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Lechler, Armin

Armin Lechler

Dr.-Ing.

Deputy Director
Managing Chief Engineer
Institute for Control Engineering of Machine Tools and Manufacturing Units

Contact

+49 711 685 82462
+49 711 685 82808
Email
Business card (VCF)

Seidenstr. 36
70174 Stuttgart
Deutschland
Room: 5.011

Subject

Control and drive technology
Control and communication architectures
Description languages and information models
Simulation methods in automation engineering
Control engineering for machines and plants

Publications

Publications:

2024
1. Ajdinovic, Samed ; Strljic, Matthias ; Lechler, Armin ; Riedel, Oliver: Interoperable Digital Product Passports: An Event-Based Approach to Aggregate Production Data to Improve Sustainability and Transparency in the Manufacturing Industry. In: 2024 IEEE/SICE International Symposium on System Integration (SII), 2024 IEEE/SICE International Symposium on System Integration (SII), 2024, S. 729–734
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  @inproceedings{10417487, abstract = {The manufacturing industry is increasingly focused on sustainability, requiring greater product transparency to meet sustainability targets. Digital Product Passports (DPPs) have emerged as a potential solution to improve recyclability and inform consumer purchasing decisions. However, there is a lack of methodology and digital representation for building DPPs, which hinders data linkage and sharing. In this paper, we propose an approach based on standardised data models and event sourcing to aggregate production data, using energy consumption as an example. We present a concept that captures and stores process information using event sourcing in Asset Administration Shells (AAS), and evaluate its feasibility through a manufacturing demonstrator. The results show that event-based aggregation facilitates the creation of DPPs, allowing different actors in the value chain to participate in an interoperable way. By leveraging a standardised and interoperable common data space, this approach improves product transparency, promotes recyclability and enables informed consumer choice in line with sustainability goals.}, author = {Ajdinovic, Samed and Strljic, Matthias and Lechler, Armin and Riedel, Oliver}, booktitle = {2024 IEEE/SICE International Symposium on System Integration (SII)}, doi = {10.1109/SII58957.2024.10417487}, issn = {2474-2325}, month = {01}, pages = {729-734}, title = {Interoperable Digital Product Passports: An Event-Based Approach to Aggregate Production Data to Improve Sustainability and Transparency in the Manufacturing Industry}, year = 2024 }
2. Zürn, Manuel ; Dzubba, Marcel ; Reiff, Colin ; Ajdinovic, Samed ; Lechler, Armin ; Verl, Alexander: Cobot for Automated Vision Data: Streamlining Production with Automated Annotations for Machine Learning. In: 2024 International Conference on Artificial Intelligence, Computer, Data Sciences and Applications (ACDSA), 2024 International Conference on Artificial Intelligence, Computer, Data Sciences and Applications (ACDSA), 2024, S. 1–6
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  @inproceedings{10468034, abstract = {Robotic vision tasks require a large amount of annotated data for effective training and performance. However, the manual creation of such datasets is a complex and time-consuming process. Particularly for smaller companies or those with high product variability, there is a need to optimise the resources dedicated to creating datasets for machine vision applications. This paper investigates novel ways to acquire annotated vision data through the integration of collaborative robots. Two methods are outlined to streamline the generation of annotated datasets. One of these methods is then used to construct a dataset tailored for 6D robotic gripping of an automotive connector. The effectiveness of automated annotated dataset generation is demonstrated by training a deep learning model to accurately estimate the orientation of the automotive connector.}, author = {Zürn, Manuel and Dzubba, Marcel and Reiff, Colin and Ajdinovic, Samed and Lechler, Armin and Verl, Alexander}, booktitle = {2024 International Conference on Artificial Intelligence, Computer, Data Sciences and Applications (ACDSA)}, doi = {10.1109/ACDSA59508.2024.10468034}, month = {02}, pages = {1-6}, title = {Cobot for Automated Vision Data: Streamlining Production with Automated Annotations for Machine Learning}, year = 2024 }
3. Dietrich, David ; Neubauer, Michael ; Lechler, Armin ; Verl, Alexander: Iterative Planning as a Holistic Framework for Production System-Wide Optimization Control Loops. In: Silva, F. J. G. ; Pereira, A. B. ; Camphilho, R. D. S. G. (Hrsg.) ; Silva, F. J. G. ; Pereira, A. B. ; Camphilho, R. D. S. G. (Hrsg.): Flexible Automation and Intelligent Manufacturing: Establishing Bridges for More Sustainable Manufacturing Systems, Flexible Automation and Intelligent Manufacturing: Establishing Bridges for More Sustainable Manufacturing Systems. Cham : Springer Nature Switzerland, 2024 — ISBN 9783031382413, S. 611--621
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  @inproceedings{dietrich2024iterative, abstract = {The increasing number of Industry 4.0 services adds further complexity to software, enabling more control loops throughout the production system. To address the organizational and technological challenges under uncertain production conditions, this paper proposes a holistic framework for production planning. It consists of a software-oriented planning architecture and an iterative planning behavior that enables continuous adjustments based on the current state of the production system and products. Principles of organizational, multi-stage production planning and technological, zero-defect manufacturing are considered in combination. Necessary engineering services can be extended by automatically integrating self-describing software services into production system-wide engineering control loops. In a first implementation step, general functionality can be demonstrated by continuous production plan and process-program generation and adaptation with simulative validation for individually configurable products based on the production system state and target goals. The gap between organizational and technological planning is further closed.}, address = {Cham}, author = {Dietrich, David and Neubauer, Michael and Lechler, Armin and Verl, Alexander}, booktitle = {Flexible Automation and Intelligent Manufacturing: Establishing Bridges for More Sustainable Manufacturing Systems}, doi = {10.1007/978-3-031-38241-3_69}, editor = {Silva, Francisco J. G. and Pereira, António B. and Camphilho, Raul D. S. G.}, isbn = {9783031382413}, pages = {611--621}, publisher = {Springer Nature Switzerland}, refid = {10.1007/978-3-031-38241-3_69}, title = {Iterative Planning as a Holistic Framework for Production System-Wide Optimization Control Loops}, url = {https://doi.org/10.1007/978-3-031-38241-3_69}, year = 2024 }
  Link
  https://doi.org/10.1007/978-3-031-38241-3_69
4. Dietrich, David ; Zürn, Manuel ; Reiff, Colin ; Neubauer, Michael ; Lechler, Armin ; Verl, Alexander: Software-Defined Value Networks: Motivation, Approaches, and Research Activities. In: Bauernhansl, T. ; Verl, A. ; Liewald, M. ; Möhring, H.-C. (Hrsg.) ; Bauernhansl, T. ; Verl, A. ; Liewald, M. ; Möhring, H.-C. (Hrsg.): Production at the Leading Edge of Technology, Production at the Leading Edge of Technology. Cham : Springer Nature Switzerland, 2024 — ISBN 978-3-031-47394-4, S. 514–524
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  @inproceedings{dietrich2024softwaredefined, address = {Cham}, author = {Dietrich, David and Zürn, Manuel and Reiff, Colin and Neubauer, Michael and Lechler, Armin and Verl, Alexander}, booktitle = {Production at the Leading Edge of Technology}, doi = {10.1007/978-3-031-47394-4_50}, editor = {Bauernhansl, Thomas and Verl, Alexander and Liewald, Mathias and Möhring, Hans-Christian}, isbn = {978-3-031-47394-4}, pages = {514-524}, publisher = {Springer Nature Switzerland}, title = {Software-Defined Value Networks: Motivation, Approaches, and Research Activities}, url = {https://doi.org/10.1007/978-3-031-47394-4_50}, year = 2024 }
  Link
  https://doi.org/10.1007/978-3-031-47394-4_50
5. Walker, Moritz ; Fischer, Marc ; Neubauer, Michael ; Lechler, Armin ; Verl, Alexander: Towards a Domain Specific Language for the Development of Distributed Real-Time Systems. In: Bauernhansl, T. ; Verl, A. ; Liewald, M. ; Möhring, H.-C. (Hrsg.) ; Bauernhansl, T. ; Verl, A. ; Liewald, M. ; Möhring, H.-C. (Hrsg.): Production at the Leading Edge of Technology, Production at the Leading Edge of Technology. Cham : Springer Nature Switzerland, 2024 — ISBN 978-3-031-47394-4, S. 268--279
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  @inproceedings{10.1007/978-3-031-47394-4_27, abstract = {Static configurations and slow adaption to changing requirements characterize today's production systems. In order to cope with variable external influences, these systems need to become more flexible. One basic building block to achieve more flexible automation systems from the software perspective are modular real-time architectures which are realized as distributed real-time systems. The improved modularity and flexibility come at the price of greater complexity. In order to enable developers to design robust systems regarding real-time properties, a domain specific language is proposed, which allows reasoning and validation of modules and composed distributed real-time systems.}, address = {Cham}, author = {Walker, Moritz and Fischer, Marc and Neubauer, Michael and Lechler, Armin and Verl, Alexander}, booktitle = {Production at the Leading Edge of Technology}, editor = {Bauernhansl, Thomas and Verl, Alexander and Liewald, Mathias and M{\"o}hring, Hans-Christian}, isbn = {978-3-031-47394-4}, pages = {268--279}, publisher = {Springer Nature Switzerland}, title = {Towards a Domain Specific Language for the Development of Distributed Real-Time Systems}, url = {https://link.springer.com/chapter/10.1007/978-3-031-47394-4_27}, year = 2024 }
  Link
  https://link.springer.com/chapter/10.1007/978-3-031-47394-4_27
2023
1. Fischer, Marc ; Walker, Moritz ; Lechler, Armin ; Riedel, Oliver ; Verl, Alexander: Fehlertolerante Sicherheitssteuerung aus der Cloud. In: wt Werkstattstechnik online (Hrsg.) ; wt Werkstattstechnik online (Hrsg.): wt Werkstattstechnik, wt Werkstattstechnik. Bd. 113, 2023, S. 189–194
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  @incollection{fischer2023fehlertolerante, author = {Fischer, Marc and Walker, Moritz and Lechler, Armin and Riedel, Oliver and Verl, Alexander}, doi = {10.37544/1436-4980-2023-05-11}, editor = {wt Werkstattstechnik online}, journal = {wt Werkstattstechnik}, number = 5, pages = {189-194}, title = {Fehlertolerante Sicherheitssteuerung aus der Cloud}, url = {https://elibrary.vdi-verlag.de/10.37544/1436-4980-2023-05-11/fehlertolerante-sicherheitssteuerung-aus-der-cloud-cloud-based-fault-tolerance-of-safety-control-in-the-cloud-jahrgang-113-2023-heft-05?page=1}, volume = 113, year = 2023 }
  Link
  https://elibrary.vdi-verlag.de/10.37544/1436-4980-2023-05-11/fehlertolerante-sicherheitssteuerung-aus-der-cloud-cloud-based-fault-tolerance-of-safety-control-in-the-cloud-jahrgang-113-2023-heft-05?page=1
2. Steinle, Lukas ; Helfesrieder, Nico ; Lechler, Armin ; Verl, Alexander ; Montazeri, Ali ; Wang, Jinfan: Decentralized Motion Control for a Novel Planar Motor Intralogistics System. In: 2023 IEEE 32nd International Symposium on Industrial Electronics (ISIE), 2023 IEEE 32nd International Symposium on Industrial Electronics (ISIE) : IEEE, 2023
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  @inproceedings{Steinle_2023, author = {Steinle, Lukas and Helfesrieder, Nico and Lechler, Armin and Verl, Alexander and Montazeri, Ali and Wang, Jinfan}, booktitle = {2023 IEEE 32nd International Symposium on Industrial Electronics (ISIE)}, doi = {10.1109/isie51358.2023.10227969}, month = {06}, publisher = {IEEE}, title = {Decentralized Motion Control for a Novel Planar Motor Intralogistics System}, url = {https://doi.org/10.1109%2Fisie51358.2023.10227969}, year = 2023 }
  Link
  https://doi.org/10.1109%2Fisie51358.2023.10227969
3. Heinemann, Tonja ; Ajdinovic, Samed ; Lechler, Armin ; Riedel, Oliver: OPC UA Tests im Kontext einer Dateninfrastruktur. In: WT-Werkstattstechnik (Hrsg.) (2023)
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  @article{heinemann2023tests, author = {Heinemann, Tonja and Ajdinovic, Samed and Lechler, Armin and Riedel, Oliver}, doi = {10.37544/1436-4980-2023-05-29}, editor = {WT-Werkstattstechnik}, month = {05}, title = {OPC UA Tests im Kontext einer Dateninfrastruktur}, url = {https://elibrary.vdi-verlag.de/10.37544/1436-4980-2023-05-29/opc-ua-tests-im-kontext-einer-dateninfrastruktur-tests-for-opc-ua-as-part-of-data-infrastructure-jahrgang-113-2023-heft-05?page=1}, year = 2023 }
  Link
  https://elibrary.vdi-verlag.de/10.37544/1436-4980-2023-05-29/opc-ua-tests-im-kontext-einer-dateninfrastruktur-tests-for-opc-ua-as-part-of-data-infrastructure-jahrgang-113-2023-heft-05?page=1
4. Zürn, Manuel ; Wnuk, Markus ; Lechler, Armin ; Verl, Alexander: Topology Matching of Branched Deformable Linear Objects. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023, S. 7097–7103
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  @inproceedings{10161483, abstract = {This paper presents a new method for correspondence estimation between a previously known topology of a branched deformable linear object and an image representation from a 3D stereo camera. Although frequently encountered in production, robotic deformable linear object manipulation still lacks reliable sensor feedback. Especially for branched deformable linear objects, such as wire harnesses, correspondence estimation is very challenging. Due to their flexible nature, they have an infinite-dimensional configuration space, such that visual appearances of the same object can vary strongly. Knowing the correspondence is vital for various applications, e.g., estimating valid grasping positions for robotic wire routing or augmented reality support for workers. Therefore, this paper presents a method for matching the topology of a branched deformable linear object to camera sensor data. Asymmetries in the wire harness design reduce the solution space by comparing the known topology of a model to the topology extracted from sensor data. The problem of finding the most likely solution to the matching problem requires features extracted from camera images. These features are used to construct a graph-based topology representation, which can then be matched to a graph-based topology representation of the known branched deformable linear object. The presented method is evaluated using multiple different non-overlapping configurations of a wire harness, showing the effectiveness of a graph-based segment matching approach.}, author = {Zürn, Manuel and Wnuk, Markus and Lechler, Armin and Verl, Alexander}, booktitle = {2023 IEEE International Conference on Robotics and Automation (ICRA)}, doi = {10.1109/ICRA48891.2023.10161483}, month = {05}, pages = {7097-7103}, title = {Topology Matching of Branched Deformable Linear Objects}, year = 2023 }
5. Neumann, Rebekka ; von Arnim, Christian ; Neubauer, Michael ; Lechler, Armin ; Verl, Alexander: Requirements and Challenges in the Configuration of a Real-Time Node for OPC UA Publish-Subscribe Communication. In: 2023 29th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), 2023 29th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), 2023, S. 1–6
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  @inproceedings{10413399, abstract = {Factory automation is evolving from a hierarchical structure towards an interconnected architecture in which systems at different levels can communicate seamlessly with each other. This requires an appropriate replacement of proprietary fieldbus systems in the automation sector. A promising solution to implement cross-plane end-to-end real-time capable communication between computing nodes is proposed in literature. The usage of Open Platform Communication Unified Architecture (OPC UA) as the information model with the Publish-Subscribe (PubSub) communication mechanism in combination with Time Sensitive Networking (TSN) is presented to fulfill the requirements for message transmission. In contrast to the state of the art of configuring fieldbus systems, the configuration of such a real-time communication node has to be done manually. This process is complex, as deep knowledge in different domains is required. In this work we elaborate the requirements for such a communication node and present the resulting implementation challenges, which can be used as the basis for a configuration tool.}, author = {Neumann, Rebekka and von Arnim, Christian and Neubauer, Michael and Lechler, Armin and Verl, Alexander}, booktitle = {2023 29th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)}, doi = {10.1109/M2VIP58386.2023.10413399}, month = {11}, pages = {1-6}, title = {Requirements and Challenges in the Configuration of a Real-Time Node for OPC UA Publish-Subscribe Communication}, year = 2023 }
6. Leipe, Valentin ; Hinze, Christoph ; Lechler, Armin ; Verl, Alexander: Model predictive control for compliant feed drives with offset-free tracking behavior. In: Production Engineering, Production Engineering. (2023)
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  @article{Leipe2023, abstract = {Industrial machine tool feed drives are predominantly controlled by cascade control due to their low tuning complexity and inherent robustness. However, the cascaded structure requires the inner cascades to have higher dynamics than the outer cascades, which limits the achievable dynamic accuracy. Direct control approaches, which substitute the position and velocity cascade, offer the potential to utilize the unused potential. A promising approach is model predictive control (MPC), which optimizes the manipulated variable with a plant model along a prediction horizon. However, model uncertainties between the nominal model and the real plant lead to tracking errors. Therefore, this paper presents, a linear MPC (LMPC) and an adaptive MPC (AMPC) with an additional integral action to robustly compensate for model mismatches. Both controllers use a compliant model, are real-time capable with a sample rate of {\$}{\$}{\{}{\{}2{\}}{\backslash},{\backslash}textrm{\{}kHz{\}}{\}}{\$}{\$}and consider state and input space constraints. The AMPC accounts for position-varying stiffness and friction. The controllers are experimentally compared with classical P-PI cascaded control on a ball screw drive. They show a tracking error reduction of {\$}{\$}{\{}{\{}37{\}}{\{}{\backslash},{\backslash}{\%}{\}}{\}}{\$}{\$}(LMPC) and {\$}{\$}{\{}{\{}44{\}}{\{}{\backslash},{\backslash}{\%}{\}}{\}}{\$}{\$}(AMPC) during a high speed motion profile and an increase in bandwidth of {\$}{\$}{\{}{\{}180{\}}{\{}{\backslash},{\backslash}{\%}{\}}{\}}{\$}{\$}(LMPC) and {\$}{\$}{\{}{\{}184{\}}{\{}{\backslash},{\backslash}{\%}{\}}{\}}{\$}{\$}(AMPC), resulting in significantly improved dynamic accuracy.}, author = {Leipe, Valentin and Hinze, Christoph and Lechler, Armin and Verl, Alexander}, day = 22, doi = {10.1007/s11740-023-01206-6}, issn = {1863-7353}, journal = {Production Engineering}, month = {05}, title = {Model predictive control for compliant feed drives with offset-free tracking behavior}, url = {https://doi.org/10.1007/s11740-023-01206-6}, year = 2023 }
  Link
  https://doi.org/10.1007/s11740-023-01206-6
7. Neubauer, Michael ; Reiff, Colin ; Walker, Moritz ; Oechsle, Stefan ; Lechler, Armin ; Verl, Alexander: Cloud-based evaluation platform for software-defined manufacturing - Stuttgarter Maschinenfabrik as a realization example of an Industry 4.0 production. In: at - Automatisierungstechnik, at - Automatisierungstechnik. Bd. 71 (2023), Nr. 5, S. 351--363
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  @article{NeubauerReiffWalkerOechsleLechlerVerl+2023+351+363, abstract = {Software-Deﬁned Manufacturing (SDM) is a new paradigm for how to manufacture in the Industry 4.0 factory of the future. The approach requires a fundamental change in thinking and reinvention of central business models in production technology. This paper discusses the main challenges on the way to a software-deﬁned factory of the future and illustrates possible solutions. An exemplary future factory is presented, in which the validation of the solutions is carried out. For this purpose, cloud-based Computerized Numerical Control (CNC) is considered as use case. Experimental results demonstrate the proof of concept and show the potential for further applications.}, author = {Neubauer, Michael and Reiff, Colin and Walker, Moritz and Oechsle, Stefan and Lechler, Armin and Verl, Alexander}, doi = {doi:10.1515/auto-2022-0137}, journal = {at - Automatisierungstechnik}, number = 5, pages = {351--363}, title = {Cloud-based evaluation platform for software-defined manufacturing - Stuttgarter Maschinenfabrik as a realization example of an Industry 4.0 production}, url = {https://doi.org/10.1515/auto-2022-0137}, volume = 71, year = 2023 }
  Link
  https://doi.org/10.1515/auto-2022-0137
8. Heinemann, Tonja ; Lechler, Armin ; Riedel, Oliver: Profiles and Testing in OPC UA—Current State and Future Potentials in Industry 4.0. In: Lecture Notes in Production Engineering, Lecture Notes in Production Engineering. Cham : Springer International Publishing, 2023 — ISBN 9783031186400, S. 101--112
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  @inbook{heinemann2023profiles, address = {Cham}, author = {Heinemann, Tonja and Lechler, Armin and Riedel, Oliver}, booktitle = {Lecture Notes in Production Engineering}, doi = {10.1007/978-3-031-18641-7_11}, isbn = {9783031186400}, pages = {101--112}, publisher = {Springer International Publishing}, title = {Profiles and Testing in OPC UA—Current State and Future Potentials in Industry 4.0}, year = 2023 }
9. Jud, Oliver ; Lechler, Armin ; Verl, Alexander: Vorspannungsverluste kompensieren. In: konstruktionspraxis, konstruktionspraxis. (2023), Nr. 07, S. 42–43
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  @article{jud2023vorspannungsverluste, author = {Jud, Oliver and Lechler, Armin and Verl, Alexander}, journal = {konstruktionspraxis}, month = {07}, number = 07, pages = {42-43}, title = {Vorspannungsverluste kompensieren}, url = {https://www.konstruktionspraxis.vogel.de/vorspannungsverluste-kompensieren-prototyp-auf-dem-pruefstand-a-9f59277ce2066aace87a5962d35cc579/}, year = 2023 }
  Link
  https://www.konstruktionspraxis.vogel.de/vorspannungsverluste-kompensieren-prototyp-auf-dem-pruefstand-a-9f59277ce2066aace87a5962d35cc579/
10. Oechsle, Stefan ; Frick, Florian ; Lechler, Armin ; Verl, Alexander: A modular configuration and management framework for distributed real-time applications based on converged networks using TSN. In: Procedia CIRP, Procedia CIRP. Bd. 118 : Elsevier BV, 2023, S. 38--43
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  @inproceedings{oechsle2023modular, abstract = {Industrial control systems are distributed real-time applications deployed on field and controller devices, connected by fieldbuses. Their lack of interoperability, mutually and towards IT-systems, is a major obstacle for the digitalization. Converged networks are considered as the solution across industries with Time-Sensitive Networking (TSN) as the enabling technology. To ease the adoption of TSN for industrial automation, a modular framework was developed for future engineering tools. The core of the framework consists of a module management including interfaces and a YANG-based datastore, maintaining a system-wide data model. Modules are provided for network configuration implementing CUC-functions, monitoring and container-based application and deployment.}, author = {Oechsle, Stefan and Frick, Florian and Lechler, Armin and Verl, Alexander}, doi = {10.1016/j.procir.2023.06.008}, journal = {Procedia CIRP}, pages = {38--43}, publisher = {Elsevier BV}, title = {A modular configuration and management framework for distributed real-time applications based on converged networks using TSN}, url = {https://doi.org/10.1016/j.procir.2023.06.008}, volume = 118, year = 2023 }
  Link
  https://doi.org/10.1016/j.procir.2023.06.008
11. Walker, Moritz ; Klingel, Lars ; Oechsle, Stefan ; Neubauer, Michael ; Lechler, Armin ; Verl, Alexander: Safeguarded Continuous Deployment of Control Containers through Real-Time Simulation. In: 2023 IEEE 28th International Conference on Emerging Technologies and Factory Automation (ETFA), 2023 IEEE 28th International Conference on Emerging Technologies and Factory Automation (ETFA), 2023, S. 1–8
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  @inproceedings{10275659, author = {Walker, Moritz and Klingel, Lars and Oechsle, Stefan and Neubauer, Michael and Lechler, Armin and Verl, Alexander}, booktitle = {2023 IEEE 28th International Conference on Emerging Technologies and Factory Automation (ETFA)}, doi = {10.1109/ETFA54631.2023.10275659}, pages = {1-8}, title = {Safeguarded Continuous Deployment of Control Containers through Real-Time Simulation}, url = {http://dx.doi.org/10.1109/ETFA54631.2023.10275659}, year = 2023 }
  Link
  http://dx.doi.org/10.1109/ETFA54631.2023.10275659
12. König, Timo ; Verl, Alexander ; Lechler, Armin: Cornuspline Path Planning Algorithm for the Fabrication of Coreless Wound Fiber-Polymer Composite Structures. In: IECON 2023- 49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023- 49th Annual Conference of the IEEE Industrial Electronics Society, 2023, S. 1–6
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  @inproceedings{10312385, abstract = {Industrial robots are now used in a wide range of manufacturing processes. The increasing demands on quality and the complexity of the processes cannot always be met by the range of functions that are available in numerical control systems. In the coreless winding of fiber-polymer composites, it is important to keep the roving tension as constant as possible while maintaining a high processing speed. Currently, the winding paths are programmed via a number of control points. This results in a trade-off between lower process properties and higher processing speed with fewer control points. Conversely, finer interpolation of the path can improve process characteristics at lower processing speeds. With interpolation methods that are adapted to the process, new possibilities open up to overcome these trade-offs. This paper presents a spline path planning algorithm based on clothoids. This algorithm considers both the process requirements and the dynamic characteristics of the manufacturing unit. Furthermore, the algorithm is validated on a test contour and compared with established commercial methods.}, author = {König, Timo and Verl, Alexander and Lechler, Armin}, booktitle = {IECON 2023- 49th Annual Conference of the IEEE Industrial Electronics Society}, doi = {10.1109/IECON51785.2023.10312385}, issn = {2577-1647}, month = {10}, pages = {1-6}, title = {Cornuspline Path Planning Algorithm for the Fabrication of Coreless Wound Fiber-Polymer Composite Structures}, year = 2023 }
13. König, Timo ; Verl, Alexander ; Lechler, Armin: Replication Data for: Cornuspline path planning algorithm for the fabrication of coreless wound fiber-polymer composite structures.
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  @dataset{https://doi.org/10.18419/darus-3577, author = {König, Timo and Verl, Alexander and Lechler, Armin}, doi = {10.18419/DARUS-3577}, publisher = {DaRUS}, title = {Replication Data for: Cornuspline path planning algorithm for the fabrication of coreless wound fiber-polymer composite structures}, url = {https://darus.uni-stuttgart.de/citation?persistentId=doi:10.18419/darus-3577}, year = 2023 }
  Link
  https://darus.uni-stuttgart.de/citation?persistentId=doi:10.18419/darus-3577
14. Wnuk, Markus ; Zürn, Manuel ; Paukner, Matthias ; Ulbrich, Sascha ; Lechler, Armin ; Verl, Alexander: Case Study on Localization for Robotic Wire Harness Installation. In: Kiefl, N. ; Wulle, F. ; Ackermann, C. ; Holder, D. (Hrsg.) ; Kiefl, N. ; Wulle, F. ; Ackermann, C. ; Holder, D. (Hrsg.): Advances in Automotive Production Technology -- Towards Software-Defined Manufacturing and Resilient Supply Chains, Advances in Automotive Production Technology -- Towards Software-Defined Manufacturing and Resilient Supply Chains. Cham : Springer International Publishing, 2023 — ISBN 978-3-031-27933-1, S. 333--343
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  @inproceedings{10.1007/978-3-031-27933-1_31, abstract = {Wire harness installation is one of the most challenging processing steps for automation in automotive production. Wire harnesses have an infinite number of degrees of freedom, such that they change their shape continuously during manipulation. As of today, the human's ability to perceive the wire harness and deal with its shape changes, is unmatched by any technical solution. Therefore, wire harnesses are still installed manually. This paper proposes a concept for wire harness localization and applies it for robotic wire harness installation. The concept uses two stereo cameras, one to perceive the shape of the wire harness and obtain rough position estimates of wire harness components, and a second for accurate 6D pose estimation of the individual components. The concept is evaluated with a case study on localization in a car chassis, where the accuracy and limitations of the concept are investigated by practical experiments.}, address = {Cham}, author = {Wnuk, Markus and Zürn, Manuel and Paukner, Matthias and Ulbrich, Sascha and Lechler, Armin and Verl, Alexander}, booktitle = {Advances in Automotive Production Technology -- Towards Software-Defined Manufacturing and Resilient Supply Chains}, editor = {Kiefl, Niklas and Wulle, Frederik and Ackermann, Clemens and Holder, Daniel}, isbn = {978-3-031-27933-1}, pages = {333--343}, publisher = {Springer International Publishing}, title = {Case Study on Localization for Robotic Wire Harness Installation}, year = 2023 }
15. Zürn, Manuel ; Kienzlen, Annika ; Klingel, Lars ; Lechler, Armin ; Verl, Alexander ; Ren, Shiyi ; Xu, Weiliang: Deep Learning-Based Instance Segmentation for Feature Extraction of Branched Deformable Linear Objects for Robotic Manipulation. In: 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE), 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE), 2023, S. 1–6
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  BibTeX
  @inproceedings{10260646, abstract = {Branched deformable linear objects, like wire harnesses, are vastly used in the electrical industry to interconnect multiple electronic components while allowing small relative motions. Their deformable nature gives them an infinite-dimensional configuration space, which is challenging for robotic manipulation and requires sensor feedback about the actual configuration. Cameras have been used before in automation attempts as sensor feedback of branched deformable linear objects. However, image processing is sensible to occlusions and unstructured environments. This paper presents a method of using deep learning-based instance segmentation networks to extract topological features like connectors, clips, branch points and overlapping points on the branched deformable linear object. The topological features originate from features that can be used for matching a stretched representation of the branched deformable linear object to its sensor representation. Our results show that the network is capable of extracting the features for different datasets with high accuracy. Furthermore, this paper evaluates the use of preliminary results in the training process to facilitate annotation by predicting the labels. For now, this paper only uses 2D images of the branched deformable linear objects. Future work will also use depth images, such that individual deformable linear object features, such as length or radius, can be extracted from the images. We anticipate the usage of wire harness automation with robotic manipulation, augmented reality support of the worker or quality control of wire harnesses.}, author = {Zürn, Manuel and Kienzlen, Annika and Klingel, Lars and Lechler, Armin and Verl, Alexander and Ren, Shiyi and Xu, Weiliang}, booktitle = {2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)}, doi = {10.1109/CASE56687.2023.10260646}, issn = {2161-8089}, month = {08}, pages = {1-6}, title = {Deep Learning-Based Instance Segmentation for Feature Extraction of Branched Deformable Linear Objects for Robotic Manipulation}, year = 2023 }
16. Oechsle, Stefan ; Walker, Moritz ; Fischer, Marc ; Frick, Florian ; Lechler, Armin ; Verl, Alexander: Real-Time Capable Architecture for Software-Defined Manufacturing. In: 2036, A. (Hrsg.) ; 2036, A. (Hrsg.): . Bd. Advances in Automotive Production Technology – Towards Software-Defined Manufacturing and Resilient Supply Chains : Springer, 2023 — ISBN 978-3-031-27932-4, S. 3–13
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  BibTeX
  @inbook{inbook, author = {Oechsle, Stefan and Walker, Moritz and Fischer, Marc and Frick, Florian and Lechler, Armin and Verl, Alexander}, doi = {10.1007/978-3-031-27933-1_1}, editor = {2036, Arena}, isbn = {978-3-031-27932-4}, month = {06}, pages = {3-13}, publisher = {Springer}, title = {Real-Time Capable Architecture for Software-Defined Manufacturing}, url = {https://doi.org/10.1007/978-3-031-27933-1_1}, volume = {Advances in Automotive Production Technology – Towards Software-Defined Manufacturing and Resilient Supply Chains}, year = 2023 }
  Link
  https://doi.org/10.1007/978-3-031-27933-1_1
17. von Arnim, Christian ; Walker, Moritz ; Lechler, Armin ; Riedel, Oliver ; Verl, Alexander: Isolating Shared Resources for Time-Triggered Networking of Containerized Applications. In: 2023 29th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), 2023 29th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), 2023, S. 1–6
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  @inproceedings{10413388, author = {von Arnim, Christian and Walker, Moritz and Lechler, Armin and Riedel, Oliver and Verl, Alexander}, booktitle = {2023 29th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)}, doi = {10.1109/M2VIP58386.2023.10413388}, pages = {1-6}, title = {Isolating Shared Resources for Time-Triggered Networking of Containerized Applications}, url = {http://dx.doi.org/10.1109/M2VIP58386.2023.10413388}, year = 2023 }
  Link
  http://dx.doi.org/10.1109/M2VIP58386.2023.10413388
18. Xu, Haijia ; Hinze, Christoph ; Lechler, Armin ; Verl, Alexander: Robust µ parameterization with low tuning complexity of cascaded control for feed drives. In: Control Engineering Practice, Control Engineering Practice. Bd. 138, Elsevier BV (2023), S. 105607
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  @article{Xu_2023, author = {Xu, Haijia and Hinze, Christoph and Lechler, Armin and Verl, Alexander}, doi = {10.1016/j.conengprac.2023.105607}, journal = {Control Engineering Practice}, month = {09}, pages = 105607, publisher = {Elsevier {BV}}, title = {Robust µ parameterization with low tuning complexity of cascaded control for feed drives}, url = {https://doi.org/10.1016%2Fj.conengprac.2023.105607}, volume = 138, year = 2023 }
  Link
  https://doi.org/10.1016%2Fj.conengprac.2023.105607
19. Walker, Moritz ; Fischer, Marc ; Lechler, Armin ; Verl, Alexander: Evaluation of Isolation and Communication Mechanisms for Real-Time Containers. In: 2023 IEEE 32nd International Symposium on Industrial Electronics (ISIE), 2023 IEEE 32nd International Symposium on Industrial Electronics (ISIE), 2023, S. 1–8
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  BibTeX
  @inproceedings{10228012, author = {Walker, Moritz and Fischer, Marc and Lechler, Armin and Verl, Alexander}, booktitle = {2023 IEEE 32nd International Symposium on Industrial Electronics (ISIE)}, doi = {10.1109/ISIE51358.2023.10228012}, pages = {1-8}, title = {Evaluation of Isolation and Communication Mechanisms for Real-Time Containers}, url = {http://dx.doi.org/10.1109/ISIE51358.2023.10228012}, year = 2023 }
  Link
  http://dx.doi.org/10.1109/ISIE51358.2023.10228012
20. Fur, Shan ; Ajdinovic, Samed ; Lechler, Armin ; Verl, Alexander: Towards an Implementation of Simulation Based Digital Twins in Cyber-Physical Production Systems Environments. In: 2023 IEEE 28th International Conference on Emerging Technologies and Factory Automation (ETFA), 2023 IEEE 28th International Conference on Emerging Technologies and Factory Automation (ETFA), 2023, S. 1–4
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  @inproceedings{10275580, abstract = {The increasing digitization of the manufacturing industry offers a wide range of opportunities for the effective use of production data, which can lead to significant time and cost savings. One promising approach is the use of synchronous simulations during the actual operation of cyber-physical production systems (CPPS) to provide valuable insights into possible performance improvements and at the same time reduce the risk of costly downtime. This paper presents a novel concept that enables structured storage of CPPS production data as part of a digital twin that serves as a virtual replica of the physical production environment. In particular, this approach is based on the Asset Administration Shell (AAS), which provides a comprehensive framework for the management of production data and allows for a seamless integration with simulation models. Storing production data in a structured and standardized format can make data queries efficient, facilitate data processing, and provide a solid foundation for simulation model development, calibration, and validation. These simulation models can then be used to identify potential process improvements and test different scenarios, minimizing the risk of disruption to actual production.}, author = {Fur, Shan and Ajdinovic, Samed and Lechler, Armin and Verl, Alexander}, booktitle = {2023 IEEE 28th International Conference on Emerging Technologies and Factory Automation (ETFA)}, doi = {10.1109/ETFA54631.2023.10275580}, issn = {1946-0759}, month = {09}, pages = {1-4}, title = {Towards an Implementation of Simulation Based Digital Twins in Cyber-Physical Production Systems Environments}, year = 2023 }
21. Frick, Florian ; Weiss, Manuel ; Lechler, Armin ; Verl, Alexander: Software-Defined Control Cabinet - Reprogramming Instead of Replacing. In: Bauernhansl, T. ; Verl, A. ; Liewald, M. ; Möhring, H.-C. (Hrsg.) ; Bauernhansl, T. ; Verl, A. ; Liewald, M. ; Möhring, H.-C. (Hrsg.): Production at the Leading Edge of Technology, Production at the Leading Edge of Technology. Cham : Springer Nature Switzerland, 2023 — ISBN 978-3-031-47394-4, S. 438–447
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  @inproceedings{frick2024softwaredefined, address = {Cham}, author = {Frick, Florian and Weiss, Manuel and Lechler, Armin and Verl, Alexander}, booktitle = {Production at the Leading Edge of Technology}, doi = {10.1007/978-3-031-47394-4_43}, editor = {Bauernhansl, Thomas and Verl, Alexander and Liewald, Mathias and Möhring, Hans-Christian}, isbn = {978-3-031-47394-4}, pages = {438-447}, publisher = {Springer Nature Switzerland}, title = {Software-Defined Control Cabinet - Reprogramming Instead of Replacing}, url = {https://doi.org/10.1007/978-3-031-47394-4_43}, year = 2023 }
  Link
  https://doi.org/10.1007/978-3-031-47394-4_43
22. Helfesrieder, Nico ; Neubauer, Michael ; Lechler, Armin ; Verl, Alexander: Anisotropic Damping and Stiffness of laminated steel parts using adhesive bonding – an empirical influence study. In: Procedia CIRP, Procedia CIRP. Bd. 120 : Elsevier BV, 2023, S. 428–433
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  @inproceedings{Helfesrieder_2023, abstract = {Layered part manufacturing enables part topology to be optimized internally by structuring individual layers separately, which is especially promising for large machine parts. However, the resulting part properties as a function of the selected manufacturing parameters are largely unexplored. Therefore, this paper investigates the impacts of the slicing direction, the sheet thickness as well as the adhesive on anisotropic damping and stiffness values of adhesively bonded steel parts. A cantilever beam of symmetric cross-section is chosen as an easy-to-manufacture geometry. Three redundant specimens were prepared for each of six parameter variations investigated within this study, resulting in a total of 18 investigated beams. The results indicate highly anisotropic stiffness and damping as a function of the layer build-up direction and it was found that the modal damping rises with increasing amount of adhesive. These findings must be taken into account for future applications of layered lightweight machine parts and their simulative predictability should be studied.}, author = {Helfesrieder, Nico and Neubauer, Michael and Lechler, Armin and Verl, Alexander}, doi = {10.1016/j.procir.2023.09.014}, issn = {2212-8271}, journal = {Procedia CIRP}, pages = {428–433}, publisher = {Elsevier BV}, title = {Anisotropic Damping and Stiffness of laminated steel parts using adhesive bonding – an empirical influence study}, url = {http://dx.doi.org/10.1016/j.procir.2023.09.014}, volume = 120, year = 2023 }
  Link
  http://dx.doi.org/10.1016/j.procir.2023.09.014
23. Walker, Moritz ; Tasci, Timur ; Lechler, Armin ; Verl, Alexander: Analysis of Real-Time Execution Models for Container-Based Control Applications. In: . Bd. Advances in Automotive Production Technology – Towards Software-Defined Manufacturing and Resilient Supply Chains : Springer, 2023 — ISBN 978-3-031-27932-4, S. 14–24
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  BibTeX
  @inbook{inbook, author = {Walker, Moritz and Tasci, Timur and Lechler, Armin and Verl, Alexander}, doi = {10.1007/978-3-031-27933-1_2}, isbn = {978-3-031-27932-4}, month = {06}, pages = {14-24}, publisher = {Springer}, title = {Analysis of Real-Time Execution Models for Container-Based Control Applications}, url = {https://link.springer.com/chapter/10.1007/978-3-031-27933-1_2}, volume = { Advances in Automotive Production Technology – Towards Software-Defined Manufacturing and Resilient Supply Chains}, year = 2023 }
  Link
  https://link.springer.com/chapter/10.1007/978-3-031-27933-1_2
24. Bux, Tobias ; Riedel, Oliver ; Lechler, Armin: Blockchain Based Approach on Gathering Manufacturing Information Focused on Data Integrity. In: Lecture Notes in Production Engineering, Lecture Notes in Production Engineering. Cham : Springer International Publishing, 2023 — ISBN 9783031183171, S. 473--483
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  BibTeX
  @inbook{bux2023blockchain, address = {Cham}, author = {Bux, Tobias and Riedel, Oliver and Lechler, Armin}, booktitle = {Lecture Notes in Production Engineering}, doi = {10.1007/978-3-031-18318-8_48}, isbn = {9783031183171}, pages = {473--483}, publisher = {Springer International Publishing}, title = {Blockchain Based Approach on Gathering Manufacturing Information Focused on Data Integrity}, year = 2023 }
25. Neubauer, Michael ; Steinle, Lukas ; Reiff, Colin ; Ajdinovic, Samed ; Klingel, Lars ; Lechler, Armin ; Verl, Alexander: Architecture for Manufacturing-X: Bringing Asset Administration Shell, Eclipse Dataspace Connector and OPC UA together. In: Manufacturing Letters, Manufacturing Letters. Bd. 37, Elsevier (2023), S. 1–6
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  BibTeX
  @article{Neubauer_2023, abstract = {Manufacturing-X represents the idea of a decentralized data economy. The aim is to increase sustainability, competitiveness and resilience by digitizing supply chains. Technically, this requires three technologies. First, a standardized data model to ensure interoperability across company boundaries. Second, a solution to realize sovereign inter-organizational data exchange. And thirdly, a component for the company’s internal data communication. Asset Administration Shell (AAS), Eclipse Dataspace Connector (EDSC) and Open Platform Communication Unified Architecture (OPC UA) are suitable solutions. This paper introduces an appropriate architecture to combine these technologies in an industrial production environment and discusses existing challenges, limitations and future potentials.}, author = {Neubauer, Michael and Steinle, Lukas and Reiff, Colin and Ajdinovic, Samed and Klingel, Lars and Lechler, Armin and Verl, Alexander}, doi = {10.1016/j.mfglet.2023.05.002}, journal = {Manufacturing Letters}, month = {06}, pages = {1-6}, publisher = {Elsevier}, title = {Architecture for Manufacturing-X: Bringing Asset Administration Shell, Eclipse Dataspace Connector and OPC UA together}, url = {https://doi.org/10.1016%2Fj.mfglet.2023.05.002}, volume = 37, year = 2023 }
  Link
  https://doi.org/10.1016%2Fj.mfglet.2023.05.002
26. Helfesrieder, Nico ; Lechler, Armin ; Verl, Alexander: Leichtbau durch schichtweise LLM-Fertigung – zur Anisotropie der Bauteileigenschaften. In: Konstruktion, Konstruktion. Bd. 75, VDI Fachmedien GmbH and Co. KG (2023), Nr. 09, S. 42--44
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  @article{2023, author = {Helfesrieder, Nico and Lechler, Armin and Verl, Alexander}, doi = {10.37544/0720-5953-2023-09-42}, journal = {Konstruktion}, number = 09, pages = {42--44}, publisher = {{VDI} Fachmedien {GmbH} and Co. {KG}}, title = {Leichtbau durch schichtweise {LLM}-Fertigung {\textendash} zur Anisotropie der Bauteileigenschaften}, url = {https://doi.org/10.37544%2F0720-5953-2023-09-42}, volume = 75, year = 2023 }
  Link
  https://doi.org/10.37544%2F0720-5953-2023-09-42
27. Fischer, Marc ; Klingel, Lars ; Lechler, Armin ; Verl, Alexander ; Neubauer, Michael: Dynamic Safety Distance Determination for Human Robot Coexistence in Industrial Applications. In: Advances in Automotive Production Technology – Towards Software-Defined Manufacturing and Resilient Supply Chains, Advances in Automotive Production Technology – Towards Software-Defined Manufacturing and Resilient Supply Chains. (2023), S. 35–45
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  @article{fischer2023dynamic, abstract = {The coexistence of humans and robots in manufacturing requires safety. Typically, safety functionalities for coexistence are based on speed and separation monitoring according to EN ISO 10218. Thereby, a robot should reduce speed or stop completely when an obstacle is too close to avoid collisions. Nowadays, despite this standard, speed and separation monitoring are still realized with static worst-case safety assumptions about the kinematics of humans and robots. Over the years, different static techniques have evolved in the industrial environment like fences, light fences, or camera-based systems where critical zones can be configured. The latter is admittedly more flexible in the configuration but still static during the run-time of the manufacturing system. The static worst-case assumptions result in large unnecessary distances between humans and robots, which leads to inefficient use of space. Therefore, factories are larger than they need to be, which leads to higher costs. This work aims to enhance the use of space in human-robot coexistence applications to make factory layouts more efficient. Therefore, a dynamic minimum distance calculation based on the DIN ISO 15066 with the kinematic information of the coexisting human and industrial robots is provided. It is shown in a simulation that this approach of a dynamic safety distance calculation leads to a reduction of the required space.}, author = {Fischer, Marc and Klingel, Lars and Lechler, Armin and Verl, Alexander and Neubauer, Michael}, doi = {10.1007/978-3-031-27933-1_4}, journal = {Advances in Automotive Production Technology – Towards Software-Defined Manufacturing and Resilient Supply Chains}, pages = {35-45}, title = {Dynamic Safety Distance Determination for Human Robot Coexistence in Industrial Applications}, year = 2023 }
28. Kamm, Valentin ; Mesmer, Patrick ; Lechler, Armin ; Verl, Alexander: Prozessmodellierung für das Rührreibschweißen/Process modeling of friction stir welding – Semi-analytical process model of robotic friction stir welding. In: wt Werkstattstechnik online, wt Werkstattstechnik online. Bd. 113, VDI Fachmedien GmbH and Co. KG (2023), Nr. 05, S. 183–188
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  BibTeX
  @article{Kamm_2023, author = {Kamm, Valentin and Mesmer, Patrick and Lechler, Armin and Verl, Alexander}, doi = {10.37544/1436-4980-2023-05-5}, issn = {1436-4980}, journal = {wt Werkstattstechnik online}, number = 05, pages = {183–188}, publisher = {VDI Fachmedien GmbH and Co. KG}, title = {Prozessmodellierung für das Rührreibschweißen/Process modeling of friction stir welding – Semi-analytical process model of robotic friction stir welding}, url = {http://dx.doi.org/10.37544/1436-4980-2023-05-5}, volume = 113, year = 2023 }
  Link
  http://dx.doi.org/10.37544/1436-4980-2023-05-5
29. Walker, Moritz ; von Arnim, Christian ; Neubauer, Michael ; Lechler, Armin ; Riedel, Oliver ; Verl, Alexander: Reflection-based Prototyping Framework for OPC UA Servers for Companion Specifications. In: 2023 IEEE International Conference on Industrial Technology (ICIT), 2023 IEEE International Conference on Industrial Technology (ICIT), 2023, S. 1–6
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  BibTeX
  @inproceedings{10143130, author = {Walker, Moritz and von Arnim, Christian and Neubauer, Michael and Lechler, Armin and Riedel, Oliver and Verl, Alexander}, booktitle = {2023 IEEE International Conference on Industrial Technology (ICIT)}, doi = {10.1109/ICIT58465.2023.10143130}, pages = {1-6}, title = {Reflection-based Prototyping Framework for OPC UA Servers for Companion Specifications}, url = {https://doi.org/10.1109/ICIT58465.2023.10143130}, year = 2023 }
  Link
  https://doi.org/10.1109/ICIT58465.2023.10143130
2022
1. Mesmer, Patrick ; Riedel, Patrick ; Lechler, Armin ; Verl, Alexander: Investigation and Compensation of Hysteresis in Robot Joints with Cycloidal Drives. In: Schüppstuhl, T. ; Tracht, K. ; Fleischer, J. (Hrsg.) ; Schüppstuhl, T. ; Tracht, K. ; Fleischer, J. (Hrsg.): Annals of Scientific Society for Assembly, Handling and Industrial Robotics, Annals of Scientific Society for Assembly, Handling and Industrial Robotics. Berlin, Heidelberg : Springer Berlin Heidelberg, 2022, S. angenommen, noch nicht veröffentlicht
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  @inproceedings{mesmer2023investigation, address = {Berlin, Heidelberg}, author = {Mesmer, Patrick and Riedel, Patrick and Lechler, Armin and Verl, Alexander}, booktitle = {Annals of Scientific Society for Assembly, Handling and Industrial Robotics}, editor = {Sch{\"u}ppstuhl, Thorsten and Tracht, Kirsten and Fleischer, J{\"u}rgen}, pages = {angenommen, noch nicht veröffentlicht}, publisher = {Springer Berlin Heidelberg}, title = {Investigation and Compensation of Hysteresis in Robot Joints with Cycloidal Drives}, year = 2022 }
2. Heinemann, Tonja ; Gihr, Marwin ; Riedel, Oliver ; Lechler, Armin: Towards Data-driven Production: Analysis of Data Models Describing Machinery Jobs in OPC UA. In: Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics, Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics : SCITEPRESS - Science and Technology Publications, 2022
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  BibTeX
  @inproceedings{Heinemann_2022, author = {Heinemann, Tonja and Gihr, Marwin and Riedel, Oliver and Lechler, Armin}, booktitle = {Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics}, doi = {10.5220/0011142900003271}, publisher = {{SCITEPRESS} - Science and Technology Publications}, title = {Towards Data-driven Production: Analysis of Data Models Describing Machinery Jobs in {OPC} {UA}}, url = {https://doi.org/10.5220%2F0011142900003271}, year = 2022 }
  Link
  https://doi.org/10.5220%2F0011142900003271
3. Schütz, Andreas ; Lechler, Armin ; Verl, Alexander: Modelling for Control of Vacuum Grippers in automatically reconfigurable Fixturing Systems for thin-walled Workpieces. In: Procedia CIRP, Procedia CIRP. Bd. 115 (2022), S. 226–231
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  @article{noauthororeditor, author = {Schütz, Andreas and Lechler, Armin and Verl, Alexander}, doi = {10.1016/j.procir.2022.10.078}, journal = {Procedia CIRP}, pages = {226-231}, title = {Modelling for Control of Vacuum Grippers in automatically reconfigurable Fixturing Systems for thin-walled Workpieces}, url = {https://www.sciencedirect.com/science/article/pii/S221282712201513X}, volume = 115, year = 2022 }
  Link
  https://www.sciencedirect.com/science/article/pii/S221282712201513X
4. Jud, Oliver ; Lechler, Armin ; Verl, Alexander: Vorspannung adaptiv nachstellen. In: konstruktionspraxis, konstruktionspraxis., Vogel Communications Group GmbH & Co. KG (2022) (2022), Nr. 08, S. 32–33
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  @article{jud2022vorspannung, author = {Jud, Oliver and Lechler, Armin and Verl, Alexander}, journal = {konstruktionspraxis}, month = {08}, number = 08, pages = {32-33}, publisher = {Vogel Communications Group GmbH & Co. KG (2022)}, title = {Vorspannung adaptiv nachstellen}, url = {https://www.konstruktionspraxis.vogel.de/epaperarchiv/konstruktionspraxis_2022008/html5/index.html?pn=33}, year = 2022 }
  Link
  https://www.konstruktionspraxis.vogel.de/epaperarchiv/konstruktionspraxis_2022008/html5/index.html?pn=33
5. Mesmer, Patrick ; Nagel, Patrick ; Lechler, Armin ; Verl, Alexander: Modeling and Identification of Hysteresis in Robot Joints with Cycloidal Drives. In: 2022 IEEE 17th International Conference on Advanced Motion Control (AMC), 2022 IEEE 17th International Conference on Advanced Motion Control (AMC), 2022, S. 358–363
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  @inproceedings{9729274, abstract = {Cycloidal drives (CDs) are precision transmissions that are often installed in the joints of industrial robots (IRs) with high payloads. It is well known that the hysteresis behavior of the CDs has a significant influence on the dynamic path accuracy of IRs. In contrast to harmonic drives (HDs), which are commonly used in lightweight robots, less literature has been published on the dynamic behavior of robot joints with CDs. Thus, this paper investigates the hysteresis behavior of robot joints with CDs. For the representation of the hysteresis behavior, a nonlinear auto-regressive with exogenous inputs (NARX) model is proposed and compared to a Bouc-Wen model. Both, the data-driven NARX and the Bouc-Wen model are investigated experimentally in terms of their capability for representing the hysteresis behavior of CDs. The quality of the models is validated using a laboratory setup that mimics the drivetrain of a robot joint of the high payload class.}, author = {Mesmer, Patrick and Nagel, Patrick and Lechler, Armin and Verl, Alexander}, booktitle = {2022 IEEE 17th International Conference on Advanced Motion Control (AMC)}, doi = {10.1109/AMC51637.2022.9729274}, issn = {1943-6580}, month = {02}, pages = {358-363}, title = {Modeling and Identification of Hysteresis in Robot Joints with Cycloidal Drives}, year = 2022 }
6. Schulte, Alexander ; Lechler, Armin ; Verl, Alexander: Impact Actuator for Increased Dynamics. In: IECON 2022 – 48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022 – 48th Annual Conference of the IEEE Industrial Electronics Society, 2022, S. 1–6
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  @inproceedings{9968593, abstract = {This article investigates the use of impuls transfer during mechanical impacts for the acceleration of feed axes. For this purpose, additional masses are attached to linear axes and moved by an actuator. Very high accelerations can be obtained by impacts with a defined velocity on contact surfaces. Thus, almost abrupt velocity changes can be achieved on the main drives. To enable driving through corners with constant path velocity, the concept consists of a cross table with two axis equiped with an impact actuator each. Investigations are carried out by using a reference contour and the results are compared with existing strategies for adjusting the corners.}, author = {Schulte, Alexander and Lechler, Armin and Verl, Alexander}, booktitle = {IECON 2022 – 48th Annual Conference of the IEEE Industrial Electronics Society}, doi = {10.1109/IECON49645.2022.9968593}, issn = {2577-1647}, month = {10}, pages = {1-6}, title = {Impact Actuator for Increased Dynamics}, year = 2022 }
7. Neubauer, Michael ; Frick, Florian ; Ellwein, Carsten ; Lechler, Armin ; Verl, Alexander: Software-defined Manufacturing - Ein Paradigmenwechsel für die industrielle Produktion. In: wt Werkstatttechnik online, wt Werkstatttechnik online. Bd. 112 (2022), Nr. 6, S. 383–389
  - BibTeX
  BibTeX
  @article{neubauer2022softwaredefined, abstract = {Software-defined manufacturing (SDM) überträgt den Ansatz der Trennung von Anwendungen und unterlagerten Systemen, welcher ein entscheidendes Paradigma und Erfolgsfaktor für die Digitalisierung in vielen Branchen ist, auf die industrielle Produktion. Neben einer gesteigerten Integration von IT und OT können so die Produktionsprozesse einer gesamten Fabrik dynamisch durch Software anpasst werden. Ziel dieses Beitrags ist es, den SDM-Ansatz und die zur Umsetzung notwendigen Konzepte hinsichtlich technologischer Infrastruktur und Abstraktionsschicht vorzustellen. Anhand von zwei Use Cases werden die sich daraus ergebenden Potenziale aufgezeigt.}, author = {Neubauer, Michael and Frick, Florian and Ellwein, Carsten and Lechler, Armin and Verl, Alexander}, doi = {10.37544/1436–4980–2022–6–33}, journal = {wt Werkstatttechnik online}, month = {06}, number = 6, pages = {383-389}, title = {Software-defined Manufacturing - Ein Paradigmenwechsel für die industrielle Produktion}, volume = 112, year = 2022 }
8. Jud, Oliver ; Helfesrieder, Nico ; Lechler, Armin ; Verl, Alexander: Vorspannungsnachstellung an Kugelgewindetrieben/Preload adjustment on ball screws – Methods for increasing service life due to automatic adjustment of preload force. In: wt Werkstattstechnik online, wt Werkstattstechnik online. Bd. 112, VDI Fachmedien GmbH and Co. KG (2022), Nr. 05, S. 282--287
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  BibTeX
  @article{Jud_2022, author = {Jud, Oliver and Helfesrieder, Nico and Lechler, Armin and Verl, Alexander}, doi = {10.37544/1436-4980-2022-05-12}, journal = {wt Werkstattstechnik online}, month = {05}, number = 05, pages = {282--287}, publisher = {{VDI} Fachmedien {GmbH} and Co. {KG}}, title = {Vorspannungsnachstellung an Kugelgewindetrieben/Preload adjustment on ball screws {\textendash} Methods for increasing service life due to automatic adjustment of preload force}, url = {https://doi.org/10.37544%2F1436-4980-2022-05-12}, volume = 112, year = 2022 }
  Link
  https://doi.org/10.37544%2F1436-4980-2022-05-12
9. Schmucker, Benedikt ; Trautwein, Felix ; Hartl, Roman ; Lechler, Armin ; Zaeh, Michael F. ; Verl, Alexander: Online Parameterization of a Milling Force Model using an Intelligent System Architecture and Bayesian Optimization. In: Procedia CIRP, Procedia CIRP. Bd. 107, Elsevier BV (2022), S. 1041--1046
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  BibTeX
  @article{Schmucker_2022, author = {Schmucker, Benedikt and Trautwein, Felix and Hartl, Roman and Lechler, Armin and Zaeh, Michael F. and Verl, Alexander}, doi = {10.1016/j.procir.2022.05.105}, journal = {Procedia {CIRP}}, pages = {1041--1046}, publisher = {Elsevier {BV}}, title = {Online Parameterization of a Milling Force Model using an Intelligent System Architecture and Bayesian Optimization}, url = {https://doi.org/10.1016%2Fj.procir.2022.05.105}, volume = 107, year = 2022 }
  Link
  https://doi.org/10.1016%2Fj.procir.2022.05.105
10. Mesmer, Patrick ; Neubauer, Michael ; Lechler, Armin ; Verl, Alexander: Robust design of independent joint control of industrial robots with secondary encoders. In: Robotics and Computer-Integrated Manufacturing, Robotics and Computer-Integrated Manufacturing. Bd. 73, Elsevier BV (2022), S. 102232
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  BibTeX
  @article{Mesmer_2022, author = {Mesmer, Patrick and Neubauer, Michael and Lechler, Armin and Verl, Alexander}, doi = {10.1016/j.rcim.2021.102232}, journal = {Robotics and Computer-Integrated Manufacturing}, month = {02}, pages = 102232, publisher = {Elsevier {BV}}, title = {Robust design of independent joint control of industrial robots with secondary encoders}, url = {https://doi.org/10.1016%2Fj.rcim.2021.102232}, volume = 73, year = 2022 }
  Link
  https://doi.org/10.1016%2Fj.rcim.2021.102232
11. Mesmer, Patrick ; Lechler, Armin ; Verl, Alexander: Genauigkeit von Robotern steigern. In: INDUSTRIAL Production, INDUSTRIAL Production. Bd. 11/2022 (2022), S. 46–47
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  BibTeX
  @article{mesmer2022genauigkeit, author = {Mesmer, Patrick and Lechler, Armin and Verl, Alexander}, journal = {INDUSTRIAL Production}, pages = {46-47}, title = {Genauigkeit von Robotern steigern}, volume = {11/2022}, year = 2022 }
12. Dietrich, David ; Neubauer, Michael ; Lechler, Armin ; Verl, Alexander: Fehlerfreie Produktion durch flexibilisierte Prozesse/Error-free production through flexible manufacturing processes – Change of planning and error compensation in software-defined manufacturing. In: wt Werkstattstechnik online, wt Werkstattstechnik online. Bd. 112, VDI Fachmedien GmbH and Co. KG (2022), Nr. 05, S. 276--281
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  @article{Dietrich_2022, author = {Dietrich, David and Neubauer, Michael and Lechler, Armin and Verl, Alexander}, doi = {10.37544/1436-4980-2022-05-6}, journal = {wt Werkstattstechnik online}, number = 05, pages = {276--281}, publisher = {VDI Fachmedien GmbH and Co. KG}, title = {Fehlerfreie Produktion durch flexibilisierte Prozesse/Error-free production through flexible manufacturing processes {\textendash} Change of planning and error compensation in software-defined manufacturing}, url = {https://doi.org/10.37544%2F1436-4980-2022-05-6}, volume = 112, year = 2022 }
  Link
  https://doi.org/10.37544%2F1436-4980-2022-05-6
13. Heinemann, Tonja ; Friedl, Sebastian ; Lechler, Armin: OPC-UA-Domänenmodelle heute und morgen. In: WT Werkstattstechnik online, WT Werkstattstechnik online. VDI-Platz 1, D-40468 Düsseldorf : VDI Fachmedien GmbH & Co. KG, 2022, S. 320–325
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  @incollection{heinemann2022opc, address = {VDI-Platz 1, D-40468 Düsseldorf}, author = {Heinemann, Tonja and Friedl, Sebastian and Lechler, Armin}, booktitle = {WT Werkstattstechnik online}, number = {Ausgabe 5-2022}, pages = {320-325}, publisher = {VDI Fachmedien GmbH & Co. KG}, title = {OPC-UA-Domänenmodelle heute und morgen}, year = 2022 }
14. Elser, Anja ; Lechler, Armin ; Verl, Alexander: Implementation of Surface Interpolators for Compound Surfaces without C2-continuity. In: Procedia CIRP, Procedia CIRP. Bd. 109 : Elsevier BV, 2022, S. 19--24
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  @inproceedings{Elser_2022, author = {Elser, Anja and Lechler, Armin and Verl, Alexander}, doi = {10.1016/j.procir.2022.05.208}, journal = {Procedia {CIRP}}, pages = {19--24}, publisher = {Elsevier {BV}}, title = {Implementation of Surface Interpolators for Compound Surfaces without C2-continuity}, url = {https://doi.org/10.1016%2Fj.procir.2022.05.208}, volume = 109, year = 2022 }
  Link
  https://doi.org/10.1016%2Fj.procir.2022.05.208
15. Neher, Philipp ; Lechler, Armin ; Verl, Alexander: Experimental Evaluation of the Deterministic Wireless Communication System Industrial LTE. In: 2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE), 2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE) : Institute of Electrical and Electronics Engineers Inc., 2022 — ISBN 9781665483773, S. 157–162
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  @inproceedings{9734108, abstract = {The demand for highly customized products will be met in the future by smart and flexible factories. Future factories will rise to this challenge by employing stationary and mobile Cyber Physical Systems (CPS) which need to exchange various information. With mobile systems, this should be done wirelessly. This paper evaluates a previously proposed concept for a deterministic wireless communication system based on LTE. The concept combines LTE for data transmission with GPS for time synchronization and a time-based control scheme to enable a deterministic exchange of control information. To conduct experimental evaluation, an implementation of the concept is necessary. A prototypical implementation using off-the-shelf hardware and custom software is presented. Using two exemplary test cases, the concept and implementation are evaluated with regard to the overall system latency and the quality of the time synchronization of the internal clocks. The level of synchronicity of coordinated output values after transmitting the corresponding set-point values over the communication system is evaluated in another exemplary test case using a total of three communication end devices. With a measured maximum offset of 814 &#x00B5;s between the synchronized output of two receivers, the concept and implementation stand validated and deemed feasible.}, author = {Neher, Philipp and Lechler, Armin and Verl, Alexander}, booktitle = {2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE)}, doi = {10.1109/ICMRE54455.2022.9734108}, eventdate = {10.02.2022-12.02.2022}, isbn = {9781665483773}, language = {English}, month = {02}, pages = {157-162}, publisher = {Institute of Electrical and Electronics Engineers Inc.}, title = {Experimental Evaluation of the Deterministic Wireless Communication System Industrial LTE}, url = {http://icmre.org/}, venue = {Virtual, Munich, Germany}, year = 2022 }
  Link
  http://icmre.org/
16. Zürn, Manuel ; Wnuk, Markus ; Lechler, Armin ; Verl, Alexander: Software Architecture For Deformable Linear Object Manipulation: A Shape Manipulation Case Study. In: 2022 IEEE/ACM 4th International Workshop on Robotics Software Engineering (RoSE), 2022 IEEE/ACM 4th International Workshop on Robotics Software Engineering (RoSE), 2022, S. 9–16
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  @inproceedings{9814824, author = {Zürn, Manuel and Wnuk, Markus and Lechler, Armin and Verl, Alexander}, booktitle = {2022 IEEE/ACM 4th International Workshop on Robotics Software Engineering (RoSE)}, doi = {10.1145/3526071.3527520}, pages = {9-16}, title = {Software Architecture For Deformable Linear Object Manipulation: A Shape Manipulation Case Study}, year = 2022 }
17. Mesmer, Patrick ; Hinze, Christoph ; Lechler, Armin ; Verl, Alexander: Gain-Scheduled Drive-based Damping Control for Industrial Robots. In: 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2022, S. 1706–1713
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  @inproceedings{9863417, abstract = {The drivetrain flexibility of industrial robots limits their accuracy. To open up new areas of application for industrial robots, an increased dynamic path accuracy has to be obtained. Therefore, this paper addresses this issue by a gain-scheduled drive-based damping control for industrial robots with secondary encoders. For this purpose, a linear parameter-varying (LPV) model is derived as well as a system identification method is presented. Based on this, a gain-scheduled drive-based LPV damping control design is proposed, which guarantees stability and performance under variation of the manipulator configuration. The control performance of the approach is experimentally validated for the three base joints of a KUKA KR210-2 industrial robot. The approach realizes a trade-off between ease of implementation and control performance as well as robustness.}, author = {Mesmer, Patrick and Hinze, Christoph and Lechler, Armin and Verl, Alexander}, booktitle = {2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)}, doi = {10.1109/AIM52237.2022.9863417}, issn = {2159-6255}, month = {07}, pages = {1706-1713}, title = {Gain-Scheduled Drive-based Damping Control for Industrial Robots}, year = 2022 }
18. Elser, Anja ; Teicht, Steffen ; Lechler, Armin: Modellbasierte numerische Steuerung: Entwicklung und Implementierung einer Steuerungsarchitektur für das Schwerkraftgießen. In: WT WERKSTATTSTECHNIK, WT WERKSTATTSTECHNIK. Bd. 110 : VDI Verlag, 2022, S. 6
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  BibTeX
  @incollection{elser2022modellbasierte, author = {Elser, Anja and Teicht, Steffen and Lechler, Armin}, booktitle = {WT WERKSTATTSTECHNIK }, doi = {https://doi.org/10.37544/1436-4980-2020-05}, month = {05}, number = 5, pages = 6, publisher = {VDI Verlag}, title = {Modellbasierte numerische Steuerung: Entwicklung und Implementierung einer Steuerungsarchitektur für das Schwerkraftgießen}, volume = 110, year = 2022 }
19. Neher, Philipp ; Lechler, Armin ; Verl, Alexander: Identification and Classification of the Communication Data of Automated Guided Vehicles and Autonomous Mobile Robots. In: 2022 8th International Conference on Automation, Robotics and Applications (ICARA), 2022 8th International Conference on Automation, Robotics and Applications (ICARA) : Institute of Electrical and Electronics Engineers Inc., 2022 — ISBN 9781665483834, S. 68–75
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  @inproceedings{9738572, abstract = {Automated guided vehicles and autonomous mobile robots will be a key technology in the factories of the future. They supply the necessary flexibility for smart factories which produce individualized products with lot sizes down to one. With the increased number of tasks for automated guided vehicles, the requirements for their wireless communication systems become more demanding and current solutions won&#x2019;t be sufficient anymore. To efficiently develop, configure and setup communication systems, the knowledge about what type of information is communicated and what are the characteristics of the information communicated is necessary. This work identifies most relevant types of information in an automated guided vehicle system based on a set of use-cases. For each identified information type, an estimate for the communication properties (payload size, cycle-time and latency) is given. The information types are then classified into traffic types for further use to design a wireless communication system.}, author = {Neher, Philipp and Lechler, Armin and Verl, Alexander}, booktitle = {2022 8th International Conference on Automation, Robotics and Applications (ICARA)}, doi = {10.1109/ICARA55094.2022.9738572}, eventdate = {18.02.2022-20.02.2022}, isbn = {9781665483834}, issn = {2767-7745}, language = {en}, month = {02}, pages = {68-75}, publisher = {Institute of Electrical and Electronics Engineers Inc.}, title = {Identification and Classification of the Communication Data of Automated Guided Vehicles and Autonomous Mobile Robots}, url = {http://www.icara.us/2022.html}, venue = {Virtual, Online, Czech republic}, year = 2022 }
  Link
  http://www.icara.us/2022.html
20. Fischer, Marc ; Riedel, Oliver ; Lechler, Armin: Comprehensive Analysis of Software-Based Fault Tolerance with Arithmetic Coding for Performant Encoding of Integer Calculations. In: Trapp, M. ; Saglietti, F. ; Spisländer, M. ; Bitsch, F. (Hrsg.) ; Trapp, M. ; Saglietti, F. ; Spisländer, M. ; Bitsch, F. (Hrsg.): Computer Safety, Reliability, and Security, Computer Safety, Reliability, and Security. Cham : Springer International Publishing, 2022 — ISBN 978-3-031-14835-4, S. 144--157
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  @inproceedings{fischer2022comprehensive, abstract = {Safety-critical systems are becoming more complex with use cases like autonomous driving or human-robot collaboration. Therefore, the performance impact of software-based fault-tolerance methods is challenging. Using software-based fault tolerance is an attractive approach because commercial off-the-shelf hardware can be used. One possibility to implement software-based fault tolerance are arithmetic codes, already used in safety-critical products. Recently, AN codes have received particular attention; however, they have a significant performance impact in complex safety applications that require 64-bit wide integer calculations. Therefore, we comprehensively analyze different arithmetic codes in this work to identify the best suitable 64-bit integer support. We identify the ones' complement as the best matching encoding strategy through new code metrics, fault simulations, and performance analysis. We validate our results by applying ones' complement coding to a sample algorithm. Performance measurements and fault injection simulation confirm our results.}, address = {Cham}, author = {Fischer, Marc and Riedel, Oliver and Lechler, Armin}, booktitle = {Computer Safety, Reliability, and Security}, doi = {10.1007/978-3-031-14835-4_10}, editor = {Trapp, Mario and Saglietti, Francesca and Spisl{\"a}nder, Marc and Bitsch, Friedemann}, isbn = {978-3-031-14835-4}, pages = {144--157}, publisher = {Springer International Publishing}, title = {Comprehensive Analysis of Software-Based Fault Tolerance with Arithmetic Coding for Performant Encoding of Integer Calculations}, url = {https://link.springer.com/chapter/10.1007/978-3-031-14835-4_10}, year = 2022 }
  Link
  https://link.springer.com/chapter/10.1007/978-3-031-14835-4_10
21. Mesmer, Patrick ; Lechler, Armin ; Verl, Alexander: Sensorlose Hysteresekompensation von Industrierobotern. In: GmbH, V. F. (Hrsg.) antriebstechnik, antriebstechnik. Bd. 08/2022 (2022), S. 40–42
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  @article{mesmer2022sensorlose, author = {Mesmer, Patrick and Lechler, Armin and Verl, Alexander}, editor = {GmbH, Vereinigte Fachverlage}, journal = {antriebstechnik}, month = {08}, pages = {40-42}, title = {Sensorlose Hysteresekompensation von Industrierobotern}, volume = {08/2022}, year = 2022 }
22. Zürn, Manuel ; Wnuk, Markus ; Schneider, Anja ; Lechler, Armin ; Verl, Alexander: Localization and Tracking of Deformable Linear Objects with Self Organizing Maps. In: Proceedings of the 54th International Symposium on Robotics (ISR), Proceedings of the 54th International Symposium on Robotics (ISR), 2022, S. 17–25
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  BibTeX
  @inproceedings{zurn2022localization, author = {Zürn, Manuel and Wnuk, Markus and Schneider, Anja and Lechler, Armin and Verl, Alexander}, booktitle = {Proceedings of the 54th International Symposium on Robotics (ISR)}, pages = {17-25}, title = {Localization and Tracking of Deformable Linear Objects with Self Organizing Maps}, year = 2022 }
23. von Arnim, Christian ; Gessner, Gernot ; Jarwitz, Michael ; Lechler, Armin ; Riedel, Oliver: Updating the Linux TAPRIO Scheduler in Deterministic Time. In: 2022 IEEE 27th International Conference on Emerging Technologies and Factory Automation (ETFA), 2022 IEEE 27th International Conference on Emerging Technologies and Factory Automation (ETFA) : IEEE, 2022, S. 1–7
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  BibTeX
  @inproceedings{9921594, abstract = {In flexible production systems with distributed control systems which communicate with each other via a real time network, changes in the requirements for real time communication during operation must not lead to a temporary failure of the deterministic communication. Rather, the changes of the network configuration must become active at exactly predictable times in order to guarantee the functionality of the deterministic communication all the time. This paper shows a realization of how the configuration of a real time network schedule under Linux can be adjusted at predetermined times without interrupting the communication. For this purpose, the real time scheduler TAPRIO is integrated into the library libnl, and the performance of this extension is evaluated in a test case. It is shown that the modification of the network configuration is reliably possible in several successive communication cycles.}, author = {von Arnim, Christian and Gessner, Gernot and Jarwitz, Michael and Lechler, Armin and Riedel, Oliver}, booktitle = {2022 IEEE 27th International Conference on Emerging Technologies and Factory Automation (ETFA)}, doi = {10.1109/ETFA52439.2022.9921594}, month = {09}, pages = {1-7}, publisher = {IEEE}, title = {Updating the Linux TAPRIO Scheduler in Deterministic Time}, year = 2022 }
24. von Arnim, Christian ; Lechler, Armin ; Riedel, Oliver: Planning an updated isochronous real-time schedule for a reconfiguration without interrupting the real-time communication. In: Kommunikation in der Automation : Beiträge des Jahreskolloquiums KommA 2022, Kommunikation in der Automation : Beiträge des Jahreskolloquiums KommA 2022. Bd. 13, 2022 — ISBN 978-3-9818463-3-1, S. 18–27
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  BibTeX
  @incollection{vonarnim2022planning, author = {von Arnim, Christian and Lechler, Armin and Riedel, Oliver}, booktitle = {Kommunikation in der Automation : Beiträge des Jahreskolloquiums KommA 2022}, doi = {https://doi.org/10.25644/a4ws-9a49}, isbn = {978-3-9818463-3-1}, pages = {18-27}, title = {Planning an updated isochronous real-time schedule for a reconfiguration without interrupting the real-time communication}, url = {https://doi.org/10.25644/a4ws-9a49}, volume = 13, year = 2022 }
  Link
  https://doi.org/10.25644/a4ws-9a49
2021
1. Brenner, Felix ; Lechler, Armin ; Verl, Alexander: Acceleration-based disturbance compensation for elastic rack-and-pinion drives. In: Production Engineering - Research and Development, Production Engineering - Research and Development. (2021)
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  BibTeX
  @article{Brenner2021, abstract = {Rack-and-pinion drives are mainly used for large machine tools and are often operated with indirect position control. Due to the lack of state information on the output side, this results in reduced accuracy regarding the table position. In addition, the system can only react inadequately to disturbances outside the control loop, meaning that often insufficient results can be achieved in typical application scenarios such as milling. To meet the increasing dynamic and accuracy requirements of the modern manufacturing industry, this paper presents a highly dynamic acceleration-based disturbance compensation method. For this purpose, the table acceleration is estimated using a dynamical model of the drive train and compared to the signal from an additional acceleration sensor attached to the machine table. Based on the resulting difference, an additional compensation torque is provided, which suppresses the disturbance in counterphase. The approach is tested experimentally on an open control platform with industrial drive components and the behavior is investigated based on compliance frequency responses and externally applied milling forces. At the same time, a standardized parametrization methodology is developed and the robustness is evaluated by varying table masses. In summary, a considerable improvement of the dynamic disturbance behavior can be achieved compared to the conventional system without compensator.}, author = {Brenner, Felix and Lechler, Armin and Verl, Alexander}, day = 19, doi = {10.1007/s11740-021-01068-w}, issn = {1863-7353}, journal = {Production Engineering - Research and Development}, month = {07}, title = {Acceleration-based disturbance compensation for elastic rack-and-pinion drives}, url = {https://doi.org/10.1007/s11740-021-01068-w}, year = 2021 }
  Link
  https://doi.org/10.1007/s11740-021-01068-w
2. Schulte, Alexander ; Lechler, Armin ; Verl, Alexander: Konzeption eines zweiachsigen Impulsaktors. In: wt Werkstattstechnik online, wt Werkstattstechnik online. Bd. 111, VDI Fachmedien GmbH and Co. KG (2021), Nr. 05, S. 282–285
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  BibTeX
  @article{Schulte_2021, author = {Schulte, Alexander and Lechler, Armin and Verl, Alexander}, doi = {10.37544/1436-4980-2021-05-16}, journal = {wt Werkstattstechnik online}, number = 05, pages = {282-285}, publisher = {{VDI} Fachmedien {GmbH} and Co. {KG}}, title = {Konzeption eines zweiachsigen Impulsaktors}, url = {https://doi.org/10.37544%2F1436-4980-2021-05-16}, volume = 111, year = 2021 }
  Link
  https://doi.org/10.37544%2F1436-4980-2021-05-16
3. Reiff, Colin ; Bubeck, Wolfgang ; Krawczyk, Daniel ; Steeb, Maximilian ; Lechler, Armin ; Verl, Alexander: Learning Feedforward Control for Laser Powder Bed Fusion. In: Procedia CIRP, Procedia CIRP. Bd. 96 (2021), S. 127–132. — 8th CIRP Global Web Conference
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  @article{noauthororeditor, abstract = {Additive manufacturing is becoming increasingly important for industrial applications. Especially laser powder bed fusion processes play a decisive role. However, the technology often lacks in reliability and part quality due to complex process interactions and disturbing influences. To counteract these limitations, a flexible and high-dynamic control of relevant process parameters, taking into account the transient process conditions, is indispensable. Currently, the most process parameters are often kept constant, since the used control systems do not offer real-time capable interfaces for intervention. To enable the adjustment of parameters during the process, an open control architecture for galvanometer scanners and laser sources was developed. The architecture is based on an industrial control system in combination with a field-programmable gate array (FPGA) communicating via a real-time fieldbus. The novel control architecture is used to integrate a model-based feedforward control, adjusting the laser power, scan speed and scan strategy based on the current powder bed temperature calculated by a two-dimensional thermal model during run time. An integrated learning algorithm autonomously tunes the process parameters during the manufacturing process and determines the optimal combination of laser power, scan speed and powder bed temperature to achieve a homogeneous melt pool. On average, the standard deviation of the powder bed temperature along the scan path was reduced by 48% for the simulated test cases.}, author = {Reiff, Colin and Bubeck, Wolfgang and Krawczyk, Daniel and Steeb, Maximilian and Lechler, Armin and Verl, Alexander}, doi = {https://doi.org/10.1016/j.procir.2021.01.064}, journal = {Procedia CIRP}, note = {8th CIRP Global Web Conference}, pages = {127-132}, title = {Learning Feedforward Control for Laser Powder Bed Fusion}, url = {https://www.sciencedirect.com/science/article/pii/S2212827121000883}, volume = 96, year = 2021 }
  Link
  https://www.sciencedirect.com/science/article/pii/S2212827121000883
4. Fischer, Marc ; Riedel, Oliver ; Lechler, Armin ; Verl, Alexander: Arithmetic Coding for Floating-Point Numbers. In: 2021 IEEE Conference on Dependable and Secure Computing (DSC), 2021 IEEE Conference on Dependable and Secure Computing (DSC), 2021, S. 01–08
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  BibTeX
  @inproceedings{9346236, author = {Fischer, Marc and Riedel, Oliver and Lechler, Armin and Verl, Alexander}, booktitle = {2021 IEEE Conference on Dependable and Secure Computing (DSC)}, doi = {10.1109/DSC49826.2021.9346236}, pages = {01-08}, title = {Arithmetic Coding for Floating-Point Numbers}, url = {https://ieeexplore.ieee.org/document/9346236}, year = 2021 }
  Link
  https://ieeexplore.ieee.org/document/9346236
5. Heinemann, Tonja ; Friedl, Sebastian ; Lechler, Armin: Interoperabilität für OPC UA Spezifikationen. In: WT Werkstattstechnik online, WT Werkstattstechnik online. VDI-Platz 1, D-40468 Düsseldorf : VDI Fachmedien GmbH & Co. KG, 2021, S. 324–329
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  BibTeX
  @incollection{heinemann2021interoperabilitt, address = {VDI-Platz 1, D-40468 Düsseldorf}, author = {Heinemann, Tonja and Friedl, Sebastian and Lechler, Armin}, booktitle = {WT Werkstattstechnik online}, number = {Ausgabe 5-2021}, pages = {324-329}, publisher = {VDI Fachmedien GmbH & Co. KG}, title = {Interoperabilität für OPC UA Spezifikationen}, url = {https://www.ingenieur.de/fachmedien/wt-werkstattstechnik/ausgaben-wt-werkstattstechnik-online/inhalte-der-online-ausgabe-5-2021/}, year = 2021 }
  Link
  https://www.ingenieur.de/fachmedien/wt-werkstattstechnik/ausgaben-wt-werkstattstechnik-online/inhalte-der-online-ausgabe-5-2021/
6. Neubauer, Michael ; Mesmer, Patrick ; Lechler, Armin ; Verl, Alexander: Schwingungsdämpfung am Industrieroboter: Ein semiaktiver Ansatz zur Verbesserung des dynamischen Verhaltens. In: wt Werkstatttechnik online, wt Werkstatttechnik online. Bd. 111 (2021), Nr. 9, S. 422–427
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  BibTeX
  @article{neubauer2021schwingungsdmpfung, author = {Neubauer, Michael and Mesmer, Patrick and Lechler, Armin and Verl, Alexander}, doi = {10.37544/1436-4980-2021-09-48}, journal = {wt Werkstatttechnik online}, month = {10}, number = 9, pages = {422-427}, title = {Schwingungsdämpfung am Industrieroboter: Ein semiaktiver Ansatz zur Verbesserung des dynamischen Verhaltens}, volume = 111, year = 2021 }
7. Wnuk, Markus ; Hinze, Christoph ; Zürn, Manuel ; Pan, Qizhen ; Lechler, Armin ; Verl, Alexander: Tracking Branched Deformable Linear Objects With Structure Preserved Registration by Branch-wise Probability Modification. In: 2021 IEEE 27th International Conference on Machatronics and Machine Vision in Practice, 2021 IEEE 27th International Conference on Machatronics and Machine Vision in Practice, 2021
  - BibTeX
  BibTeX
  @inproceedings{wnuk2021tracking, author = {Wnuk, Markus and Hinze, Christoph and Zürn, Manuel and Pan, Qizhen and Lechler, Armin and Verl, Alexander}, booktitle = {2021 IEEE 27th International Conference on Machatronics and Machine Vision in Practice}, month = {11}, title = {Tracking Branched Deformable Linear Objects With Structure Preserved Registration by Branch-wise Probability Modification}, year = 2021 }
8. Wnuk, Markus ; Zürn, Manuel ; Hinze, Christoph ; Lechler, Armin ; Verl, Alexander: Simulationsbasierter Beobachter für die Handhabungbiegeschlaffer Bauteile. In: antriebstechnik, antriebstechnik. (2021), Nr. 7, S. 38–42
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  BibTeX
  @article{wnuk2021simulationsbasierter, author = {Wnuk, Markus and Zürn, Manuel and Hinze, Christoph and Lechler, Armin and Verl, Alexander}, journal = {antriebstechnik}, month = {07}, number = 7, pages = {38-42}, title = {Simulationsbasierter Beobachter für die Handhabungbiegeschlaffer Bauteile}, url = {https://digital.antriebstechnik.de/antriebstechnik-7-2021/65722079/38}, year = 2021 }
  Link
  https://digital.antriebstechnik.de/antriebstechnik-7-2021/65722079/38
9. Helfesrieder, Nico ; Lechler, Armin ; Verl, Alexander: Strukturoptimierte Maschinenkomponenten mit hoher Dämpfung. In: Antriebstechnik, Antriebstechnik. Bd. 3/2021 (2021), Nr. 3, S. 40--43
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  @article{Helfesrieder.2021, author = {Helfesrieder, Nico and Lechler, Armin and Verl, Alexander}, issn = {0722-8546}, journal = {Antriebstechnik}, number = 3, pages = {40--43}, title = {Strukturoptimierte Maschinenkomponenten mit hoher Dämpfung}, url = {http://digital.antriebstechnik.de/antriebstechnik-3-2020/65318893/40}, volume = {3/2021}, year = 2021 }
  Link
  http://digital.antriebstechnik.de/antriebstechnik-3-2020/65318893/40
10. Mesmer, Patrick ; Lechler, Armin ; Verl, Alexander: Genauigkeitssteigerung von Industrierobotern - Methoden zur Hysteresekompensation. In: Robotik und Produktion, Robotik und Produktion. Bd. 09/2021 (2021), S. 26–27
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  @article{mesmer2021genauigkeitssteigerung, author = {Mesmer, Patrick and Lechler, Armin and Verl, Alexander}, journal = {Robotik und Produktion }, month = {09}, pages = {26-27}, title = {Genauigkeitssteigerung von Industrierobotern - Methoden zur Hysteresekompensation}, volume = {09/2021}, year = 2021 }
11. Schmucker, Benedikt ; Trautwein, Felix ; Semm, Thomas ; Lechler, Armin. ; Zaeh, Michael F. ; Verl, Alexander.: Implementation of an Intelligent System Architecture for Process Monitoring of Machine Tools. In: Procedia CIRP, Procedia CIRP. Bd. 96 (2021), S. 342–346. — 8th CIRP Global Web Conference – Flexible Mass Customisation (CIRPe 2020)
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  BibTeX
  @article{SCHMUCKER2021342, abstract = {State of the art machine tool controllers offer several Internet-of-Things (IoT) interfaces for machine data acquisition using industrial or edge computers. However, the available data exchange rates for these communication platforms are limited to a few hundred Hertz. As the data is not available in high frequency resolution, such a network communication is not suitable for monitoring and optimizing highly dynamic machining processes. This paper describes an efficient system architecture, which enables the acquisition of internal machine data as well as the high frequency sampling of external sensors. Based on this data, an Operational Modal Analysis (OMA) approach can be used to determine the tool tip dynamics during the machining process. Identification of tool tip frequency response requires the reconstruction of the excitation of the machine tool structure, i.e. the occurring machining forces. For this purpose, an approach relying on monitoring the commanded motor currents is applied.}, author = {Schmucker, Benedikt and Trautwein, Felix and Semm, Thomas and Lechler, Armin. and Zaeh, Michael F. and Verl, Alexander.}, doi = {https://doi.org/10.1016/j.procir.2021.01.097}, issn = {2212-8271}, journal = {Procedia CIRP}, note = {8th CIRP Global Web Conference – Flexible Mass Customisation (CIRPe 2020)}, pages = {342-346}, title = {Implementation of an Intelligent System Architecture for Process Monitoring of Machine Tools}, url = {https://www.sciencedirect.com/science/article/pii/S2212827121001268}, volume = 96, year = 2021 }
  Link
  https://www.sciencedirect.com/science/article/pii/S2212827121001268
12. Steinle, Lukas ; Lechler, Armin ; Neubauer, Michael ; Verl, Alexander: Experimental investigation into the implications of transmission errors for rack‑and‑pinion drives. In: Production Engineering Research and Development, Production Engineering Research and Development. (2021)
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  @article{steinle2021experimental, abstract = {Rack-and-pinion drives are the preferred option in the machine tool sector when long ranges of motion and high loads are involved. However, their shortcomings particularly include defciencies in the achievable positioning and path accuracy. The backlash as one of the main issues is well described in the literature and numerous solutions to reduce its negative efects exist. In contrast, there is a lack of literature regarding the scientifc and systematic analysis of the transmission errors in rack-and-pinion drives. In this paper, the displacements originating in the drive train of a system with industrial components are measured under diferent operating conditions. The observed transmission errors are thoroughly analyzed in no-load operation and their sources are discussed. Subsequent investigations show signifcant load-dependent alterations of the transmission errors and direction-dependent characteristics, the causes of which are explained. It is shown, that transmission errors negatively afect the path accuracy of position controlled drives, which is amplifed by excitation of the machine structure in certain operating conditions. To address this issue, diferent error compensation concepts are presented.}, author = {Steinle, Lukas and Lechler, Armin and Neubauer, Michael and Verl, Alexander}, doi = {https://doi.org/10.1007/s11740-021-01090-y}, journal = { Production Engineering Research and Development}, month = {11}, title = {Experimental investigation into the implications of transmission errors for rack‑and‑pinion drives}, year = 2021 }
13. Helfesrieder, Nico ; Neubauer, Michael ; Lechler, Armin ; Verl, Alexander: Hybrid manufacturing of topology optimized machine tool parts through a layer laminated manufacturing method: Practical validation using the example of a bearing block. In: Production Engineering Research and Development, Production Engineering Research and Development. (2021)
  - BibTeX
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  BibTeX
  @article{Helfesrieder.2021b, abstract = {Load-oriented lightweight structures are commonly designed based on topology optimization. For machine tool parts, they enable the reduction of moving masses and therefore increase the resource and energy efficiency of production systems. However, this usually results in complex part structures that are difficult or impossible to produce using conventional manufacturing methods. In this paper, a hybrid layer laminated manufacturing (LLM) method is proposed enabling manufacturing of topology-optimized machine tool parts. The method is referred to as hybrid, as the subtractive structuring of metal sheets is combined with the additive joining of the sheets by adhesive bonding. This enables enclosed inner cavities without support structures, which are used to approximate the optimal density distribution from a topology optimization via manufacturing. The proposed LLM method is validated on the basis of a bearing block of a ball screw feed drive. A experimental study in the time and frequency domain on a test rig confirms the principle suitability of the LLM method for the production of industrial applicable lightweight components.}, author = {Helfesrieder, Nico and Neubauer, Michael and Lechler, Armin and Verl, Alexander}, doi = {10.1007/s11740-021-01095-7}, file = {Helfesrieder, Neubauer et al. 2021 - Hybrid manufacturing of topology optimized:Attachments/Helfesrieder, Neubauer et al. 2021 - Hybrid manufacturing of topology optimized.pdf:application/pdf}, issn = {0944-6524}, journal = { Production Engineering Research and Development}, month = {12}, title = {Hybrid manufacturing of topology optimized machine tool parts through a layer laminated manufacturing method: Practical validation using the example of a bearing block}, url = {https://doi.org/10.1007/s11740-021-01095-7}, year = 2021 }
  Link
  https://doi.org/10.1007/s11740-021-01095-7
14. Fischer, Marc ; Riedel, Oliver ; Lechler, Armin: Arithmetic Coding for Floating-Points and Elementary Mathematical Functions. In: IEEE (Hrsg.) ; IEEE (Hrsg.): 2021 5th International Conference on System Reliability and Safety (ICSRS), 2021 5th International Conference on System Reliability and Safety (ICSRS), 2021, S. 270–275
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  @inproceedings{9660663, author = {Fischer, Marc and Riedel, Oliver and Lechler, Armin}, booktitle = {2021 5th International Conference on System Reliability and Safety (ICSRS)}, doi = {10.1109/ICSRS53853.2021.9660663}, editor = {IEEE}, pages = {270-275}, title = {Arithmetic Coding for Floating-Points and Elementary Mathematical Functions}, url = {https://ieeexplore.ieee.org/document/9660663}, year = 2021 }
  Link
  https://ieeexplore.ieee.org/document/9660663
15. Friedl, Sebastian ; Heinemann, Tonja ; Lechler, Armin ; Riedel, Oliver: Implicit Templates for Conformance Units in OPC UA Companion Specifications. In: 2021 22nd IEEE International Conference on Industrial Technology (ICIT), 2021 22nd IEEE International Conference on Industrial Technology (ICIT). Bd. 1, 2021, S. 730–735
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  @inproceedings{9453582, abstract = {Due to its importance in the Industry 4.0 movement, the usage of OPC UA has increased in recent years. More and more vendor-independent and domain-specific models are developed as so-called Companion Specifications. OPC UA Profiles allow to subdivide functionality within the Companion Specifications, and thus offer flexibility to the standards. An OPC UA Profile is a set of individually testable entities called Conformance Units, which are also defined within the Companion Specification. In this work, similarities between Conformance Units defined by different working groups are analyzed and grouped in CU classes by the scope of the Conformance Units. For the most prevalent CU classes, textual templates are suggested, based on the typical formulations in existing Companion Specifications. These templates are intended to ease the development of Companion Specifications and the Conformance Units therein. The CU classes identified in this work suggest the templates can be used for more than two-thirds of the Conformance Units in a Companion Specification. The CU classes and templates are also a step towards automation in the generation of OPC UA Companion Specification Documents and test cases for the Conformance Units.}, author = {Friedl, Sebastian and Heinemann, Tonja and Lechler, Armin and Riedel, Oliver}, booktitle = {2021 22nd IEEE International Conference on Industrial Technology (ICIT)}, doi = {10.1109/ICIT46573.2021.9453582}, month = {03}, pages = {730-735}, title = {Implicit Templates for Conformance Units in OPC UA Companion Specifications}, url = {https://ieeexplore.ieee.org/document/9453582/}, volume = 1, year = 2021 }
  Link
  https://ieeexplore.ieee.org/document/9453582/
16. Mesmer, Patrick ; Neubauer, Michael ; Lechler, Armin ; Verl, Alexander: Challenges of Linearization-based Control of Industrial Robots with Cycloidal Drives. In: 2021 IEEE International Conference on Mechatronics (ICM), 2021 IEEE International Conference on Mechatronics (ICM) : IEEE, 2021
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  @inproceedings{mesmer2021challenges, author = {Mesmer, Patrick and Neubauer, Michael and Lechler, Armin and Verl, Alexander}, booktitle = {2021 IEEE International Conference on Mechatronics (ICM)}, eventdate = {07.03.2021-09.03.2021}, eventtitle = {2021 IEEE International Conference on Mechatronics (ICM)}, language = {eng}, publisher = {IEEE}, title = {Challenges of Linearization-based Control of Industrial Robots with Cycloidal Drives}, venue = {Kashiwa, Japan}, year = 2021 }
17. Neubauer, Michael ; Lechler, Armin ; Verl, Alexander: Genauigkeits- und Dynamiksteigerung bei Industrierobotern: Auf die Dämpfung kommt es an. In: Industrieanzeiger, Industrieanzeiger. Bd. 2021 (2021), Nr. 1, S. 38–39
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  @article{neubauer2021genauigkeits, abstract = {Industrieroboter müssen sehr schnell und höchst präzise sein. Hochdynamische Bewegungsabläufe regen jedoch unerwünschte Schwingungen an. Damit sind entweder Genauigkeitsabweichungen verbunden oder es muss langsamer gefahren werden. Ein Dämpfungsaktuator schafft Abhilfe.}, author = {Neubauer, Michael and Lechler, Armin and Verl, Alexander}, journal = {Industrieanzeiger}, month = {01}, number = 1, pages = {38-39}, title = {Genauigkeits- und Dynamiksteigerung bei Industrierobotern: Auf die Dämpfung kommt es an}, volume = 2021, year = 2021 }
18. Elser, Anja ; Lechler, Armin: Implementation of a Model Based Numerical Control for the Gravity Die Casting Process. In: 2021 22nd IEEE International Conference on Industrial Technology (ICIT), 2021 22nd IEEE International Conference on Industrial Technology (ICIT). Bd. 1, 2021, S. 1094–1099
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  BibTeX
  @inproceedings{9453492, abstract = {Automation of gravity die casting can be achieved by Numerical Controls (NC). However, NCs are not inherently capable to control every process, but rather have to be extended accordingly. In this paper, we show how a Numerical Control can be extended by a process model for the gravity die casting process. The extension enables either flow rates or machine axes positions to be passed to the NC. Then the NC interpolates those values and they are either fed directly to the machine axes or, when the casting process is running, processed further. We define some more functions for process safety. The implemented behavior is tested with dedicated tests and test software. First results confirm that the presented concept for model integration is valid.}, author = {Elser, Anja and Lechler, Armin}, booktitle = {2021 22nd IEEE International Conference on Industrial Technology (ICIT)}, doi = {10.1109/ICIT46573.2021.9453492}, month = {03}, pages = {1094-1099}, title = {Implementation of a Model Based Numerical Control for the Gravity Die Casting Process}, volume = 1, year = 2021 }
19. Zürn, Manuel ; Wnuk, Markus ; Hinze, Christoph ; Lechler, Armin ; Verl, Alexander ; Xu, Weiliang: Kinematic Trajectory Following Control For Constrained Deformable Linear Objects. In: 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE), 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE), 2021, S. 1701–1707
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  @inproceedings{9551613, abstract = {deformable linear objects (DLOs) such as hoses, cables or wires are often a limiting factor in robotic manipulation. For an industrial robot control, their nonlinear dynamics combined with their large variations in material parameters make it challenging to handle. Therefore, DLOs are usually manipulated manually in the industry, offering a huge potential for automation. This paper contributes to the field of robotic handling of DLOs by presenting and evaluating a novel model based controller and observer concept which is based on a multibody simulation. The presented closed-loop framework of a kinematic trajectory following controller with an online point cloud processing observer is first evaluated separately in the simulation and then in an experiment, showing its potential for cable routing scenarios.}, author = {Zürn, Manuel and Wnuk, Markus and Hinze, Christoph and Lechler, Armin and Verl, Alexander and Xu, Weiliang}, booktitle = {2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)}, doi = {10.1109/CASE49439.2021.9551613}, issn = {2161-8089}, month = {08}, pages = {1701-1707}, title = {Kinematic Trajectory Following Control For Constrained Deformable Linear Objects}, year = 2021 }
20. Zürn, Manuel ; Wnuk, Markus ; Lechler, Armin ; Steiler, Christian ; Paukner, Matthias ; Trommnau, Jerome ; Weiß, Bernd ; Minsch, Niklas ; u. a.: Leitungen automatisch im Kfz montieren. In: Industrial Production, Industrial Production. (2021), Nr. 7, S. 40–42
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  BibTeX
  @article{zurn2021leitungen, author = {Zürn, Manuel and Wnuk, Markus and Lechler, Armin and Steiler, Christian and Paukner, Matthias and Trommnau, Jerome and Weiß, Bernd and Minsch, Niklas and Mittermeier, Manfred and Hessler, Uwe and Pollner, Roland}, journal = {Industrial Production}, number = 7, pages = {40-42}, title = {Leitungen automatisch im Kfz montieren}, url = {https://www.industrial-production.de/montagetechnik/leitungen-automatisch----im-kfz-montieren.htm}, year = 2021 }
  Link
  https://www.industrial-production.de/montagetechnik/leitungen-automatisch----im-kfz-montieren.htm
21. Tasci, Timur ; Fischer, Marc ; Lechler, Armin ; Verl, Alexander: Predictable and Real-Time Message-Based Communication in the Context of Control Technology. In: Weißgraeber, P. ; Heieck, F. ; Ackermann, C. (Hrsg.) ; Weißgraeber, P. ; Heieck, F. ; Ackermann, C. (Hrsg.): Advances in Automotive Production Technology -- Theory and Application, Advances in Automotive Production Technology -- Theory and Application. Berlin, Heidelberg : Springer Berlin Heidelberg, 2021 — ISBN 978-3-662-62962-8, S. 264--271
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  @inproceedings{10.1007/978-3-662-62962-8_31, abstract = {The current market trends demand a flexible production technology, but today's control systems are monolithic and therefore not flexible. The monolithism can be broken by using container-based virtualization and a microservice architecture. In a microservice architecture, messaging is used to achieve independence of services. Furthermore, deterministic real-time communication is necessary due to the control environment. Since messaging emerged from the IT world, real-time capability is not given. Therefore, in this work, a concept for real-time messaging is developed, implemented and validated on a test system.}, address = {Berlin, Heidelberg}, author = {Tasci, Timur and Fischer, Marc and Lechler, Armin and Verl, Alexander}, booktitle = {Advances in Automotive Production Technology -- Theory and Application}, doi = {10.1007/978-3-662-62962-8_31}, editor = {Wei{\ss}graeber, Philipp and Heieck, Frieder and Ackermann, Clemens}, isbn = {978-3-662-62962-8}, pages = {264--271}, publisher = {Springer Berlin Heidelberg}, title = {Predictable and Real-Time Message-Based Communication in the Context of Control Technology}, url = {https://link.springer.com/chapter/10.1007/978-3-662-62962-8_31}, year = 2021 }
  Link
  https://link.springer.com/chapter/10.1007/978-3-662-62962-8_31
22. Steinle, Lukas ; Lechler, Armin ; Verl, Alexander: Antrieb im Gleichlauf. In: Industrial Production, Industrial Production. Bd. 8–9 (2021), S. 50–52
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  @article{steinle2021antrieb, author = {Steinle, Lukas and Lechler, Armin and Verl, Alexander}, journal = {Industrial Production}, pages = {50-52}, title = {Antrieb im Gleichlauf}, volume = {8-9}, year = 2021 }
23. Brenner, Felix ; Lechler, Armin ; Verl, Alexander: Störgrößenkompensation für Vorschubantriebe. In: vdi fachmedien (Hrsg.) wt Werkstattstechnik online, wt Werkstattstechnik online. Bd. 111 (2021), Nr. 1, S. 82–87
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  @article{noauthororeditor, abstract = {Zahnstange-Ritzel-Antriebe werden überwiegend bei großen Werkzeugmaschinen eingesetzt und häufig mit indirekter Lageregelung betrieben. Hieraus resultiert eine geringe Positioniergenauigkeit und ein unzureichendes dynamisches Nachgiebigkeitsverhalten. Um den hohen Genauigkeitsanforderungen moderner Werkzeugmaschinen gerecht zu werden, wird in diesem Beitrag eine beschleunigungsbasierte Störgrößenkompensation vorgestellt. Experimentelle Ergebnisse belegen eine Verbesserung des Störverhaltens}, author = {Brenner, Felix and Lechler, Armin and Verl, Alexander}, editor = {vdi fachmedien}, journal = {wt Werkstattstechnik online}, number = 1, pages = {82-87}, title = {Störgrößenkompensation für Vorschubantriebe}, volume = 111, year = 2021 }
24. von Arnim, Christian ; Lechler, Armin ; Riedel, Oliver: Operations for non-disruptive modification of real-time network schedules. In: 2021 22nd IEEE International Conference on Industrial Technology (ICIT), 2021 22nd IEEE International Conference on Industrial Technology (ICIT). Bd. 1, 2021 — ISBN 978-1-7281-5730-6, S. 1131–1137
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  @inproceedings{9453586, abstract = {New production architectures and the Time Sensitive Networking extensions of the Ethernet standard enable larger real-time networks with more participants than before. Due to the guaranteed response times of real-time applications, there are limitations in rescheduling. This paper presents operations which allow modification of the schedule of a time-division multiple access (TDMA) real-time network without affecting its proper functionality. For this purpose, both the communication and the involved real-time applications are considered. This allows the active schedule to be modified during the rescheduling. Therefore, failed rescheduling due to fragmentation is less likely.}, author = {von Arnim, Christian and Lechler, Armin and Riedel, Oliver}, booktitle = {2021 22nd IEEE International Conference on Industrial Technology (ICIT)}, doi = {10.1109/ICIT46573.2021.9453586}, isbn = {978-1-7281-5730-6}, month = {03}, pages = {1131-1137}, title = {Operations for non-disruptive modification of real-time network schedules}, url = {https://ieeexplore.ieee.org/document/9453586/}, volume = 1, year = 2021 }
  Link
  https://ieeexplore.ieee.org/document/9453586/
25. Neubauer, Michael ; Lechler, Armin: Software-defined Manufacturing für die Industrie. In: SPS-Magazin, SPS-Magazin. Bd. 2021 (2021), Nr. 12, S. 20
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  @article{neubauer2021softwaredefined, abstract = {Der entscheidende Erfolgsfaktor, um trotz hochvolatiler Märkte wirtschaftlich produzieren zu können, ist die Wandlungsfähigkeit von Produktionssystemen. Software-defined Manufacturing (SDM) ist ein revolutionärer, modellgetriebener Ansatz zur Erreichung dieses Ziels. Welches Potenzial sich dahinter verbirgt, soll ein aktuelles Forschungsprojekt am ISW aufzeigen. }, author = {Neubauer, Michael and Lechler, Armin}, journal = {SPS-Magazin}, month = {Dez}, number = 12, pages = 20, title = {Software-defined Manufacturing für die Industrie}, volume = 2021, year = 2021 }
2020
1. Hinze, Christoph ; Wnuk, Markus ; Zürn, Manuel ; Lechler, Armin ; Verl, Alexander: Daten-integrierte Simulation. In: inVision, inVision. (2020)
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  @article{hinze2020datenintegrierte, author = {Hinze, Christoph and Wnuk, Markus and Zürn, Manuel and Lechler, Armin and Verl, Alexander}, journal = {inVision}, title = {Daten-integrierte Simulation}, url = {https://invision-news.de/allgemein/daten-integrierte-simulation-2/}, year = 2020 }
  Link
  https://invision-news.de/allgemein/daten-integrierte-simulation-2/
2. Christodoulopoulos, Konstantinos ; Lautenschlaeger, Wolfram ; Frick, Florian ; Benzaoui, Nihel ; Henke, Torben ; Gebhard, Ulrich ; Dembeck, Lars ; Lechler, Armin ; u. a.: Enabling the Scalability of Industrial Networks by Independent Scheduling Domains. In: Optical Fiber Communication Conference (OFC) 2020, Optical Fiber Communication Conference (OFC) 2020 : Optical Society of America, 2020, S. Th2A.24
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  @inproceedings{Christodoulopoulos:20, abstract = {We propose to extend the scalability of Time Sensitive industrial Networks, by partitioning them into time/scheduling domains and interconnect domain-devices through an optical backbone acting asynchronously to them. We show drastic scalability improvements and a proof of concept.}, author = {Christodoulopoulos, Konstantinos and Lautenschlaeger, Wolfram and Frick, Florian and Benzaoui, Nihel and Henke, Torben and Gebhard, Ulrich and Dembeck, Lars and Lechler, Armin and Pointurier, Yvan and Bigo, S\'{e}bastien}, booktitle = {Optical Fiber Communication Conference (OFC) 2020}, doi = {10.1364/OFC.2020.Th2A.24}, journal = {Optical Fiber Communication Conference (OFC) 2020}, pages = {Th2A.24}, publisher = {Optical Society of America}, title = {Enabling the Scalability of Industrial Networks by Independent Scheduling Domains}, url = {http://www.osapublishing.org/abstract.cfm?URI=OFC-2020-Th2A.24}, year = 2020 }
  Link
  http://www.osapublishing.org/abstract.cfm?URI=OFC-2020-Th2A.24
3. Hinze, Christoph ; Zürn, Manuel ; Wnuk, Markus ; Lechler, Armin ; Verl, Alexander: Nonlinear Trajectory Control for Deformable Linear Objects based on Physics Simulation. In: IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society, IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society, 2020, S. 310–316
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  @inproceedings{9254923, abstract = {The handling of deformable linear objects (DLOs), such as cables or hoses, with industrial robots is hardly industrially automated due to the underactuated material behavior. Increasing computing power and decreasing cost of processors over the last decades are now allowing the online computation of more complex handling processes. Within this paper, DLOs are approximated as a multibody chain with a finite number of degrees of freedom. Based on that model, a nonlinear, partially IO-linearizing controller is derived to control an underactuated end point on a trajectory when grasped by a robot arm at the other end. The controller is verified in simulation for high dynamics and shown to significantly reduce the tracking error. A practical evaluation finally shows the qualitative suitability of the multibody approximation and is used to validate the functionality of the controller in an open-loop experiment.}, author = {Hinze, Christoph and Zürn, Manuel and Wnuk, Markus and Lechler, Armin and Verl, Alexander}, booktitle = {IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society}, doi = {10.1109/IECON43393.2020.9254923}, issn = {2577-1647}, month = {10}, pages = {310-316}, title = {Nonlinear Trajectory Control for Deformable Linear Objects based on Physics Simulation}, url = {https://ieeexplore.ieee.org/document/9254923/}, year = 2020 }
  Link
  https://ieeexplore.ieee.org/document/9254923/
4. Wnuk, Markus ; Hinze, Christoph ; Zürn, Manuel ; Lechler, Armin ; Verl, Alexander: Roboterdemonstrator kombiniert Simulation und Bildverarbeitung. In: Robotik und Produktion, Robotik und Produktion. (2020), Nr. 3
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  @article{wnuk2020roboterdemonstrator, author = {Wnuk, Markus and Hinze, Christoph and Zürn, Manuel and Lechler, Armin and Verl, Alexander}, journal = {Robotik und Produktion}, number = 3, title = {Roboterdemonstrator kombiniert Simulation und Bildverarbeitung}, url = {https://www.robotik-produktion.de/allgemein/deformiert-kein-problem/}, year = 2020 }
  Link
  https://www.robotik-produktion.de/allgemein/deformiert-kein-problem/
5. Lechler, Armin ; Schmidt, Alexander ; VDI-Verlag (Hrsg.) ; VDI-Verlag (Hrsg.): iSrv – Intelligentes Servicesystem, Reihe 2. Bd. Fortschritt-Berichte VDI. Erste. : VDI-Verlag, 2020 — ISBN 978-3-18-370302-9
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  BibTeX
  @book{lechler2020intelligentes, author = {Lechler, Armin and Schmidt, Alexander}, edition = {Erste}, editor = {VDI-Verlag}, isbn = {978-3-18-370302-9}, language = {deutsch}, number = 703, publisher = {VDI-Verlag}, series = {Reihe 2}, title = {iSrv – Intelligentes Servicesystem}, volume = {Fortschritt-Berichte VDI}, year = 2020 }
6. Friedl, Sebastian ; Heinemann, Tonja ; Lechler, Armin: Designentscheidungen für OPC-UA-Informationsmodelle/Design Decisions for OPC UA Information Models. In: wt Werkstattstechnik online, wt Werkstattstechnik online. Bd. 110, VDI Fachmedien GmbH and Co. KG (2020), Nr. 05, S. 289--294
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  @article{Friedl_2020, author = {Friedl, Sebastian and Heinemann, Tonja and Lechler, Armin}, doi = {10.37544/1436-4980-2020-05-21}, journal = {wt Werkstattstechnik online}, number = 05, pages = {289--294}, publisher = {{VDI} Fachmedien {GmbH} and Co. {KG}}, title = {Designentscheidungen für {OPC}-{UA}-Informationsmodelle/Design Decisions for {OPC} {UA} Information Models}, url = {https://doi.org/10.37544%2F1436-4980-2020-05-21}, volume = 110, year = 2020 }
  Link
  https://doi.org/10.37544%2F1436-4980-2020-05-21
7. Friedl, Sebastian ; von Arnim, Christian ; Lechler, Armin ; Verl, Alexander: Generation of OPC UA Companion Specification with Eclipse Modeling Framework. In: 2020 16th IEEE International Conference on Factory Communication Systems (WFCS), 2020 16th IEEE International Conference on Factory Communication Systems (WFCS), 2020, S. 1--7
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  @inproceedings{friedl2020generation, author = {Friedl, Sebastian and von Arnim, Christian and Lechler, Armin and Verl, Alexander}, booktitle = {2020 16th IEEE International Conference on Factory Communication Systems (WFCS)}, notes = {Sourced from Microsoft Academic - https://academic.microsoft.com/paper/3034858113}, pages = {1--7}, title = {Generation of OPC UA Companion Specification with Eclipse Modeling Framework}, year = 2020 }
8. Schütz, Andreas ; Helfesrieder, Nico ; Lechler, Armin ; Verl, Alexander: Automatisierte Werkstückfixierung - Formadaptive Aufspannung von Schalenelementen für Bearbeitungsaufgaben mit Industrierobotern. In: wt Werkstattstechnik online, wt Werkstattstechnik online. Bd. 110 (2020), Nr. 01–02, S. 80–85
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  @article{Schuetz2020, author = {Schütz, Andreas and Helfesrieder, Nico and Lechler, Armin and Verl, Alexander}, journal = {wt Werkstattstechnik online}, language = {Deutsch}, month = {02}, number = {01-02}, pages = {80-85}, title = {Automatisierte Werkstückfixierung - Formadaptive Aufspannung von Schalenelementen für Bearbeitungsaufgaben mit Industrierobotern}, url = {https://www.werkstattstechnik.de/wt/currentarticle.php?data[article_id]=92636}, volume = 110, year = 2020 }
  Link
  https://www.werkstattstechnik.de/wt/currentarticle.php?data[article_id]=92636
9. Eger, Florian ; Reiff, Colin ; Lechler, Armin ; Verl, Alexander: Weniger Ausschuss bei der Fertigung rotierender Bauteile. In: fachmedien, V. (Hrsg.) wt WerkstattsTechnik, wt WerkstattsTechnik. (2020), Nr. 5, S. 271–275
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  @article{eger2020weniger, abstract = {Bei mehrstufigen Produktionssystemen rotierender Bauteile kann bereits ein kleiner Fehler zu Ausschuss führen. Um die Wettbewerbsfähigkeit europäischer Unternehmen zu gewährleisten, wird eine Null-Fehler Fertigung angestrebt. Wir stellen dafür eine Web-App vor, welche Bauteilvariationen automatisch erkennen und Fehlerkompensationsstrategien ableiten kann. Das Potential des mehrstufigen Produktionssystems wird genutzt um Fehler am Bauteil im Produktionsfluss durch eine geeignete Steuerung und Regelung zu beheben.}, author = {Eger, Florian and Reiff, Colin and Lechler, Armin and Verl, Alexander}, editor = {fachmedien, VDI}, journal = {wt WerkstattsTechnik}, language = {Deutsch}, month = {Mai}, number = 5, pages = {271-275}, title = {Weniger Ausschuss bei der Fertigung rotierender Bauteile}, url = {https://e-paper.vdi-fachmedien.de/webreader-v3/index.html#/2603/1}, year = 2020 }
  Link
  https://e-paper.vdi-fachmedien.de/webreader-v3/index.html#/2603/1
10. Schulte, Alexander ; Lechler, Armin ; Verl, Alexander: Geschwindigkeitssprünge an Vorschubachsen. In: atp magazin, atp magazin. Bd. 62, Vulkan-Verlag GmbH (2020), Nr. 11–12, S. 86–93
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  @article{Schulte_2020, author = {Schulte, Alexander and Lechler, Armin and Verl, Alexander}, doi = {10.17560/atp.v62i11-12.2517}, journal = {atp magazin}, month = {11}, number = {11-12}, pages = {86-93}, publisher = {Vulkan-Verlag {GmbH}}, title = {Geschwindigkeitssprünge an Vorschubachsen}, url = {https://doi.org/10.17560%2Fatp.v62i11-12.2517}, volume = 62, year = 2020 }
  Link
  https://doi.org/10.17560%2Fatp.v62i11-12.2517
11. Brenner, Felix ; Verl, Alexander ; Lechler, Armin: Störgrößenschätzung in Zahnstange-Ritzel-Antrieben. In: Maschinenmarkt, M. (Hrsg.) Maschinenmarkt, MM, Maschinenmarkt, MM. (2020), Nr. 19, S. 74–77
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  @article{brenner2020strgrenschtzung, abstract = {Abtriebsseitige Beschleunigungsdaten an elektromechanischen Vorschubantriebssystem eröffnen neue Möglichkeiten zur Steigerung der Bewegungsdynamik. Um den Einfluss von reibungs- und prozessbedingte Störkräften zu reduzieren, wird am Institut für Steuerungstechnik (ISW) der Univer-sität Stuttgart an regelungstechnischen Verfahren zur Störgrößenschätzung und -kompensation mittles MEMS Beschleunigungssensoren geforscht.}, author = {Brenner, Felix and Verl, Alexander and Lechler, Armin}, editor = {Maschinenmarkt, MM}, journal = {Maschinenmarkt, MM}, language = {deutsch}, month = {11}, number = 19, pages = {74-77}, title = {Störgrößenschätzung in Zahnstange-Ritzel-Antrieben }, url = {https://www.maschinenmarkt.vogel.de/stoergroessenschaetzung-in-zahnstange-ritzel-antrieben-a-976503/}, year = 2020 }
  Link
  https://www.maschinenmarkt.vogel.de/stoergroessenschaetzung-in-zahnstange-ritzel-antrieben-a-976503/
12. Eger, Florian ; Reiff, Colin ; Tempel, Philipp ; Magnanini, Maria Chiara ; Caputo, Davide ; Lechler, Armin ; Verl, Alexander: Reaching zero-defect manufacturing by compensation of dimensional deviations in the manufacturing of rotating hollow parts. In: Procedia Manufacturing, Procedia Manufacturing. Bd. 51, Elsevier (2020), S. 388–393. — 30th International Conference on Flexible Automation and Intelligent Manufacturing, FAIM 2021 ; Conference date: 15-06-2021 Through 18-06-2021
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  @article{6f6da48ad3484f158ea738841e3dddd0, abstract = {In many sectors such as the aerospace industry, the manufacturing of rotating components is based on multi-stage production systems to achieve the complex requirements of high quality products. Even in the presence of Industry 4.0 and the increasing connectivity, these systems are very prone to failure due to the high level of potential influences of both the system and the products, ultimately leading to defects. The project “ForZDM”, funded by the EU under Horizon2020, envisions reducing scrap rate by avoiding and compensating defects at an early stage thus guaranteeing a high quality product. This paper presents an approach using an existing manufacturing line to compensate the dimensional deviations of an inner contour of a turbine shaft at an early stage. Based on measurements of the inner contour, a new rotation axis for the subsequent manufacturing processes is calculated in order to avoid unbalances at the end-of-line control. Different algorithms are developed and integrated in a web-based application to find an optimal rotation axis under consideration of the to-be-manufactured outer contour in an operator-friendly usage on the shop floor. The application is connected with the measurement system and the subsequent CNC machine which enables automatic execution and data transfer.}, author = {Eger, Florian and Reiff, Colin and Tempel, Philipp and Magnanini, Maria Chiara and Caputo, Davide and Lechler, Armin and Verl, Alexander}, doi = {10.1016/j.promfg.2020.10.055}, issn = {2351-9789}, journal = {Procedia Manufacturing}, language = {English}, note = {30th International Conference on Flexible Automation and Intelligent Manufacturing, FAIM 2021 ; Conference date: 15-06-2021 Through 18-06-2021}, pages = {388-393}, publisher = {Elsevier}, title = {Reaching zero-defect manufacturing by compensation of dimensional deviations in the manufacturing of rotating hollow parts}, url = {https://doi.org/10.1016%2Fj.promfg.2020.10.055}, volume = 51, year = 2020 }
  Link
  https://doi.org/10.1016%2Fj.promfg.2020.10.055
13. Henke, Torben ; Frick, Florian ; Lechler, Armin ; Verl, Alexander: Adaptive PWM Modulation for an Increased Energy Efficiency of Industrial Drives. In: 2020 International Symposium on Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM), 2020 International Symposium on Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM), 2020, S. 237–242
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  @inproceedings{9161851, abstract = {Switching losses in inverters for industrial electric drives have a noticeable impact on their energy consumption and lifetime. In order to fulfill the accuracy requirements of electric drives for production equipment, a high switching frequency is typically used. This results in high switching losses which are proportional to the switching frequency. However, a high accuracy is not always required. Therefore, a method for adapting the switching frequency of the drive inverter during runtime when high accuracy is not required is presented in this paper. The method includes the identification of operating states of the machine tool, automatic calculation of the controller parameters and strategies for changing the PWM frequency during runtime. Experimental results validate this novel approach.}, author = {Henke, Torben and Frick, Florian and Lechler, Armin and Verl, Alexander}, booktitle = {2020 International Symposium on Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM)}, doi = {10.1109/SPEEDAM48782.2020.9161851}, month = {06}, pages = {237-242}, title = {Adaptive PWM Modulation for an Increased Energy Efficiency of Industrial Drives}, url = {https://ieeexplore.ieee.org/document/9161851/}, year = 2020 }
  Link
  https://ieeexplore.ieee.org/document/9161851/
14. von Arnim, Christian ; Lechler, Armin ; Riedel, Oliver ; Verl, Alexander: Fragmentation in Reconfigured Real-time Production Networks. In: Annals of Scientific Society for Assembly, Handling and Industrial Robotics, Annals of Scientific Society for Assembly, Handling and Industrial Robotics : Springer, 2020. — Open Access — ISBN 978-3-662-61755-7, S. 105--115
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  @inproceedings{vonArnim2020fragmentation, abstract = {A reconfigurable production is able to adapt to a new product in a short time. This can be built up from cyber-physical production systems (CPPS) which exchange various data with several devices simultaneously via a convergent network. In these future production systems, convergent networks will connect more participants than real-time production networks do today. In order to enable uninterrupted operation, reconfigurations must not affect existing communication. Due to this limitation, fragmentation of the configuration can occur, restricting future operations. This paper investigates fragmentation caused by reconfigurations using a simulation to determine whether fragmentation can lead to problems in future production networks.}, author = {von Arnim, Christian and Lechler, Armin and Riedel, Oliver and Verl, Alexander}, booktitle = {Annals of Scientific Society for Assembly, Handling and Industrial Robotics}, doi = {https://doi.org/10.1007/978-3-662-61755-7_10}, isbn = {978-3-662-61755-7}, note = {Open Access}, pages = {105--115}, publisher = {Springer}, title = {Fragmentation in Reconfigured Real-time Production Networks}, url = {https://link.springer.com/chapter/10.1007/978-3-662-61755-7_10}, year = 2020 }
  Link
  https://link.springer.com/chapter/10.1007/978-3-662-61755-7_10
15. Neubauer, Michael ; Mesmer, Patrick ; Lechler, Armin ; Verl, Alexander: Dynamisches Verhalten von Industrierobotern - Über das Potenzial von Secondary Encodern zur Vermessung. In: wt Werkstatttechnik online, wt Werkstatttechnik online. Bd. 110 (2020), Nr. 3, S. 130–134
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  @article{neubauer2020dynamisches, author = {Neubauer, Michael and Mesmer, Patrick and Lechler, Armin and Verl, Alexander}, journal = {wt Werkstatttechnik online}, month = {03}, number = 3, pages = {130-134}, title = {Dynamisches Verhalten von Industrierobotern - Über das Potenzial von Secondary Encodern zur Vermessung}, volume = 110, year = 2020 }
16. Mesmer, Patrick ; Neubauer, Michael ; Lechler, Armin ; Verl, Alexander: Ansätze zur Genauigkeits- und Dynamiksteigerung von Industrierobotern mit abtriebsseitiger Winkelerfassung. In: GmbH, V. F. (Hrsg.) Antriebstechnik, Antriebstechnik. Bd. Sonderausgabe Marktübersicht (2020), S. 20–22
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  BibTeX
  @article{mesmer2020anstze, author = {Mesmer, Patrick and Neubauer, Michael and Lechler, Armin and Verl, Alexander}, editor = {GmbH, Vereinigte Fachverlage}, journal = {Antriebstechnik}, month = {11}, pages = {20-22}, title = {Ansätze zur Genauigkeits- und Dynamiksteigerung von Industrierobotern mit abtriebsseitiger Winkelerfassung}, volume = {Sonderausgabe Marktübersicht}, year = 2020 }
17. Schulte, Alexander ; Lechler, Armin ; Verl, Alexander: Eckenfahrt durch schlagartige Beschleunigung. In: Antriebstechnik, Antriebstechnik. Bd. 09 (2020), S. 58–59
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  @article{schulte2020eckenfahrt, author = {Schulte, Alexander and Lechler, Armin and Verl, Alexander}, journal = {Antriebstechnik}, month = {09}, pages = {58-59}, title = {Eckenfahrt durch schlagartige Beschleunigung}, volume = 09, year = 2020 }

Armin Lechler

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