoretical approaches to achieve an efficient production via advanced control have only been tested in experimental environments. Important for the transfer into serial production is the proof that all requirements (e.g. quantity and quality) will be met. For ensuring production on demand, machine tools (MT) imitate the real production process to keep themselves at operating temperature. All subsystems of a MT operate at full power in this state, disregarding its necessity. Shutting down these subsystems during non-productive periods is a promising approach for saving energy. This paper will present a method for shutting down components during non-productive periods, while ensuring the ability to produce on demand. Successful tests were already performed during live operation in a plant of a car manufacturer in Berlin, Germany.

关键词： machine tools optimization energy efficiency efficient manufacturing energy savivng machine tool

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Investigating the effect of pruning on the diversity and fitness of robot controllers based on MDL2∈ during Genetic Programming

Investigating the effect of pruning on the diversity and fit...

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Congress on Evolutionary Computation

作者： M. Szymanski H. Worn Jan Fischer Institute of Process Control and Robotics Universität Karlsruhe Karlsruhe Germany Fraunhofer Institute of Manufacturing Engineering and Automation (IPA) Stuttgart Germany

In this paper we propose a new diversity measure based on the correlation of bit strings for the analysis of genetic programming (GP) experiments. The diversity measure has been applied to analyse the impact of pruning on the diversity of a population during genetic programming and its relation to the convergence time of the fitness function. To show the usability of the proposed diversity measure a GP experiment is introduced where simulated Jasmine robots have to learn a collision avoidance behaviour to find their way through a maze. A full analysis of this experiment is given with different fixed pruning strategies in respect to the population diversity and fitness. The GP has been done on behaviour-based robot controllers implemented in MDL2isin. MDL2isin has the advantage that it provides a very compact bit string representation of the control programme, which can be used for diversity analysis.

关键词： Robot control Genetic programming Convergence Shape measurement Robot programming XML process control Intellectual property Manufacturing processes Pulp manufacturing

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Calibration of the arc-welding robot by neural network

Calibration of the arc-welding robot by neural network

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International Conference on Machine Learning and Cybernetics (ICMLC)

作者： Dong-Shu Wang Xing-Gang Liu Xin-He Xu Institute of Artificial Intelligence & Robotics Northeastern University Shenyang China Key Laboratory of Process Industry Automation Ministry of Education of China Shenyang China

Based on the analysis of the robot calibration methods, this paper presents the neural network calibration method and calibrates an arc-welding robot with two approaches. The first one requires just the nominal model of the robot to be calibrated. This is a peculiarity of the proposed method. It reduces the pose errors to 1/5 of initial values. The second variant combines a BP network with an already calibrated parametrical model of the robot. This is a high performance solution. The presence of the neural network permits the compensation of several effects, even those not considered by the parametrical model. Calibration results are compared with those obtained by traditional parametric methodologies. Simulation results show that this method improves the calibration effect further and achieve better calibration effect.

关键词： Calibration Neural networks Service robots Robot kinematics robotics and automation Educational robots Intelligent robots Artificial neural networks Solid modeling Artificial intelligence

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