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18th IFAC Workshop on Time Delay Systems, TDS 2024

作者： Gu, Yunqi Otto, Ruth Maria Naumann, Martin Gjakova, Leutrim Löser, Rico Dix, Martin University of Applied Sciences Munich Lothstr. 34 Munich80335 Germany Fraunhofer Institute for Machine Tools and Forming Technology IWU Chemnitz09126 Germany Chemnitz University of Technology Chemnitz09111 Germany

Robotic assembly processes are integral to industrial manufacturing, traditionally relying on pre-programmed sequences that exhibit limited adaptability to uncertain conditions. Recent advancements propose AI-enhanced vision systems as viable solutions to mitigate uncertainty in automated tasks. Despite the potential of vision, contact-intensive, high-precision assembly processes need customized force-torque feedback strategies to perform the task. Parametrization for setup and adaption of force-torque processes are time consuming, but decisive for quality. This work outlines an AI-driven force-torque control strategic solution for peg-in-hole assembly task, which employs object detection algorithm to grasp the workpiece and determine flexible assembly position, with force-torque-informed DNN algorithm for error correction in terms of position, and digital twin to monitor the process and collect virtual data. © 2024 The Authors.

关键词： Robotic assembly

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Intuitive Robot Programming and Intelligent tools

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IST International Surface technology 2023年第2期16卷 8-9页

作者： Bdiwi, Mohamad Fraunhofer Institute for Machine Tools and Forming Technology (IWU) Chemnitz Germany

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Silver-integrated EDM processing of TiAl6V4 implant material has antibacterial capacity while optimizing osseointegration

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Bioactive Materials 2024年第1期31卷 497-508页

作者： Hilmar Büssemaker Ann-Kathrin Meinshausen Viet Duc Bui Joachim Döring Vadym Voropai Adrian Buchholz Andreas J.Mueller Karsten Harnisch André Martin Thomas Berger Andreas Schubert Jessica Bertrand Department of Orthopaedic Surgery Otto-von-Guericke University MagdeburgGermany Professorship Micromanufacturing Technology Chemnitz University of TechnologyChemnitzGermany Institute of Molecular and Clinical Immunology Otto-von-Guericke University MagdeburgGermany Health Campus Immunology Infectiology and InflammationOtto-von-Guericke University MagdeburgMagdeburgGermany Institute of Materials and Joining Technology Otto-von-Guericke UniversityMagdeburgGermany Fraunhofer Institute for Machine Tools and Forming Technology ChemnitzGermany

Periprosthetic joint infections(PJI)are a common reason for orthopedic revision *** has been shown that the silver surface modification of a titanium alloy(Ti-6Al-4V)by PMEDM(powder mixed electrical discharge machining)exhibits an antibacterial effect on Staphylococcus *** the thickness of the silver-modified surface influences the adhesion and proliferation of bacteria as well as the ossification processes and in-vivo antibacterial capacity has not been investigated ***,the aim of this work is to investigate the antibacterial effect as well as the in vitro ossification process depending on the thickness of PMEDM silver modified *** attachment of *** on the PMEDM modified surfaces was significantly lower than on comparative control samples,independently of the tested surface *** proliferation,however,was not affected by the silver content in the surface *** observed a long-term effect of antibacterial capacity in vitro,as well as in *** induction of ROS,as indicator for oxidative stress,was observed in the bacteria,but not in osteoblast-like *** influence on the in vitro osteoblast function was observed,whereas osteoclast formation was drastically reduced on the silver *** changes in cell death,the metabolic activity and oxidative stress was measured in *** show that already small amounts of silver exhibit a significant antibacterial capacity while not influencing the osteoblast ***,PMEDM using silver nano-powder admixed to the dielectric represents a promising technology to shape and concurrently modify implant surfaces to reduce infections while at the same time optimizing bone ingrowth of endoprosthesis.

关键词： alloy silver powder

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Overview of methodologies for the lifecycle management of smart product-service systems

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Procedia CIRP 2024年 128卷 174-179页

作者： Anton Mauersberger Heiner Reinhardt Mohaned Alaluss Mahtab Mahdaviasl Steffen Ihlenfeldt Fraunhofer Institute for Machine Tools and Forming Technology IWU Reichenhainer Straße 88 09126 Chemnitz Germany

Nowadays, companies are operating in increasingly competitive and dynamic markets with rapidly changing customer demands. In order to meet these challenges, digitalization can be leveraged to achieve a transformation in product and service development. As a result, new concepts and methods are emerging, including smart product-service systems (smart PSSs). In combination with smart, connected products (SCPs), added value can be generated for several contracting parties. There are various methodologies available for the development and usage of smart services. However, these are insufficiently applied in practice. Here, an overview of methodologies supporting the various phases of the lifecycle of smart PSSs is presented. In doing so, a classification of these approaches is derived and discussed, while the need for further methodological research is outlined.

关键词： Smart PSS Smart service Smart technologies Product-service system Innovation management Sustainable development Lifecycle Decision making Methodology Digital manufacturing system

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New gentle extraction method of hemp bast strips for use as bio-based reinforcing fibers in highly loaded fiber composites

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Procedia CIRP 2024年 125卷 178-183页

作者： Steffen Ihlenfeldt Jens Müller Christoph Peukert Ludwig Rogall TUD Dresden University of Technology Chair of Machine Tools Development and Adaptive Controls (LWM) Dresden 01069 Germany Fraunhofer Institute for Machine Tools and Forming Technology IWU Chemnitz 09126 Germany

Nowadays, fiber composites are among the most important construction materials in lightweight design. Increasingly, attempts are being made to replace fossil raw materials with bio-based materials in order to improve their recyclability and reduce greenhouse gas emissions. While processes suitable for industrial use already exist for the production of biopolymers as matrix materials, there is still a considerable need for research in the production of bio-based reinforcing fibers. For hemp bast strips (HBS), promising utilization options arise due to very good mechanical properties. However, current processes for extracting such raw materials from bast fiber plants result in damage to the fiber structure because they use biochemical decomposition processes and/or squeeze and crush large disordered amounts of stalk along their entire length. This strongly reduces the application potential of the raw materials. A newly developed principle extracts the HBS with minimal impact by dividing single hemp stalks only at one end and then isolating them from the wood core by pulling on the resulting wood fragments. In this manner, the fiber structure and the good mechanical properties are largely retained and the HBS obtained can be stored in parallel alignment for further processing with little effort.

关键词： natural fiber composites hemp decortication mechanical properties industrial application

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Approach to a GPT-based Early Detection Tool to Evaluate Heterogeneous Data Sources and Identify Reconfiguration Needs of SMEs in the Production Sector 57

Approach to a GPT-based Early Detection Tool to Evaluate Het...

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18th IFAC Workshop on Time Delay Systems, TDS 2024

作者： Jacob, Adrian Achour, Anas Ben Teicher, Uwe Ihlenfeldt, Steffen Fraunhofer Institute for Machine Tools and Forming Technology IWU Pforzheimer Str. 7a Dresden01189 Germany TU Dresden Institute of Mechatronic Engineering Helmholtzstr. 7a Dresden01062 Germany

In the face of a rapidly evolving commercial ecosystem, small and medium-sized enterprises (SMEs) must ensure their process chains are capable of swift reconfiguration to mitigate disruptions from supply chain volatility, regulatory changes, and demand shifts. This study addresses the need for reconfiguration in the context of data-driven opportunities for early identification of reconfiguration needs in SMEs, with a focus on the production sector. We identify a variety of diverse and heterogeneous data sources that are critical for tracking these disruptions, such as public news, economic reports, market analyses, legal documents, and internal corporate records. To make use of these data streams, we propose an innovative early detection tool that employs advanced machine learning techniques and private, locally operated Generative Pretrained Transformers (GPTs). This system is intended to process and analyze the various data formats that SMEs encounter including HTML, PDF and plain text as well as quantitative data. By combining public and company internal data while addressing privacy concerns, the tool aims to provide SMEs with a comprehensive tracking of their commercial environments. The tool also addresses the challenges posed by the limited availability of large datasets within SMEs, which are typically required for effective use of machine learning techniques, allowing for effective operation with smaller datasets. As these technologies continue to advance, their impact across various industries, including legal, manufacturing, and supply chain management, is set to expand significantly. The proposed tool offers SMEs enhanced decision-making, compliance assurance, and the ability to proactively adapt to the unpredictable global business landscape. © 2024 The Authors.

关键词： Chains

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Development of a suction gripper network based on the biological role model of an octopus

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Procedia CIRP 2024年 125卷 184-189页

作者： Rayk Fritzsche Henriette Kunze Erik Jäger Head of group Adaptable System at Fraunhofer Institute for Machine Tools and Forming Technology IWU Reichenhainer Straße 88 Chemnitz 09126 Germany Scientific employee at Fraunhofer Institute for Machine Tools and Forming Technology IWU Reichenhainer Straße 88 Chemnitz 09126 Germany

The handling of fragile, sensitive or flexible components in assembly technology and production requires grippers that are designed for gentle handling of the objects to be gripped. Suction grippers are still a widespread standard solution for this purpose. However, rising energy prices are making pneumatic grippers, which work with a central upstream compressed air supply, increasingly unattractive. The generation of the compressed air itself, the mostly leaky transmission and the relatively inefficient vacuum generation are cost drivers that many users would like to avoid. Consequently, vacuum-based gripper means are required for industrial production, which work without externally generated compressed air. At the Fraunhofer IWU, a compressed-air-free suction pad composite has been developed that enables gripping of components with a wide variety of shapes. The underlying concept is inspired by the function of the suction arms (tentacles) of an octopus. By evacuating several small volume areas, which can be individually mechanically actuated, safe and sensitive gripping of objects is possible. For the generation of the vacuum, a piston system and a principle of an artificial muscle were developed, which is controlled based on shape memory alloys.

关键词： artificial muscle shape memory alloys (SMA) suction gripper suction gripper network

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A Hybrid Approach of No-Code Robot Programming for Agile Production: Integrating Finger-Gesture and Point Cloud

A Hybrid Approach of No-Code Robot Programming for Agile Pro...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Jayanto Halim Paul Eichler Sebastian Krusche Mohamad Bdiwi Steffen Ihlenfeldt Group Collaborative Robot Systems Fraunhofer Institute for Machine Tools and Forming Technology Chemnitz Germany Departement of Production System and Factory Automation Fraunhofer Institute for Machine Tools and Forming Technology Chemnitz Germany

ISBN: (数字)9798350375022

ISBN: (纸本)9798350375039

Industrial robot programming necessitates specialized expertise and significant time commitment, particularly for small-batch productions. In response to the escalating demand for production agility, novel approaches have emerged in intuitive robot programming. These inventive systems, rooted in diverse conceptual frameworks, are designed to expedite the deployment of robot systems. A prominent innovation in this domain is adopting no-code robot programming through finger-based gestures. A robot program can be generated by capturing and tracking non-expert users’ finger movements and gestures, converting 3D coordinates into an executable robot programming language. However, accurately determining finger positions for 3D coordinates and precise geometrical features presents an ongoing challenge. In pursuit of heightened trajectory precision and reducing more significant effort for the users, we propose a hybrid methodology that amalgamates finger-gesture programming with point cloud data. This synergistic integration demonstrates promising outcomes, substantiating its potential to facilitate the precise and adaptive generation of robot paths within robot applications.

关键词： Point cloud compression Technological innovation Three-dimensional displays Service robots Tracking Robot kinematics Welding Trajectory Robots Robot programming

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Integrating Hybrid Physics-Data Approaches for Enhanced Cutting Force Modeling in Digital Twins of Helical End Mills

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Procedia CIRP 2025年 133卷 358-363页

作者： Yuan Jing Guanchen Gong Albrecht Hänel Steffen Ihlenfeldt Fraunhofer Insitute for Machine Tools and Forming Technology IWU Chemnitz Germany Chair of Machine Tools Development and Adaptive Controls Institute fo Mechatronic Engineering Technische Universität Dresden Dresden Germany

Industry 4.0 has significantly improved data efficiency by leveraging key technologies such as the Internet of Things and machine Learning. Among these key technologies, digital twins stand out by offering a promising approach to intelligently utilize this data. In the virtual representation of a physical asset, data reflects the conditions of the physical entity, while models simulate and predict its behavior. In this paper, a hybrid cutting force model is proposed for digital twins of helical end mills, focusing on cutting force analysis during the utilization phase of the machining process. This model combines a fairly mature physical process modelling approach with a data-driven method, specifically a neural network trained on real process data, to address the limitations inherent in their respective applications. The physics-based model provides meaningful constraints on the neural network’s training, ensuring reliable cutting force prediction, particularly in scenarios with limited process data availability. The cutter’s profile, generated by the geometric model, and the cutter-workpiece engagement maps, derived from the virtual machining model, together serve as inputs for the hybrid cutting force model.

关键词：

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Development approach of a workflow for 3D printing of living mycelium materials and their growth manipulation

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Procedia CIRP 2024年 125卷 302-307页

作者： Sophia Elsner Rebekka Jesch Linda Weisheit Lukas Boxberger Steffen Ihlenfeldt Welf-Guntram Drossel Fraunhofer Institute for Machine Tools and Forming Technology IWU Nöthnitzer Straße 44 01187 Dresden Germany

As a viscous mycelium-substrate-composite, mycelia can be processed into more complex geometries in generative extrusion-based processes, even without molding tools. Biological transformation can also affect the properties of a printed object such that the mycelium still lives and grows after the 3D-build-process and changes the object over time. Depending on the substrate composition, type of fungus and growth conditions, different properties of the object can be manipulated. Different test geometries with corresponding preliminary characterization tests are shown. The present results demonstrate that test geometries could be successfully 3D printed with living mycelium material and manipulated during cultivation.

关键词： Free forming Material Processing 4D+ Printing Biological Transformation Biomechatronics Mycelium Materials

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