Now showing 1 - 9 of 9
  • Publication
    Universal identification and control of industrial manufacturing equipment as a service
    ( 2021)
    Tessaro, V.
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    Vick, A.
    ;
    Krüger, J.
    This paper presents a universal approach of identification and closed-loop control of manufacturing equipment, de- livered through web services using Open Platform Communications United Architecture (OPC UA). Rapid prototyping as well as retrofitting and digitization of legacy systems often need design and application of closed-loop controllers. The analysis and modelling for systems such as energy-conversion or material transport devices is labour-intensive and needs process understanding. Current identification and control toolboxes require systematic preparation of input/output data, modification and tuning of the derived models, also proper design of classic PID controllers. An on-demand service paradigm is applied to allow identification and control with direct access to the controlled system over a network connection. The identified parameters are used to adapt a model predictive controller (MPC), which stabilizes the system and drives trajectories to different operating points. To evaluate the performance of the controllers in terms of stability, accuracy, and time response, several target trajectories and disturbances (signal noise, external physical disturbances, latency in communication) were investigated. The identification service was used to model the linear dynamics of a 6-DOF industrial robot and a laboratory-scale waterworks containing two separately controllable pumps. The robot's axes and the waterworks' pumps were successfully controlled with current set-points by using their respective identified state-space models. Simulation and laboratory experiments show promising results for the control of diverse systems with varying time-constants, and imply broad applicability. As a major achievement, this approach enables to efficiently implement system identification and model predictive control in manufacturing.
  • Publication
    DRL-basierte Navigationsansätze in der industriellen Robotik
    ( 2021)
    Kästner, L.
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    Lambrecht, J.
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    Vick, A.
    ;
    Krüger, J.
    Mobile Roboter sind in verschiedenen Bereichen der Industrie zu wichtigen Werkzeugen geworden, insbesondere in der Logistik. Die sichere Navigation in hochdynamischen Umgebungen stellt jedoch weiterhin eine große Herausforderung für klassische Pfadplanungsansätze dar. Deep Reinforcement Learning (DRL) hat sich als alternative Planungsmethode herauskristallisiert, um allzu konservative Ansätze zu ersetzen und verspricht eine effizientere und flexiblere Navigation. Diese Ansätze sind jedoch aufgrund ihrer Anfälligkeit für lokale Minima und das Mangeln eines Langzeitgedächtnisses nicht für die Langstreckennavigation geeignet, was eine breite Integration in industrielle Anwendungen der mobilen Robotik behindert. Dieser Beitrag stellt einen Ansatz für die Integration von DRL-basierter Navigation in existierende Navigationsansätze von industrieller mobiler Robotik vor.
  • Publication
    Resilienz durch Redundanz. Cloud-und Edge-basierte Echtzeitsteuerung von autonomen mobilen Robotern
    ( 2021)
    Nouruzi-Pur, J.
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    Lambrecht, J.
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    Nguyen, T.D.
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    Vick, A.
    ;
    Krüger, J.
    Die Auslagerung von Algorithmen auf Edge- und Cloud- umgebungen nach dem Software-as-a-Service-Paradigma bringt viele Vorteile für autonome mobile Roboter mit sich. Es kann jedoch nicht immer garantiert werden, dass die QoS-Anforderungen der ausgelagerten echtzeitkritischen Funktionen erfüllt sind. Das Bereitstellen von redundanten Kommunikationsmöglichkeiten und Berechnungsknoten sowie robotergesteuertes Umschalten ermöglichen Echtzeitfähigkeit innerhalb dieser unsicheren Infrastrukturen.
  • Publication
    Maximization of operational workspace of a mobile manipulator system
    ( 2018)
    Kalidindi, V.V.
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    Vick, A.
    ;
    Krüger, J.
    This paper puts forward a proposition of designing manipulator setup on a mobile platform so as to enhance the Operational Workspace range of a given Mobile-Manipulator system, by introducing the concept of Installation angle. This concept is theoretically tested on a Mobile-manipulator system built from the chosen robots, for the given operational parameters. As a part of this testing, Manipulator workspace has been expressed and approximated in terms of its enclosure volume for quantitative comparability.
  • Publication
    Cloudbasierte Industrierobotersteuerungen
    ( 2016)
    Guhl, J.
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    Vick, A.
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    Nguyen, T.
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    Wassermann, J.
    ;
    Krüger, J.
  • Publication
    Cloud- und dienstebasierte Produktionsplattformen
    ( 2016)
    Vick, A.
    ;
    Krüger, J.
    Nach dem Start des Zukunftsprojekts Industrie 4.0 gibt es viele verschiedene Ansätze zur Vernetzung von industriellen Anlagen, Datenverarbeitungssystemen und dem Unternehmensmanagement. In diesem Beitrag sind die grundsätzlichen Potenziale und technischen Anforderungen für eine cloudbasierte Produktion zusammengefasst. Dabei werden mögliche Plattformen, die dienstebasierte Modularisierung der Produktion bis hin zur Virtualisierung konkreter Steuerungsaufgaben beleuchtet.
  • Publication
    Model predictive control as a service - concept and architecture for use in cloud-based robot control
    ( 2016)
    Vick, A.
    ;
    Guhl, J.
    ;
    Krüger, J.
    This paper presents the concept and architecture of a model predictive feedback control system to be used for compensating communication delays in networked industrial robot control. This approach follows the ideas given by the paradigms of Industrie 4.0 that demand for highly networked production devices and functions on different machine layers and IT hierarchy levels. We push the concept of fully outsourced control systems to a point, where even real-time critical feedback processes are driven from cloud-based services over uncertain public networks.
  • Publication
    Marker-Less Augmented Reality for Human Robot Interaction
    ( 2015)
    Kosnar, K.
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    Vick, A.
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    Preucil, L.
    ;
    Krüger, J.
    This paper presents the marker-less augmented reality system for in-situ visualization of robot's plans to the human operator. The system finds the natural features in the environment and builds the 3D map of the working space during the mapping phase. The stereo from motion method is utilized to compute the 3D position of natural features, while the position of the camera is computed from the artificial markers placed in the working space. Therefore the map is build in the fixed frame of reference frame provided by artificial markers. When the whole working space is mapped, artificial markers are not required for the functionality of the augmented reality system. The actually seen natural features are compared to those stored in the map and camera pose is estimated according found correspondences. The main advantages are that no artificial markers are necessary during regular use of the system, and that method does not rely on the tracking. Even the single frame is sufficient to compute the pose of camera and visualize the robot's plan. As there is a big number of natural features in the environment, the precision of the camera pose estimation is sufficient, when the camera is looking into the mapped working space.
  • Publication
    Robot control as a service - towards cloud-based motion planning and control for industrial robots
    ( 2015)
    Vick, A.
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    Vonasek, V.
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    Penicka, R.
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    Krüger, J.
    This paper introduces a new concept for flexible motion planning and control of industrial robots. Instead of a closed monolithic architecture, an open service-based framework is proposed. The services can be run hardware-independent on a decentralized IT infrastructure (Cloud) allowing a fast reconfiguration of control modules and their multiple usage in different tasks. The services can be run on a dedicated PC or on individual virtual machines inside a single computing cluster. The proposed service-based framework was implemented and tested for the motion planning of a robotic manipulator. Effects on control performance, availability and scalability are investigated and documented.