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Verl, Alexander

Alexander Verl

Prof. Dr.-Ing.

Head of Institute
Institute for Control Engineering of Machine Tools and Manufacturing Units

Contact

+49 711 685 82422
Email
Business card (VCF)

Seidenstr. 36
70174 Stuttgart
Germany
Room: 5.005

Publications

My Publications:

2022
1. Bubeck, Wolfgang ; Frick, Florian ; Verl, Alexander: Hardware-Accelerated Data Processing of Capacitive Sensor Arrays for Industrial and Service Robotic Applications. In: ISR Europe, ISR Europe. Bd. 54 (2022), S. 174–179 — ISBN 978-3-8007-5891-3
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  @article{noauthororeditor, abstract = {To ensure a safe environment for human-machine interaction through signal processing and to process big data from intelligent production systems, increasingly powerful computational hardware is required. Central Processing Unit (CPU) based systems are reaching their load limits when processing large amounts of data. This paper presents a hardware-software architecture for Field Programmable Gate Array (FPGA) based platforms for high-frequency data evaluation using capacitive sensor arrays as an example. The architecture includes on the one hand a concept for hardware-acceler-ated sensor data processing and on the other hand the methodology for reading out capacitive sensor arrays. The focus is on simple and easily scalable electronics as well as a dynamic data processing module that can execute and deterministically process complex algorithms with large amount of data based on flexible rules using hardware acceleration. The presented concept was implemented on a FPGA based hardware platform. This allowed the signal processing of 100 sensor values with a resolution of 32 Bit each by 3 pipelined rules, a second order IIR-filter, a 10-times linear interpolation and an averaging algorithm at a task cycle of 1kHz. For the capacitance measurement validation, a custom developed Printed Circuit Board (PCB) with 6 channels is connected to the FPGA platform. It was shown to be capable of a robust and deterministic capacitance measurement at intervals of 1ms with capacitance values from Femto- to Nanofarad. Due to its easy scalability, the method can be used, for example, to completely cover a robotic arm similar to human skin, fully evaluate its measurement signals and therefore increases Human Machine Interaction (HMI).}, author = {Bubeck, Wolfgang and Frick, Florian and Verl, Alexander}, booktitle = {ISR Europe}, eventdate = {June 20 - 21 2022}, isbn = {978-3-8007-5891-3}, pages = {174-179}, title = {Hardware-Accelerated Data Processing of Capacitive Sensor Arrays for Industrial and Service Robotic Applications}, url = {https://ieeexplore.ieee.org/document/9861814}, volume = 54, year = 2022 }
  Link
  https://ieeexplore.ieee.org/document/9861814
2. Jud, Oliver ; Lechler, Armin ; Verl, Alexander: Vorspannung adaptiv nachstellen. In: konstruktionspraxis, konstruktionspraxis., Vogel Communications Group GmbH & Co. KG (2022) (2022), Nr. 08, S. 32–33
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  @article{jud2022vorspannung, author = {Jud, Oliver and Lechler, Armin and Verl, Alexander}, journal = {konstruktionspraxis}, month = {08}, number = 08, pages = {32-33}, publisher = {Vogel Communications Group GmbH & Co. KG (2022)}, title = {Vorspannung adaptiv nachstellen}, url = {https://www.konstruktionspraxis.vogel.de/epaperarchiv/konstruktionspraxis_2022008/html5/index.html?pn=33}, year = 2022 }
  Link
  https://www.konstruktionspraxis.vogel.de/epaperarchiv/konstruktionspraxis_2022008/html5/index.html?pn=33
3. Kaiser, Benjamin ; Reichle, Alexander ; Verl, Alexander: Model-based automatic generation of digital twin models for the simulation of reconfigurable manufacturing systems for timber construction. In: Procedia CIRP, Procedia CIRP. Bd. 107 : Elsevier BV, 2022, S. 387--392
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  @inproceedings{Kaiser_2022, author = {Kaiser, Benjamin and Reichle, Alexander and Verl, Alexander}, doi = {10.1016/j.procir.2022.04.063}, journal = {Procedia {CIRP}}, pages = {387--392}, publisher = {Elsevier {BV}}, title = {Model-based automatic generation of digital twin models for the simulation of reconfigurable manufacturing systems for timber construction}, url = {https://doi.org/10.1016%2Fj.procir.2022.04.063}, volume = 107, year = 2022 }
  Link
  https://doi.org/10.1016%2Fj.procir.2022.04.063
4. Kaiser, Benjamin ; Wolf, Martin ; Verl, Alexander: Modular Control Architecture for Reconfigurable Fabrication Systems for Prefabrication in Construction. In: ISR Europe 2022; 54th International Symposium on Robotics, ISR Europe 2022; 54th International Symposium on Robotics, 2022, S. 1–7
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  @inproceedings{9861808, author = {Kaiser, Benjamin and Wolf, Martin and Verl, Alexander}, booktitle = {ISR Europe 2022; 54th International Symposium on Robotics}, pages = {1-7}, title = {Modular Control Architecture for Reconfigurable Fabrication Systems for Prefabrication in Construction}, year = 2022 }
5. Littfinski, Daniel ; Verl, Alexander: Virtual Reality in der Steuerungstechnik. In: KG, V. F. G. & Co. (Hrsg.) wt Werkstattstechnik online, wt Werkstattstechnik online. Bd. 112 (2022), Nr. 09, S. 552–558
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  @article{littfinski2022virtual, author = {Littfinski, Daniel and Verl, Alexander}, doi = {doi.org/10.37544/1436-4980-2022-09}, editor = {KG, VDI Fachmedien GmbH & Co.}, journal = {wt Werkstattstechnik online}, month = {09}, number = 09, pages = {552-558}, title = {Virtual Reality in der Steuerungstechnik}, volume = 112, year = 2022 }
6. Mesmer, Patrick ; Lechler, Armin ; Verl, Alexander: Genauigkeit von Robotern steigern. In: INDUSTRIAL Production, INDUSTRIAL Production. Bd. 11/2022 (2022), S. 46–47
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  @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 }
7. Reichle, Alexander ; Ellwein, Carsten ; Verl, Alexander: Adaptive CAM planning to support co-design in the building industry. In: Anwer, N. (Hrsg.) ; Anwer, N. (Hrsg.): Procedia CIRP, Procedia CIRP. Bd. 109. Elsevier BV, 2022, S. 78–83
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  @inproceedings{reichle2022adaptive, address = {Elsevier {BV}}, author = {Reichle, Alexander and Ellwein, Carsten and Verl, Alexander}, doi = {10.1016/j.procir.2022.05.217}, editor = {Anwer, Nabil}, journal = {Procedia {CIRP}}, pages = {78-83}, title = {Adaptive CAM planning to support co-design in the building industry}, url = {https://doi.org/10.1016/j.procir.2022.05.217}, volume = 109, year = 2022 }
  Link
  https://doi.org/10.1016/j.procir.2022.05.217
8. Schulte, Alexander ; Lechler, Armin ; Verl, Alexander: Impact Actuator for Increased Dynamics. In: IECON 2022 – 48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022 – 48th Annual Conference of the IEEE Industrial Electronics Society, 2022, S. 1–6
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  @inproceedings{9968593, abstract = {This article investigates the use of impuls transfer during mechanical impacts for the acceleration of feed axes. For this purpose, additional masses are attached to linear axes and moved by an actuator. Very high accelerations can be obtained by impacts with a defined velocity on contact surfaces. Thus, almost abrupt velocity changes can be achieved on the main drives. To enable driving through corners with constant path velocity, the concept consists of a cross table with two axis equiped with an impact actuator each. Investigations are carried out by using a reference contour and the results are compared with existing strategies for adjusting the corners.}, author = {Schulte, Alexander and Lechler, Armin and Verl, Alexander}, booktitle = {IECON 2022 – 48th Annual Conference of the IEEE Industrial Electronics Society}, doi = {10.1109/IECON49645.2022.9968593}, issn = {2577-1647}, month = {10}, pages = {1-6}, title = {Impact Actuator for Increased Dynamics}, year = 2022 }
9. Schütz, Andreas ; Lechler, Armin ; Verl, Alexander: Modelling for Control of Vacuum Grippers in automatically reconfigurable Fixturing Systems for thin-walled Workpieces. In: Procedia CIRP, Procedia CIRP. Bd. 115 (2022), S. 226–231
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  @article{noauthororeditor, author = {Schütz, Andreas and Lechler, Armin and Verl, Alexander}, doi = {10.1016/j.procir.2022.10.078}, journal = {Procedia CIRP}, pages = {226-231}, title = {Modelling for Control of Vacuum Grippers in automatically reconfigurable Fixturing Systems for thin-walled Workpieces}, url = {https://www.sciencedirect.com/science/article/pii/S221282712201513X}, volume = 115, year = 2022 }
  Link
  https://www.sciencedirect.com/science/article/pii/S221282712201513X
10. Verl, Alexander ; Steinle, Lukas: Adaptive compensation of the transmission errors in rack-and-pinion drives. In: Technology, C. A. M. (Hrsg.) CIRP Annals, CIRP Annals. Bd. 71, Elsevier BV (2022), Nr. 1, S. 345--348
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  @article{Verl_2022, author = {Verl, Alexander and Steinle, Lukas}, doi = {10.1016/j.cirp.2022.03.026}, editor = {Technology, CIRP Annals Manufacturing}, journal = {{CIRP} Annals}, number = 1, pages = {345--348}, publisher = {Elsevier {BV}}, title = {Adaptive compensation of the transmission errors in rack-and-pinion drives}, url = {https://doi.org/10.1016%2Fj.cirp.2022.03.026}, volume = 71, year = 2022 }
  Link
  https://doi.org/10.1016%2Fj.cirp.2022.03.026
2021
1. Brenner, Felix ; Lechler, Armin ; Verl, Alexander: Acceleration-based disturbance compensation for elastic rack-and-pinion drives. In: Production Engineering - Research and Development, Production Engineering - Research and Development. (2021)
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  @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. Fur, Shan ; Riedel, Oliver ; Verl, Alexander: Hybrid Commissioning of Production Plants. In: 2021 26th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA ), 2021 26th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA ), 2021, S. 1–6
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  @inproceedings{9613256, abstract = {For the commissioning of production plants, the virtual commissioning (VCOM) method has proven to accelerate the overall commissioning time by increasing the software quality of the plant controller. VCOM is carried out in advance of the commissioning of the real plant, using a simulated plant. However, the hard transition from the simulated to the real plant proves to be problematic if components of the real plant are not available. In these cases the hybrid commissioning (HCOM) method, a hardware-in-the-loop (HIL) simulation setup including both real and simulated components, is desirable. In this article, the disadvantages of a hard transition of VCOM, the concept of the HCOM and it's benefits for commissioning production plants are explained and discussed. Also, an evaluation of an implementation is briefly presented.}, author = {Fur, Shan and Riedel, Oliver and Verl, Alexander}, booktitle = {2021 26th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA )}, doi = {10.1109/ETFA45728.2021.9613256}, month = {09}, pages = {1-6}, title = {Hybrid Commissioning of Production Plants}, year = 2021 }
3. Helfesrieder, Nico ; Lechler, Armin ; Verl, Alexander: Strukturoptimierte Maschinenkomponenten mit hoher Dämpfung. In: Antriebstechnik, Antriebstechnik. Bd. 3/2021 (2021), Nr. 3, S. 40--43
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  @article{Helfesrieder.2021, author = {Helfesrieder, Nico and Lechler, Armin and Verl, Alexander}, issn = {0722-8546}, journal = {Antriebstechnik}, number = 3, pages = {40--43}, title = {Strukturoptimierte Maschinenkomponenten mit hoher Dämpfung}, url = {http://digital.antriebstechnik.de/antriebstechnik-3-2020/65318893/40}, volume = {3/2021}, year = 2021 }
  Link
  http://digital.antriebstechnik.de/antriebstechnik-3-2020/65318893/40
4. Kaiser, Benjamin ; Littfinski, Daniel ; Verl, Alexander: Automatic Generation of Digital Twin Models for Simulation of Reconfigurable Robotic Fabrication Systems for Timber Prefabrication. In: Feng, C. ; Linner, T. ; Brilakis, I. ; Castro, D. ; Chen, P.-H. ; Cho, Y. ; Du, J. ; Ergan, S. ; u. a. (Hrsg.) ; Feng, C. ; Linner, T. ; Brilakis, I. ; Castro, D. ; Chen, P.-H. ; Cho, Y. ; Du, J. ; Ergan, S. ; u. a. (Hrsg.): Proceedings of the 38th International Symposium on Automation and Robotics in Construction (ISARC), Proceedings of the 38th International Symposium on Automation and Robotics in Construction (ISARC). Dubai, UAE : International Association for Automation and Robotics in Construction (IAARC), 2021 — ISBN 978-952-69524-1-3, S. 717–724
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  @inproceedings{10.22260/ISARC2021/0097, address = {Dubai, UAE}, author = {Kaiser, Benjamin and Littfinski, Daniel and Verl, Alexander}, booktitle = {Proceedings of the 38th International Symposium on Automation and Robotics in Construction (ISARC)}, doi = {10.22260/ISARC2021/0097}, editor = {Feng, Chen and Linner, Thomas and Brilakis, Ioannis and Castro, Daniel and Chen, Po-Han and Cho, Yong and Du, Jing and Ergan, Semiha and Garcia de Soto, Borja and Gašparík, Jozef and Habbal, Firas and Hammad, Amin and Iturralde, Kepa and Bock, Thomas and Kwon, Soonwook and Lafhaj, Zoubeir and Li, Nan and Liang, Ci-Jyun and Mantha, Bharadwaj and Ng, Ming Shan and Hall, Daniel and Pan, Mi and Pan, Wei and Rahimian, Farzad and Raphael, Benny and Sattineni, Anoop and Schlette, Christian and Shabtai, Isaac and Shen, Xuesong and Tang, Pingbo and Teizer, Jochen and Turkan, Yelda and Valero, Enrique and Zhu, Zhenhua}, isbn = {978-952-69524-1-3}, issn = {2413-5844}, month = {11}, pages = {717-724}, publisher = {International Association for Automation and Robotics in Construction (IAARC)}, title = {Automatic Generation of Digital Twin Models for Simulation of Reconfigurable Robotic Fabrication Systems for Timber Prefabrication}, year = 2021 }
5. Kaiser, Benjamin ; Verl, Alexander: Planning of Curvature-Optimal Smooth Paths for Industrial Robots Using Neural Networks. In: 2021 4th International Conference on Artificial Intelligence for Industries (AI4I), 2021 4th International Conference on Artificial Intelligence for Industries (AI4I), 2021, S. 10–15
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  @inproceedings{9565548, author = {Kaiser, Benjamin and Verl, Alexander}, booktitle = {2021 4th International Conference on Artificial Intelligence for Industries (AI4I)}, doi = {10.1109/AI4I51902.2021.00011}, pages = {10-15}, title = {Planning of Curvature-Optimal Smooth Paths for Industrial Robots Using Neural Networks}, year = 2021 }
6. Kienzlen, Annika ; Verl, Alexander: Konzept zur Integration eines kontinuierlichen Materialflussmodells in die Virtuelle Inbetriebnahme durch Signalgenerierung. In: Franke, J. ; Schuderer, P. (Hrsg.) ; Franke, J. ; Schuderer, P. (Hrsg.): Simulation in Produktion und Logistik 2021, Simulation in Produktion und Logistik 2021. Göttingen : Cuvillier Verlag, 2021 — ISBN 9783736974791, S. 585--594
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  @inproceedings{ASIM2021.182, address = {Göttingen}, author = {Kienzlen, Annika and Verl, Alexander}, booktitle = {Simulation in Produktion und Logistik 2021}, editor = {Franke, Jörg and Schuderer, Peter}, eventtitle = {19. ASIM Fachtagung - Simulation in Produktion und Logistik}, isbn = {9783736974791}, month = {09}, pages = {585--594}, publisher = {Cuvillier Verlag}, title = {Konzept zur Integration eines kontinuierlichen Materialflussmodells in die Virtuelle Inbetriebnahme durch Signalgenerierung}, year = 2021 }
7. Mesmer, Patrick ; Lechler, Armin ; Verl, Alexander: Genauigkeitssteigerung von Industrierobotern - Methoden zur Hysteresekompensation. In: Robotik und Produktion, Robotik und Produktion. Bd. 09/2021 (2021), S. 26–27
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  @article{mesmer2021genauigkeitssteigerung, author = {Mesmer, Patrick and Lechler, Armin and Verl, Alexander}, journal = {Robotik und Produktion }, month = {09}, pages = {26-27}, title = {Genauigkeitssteigerung von Industrierobotern - Methoden zur Hysteresekompensation}, volume = {09/2021}, year = 2021 }
8. Neubauer, Michael ; Lechler, Armin ; Verl, Alexander: Genauigkeits- und Dynamiksteigerung bei Industrierobotern: Auf die Dämpfung kommt es an. In: Industrieanzeiger, Industrieanzeiger. Bd. 2021 (2021), Nr. 1, S. 38–39
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  @article{neubauer2021genauigkeits, abstract = {Industrieroboter müssen sehr schnell und höchst präzise sein. Hochdynamische Bewegungsabläufe regen jedoch unerwünschte Schwingungen an. Damit sind entweder Genauigkeitsabweichungen verbunden oder es muss langsamer gefahren werden. Ein Dämpfungsaktuator schafft Abhilfe.}, author = {Neubauer, Michael and Lechler, Armin and Verl, Alexander}, journal = {Industrieanzeiger}, month = {01}, number = 1, pages = {38-39}, title = {Genauigkeits- und Dynamiksteigerung bei Industrierobotern: Auf die Dämpfung kommt es an}, volume = 2021, year = 2021 }
9. Reichenbach, Thomas ; Verl, Alexander ; Matthiesen, S. ; Wartzack, S. ; Zimmer, D. (Hrsg.) ; Matthiesen, S. ; Wartzack, S. ; Zimmer, D. (Hrsg.): Seilroboter im prüfenden Blick, Hochdynamikuntersuchung von Seilwinden mit Kunststofffaserseilen, Konstruktion ( Nr. 4) : VDI fachmedien, 2021
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  @techreport{reichenbach2021seilroboter, author = {Reichenbach, Thomas and Verl, Alexander}, editor = {Matthiesen, Sven and Wartzack, Sandro and Zimmer, Detmar}, institution = {VDI fachmedien}, journal = {Konstruktion}, month = {04}, number = 4, pages = 40, title = {Seilroboter im prüfenden Blick, Hochdynamikuntersuchung von Seilwinden mit Kunststofffaserseilen}, year = 2021 }
10. Schulte, Alexander ; Lechler, Armin ; Verl, Alexander: Konzeption eines zweiachsigen Impulsaktors. In: wt Werkstattstechnik online, wt Werkstattstechnik online. Bd. 111, VDI Fachmedien GmbH and Co. KG (2021), Nr. 05, S. 282–285
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  @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
2020
1. Brenner, Felix ; Verl, Alexander ; Lechler, Armin: Störgrößenschätzung in Zahnstange-Ritzel-Antrieben. In: Maschinenmarkt, M. (Hrsg.) Maschinenmarkt, MM, Maschinenmarkt, MM. (2020), Nr. 19, S. 74–77
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  @article{brenner2020strgrenschtzung, abstract = {Abtriebsseitige Beschleunigungsdaten an elektromechanischen Vorschubantriebssystem eröffnen neue Möglichkeiten zur Steigerung der Bewegungsdynamik. Um den Einfluss von reibungs- und prozessbedingte Störkräften zu reduzieren, wird am Institut für Steuerungstechnik (ISW) der Univer-sität Stuttgart an regelungstechnischen Verfahren zur Störgrößenschätzung und -kompensation mittles MEMS Beschleunigungssensoren geforscht.}, author = {Brenner, Felix and Verl, Alexander and Lechler, Armin}, editor = {Maschinenmarkt, MM}, journal = {Maschinenmarkt, MM}, language = {deutsch}, month = {11}, number = 19, pages = {74-77}, title = {Störgrößenschätzung in Zahnstange-Ritzel-Antrieben }, url = {https://www.maschinenmarkt.vogel.de/stoergroessenschaetzung-in-zahnstange-ritzel-antrieben-a-976503/}, year = 2020 }
  Link
  https://www.maschinenmarkt.vogel.de/stoergroessenschaetzung-in-zahnstange-ritzel-antrieben-a-976503/
2. Dripke, Caren ; Schöbel, Daniel ; Verl, Alexander: Distributed Interpolation: Synchronization of motion-controlled axes with coordination vector and decentralized segment controllers. In: IEEE (Hrsg.) ; IEEE (Hrsg.): IEEE 16th International Workshop on Advanced Motion Control (AMC), IEEE 16th International Workshop on Advanced Motion Control (AMC) : IEEE, 2020, S. 141–146
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  @inproceedings{dripke2020distributed, author = {Dripke, Caren and Schöbel, Daniel and Verl, Alexander}, booktitle = {IEEE 16th International Workshop on Advanced Motion Control (AMC)}, editor = {IEEE}, eventdate = {September 14th - 16th, 2020}, organization = {IEEE}, pages = {141 - 146}, title = {Distributed Interpolation: Synchronization of motion-controlled axes with coordination vector and decentralized segment controllers}, venue = {Kristiansand, Norway}, year = 2020 }
3. Jaensch, Florian ; Verl, Alexander: Virtual Commissioning Simulation as Reinforcement Learning Environment for Robot Cable Handling. In: 2020 Third International Conference on Artificial Intelligence for Industries (AI4I), 2020 Third International Conference on Artificial Intelligence for Industries (AI4I), 2020, S. 27–31
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  @inproceedings{9253103, abstract = {The paper introduces an approach to generate control strategies for cable handling tasks automatically, using Reinforcement Learning. Cable handling tasks require human like sensomotoric and cognitive abilities. Humans develop an understanding of the cable behaviour and are able to derive control strategies, how to handle the cable. Transferring these strategies to an industrial robot control system with the usual programming interface is very difficult. The introduced approach addresses this problem by giving the robot control the possibility to learn the cable handling strategies by itself. Therefore an Virtual Commissioning simulation environment was adapted to model Reinforcement Learning problems using the OpenAI Gym and Functional Mock-Up Interface standard.}, author = {Jaensch, Florian and Verl, Alexander}, booktitle = {2020 Third International Conference on Artificial Intelligence for Industries (AI4I)}, doi = {10.1109/AI4I49448.2020.00013}, month = {09}, pages = {27-31}, title = {Virtual Commissioning Simulation as Reinforcement Learning Environment for Robot Cable Handling}, year = 2020 }
4. Kaiser, Benjamin ; Breidohr, Veronika ; Verl, Alexander: Octree-based, multiresolution environment mapping for efficient calculation of collision-free paths for industrial robots. In: Schüppstuhl, T. ; Tracht, K. ; Henrich, D. (Hrsg.) ; Schüppstuhl, T. ; Tracht, K. ; Henrich, D. (Hrsg.): Annals of Scientific Society for Assembly, Handling and Industrial Robotics, Annals of Scientific Society for Assembly, Handling and Industrial Robotics. Berlin, Heidelberg : Springer Berlin Heidelberg, 2020 — ISBN 978-3-662-61755-7, S. 57--67
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  @inproceedings{10.1007/978-3-662-61755-7_6, abstract = {For the automatic calculation of collision-free robot paths, an environment model is required for collision avoidance. The accuracy requirements for the environment model depend very much on the specific task of the robot. The computation time of the collision calculation increases strongly with higher resolution and dimensions of the environment model. For this reason, the demand for high accuracy and fast calculation of the collision-free path is contradictory. To solve this contradiction, we propose a method based on the multi-resolution property of octree based maps. Using a subdivision of the workspace into different subareas and a set of poses to be connected by path planning, a multi-resolution map is created. The individual resolution levels depend on the accuracy requirements of the subareas which are defined by the process requirements. The presented method is evaluated using the ''KaBa'' path planning framework. For the evaluation, point clouds scanned with a line laser are tested in two path planning scenarios.}, address = {Berlin, Heidelberg}, author = {Kaiser, Benjamin and Breidohr, Veronika and Verl, Alexander}, booktitle = {Annals of Scientific Society for Assembly, Handling and Industrial Robotics}, editor = {Sch{\"u}ppstuhl, Thorsten and Tracht, Kirsten and Henrich, Dominik}, isbn = {978-3-662-61755-7}, pages = {57--67}, publisher = {Springer Berlin Heidelberg}, title = {Octree-based, multiresolution environment mapping for efficient calculation of collision-free paths for industrial robots}, year = 2020 }
5. Kienzlen, Annika ; Verl, Alexander: Comparison of Material Flow Models and Acceleration of the Macroscopic Flow Model for Virtual Commissioning. In: ETI-EUROSIS (Hrsg.) ; ETI-EUROSIS (Hrsg.): 34th Annual European Simulation Simulation and Modelling Conference: Modelling and Simulation 2020 (ESM), 34th Annual European Simulation Simulation and Modelling Conference: Modelling and Simulation 2020 (ESM), 2020 — ISBN 978-9492859-12-9, S. 168–175
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  @inproceedings{kienzlen2020comparison, author = {Kienzlen, Annika and Verl, Alexander}, booktitle = {34th Annual European Simulation Simulation and Modelling Conference: Modelling and Simulation 2020 (ESM)}, editor = {ETI-EUROSIS}, eventdate = {21. - 23.10.2020}, eventtitle = {The 34th Annual European Simulation and Modelling Conference 2020}, isbn = {978-9492859-12-9}, pages = {168 - 175}, title = {Comparison of Material Flow Models and Acceleration of the Macroscopic Flow Model for Virtual Commissioning}, venue = {Toulouse, France}, year = 2020 }
6. Kienzlen, Annika ; Scheifele, Christian ; Verl, Alexander: Predicting coupling signals in a material flow real-time co-simulation with a Kalman filter. In: Teti, R. ; D’Addona, D. M. (Hrsg.) ; Teti, R. ; D’Addona, D. M. (Hrsg.): Procedia CIRP, Procedia CIRP. Bd. 88 : Elsevier BV, 2020, S. 9--14
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  @inproceedings{Kienzlen_2020, author = {Kienzlen, Annika and Scheifele, Christian and Verl, Alexander}, doi = {10.1016/j.procir.2020.05.002}, editor = {Teti, Roberto and D'Addona, Doriana M.}, journal = {Procedia {CIRP}}, pages = {9--14}, publisher = {Elsevier {BV}}, title = {Predicting coupling signals in a material flow real-time co-simulation with a Kalman filter}, url = {https://doi.org/10.1016%2Fj.procir.2020.05.002}, volume = 88, year = 2020 }
  Link
  https://doi.org/10.1016%2Fj.procir.2020.05.002
7. Schulte, Alexander ; Lechler, Armin ; Verl, Alexander: Geschwindigkeitssprünge an Vorschubachsen. In: atp magazin, atp magazin. Bd. 62, Vulkan-Verlag GmbH (2020), Nr. 11–12, S. 86–93
  - BibTeX
  - Link
  BibTeX
  @article{Schulte_2020, author = {Schulte, Alexander and Lechler, Armin and Verl, Alexander}, doi = {10.17560/atp.v62i11-12.2517}, journal = {atp magazin}, month = {11}, number = {11-12}, pages = {86-93}, publisher = {Vulkan-Verlag {GmbH}}, title = {Geschwindigkeitssprünge an Vorschubachsen}, url = {https://doi.org/10.17560%2Fatp.v62i11-12.2517}, volume = 62, year = 2020 }
  Link
  https://doi.org/10.17560%2Fatp.v62i11-12.2517
8. Trautwein, Felix ; Reichenbach, Thomas ; Verl, Alexander ; Eberhard, P. (Hrsg.) ; Eberhard, P. (Hrsg.): Seilroboter als rekonfigurierbare Handhabungssysteme, handling ( Nr. 7–8), 2020
  - BibTeX
  BibTeX
  @techreport{trautwein2020seilroboter, author = {Trautwein, Felix and Reichenbach, Thomas and Verl, Alexander}, editor = {Eberhard, Peter}, journal = {handling}, month = {08}, number = {7-8}, pages = {28-29}, title = {Seilroboter als rekonfigurierbare Handhabungssysteme}, year = 2020 }
9. Zahn, Peter ; Schulte, Alexander ; Verl, Alexander: Impact‑based feed drive actuator for discontinuous motion profiles. In: Production Engineering Research and Development, Production Engineering Research and Development. Bd. 14 (2020), Nr. 2, S. 157–163
  - BibTeX
  - Link
  BibTeX
  @article{zahn2020impactbased, author = {Zahn, Peter and Schulte, Alexander and Verl, Alexander}, doi = {10.1007/s11740-020-00950-3}, journal = {Production Engineering Research and Development}, number = 2, pages = {157-163}, title = {Impact‑based feed drive actuator for discontinuous motion profiles}, url = {https://link.springer.com/article/10.1007/s11740-020-00950-3}, volume = 14, year = 2020 }
  Link
  https://link.springer.com/article/10.1007/s11740-020-00950-3
2019
1. Dripke, Caren ; Sun, Yuesheng ; Verl, Alexander: Framework for the Closed-Form Calculation of Forward and Inverse Kinematics for Basic Kinematics in Reconfigurable Multi-Component Systems. In: Proceedings of the 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), Proceedings of the 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) : IEEE, 2019, S. 687–694
  - BibTeX
  BibTeX
  @inproceedings{dripke2019framework, author = {Dripke, Caren and Sun, Yuesheng and Verl, Alexander}, booktitle = {Proceedings of the 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)}, eventdate = {September 10th - 13th, 2019}, organization = {IEEE}, pages = {687-694}, title = {Framework for the Closed-Form Calculation of Forward and Inverse Kinematics for Basic Kinematics in Reconfigurable Multi-Component Systems}, venue = {Zaragoza, Spain}, year = 2019 }
2. Dripke, Caren ; Ye, Zhongyi ; Verl, Alexander: Synchronization of a distributed interpolation application via cross-coupled control. In: IEEE International Conference on Engineering, Technology and Innovation (ICE/ITMC), IEEE International Conference on Engineering, Technology and Innovation (ICE/ITMC) : IEEE, 2019 — ISBN 978-1-7281-3401-7
  - BibTeX
  BibTeX
  @inproceedings{noauthororeditor2019synchronization, author = {Dripke, Caren and Ye, Zhongyi and Verl, Alexander}, booktitle = {IEEE International Conference on Engineering, Technology and Innovation (ICE/ITMC)}, doi = {10.1109/ICE.2019.8792616}, eventdate = {June 17 – 19, 2019}, isbn = {978-1-7281-3401-7}, organization = {IEEE}, title = {Synchronization of a distributed interpolation application via cross-coupled control}, venue = {Sophia Antipolis Innovation Park, France}, year = 2019 }
3. Engelberth, Tim ; Neubauer, Michael ; Verl, Alexander: Master-Switch für verspannte Zahnstange-Ritzel-Antriebe. In: atp magazin, atp magazin. Bd. 61 (2019), Nr. 3, S. 54–63
  - BibTeX
  - Link
  BibTeX
  @article{noauthororeditor, abstract = {Das Umkehrspiel gilt als zentrales Problem von Zahnstange-Ritzel-Antrieben. Es kann durch elektrische Verspannung kompensiert und die Genauigkeit in Kombination mit direkter Lageregelung maximiert werden. Wird aus Kostengründen auf die direkte Lageregelung verzichtet, geht dies zu Lasten der Genauigkeit. Vor diesem Hintergrund wurde der hier vorgestellte Master-Switch-Ansatz entwickelt. Der Ansatz optimiert die Genauigkeit von Systemen mit indirekter Lageregelung, sodass diese nicht mehr von der Genauigkeit direkt geregelter Systeme abweicht. Simulationsergebnisse belegen die Funktionalität des vorgestellten Ansatzes.}, author = {Engelberth, Tim and Neubauer, Michael and Verl, Alexander}, doi = {https://doi.org/10.17560/atp.v61i3.2389}, journal = {atp magazin}, language = {de}, month = {März}, number = 3, pages = {54-63}, title = {Master-Switch für verspannte Zahnstange-Ritzel-Antriebe}, url = {http://ojs.di-verlag.de/index.php/atp_edition/article/view/2389}, volume = 61, year = 2019 }
  Link
  http://ojs.di-verlag.de/index.php/atp_edition/article/view/2389
4. Engelberth, Tim ; Verl, Alexander: Adaptive Verspannung von Zahnstange-Ritzel-Antrieben. In: wt Werkstattstechnik online, wt Werkstattstechnik online. Bd. 109 (2019), Nr. 5, S. 312–318
  - BibTeX
  - Link
  BibTeX
  @article{noauthororeditor, abstract = {Zahnstange-Ritzel-Antriebe werden vorwiegend in großen Werkzeugmaschinen eingesetzt. Um die hohen Genauigkeitsanforderungen moderner Produktionsanlagen zu erreichen, werden diese Antriebe elektrisch verspannt. Die Verspannung ist konstant. Dieser Beitrag beschreibt eine neuartige Methode, die sogenannte adaptive Verspannung. Ziel ist es, den Energiebedarf und die Belastung des Antriebssystems durch Anpassung der Verspannung während des Betriebs zu reduzieren, ohne die Genauigkeit zu beeinflussen.}, author = {Engelberth, Tim and Verl, Alexander}, journal = {wt Werkstattstechnik online}, month = {Mai}, number = 5, pages = {312-318}, title = {Adaptive Verspannung von Zahnstange-Ritzel-Antrieben}, url = {https://www.werkstattstechnik.de/wt/currentarticle.php?data[article_id]=91750}, volume = 109, year = 2019 }
  Link
  https://www.werkstattstechnik.de/wt/currentarticle.php?data[article_id]=91750
5. Heinemann, Tonja ; Lechler, Armin ; Riedel, Oliver ; Verl, Alexander: Vermeidung von Nothalten von fahrerlosen Transportfahrzeugen durch lokale Bahnplanung. In: Krüger, J. ; Uhlmann, E. ; Verl, A. ; Rieder, O. ; Brecher, C. (Hrsg.) ; Krüger, J. ; Uhlmann, E. ; Verl, A. ; Rieder, O. ; Brecher, C. (Hrsg.): Fortschritt-Berichte VDI. Reihe 2, Fertigungstechnik, Fortschritt-Berichte VDI. Reihe 2, Fertigungstechnik. Bd. Produktion 2030-Wandel in der Automatisierungstechnik. Als Manuskript gedruckt. Düsseldorf : VDI Verlag, 2019 — ISBN 3183699028, S. 151
  - BibTeX
  BibTeX
  @inbook{heinemann2019vermeidung, address = {Düsseldorf}, author = {Heinemann, Tonja and Lechler, Armin and Riedel, Oliver and Verl, Alexander}, chapter = 3, edition = {Als Manuskript gedruckt}, editor = {Krüger, Jörg and Uhlmann, Eckart and Verl, Alexander and Rieder, Oliver and Brecher, Christian}, isbn = {3183699028}, number = 699, pages = 151, publisher = {VDI Verlag}, series = {Fortschritt-Berichte VDI. Reihe 2, Fertigungstechnik}, title = {Vermeidung von Nothalten von fahrerlosen Transportfahrzeugen durch lokale Bahnplanung}, volume = {Produktion 2030 - Wandel in der Automatisierungstechnik}, year = 2019 }
6. Kaiser, Benjamin ; Verl, Alexander: Interpolation of CNC Toolpaths using Generative Adversarial Networks. In: 2019 Second International Conference on Artificial Intelligence for Industries (AI4I), 2019 Second International Conference on Artificial Intelligence for Industries (AI4I), 2019, S. 54–57
  - BibTeX
  BibTeX
  @inproceedings{9027802, author = {Kaiser, Benjamin and Verl, Alexander}, booktitle = {2019 Second International Conference on Artificial Intelligence for Industries (AI4I)}, doi = {10.1109/AI4I46381.2019.00021}, pages = {54-57}, title = {Interpolation of CNC Toolpaths using Generative Adversarial Networks}, year = 2019 }
7. König, Timo ; Verl, Alexander ; Lechler, Armin: Motion superimposition for machine tool trajectories using asynchronous axis interpolation. In: 13th IFAC Workshop on Intelligent Manufacturing Systems IMS 2019, 13th IFAC Workshop on Intelligent Manufacturing Systems IMS 2019. Bd. Volume 52 : ELSEVIER - ScienceDirect, 2019, S. 300–305
  - BibTeX
  - Link
  BibTeX
  @inproceedings{noauthororeditor, abstract = {This paper presents a method for reducing non-productive times in the planning and interpolation of lift movements during 2.5D machining. At the moment, this mostly vertical lift movement is executed separately from the position changing in the operating plane. This sequential processing of motions increases the non-productive time in processes with frequent changes of operating height, such as laser cutting. The reduction is realized by superimposing the planar path movements with lift motion. An asynchronous axis interpolation is applied to make use of the maximum machine dynamics. In addition, known obstacles can be taken into account by further parameters in the planning.}, author = {König, Timo and Verl, Alexander and Lechler, Armin}, booktitle = {13th IFAC Workshop on Intelligent Manufacturing Systems IMS 2019}, doi = {https://doi.org/10.1016/j.ifacol.2019.10.046}, eventdate = {12. August 2019}, eventtitle = {13th IFAC Workshop on Intelligent Manufacturing Systems IMS 2019}, language = {englisch}, number = 10, organization = {IFAC}, pages = {300-305}, publisher = {ELSEVIER - ScienceDirect}, series = {IFAC-PapersOnLine}, title = {Motion superimposition for machine tool trajectories using asynchronous axis interpolation}, url = {https://www.sciencedirect.com/science/article/pii/S2405896319309012}, venue = {Oshawa, Kanada}, volume = {Volume 52}, year = 2019 }
  Link
  https://www.sciencedirect.com/science/article/pii/S2405896319309012
8. Reichenbach, Thomas ; Verl, Alexander ; Eberhard, P. (Hrsg.) ; Eberhard, P. (Hrsg.): Umdrehungen ohne Ende. Seilroboter mit endloser Rotationsachse, handling ( Nr. 6), 2019
  - BibTeX
  BibTeX
  @techreport{reichenbach2019umdrehungen, author = {Reichenbach, Thomas and Verl, Alexander}, editor = {Eberhard, Peter}, journal = {handling}, month = {06}, number = 6, pages = 24, title = {Umdrehungen ohne Ende. Seilroboter mit endloser Rotationsachse}, year = 2019 }
9. Reiff, Colin ; Eger, Florian ; Verl, Alexander: Smart Centering - Methodik zur intelligenten Zentrierung von rotationssymmetrischer Körper für die Null-Fehler-Fertigung in mehrstufigen Produktionssystemen. In: Krüger, J. ; Uhlmann, E. ; Verl, A. ; Rieder, O. ; Brecher, C. (Hrsg.) ; Krüger, J. ; Uhlmann, E. ; Verl, A. ; Rieder, O. ; Brecher, C. (Hrsg.): Fortschritt-Berichte VDI. Reihe 2, Fertigungstechnik, Fortschritt-Berichte VDI. Reihe 2, Fertigungstechnik. Bd. Produktion 2030-Wandel in der Automatisierungstechnik. Als Manuskript gedruckt. Düsseldorf : VDI Verlag, 2019 — ISBN 9783183699025, S. 110–132
  - BibTeX
  BibTeX
  @inbook{reiff2019smart, abstract = {Die vorgestellte Smart Centering Strategie zielt darauf ab, eine wirtschaftlichere Fertigung von rotationssymmetrischen Bauteilen durch eine intelligente Ausrichtung der Rotationsachse zu erreichen. Dazu wurden Ansätze der Null-Fehler-Fertigung in einem industriellen Anwendungsfall realisiert und in Form eines cyber-physischen Systems in die Prozesskette integriert. Um Fehler, bedingt durch Verformungen des Ausgangmaterials zu kompensieren, werden sowohl die Soll-Geometrie als auch die tatsächliche Geometrie des Bauteils berücksichtigt. Für ei-nen Vergleich beider Geometrien wurden verschiedene Modellierungsmethoden vorgestellt und diskutiert. Darauf aufbauend wurden Algorithmen entwickelt, welche die Position der Referenzbohrung zur Festlegung der Rotationsachse hinsichtlich verschiedener Kriterien optimieren. Darüber hinaus werden für den Fall, dass eine Welle voraussichtlich nicht gefertigt werden kann, weitere Soll-Geometrien über-prüft und so alternative Vorschläge zur Fertigung gemacht. Das System berechnet eine Vielzahl von Parametern, wie Unwucht und minimaler Abstand der Soll-Geometrie zur Ist-Geometrie und kann dadurch zur weiteren Verbesserung der gesamten Prozesskette verwendet werden. Folglich können auf Basis der Auswertung dieser Daten, zukünftig Toleranzen gesenkt und dadurch Material eingespart und der Werkzeugverschleiß sowie die benötigt Bearbeitungsdauer reduziert werden.}, address = {Düsseldorf}, author = {Reiff, Colin and Eger, Florian and Verl, Alexander}, chapter = 6, edition = {Als Manuskript gedruckt}, editor = {Krüger, Jörg and Uhlmann, Eckart and Verl, Alexander and Rieder, Oliver and Brecher, Christian}, isbn = {9783183699025}, number = 699, pages = {110-132}, publisher = {VDI Verlag}, series = {Fortschritt-Berichte VDI. Reihe 2, Fertigungstechnik}, title = {Smart Centering - Methodik zur intelligenten Zentrierung von rotationssymmetrischer Körper für die Null-Fehler-Fertigung in mehrstufigen Produktionssystemen}, volume = {Produktion 2030 - Wandel in der Automatisierungstechnik}, year = 2019 }
10. Verl, Alexander ; Kienzlen, Annika: Der Materialfluss des digitalen Zwillings. In: SPS Magazin, SPS Magazin. (2019), Nr. 10, S. 34–36
  - BibTeX
  BibTeX
  @article{verl2019materialfluss, author = {Verl, Alexander and Kienzlen, Annika}, journal = {SPS Magazin}, month = {10}, number = 10, pages = {34-36}, title = {Der Materialfluss des digitalen Zwillings}, year = 2019 }
2018
1. Dripke, Caren ; Laicher, Sonja ; Verl, Alexander: Axis-in-the-loop simulation: a concept to transfer verfication and validation of distributed interpolation algorithms from simulation to interaction with commercial motion control hardware. In: Proceedings of International Conference on Computers & Industrial Engineering (CIE 48), Proceedings of International Conference on Computers & Industrial Engineering (CIE 48), 2018
  - BibTeX
  BibTeX
  @inproceedings{dripke2018axisintheloop, author = {Dripke, Caren and Laicher, Sonja and Verl, Alexander}, booktitle = {Proceedings of International Conference on Computers & Industrial Engineering (CIE 48)}, eventdate = {2nd - 5th December, 2018}, issn = {2164-8689}, title = {Axis-in-the-loop simulation: a concept to transfer verfication and validation of distributed interpolation algorithms from simulation to interaction with commercial motion control hardware}, venue = {Auckland, New Zealand}, year = 2018 }
2. Engelberth, Tim ; Krawczyk, Daniel ; Verl, Alexander: Model-based method for condition monitoring and diagnosis of compressors. In: Procedia CIRP, Procedia CIRP. Bd. 72, Elsevier BV (2018), S. 1321--1326
  - BibTeX
  - Link
  BibTeX
  @article{Engelberth_2018, author = {Engelberth, Tim and Krawczyk, Daniel and Verl, Alexander}, doi = {10.1016/j.procir.2018.03.271}, journal = {Procedia {CIRP}}, pages = {1321--1326}, publisher = {Elsevier {BV}}, title = {Model-based method for condition monitoring and diagnosis of compressors}, url = {https://doi.org/10.1016%2Fj.procir.2018.03.271}, volume = 72, year = 2018 }
  Link
  https://doi.org/10.1016%2Fj.procir.2018.03.271
3. Engelberth, Tim ; Verl, Alexander ; Heckmann, Marco: Potenziale von Zahnstange-Ritzel-Antriebssystemen. In: Antriebstechnik, Antriebstechnik., Vereinigte Fachverlage GmbH (2018), Nr. 3, S. 52–58
  - BibTeX
  - Link
  BibTeX
  @article{engelberth2018potenziale, abstract = {Moderne Produktionsanlagen stellen immer höhere Forderungen an die Fertigungsgüte und Dynamik der eingesetzten Antriebssysteme. Dieser Artikel betrachtet zentrale Eigenschaften von Zahnstange-Ritzel-Antriebssystemen und beschreibt Maßnahmen zur Steigerung dieser Eigenschaften. Es wird gezeigt, dass sich elektrisch verspannte Zahnstange-Ritzel-Antriebssysteme in Bezug auf Positioniergenauigkeit und Steifigkeitsverhalten für den Einsatz in High-Performance-Werkzeugmaschinen auszeichnen.}, author = {Engelberth, Tim and Verl, Alexander and Heckmann, Marco}, journal = {Antriebstechnik}, language = {deutsch}, month = {03}, number = 3, pages = {52-58}, publisher = {Vereinigte Fachverlage GmbH}, title = {Potenziale von Zahnstange-Ritzel-Antriebssystemen}, url = {https://digital.antriebstechnik.de/antriebstechnik-3-2018/59892441/52}, year = 2018 }
  Link
  https://digital.antriebstechnik.de/antriebstechnik-3-2018/59892441/52
4. Fur, Shan ; Verl, Alexander ; Pott, Andreas: Simulation of Industrial Bin Picking: An Application of Laser Range Finder Simulation. In: IEEE (Hrsg.) ; IEEE (Hrsg.): 2018 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications (CIVEMSA), 2018 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications (CIVEMSA). Ottawa, ON, Canada, 2018
  - BibTeX
  - Link
  BibTeX
  @inproceedings{fur2018simulation, address = {Ottawa, ON, Canada}, author = {Fur, Shan and Verl, Alexander and Pott, Andreas}, booktitle = {2018 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications (CIVEMSA)}, days = {12}, doi = {10.1109/CIVEMSA.2018.8439959}, editor = {IEEE}, issn = {2377-9322}, month = {06}, title = {Simulation of Industrial Bin Picking: An Application of Laser Range Finder Simulation}, url = {https://ieeexplore.ieee.org/abstract/document/8439959/}, year = 2018 }
  Link
  https://ieeexplore.ieee.org/abstract/document/8439959/
5. Kaiser, Benjamin ; Csiszar, Akos ; Verl, Alexander: Generative models for direct generation of CNC toolpaths. In: Verl, A. ; Xu, P. ; Csiszar, A. (Hrsg.) ; Verl, A. ; Xu, P. ; Csiszar, A. (Hrsg.): The proceedings of the 2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), The proceedings of the 2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP) : IEEE, 2018 — ISBN 978-1-5386-7544-1, S. 13–18
  - BibTeX
  BibTeX
  @inproceedings{kaiser2018generative, address = {Piscataway, NJ}, affiliation = {Kaiser, B (Reprint Author), Univ Stuttgart, ISW, Stuttgart, Germany. Kaiser, Benjamin; Csiszar, Akos; Verl, Alexander, Univ Stuttgart, ISW, Stuttgart, Germany.}, author = {Kaiser, Benjamin and Csiszar, Akos and Verl, Alexander}, booktitle = {The proceedings of the 2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)}, doi = {10.1109/M2VIP.2018.8600856}, editor = {Verl, Alexander and Xu, Peter and Csiszar, Akos}, eventdate = {2018-11-20/2018-11-22}, eventtitle = {25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)}, isbn = {978-1-5386-7544-1}, language = {eng}, pages = {13-18}, publisher = {IEEE}, research-areas = {Automation & Control Systems; Computer Science}, series = {International Conference on Mechatronics and Machine Vision in Practice}, title = {Generative models for direct generation of CNC toolpaths}, unique-id = {ISI:000459815100003}, venue = {Stuttgart}, year = 2018 }
6. Karim, Ali ; Schmid, S ; Verl, Alexander: POSE AND FEED-DIRECTION DEPENDENCY ANALYSIS FOR MILLING TASKS WITH INDUSTRIAL ROBOTS. In: DEStech Transactions on Engineering and Technology Research, DEStech Transactions on Engineering and Technology Research. Bd. ICPR, DEStech Publications (2018)
  - BibTeX
  - Link
  BibTeX
  @article{Karim_2018, author = {Karim, Ali and Schmid, S and Verl, Alexander}, doi = {10.12783/dtetr/icpr2017/17670}, journal = {{DEStech} Transactions on Engineering and Technology Research}, language = {english}, month = {01}, publisher = {{DEStech} Publications}, title = {POSE AND FEED-DIRECTION DEPENDENCY ANALYSIS FOR MILLING TASKS WITH INDUSTRIAL ROBOTS}, url = {https://doi.org/10.12783%2Fdtetr%2Ficpr2017%2F17670}, volume = {ICPR}, year = 2018 }
  Link
  https://doi.org/10.12783%2Fdtetr%2Ficpr2017%2F17670
7. Mesmer, Patrick ; Lechler, Armin ; Verl, Alexander: Antriebsbasierte Schwingungsdämpfung an Industrierobotern für die spanende Bearbeitung. In: Antriebstechnik, Antriebstechnik. Bd. 10/2018, Vereinigte Fachverlage GmbH (2018), S. 96–97
  - BibTeX
  BibTeX
  @article{mesmer2018aSDaIR, author = {Mesmer, Patrick and Lechler, Armin and Verl, Alexander}, journal = {Antriebstechnik}, month = {Oktober}, pages = {96-97}, publisher = {Vereinigte Fachverlage GmbH}, title = {Antriebsbasierte Schwingungsdämpfung an Industrierobotern für die spanende Bearbeitung}, volume = {10/2018}, year = 2018 }
8. Scheifele, Stefan ; Verl, Alexander ; Riedel, Oliver: Engineering mit cyber-physischen Systemen - Vom mechatronischen zum cyber-physischen Engineering. In: atp magazin, atp magazin. (2018), Nr. 11/12 2018, S. 68–78
  - BibTeX
  BibTeX
  @article{scheifele2018engineering, abstract = {Der heutige Maschinen- und Anlagenbau setzt auf ein mechatronisches Engineering, um Maschinen und Anlagen wirtschaftlich anbieten zu können. Der Markt verlangt jedoch zunehmend danach, bestehende Anlagen über ihre gesamte Lebensdauer hinweg auf dem aktuellen Stand der Technik halten zu können. Dies kann zum Beispiel durch Umrüstung auf neue Fertigungstechnologien geschehen. Mit dem aktuellen Stand der Technik ist dies heute jedoch nicht wirtschaftlich möglich. In diesem Beitrag wird dargestellt, wie der mechatronische Maschinenbau zu einem Engineering mit cyber-physischen Systemen (CPS) weiterentwickelt werden kann. Außerdem wird gezeigt, wie sich das Engineering von Werkzeugmaschinen und Fertigungssystemen in Zukunft verändern wird und welche Konzepte realisierbar sind.}, author = {Scheifele, Stefan and Verl, Alexander and Riedel, Oliver}, issn = {2190-4111}, journal = {atp magazin}, month = {11}, number = {11/12 2018}, pages = {68-78}, title = {Engineering mit cyber-physischen Systemen - Vom mechatronischen zum cyber-physischen Engineering}, year = 2018 }
9. Verl, Alexander ; Engelberth, Tim: Adaptive preloading for rack-and-pinion drive systems. In: CIRP Annals, CIRP Annals. Bd. 67, Elsevier BV (2018), Nr. 1, S. 369--372
  - BibTeX
  - Link
  BibTeX
  @article{Verl_2018, author = {Verl, Alexander and Engelberth, Tim}, doi = {10.1016/j.cirp.2018.03.006}, journal = {{CIRP} Annals}, number = 1, pages = {369--372}, publisher = {Elsevier {BV}}, title = {Adaptive preloading for rack-and-pinion drive systems}, url = {https://doi.org/10.1016%2Fj.cirp.2018.03.006}, volume = 67, year = 2018 }
  Link
  https://doi.org/10.1016%2Fj.cirp.2018.03.006
10. Verl, Alexander ; Scheifele, Stefan: Produktions-IT für Losgröße 1.
  - BibTeX
  - Link
  BibTeX
  @presentation{verl2018produktionsit, abstract = {Ein wesentlicher Aspekt von Industrie 4.0 ist die Wandlungsfähigkeit. Während die Verarbeitung von Informationen flexibel und nicht an bestimmte Hardware gebunden ist, sind die Objekte in einer Fabrik heutzutage wenig veränderlich. Durch Ansätze wandelbarer Systeme oder Modularisierung ist es denkbar, eine schnelle Adaptierbarkeit auch für kleine Losgrößen zu erreichen. Der Vortrag soll ausgehend von einer Darstellung heutiger Hilfsmittel für eine schnelle Rekonfigurierbarkeit in Entwicklung und Betrieb von Produktionsanlagen aufzeigen, welche Potentiale aus aktuellen Ansätzen wie Software Defined Everything und Cyberphysischen Systemenen basierend auf Echtzeitsimulation erwachsen. Ausgehend von dem Paradigma, dass maximale Wandlungsfähigkeit in der Produktion erreicht werden kann, wenn Software automatisiert generiert wird, sollen beginnend bei typischen Prozessen in der Produktion über die Produktionsmaschine, die Produktionsautomatisierung bis hin zum Produktionsnetzwerk und der dazugehörigen cloudbasierten Software die Potentiale und die Auswirkungen dieses Paradigmas aufgezeigt werden.}, author = {Verl, Alexander and Scheifele, Stefan}, eventdate = {03.12.2018}, eventtitle = {20. Dresdner Werkzeugmaschinen-Fachseminar}, title = {Produktions-IT für Losgröße 1}, url = {/brokenurl#www.wzm-fachseminar.de}, venue = {Dresden}, year = 2018 }
  Link
  /brokenurl#www.wzm-fachseminar.de
11. Wnuk, Markus ; Lechler, Armin ; Verl, Alexander: Der Umgang mit Weichheit. In: Eberhard, P. (Hrsg.) handling, handling. (2018), Nr. 10, S. 34–35
  - BibTeX
  BibTeX
  @article{wnuk2018tech, author = {Wnuk, Markus and Lechler, Armin and Verl, Alexander}, editor = {Eberhard, Peter}, journal = {handling}, number = 10, pages = {34-35}, title = {Der Umgang mit Weichheit}, year = 2018 }
12. Zahn, Peter ; Lechler, Armin ; Verl, Alexander: Vorrichtung und Verfahren zur Erzeugung einer Relativbewegung zwischen einem Werkzeug und einem Werkstück (mittels trägheitsbasiertem Impulsaktor), Patentamt, E. (Hrsg.). , (PCT/EP2018/062608).
  - BibTeX
  BibTeX
  @patent{zahn2018vorrichtung, author = {Zahn, Peter and Lechler, Armin and Verl, Alexander}, editor = {Patentamt, Europäisches}, number = {PCT/EP2018/062608}, title = {Vorrichtung und Verfahren zur Erzeugung einer Relativbewegung zwischen einem Werkzeug und einem Werkstück (mittels trägheitsbasiertem Impulsaktor)}, year = 2018 }
2017
1. Dripke, Caren ; Verl, Alexander: Challenges in distributed interpolation with multi-component systems in future-oriented manufacturing units. In: . Bd. Proceedings of International Conference on Computers & Industrial Engineering (CIE 47), 2017
  - BibTeX
  BibTeX
  @inproceedings{noauthororeditor, author = {Dripke, Caren and Verl, Alexander}, eventdate = {11 - 13th Oct. 2017}, eventtitle = {International Conference on Computers & Industrial Engineering (CIE 47)}, issn = {ISSN 2164-8670}, title = {Challenges in distributed interpolation with multi-component systems in future-oriented manufacturing units}, venue = {Lisbon, Portugal}, volume = {Proceedings of International Conference on Computers & Industrial Engineering (CIE 47)}, year = 2017 }
2. Eger, Florian ; Verl, Alexander: Reduzierung von Ausschuss und Nacharbeiten durch intelligente Datenauswertung und Kompensationsalgorithmen in mehrstufigen Produktionssystemen. In: Fortschritt-Berichte VDI, Fortschritt-Berichte VDI. Bd. Nr. 698 : VDI Verlag, 2017 — ISBN 987-3-18-369802-8, S. 57–66
  - BibTeX
  BibTeX
  @inproceedings{eger2017reduzierung, author = {Eger, Florian and Verl, Alexander}, booktitle = {Fortschritt-Berichte VDI}, isbn = {987-3-18-369802-8}, pages = {57-66}, publisher = {VDI Verlag}, series = 2, title = {Reduzierung von Ausschuss und Nacharbeiten durch intelligente Datenauswertung und Kompensationsalgorithmen in mehrstufigen Produktionssystemen}, volume = {Nr. 698}, year = 2017 }
3. Friedrich, Jens ; Torzewski, Jonas ; Verl, Alexander: Online Learning of Stability Lobe Diagrams in Milling. In: Procedia Technology, Procedia Technology. (2017)
  - BibTeX
  BibTeX
  @article{friedrich2017online, author = {Friedrich, Jens and Torzewski, Jonas and Verl, Alexander}, journal = {Procedia Technology}, title = {Online Learning of Stability Lobe Diagrams in Milling}, year = 2017 }
4. Karim, Ali ; Lechler, Armin ; Verl, Alexander: Kompensation des Umkehrspiels bei Zahnstange-Ritzel-Antrieben. In: GmbH, V. F. (Hrsg.) Antriebstechnik, Antriebstechnik. (2017), Nr. 4, S. 116–117
  - BibTeX
  - Link
  BibTeX
  @article{karim2017kompensation, abstract = {Neben Kugelgewindetrieben (KGT) und Lineardirektantrieben (LDA) werden auch Zahnstange-Ritzel-Antriebe (ZRA) zur Erzeugung von Vorschubbewegungen in Werkzeugmaschinen eingesetzt. Dabei wird die rotatorische Bewegung des elektrischen Antriebsmotors über ein Getriebe und eine Ritzel-Zahnstange-Kombination in eine lineare Vorschubbewegung umgesetzt. Dieser Mechanismus weist, vor allem wenn es sich um Werkzeugmaschinen mit großen Abmessungen handelt, grundlegende Vorteile auf. Im Gegensatz zu KGTs, bei denen die resultierende Steifigkeit von dem der aktuellen Position des Tischs sowie vom Verhältnis der Verfahrlänge zum Spindeldurchmesser bestimmt wird, ist die Vorschubsteifigkeit des ZRA weitgehend konstant. Ein weiterer Vorteil liegt in der möglichen Kosteneinsparung bei langen Verfahrwegen hinsichtlich der notwendigen Sensorik zur Bestimmung der Tischposition. Diese wird indirekt über den Drehwinkel des Antriebsmotors bestimmt, was teure und lange Messsysteme zur direkten Bestimmung der Tischposition überflüssig machen. Aber gerade der mechanische Aufbau von Ritzel und Zahnstange im Verbund mit einer indirekten Positionsermittlung führen zu Umkehrspiel und somit zu einer geringeren Positioniergenauigkeit sowie geringer Systemstabilität.}, author = {Karim, Ali and Lechler, Armin and Verl, Alexander}, editor = {GmbH, Vereinigte Fachverlage}, journal = {Antriebstechnik}, language = {deutsch}, month = {04}, number = 4, pages = {116 - 117}, title = {Kompensation des Umkehrspiels bei Zahnstange-Ritzel-Antrieben}, url = {http://digital.antriebstechnik.de/antriebstechnik-4-2017/58127174/116}, year = 2017 }
  Link
  http://digital.antriebstechnik.de/antriebstechnik-4-2017/58127174/116
5. Neubauer, Michael ; Lechler, Armin ; Verl, Alexander: Die Maschinendynamik im Visier. In: der Konstrukteur, der Konstrukteur. (2017), Nr. 9, S. 82–84
  - BibTeX
  BibTeX
  @article{neubauer2017maschinendynamik, author = {Neubauer, Michael and Lechler, Armin and Verl, Alexander}, journal = {der Konstrukteur}, number = 9, pages = {82-84}, title = {Die Maschinendynamik im Visier}, year = 2017 }
6. Scheifele, Christian ; Verl, Alexander: Von der Virtuellen Maschine zur Virtuellen Produktion mit Ansätzen der Echtzeit-Co-Simulation. Bd. Industrie 4.0 : Vision und Realität : Fortschrittberichte VDI. Reihe 2, Fertigungstechnik, 2017 — ISBN 9783183696024 3183696029
  - BibTeX
  - Link
  BibTeX
  @book{scheifele2017virtuellen, author = {Scheifele, Christian and Verl, Alexander}, isbn = {9783183696024 3183696029}, number = 696, publisher = {Fortschrittberichte VDI. Reihe 2, Fertigungstechnik}, refid = {1010494718}, title = {Von der Virtuellen Maschine zur Virtuellen Produktion mit Ansätzen der Echtzeit-Co-Simulation}, url = {http://www.worldcat.org/search?qt=worldcat_org_all&q=9783183696024}, volume = {Industrie 4.0 : Vision und Realität}, year = 2017 }
  Link
  http://www.worldcat.org/search?qt=worldcat_org_all&q=9783183696024
7. Scheifele, Christian ; Riedel, Oliver ; Verl, Alexander: Virtuelle Inbetriebnahme komplexer Produktionsanlagen mittels echtzeitfähiger Co-Simulation. In: 18. Leitkongress der Mess- und Automatisierungstechnik AUTOMATION 2017, 18. Leitkongress der Mess- und Automatisierungstechnik AUTOMATION 2017. Bd. VDI-Berichte 2293 (2017) — ISBN 978-3-18-092293-5
  - BibTeX
  BibTeX
  @article{scheifele2017virtuelle, author = {Scheifele, Christian and Riedel, Oliver and Verl, Alexander}, isbn = {978-3-18-092293-5}, journal = {18. Leitkongress der Mess- und Automatisierungstechnik AUTOMATION 2017}, title = {Virtuelle Inbetriebnahme komplexer Produktionsanlagen mittels echtzeitfähiger Co-Simulation}, volume = {VDI-Berichte 2293}, year = 2017 }
8. Scheifele, Stefan ; Verl, Alexander ; Riedel, Oliver: Automatische HILS-generierung für komplexe Maschinen. In: Verlag, S. V. (Hrsg.) Springer Konstruktion, Springer Konstruktion. Bd. 06–2017 (2017), Nr. 06, S. 78–82
  - BibTeX
  - Link
  BibTeX
  @article{sscheifeleaverl062017automatische, abstract = {Die Hardware in the Loop-Simulation (HILS) von Maschinen und Anlagen wird eingesetzt, um die Zeiten zur Herstellung einer Maschine zu reduzieren und die Softwarequalität der Steuerung zu erhöhen. Inzwischen spielt sie auch bei der Projektierung und der Konzeptüberprüfung eine immer größere Rolle. Der vorliegende Beitrag zeigt auf, mit welchen Methoden der Modellierung wiederverwendbare Modelle geschaffen und so eine automatische Generierung von HiLS realisiert werden kann. The hardware in the loop simulation (HILS) of machinery and equipment is used shorten the time needed to produce a machine tool and to enhance the software quality of control systems. Meanwhile, it plays an increasingly important role for commissioning of machine tools and the concept verification. This paper points to a solution, which methods can be used for the modeling of reusable models and how an automatic generation of a HiLS can be realized by using them.}, author = {Scheifele, Stefan and Verl, Alexander and Riedel, Oliver}, editor = {Verlag, Springer VDI}, journal = {Springer Konstruktion}, language = {DE}, month = {06}, number = 06, pages = {78-82}, title = {Automatische HILS-generierung für komplexe Maschinen}, url = {http://www.ingenieur.de/Konstruktion/2017/Ausgabe-06/Praxis-Forschung-Wissenschaft/Automatische-HILS-Generierung-fuer-komplexe-Maschinen}, volume = {06-2017}, year = 2017 }
  Link
  http://www.ingenieur.de/Konstruktion/2017/Ausgabe-06/Praxis-Forschung-Wissenschaft/Automatische-HILS-Generierung-fuer-komplexe-Maschinen
9. Uphoff, Johann ; Lechler, Armin ; Verl, Alexander: Werkstückerwärmung für das Thixoforming: Induktor als Sensor zum Überwachen der Erwärmung bis in den teilflüssigen Bereich. In: wt Werkstattstechnik online, wt Werkstattstechnik online. Bd. 107 (2017), Nr. 5, S. 340--345
  - BibTeX
  - Link
  BibTeX
  @article{Uphoff.2017, author = {Uphoff, Johann and Lechler, Armin and Verl, Alexander}, journal = {wt Werkstattstechnik online}, number = 5, pages = {340--345}, title = {Werkstückerwärmung für das Thixoforming: Induktor als Sensor zum Überwachen der Erwärmung bis in den teilflüssigen Bereich}, url = {http://www.werkstattstechnik.de/wt/currentarticle.php?data[article_id]=87724}, urldate = {30.05.2017}, volume = 107, year = 2017 }
  Link
  http://www.werkstattstechnik.de/wt/currentarticle.php?data[article_id]=87724
2016
1. Coupek, Daniel ; Lechler, Armin ; Verl, Alexander: Cloud-based control for downstream defect reduction in the production of electric motors. In: 2016 International Conference on Electrical Systems for Aircraft, Railway, Ship Propulsion and Road Vehicles & International Transportation Electrification Conference (ESARS-ITEC), 2016 International Conference on Electrical Systems for Aircraft, Railway, Ship Propulsion and Road Vehicles & International Transportation Electrification Conference (ESARS-ITEC) : Institute of Electrical and Electronics Engineers (IEEE), 2016
  - BibTeX
  - Link
  BibTeX
  @inproceedings{Coupek_2016, author = {Coupek, Daniel and Lechler, Armin and Verl, Alexander}, booktitle = {2016 International Conference on Electrical Systems for Aircraft, Railway, Ship Propulsion and Road Vehicles {\&} International Transportation Electrification Conference ({ESARS}-{ITEC})}, doi = {10.1109/esars-itec.2016.7841361}, month = {11}, publisher = {Institute of Electrical and Electronics Engineers ({IEEE})}, title = {Cloud-based control for downstream defect reduction in the production of electric motors}, url = {https://doi.org/10.1109%2Fesars-itec.2016.7841361}, year = 2016 }
  Link
  https://doi.org/10.1109%2Fesars-itec.2016.7841361
2. Friedrich, Christian ; Lechler, Armin ; Verl, Alexander: The control architecture RoViDiAsS — A robotic visual disassembly and assembly system. In: 2016 IEEE International Conference on Industrial Technology (ICIT), 2016 IEEE International Conference on Industrial Technology (ICIT) : IEEE, 2016, S. 113–118
  - BibTeX
  - Link
  BibTeX
  @inproceedings{Friedrich_2016, author = {Friedrich, Christian and Lechler, Armin and Verl, Alexander}, booktitle = {2016 {IEEE} International Conference on Industrial Technology ({ICIT})}, doi = {10.1109/icit.2016.7474735}, month = {03}, pages = {113-118}, publisher = {IEEE}, title = {The control architecture {RoViDiAsS} {\textemdash} A robotic visual disassembly and assembly system}, url = {http://dx.doi.org/10.1109/ICIT.2016.7474735}, year = 2016 }
  Link
  http://dx.doi.org/10.1109/ICIT.2016.7474735
3. Friedrich, Christian ; Lechler, Armin ; Verl, Alexander: A planning system for generating manipulation sequences for the automation of maintenance tasks. In: IEEE International Conference on Automation Science and Engineering (CASE), IEEE International Conference on Automation Science and Engineering (CASE) : IEEE, 2016 — ISBN 978-1-5090-2409-4, S. 843–848
  - BibTeX
  - Link
  BibTeX
  @inproceedings{conf/case/FriedrichLV16, author = {Friedrich, Christian and Lechler, Armin and Verl, Alexander}, booktitle = { IEEE International Conference on Automation Science and Engineering (CASE)}, crossref = {conf/case/2016}, doi = {10.1109/COASE.2016.7743489}, ee = {http://dx.doi.org/10.1109/COASE.2016.7743489}, isbn = {978-1-5090-2409-4}, pages = {843-848}, publisher = {IEEE}, title = {A planning system for generating manipulation sequences for the automation of maintenance tasks.}, url = {http://dblp.uni-trier.de/db/conf/case/case2016.html#FriedrichLV16}, year = 2016 }
  Link
  http://dblp.uni-trier.de/db/conf/case/case2016.html#FriedrichLV16
4. Karim, Ali ; Verl, Alexander: Acht Achsen für Fünf-Achs-Bearbeitung: Redundante Roboterkinematik mit acht Achsen ermöglicht flexible und produktive Fünf-Achs-Bearbeitung. In: Robotik in der industriellen Fertigung - Sonderausgabe zur MOTEK 2016, Robotik in der industriellen Fertigung - Sonderausgabe zur MOTEK 2016. Bd. 2016 (2016), S. 2--3
  - BibTeX
  BibTeX
  @article{Karim.2016, author = {Karim, Ali and Verl, Alexander}, journal = {Robotik in der industriellen Fertigung - Sonderausgabe zur MOTEK 2016}, pages = {2--3}, title = {Acht Achsen f{\"u}r F{\"u}nf-Achs-Bearbeitung: Redundante Roboterkinematik mit acht Achsen erm{\"o}glicht flexible und produktive F{\"u}nf-Achs-Bearbeitung}, volume = 2016, year = 2016 }
5. Keinert, Matthias ; Lechler, Armin ; Verl, Alexander: Concept of a Computerized Numerical Control Kernel for Execution on Multi-core Processors. In: IEEE Advanced Motion Control, IEEE Advanced Motion Control, 2016, S. 599–604
  - BibTeX
  BibTeX
  @inproceedings{keinert2016concept, abstract = {Computerized numerical controls are more and more executed on off-the-shelf system platforms and can thus benefit from the developments in the area of processor technology. Multi-core processors provide sufficient processing power for these controls but require a specific system design that allows exploiting the parallel processing unit. This paper presents an approach on how computerized numerical controls may be partitioned on a task and a functional level using task and data parallelism for the efficient execution on multi-core system platforms.}, author = {Keinert, Matthias and Lechler, Armin and Verl, Alexander}, booktitle = {IEEE Advanced Motion Control}, month = {04}, pages = {599-604}, title = {Concept of a Computerized Numerical Control Kernel for Execution on Multi-core Processors}, year = 2016 }
6. Kretschmer, Felix ; Lechler, Armin ; Verl, Alexander: Gelbe Seiten für Industrie 4.0. In: VDI AUTOMATION 2016, VDI AUTOMATION 2016 : VDI, 2016
  - BibTeX
  BibTeX
  @conference{kretschmer2016gelbe, author = {Kretschmer, Felix and Lechler, Armin and Verl, Alexander}, booktitle = {VDI AUTOMATION 2016}, month = {06}, organization = {VDI}, title = {Gelbe Seiten für Industrie 4.0}, year = 2016 }
7. Kübler, Karl ; Verl, Alexander: Testautomatisierung im Kontext der virtuellen Inbetriebnahme von Werkzeugmaschinen. In: Brecher, C. (Hrsg.) ; Brecher, C. (Hrsg.): Fortschritt-Berichte VDI. Reihe 2, Fortschritt-Berichte VDI. Reihe 2. Düsseldorf : VDI Verlag, 2016, S. 16–27
  - BibTeX
  - Link
  BibTeX
  @inproceedings{kbler2016testautomatisierung, address = {Düsseldorf}, author = {Kübler, Karl and Verl, Alexander}, booktitle = {Industrie 4.0 - Visionen der Steuerungstechnik / im MES-Umfeld}, editor = {Brecher, Christian}, journal = {Fortschritt-Berichte VDI. Reihe 2}, number = 694, pages = {16-27}, publisher = {VDI Verlag}, refid = {32565922}, title = {Testautomatisierung im Kontext der virtuellen Inbetriebnahme von Werkzeugmaschinen}, url = {http://www.worldcat.org/search?qt=worldcat_org_all&q=01789406&dblist=638&fq=dt%3Aser&qt=facet_dt%3A}, year = 2016 }
  Link
  http://www.worldcat.org/search?qt=worldcat_org_all&q=01789406&dblist=638&fq=dt%3Aser&qt=facet_dt%3A
8. Neher, Philipp ; Lechler, Armin ; Verl, Alexander: Industrielles LTE. In: Fortschrittsberichte VDI, Reihe 2, Fertigungstechnik, Fortschrittsberichte VDI, Reihe 2, Fertigungstechnik., VDI-Verlag (2016)
  - BibTeX
  BibTeX
  @article{neher2016industrielles, author = {Neher, Philipp and Lechler, Armin and Verl, Alexander}, journal = {Fortschrittsberichte VDI, Reihe 2, Fertigungstechnik}, publisher = {VDI-Verlag}, title = {Industrielles LTE}, year = 2016 }
9. Scheifele, Christian ; Lechler, Armin ; Verl, Alexander: Materialflussmodelle für die HiL-Simulation. In: wt Werkstattstechnik online, wt Werkstattstechnik online. Bd. 106 (2016), Nr. 3, S. 119–124
  - BibTeX
  BibTeX
  @article{scheifele2016materialflussmodelle, author = {Scheifele, Christian and Lechler, Armin and Verl, Alexander}, journal = {wt Werkstattstechnik online}, number = 3, pages = {119-124}, title = {Materialflussmodelle für die HiL-Simulation}, volume = 106, year = 2016 }
10. Scheifele, Christian ; Verl, Alexander: Hardware-in-the-Loop Simulation for Machines Based on a Multi-Rate Approach. In: The 9th Eurosim Congress on Modelling and Simulation, EUROSIM 2016, The 9th Eurosim Congress on Modelling and Simulation, EUROSIM 2016. (2016)
  - BibTeX
  BibTeX
  @article{scheifele2016hardwareintheloop, author = {Scheifele, Christian and Verl, Alexander}, journal = {The 9th Eurosim Congress on Modelling and Simulation, EUROSIM 2016}, title = {Hardware-in-the-Loop Simulation for Machines Based on a Multi-Rate Approach}, year = 2016 }
11. Scheifele, Stefan ; Verl, Alexander: Automatische HiLS-Generierung für komplexe Maschinen. In: Springer-VDI-Verlag (Hrsg.) wt Werkstattstechnik online, wt Werkstattstechnik online. Bd. 106 (2016), Nr. 7/8, S. 501–505
  - BibTeX
  - Link
  BibTeX
  @article{scheifele2016automatische, abstract = {Die Hardware-in-the-Loop-Simulation (HiLS) von Maschinen und Anlagen wird eingesetzt, um die Zeiten zur Herstellung einer Maschine zu verkürzen und die Softwarequalität der Steuerung zu erhöhen. Inzwischen spielt sie auch bei der Projektierung und der Konzeptüberprüfung eine immer größere Rolle. Der Fachbeitrag zeigt auf, mit welchen Methoden der Modellierung wiederverwendbare Modelle geschaffen und so automatisch HiLS generiert werden können. Automated creation of HiLS of complex machine tools The hardware-in-the-loop simulation (HiLS) of machinery and equipment is used to reduce the time needed for producing a machine tool and to enhance the software quality of control systems. Today HiLS also plays an important role for commissioning machine tools and for the concept verification. This paper points out which methods can be used for the modeling of reusable models and, thus, how an automated generation of a HiLS can be realized.}, author = {Scheifele, Stefan and Verl, Alexander}, editor = {Springer-VDI-Verlag}, journal = {wt Werkstattstechnik online}, number = {7/8}, pages = {501-505}, title = {Automatische HiLS-Generierung für komplexe Maschinen}, url = {http://www.werkstattstechnik.de}, volume = 106, year = 2016 }
  Link
  http://www.werkstattstechnik.de
12. Scheifele, Stefan ; Verl, Alexander: Automated Control System Generation Out of the Virtual Machine. In: Procedia Technology, Procedia Technology. Bd. 26 (2016), S. 349–356. — 3rd International Conference on System-Integrated Intelligence: New Challenges for Product and Production Engineering
  - BibTeX
  - Link
  BibTeX
  @article{Scheifele2016349, abstract = {Abstract To drastically reduce the commissioning time of a machine tool innovative companies rely more and more on the possibilities of virtual commissioning - commissioning of real controls on virtual machines and plants in order to improve the accuracy and robustness of acting programs. These virtual machines and plants require data defining their behavior and appearance. The mechanical engineering, which is focused on machine modules, uses engineering tools for configuration and parameterization of the needed control systems. These software tools have knowledge of the cross-relationships and dependencies of the individual modules to each other and derive the required data for the control systems (CNC, PLC, …) but also, e.g. the needed documents from a central database. It is desired to generate the required virtual machines and plants automatically and use them for the test of the control systems. In the research project “CassaMobile” a module is understood as a self-sufficient unit, which includes all mechanical and electrical components to fulfil the intended function and either has its own control system or is controlled by a central control system. The difference from engineering by commissioning lists is, that the control system receives a list of all available modules through a query of the physical machine and that the modules are explaining themselves to the control system and not by a central data base. This is made possible by a module-specific configuration memory such as the \{CIMory\} (Configuration and Information Memory). An automatic configuration of the control system on the basis of \{CIMory\} data has already been presented. This approach does not require a central data base out of which a virtual machine could be generated. However, the commissioning of the control system can be done only after the construction of the actual machine. To overcome this disadvantage, for “CassaMobile” a virtual equivalent was developed: by using the commissioning list, a virtual machine is generated out of virtual modules which is used for virtual commissioning of the control system. The virtual modules can be detected by the control system and have the possibility to explain themselves to the control system like their physical equivalents. The \{CIMory\} gets a virtual expression. }, author = {Scheifele, Stefan and Verl, Alexander}, doi = {10.1016/j.protcy.2016.08.045}, issn = {2212-0173}, journal = {Procedia Technology }, note = {3rd International Conference on System-Integrated Intelligence: New Challenges for Product and Production Engineering }, pages = {349 - 356}, title = {Automated Control System Generation Out of the Virtual Machine }, url = {http://www.sciencedirect.com/science/article/pii/S2212017316303929}, volume = 26, year = 2016 }
  Link
  http://www.sciencedirect.com/science/article/pii/S2212017316303929
13. Scheifele, Stefan ; Verl, Alexander: Steuerungsgenerierung aus der virtuellen Maschine. In: Springer-VDI-Verlag (Hrsg.) wtonline, wtonline. Bd. 106 (2016), Nr. 5, S. 302–307
  - BibTeX
  - Link
  BibTeX
  @article{scheifele2016steuerungsgenerierung, abstract = {Es wurde bereits gezeigt, wie sich moderne Steuerungssysteme modularer Maschinen und Anlagen mittels Informationen, die jedes Maschinenmodul bereitstellt, selbst konfigurieren. Beim Entstehungsprozess von Maschinen und Anlagen wird die virtuelle Maschine jedoch immer wichtiger. Der Fachbeitrag stellt vor, wie sich dieser Prozess auf die virtuelle Maschine übertragen und damit noch weiter automatisieren lässt. Control system generation out of the virtual machine It has already been shown, how modern control systems of modular machine tools and production plants configure themselves by the information each machine module provides. In the development process of machine tools and production plants, the virtual machine is getting more and more important. This paper presents how this process can be transferred to the virtual machine and thereby can be further automated.}, author = {Scheifele, Stefan and Verl, Alexander}, editor = {Springer-VDI-Verlag}, journal = {wtonline}, number = 5, pages = {302-307}, title = {Steuerungsgenerierung aus der virtuellen Maschine}, url = {http://www.werkstattstechnik.de}, volume = 106, year = 2016 }
  Link
  http://www.werkstattstechnik.de
14. Sommer, Philipp ; Verl, Alexander: View-dependent Virtual and Augmented Reality for Machine Tools. In: 2016 European Modelling Symposium (EMS), 2016 European Modelling Symposium (EMS) : IEEE, 2016
  - BibTeX
  - Link
  BibTeX
  @inproceedings{Sommer_2016, abstract = {In recent papers, the concept of an intelligent window for machine tools (iWindow) using virtual and augmented reality in order to replace traditional windows in machine tools was introduced. Such intelligent windows provide additional possibilities for observing the machine interior under difficult visibility conditions, combine and reduce the number of supporting systems and enrich the machine interior with contextual information. For creating a view-dependent virtual and augmented reality individual solution approaches presented in other research were combined, extended and applied to machine tools to form an intelligent window. For the impression of a real window and perspectively correctly overlay virtual objects, the operator’s head position is tracked and the perspective projection matrix is calculated continuously. The necessary equations are presented. In an experimental setup, view-dependent rendering for virtual reality on opaque displays as well as augmented reality on transparent displays were validated. The rendering is performing well and an accurate overlay of virtual and real machine interior can be created. However, several difficulties regarding illumination, transparency and human stereo vision did occur. Possible improvements and solutions are suggested.}, author = {Sommer, Philipp and Verl, Alexander}, booktitle = {2016 European Modelling Symposium (EMS)}, doi = {10.1109/ems.2016.035}, month = {11}, publisher = {IEEE}, title = {View-dependent Virtual and Augmented Reality for Machine Tools}, url = {https://doi.org/10.1109%2Fems.2016.035}, year = 2016 }
  Link
  https://doi.org/10.1109%2Fems.2016.035
15. Sommer, Philipp ; Verl, Alexander: Smartes Maschinenfenster mit Visualisierungstechnik. In: MaschinenMarkt, MaschinenMarkt. (2016), Nr. 36, S. 54–56
  - BibTeX
  BibTeX
  @article{sommer2016smartes, author = {Sommer, Philipp and Verl, Alexander}, journal = {MaschinenMarkt}, month = {09}, number = 36, pages = {54-56}, title = {Smartes Maschinenfenster mit Visualisierungstechnik}, year = 2016 }
16. Sommer, Philipp ; Verl, Alexander: Intelligentes Maschinenfenster in Werkzeugmaschinen mit Hilfe von Augmented Reality. In: Verlag, V. (Hrsg.) Fortschritt-Berichte VDI, Fortschritt-Berichte VDI. Bd. 2 (2016), Nr. 694, S. 28–37
  - BibTeX
  BibTeX
  @article{Sommer2015, __markedentry = {[xtl:6]}, author = {Sommer, Philipp and Verl, Alexander}, editor = {Verlag, VDI}, journal = {Fortschritt-Berichte VDI}, number = 694, pages = {28-37}, title = {Intelligentes Maschinenfenster in Werkzeugmaschinen mit Hilfe von Augmented Reality}, volume = 2, year = 2016 }
2015
1. Eberspächer, Philipp ; Lechler, Armin ; Verl, Alexander: Control-integrated consumption graph-based optimisation method for energy reduction of machine tools with automated parameter optimisation: Control-integrated consumption graph-based optimisation method for energy reduction of machine tools with automated parameter optimisation (2015), S.
  - BibTeX
  BibTeX
  @article{EberspaecherLechlerVerl2015, __markedentry = {[xtl:6]}, abstract = {With the focus of industrial manufacturing on energy efficiency, machine tools offer energy-saving modes and the new controls have the potential to reach those or even switch off the machine. The switching to these energy-saving states is most commonly executed after a predefined time interval or just manually by the machine tool operator. To enable an automated and energy-optimal switching sequence of energy-minimal operating states of machine tools, a control-integrated consumption graph-based optimisation method is proposed. This uses energy prediction through a consumption graph and calculates operating state trajectories using a graph-based optimisation theory. These trajectories allow an energy-minimal spending of unproductive times. To ensure a widespread application, an automated parameter optimisation is proposed to adapt the consumption graph to the machine tool it is optimising automatically. The saving potential of the approach is demonstrated by a usage scenario from an industrial shop floor setup.}, author = {Eberspächer, Philipp and Lechler, Armin and Verl, Alexander}, pages = {--}, title = {Control-integrated consumption graph-based optimisation method for energy reduction of machine tools with automated parameter optimisation: Control-integrated consumption graph-based optimisation method for energy reduction of machine tools with automated parameter optimisation}, year = 2015 }
2. Gerlach, Oliver ; Lechler, Armin ; Verl, Alexander: Time constant measurement for control of induction heating processes for thixoforming. In: MEASUREMENT SCIENCE & TECHNOLOGY, MEASUREMENT SCIENCE & TECHNOLOGY. Bd. 26 (2015), Nr. 2, S. 025001
  - BibTeX
  BibTeX
  @article{GerlachLechlerVerl2015, __markedentry = {[xtl:6]}, abstract = {In controlling induction heating systems, several measurement methods exist for controlled heating of metal billets into the semi-solid state for thixoforming. The most common approach is to measure the billet temperature, which suffers from various drawbacks leading to difficulties in process stability. The main disadvantages are the small temperature range of the process window and the alloy composition dependency of the correlation between temperature and liquid fraction. An alternative is to determine the liquid fraction of the billet by measuring the time constant of the load. Although time constant measurement is not affected by the mentioned problems, it is difficult to use it as a controlled variable. This paper shows that disturbances affecting time constant measurement are mainly caused by semiconductor losses inside the inverter. A method is introduced to compensate these losses. This method was implemented and tested in the embedded system of an induction heating unit, thereby showing that it is possible to use time constant measurement to determine the liquid fraction of a billet during induction heating.}, author = {Gerlach, Oliver and Lechler, Armin and Verl, Alexander}, journal = {MEASUREMENT SCIENCE & TECHNOLOGY}, number = 2, pages = 025001, title = {Time constant measurement for control of induction heating processes for thixoforming}, volume = 26, year = 2015 }
2014
1. Coupek, Daniel ; Verl, Alexander: Ausschussreduzierung und Defektkompensation in mehrstufigen Produktionssystemen: Ausschussreduzierung und Defektkompensation in mehrstufigen Produktionssystemen. In: . Düsseldorf : VDI Verlag, 2014, S. 82–91--
  - BibTeX
  BibTeX
  @incollection{D.Coupek2014, __markedentry = {[xtl:6]}, address = {Düsseldorf}, author = {Coupek, Daniel and Verl, Alexander}, pages = {82-91--}, publisher = {VDI Verlag}, title = {Ausschussreduzierung und Defektkompensation in mehrstufigen Produktionssystemen: Ausschussreduzierung und Defektkompensation in mehrstufigen Produktionssystemen}, year = 2014 }
2. Friedrich, Christian ; Lechler, Armin ; Verl, Alexander: Autonomous Systems for Maintenance Tasks – Requirements and Design of a Control Architecture. In: Elsevier (Hrsg.) Procedia Technology, Procedia Technology. Bd. 15 (2014), S. 595–604
  - BibTeX
  BibTeX
  @article{noauthororeditor, author = {Friedrich, Christian and Lechler, Armin and Verl, Alexander}, editor = {Elsevier}, journal = {Procedia Technology}, pages = {595-604}, title = {Autonomous Systems for Maintenance Tasks – Requirements and Design of a Control Architecture}, volume = 15, year = 2014 }
3. Keinert, Matthias ; Verl, Alexander: OPC UA als Treiber flexibler Produktion. In: Fortschritt-Berichte VDI, Fortschritt-Berichte VDI. Bd. Effiziente Produktion. Düsseldorf : VDI Verlag, 2014, S. 1–10
  - BibTeX
  BibTeX
  @inbook{KeinertVerl2014, __markedentry = {[xtl:6]}, address = {Düsseldorf}, author = {Keinert, Matthias and Verl, Alexander}, booktitle = {Fortschritt-Berichte VDI}, number = 689, pages = {1-10}, publisher = {VDI Verlag}, series = {Reihe 2 Fertigungstechnik}, title = {OPC UA als Treiber flexibler Produktion}, type = {Publication}, volume = {Effiziente Produktion}, year = 2014 }
4. Sun, Zheng ; Dadalau, Alexandru ; Verl, Alexander: Generation of rotation matrix for assembly models with arbitrary angle constraints. In: The international joural of advanced manufacturing technology, The international joural of advanced manufacturing technology. Bd. 47 (2014), Nr. 1, S. 563–568
  - BibTeX
  BibTeX
  @article{sun2014generation, author = {Sun, Zheng and Dadalau, Alexandru and Verl, Alexander}, journal = {The international joural of advanced manufacturing technology}, month = {09}, number = 1, pages = {563-568}, title = {Generation of rotation matrix for assembly models with arbitrary angle constraints}, volume = 47, year = 2014 }
5. Verl, Alexander ; Lechler, Armin: Steuerung aus der Cloud: Steuerung aus der Cloud. In: . Wiesbaden : Springer Fachmedien, 2014, S. 235–247--
  - BibTeX
  BibTeX
  @incollection{VerlLechler2014, __markedentry = {[xtl:6]}, abstract = {Für eine wirtschaftliche Produktion in turbulenten Märkten sind ständige Anpassungen der Produktion durch Rekonfiguration und Selbstoptimierung der komplexen Automatisierungslösungen zunehmend erforderlich. Dies lässt sich im Rahemen von Industrie 4.0 mit Hilfe von Cyber-Physischen Systemen umsetzen, die Änderungen in ihrer Umgebung wahrnehmen und sich selbstständig daran anpassen können. Dazu ist eine immer stärkere Integration von Intelligenz in Form komplexer Algorithmen in die Steuerungen solcher Systeme notwendig. Bisherige Steuerungen bieten dazu nicht die notwendigen Voraussetzungen und erfordern deshalb neue Architekturkonzepte, um die Basis für die Umsetzung von Industrie 4.0 zu ermöglichen. Als Basis soll diese Steuerungsarchitektur eine Plattform und die benötigte Rechenleistung für die neuartigen Algorithmen zur Umsetzung von Industrie 4.0 zur Verfügung stellen. Zusätzlich erfordert die Organisation einer solchen intelligenten Produktion neben der Wahrnehmung der Umgebung mit Sensoren eine geeignete Vernetzung und Kommunikation von Cyber-Physischen Systemen untereinander.}, address = {Wiesbaden}, author = {Verl, Alexander and Lechler, Armin}, pages = {235-247--}, publisher = {Springer Fachmedien}, title = {Steuerung aus der Cloud: Steuerung aus der Cloud}, year = 2014 }
6. Voß, Michael ; Schnierle, Marc ; Verl, Alexander: Automatisierte Energiemanagementsysteme für Hochregallager: Automatisierte Energiemanagementsysteme für Hochregallager (2014), S.
  - BibTeX
  BibTeX
  @article{VossSchnierleVerl2014, __markedentry = {[xtl:6]}, abstract = {Energiemanagementsysteme in Hochregallagern (HRL) verändern automatisch die Lagerstrategie in Abhängigkeit vom aktuellen Energiepreis. Dies ermöglicht Energie im Hochregallager bei Bedarf zu speichern oder freizugeben und dadurch direkten Einfluss auf die Betriebskosten zu nehmen. Hierfür wurde ein Algorithmus entwickelt, der die Lagerplatzallokation unter energetischen Aspekten durchführt und Aufträge unter Berücksichtigung eines spitzenfreien Leistungsverlaufes disponiert.}, author = {Voß, Michael and Schnierle, Marc and Verl, Alexander}, pages = {--}, title = {Automatisierte Energiemanagementsysteme für Hochregallager: Automatisierte Energiemanagementsysteme für Hochregallager}, year = 2014 }
2013
1. Friedrich, Jens ; Verl, Alexander: In-process Control for Adaptive Spindle Speed Variation and Selection. In: Proceedings of the International Conference on Advanced Manufacturing Engineering and Technologies NEWTECH 2013, Proceedings of the International Conference on Advanced Manufacturing Engineering and Technologies NEWTECH 2013, 2013, S. 117–126
  - BibTeX
  - Link
  BibTeX
  @inproceedings{JensFriedrich2013, __markedentry = {[xtl:6]}, abstract = {The productivity of the milling process is limited by the cutting depth. Thecritical cutting depth varies for different spindle speeds. Unstable processescan be stabilized by varying the spindle speed. This paper presents a newapproach to stabilize the process by using adaptive spindle speed variationand selection (ASSV/ASSS). Based on the current cutting conditions theparameters of the ASSV are calculated by an in-process feedback controller tostabilize the process. In parallel a new stable spindle speed for the cuttingdepth is derived and selected (ASSS). Even if there exists no stable spindlespeed for the cutting depth, the ASSV stabilizes the process. The results areverified with simulations and with experiments on a commercial millingmachine. The application of ASSV/ASSS increases the stable cutting depth andthus the productivity with constant speed by 233% and reduces the displacementof the tool tip by the factor of 10.}, author = {Friedrich, Jens and Verl, Alexander}, booktitle = {Proceedings of the International Conference on Advanced Manufacturing Engineering and Technologies NEWTECH 2013 }, pages = {117-126}, title = {In-process Control for Adaptive Spindle Speed Variation and Selection}, url = {http://www.diva-portal.org/smash/get/diva2:660817/FULLTEXT08.pdf#page=117}, year = 2013 }
  Link
  http://www.diva-portal.org/smash/get/diva2:660817/FULLTEXT08.pdf#page=117
2. Friedrich, Jens ; Verl, Alexander: Adaptive spindle speed variation to improve process stability. In: Proceedings of the 22nd International Conference on Production Research, Proceedings of the 22nd International Conference on Production Research, 2013, S.
  - BibTeX
  BibTeX
  @inproceedings{FriedrichVerl2013, __markedentry = {[xtl:6]}, abstract = {A limiting factor of the performance of machine tools is the dynamic processbehavior. Suppression of chatter is still an important measure to increaseproductivity. Spindle speed variation is a known possibility to reduce chattervibrations without changes to the machine tool using the degree-of-freedom ofthe spindle speed. In this paper the new adaptive spindle speed variation(ASSV) method is presented. The ASSV algorithm automatically adapts theamplitude and the frequency of the spindle speed variation due to the currentprocess stability conditions taking into account the machine capability andthe process technology. A simulation model of the milling process is used toanalyze and verify the functionality of the ASSV. With just using a simple P-or PI-controller in combination with the ASSV algorithm the depth of cut andthus the productivity can be increased to 150% in comparison to cutting withconstant spindle speed with respect to the displacement of the tool tip.}, author = {Friedrich, Jens and Verl, Alexander}, booktitle = {Proceedings of the 22nd International Conference on Production Research}, pages = {--}, title = {Adaptive spindle speed variation to improve process stability}, year = 2013 }
3. Hoher, Simon ; Neher, Philipp ; Verl, Alexander: Analysis and evaluation of collision detection libraries for collision monitoring of multi-channel control applications: Analysis and evaluation of collision detection libraries for collision monitoring of multi-channel control applications. 22nd International Conference on Production Research (ICPR 22), Foz do Iguaçu, July 28 August 1, 2013 (2013)
  - BibTeX
  BibTeX
  @misc{HoherNeherVerl2013, __markedentry = {[xtl:6]}, abstract = {The main objective of this paper is to evaluate collision detection libraries for collision monitoring of multi-channel control applications. First, the requirements for collision monitoring of multi-channel control will be presented. On this basis suitable collision detection libraries will be analyzed and selected considering the required feature range. The assumed libraries are then evaluated in regard to their runtime characteristics. In particular the time-intensive memory accesses at runtime and the time deterministic and efficient execution times during different experiments are examined in more detail on a real-time platform.}, address = {22nd International Conference on Production Research (ICPR 22), Foz do Iguaçu, July 28 August 1, 2013}, author = {Hoher, Simon and Neher, Philipp and Verl, Alexander}, pages = {--}, title = {Analysis and evaluation of collision detection libraries for collision monitoring of multi-channel control applications: Analysis and evaluation of collision detection libraries for collision monitoring of multi-channel control applications}, year = 2013 }
4. Karim, Ali ; Verl, Alexander: Challenges and obstacles in robot-machining. In: Proceedings of the 44th International Symposium on Robotics, IEEE ISR 2013, Seoul, Korea (South), October 24-26, 2013, Proceedings of the 44th International Symposium on Robotics, IEEE ISR 2013, Seoul, Korea (South), October 24-26, 2013. Taiwan, Taipei : IEEE, 2013, S. 1--4
  - BibTeX
  - Link
  BibTeX
  @incollection{Karim.2013, address = {Taiwan, Taipei}, author = {Karim, Ali and Verl, Alexander}, booktitle = {Proceedings of the 44th International Symposium on Robotics, IEEE ISR 2013, Seoul, Korea (South), October 24-26, 2013}, doi = {10.1109/ISR.2013.6695731}, pages = {1--4}, publisher = {IEEE}, title = {Challenges and obstacles in robot-machining}, url = {http://dx.doi.org/10.1109/ISR.2013.6695731}, year = 2013 }
  Link
  http://dx.doi.org/10.1109/ISR.2013.6695731
5. Zahn, Peter ; Laptev, Igor ; Verl, Alexander: FPGA in der Antriebstechnik - Konzepte für offene Reglersysteme am Beispiel einer aktiv angetriebenen Knieprothese. In: . 10. AALE-Konferenz, Stralsund, 28.02-1.03.2013 : DIV Deutscher Industrieverlag GmbH, 2013, S. Tagungsband 10. Fachkonferenz
  - BibTeX
  BibTeX
  @conference{ZahnLaptevVerl2013, __markedentry = {[xtl:6]}, abstract = {Systeme basierend auf programmierbarer Logik (FPGA) werden zunehmend für diedigitale Signalverarbeitung in der Antriebstechnik eingesetzt. Hauptgründedafür sind die mit Hardware vergleichbare Performance, die Flexibilität imEntwurfsprozess sowie die Skalierbarkeit des Funktionsumfangs.Das vorgestellte Konzept macht sich die Freiheitsgrade in Hard- und Softwarezu Nutze: Basisfunktionen wie Regler oder Interpolator werdenkomponentenorientiert implementiert; die Zusammenstellung einesRegelungssystems beschränkt sich auf deren Instanziierung und Parametrierungund erreicht damit einen höheren Abstraktionsgrad. Übereinstimmend konzipierteEmbedded-Systeme mit universellen Peripheriemodulen bedienen gängigeIndustrie-schnittstellen und Feldbusse und demonstrieren Hardware- undHerstellerunabhängigkeit.Beispielhaft für ein solches System ist die Ansteuerung einer aktivangetriebenen Knieprothese, welche derzeit in Kooperation mitIndustriepartnern entwickelt wird. Dank frei konfigurierbarer Signalpfadekönnen die Reglerparameter kontinuierlich der Systemdynamik nachgeführtwerden, wodurch sich Robustheit und Flexibilität der Regelung verbessern.}, address = {10. AALE-Konferenz, Stralsund, 28.02-1.03.2013}, author = {Zahn, Peter and Laptev, Igor and Verl, Alexander}, pages = {Tagungsband 10. Fachkonferenz}, publisher = {DIV Deutscher Industrieverlag GmbH}, title = {FPGA in der Antriebstechnik - Konzepte für offene Reglersysteme am Beispiel einer aktiv angetriebenen Knieprothese}, year = 2013 }
2012
1. Apprich, Stefanie ; Huf, Alexander ; Verl, Alexander: Steigerung der Resourceneffizienz durch die ganzheitliche Betrachtung vonflexiblen Produktionsanlagen, in Resourceneffiziente Produktion. In: Ressourceneffiziente Produktion, Ressourceneffiziente Produktion. Bd. Fortschritt-Berichte VDI (2012), Nr. 684, S. 7–21
  - BibTeX
  BibTeX
  @article{ApprichHufVerl2012, __markedentry = {[xtl:6]}, author = {Apprich, Stefanie and Huf, Alexander and Verl, Alexander}, journal = {Ressourceneffiziente Produktion}, number = 684, pages = {7-21}, title = {Steigerung der Resourceneffizienz durch die ganzheitliche Betrachtung vonflexiblen Produktionsanlagen, in Resourceneffiziente Produktion}, volume = {Fortschritt-Berichte VDI}, year = 2012 }
2. Gerlach, Oliver ; Borrelli, Daniele ; Verl, Alexander: Steuerung und Regelung mit konventionellem Ethernet: Steuerung und Regelung mit konventionellem Ethernet. In: wt Werkstattstechnik online, wt Werkstattstechnik online. Bd. 102 (2012), Nr. 5, S. 314–418
  - BibTeX
  BibTeX
  @article{GerlachBorrelliVerl2012, abstract = {Mit modernen Echtzeit-Ethernet-Verfahren ist es möglich, klassische Feldbusseauch im Bereich von Motion-Anwendungen zu ersetzen. Jedoch sind solcheTechnologien nicht für jede Anwendung das Optimum, da die durch sie erreichtenVorteile von der Anwendung mitunter nicht genutzt werden können. DerFachbeitrag stellt eine solche Anwendung vor und geht auf die Entwicklung derAnlagenkommunikation mit konventionellem Ethernet ein.}, author = {Gerlach, Oliver and Borrelli, Daniele and Verl, Alexander}, journal = {wt Werkstattstechnik online}, number = 5, pages = {314-418}, title = {Steuerung und Regelung mit konventionellem Ethernet: Steuerung und Regelung mit konventionellem Ethernet}, volume = 102, year = 2012 }
3. Keinert, Matthias ; Verl, Alexander: Smartphone-Anwendungen im Bereich der Werkzeugmaschinen und Industrieroboter. In: Tagungsband SPS/IPC/Drives 2012, Fachmesse & Kongress, 27.-29. Nov. 2012, Nürnberg, Tagungsband SPS/IPC/Drives 2012, Fachmesse & Kongress, 27.-29. Nov. 2012, Nürnberg. Berlin : VDE Verlag GmbH, 2012, S. 187–195
  - BibTeX
  BibTeX
  @inproceedings{KeinertVerl2012a, __markedentry = {[xtl:6]}, abstract = {The application markets for mobile devices are growing constantly and servefunctionality for different kind of areas including the industrial automationsystems. Mostly, these apps are resided in the area of building automation,SCADA and remote access systems. However, in the area of machine tools andindustrial robots apps for mobile devices are still rare. At ISW an app wasdeveloped that is based on a standardized, non-proprietarily communicationprotocol, OPC UA, and therefore can be used to communicate with all kind ofautomation systems. The modular structure of the app allows to extent the appsfunctionality successively.}, address = {Berlin}, author = {Keinert, Matthias and Verl, Alexander}, booktitle = {Tagungsband SPS/IPC/Drives 2012, Fachmesse & Kongress, 27.-29. Nov. 2012, Nürnberg}, pages = {pp. 187-195}, publisher = {VDE Verlag GmbH}, title = {Smartphone-Anwendungen im Bereich der Werkzeugmaschinen und Industrieroboter}, year = 2012 }
4. Keinert, Matthias ; Verl, Alexander: System Platform Requirements for High Performance CNCs. In: Proceeding of the 22nd International Conference on Flexible Automation and Intelligent Manufacturing FAIM 2012, Proceeding of the 22nd International Conference on Flexible Automation and Intelligent Manufacturing FAIM 2012. Tampere : Tampere University of Technology, 2012, S. 837–844
  - BibTeX
  BibTeX
  @inproceedings{KeinertVerl2012, __markedentry = {[xtl:6]}, abstract = {Todays computer numerical control (CNC) systems controlling machine toolshave to meet high requirements: Short control sampling periods shall increaseinterpolation accuracy and productivity while the path trajectory planning andinterpolation algorithms are getting more complex at the same time. CNCsystems therefore have to be built upon powerful system platforms.Even though control systems already have highly developed processing units attheir disposal, this paper illustrates the further need for high-performancesystem platforms as they are already available in the IT. By identifyingdifferent processing scenarios this paper demonstrates how actual CNC systemscan be driven into its limitation regarding processing power. Each scenario iscausing different loads in the CNC kernel. In the area of high speed cutting(HSC) the look ahead is charged heavily whereas multi-axes processing andcomplex path interpolation algorithms like splines causing bigger loads in theinterpolation module.From this observation the paper derives requirements for a suitable systemplatform to cope with the increased needs for processing power in the area ofCNC systems. As with single-core CPUs performance reached a physical limit,only parallel system platforms can provide sufficient processing power. Withmulticore CPUs more than sufficient performance is provided. Hence, first CNCsystems supporting asymmetric multiprocessing have emerged. By separatingrealtime and non-realtime operating system and by allocating CNC modules todedicated cores of the processing unit, each module has the full processingpower of one CPU-kernel. Symmetric multiprocessing (SMP), however, couldcontribute even more to build a high-performance industrial control system,despite the need of modifications in the software architecture to allowparallel code execution.}, address = {Tampere}, author = {Keinert, Matthias and Verl, Alexander}, booktitle = {Proceeding of the 22nd International Conference on Flexible Automation and Intelligent Manufacturing FAIM 2012}, pages = {pp. 837-844}, publisher = {Tampere University of Technology}, title = {System Platform Requirements for High Performance CNCs}, year = 2012 }
5. Neyrinck, Adrian ; Verl, Alexander: Optimale Maschinen und Anlagen durch Simulation von Varianten in der Konzeptionsphase. In: Automation 2012, Automation 2012 : VDI Verlag, 2012, S.
  - BibTeX
  BibTeX
  @inproceedings{NeyrinckVerl2012, __markedentry = {[xtl:6]}, abstract = {In diesem Beitrag wird ein Konzept vorgestellt, mit welchem die Aussagekraft von Angeboten im Maschinen- und Anlagenbau durch einen simulationsbasierten Vergleich von Varianten erhöht werden soll. Aufbauend auf dem baukastenbasierten mechatronischen Engineering wird eine Methode vorgeschlagen, welche die Bildung von Varianten mit Hilfe von Bibliotheken zur Problembeschreibung intuitiv ermöglichen soll. Es wird eine Beispielapplikation vorgestellt, anhand welcher die Einsetzbarkeit der Methodeuntersucht wird. In this paper a concept is introduced, which shall increase the validity of offers for machinery and equipment through a simulation-based comparison of variants. Based on modular mechatronic engineering a method is proposed, that will allow the intuitive creation of variants with the help of problem description libraries. An example application which is used to investigate the applicability of the method is presented.}, author = {Neyrinck, Adrian and Verl, Alexander}, booktitle = {Automation 2012}, pages = {--}, publisher = {VDI Verlag}, title = {Optimale Maschinen und Anlagen durch Simulation von Varianten in der Konzeptionsphase}, year = 2012 }
6. Reuß, Matthias ; Dadalau, Alexander ; Verl, Alexander: Friction Variances of Linear Machine Tool Axes: Friction Variances of Linear Machine Tool Axes (2012)
  - BibTeX
  BibTeX
  @misc{ReussDadalauVerl2012, __markedentry = {[xtl:6]}, abstract = {Friction and damping have a wide influence on machine tools’ dynamics. Thestatistical spread of identical machine tools’ frictionand components’ influence on it are marginally known. In order to reduce thislack of knowledge, measurements of friction inlinear axes of identical machine tools were performed.In the course of this paper the variance of friction in a single axis isdetermined as well as the difference between several machinetools. Different types of feed drive systems, ball screw and linear motordriven, are measured and compared. The measured frictioncurves are used to estimate parameters of an extended Stribeck friction model.As a result, a method of measuring and analyzing friction in machine tools isdeveloped and the evaluated parameters can be usedfor observing the assembly process, for condition monitoring, for on-boarddiagnostics and for scatter based parameterization ofsimulation models.}, author = {Reuß, Matthias and Dadalau, Alexander and Verl, Alexander}, pages = {--}, title = {Friction Variances of Linear Machine Tool Axes: Friction Variances of Linear Machine Tool Axes}, year = 2012 }
7. Siegfried Frey, Alexandru Dadalau, Verl Alexander: Expedient Modelling of Ball Screw Feed Drives: Expedient Modelling of Ball Screw Feed Drives (2012)
  - BibTeX
  BibTeX
  @misc{SiegfriedFrey2012b, __markedentry = {[xtl:6]}, author = {{Siegfried Frey, Alexandru Dadalau}, Verl Alexander}, pages = {--}, title = {Expedient Modelling of Ball Screw Feed Drives: Expedient Modelling of Ball Screw Feed Drives}, year = 2012 }
2011
1. Simon, Antoni ; Frick, Florian ; Verl, Alexander: Framework zur Systemgestaltung von FPGA-basierten Automatisierungsgeräten (2011), S.
  - BibTeX
  BibTeX
  @article{A.Simon2011, __markedentry = {[xtl:6]}, abstract = {Zur effizienten Nutzung der FPGA-Technologie in der Steuerungs- und Regelungstechnik wurde am Institut für Steuerungstechnik der Werkzeugmaschinen und Fertigungseinrichtungen (ISW) der UniversitätStuttgart ein Framework entwickelt. Durch eine komponentenorientierte Systemstruktur und die Vorgabe eines Vorgehensmodells wird die eigentliche Steuerungs- beziehungsweise Regelungsaufgabe in das Zentrum des Entwicklungsprozesses gebracht. Die Implementierung einer „EnDat 2.2“-Anwendung verifiziert das Konzept und die in diesem Beitrag vorgestellten Mechanismen.}, author = {Simon, Antoni and Frick, Florian and Verl, Alexander}, pages = {--}, title = {Framework zur Systemgestaltung von FPGA-basierten Automatisierungsgeräten}, year = 2011 }
2010
1. Buck, Raphael ; Litto, Marco ; Verl, Alexander: Firmenübergreifend einsetzbare und adaptierbare Baukastenarchitekturen für dasmechatronische Engineering: Firmenübergreifend einsetzbare und adaptierbare Baukastenarchitekturen für dasmechatronische Engineering (2010)
  - BibTeX
  BibTeX
  @misc{BuckLittoVerl2010, __markedentry = {[xtl:6]}, abstract = {Die Optimierung von Engineeringprozessen ist ein wichtiger Ansatzpunkt fürMaschinen- und Anlagenbauer, um Kosten einzusparen, Durchlaufzeiten zuverringern und gleichzeitig die Qualität der Produkte zu erhöhen. Hierfüreignen sich insbesondere Werkzeuge, die ein funktionales Engineering vonmechatronischen Produkten ermöglichen. Die Erstellung der dafür benötigtenBaukästen mit mechatronischen Komponenten ist zeit- und kostenintensiv.Abhilfe schaffen firmenübergreifende, adaptierbare Baukästen.}, author = {Buck, Raphael and Litto, Marco and Verl, Alexander}, pages = {--}, title = {Firmenübergreifend einsetzbare und adaptierbare Baukastenarchitekturen für dasmechatronische Engineering: Firmenübergreifend einsetzbare und adaptierbare Baukastenarchitekturen für dasmechatronische Engineering}, year = 2010 }
2. Keinert, Matthias ; Huf, Alexander ; Verl, Alexander: Kontinuierliche Kennwertberechnung als steuerungsinterne Task. In: Tagungsband SPS/IPC/Drives 2010, Fachmesse & Kongress, 23.-25. Nov. 2010, Nürnberg, Tagungsband SPS/IPC/Drives 2010, Fachmesse & Kongress, 23.-25. Nov. 2010, Nürnberg. Berlin : VDE Verlag GmbH, 2010, S. 361–370
  - BibTeX
  BibTeX
  @inproceedings{KeinertHufVerl2010, __markedentry = {[xtl:6]}, abstract = {To evaluate the condition of machinery components it is possible to use asignificant parameter in integral form describing the load that affects thecomponent. To determine this parameter it is sufficient to use drive-internalsignals for the calculation. These signals are available in the control unit.Challenges have to be faced in collecting the drive signals continuously andin high frequency. Additionally the data should be processed near to real-timeto achieve meaningful results. This article describes one form of realizationby implementing a control-internal task, which can be controlled by commandsout of a NC program.}, address = {Berlin}, author = {Keinert, Matthias and Huf, Alexander and Verl, Alexander}, booktitle = {Tagungsband SPS/IPC/Drives 2010, Fachmesse & Kongress, 23.-25. Nov. 2010, Nürnberg}, pages = {361-370}, publisher = {VDE Verlag GmbH}, title = {Kontinuierliche Kennwertberechnung als steuerungsinterne Task}, year = 2010 }
2006
1. Boye, Tim ; Verl, Alexander: Öptimal tolerance, model and pose selection forcalibration of parallel manipulators"; 37th International Conference onRobotics, S.267 2006: Öptimal tolerance, model and pose selection forcalibration of parallel manipulators"; 37th International Conference onRobotics, S.267 2006 (2006)
  - BibTeX
  BibTeX
  @misc{BoyeVerl2006a, __markedentry = {[xtl:6]}, author = {Boye, Tim and Verl, Alexander}, pages = {--}, title = {"Optimal tolerance, model and pose selection forcalibration of parallel manipulators"; 37th International Conference onRobotics, S.267 2006: "Optimal tolerance, model and pose selection forcalibration of parallel manipulators"; 37th International Conference onRobotics, S.267 2006}, year = 2006 }

Vita

Date of last update: May 1, 2016

Personal Information

Name: Alexander Wilhelm Verl
Date of birth: July 13, 1966
Status: married, three children

Academic Qualification

Dipl.-Ing.: Electrical Engineering, Friedrich-Alexander-University Erlangen-Nürnberg, 1991
Dr.-Ing.: Control Engineering, Institute of Robotics and Mechatronics (DLR), Oberpfaffenhofen, 1997
Univ.-Prof.: Full Professor (W3), University of Stuttgart, 2005

Professional Employment

2005–present: Full Professor and Head of the Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW), University of Stuttgart;
2014–2016: Member of the Board, Fraunhofer Gesellschaft, München;
2006–2014: Head of Institute, Fraunhofer Institute for Manufacturing Engineering and Automation IPA, Stuttgart; (secondary employment)
1997–2005: Founder and Managing Director of AMATEC Robotics GmbH (part of KUKA Roboter GmbH since 2005); Business areas: high precision robots, temperature compensation for robots, machine vision, palletizing with robots.
1994–1997: Research Assistant at the Institute of Robotics and Mechatronics at the German Aerospace Center (DLR), Oberpfaffenhofen;
1992–1994: Development engineer at Siemens AG, Research Center Erlangen AUT 941; Research topic: Control Engineering/dd>

Honors & Awards

2014: Diesel Gold Medal from the German Institute of Inventions (D.I.E)
2012: Julius von Haast Fellowship Award by the Royal Society of New Zealand
2012: Honorary doctoral degree (Dr. h.c.) of the Technical University of Cluj-Napoca, Romania.
2012: Honorary Professor (Prof. h.c.) of the University of Auckland, Department of Mechanical Engineering, New Zealand
2010: Invention & Entrepreneurship Award 2010 (IERA Award) of the IEEE Robotics and Automation Society (IEEE RAS), and the International Federation of Robotics (IFR).
2009: Honorary doctoral degree (Dr. h.c.) of the “ Politehnica” University of Timisoara, Romania

Activities in Scientific Institutions and Committees

2007–2012: Head of WGP Special Interest Group for Robotics and Assembly
2008–2014: Committee Chairman SPS/IPC/DRIVES-Conference
2008–present: Conference Chairman International Symposium on Robotics (ISR)
2007–2014: President of Deutsche Gesellschaft für Robotik (DGR)
2010–2014: Member of the DFG Committee on Scientific Instrumentation
2012–2015: Member of der DFG Review Board on ProductionTechnology
2007–present: Member of the Board of the Industrial Consortium of the Stuttgart Research Centre for Simulation Technology
2004–present: Member of the Board in SERCOS International
2006–present: Associate Member of CIRP (The International Academy for Production Engineering)
2006–present: Member of the WGP (The German Academic Society for Production Engineering)
2011–2014: Chairman of GSaME: Graduate School of Excellence in advanced Manufacturing Engineering in Stuttgart
2007–present: Principal Investigator Stuttgart Research Centre for Simulation Technology (SimTech Cluster of Excellence)
2012–present: Member of the Board of the German Academic Society for Assembly and Industrial Robots (MHI)
2010–present: Chairman of the Research Committee of the International Federation of Robotics (IFR)
2014–present: Chairman of the Board of the Fraunhofer Foundation (Fraunhofer Zukunftsstiftung)

Patents

The following patent numbers can be found under my name according to https://depatisnet.dpma.de/DepatisNet/depatisnet (in the field of Control, Robotics, Amusement Rides and Manufacturing Automation) DE000019547010A1, EP000000963816A2, DE000019833953A1, DE000019833953C2, DE000019547010C2, EP000000963816A3, WO002005115700A1, DE102004024378A1, WO002005115700A4, EP000000963816B1, AT000000319538E, EP000001750909A1, CN000001953848A, DE102006010110A1, US020070227274A1, DE102007048012A1, US020090084285A1, US020090099690A1, JP002009082709A, CN000100484725C, DE102004024378B4, US020090181781A1, EP000001750909B1, DE102008005859A1, US000007681468B2, US000007922594B2, US000007971537B2, DE102010021001A1, DE102011105345A1, EP000002572766A1, DE102011114371A1, US020130079169A1, KR102013032849A, JP002013066722A, CN000103071291A, US000008920251B2, DE102013017045A1, US020160075029A1, EP000002572766B1

Publications

As of Mai 2016 my Score on ResearchGate was 28.85, my h-index was 16.

Representative Publications

Verl, A.; Boye, T.; Pott, A.:
Measurement pose selection and calibration forecast for manipulators with complex kinematic structures, CIRP Annals - Manufacturing Technology, Vol. 57/1 (2008), pp. 425-428

Verl, A.; Heisel, U.; Walther, M., Maier, D.:
Sensorless Automated Condition Monitoring for the Control of the Predictive Maintenance of Machine Tools, CIRP Annals - Manufacturing Technology, Vol. 58/1 (2009), pp. 375-378

Krüger, J.; Lien, T.K.; Verl, A.:
Cooperation of Human and Machines in Assembly Lines, Keynote paper, CIRP Annals - Manufacturing Technology, Vol. 58/2 (2009), pp. 1-24

Verl, A.; Frey, S.:
Correlation between feed velocity and preloading in ball screw drives. In: CIRP Annals Manufacturing Technology 59/1 (2010), pp. 429-432

Altintas, Y.; Verl A.; Brecher, C.; Uriarte, L.; Pritschow, G.:
Machine Tool Feed Drives, Keynote paper, CIRP Annals - Manufacturing Technology, Vol. 60/2 (2011)

Groh, Friedemann; Groh, Konrad; Verl, Alexander:
On the inverse kinematics of an a priori unknown general 6R-Robot. Robotica 31 (2013), Nr. 3, S. 455-463

Fantoni, G, Santochi, M, Dini, G, Tracht, K, Scholz-Reiter, B, Fleischer, J, Lien, TK, Seliger, G, Reinhart, G, Franke, J, Hansen, HN & Verl, A:
Grasping devices and methods in automated production processes, Keynote paper, CIRP Annals Manufacturing Technology 63/2 (2014), pp. 679-701

Verl, A.; Frey, S.; Heinze, T.:
Double nut ball screw with improved operating characteristics. CIRP Annals Manufacturing Technology 63/1 (2014)

Verl, Alexander (Hrsg.); Albu-Schäfer Alin (Hrsg.); Brock Oliver (Hrsg.); Raatz Annika (Hrsg.):
Soft Robotics - Transferring Theory to Application; Springer Verlag, 2015, 291 Pages.

Verl, A.; Engel, T.; Lechler, A.:
Sliding Bearing with adjustable Friction Properties, CIRP Annals Manufacturing Technology 65/1 (2016)

Alexander Verl

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