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Lechler, Armin

Armin Lechler

Dr.-Ing.

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:

2025
1. Ajdinovic, Samed ; Lechler, Armin ; Riedel, Oliver: Digitale Produktpässe: Daten smart mit KI verknüpfen: Effiziente Datenintegration für die Fertigungsindustrie. In: atp magazin Bd. 67, Vulkan-Verlag GmbH (2025)
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  @article{Ajdinovic_2025, author = {Ajdinovic, Samed and Lechler, Armin and Riedel, Oliver}, doi = {10.17560/atp.v67i4.2776}, issn = {2190-4111}, journal = {atp magazin}, month = {04}, number = 4, publisher = {Vulkan-Verlag GmbH}, title = {Digitale Produktpässe: Daten smart mit KI verknüpfen: Effiziente Datenintegration für die Fertigungsindustrie}, url = {http://dx.doi.org/10.17560/atp.v67i4.2776}, volume = 67, year = 2025 }
  Link
  http://dx.doi.org/10.17560/atp.v67i4.2776
2. Bauer, Christian J. E. ; Kamm, Valentin ; Dzubba, Marcel ; Steinle, Lukas ; Lechler, Armin ; Verl, Alexander: Modeling Load-, Velocity-, and Temperature-Dependent Transmission Errors of Cycloidal Drives for Industrial Robots Using Fourier Series. In: 2025 IEEE International Conference on Industrial Technology (ICIT), 2025, S. 1–7
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  @inproceedings{10965256, abstract = {Industrial robots are rarely used for machining tasks due to their limited path accuracy. This accuracy is mainly limited by inaccuracies in the drive trains. Compliance and transmission errors occur in the joint gearboxes. While transmission errors have been extensively studied for strain wave gears, there is little research on these errors in cycloidal drives. This gearbox type is commonly used in industrial robots for medium to heavy payloads. It is proposed to model the mainly periodic transmission errors using a Fourier series where amplitude and phase are defined as a polynomial function of the main influence factors load-torque, velocity, and temperature. Measurements of the transmission errors were conducted using an experimental setup representing a single robot joint. In the evaluation of the measurement data, harmonic frequencies were related to mechanical properties of the cycloidal drive. These frequencies were used to identify the parameters of the polynomial Fourier series model. Compared to validation measurements, the derived model shows an average root mean square error of 0.026 mrad. It is proposed to use the output of the resulting model in a feedforward control approach to compensate the transmission errors and to increase the path accuracy of industrial robots.}, author = {Bauer, Christian J. E. and Kamm, Valentin and Dzubba, Marcel and Steinle, Lukas and Lechler, Armin and Verl, Alexander}, booktitle = {2025 IEEE International Conference on Industrial Technology (ICIT)}, doi = {10.1109/ICIT63637.2025.10965256}, issn = {2643-2978}, month = {03}, pages = {1-7}, title = {Modeling Load-, Velocity-, and Temperature-Dependent Transmission Errors of Cycloidal Drives for Industrial Robots Using Fourier Series}, year = 2025 }
3. Dzubba, Marcel ; Neubauer, Michael ; Ajdinovic, Samed ; Lechler, Armin ; Verl, Alexander: Simple Estimation Algorithm for Laser Tracker Localization in Industrial Robot Calibration. In: Huber, M. ; Verl, A. ; Kraus, W. (Hrsg.) ; Huber, M. ; Verl, A. ; Kraus, W. (Hrsg.): European Robotics Forum 2025. Cham : Springer Nature Switzerland, 2025 — ISBN 978-3-031-89471-8, S. 193–199
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  @inproceedings{10.1007/978-3-031-89471-8_30, abstract = {Industrial robots are relatively inexpensive, compared to conventional machining tools. However, they suffer in terms of positioning and tracking accuracy. To mitigate this issue, laser trackers can be used to calibrate robots or even for positioning control. The spherically mounted reflector used must be visible to the laser tracker. Therefore, the position of the reflector needs to be known precisely to ensure visibility. To evaluate and satisfy the visibility condition for laser tracker tasks, such as calibration or path tracking, this paper presents an efficient algorithm for identifying the kinematic chain, which includes the tracker.}, address = {Cham}, author = {Dzubba, Marcel and Neubauer, Michael and Ajdinovic, Samed and Lechler, Armin and Verl, Alexander}, booktitle = {European Robotics Forum 2025}, doi = {https://doi.org/10.1007/978-3-031-89471-8_30}, editor = {Huber, Marco and Verl, Alexander and Kraus, Werner}, isbn = {978-3-031-89471-8}, pages = {193--199}, publisher = {Springer Nature Switzerland}, title = {Simple Estimation Algorithm for Laser Tracker Localization in Industrial Robot Calibration}, year = 2025 }
4. Jud, Oliver ; Lechler, Armin ; Verl, Alexander: Automatische Adaption der Vorspannkraft während des Betriebes durch Nachstellmechanismus für Kugelgewindetriebe. In: antriebstechnik (2025), S. 40–42
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  @article{jud2025, author = {Jud, Oliver and Lechler, Armin and Verl, Alexander}, journal = {antriebstechnik}, month = {01}, number = 01, pages = {40-42}, title = {Automatische Adaption der Vorspannkraft während des Betriebes durch Nachstellmechanismus für Kugelgewindetriebe}, url = {https://digital.antriebstechnik.de/antriebstechnik-1-2025/69880800/40}, year = 2025 }
  Link
  https://digital.antriebstechnik.de/antriebstechnik-1-2025/69880800/40
5. Dzubba, Marcel ; Neubauer, Michael ; Hinze, Christoph ; Lechler, Armin ; Verl, Alexander: A Nonlinear Elasticity Model and Feedforward Compensation Method to Increase Positioning Accuracy of Industrial Robots. In: IEEE Transactions on Automation Science and Engineering (2025), S. 1
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  @article{10962177, abstract = {Large industrial robots are inexpensive compared to their workspace. Due to flexibility, the positioning accuracy is compromised. This paper presents a simple yet effective static calibration method for robots using a laser tracker that can be applied to processes with no change in external load and without high processing forces. The calibration method is based on a novel elastokinematic model that captures the nonlinear gearbox and link compliance and also accounts for the effects of pose dependent joint friction and nonlinearities due to the gravity compensation mechanism. Furthermore, a feedforward concept is presented that separates kinematics from compliance to reduce computation time. The calibration method was implemented on industrial hardware and experimentally validated on a KUKA KR210–2. In comparison to state of the art compliance modeling, accuracy is improved by 23.1 %. Finally, the feedforward model reduces the mean positioning error in the entire workspace by 54.9% compared to the purely kinematically calibrated model, emphasizing the need for compliance compensation.}, author = {Dzubba, Marcel and Neubauer, Michael and Hinze, Christoph and Lechler, Armin and Verl, Alexander}, doi = {10.1109/TASE.2025.3559673}, issn = {1558-3783}, journal = {IEEE Transactions on Automation Science and Engineering}, pages = {1-1}, title = {A Nonlinear Elasticity Model and Feedforward Compensation Method to Increase Positioning Accuracy of Industrial Robots}, year = 2025 }
6. Bubeck, Wolfgang ; Frick, Florian ; Lechler, Armin ; Verl, Alexander: Enabling the Sensor-to-Cloud Vision Through IT/OT Convergence – Industrial Power Consumption Measurement Device as a Reference Use Case. In: Drossel, W.-G. ; Ihlenfeldt, S. ; Dix, M. (Hrsg.) ; Drossel, W.-G. ; Ihlenfeldt, S. ; Dix, M. (Hrsg.): Production at the Leading Edge of Technology. Bd. Proceedings of the 14th Congress of the German Academic Association for Production Technology (WGP), Chemnitz University of Technology, December 2024 : Springer, 2025 — ISBN 978-3-031-86892-4
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  @incollection{bubeck2025enabling, author = {Bubeck, Wolfgang and Frick, Florian and Lechler, Armin and Verl, Alexander}, booktitle = {Production at the Leading Edge of Technology }, editor = {Drossel, Welf-Guntram and Ihlenfeldt, Steffen and Dix, Martin}, isbn = {978-3-031-86892-4}, number = 14, publisher = {Springer}, title = {Enabling the Sensor-to-Cloud Vision Through IT/OT Convergence – Industrial Power Consumption Measurement Device as a Reference Use Case}, url = {https://link.springer.com/book/9783031868924#about-this-book}, volume = {Proceedings of the 14th Congress of the German Academic Association for Production Technology (WGP), Chemnitz University of Technology, December 2024}, year = 2025 }
  Link
  https://link.springer.com/book/9783031868924#about-this-book
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, 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. 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. 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
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. 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. 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, 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 }
5. Frick, Florian ; Ellwein, Carsten ; Lechler, Armin ; Neubauer, Michael ; Verl, Alexander: Software-Defined Manufacturing: Reference Architecture. In: 2024 International Symposium on Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM), 2024, S. 1289–1295
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  @inproceedings{10609236, author = {Frick, Florian and Ellwein, Carsten and Lechler, Armin and Neubauer, Michael and Verl, Alexander}, booktitle = {2024 International Symposium on Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM)}, doi = {10.1109/SPEEDAM61530.2024.10609236}, pages = {1289-1295}, title = {Software-Defined Manufacturing: Reference Architecture}, year = 2024 }
6. Maisch, Nicolai ; Ajdinovic, Samed ; König, Timo ; Robertus, Alexander ; Lechler, Armin ; Riedel, Oliver: Automatisierte Anreicherung manipulationssicherer Digitaler Produktpässe von Holzbauteilen auf Basis der Blockchain-Technologie. In: Automation 2024 : VDI Verlag, 2024 — ISBN 9783181024379, S. 761–776
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  @inbook{Maisch_2024, author = {Maisch, Nicolai and Ajdinovic, Samed and König, Timo and Robertus, Alexander and Lechler, Armin and Riedel, Oliver}, booktitle = {Automation 2024}, doi = {10.51202/9783181024379-761}, isbn = {9783181024379}, pages = {761–776}, publisher = {VDI Verlag}, title = {Automatisierte Anreicherung manipulationssicherer Digitaler Produktpässe von Holzbauteilen auf Basis der Blockchain-Technologie}, url = {http://dx.doi.org/10.51202/9783181024379-761}, year = 2024 }
  Link
  http://dx.doi.org/10.51202/9783181024379-761
7. Dietrich, David ; Jud, Oliver ; Kurth, Daniel ; Lechler, Armin ; Leipe, Valentin ; Nistler, Maximilian ; Reiff, Colin ; Schulte, Alexander ; u. a.: MoNA – Die modulare Werkzeugmaschine – Eine offene Forschungsplattform/MoNA – The modular machine tool – An open research platform. In: wt Werkstattstechnik online Bd. 114, VDI Fachmedien GmbH and Co. KG (2024), S. 170–177
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  @article{dietrich2024modulare, author = {Dietrich, David and Jud, Oliver and Kurth, Daniel and Lechler, Armin and Leipe, Valentin and Nistler, Maximilian and Reiff, Colin and Schulte, Alexander and Steinle, Lukas and Verl, Alexander}, doi = {10.37544/1436–4980–2024–05–6}, journal = {wt Werkstattstechnik online}, month = {05}, number = 05, pages = {170-177}, publisher = {VDI Fachmedien GmbH and Co. KG}, title = {MoNA – Die modulare Werkzeugmaschine – Eine offene Forschungsplattform/MoNA – The modular machine tool – An open research platform}, url = {/brokenurl#doi.org/10.37544/1436–4980–2024–05–6}, volume = 114, year = 2024 }
  Link
  /brokenurl#doi.org/10.37544/1436–4980–2024–05–6
8. Schulte, Alexander ; Lechler, Armin ; Verl, Alexander: Improved Control for the Impact Actuator. In: 2024 European Control Conference (ECC), 2024, S. 2467–2472
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  @inproceedings{schulte2024improved, abstract = {The impact actuator uses the momentum transfer during mechanical impacts to accelerate linear feed axes. As a result, nearly abrupt changes in velocity can be achieved. So far, the impact and thus the velocity change have been idealized as abrupt within the controller. Since very high but not infinite accelerations occur, no actual jumps in velocity can be achieved, resulting in position and contour errors at corners in planned trajectories. In this paper, an extended control method is considered which takes into account these physical limitations of the approach in order to improve the system behavior. Using a reference trajectory, a comparison is made between regular trajectory planning, the previous control method with idealized impacts, and the new approach with improved control.}, author = {Schulte, Alexander and Lechler, Armin and Verl, Alexander}, booktitle = {2024 European Control Conference (ECC)}, doi = {10.23919/ECC64448.2024.10591100}, month = {06}, pages = {2467-2472}, title = {Improved Control for the Impact Actuator}, year = 2024 }
9. Jud, Oliver ; Steinle, Lukas ; Lechler, Armin ; Verl, Alexander: Properties of a Double Nut Ball Screw with a Passive Spring-Loaded Mechanism for Preload Adjustment. In: Procedia CIRP Bd. 130, Elsevier BV (2024), S. 1832–1837
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  @article{Jud_2024, author = {Jud, Oliver and Steinle, Lukas and Lechler, Armin and Verl, Alexander}, doi = {10.1016/j.procir.2024.10.324}, issn = {2212-8271}, journal = {Procedia CIRP}, pages = {1832–1837}, publisher = {Elsevier BV}, title = {Properties of a Double Nut Ball Screw with a Passive Spring-Loaded Mechanism for Preload Adjustment}, url = {http://dx.doi.org/10.1016/j.procir.2024.10.324}, volume = 130, year = 2024 }
  Link
  http://dx.doi.org/10.1016/j.procir.2024.10.324
10. Weiss, Manuel ; Frick, Florian ; Lechler, Armin ; Verl, Alexander: Enhanced Control Structure for Servo Drives with Adaptive PWM. In: 2024 IEEE International Conference on Power Electronics, Drives and Energy Systems (PEDES), 2024, S. 1–6
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  @inproceedings{10961716, abstract = {The PWM switching frequency significantly impacts the performance and power dissipation of electrical servo drives. In many fields of application, such as industrial automation, static PWM frequencies are typically used. The novel adaptive PWM approach dynamically adjusts the PWM frequency according to process requirements of manufacturing processes. By adapting the PWM frequency, switching losses and the overall energy consumption of servo drives can be reduced. Changing the PWM frequency at runtime requires enhancements to the control structure for dynamic parameter adjustments and a stable operation of the controllers. To validate the enhanced control structure, an experimental evaluation of the performance at different, dynamically changing PWM frequencies is presented. It is shown that the controller operates with the expected behavior at different frequencies but that there are disturbances at the moment of adjusting the PWM frequency. Non-linearities are identified as a major source, including those caused by IGBT-deadtimes. A simple compensation mechanism is integrated in the enhanced control structure as a proof-of-concept, resulting in an almost complete cancelation of disturbances at the moment of adjusting the PWM frequency.}, author = {Weiss, Manuel and Frick, Florian and Lechler, Armin and Verl, Alexander}, booktitle = {2024 IEEE International Conference on Power Electronics, Drives and Energy Systems (PEDES)}, doi = {10.1109/PEDES61459.2024.10961716}, issn = {2768-3486}, month = {12}, pages = {1-6}, title = {Enhanced Control Structure for Servo Drives with Adaptive PWM}, year = 2024 }
11. Hinze, Christoph ; Zhou, Zexu ; Xu, Haijia ; Lechler, Armin ; Verl, Alexander: RTNNIgen – An Open-Source PLC Library and Python Generator Converting Keras Models to Realtime Capable Structured Text. In: IEEE (Hrsg.) ; IEEE (Hrsg.): IECON 2024 - 50th Annual Conference of the IEEE Industrial Electronics Society, 2024, S. 1–7
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  @inproceedings{10905775, abstract = {Recent advances in AI research are boosting the relevance of realtime neural networks in automation technology. To facilitate the deployment of trained neural networks for realtime applications, where hard limits on upper cycle time are required, this paper contributed a two-fold approach: A Python library for parsing Keras sequential models to structured text using a single function-call, which can be run directly on industrial PLCs and a structured text library to encapsulate reoccurring code and to provide a readable, tested interface for the generated code. The resulting models are experimentally validated regarding their inference time and precision of the outputs.}, author = {Hinze, Christoph and Zhou, Zexu and Xu, Haijia and Lechler, Armin and Verl, Alexander}, booktitle = {IECON 2024 - 50th Annual Conference of the IEEE Industrial Electronics Society}, doi = {10.1109/IECON55916.2024.10905775}, editor = {IEEE}, month = {11}, pages = {1-7}, title = {RTNNIgen – An Open-Source PLC Library and Python Generator Converting Keras Models to Realtime Capable Structured Text}, year = 2024 }
12. Neumann, Rebekka ; von Arnim, Christian ; Neubauer, Michael ; Lechler, Armin ; Verl, Alexander: Horizontal Scaling of Compute-Intensive Real-Time Control Tasks across multiple Compute Nodes. In: Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2024 : Springer Cham, 2024
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  @incollection{noauthororeditor, author = {Neumann, Rebekka and von Arnim, Christian and Neubauer, Michael and Lechler, Armin and Verl, Alexander}, booktitle = {Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2024}, publisher = {Springer Cham}, title = {Horizontal Scaling of Compute-Intensive Real-Time Control Tasks across multiple Compute Nodes}, year = 2024 }
13. Walker, Moritz ; Imhoff, Nils ; Neumann, Rebekka ; Neubauer, Michael ; Lechler, Armin ; Verl, Alexander: Methodology for the Combined Orchestration of Real-Time Containers and Time-Sensitive Networks. In: 18th CIRP Conference on Intelligent Computation in Manufacturing Engineering, CIRP (2024)
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  @article{walker2024tsn, author = {Walker, Moritz and Imhoff, Nils and Neumann, Rebekka and Neubauer, Michael and Lechler, Armin and Verl, Alexander}, journal = {18th CIRP Conference on Intelligent Computation in Manufacturing Engineering, CIRP}, title = {Methodology for the Combined Orchestration of Real-Time Containers and Time-Sensitive Networks}, year = 2024 }
14. Helfesrieder, Nico ; Furcoi, Florentin ; Jud, Oliver ; Lechler, Armin ; Verl, Alexander: Case Study on using Layer Laminate Manufacturing for Large Lightweight Parts with high Structural Damping. In: Procedia CIRP Bd. 130, Elsevier BV (2024), S. 28–34
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  @article{Helfesrieder_2024, author = {Helfesrieder, Nico and Furcoi, Florentin and Jud, Oliver and Lechler, Armin and Verl, Alexander}, doi = {10.1016/j.procir.2024.10.051}, issn = {2212-8271}, journal = {Procedia CIRP}, pages = {28–34}, publisher = {Elsevier BV}, title = {Case Study on using Layer Laminate Manufacturing for Large Lightweight Parts with high Structural Damping}, url = {http://dx.doi.org/10.1016/j.procir.2024.10.051}, volume = 130, year = 2024 }
  Link
  http://dx.doi.org/10.1016/j.procir.2024.10.051
15. Ouyang, Shengzhe ; Zürn, Manuel ; Zeh, Lukas ; Lechler, Armin ; Verl, Alexander: Topology Prediction of Branched Deformable Linear Objects Using Deep Learning. In: IEEE Access Bd. 12 (2024), S. 194399–194411
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  @article{10804119, abstract = {Automated wire harness handling can improve production efficiency, increase quality, and reduce assembly costs. However, due to deformation, there are an infinite number of possible wire harness configurations, making wire harness perception a challenge. Deep learning is a popular method for computer vision but lacks datasets, models, and experiments for wire harness perception. Therefore, this paper presents a novel deep learning model to predict the configuration of a wire harness using artificially generated datasets mixed with real annotated data. The model predicts keypoints which are interpolated as cubic splines to represent the wire harness configuration with reduced degrees of freedom. We benchmark our novel model against YOLOv8-Pose and experiment with different possibilities for predicting the wire harness. As a result, our proposed approach achieves mAP@50-95 of 89.8%, which could further be integrated into robotic systems to improve the automation and precision of robotic wire harness handling.}, author = {Ouyang, Shengzhe and Zürn, Manuel and Zeh, Lukas and Lechler, Armin and Verl, Alexander}, doi = {10.1109/ACCESS.2024.3518634}, issn = {2169-3536}, journal = {IEEE Access}, pages = {194399-194411}, title = {Topology Prediction of Branched Deformable Linear Objects Using Deep Learning}, volume = 12, year = 2024 }
16. Steinle, Lukas ; Leipe, Valentin ; Lechler, Armin ; Verl, Alexander: Automatic preload adaptation for rack-and-pinion drives to maximize performance and energy efficiency. In: Production Engineering (2024)
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  @article{Steinle2024, abstract = {Electrically preloaded rack-and-pinion drives are typically utilized in machine tools to precisely move heavy loads over long travel distances. In the state of the art, the preload torque is commonly set to a constant value during commissioning. This poses a conflict of objectives between maximizing performance and minimizing energy consumption. To resolve this, this publication presents a novel approach to automatically adapt the preload torque during operation. For this purpose, the established preload control is extended by a simple control law that adapts the preload torque to the current operating state within the permissible limits. This way, higher preload torques are only applied, if the resulting higher system stiffness is beneficial for the drive performance. Otherwise, the preload torque is reduced to save energy. The automatic preload adaptation is experimentally validated on a test system with industry standard components. This involves both system-theoretical analyses and practical test scenarios.}, author = {Steinle, Lukas and Leipe, Valentin and Lechler, Armin and Verl, Alexander}, day = 19, doi = {10.1007/s11740-024-01318-7}, issn = {1863-7353}, journal = {Production Engineering}, month = {11}, title = {Automatic preload adaptation for rack-and-pinion drives to maximize performance and energy efficiency}, url = {https://doi.org/10.1007/s11740-024-01318-7}, year = 2024 }
  Link
  https://doi.org/10.1007/s11740-024-01318-7
17. 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. 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
18. Weiss, Manuel ; Frick, Florian ; Lechler, Armin ; Verl, Alexander: Modulation-Frequency-Dependent Power Dissipation Model for Servo Drives With Adaptive PWM. In: 2024 IEEE 18th International Conference on Advanced Motion Control (AMC), 2024, S. 1–6
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  BibTeX
  @inproceedings{10505712, abstract = {The switching frequency of the power electronics in servo drives significantly impacts its power dissipation and process accuracy. To date, a constant high switching frequency is typically used, based on the strictest requirements of the manufacturing process. The novel adaptive PWM approach dynamically adjusts the switching frequency at runtime to reduce switching losses of the power electronics, while maintaining the required process accuracy. The switching frequency is set based on the requirements of the active operating state of the tooling machine. To determine the optimal switching frequency, a holistic understanding of power dissipation in servo drives is required. A novel modulation-frequency-dependent power dissipation model, incorporating the losses in the drive amplifier and in the motor due to current ripple effects, is presented in this paper. The new model is validated over a wide range of parameters, including different motors, voltages and currents. The evaluation of the model results in a better understanding of the modulation-frequency-dependent power dissipation in servo drives and enables the determination of the optimal PWM frequencies. It is shown that higher energy savings can be achieved at higher voltages, while current ripple effects limit the effectiveness of the adaptive PWM approach for motors with lower power ratings.}, author = {Weiss, Manuel and Frick, Florian and Lechler, Armin and Verl, Alexander}, booktitle = {2024 IEEE 18th International Conference on Advanced Motion Control (AMC)}, doi = {10.1109/AMC58169.2024.10505712}, issn = {1943-6580}, month = {02}, pages = {1-6}, title = {Modulation-Frequency-Dependent Power Dissipation Model for Servo Drives With Adaptive PWM}, year = 2024 }
19. Erb, Yannick ; Teigeler, Heiner ; Lins, Sebastian ; Sunyaev, Ali ; Frick, Florian ; Bubeck, Wolfgang ; Neher, Philipp ; Neumann, Rebekka ; u. a. ; für Technologie (KIT), K. I. (Hrsg.) ; für Technologie (KIT), K. I. (Hrsg.): A Gaia-X-based Ecosystem for Manufacturing: Lessons Learned from the Project Gaia-X4ICM (Publication) : Karlsruher Institut für Technologie (KIT), 2024
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  BibTeX
  @techreport{erb2024gaiaxbased, author = {Erb, Yannick and Teigeler, Heiner and Lins, Sebastian and Sunyaev, Ali and Frick, Florian and Bubeck, Wolfgang and Neher, Philipp and Neumann, Rebekka and Lechler, Armin and Verl, Alexander and Riedel, Oliver and Gleich, Kevin and Behrendt, Sebastian and Karimi, Ehsan and Bott, Alexander and Lanza, Gisela and Schulze, Volker and Fleischer, Jürgen and Leander-Knoll, Matthias and Jaganathan, Keerthana and Scheibenberger, Klaus and Andriushchenko, Olga and Shcherbakov, Oleksandr and Hoppe, Dennis and Brinkmeier, David}, doi = {10.5445/IR/1000174929}, editor = {für Technologie (KIT), Karlsruher Institut}, institution = {Karlsruher Institut für Technologie (KIT)}, language = {english}, pagetotal = {45}, title = {A Gaia-X-based Ecosystem for Manufacturing: Lessons Learned from the Project Gaia-X4ICM}, type = {Publication}, url = {https://publikationen.bibliothek.kit.edu/1000174929}, year = 2024 }
  Link
  https://publikationen.bibliothek.kit.edu/1000174929
20. Dietrich, David ; Neubauer, Michael ; Lechler, Armin ; Verl, Alexander: Automated Manufacturing Toolchain using Skill-based Digital Twins. In: Procedia CIRP Bd. 128, Elsevier BV (2024), S. 923–928
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  @article{Dietrich_2024, author = {Dietrich, David and Neubauer, Michael and Lechler, Armin and Verl, Alexander}, doi = {10.1016/j.procir.2024.06.045}, issn = {2212-8271}, journal = {Procedia CIRP}, pages = {923–928}, publisher = {Elsevier BV}, title = {Automated Manufacturing Toolchain using Skill-based Digital Twins}, url = {http://dx.doi.org/10.1016/j.procir.2024.06.045}, volume = 128, year = 2024 }
  Link
  http://dx.doi.org/10.1016/j.procir.2024.06.045
21. Steinle, Lukas ; Leipe, Valentin ; Lechler, Armin ; Veri, Alexander: Learning Compensation of the State-Dependent Transmission Errors in Rack-and-Pinion Drives. In: 2024 European Control Conference (ECC), 2024, S. 2441–2447
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  BibTeX
  @inproceedings{10591213, abstract = {Rack-and-pinion drives are commonly used in large machine tools to provide linear motion of heavy loads over long travel distances. A key concern in this context is the achievable path accuracy, which is limited by assembly and manufacturing tolerances of the gearing components in conjunction with load-dependent deformation and the inherent backlash of the system. To address this issue, this paper presents a method for robust modeling of the individual and state-dependent transmission errors of a drive utilizing a two-stage machine learning approach. Based on this, the position control is extended to include an error compensation, which suppresses the modeled deviations in the mechanical system including the position-dependent backlash. The achievable increase in path accuracy as well as the robustness of the approach are evaluated and quantified by an experimental validation on a system with industry standard components.}, author = {Steinle, Lukas and Leipe, Valentin and Lechler, Armin and Veri, Alexander}, booktitle = {2024 European Control Conference (ECC)}, doi = {10.23919/ECC64448.2024.10591213}, month = {06}, pages = {2441-2447}, title = {Learning Compensation of the State-Dependent Transmission Errors in Rack-and-Pinion Drives}, year = 2024 }
22. Bauer, Christian J. E. ; Lechler, Armin ; Verl, Alexander: Höhere Bahngenauigkeit – Kompensation kinematischer Übertragungsfehler in Zykloidgetrieben von Industrierobotern. In: antriebstechnik (2024)
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  @article{bauer2024hhere, abstract = {Im Vergleich zu Werkzeugmaschinen erreichen Industrierobotereine geringe Absolut- und Bahngenauigkeit. Um neue Anwendungsgebiete für die Industrierobotik zu erschließen, forscht das Institut für Steuerungstechnik der Werkzeugmaschinen und Fertigungseinrichtungen (ISW) der Universität Stuttgart daher an regelungstechnischen Lösungen zur Erhöhung der Genauigkeit. Sowohl Prozesse ohne externe Kräfte wie das Laserschneiden als auch Prozesse mit hohen Prozesskräften wie die spanende Bearbeitung sollen so für den Einsatz von Industrierobotern erschlossen werden.}, author = {Bauer, Christian J. E. and Lechler, Armin and Verl, Alexander}, journal = {antriebstechnik}, language = {de}, month = {09}, title = {Höhere Bahngenauigkeit – Kompensation kinematischer Übertragungsfehler in Zykloidgetrieben von Industrierobotern}, url = {https://digital.antriebstechnik.de/antriebstechnik-9-2024/68786300/40}, year = 2024 }
  Link
  https://digital.antriebstechnik.de/antriebstechnik-9-2024/68786300/40
23. Elser, Anja ; Lechler, Armin ; Verl, Alexander: Process-integrated computerized numerical control: an analysis on process-machine coupling and feed scheduling. In: The International Journal of Advanced Manufacturing Technology Bd. 135 (2024), S. 1291–1301
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  @article{Elser2024, abstract = {Computerized numerical controls (CNCs) have been invented for the automation of industrial processes. They are used, when the process to be automated is required to be exact and fast with repeatable quality. Originally, the use of CNCs was primarily focused on milling and drilling processes. Today, CNCs are utilized in a wide range of industrial processes due to the growing importance of automation. However, the integration of process information or adaptation to the needs of these processes to achieve advanced manufacturing with CNCs is difficult: Industrial CNCs are rather closed real-time machining systems. Today, process integration is possible, when the interaction between the process and the machine is decoupled in view of the bandwidth of machine dynamics and process dynamics. There are interfaces that allow for process-motivated control loops that are realized on top of the machine control loop (e.g. chatter control). Then, machine-integrated real-time control is not the focus. Besides, it is often possible to change desired values inside the control loop (position, velocity, acceleration) on an axes basis. In this case, adaptation to the process can be realized in each computation cycle. However, process dynamics and machine axes dynamics are generally treated separately. The same holds for extra actuators (e.g., in the spindle) for position control. This paper has two goals. First, it wants to create an understanding for different levels of process-machine coupling. Second, the problem of direct coupling of process dynamics and machine dynamics is focused. Machining systems design propositions as well as some examples for the coupling of process and machine dynamics in the CNC are given.}, author = {Elser, Anja and Lechler, Armin and Verl, Alexander}, day = 01, doi = {10.1007/s00170-024-14437-3}, issn = {1433-3015}, journal = {The International Journal of Advanced Manufacturing Technology}, month = {11}, number = 3, pages = {1291--1301}, title = {Process-integrated computerized numerical control: an analysis on process-machine coupling and feed scheduling}, url = {https://doi.org/10.1007/s00170-024-14437-3}, volume = 135, year = 2024 }
  Link
  https://doi.org/10.1007/s00170-024-14437-3
24. Ajdinovic, Samed ; Maisch, Nicolai ; Dzubba, Marcel ; Lechler, Armin ; Riedel, Oliver: Defining Scalable Data Models for Operational Data Integration in Manufacturing Processes Within the Digital Product Passport Framework Through OPC UA and Asset Administration Shell. In: International Conference on Flexible Automation and Intelligent Manufacturing Bd. Lecture Notes in Mechanical Engineering ((LNME)) (2024)
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  @article{ajdinovic2024defining, author = {Ajdinovic, Samed and Maisch, Nicolai and Dzubba, Marcel and Lechler, Armin and Riedel, Oliver}, doi = {10.1007/978-3-031-74482-2_14}, journal = {International Conference on Flexible Automation and Intelligent Manufacturing}, title = {Defining Scalable Data Models for Operational Data Integration in Manufacturing Processes Within the Digital Product Passport Framework Through OPC UA and Asset Administration Shell}, url = {https://link.springer.com/chapter/10.1007/978-3-031-74482-2_14}, volume = {Lecture Notes in Mechanical Engineering ((LNME))}, year = 2024 }
  Link
  https://link.springer.com/chapter/10.1007/978-3-031-74482-2_14
25. Neumann, Rebekka ; Frick, Florian ; Lechler, Armin ; Verl, Alexander: Analysis of the Applicability of Cloud Computing Scaling Techniques for Real-Time Workloads of Industrial Control Systems. In: 22nd IEEE International Conference on Industrial Informatics (INDIN) (2024)
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  @article{neumann2024analysis, author = {Neumann, Rebekka and Frick, Florian and Lechler, Armin and Verl, Alexander}, doi = {10.1109/INDIN58382.2024.10774276}, journal = {22nd IEEE International Conference on Industrial Informatics (INDIN)}, title = {Analysis of the Applicability of Cloud Computing Scaling Techniques for Real-Time Workloads of Industrial Control Systems}, url = {https://doi.org/10.1109/INDIN58382.2024.10774276}, year = 2024 }
  Link
  https://doi.org/10.1109/INDIN58382.2024.10774276
26. Walker, Moritz ; Lechler, Armin ; Neubauer, Michael ; Verl, Alexander: Konzept zum kontinuierlichen Deployment virtualisierter Steuerungstechnik. In: Krüger, J. ; Uhlmann, E. (Hrsg.) Forschritt-Berichte VDI - Nachhaltigkeit in der Produktion Bd. 712 (2024), S. 16–26
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  @article{walker2024konzept, author = {Walker, Moritz and Lechler, Armin and Neubauer, Michael and Verl, Alexander}, editor = {Krüger, Jörg and Uhlmann, Eckard}, journal = {Forschritt-Berichte VDI - Nachhaltigkeit in der Produktion}, month = {06}, pages = {16-26}, title = {Konzept zum kontinuierlichen Deployment virtualisierter Steuerungstechnik}, volume = 712, year = 2024 }
27. Tinsel, Erik-Felix ; Lechler, Armin ; Riedel, Oliver ; Verl, Alexander: Concept of an Initial Requirements-Driven Factory Layout Planning and Synthetic Expert Verification for Industrial Simulation Based on LLM. In: 2024 IEEE 22nd International Conference on Industrial Informatics (INDIN), 2024, S. 1–6
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  @inproceedings{10774366, abstract = {The value added by virtual commissioning of in-dustrial production systems is evident through significant cost savings achieved via early error detection. Detecting errors early in the development process enhances project success. However, the development of simulation models is associated with manual effort, particularly during the early phases of the project when it comes to creating the first models. To reduce costs and increase automation in the redesign of simulation models, a novel concept is presented that automatically transforms unstructured customer requirements into initial model placeholders within a simulation environment. The approach employs a large language model to identify necessary processes and machines, estimating their dimensions and positioning them relative to each other. The output is then converted to a simulation model format and imported into a simulation environment for further refinement. To verify the solution, a synthetic expert, trained using a large language model, learns the probability correlations between plant types, machines, and processes, thereby enabling a more accurate assessment of the resulting simulation model.}, author = {Tinsel, Erik-Felix and Lechler, Armin and Riedel, Oliver and Verl, Alexander}, booktitle = {2024 IEEE 22nd International Conference on Industrial Informatics (INDIN)}, doi = {10.1109/INDIN58382.2024.10774366}, issn = {2378-363X}, month = {08}, pages = {1-6}, title = {Concept of an Initial Requirements-Driven Factory Layout Planning and Synthetic Expert Verification for Industrial Simulation Based on LLM}, year = 2024 }
28. Heinemann, Tonja ; König, Timo ; Lechler, Armin ; Riedel, Oliver: OPC UA Best Practices in der Modellierung nutzen/Using OPC UA Best Practices in Modelling. In: wt Werkstattstechnik online Bd. 114 (2024), S. 240–245. — Mit der Popularität von Open Platform Communications UnifiedArchitecture (OPC UA) und Companion Specifications (CS) wird einallgemeines Verständnis von OPC-UA-Modellen wichtiger. Dazu hat dieOPC Foundation ein Best Practices Whitepaper verfasst, um dieModellierenden zu unterstützen. Dieser Beitrag beschreibt, welcheInhalte in verschiedener Weise zur Nutzung und Überprüfung vonOPC-UA-Modellen und Implementierungen geeignet sind und inwieferndiese Nutzung automatisiert erfolgen kann.
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  BibTeX
  @article{2024:heinemann:opc_ua_bes, author = {Heinemann, Tonja and König, Timo and Lechler, Armin and Riedel, Oliver}, journal = {wt Werkstattstechnik online}, note = {Mit der Popularität von Open Platform Communications UnifiedArchitecture (OPC UA) und Companion Specifications (CS) wird einallgemeines Verständnis von OPC-UA-Modellen wichtiger. Dazu hat dieOPC Foundation ein Best Practices Whitepaper verfasst, um dieModellierenden zu unterstützen. Dieser Beitrag beschreibt, welcheInhalte in verschiedener Weise zur Nutzung und Überprüfung vonOPC-UA-Modellen und Implementierungen geeignet sind und inwieferndiese Nutzung automatisiert erfolgen kann.}, number = 05, pages = {240--245}, title = {OPC UA Best Practices in der Modellierung nutzen/Using OPC UA Best Practices in Modelling}, volume = 114, year = 2024 }
29. Fischer, Marc ; Müller, Felix ; Lechler, Armin ; Riedel, Oliver: Software-Based Fault Tolerance with Arithmetic Coding for Floating-Points. In: 2024 8th International Conference on System Reliability and Safety (ICSRS), 2024, S. 558–565
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  BibTeX
  @inproceedings{10927545, author = {Fischer, Marc and Müller, Felix and Lechler, Armin and Riedel, Oliver}, booktitle = {2024 8th International Conference on System Reliability and Safety (ICSRS)}, doi = {10.1109/ICSRS63046.2024.10927545}, pages = {558-565}, title = {Software-Based Fault Tolerance with Arithmetic Coding for Floating-Points}, year = 2024 }
30. Evcenko, Dimitri ; Heinemann, Tonja ; Kett, Holger ; Lechler, Armin ; Riedel, Oliver ; Wortmann, Andreas: Identifying machine times with OPC UA for Equipment as a Service (EaaS) – possibilities and limitations. In: Procedia CIRP Bd. 130, Elsevier BV (2024), S. 578–583
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  BibTeX
  @article{Evcenko_2024, author = {Evcenko, Dimitri and Heinemann, Tonja and Kett, Holger and Lechler, Armin and Riedel, Oliver and Wortmann, Andreas}, doi = {10.1016/j.procir.2024.10.132}, issn = {2212-8271}, journal = {Procedia CIRP}, pages = {578–583}, publisher = {Elsevier BV}, title = {Identifying machine times with OPC UA for Equipment as a Service (EaaS) – possibilities and limitations}, url = {http://dx.doi.org/10.1016/j.procir.2024.10.132}, volume = 130, year = 2024 }
  Link
  http://dx.doi.org/10.1016/j.procir.2024.10.132
31. Oechsle, Stefan ; Frick, Florian ; Walker, Moritz ; Lechler, Armin ; Verl, Alexander: Endpoint Architecture for Distributed Real-Time Applications Based on TSN. In: 2024 IEEE 20th International Conference on Factory Communication Systems (WFCS), 2024, S. 41–48
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  BibTeX
  @inproceedings{10540878, abstract = {Distributed real-time applications perform deterministic tasks across multiple connected compute platforms, referred to as endpoints. Deterministic behavior of the communication and the compute are prerequisites, but coordinating and managing both in a holistic way is a significant challenge. Converged real-time networks based on Time-Sensitive Networking (TSN) are considered the key enabler across industries for the required connectivity. To date, the potential of TSN cannot be exploited due to many sub-standards still being under development, gaps in the management and configuration functions, lack of best practices and unresolved integration with higher application layers and domain specific engineering. Previous work, focusing on a modular open source framework for the engineering and management of distributed real-time applications, identified a unified approach for TSN-based endpoints as a key gap. This paper presents a novel endpoint architecture to operate, engineer and manage distributed real-time applications by seamlessly integrating real-time networking and compute. The architecture provides interfaces to a central engineering, allows to integrate centralized as well as distributed network management and offers a unified data management. An abstraction layer for applications allows the efficient use and complements existing open source solutions.}, author = {Oechsle, Stefan and Frick, Florian and Walker, Moritz and Lechler, Armin and Verl, Alexander}, booktitle = {2024 IEEE 20th International Conference on Factory Communication Systems (WFCS)}, doi = {10.1109/WFCS60972.2024.10540878}, issn = {2835-8414}, month = {04}, pages = {41-48}, title = {Endpoint Architecture for Distributed Real-Time Applications Based on TSN}, url = {https://doi.org/10.1109/WFCS60972.2024.10540878}, year = 2024 }
  Link
  https://doi.org/10.1109/WFCS60972.2024.10540878
32. Leipe, Valentin ; Steinle, Lukas ; Bikuña, Xabier Agirre ; Lechler, Armin ; Verl, Alexander: Modeling and Identification of Load-Dependent Properties for Electrically Preloaded Rack-and-Pinion Drives. In: 2024 European Control Conference (ECC), 2024, S. 2460–2466
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  @inproceedings{10590860, abstract = {Rack-and-pinion drives are preferred feed drives for long travel distances and heavy loads in large machine tools. One of the advantages compared to other feed drive systems is consistent stiffness regardless of travel length. A primary challenge with rack-and-pinion drives is the achievable accu-racy due to backlash. To compensate for backlash, electrically preloaded systems are commonly used in machine tools. In the case of electrical preload between two motors, the system is more complex to identify because the feed drive specific properties cannot be directly assigned to the respective drive train. To address this issue, this paper presents a novel method for modeling and identifying the load-dependent stiffness and damping of an electrically preloaded system. For this purpose, a mathematical modeling based on experimental data from a test bench with industrial components is presented to separate the drive train specific properties. This allows the system behavior to be modeled more accurately and used for control approaches.}, author = {Leipe, Valentin and Steinle, Lukas and Bikuña, Xabier Agirre and Lechler, Armin and Verl, Alexander}, booktitle = {2024 European Control Conference (ECC)}, doi = {10.23919/ECC64448.2024.10590860}, month = {06}, pages = {2460-2466}, title = {Modeling and Identification of Load-Dependent Properties for Electrically Preloaded Rack-and-Pinion Drives}, year = 2024 }
33. Walker, Moritz ; Rupietta, Leonard ; Lechler, Armin ; Neubauer, Michael ; VerI, Alexander: Orchestration of Heterogeneous, Distributed, Real-Time Control Containers. In: 2024 IEEE 22nd International Conference on Industrial Informatics (INDIN), 2024, S. 1–8
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  @inproceedings{10774290, author = {Walker, Moritz and Rupietta, Leonard and Lechler, Armin and Neubauer, Michael and VerI, Alexander}, booktitle = {2024 IEEE 22nd International Conference on Industrial Informatics (INDIN)}, doi = {10.1109/INDIN58382.2024.10774290}, pages = {1-8}, title = {Orchestration of Heterogeneous, Distributed, Real-Time Control Containers}, url = {https://ieeexplore.ieee.org/document/10774290}, year = 2024 }
  Link
  https://ieeexplore.ieee.org/document/10774290
2023
1. 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) : 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
2. 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
3. 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. 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
4. Tinsel, Erik-Felix ; Lechler, Armin ; Riedel, Oliver: Kompensation fehlender Komponenten in der Simulation/AI-based assistance system to compensate for missing components in industrial simulation. In: wt Werkstattstechnik online Bd. 113 (2023), S. 195–199
  - BibTeX
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  BibTeX
  @article{Tinsel.2023, abstract = {Die virtuelle Inbetriebnahme erlaubt das digitale Vorabtesten bei der Entwicklung von Maschinen und Anlagen und spart Kosten durch eine fr{\"u}hzeitige Fehler$\ldots$}, author = {Tinsel, Erik-Felix and Lechler, Armin and Riedel, Oliver}, doi = {10.37544/1436-4980-2023-05-17}, file = {Tinsel, Lechler et al. 2023 - Kompensation fehlender Komponenten:Attachments/Tinsel, Lechler et al. 2023 - Kompensation fehlender Komponenten.pdf:application/pdf}, issn = {1436-4980}, journal = {wt Werkstattstechnik online}, number = 05, pages = {195--199}, title = {Kompensation fehlender Komponenten in der Simulation/AI-based assistance system to compensate for missing components in industrial simulation}, url = {https://elibrary.vdi-verlag.de/10.37544/1436-4980-2023-05-17/kompensation-fehlender-komponenten-in-der-simulation-ai-based-assistance-system-to-compensate-for-missing-components-in-industrial-simulation-jahrgang-113-2023-heft-05?page=1}, volume = 113, year = 2023 }
  Link
  https://elibrary.vdi-verlag.de/10.37544/1436-4980-2023-05-17/kompensation-fehlender-komponenten-in-der-simulation-ai-based-assistance-system-to-compensate-for-missing-components-in-industrial-simulation-jahrgang-113-2023-heft-05?page=1
5. Bubeck, Wolfgang ; Lechler, Armin ; Verl, Alexander: FPGA-basierte Signalverarbeitung kapazitiver Sensorflächen für Industrie- und Servicerobotikanwendungen. In: Krüger, J. ; Uhlmann, E. ; Lechler, A. ; Verl, A. ; Riedel, O. (Hrsg.) ; Krüger, J. ; Uhlmann, E. ; Lechler, A. ; Verl, A. ; Riedel, O. (Hrsg.): Algorithmik und KI für moderne Roboterapplikationen – ein Überblick, Fertigungstechnik. Bd. 710. Düsseldorf : VDI Verlag, 2023 — ISBN 978-3-18-371002-7, S. 110
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  @incollection{bubeck2023fpgabasierte, address = {Düsseldorf}, author = {Bubeck, Wolfgang and Lechler, Armin and Verl, Alexander}, booktitle = {Algorithmik und KI für moderne Roboterapplikationen – ein Überblick}, editor = {Krüger, Jörg and Uhlmann, Eckart and Lechler, Armin and Verl, Alexander and Riedel, Oliver}, isbn = {978-3-18-371002-7}, pages = 110, publisher = {VDI Verlag}, series = {Fertigungstechnik}, title = {FPGA-basierte Signalverarbeitung kapazitiver Sensorflächen für Industrie- und Servicerobotikanwendungen}, volume = 710, year = 2023 }
6. 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 Bd. 71 (2023), 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
7. Leipe, Valentin ; Hinze, Christoph ; Lechler, Armin ; Verl, Alexander: Model predictive control for compliant feed drives with offset-free tracking behavior. In: 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
8. 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, 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 }
9. 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, 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 }
10. 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. 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 }
11. König, Timo ; Verl, Alexander ; Lechler, Armin: Replication Data for: Cornuspline path planning algorithm for the fabrication of coreless wound fiber-polymer composite structures. Brief.
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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
12. 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, S. 1–8
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  BibTeX
  @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
13. 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, S. 1–6
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  BibTeX
  @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
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. 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, S. 1–6
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  @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 ; 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. 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
17. 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, 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 }
18. Jud, Oliver ; Lechler, Armin ; Verl, Alexander: Vorspannungsverluste kompensieren. In: konstruktionspraxis (2023), 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/
19. 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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  @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
20. 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, S. 1–8
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  @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
21. 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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  @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
22. 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 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
23. 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, 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 }
24. 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. 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
25. 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. 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
26. Steinle, Lukas ; Leipe, Valentin ; Lechler, Armin ; Verl, Alexander: Effizientere Antriebe durch smarte Steuerung. In: KG, V. C. G. G. &. Co. (Hrsg.) MM Maschinenmarkt (2023), S. 51–53
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  @article{maschinenmarkt2023effizientere, author = {Steinle, Lukas and Leipe, Valentin and Lechler, Armin and Verl, Alexander}, editor = {KG, Vogel Communications Group GmbH & Co.}, journal = {MM Maschinenmarkt}, number = 10, pages = {51-53}, title = {Effizientere Antriebe durch smarte Steuerung}, year = 2023 }
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 (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. Helfesrieder, Nico ; Lechler, Armin ; Verl, Alexander: Leichtbau durch schichtweise LLM-Fertigung – zur Anisotropie der Bauteileigenschaften. In: Konstruktion Bd. 75, VDI Fachmedien GmbH and Co. KG (2023), 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
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, S. 1–6
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  @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
30. 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 Bd. 113, VDI Fachmedien GmbH and Co. KG (2023), S. 183–188
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  @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
31. 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 Bd. 37, Elsevier (2023), S. 1–6
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  @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
32. Bux, Tobias ; Riedel, Oliver ; Lechler, Armin: Blockchain Based Approach on Gathering Manufacturing Information Focused on Data Integrity. In: Lecture Notes in Production Engineering. Cham : Springer International Publishing, 2023 — ISBN 9783031183171, S. 473–483
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  @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 }
2022
1. Schütz, Andreas ; Lechler, Armin ; Verl, Alexander: Modelling for Control of Vacuum Grippers in automatically reconfigurable Fixturing Systems for thin-walled Workpieces. In: 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
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 : SCITEPRESS - Science and Technology Publications, 2022
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  @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. 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. 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 }
4. Jud, Oliver ; Lechler, Armin ; Verl, Alexander: Vorspannung adaptiv nachstellen. In: konstruktionspraxis, Vogel Communications Group GmbH & Co. KG (2022) (2022), 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, 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. Neubauer, Michael ; Frick, Florian ; Ellwein, Carsten ; Lechler, Armin ; Verl, Alexander: Software-defined Manufacturing - Ein Paradigmenwechsel für die industrielle Produktion. In: wt Werkstatttechnik online Bd. 112 (2022), S. 383–389
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  @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 }
7. Schulte, Alexander ; Lechler, Armin ; Verl, Alexander: Impact Actuator for Increased Dynamics. In: 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 }
8. 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 Bd. 107, Elsevier BV (2022), S. 1041–1046
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  @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
9. Heinemann, Tonja ; Friedl, Sebastian ; Lechler, Armin: OPC-UA-Domänenmodelle heute und morgen. In: 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 }
10. Mesmer, Patrick ; Lechler, Armin ; Verl, Alexander: Genauigkeit von Robotern steigern. In: INDUSTRIAL Production Bd. 11/2022 (2022), S. 46–47
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  @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 }
11. 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 Bd. 73, Elsevier BV (2022), S. 102232
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  @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
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 Bd. 112, VDI Fachmedien GmbH and Co. KG (2022), 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. 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, 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 }
14. 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, 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 }
15. Elser, Anja ; Lechler, Armin ; Verl, Alexander: Implementation of Surface Interpolators for Compound Surfaces without C2-continuity. In: 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
16. 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) : 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/
17. 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), 2022, S. 17–25
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  @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 }
18. 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 Bd. 112, VDI Fachmedien GmbH and Co. KG (2022), S. 282–287
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  @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 – 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
19. 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. 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
20. Mesmer, Patrick ; Lechler, Armin ; Verl, Alexander: Sensorlose Hysteresekompensation von Industrierobotern. In: GmbH, V. F. (Hrsg.) 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 }
21. Elser, Anja ; Teicht, Steffen ; Lechler, Armin: Modellbasierte numerische Steuerung: Entwicklung und Implementierung einer Steuerungsarchitektur für das Schwerkraftgießen. In: 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 }
22. 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) : 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
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) : IEEE, 2022, S. 1–7
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  @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. Bd. 13, 2022 — ISBN 978-3-9818463-3-1, S. 18–27
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  @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 (2021)
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  @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 Bd. 111, VDI Fachmedien GmbH and Co. KG (2021), S. 282–285
  - BibTeX
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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. Heinemann, Tonja ; Friedl, Sebastian ; Lechler, Armin: Interoperabilität für OPC UA Spezifikationen. In: WT Werkstattstechnik online. VDI-Platz 1, D-40468 Düsseldorf : VDI Fachmedien GmbH & Co. KG, 2021, S. 324–329
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  @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/
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, S. 1–8
  - BibTeX
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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. Reiff, Colin ; Bubeck, Wolfgang ; Krawczyk, Daniel ; Steeb, Maximilian ; Lechler, Armin ; Verl, Alexander: Learning Feedforward Control for Laser Powder Bed Fusion. In: Procedia CIRP Bd. 96 (2021), S. 127–132. — 8th CIRP Global Web Conference
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  BibTeX
  @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

Armin Lechler

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