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schuppstuhl t annals scientific society robotics 2021

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Textbook in PDF format Assembly Planning Generic Modeling Technique for Flexible and Highly Available Assembly Systems Introduction Related Works Previous Works Theoretical Background of the Work Petri Nets Marking Graphs Refinement Action Engine Planners Automated Planning and Acting Extension of the Modeling Technique Developed Control System Planner Optimizing the Generated Plans Conclusion and Outlook Transmitter Positioning of Distributed Large-Scale Metrology Within Line-Less Mobile Assembly Systems Abstract Introduction Distributed Large-Scale Metrology Within Assembly Systems Approaches for Transmitter Positioning Requirements for iGPS Transmitter Positioning Within LMAS Particle-Swarm-Optimization for Transmitter Positioning Particle-Swarm-Optimization Fitness Function and Penalty Terms Assembly Simulation for Particle Evaluation and Optimization Procedure Verification on Assembly Use Case Description of Simulated Use Case Analysis of Simulation Results Conclusion and Outlook Acknowledgements References Optimized High Precision Stacking of Fuel Cell Components for Medium to Large Production Volumes Abstract Introduction and Motivation Fuel Cell Stack Assembly State of the Art Concept for a Scalable and Flexible Production System Materials in Fuel Cells Constraints Investigation of Position Accuracy Analysis of the Assembly Procedure and Tolerances Summary and Outlook Acknowledgements References Mobile, Modular and Adaptive Assembly Jigs for Large-Scale Products Abstract Introduction Jigs and Fixtures for Assembling Aircraft Components Development of Adaptive Assembly Jig Requirements Analysis Basic Concept for an Adaptive Jig Draft Design of Assembly Wheel Derivation of a Physical Demonstrator Conclusion and Outlook Acknowledgements References Design of an Automated Assembly Station for Process Development of All-Solid-State Battery Cell Assembly Abstract Introduction Handling-Affecting Material Properties of Lithium Metal Anode and All-Solid-State Electrolyte Handling in Battery Cell Production Battery Cell Assembly Process Handling Principles in Battery Cell Assembly Design of an Automated Assembly Station Experimental Evaluation of Handling Processes in the Automated Assembly Station Conclusion Acknowledgements References Grasping Combined Structural and Dimensional Synthesis of a Parallel Robot for Cryogenic Handling Tasks Introduction and State of the Art Task Definition and Requirements Requirements for the Parallel Robot Requirements for the Solid-State Joints Engineering Approach and First Prototype Combined Structural and Dimensional Synthesis Discussion of the Results of the Synthesis Summary and Outlook Literatur Secure Clamping of Parts for Disassembly for Remanufacturing Abstract Introduction Current State of the Art of Clamping Devices in Disassembly for Remanufacturing Applications Concept of the Clamping System for Disassembly for Remanufacturing Extracting Requirements Concept Proposal Prototype Clamping System Conclusion and Future Work Acknowledgements References Aerial Grasping and Transport Using an Unmanned Aircraft (UA) Equipped with an Industrial Suction Gripper Introduction Related Work Methodology and System Design Object Identification and Localization UA Localization Evaluation Retention Force of the Suction Gripper Object Detection and Localization Grasping Success Rate Summary and Conclusion Computing Gripping Points in D Parallel Surfaces Via Polygon Clipping Abstract Introduction State of the Art Polygon Clipping Gripping Point Determination and Intersection Detection Gripping Point Determination with an Intersection Detection Preprocessing Gripping Point Determination Via Polygon Clipping Evaluation Test Objects and Evaluation Criteria Restrictions Results Conclusion References Concept for Robot-Based Cable Assembly Regarding Industrial Production Abstract Introduction State of the Art Industrial Solutions Research Approaches Evaluation of the State of the Art Concept Supply Grasping Manipulation Joining Inspection Conclusion and Outline Acknowledgements References Human-Machine Interaction Improving the Understanding of a Remote Environment by Immersive Man-Machine Interaction Introduction Current Developments in Man-Machine Interaction Remote Operation Reliability Immersive HMI The Concept Application: Forestry Visualizing the Information Application: Mobile Robotics D Visualization Input Devices Interaction Different Area of Application Conclusion Literatur Towards a Modular Elbow Exoskeleton: Concepts for Design and System Control Abstract Introduction Determination of Main Requirements Analysis of Connectable Exoskeletons Analysis of Intended Tasks Analysis of Human Anthropometry and Kinematics Design and System Control Concepts Design Approaches System Control Strategies Assessment in View to Modularity and Intended Tasks Realization of Functional Prototype Conclusion and Outlook References Adaptive Motion Control Middleware for Teleoperation Based on Pose Tracking and Trajectory Planning Abstract Motivation Related Work: Motion Control in Teleoperation Systems Adaptive Motion Control Middleware for Teleoperation Overview: HMI, Middleware and ROS-Adaptive Control Driver Motion Control Adaptive Control-Mode Switching Experimental Setup and Evaluation System Setup and Qualitative Evaluation Quantitative Evaluation of Pose Tracking Motion Control Summary, Conclusion and Future Work Acknowledgements References Approach of a Decision Support Matrix for the Implementation of Exoskeletons in Industrial Workplaces Abstract Introduction Approaches for Classification of Support Situations Influencing Dimensions of the Decision Process Characteristics of Tasks in Industrial Workplaces Technical Properties of Exoskeletons Development of a Tool Providing Decision Support Determination of Decision-supporting Dimensions Selection of a Display Method Creation and Application of the Decision Support Matrix Application Example Conclusion and Outlook Acknowledgements References An Approach to Integrate a Blockchain-Based Payment Model and Independent Secure Documentation for a Robot as a Service Abstract Introduction State of the Art and Initial Situation Rent-a-Robot and Robot as a Service Blockchain and the Alternative IOTA Concept for Expanding the Business Model Robot as a Service with Blockchain Pay-per-Use Via Crypto Currency Independent Data Certification for Manipulation-proof Documentation of Process Data, Events and Logs Conclusion and Outlook References Human-Robot Collaboration Human Body Simulation Within a Hybrid Operating Method for a Safe and Efficient Human-Robot Collaboration Introduction Related Work Novelty and Objective Preliminary Work Simulation Tool for Human-Robot Collaboration Method of a Hybrid Collaborative Operation Kinematic States of Human Body Areas Evaluation Conclusion and Future Work Towards Semi Automated Pre-assembly for Aircraft Interior Production Abstract Introduction Motivation and Problem Statement Automation Approaches for Interior Production Outline Pre-assembly of Aircraft Interior Range of Components in Pre-assembly Range of Pre-assembly Tasks Semi-Automated Assembly of Aircraft Interior Automation-Oriented Classification of Parts and Their Corresponding Assembly Processes Parametrized Assembly Processes Research Demonstrator for Hybrid-Assembly Discussion Summary and Future Work Acknowledgements References An Approach for Direct Offline Programming of High Precision Assembly Tasks on D Scans Using Tactile Control and Automatic Program Adaption Abstract Motivation State of the Art Robotic Peg-In-Hole Assembly D-Scanning of Industrial Settings for Production Planning Research Gap and Need for Action Methodology Precision D-Scanning and Surface Reconstruction Tactile Assembly Strategies and Data-Driven Program Adaption Validation Evaluation of Scanning Accuracy Performance of Compensation Strategies Discussion Conclusion and Outlook References Industry Implementation of Innovative Manufacturing Technologies in Foundries for Large-Volume Components Abstract Introduction State of the Art and Related Work D-Printed Mouldings for Sand Casting Development of a Large Format FDM-Printing System Implementation in the Production Process Validation and Results Robot-Supported Machining for the Additive Manufacturing of Maritime Components with Hollow Structure Conclusion and Future Work References The Digital Twin as a Mediator for the Digitalization and Conservation of Expert Knowledge Abstract Introduction What is a Digital Twin? What is an Experimentable Digital Twin? Digital Twin as a Mediator What is Knowledge Management? How to Conserve Knowledge with a Digital Twin Use Case Conclusion Acknowledgements References Web Service for Point Cloud Supported Robot Programming Using Machine Learning Abstract Introduction Related Work Groundwork Rüstflex VEROSIM System Components Production Line Digital Twin Deep Learning Web Service Demonstrator Conclusions and Future Work References Usage of Augmented Reality for Improved Human-Machine Interaction and Real-Time Error Correction of Laboratory Units Abstract Introduction State-Of-The-Art Applications and Motivation for the Study The Problem of Data Transfer The Problem of User Activity Indication Method of Development Hardware Components Software Components Project Development Process The Solution to the User Activity Indication Problem The Solution to the Data Transfer Problem Resulting System Testing Technical Maintenance Simulation (Error Correction) Results Conclusion and Future Work References Scalability of Assembly Line Automation Based on the Integrated Product Development Approach Abstract Introduction Planning Approaches Quantity Dependent Charging Station Production Application Concept Conclusion and Outlook Acknowledgements References Machine Vision Robot-Based Creation of Complete D Workpiece Models Introduction State of the Art Our Approach Basic Approach Sensing Grasping and Turning Merging of the Half-Clouds Experimental Results Validation Evaluation Conclusion Classification of Assembly Operations Using Recurrent Neural Networks Abstract Introduction Classification of Manual Assembly Operations Machine Learning Algorithms for Activity Recognition Activity Recognition in Manual Assembly Network Structure and Implementation Dataset Neural Network Architecture Implementation Results Conclusion and Outlook Acknowledgements References Configuration and Enablement of Vision Sensor Solutions Through a Combined Simulation Based Process Chain Introduction Related Work Vision Sensor Planning Training Data Generation System Overview Assembly Feature and Task Analysis Calculation of Possible Viewpoints Scene Composition for Training Data Generation Use Case Presentation Discussion Conclusion and Future Work Towards Synthetic AI Training Data for Image Classification in Intralogistic Settings Introduction Related Work Process Analysis and Problem Statement Use-Case Description Categorization of Transportation Settings Formulation of Scene Grammar Derivation of a Parameter Space Data Generation Pipeline Validation Model and Training Results Discussion Conclusion and Outlook Evaluation of ML-Based Grasping Approaches in the Field of Automated Assembly Introduction and Motivation State of the Art Object Localization Object Pose Estimation Grasp Estimation Production Requirements on Vision-Based Grasping Integration of ML-based Grasping in Assembly Processes Current Challenges Conclusion and Outlook Robot Programming Playback Robot Programming Framework for Fiber Spraying Processes Introduction Related Work Programming Framework for Fiber Spraying Processes Fiber Spraying Process Definitions General Structure User Interface Programming of Periphery Devices Experiments Experiment Setup Evaluation of Intuitiveness Conclusion and Future Work LiDAR-Based Localization for Formation Control of Multi-Robot Systems Introduction System Overview Algorithm Evaluation Conclusion and Future Work Playback Robot Programming with Loop Increments Introduction Related Work Loop Increments for Playback Robot Programs Definition of Increments Within the Programming System Trajectory Blending During Playback Comparison and Evaluation of Blending Functions Comparison Evaluation Conclusion Web-Based Platform for Planning and Configuration of Robot-Based Automation Solutions: A Retrospective View on the Research Project ROBOTOP Abstract Introduction State of the Art System Integration of Automation Solutions Knowledge-Based Engineering Configurators (KBEC) as Tools for Automating the Planning Process of RAS Digitalization of the Engineering Industry by Using Web-Based Platforms and Need for Action for Current Industry Overcoming Barriers of Web-Based Engineering Configurators Need for Action for a Knowledge-Based, Engineering Configurator Platform (ROBOTOP) for Planning of RAS Challenges Within Data Acquisition and Preparation for Knowledge-Based Engineering Configurators Within a Web Platform Platform Architecture and Lessons Learned Software Architecture of ROBOTOP Constraint and Best Practice Acquisition for KBECs Validation of the Iterative Development of ROBOTOP Based on Concepts Implementation and Platform Facts Conclusion and Outlook Acknowledgements References Partial Automated Multi-Pass-Welding for Thick Sheet Metal Connections Abstract Introduction Description of the Developed Process Solution Approach Test Setup Software/GUI Implementation Planning the Welding Path Scan of the Welding Path Human–Machine Collaboration Generating Data Using AI Conclusion and Outlook References

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schuppstuhl t annals scientific society robotics 2021