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Verl, Alexander

Alexander Verl

Univ.-Prof. Dr.-Ing.

Holder of the Chair "Control technology and mechatronics for production systems"
Institute for Control Engineering of Machine Tools and Manufacturing Units

Contact

+49 711 685 82422
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Business card (VCF)

Seidenstr. 36
70174 Stuttgart
Germany
Room: 5.005

Publications

My Publications:

2025
1. Bauer, Christian J. E. ; Kamm, Valentin ; Dzubba, Marcel ; Steinle, Lukas ; Lechler, Armin ; Verl, Alexander: Modeling Load-, Velocity-, and Temperature-Dependent Transmission Errors of Cycloidal Drives for Industrial Robots Using Fourier Series. In: 2025 IEEE International Conference on Industrial Technology (ICIT), 2025, S. 1–7
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  @inproceedings{10965256, abstract = {Industrial robots are rarely used for machining tasks due to their limited path accuracy. This accuracy is mainly limited by inaccuracies in the drive trains. Compliance and transmission errors occur in the joint gearboxes. While transmission errors have been extensively studied for strain wave gears, there is little research on these errors in cycloidal drives. This gearbox type is commonly used in industrial robots for medium to heavy payloads. It is proposed to model the mainly periodic transmission errors using a Fourier series where amplitude and phase are defined as a polynomial function of the main influence factors load-torque, velocity, and temperature. Measurements of the transmission errors were conducted using an experimental setup representing a single robot joint. In the evaluation of the measurement data, harmonic frequencies were related to mechanical properties of the cycloidal drive. These frequencies were used to identify the parameters of the polynomial Fourier series model. Compared to validation measurements, the derived model shows an average root mean square error of 0.026 mrad. It is proposed to use the output of the resulting model in a feedforward control approach to compensate the transmission errors and to increase the path accuracy of industrial robots.}, author = {Bauer, Christian J. E. and Kamm, Valentin and Dzubba, Marcel and Steinle, Lukas and Lechler, Armin and Verl, Alexander}, booktitle = {2025 IEEE International Conference on Industrial Technology (ICIT)}, doi = {10.1109/ICIT63637.2025.10965256}, issn = {2643-2978}, month = {03}, pages = {1-7}, title = {Modeling Load-, Velocity-, and Temperature-Dependent Transmission Errors of Cycloidal Drives for Industrial Robots Using Fourier Series}, year = 2025 }
2. Bubeck, Wolfgang ; Frick, Florian ; Lechler, Armin ; Verl, Alexander: Enabling the Sensor-to-Cloud Vision Through IT/OT Convergence – Industrial Power Consumption Measurement Device as a Reference Use Case. In: Drossel, W.-G. ; Ihlenfeldt, S. ; Dix, M. (Hrsg.) ; Drossel, W.-G. ; Ihlenfeldt, S. ; Dix, M. (Hrsg.): Production at the Leading Edge of Technology. Bd. Proceedings of the 14th Congress of the German Academic Association for Production Technology (WGP), Chemnitz University of Technology, December 2024 : Springer, 2025 — ISBN 978-3-031-86892-4
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  @incollection{bubeck2025enabling, author = {Bubeck, Wolfgang and Frick, Florian and Lechler, Armin and Verl, Alexander}, booktitle = {Production at the Leading Edge of Technology }, editor = {Drossel, Welf-Guntram and Ihlenfeldt, Steffen and Dix, Martin}, isbn = {978-3-031-86892-4}, number = 14, publisher = {Springer}, title = {Enabling the Sensor-to-Cloud Vision Through IT/OT Convergence – Industrial Power Consumption Measurement Device as a Reference Use Case}, url = {https://link.springer.com/book/9783031868924#about-this-book}, volume = {Proceedings of the 14th Congress of the German Academic Association for Production Technology (WGP), Chemnitz University of Technology, December 2024}, year = 2025 }
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  https://link.springer.com/book/9783031868924#about-this-book
3. Dietrich, David ; Zürn, Manuel ; Briem, Ann-Kathrin ; Koch, David ; Lober, Werner ; Lind, Jannik ; Lechler, Armin ; Verl, Alexander: Software-Defined Value Networks: Industrial Requirements and Research Gap. In: Advances in Automotive Production Technology – Digital Product Development and Manufacturing – Stuttgart Conference on Automotive Production (SCAP2024) (2025), S. 426–441
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  @article{Dietrich.2025, author = {Dietrich, David and Zürn, Manuel and Briem, Ann-Kathrin and Koch, David and Lober, Werner and Lind, Jannik and Lechler, Armin and Verl, Alexander}, doi = {10.1007/978-3-031-88831-1_33}, journal = {Advances in Automotive Production Technology – Digital Product Development and Manufacturing – Stuttgart Conference on Automotive Production (SCAP2024)}, pages = {426--441}, title = {Software-Defined Value Networks: Industrial Requirements and Research Gap}, year = 2025 }
4. Dzubba, Marcel ; Neubauer, Michael ; Ajdinovic, Samed ; Lechler, Armin ; Verl, Alexander: Simple Estimation Algorithm for Laser Tracker Localization in Industrial Robot Calibration. In: Huber, M. ; Verl, A. ; Kraus, W. (Hrsg.) ; Huber, M. ; Verl, A. ; Kraus, W. (Hrsg.): European Robotics Forum 2025. Cham : Springer Nature Switzerland, 2025 — ISBN 978-3-031-89471-8, S. 193–199
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  @inproceedings{10.1007/978-3-031-89471-8_30, abstract = {Industrial robots are relatively inexpensive, compared to conventional machining tools. However, they suffer in terms of positioning and tracking accuracy. To mitigate this issue, laser trackers can be used to calibrate robots or even for positioning control. The spherically mounted reflector used must be visible to the laser tracker. Therefore, the position of the reflector needs to be known precisely to ensure visibility. To evaluate and satisfy the visibility condition for laser tracker tasks, such as calibration or path tracking, this paper presents an efficient algorithm for identifying the kinematic chain, which includes the tracker.}, address = {Cham}, author = {Dzubba, Marcel and Neubauer, Michael and Ajdinovic, Samed and Lechler, Armin and Verl, Alexander}, booktitle = {European Robotics Forum 2025}, doi = {https://doi.org/10.1007/978-3-031-89471-8_30}, editor = {Huber, Marco and Verl, Alexander and Kraus, Werner}, isbn = {978-3-031-89471-8}, pages = {193--199}, publisher = {Springer Nature Switzerland}, title = {Simple Estimation Algorithm for Laser Tracker Localization in Industrial Robot Calibration}, year = 2025 }
5. Dzubba, Marcel ; Neubauer, Michael ; Hinze, Christoph ; Lechler, Armin ; Verl, Alexander: A Nonlinear Elasticity Model and Feedforward Compensation Method to Increase Positioning Accuracy of Industrial Robots. In: IEEE Transactions on Automation Science and Engineering (2025), S. 1
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  @article{10962177, abstract = {Large industrial robots are inexpensive compared to their workspace. Due to flexibility, the positioning accuracy is compromised. This paper presents a simple yet effective static calibration method for robots using a laser tracker that can be applied to processes with no change in external load and without high processing forces. The calibration method is based on a novel elastokinematic model that captures the nonlinear gearbox and link compliance and also accounts for the effects of pose dependent joint friction and nonlinearities due to the gravity compensation mechanism. Furthermore, a feedforward concept is presented that separates kinematics from compliance to reduce computation time. The calibration method was implemented on industrial hardware and experimentally validated on a KUKA KR210–2. In comparison to state of the art compliance modeling, accuracy is improved by 23.1 %. Finally, the feedforward model reduces the mean positioning error in the entire workspace by 54.9% compared to the purely kinematically calibrated model, emphasizing the need for compliance compensation.}, author = {Dzubba, Marcel and Neubauer, Michael and Hinze, Christoph and Lechler, Armin and Verl, Alexander}, doi = {10.1109/TASE.2025.3559673}, issn = {1558-3783}, journal = {IEEE Transactions on Automation Science and Engineering}, pages = {1-1}, title = {A Nonlinear Elasticity Model and Feedforward Compensation Method to Increase Positioning Accuracy of Industrial Robots}, year = 2025 }
6. Fischer, Marc ; Walker, Moritz ; Neher, Philipp A. ; Neubauer, Michael ; Lechler, Armin ; Verl, Alexander: EtherCAT Tunneling Through Time-Sensitive Networks: An Experimental Evaluation. In: Holder, D. ; Wulle, F. ; Lind, J. (Hrsg.) ; Holder, D. ; Wulle, F. ; Lind, J. (Hrsg.): Advances in Automotive Production Technology -- Digital Product Development and Manufacturing. Cham : Springer Nature Switzerland, 2025 — ISBN 978-3-031-88831-1, S. 150–159
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  @inproceedings{10.1007/978-3-031-88831-1_13, abstract = {Due to flexibility requirements, the strictly horizontal communication of the automation pyramid is converging. This includes communication at the field level. Due to the long lifetime of machines in manufacturing, it is important to support converged communication for existing fieldbuses such as EtherCAT. This enables the implementation of brownfield approaches for gradually implementing converged networks in existing plants. EtherCAT is a widely used industrial Ethernet-based fieldbus protocol for communication between programmable logic controllers and field devices. This work analyzes the tunneling concept of EtherCAT through a Time-Sensitive Networking (TSN) network from the literature and contributes an empirical evaluation based on a test setup with multiple EtherCAT networks and EtherCAT slaves. The tunneling of EtherCAT through TSN based on Virtual Local Area Networks (VLANs) is demonstrated to be a viable option, allowing the utilization of existing EtherCAT devices without the necessity for adaptation. A comparison of the Linux features SO{\_}TXTIME and a simple RAW{\_}SOCKET reveals that both introduce jitter, which is compensated by the EtherCAT slaves to a few microseconds.}, address = {Cham}, author = {Fischer, Marc and Walker, Moritz and Neher, Philipp A. and Neubauer, Michael and Lechler, Armin and Verl, Alexander}, booktitle = {Advances in Automotive Production Technology -- Digital Product Development and Manufacturing}, editor = {Holder, Daniel and Wulle, Frederik and Lind, Jannik}, isbn = {978-3-031-88831-1}, pages = {150--159}, publisher = {Springer Nature Switzerland}, title = {EtherCAT Tunneling Through Time-Sensitive Networks: An Experimental Evaluation}, url = {https://link.springer.com/chapter/10.1007/978-3-031-88831-1_13}, year = 2025 }
  Link
  https://link.springer.com/chapter/10.1007/978-3-031-88831-1_13
7. Jud, Oliver ; Lechler, Armin ; Verl, Alexander: Automatische Adaption der Vorspannkraft während des Betriebes durch Nachstellmechanismus für Kugelgewindetriebe. In: antriebstechnik (2025), S. 40–42
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  @article{jud2025, author = {Jud, Oliver and Lechler, Armin and Verl, Alexander}, journal = {antriebstechnik}, month = {01}, number = 01, pages = {40-42}, title = {Automatische Adaption der Vorspannkraft während des Betriebes durch Nachstellmechanismus für Kugelgewindetriebe}, url = {https://digital.antriebstechnik.de/antriebstechnik-1-2025/69880800/40}, year = 2025 }
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  https://digital.antriebstechnik.de/antriebstechnik-1-2025/69880800/40
8. Neubauer, Michael ; Hinze, Christoph ; Verl, Alexander: Semi-active damping for industrial robots. In: Elservier (Hrsg.) Robotics and Computer-Integrated Manufacturing Bd. 95, Elsevier BV (2025), S. 103008
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  @article{Neubauer_2025, author = {Neubauer, Michael and Hinze, Christoph and Verl, Alexander}, doi = {10.1016/j.rcim.2025.103008}, editor = {Elservier}, issn = {0736-5845}, journal = {Robotics and Computer-Integrated Manufacturing}, month = {10}, pages = 103008, publisher = {Elsevier BV}, title = {Semi-active damping for industrial robots}, url = {http://dx.doi.org/10.1016/j.rcim.2025.103008}, volume = 95, year = 2025 }
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  http://dx.doi.org/10.1016/j.rcim.2025.103008
9. Reichenbach, Thomas ; Clar, Johannes ; Pott, Andreas ; Verl, Alexander: Experimental Investigation on Adaptive Preload Control for Cable-Driven Parallel Robots. In: Lau, D. ; Pott, A. ; Bruckmann, T. (Hrsg.) ; Lau, D. ; Pott, A. ; Bruckmann, T. (Hrsg.): Cable-Driven Parallel Robots. Cham : Springer Nature Switzerland, 2025 — ISBN 978-3-031-94608-0, S. 209–221
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  @inproceedings{10.1007/978-3-031-94608-0_17, abstract = {This paper presents an experimental investigation of a novel control method designed to adaptively adjust the preload of cable-driven parallel robots in their nullspace. Precise motion of cable robots is challenging due to positioning errors caused by cable actuation or environmental influences. Current model-based control concepts minimize errors by identifying system-specific parameters, whereas the presented adaptive preload control (APC) method is generic, focusing on platform preload and adaptive stiffness adjustment to improve the performance of cable robots. A real-time preload parameter optimization is used to compute valid force distribution set-points, requiring only the parameterization of a force controller for integration. To evaluate the performance, the experiments follow standardized procedures, evaluating position and path repeatability and accuracy according to ISO 9283. The proposed APC method achieves improvements in path repeatability and accuracy ranging from 30{\%} to 58{\%}, compared to standard position control methods based solely on inverse kinematics. Furthermore, the investigation shows correlations between path accuracy, platform stiffness, and power consumption.}, address = {Cham}, author = {Reichenbach, Thomas and Clar, Johannes and Pott, Andreas and Verl, Alexander}, booktitle = {Cable-Driven Parallel Robots}, editor = {Lau, Darwin and Pott, Andreas and Bruckmann, Tobias}, isbn = {978-3-031-94608-0}, pages = {209--221}, publisher = {Springer Nature Switzerland}, title = {Experimental Investigation on Adaptive Preload Control for Cable-Driven Parallel Robots}, year = 2025 }
2024
1. Bauer, Christian J. E. ; Lechler, Armin ; Verl, Alexander: Höhere Bahngenauigkeit – Kompensation kinematischer Übertragungsfehler in Zykloidgetrieben von Industrierobotern. In: antriebstechnik (2024)
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  @article{bauer2024hhere, abstract = {Im Vergleich zu Werkzeugmaschinen erreichen Industrierobotereine geringe Absolut- und Bahngenauigkeit. Um neue Anwendungsgebiete für die Industrierobotik zu erschließen, forscht das Institut für Steuerungstechnik der Werkzeugmaschinen und Fertigungseinrichtungen (ISW) der Universität Stuttgart daher an regelungstechnischen Lösungen zur Erhöhung der Genauigkeit. Sowohl Prozesse ohne externe Kräfte wie das Laserschneiden als auch Prozesse mit hohen Prozesskräften wie die spanende Bearbeitung sollen so für den Einsatz von Industrierobotern erschlossen werden.}, author = {Bauer, Christian J. E. and Lechler, Armin and Verl, Alexander}, journal = {antriebstechnik}, language = {de}, month = {09}, title = {Höhere Bahngenauigkeit – Kompensation kinematischer Übertragungsfehler in Zykloidgetrieben von Industrierobotern}, url = {https://digital.antriebstechnik.de/antriebstechnik-9-2024/68786300/40}, year = 2024 }
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  https://digital.antriebstechnik.de/antriebstechnik-9-2024/68786300/40
2. Chen, Shengjian ; Neubauer, Michael ; Verl, Alexander: A Digital Twin Platform for service-based Testing and Optimization. In: Procedia CIRP Bd. 126, Elsevier BV (2024), S. 260–265
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  @article{Chen_2024, author = {Chen, Shengjian and Neubauer, Michael and Verl, Alexander}, doi = {10.1016/j.procir.2024.08.336}, issn = {2212-8271}, journal = {Procedia CIRP}, pages = {260–265}, publisher = {Elsevier BV}, title = {A Digital Twin Platform for service-based Testing and Optimization}, url = {http://dx.doi.org/10.1016/j.procir.2024.08.336}, volume = 126, year = 2024 }
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  http://dx.doi.org/10.1016/j.procir.2024.08.336
3. Chen, Shengjian ; Watter, Pascal ; Klingel, Lars ; Neubauer, Michael ; Verl, Alexander: Utilizing Operational-Parallel Real-Time Simulation to Monitor and Optimize Workpiece Quality on CNC Machines. In: Wang, Y.-C. ; Chan, S. H. ; Wang, Z.-H. (Hrsg.) ; Wang, Y.-C. ; Chan, S. H. ; Wang, Z.-H. (Hrsg.): Flexible Automation and Intelligent Manufacturing: Manufacturing Innovation and Preparedness for the Changing World Order. Cham : Springer Nature Switzerland, 2024 — ISBN 978-3-031-74482-2, S. 218–225
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  @inproceedings{10.1007/978-3-031-74482-2_25, abstract = {Digital twins have a wide range of applications throughout the life cycle of computerized numerical controlled (CNC) machines. One particular manifestation of digital twins is the creation of models derived from virtual commissioning. These models actively accompany a physical machine throughout the engineering phase, but are typically discarded afterward. The objective of this study is to demonstrate the effectiveness of operation-parallel real-time simulation using virtual commissioning models for the early detection and elimination of defects in workpieces produced by CNC machines. The simulation model interfaces directly with the control drive, producing a virtual workpiece simultaneously with the actual manufacturing process in real-time, thus enabling necessary optimizations. Simultaneously, a virtual comparative model operates in the background to detect errors in the workpiece during runtime. This approach provides the advantage of eliminating the requirement for post-production quality inspections since the operational-parallel simulation conducts the inspection function. In addition, defects in the workpiece can be detected early so that the machine can be stopped in the event of a tolerance violation. At last, a framework is proposed to enable a knowledge-based model derived from identified defects. This framework can identify errors in early engineering stages, including the CAM planning phase, by using the knowledge from the production phase.}, address = {Cham}, author = {Chen, Shengjian and Watter, Pascal and Klingel, Lars and Neubauer, Michael and Verl, Alexander}, booktitle = {Flexible Automation and Intelligent Manufacturing: Manufacturing Innovation and Preparedness for the Changing World Order}, editor = {Wang, Yi-Chi and Chan, Siu Hang and Wang, Zih-Huei}, isbn = {978-3-031-74482-2}, pages = {218--225}, publisher = {Springer Nature Switzerland}, title = {Utilizing Operational-Parallel Real-Time Simulation to Monitor and Optimize Workpiece Quality on CNC Machines}, year = 2024 }
4. Clar, Johannes ; Trautwein, Felix ; Reichenbach, Thomas ; Verl, Alexander ; Neubauer, Michael: Actuated In-Operation-Reconfiguration of a Cable-Driven Parallel Robot with a Gradient Descent Approximation Technique. In: Lenarcic, J. ; Husty, M. (Hrsg.) ; Lenarcic, J. ; Husty, M. (Hrsg.): Advances in Robot Kinematics 2024. Cham : Springer Nature Switzerland, 2024 — ISBN 978-3-031-64057-5, S. 149–156
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  @inproceedings{10.1007/978-3-031-64057-5_18, abstract = {Cable-Driven Parallel Robots (CDPRs) can be used where a large workspace is required or where high payloads need to be handled. However, certain applications may avoid CDPRs due to drawbacks such as potential cable collisions. To improve the usability of CDPRs, the fixed frame anchors can be mounted on reconfiguration axes. This results in more complex kinematics that are challenging to control. This paper introduces a gradient descent approximation technique for reconfigurable CDPRs (RCDPRs) to identify, with low computational effort, appropriate configurations for a given platform pose to achieve a larger workspace. A workspace study shows a wrench-feasible workspace enlargement up to 28{\%} when using this reconfiguration technique on an RCDPR compared to a common CDPR.}, address = {Cham}, author = {Clar, Johannes and Trautwein, Felix and Reichenbach, Thomas and Verl, Alexander and Neubauer, Michael}, booktitle = {Advances in Robot Kinematics 2024}, editor = {Lenar{\v{c}}i{\v{c}}, Jadran and Husty, Manfred}, isbn = {978-3-031-64057-5}, pages = {149--156}, publisher = {Springer Nature Switzerland}, title = {Actuated In-Operation-Reconfiguration of a Cable-Driven Parallel Robot with a Gradient Descent Approximation Technique}, year = 2024 }
5. Dietrich, David ; Jud, Oliver ; Kurth, Daniel ; Lechler, Armin ; Leipe, Valentin ; Nistler, Maximilian ; Reiff, Colin ; Schulte, Alexander ; u. a.: MoNA – Die modulare Werkzeugmaschine – Eine offene Forschungsplattform/MoNA – The modular machine tool – An open research platform. In: wt Werkstattstechnik online Bd. 114, VDI Fachmedien GmbH and Co. KG (2024), S. 170–177
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  @article{dietrich2024modulare, author = {Dietrich, David and Jud, Oliver and Kurth, Daniel and Lechler, Armin and Leipe, Valentin and Nistler, Maximilian and Reiff, Colin and Schulte, Alexander and Steinle, Lukas and Verl, Alexander}, doi = {10.37544/1436–4980–2024–05–6}, journal = {wt Werkstattstechnik online}, month = {05}, number = 05, pages = {170-177}, publisher = {VDI Fachmedien GmbH and Co. KG}, title = {MoNA – Die modulare Werkzeugmaschine – Eine offene Forschungsplattform/MoNA – The modular machine tool – An open research platform}, url = {/brokenurl#doi.org/10.37544/1436–4980–2024–05–6}, volume = 114, year = 2024 }
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  /brokenurl#doi.org/10.37544/1436–4980–2024–05–6
6. Dietrich, David ; Neubauer, Michael ; Lechler, Armin ; Verl, Alexander: Iterative Planning as a Holistic Framework for Production System-Wide Optimization Control Loops. In: Silva, F. J. G. ; Pereira, A. B. ; Camphilho, R. D. S. G. (Hrsg.) ; Silva, F. J. G. ; Pereira, A. B. ; Camphilho, R. D. S. G. (Hrsg.): Flexible Automation and Intelligent Manufacturing: Establishing Bridges for More Sustainable Manufacturing Systems. Cham : Springer Nature Switzerland, 2024 — ISBN 9783031382413, S. 611–621
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  @inproceedings{dietrich2024iterative, abstract = {The increasing number of Industry 4.0 services adds further complexity to software, enabling more control loops throughout the production system. To address the organizational and technological challenges under uncertain production conditions, this paper proposes a holistic framework for production planning. It consists of a software-oriented planning architecture and an iterative planning behavior that enables continuous adjustments based on the current state of the production system and products. Principles of organizational, multi-stage production planning and technological, zero-defect manufacturing are considered in combination. Necessary engineering services can be extended by automatically integrating self-describing software services into production system-wide engineering control loops. In a first implementation step, general functionality can be demonstrated by continuous production plan and process-program generation and adaptation with simulative validation for individually configurable products based on the production system state and target goals. The gap between organizational and technological planning is further closed.}, address = {Cham}, author = {Dietrich, David and Neubauer, Michael and Lechler, Armin and Verl, Alexander}, booktitle = {Flexible Automation and Intelligent Manufacturing: Establishing Bridges for More Sustainable Manufacturing Systems}, doi = {10.1007/978-3-031-38241-3_69}, editor = {Silva, Francisco J. G. and Pereira, António B. and Camphilho, Raul D. S. G.}, isbn = {9783031382413}, pages = {611--621}, publisher = {Springer Nature Switzerland}, refid = {10.1007/978-3-031-38241-3_69}, title = {Iterative Planning as a Holistic Framework for Production System-Wide Optimization Control Loops}, url = {https://doi.org/10.1007/978-3-031-38241-3_69}, year = 2024 }
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  https://doi.org/10.1007/978-3-031-38241-3_69
7. Dietrich, David ; Neubauer, Michael ; Lechler, Armin ; Verl, Alexander: Automated Manufacturing Toolchain using Skill-based Digital Twins. In: Procedia CIRP Bd. 128, Elsevier BV (2024), S. 923–928
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  @article{Dietrich_2024, author = {Dietrich, David and Neubauer, Michael and Lechler, Armin and Verl, Alexander}, doi = {10.1016/j.procir.2024.06.045}, issn = {2212-8271}, journal = {Procedia CIRP}, pages = {923–928}, publisher = {Elsevier BV}, title = {Automated Manufacturing Toolchain using Skill-based Digital Twins}, url = {http://dx.doi.org/10.1016/j.procir.2024.06.045}, volume = 128, year = 2024 }
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  http://dx.doi.org/10.1016/j.procir.2024.06.045
8. Dietrich, David ; Zürn, Manuel ; Reiff, Colin ; Neubauer, Michael ; Lechler, Armin ; Verl, Alexander: Software-Defined Value Networks: Motivation, Approaches, and Research Activities. In: Bauernhansl, T. ; Verl, A. ; Liewald, M. ; Möhring, H.-C. (Hrsg.) ; Bauernhansl, T. ; Verl, A. ; Liewald, M. ; Möhring, H.-C. (Hrsg.): Production at the Leading Edge of Technology. Cham : Springer Nature Switzerland, 2024 — ISBN 978-3-031-47394-4, S. 514–524
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  @inproceedings{dietrich2024softwaredefined, address = {Cham}, author = {Dietrich, David and Zürn, Manuel and Reiff, Colin and Neubauer, Michael and Lechler, Armin and Verl, Alexander}, booktitle = {Production at the Leading Edge of Technology}, doi = {10.1007/978-3-031-47394-4_50}, editor = {Bauernhansl, Thomas and Verl, Alexander and Liewald, Mathias and Möhring, Hans-Christian}, isbn = {978-3-031-47394-4}, pages = {514-524}, publisher = {Springer Nature Switzerland}, title = {Software-Defined Value Networks: Motivation, Approaches, and Research Activities}, url = {https://doi.org/10.1007/978-3-031-47394-4_50}, year = 2024 }
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  https://doi.org/10.1007/978-3-031-47394-4_50
9. Elser, Anja ; Lechler, Armin ; Verl, Alexander: Process-integrated computerized numerical control: an analysis on process-machine coupling and feed scheduling. In: The International Journal of Advanced Manufacturing Technology Bd. 135 (2024), S. 1291–1301
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  @article{Elser2024, abstract = {Computerized numerical controls (CNCs) have been invented for the automation of industrial processes. They are used, when the process to be automated is required to be exact and fast with repeatable quality. Originally, the use of CNCs was primarily focused on milling and drilling processes. Today, CNCs are utilized in a wide range of industrial processes due to the growing importance of automation. However, the integration of process information or adaptation to the needs of these processes to achieve advanced manufacturing with CNCs is difficult: Industrial CNCs are rather closed real-time machining systems. Today, process integration is possible, when the interaction between the process and the machine is decoupled in view of the bandwidth of machine dynamics and process dynamics. There are interfaces that allow for process-motivated control loops that are realized on top of the machine control loop (e.g. chatter control). Then, machine-integrated real-time control is not the focus. Besides, it is often possible to change desired values inside the control loop (position, velocity, acceleration) on an axes basis. In this case, adaptation to the process can be realized in each computation cycle. However, process dynamics and machine axes dynamics are generally treated separately. The same holds for extra actuators (e.g., in the spindle) for position control. This paper has two goals. First, it wants to create an understanding for different levels of process-machine coupling. Second, the problem of direct coupling of process dynamics and machine dynamics is focused. Machining systems design propositions as well as some examples for the coupling of process and machine dynamics in the CNC are given.}, author = {Elser, Anja and Lechler, Armin and Verl, Alexander}, day = 01, doi = {10.1007/s00170-024-14437-3}, issn = {1433-3015}, journal = {The International Journal of Advanced Manufacturing Technology}, month = {11}, number = 3, pages = {1291--1301}, title = {Process-integrated computerized numerical control: an analysis on process-machine coupling and feed scheduling}, url = {https://doi.org/10.1007/s00170-024-14437-3}, volume = 135, year = 2024 }
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  https://doi.org/10.1007/s00170-024-14437-3
10. Erb, Yannick ; Teigeler, Heiner ; Lins, Sebastian ; Sunyaev, Ali ; Frick, Florian ; Bubeck, Wolfgang ; Neher, Philipp ; Neumann, Rebekka ; u. a. ; für Technologie (KIT), K. I. (Hrsg.) ; für Technologie (KIT), K. I. (Hrsg.): A Gaia-X-based Ecosystem for Manufacturing: Lessons Learned from the Project Gaia-X4ICM (Publication) : Karlsruher Institut für Technologie (KIT), 2024
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  @techreport{erb2024gaiaxbased, author = {Erb, Yannick and Teigeler, Heiner and Lins, Sebastian and Sunyaev, Ali and Frick, Florian and Bubeck, Wolfgang and Neher, Philipp and Neumann, Rebekka and Lechler, Armin and Verl, Alexander and Riedel, Oliver and Gleich, Kevin and Behrendt, Sebastian and Karimi, Ehsan and Bott, Alexander and Lanza, Gisela and Schulze, Volker and Fleischer, Jürgen and Leander-Knoll, Matthias and Jaganathan, Keerthana and Scheibenberger, Klaus and Andriushchenko, Olga and Shcherbakov, Oleksandr and Hoppe, Dennis and Brinkmeier, David}, doi = {10.5445/IR/1000174929}, editor = {für Technologie (KIT), Karlsruher Institut}, institution = {Karlsruher Institut für Technologie (KIT)}, language = {english}, pagetotal = {45}, title = {A Gaia-X-based Ecosystem for Manufacturing: Lessons Learned from the Project Gaia-X4ICM}, type = {Publication}, url = {https://publikationen.bibliothek.kit.edu/1000174929}, year = 2024 }
  Link
  https://publikationen.bibliothek.kit.edu/1000174929
11. Frick, Florian ; Ellwein, Carsten ; Lechler, Armin ; Neubauer, Michael ; Verl, Alexander: Software-Defined Manufacturing: Reference Architecture. In: 2024 International Symposium on Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM), 2024, S. 1289–1295
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  @inproceedings{10609236, author = {Frick, Florian and Ellwein, Carsten and Lechler, Armin and Neubauer, Michael and Verl, Alexander}, booktitle = {2024 International Symposium on Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM)}, doi = {10.1109/SPEEDAM61530.2024.10609236}, pages = {1289-1295}, title = {Software-Defined Manufacturing: Reference Architecture}, year = 2024 }
12. Giani, Marco ; Walker, Moritz ; Neubauer, Michael ; Frank, Nelly ; Wiener, Patrick ; Verl, Alexander: A sensitivity analysis approach to reduce economic risks in the design of edge-cloud automation systems in industry. In: Procedia CIRP Bd. 128, Elsevier BV (2024), S. 526–531
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  @article{Giani_2024, author = {Giani, Marco and Walker, Moritz and Neubauer, Michael and Frank, Nelly and Wiener, Patrick and Verl, Alexander}, doi = {10.1016/j.procir.2024.03.033}, issn = {2212-8271}, journal = {Procedia CIRP}, month = {10}, pages = {526–531}, publisher = {Elsevier BV}, title = {A sensitivity analysis approach to reduce economic risks in the design of edge-cloud automation systems in industry}, url = {http://dx.doi.org/10.1016/j.procir.2024.03.033}, volume = 128, year = 2024 }
  Link
  http://dx.doi.org/10.1016/j.procir.2024.03.033
13. Göttlich, Simone ; Hoher, Simon ; Verl, Alexander ; Weißen, Jennifer ; Kienzlen, Annika: Materialflusssimulation für die Virtuelle Inbetriebnahme in Steuerungsechtzeit. In: Verl, A. ; Röck, S. ; Scheifele, C. (Hrsg.) ; Verl, A. ; Röck, S. ; Scheifele, C. (Hrsg.): Echtzeitsimulation in der Produktionsautomatisierung: Beiträge zu Virtueller Inbetriebnahme, Digitalem Engineering und Digitalen Zwillingen. Berlin, Heidelberg : Springer Berlin Heidelberg, 2024 — ISBN 978-3-662-66217-5, S. 121–140
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  @inbook{Göttlich2024, address = {Berlin, Heidelberg}, author = {G{\"o}ttlich, Simone and Hoher, Simon and Verl, Alexander and Wei{\ss}en, Jennifer and Kienzlen, Annika}, booktitle = {Echtzeitsimulation in der Produktionsautomatisierung: Beitr{\"a}ge zu Virtueller Inbetriebnahme, Digitalem Engineering und Digitalen Zwillingen}, doi = {10.1007/978-3-662-66217-5_7}, editor = {Verl, Alexander and R{\"o}ck, Sascha and Scheifele, Christian}, isbn = {978-3-662-66217-5}, pages = {121--140}, publisher = {Springer Berlin Heidelberg}, title = {Materialflusssimulation f{\"u}r die Virtuelle Inbetriebnahme in Steuerungsechtzeit}, url = {https://doi.org/10.1007/978-3-662-66217-5_7}, year = 2024 }
  Link
  https://doi.org/10.1007/978-3-662-66217-5_7
14. Helfesrieder, Nico ; Furcoi, Florentin ; Jud, Oliver ; Lechler, Armin ; Verl, Alexander: Case Study on using Layer Laminate Manufacturing for Large Lightweight Parts with high Structural Damping. In: Procedia CIRP Bd. 130, Elsevier BV (2024), S. 28–34
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  @article{Helfesrieder_2024, author = {Helfesrieder, Nico and Furcoi, Florentin and Jud, Oliver and Lechler, Armin and Verl, Alexander}, doi = {10.1016/j.procir.2024.10.051}, issn = {2212-8271}, journal = {Procedia CIRP}, pages = {28–34}, publisher = {Elsevier BV}, title = {Case Study on using Layer Laminate Manufacturing for Large Lightweight Parts with high Structural Damping}, url = {http://dx.doi.org/10.1016/j.procir.2024.10.051}, volume = 130, year = 2024 }
  Link
  http://dx.doi.org/10.1016/j.procir.2024.10.051
15. Herschel, Melanie ; Gienger, Andreas ; Lauer, Anja P. R. ; Stein, Charlotte ; Skoury, Lior ; Lässig, Nico ; Ellwein, Carsten ; Verl, Alexander ; u. a.: Putting Co-Design-Supporting Data Lakes to the Test: An Evaluation on AEC Case Studies. In: Wrembel, R. ; Chiusano, S. ; Kotsis, G. ; Tjoa, A. M. ; Khalil, I. (Hrsg.) ; Wrembel, R. ; Chiusano, S. ; Kotsis, G. ; Tjoa, A. M. ; Khalil, I. (Hrsg.): Big Data Analytics and Knowledge Discovery. Cham : Springer Nature Switzerland, 2024 — ISBN 978-3-031-68323-7, S. 253–268
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  @inproceedings{10.1007/978-3-031-68323-7_21, abstract = {Leveraging data from various stakeholders in the architecture, engineering, and construction (AEC) industry is an essential prerequisite to harness the potential of digitization and Artificial Intelligence (AI) in addressing major challenges such as productivity or sustainability. ArchIBALD is a recently proposed information system architecture that caters to AEC applications by its integrative, modular, extensible, and feedback-centered design. Its goal is to support co-design applications, characterized by processes optimized through a holistic view across traditionally isolated AEC steps and data silos.}, address = {Cham}, author = {Herschel, Melanie and Gienger, Andreas and Lauer, Anja P. R. and Stein, Charlotte and Skoury, Lior and L{\"a}ssig, Nico and Ellwein, Carsten and Verl, Alexander and Wortmann, Thomas and Sauer, Cristina Tarin}, booktitle = {Big Data Analytics and Knowledge Discovery}, editor = {Wrembel, Robert and Chiusano, Silvia and Kotsis, Gabriele and Tjoa, A. Min and Khalil, Ismail}, isbn = {978-3-031-68323-7}, pages = {253--268}, publisher = {Springer Nature Switzerland}, title = {Putting Co-Design-Supporting Data Lakes to the Test: An Evaluation on AEC Case Studies}, year = 2024 }
16. Hinze, Christoph ; Zhou, Zexu ; Xu, Haijia ; Lechler, Armin ; Verl, Alexander: RTNNIgen – An Open-Source PLC Library and Python Generator Converting Keras Models to Realtime Capable Structured Text. In: IEEE (Hrsg.) ; IEEE (Hrsg.): IECON 2024 - 50th Annual Conference of the IEEE Industrial Electronics Society, 2024, S. 1–7
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  @inproceedings{10905775, abstract = {Recent advances in AI research are boosting the relevance of realtime neural networks in automation technology. To facilitate the deployment of trained neural networks for realtime applications, where hard limits on upper cycle time are required, this paper contributed a two-fold approach: A Python library for parsing Keras sequential models to structured text using a single function-call, which can be run directly on industrial PLCs and a structured text library to encapsulate reoccurring code and to provide a readable, tested interface for the generated code. The resulting models are experimentally validated regarding their inference time and precision of the outputs.}, author = {Hinze, Christoph and Zhou, Zexu and Xu, Haijia and Lechler, Armin and Verl, Alexander}, booktitle = {IECON 2024 - 50th Annual Conference of the IEEE Industrial Electronics Society}, doi = {10.1109/IECON55916.2024.10905775}, editor = {IEEE}, month = {11}, pages = {1-7}, title = {RTNNIgen – An Open-Source PLC Library and Python Generator Converting Keras Models to Realtime Capable Structured Text}, year = 2024 }
17. Jaensch, Florian ; Verl, Alexander: Simulationsmodelle der Virtuellen Inbetriebnahme als Lernumgebung für Reinforcement Learning. In: Verl, A. ; Röck, S. ; Scheifele, C. (Hrsg.) ; Verl, A. ; Röck, S. ; Scheifele, C. (Hrsg.): Echtzeitsimulation in der Produktionsautomatisierung: Beiträge zu Virtueller Inbetriebnahme, Digitalem Engineering und Digitalen Zwillingen. Berlin, Heidelberg : Springer Berlin Heidelberg, 2024 — ISBN 978-3-662-66217-5, S. 213–227
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  @inbook{Jaensch2024, abstract = {Die steigenden Anforderungen der Produktionstechnik nach flexiblen und trotzdem wirtschaftlich effizienten Anlagen stellt die Automatisierungstechnik vor gro{\ss}e Herausforderungen. Die Umstellung von beispielsweise einer Roboterzelle auf ein neues Produkt muss dabei schnell und aufwandsarm m{\"o}glich sein. Die Steuerungssysteme, sowie die zugeh{\"o}rigen Engineering Methoden, m{\"u}ssen zunehmend intelligent und lernf{\"a}hig werden, um m{\"o}glichst viele der bisher manuellen Aufw{\"a}nde selbstst{\"a}ndig zu {\"u}bernehmen. Die Simulationsumgebung f{\"u}r eine Virtuelle Inbetriebnahme stellt eine geeignete Lernumgebung dar, in der das Steuerungssystem, mit Methoden des maschinellen Lernens, automatisch trainiert werden kann. Daf{\"u}r m{\"u}ssen die Simulationswerkzeuge erweitert und m{\"o}glichst standardisierte Schnittstellen geschaffen werden.}, address = {Berlin, Heidelberg}, author = {Jaensch, Florian and Verl, Alexander}, booktitle = {Echtzeitsimulation in der Produktionsautomatisierung: Beiträge zu Virtueller Inbetriebnahme, Digitalem Engineering und Digitalen Zwillingen}, doi = {10.1007/978-3-662-66217-5_13}, editor = {Verl, Alexander and Röck, Sascha and Scheifele, Christian}, isbn = {978-3-662-66217-5}, pages = {213--227}, publisher = {Springer Berlin Heidelberg}, title = {Simulationsmodelle der Virtuellen Inbetriebnahme als Lernumgebung für Reinforcement Learning}, url = {https://doi.org/10.1007/978-3-662-66217-5_13}, year = 2024 }
  Link
  https://doi.org/10.1007/978-3-662-66217-5_13
18. Jud, Oliver ; Steinle, Lukas ; Lechler, Armin ; Verl, Alexander: Properties of a Double Nut Ball Screw with a Passive Spring-Loaded Mechanism for Preload Adjustment. In: Procedia CIRP Bd. 130, Elsevier BV (2024), S. 1832–1837
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  @article{Jud_2024, author = {Jud, Oliver and Steinle, Lukas and Lechler, Armin and Verl, Alexander}, doi = {10.1016/j.procir.2024.10.324}, issn = {2212-8271}, journal = {Procedia CIRP}, pages = {1832–1837}, publisher = {Elsevier BV}, title = {Properties of a Double Nut Ball Screw with a Passive Spring-Loaded Mechanism for Preload Adjustment}, url = {http://dx.doi.org/10.1016/j.procir.2024.10.324}, volume = 130, year = 2024 }
  Link
  http://dx.doi.org/10.1016/j.procir.2024.10.324
19. Kienzlen, Annika ; Verl, Alexander: Methods for Localization in Multi-Scale Material Flow Simulation for Virtual Commissioning. In: 2024 4th International Conference on Electrical, Computer, Communications and Mechatronics Engineering (ICECCME), 2024
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  @inproceedings{10797016, abstract = {While the importance of virtual commissioning is increasing and not only individual machines but also production lines are being simulated, the simulation of material flow for numerous piece goods is still a challenge. Combining models in a multi-scale simulation can exploit their advantages. The macroscopic flow model excels at modeling the behavior of large quantities of piece goods, however, it cannot provide information about individual piece goods. This led to the approach of the combination with a microscopic physics-based model in a multi-scale material flow simulation. To switch between models, the coordinates of the positions (microscopic) have to be translated in one direction into the material description of the macroscopic flow model (the density distribution). In the other direction, the density distribution has to be translated into the coordinates of the positions, leading to a computationally intensive optimization problem. This paper develops various methods for finding a start solution and compares them to a method of the state of the art. The evaluation is based on their accuracy with reference to various parameters of the data set. The results show the best accuracies for the method which traverses the density distribution and calculates the sum of the densities until it matches a single piece good. Depending on the accuracy required, it may be possible to use the start solution directly without further optimization.}, author = {Kienzlen, Annika and Verl, Alexander}, booktitle = {2024 4th International Conference on Electrical, Computer, Communications and Mechatronics Engineering (ICECCME)}, doi = {10.1109/ICECCME62383.2024.10797016}, month = {11}, title = {Methods for Localization in Multi-Scale Material Flow Simulation for Virtual Commissioning}, year = 2024 }
20. Kienzlen, Annika ; Verl, Alexander: A Signal-Based Approach to Switching Between Micro and Macro Material Flow Models for Production Systems. In: Bauernhansl, T. ; Verl, A. ; Liewald, M. ; Möhring, H.-C. (Hrsg.) ; Bauernhansl, T. ; Verl, A. ; Liewald, M. ; Möhring, H.-C. (Hrsg.): Production at the Leading Edge of Technology. Cham : Springer Nature Switzerland, 2024 — ISBN 978-3-031-47394-4, S. 491–501
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  @inproceedings{10.1007/978-3-031-47394-4_48, address = {Cham}, author = {Kienzlen, Annika and Verl, Alexander}, booktitle = {Production at the Leading Edge of Technology}, editor = {Bauernhansl, Thomas and Verl, Alexander and Liewald, Mathias and M{\"o}hring, Hans-Christian}, isbn = {978-3-031-47394-4}, pages = {491--501}, publisher = {Springer Nature Switzerland}, title = {A Signal-Based Approach to Switching Between Micro and Macro Material Flow Models for Production Systems}, year = 2024 }
21. Klingel, Lars ; Littfinski, Daniel ; Chen, Shengjian ; Brandt, Nico ; Neubauer, Michael ; Verl, Alexander ; Scheifele, Christian: Durchgängige Steuerung und Simulation/Continuous control and simulation – Open platforms for automated production systems with industrial robots. In: wt Werkstattstechnik online Bd. 114, VDI Fachmedien GmbH and Co. KG (2024), S. 183–188
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  @article{Klingel_2024, author = {Klingel, Lars and Littfinski, Daniel and Chen, Shengjian and Brandt, Nico and Neubauer, Michael and Verl, Alexander and Scheifele, Christian}, doi = {10.37544/1436-4980-2024-05-19}, issn = {1436-4980}, journal = {wt Werkstattstechnik online}, number = 05, pages = {183–188}, publisher = {VDI Fachmedien GmbH and Co. KG}, title = {Durchgängige Steuerung und Simulation/Continuous control and simulation – Open platforms for automated production systems with industrial robots}, url = {http://dx.doi.org/10.37544/1436-4980-2024-05-19}, volume = 114, year = 2024 }
  Link
  http://dx.doi.org/10.37544/1436-4980-2024-05-19
22. Kurth, Daniel ; Reiff, Colin ; Jiang, Yujiao ; Verl, Alexander: Universal and Automated Approaches for Optimising the Processing Order of Geometries in a CAM Tool for Redundant Galvanometer Scanner-Based Systems. In: Automation Bd. 6, MDPI AG (2024), S. 1
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  @article{Kurth_2024, author = {Kurth, Daniel and Reiff, Colin and Jiang, Yujiao and Verl, Alexander}, doi = {10.3390/automation6010001}, issn = {2673-4052}, journal = {Automation}, month = {12}, number = 1, pages = 1, publisher = {MDPI AG}, title = {Universal and Automated Approaches for Optimising the Processing Order of Geometries in a CAM Tool for Redundant Galvanometer Scanner-Based Systems}, url = {http://dx.doi.org/10.3390/automation6010001}, volume = 6, year = 2024 }
  Link
  http://dx.doi.org/10.3390/automation6010001
23. Kübler, Karl ; Jaensch, Florian ; Daniel, Christian ; Verl, Alexander: Nutzen von Digitalen Zwillingen und Virtueller Inbetriebnahme für den Maschinen- und Anlagenbau. In: Verl, A. ; Röck, S. ; Scheifele, C. (Hrsg.) ; Verl, A. ; Röck, S. ; Scheifele, C. (Hrsg.): Echtzeitsimulation in der Produktionsautomatisierung. Berlin, Heidelberg : Springer Berlin Heidelberg, 2024 — ISBN 978-3-662-66216-8, S. 141–154
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  @incollection{Kubler.2024, address = {Berlin, Heidelberg}, author = {Kübler, Karl and Jaensch, Florian and Daniel, Christian and Verl, Alexander}, booktitle = {Echtzeitsimulation in der Produktionsautomatisierung}, doi = {10.1007/978-3-662-66217-5_8}, editor = {Verl, Alexander and Röck, Sascha and Scheifele, Christian}, isbn = {978-3-662-66216-8}, pages = {141--154}, publisher = {Springer Berlin Heidelberg}, title = {Nutzen von Digitalen Zwillingen und Virtueller Inbetriebnahme für den Maschinen- und Anlagenbau}, year = 2024 }
24. Leipe, Valentin ; Steinle, Lukas ; Bikuña, Xabier Agirre ; Lechler, Armin ; Verl, Alexander: Modeling and Identification of Load-Dependent Properties for Electrically Preloaded Rack-and-Pinion Drives. In: 2024 European Control Conference (ECC), 2024, S. 2460–2466
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  @inproceedings{10590860, abstract = {Rack-and-pinion drives are preferred feed drives for long travel distances and heavy loads in large machine tools. One of the advantages compared to other feed drive systems is consistent stiffness regardless of travel length. A primary challenge with rack-and-pinion drives is the achievable accu-racy due to backlash. To compensate for backlash, electrically preloaded systems are commonly used in machine tools. In the case of electrical preload between two motors, the system is more complex to identify because the feed drive specific properties cannot be directly assigned to the respective drive train. To address this issue, this paper presents a novel method for modeling and identifying the load-dependent stiffness and damping of an electrically preloaded system. For this purpose, a mathematical modeling based on experimental data from a test bench with industrial components is presented to separate the drive train specific properties. This allows the system behavior to be modeled more accurately and used for control approaches.}, author = {Leipe, Valentin and Steinle, Lukas and Bikuña, Xabier Agirre and Lechler, Armin and Verl, Alexander}, booktitle = {2024 European Control Conference (ECC)}, doi = {10.23919/ECC64448.2024.10590860}, month = {06}, pages = {2460-2466}, title = {Modeling and Identification of Load-Dependent Properties for Electrically Preloaded Rack-and-Pinion Drives}, year = 2024 }
25. Neumann, Rebekka ; Frick, Florian ; Lechler, Armin ; Verl, Alexander: Analysis of the Applicability of Cloud Computing Scaling Techniques for Real-Time Workloads of Industrial Control Systems. In: 22nd IEEE International Conference on Industrial Informatics (INDIN) (2024)
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  @article{neumann2024analysis, author = {Neumann, Rebekka and Frick, Florian and Lechler, Armin and Verl, Alexander}, doi = {10.1109/INDIN58382.2024.10774276}, journal = {22nd IEEE International Conference on Industrial Informatics (INDIN)}, title = {Analysis of the Applicability of Cloud Computing Scaling Techniques for Real-Time Workloads of Industrial Control Systems}, url = {https://doi.org/10.1109/INDIN58382.2024.10774276}, year = 2024 }
  Link
  https://doi.org/10.1109/INDIN58382.2024.10774276
26. Neumann, Rebekka ; von Arnim, Christian ; Neubauer, Michael ; Lechler, Armin ; Verl, Alexander: Horizontal Scaling of Compute-Intensive Real-Time Control Tasks across multiple Compute Nodes. In: Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2024 : Springer Cham, 2024
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  @incollection{noauthororeditor, author = {Neumann, Rebekka and von Arnim, Christian and Neubauer, Michael and Lechler, Armin and Verl, Alexander}, booktitle = {Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2024}, publisher = {Springer Cham}, title = {Horizontal Scaling of Compute-Intensive Real-Time Control Tasks across multiple Compute Nodes}, year = 2024 }
27. Neumann, Rebekka ; Walker, Moritz ; Neubauer, Michael ; Verl, Alexander: Towards Uniform and Consistent Data Modelling of Resources in Distributed Industrial Control Systems. In: 18th CIRP Conference on Intelligent Computation in Manufacturing Engineering, CIRP (2024)
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  @article{neumann2024towards, author = {Neumann, Rebekka and Walker, Moritz and Neubauer, Michael and Verl, Alexander}, journal = {18th CIRP Conference on Intelligent Computation in Manufacturing Engineering, CIRP}, title = {Towards Uniform and Consistent Data Modelling of Resources in Distributed Industrial Control Systems}, year = 2024 }
28. Oechsle, Stefan ; Frick, Florian ; Walker, Moritz ; Lechler, Armin ; Verl, Alexander: Endpoint Architecture for Distributed Real-Time Applications Based on TSN. In: 2024 IEEE 20th International Conference on Factory Communication Systems (WFCS), 2024, S. 41–48
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  @inproceedings{10540878, abstract = {Distributed real-time applications perform deterministic tasks across multiple connected compute platforms, referred to as endpoints. Deterministic behavior of the communication and the compute are prerequisites, but coordinating and managing both in a holistic way is a significant challenge. Converged real-time networks based on Time-Sensitive Networking (TSN) are considered the key enabler across industries for the required connectivity. To date, the potential of TSN cannot be exploited due to many sub-standards still being under development, gaps in the management and configuration functions, lack of best practices and unresolved integration with higher application layers and domain specific engineering. Previous work, focusing on a modular open source framework for the engineering and management of distributed real-time applications, identified a unified approach for TSN-based endpoints as a key gap. This paper presents a novel endpoint architecture to operate, engineer and manage distributed real-time applications by seamlessly integrating real-time networking and compute. The architecture provides interfaces to a central engineering, allows to integrate centralized as well as distributed network management and offers a unified data management. An abstraction layer for applications allows the efficient use and complements existing open source solutions.}, author = {Oechsle, Stefan and Frick, Florian and Walker, Moritz and Lechler, Armin and Verl, Alexander}, booktitle = {2024 IEEE 20th International Conference on Factory Communication Systems (WFCS)}, doi = {10.1109/WFCS60972.2024.10540878}, issn = {2835-8414}, month = {04}, pages = {41-48}, title = {Endpoint Architecture for Distributed Real-Time Applications Based on TSN}, url = {https://doi.org/10.1109/WFCS60972.2024.10540878}, year = 2024 }
  Link
  https://doi.org/10.1109/WFCS60972.2024.10540878
29. Ouyang, Shengzhe ; Zürn, Manuel ; Zeh, Lukas ; Lechler, Armin ; Verl, Alexander: Topology Prediction of Branched Deformable Linear Objects Using Deep Learning. In: IEEE Access Bd. 12 (2024), S. 194399–194411
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  @article{10804119, abstract = {Automated wire harness handling can improve production efficiency, increase quality, and reduce assembly costs. However, due to deformation, there are an infinite number of possible wire harness configurations, making wire harness perception a challenge. Deep learning is a popular method for computer vision but lacks datasets, models, and experiments for wire harness perception. Therefore, this paper presents a novel deep learning model to predict the configuration of a wire harness using artificially generated datasets mixed with real annotated data. The model predicts keypoints which are interpolated as cubic splines to represent the wire harness configuration with reduced degrees of freedom. We benchmark our novel model against YOLOv8-Pose and experiment with different possibilities for predicting the wire harness. As a result, our proposed approach achieves mAP@50-95 of 89.8%, which could further be integrated into robotic systems to improve the automation and precision of robotic wire harness handling.}, author = {Ouyang, Shengzhe and Zürn, Manuel and Zeh, Lukas and Lechler, Armin and Verl, Alexander}, doi = {10.1109/ACCESS.2024.3518634}, issn = {2169-3536}, journal = {IEEE Access}, pages = {194399-194411}, title = {Topology Prediction of Branched Deformable Linear Objects Using Deep Learning}, volume = 12, year = 2024 }
30. Reichenbach, Thomas ; Clar, Johannes ; Pott, Andreas ; Verl, Alexander: Adaptive Preload Control of Cable-Driven Parallel Robots for Handling Task. In: Wanner, M.-C. ; Schüppstuhl, T. ; Tracht, K. (Hrsg.) ; Wanner, M.-C. ; Schüppstuhl, T. ; Tracht, K. (Hrsg.): Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2024 : Springer Cham, 2024
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  @inproceedings{reichenbach2024adaptivepreloadcontrolcabledriven, archiveprefix = {arXiv}, author = {Reichenbach, Thomas and Clar, Johannes and Pott, Andreas and Verl, Alexander}, booktitle = {Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2024}, editor = {Wanner, Martin-Christoph and Schüppstuhl, Thorsten and Tracht, Kirsten}, eprint = {2403.19293}, primaryclass = {cs.RO}, publisher = {Springer Cham}, title = {Adaptive Preload Control of Cable-Driven Parallel Robots for Handling Task}, url = {https://arxiv.org/abs/2403.19293}, year = 2024 }
  Link
  https://arxiv.org/abs/2403.19293
31. Schulte, Alexander ; Lechler, Armin ; Verl, Alexander: Improved Control for the Impact Actuator. In: 2024 European Control Conference (ECC), 2024, S. 2467–2472
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  @inproceedings{schulte2024improved, abstract = {The impact actuator uses the momentum transfer during mechanical impacts to accelerate linear feed axes. As a result, nearly abrupt changes in velocity can be achieved. So far, the impact and thus the velocity change have been idealized as abrupt within the controller. Since very high but not infinite accelerations occur, no actual jumps in velocity can be achieved, resulting in position and contour errors at corners in planned trajectories. In this paper, an extended control method is considered which takes into account these physical limitations of the approach in order to improve the system behavior. Using a reference trajectory, a comparison is made between regular trajectory planning, the previous control method with idealized impacts, and the new approach with improved control.}, author = {Schulte, Alexander and Lechler, Armin and Verl, Alexander}, booktitle = {2024 European Control Conference (ECC)}, doi = {10.23919/ECC64448.2024.10591100}, month = {06}, pages = {2467-2472}, title = {Improved Control for the Impact Actuator}, year = 2024 }
32. Steinle, Lukas ; Leipe, Valentin ; Lechler, Armin ; Verl, Alexander: Automatic preload adaptation for rack-and-pinion drives to maximize performance and energy efficiency. In: Production Engineering (2024)
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  @article{Steinle2024, abstract = {Electrically preloaded rack-and-pinion drives are typically utilized in machine tools to precisely move heavy loads over long travel distances. In the state of the art, the preload torque is commonly set to a constant value during commissioning. This poses a conflict of objectives between maximizing performance and minimizing energy consumption. To resolve this, this publication presents a novel approach to automatically adapt the preload torque during operation. For this purpose, the established preload control is extended by a simple control law that adapts the preload torque to the current operating state within the permissible limits. This way, higher preload torques are only applied, if the resulting higher system stiffness is beneficial for the drive performance. Otherwise, the preload torque is reduced to save energy. The automatic preload adaptation is experimentally validated on a test system with industry standard components. This involves both system-theoretical analyses and practical test scenarios.}, author = {Steinle, Lukas and Leipe, Valentin and Lechler, Armin and Verl, Alexander}, day = 19, doi = {10.1007/s11740-024-01318-7}, issn = {1863-7353}, journal = {Production Engineering}, month = {11}, title = {Automatic preload adaptation for rack-and-pinion drives to maximize performance and energy efficiency}, url = {https://doi.org/10.1007/s11740-024-01318-7}, year = 2024 }
  Link
  https://doi.org/10.1007/s11740-024-01318-7
33. Tinsel, Erik-Felix ; Lechler, Armin ; Riedel, Oliver ; Verl, Alexander: Concept of an Initial Requirements-Driven Factory Layout Planning and Synthetic Expert Verification for Industrial Simulation Based on LLM. In: 2024 IEEE 22nd International Conference on Industrial Informatics (INDIN), 2024, S. 1–6
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  @inproceedings{10774366, abstract = {The value added by virtual commissioning of in-dustrial production systems is evident through significant cost savings achieved via early error detection. Detecting errors early in the development process enhances project success. However, the development of simulation models is associated with manual effort, particularly during the early phases of the project when it comes to creating the first models. To reduce costs and increase automation in the redesign of simulation models, a novel concept is presented that automatically transforms unstructured customer requirements into initial model placeholders within a simulation environment. The approach employs a large language model to identify necessary processes and machines, estimating their dimensions and positioning them relative to each other. The output is then converted to a simulation model format and imported into a simulation environment for further refinement. To verify the solution, a synthetic expert, trained using a large language model, learns the probability correlations between plant types, machines, and processes, thereby enabling a more accurate assessment of the resulting simulation model.}, author = {Tinsel, Erik-Felix and Lechler, Armin and Riedel, Oliver and Verl, Alexander}, booktitle = {2024 IEEE 22nd International Conference on Industrial Informatics (INDIN)}, doi = {10.1109/INDIN58382.2024.10774366}, issn = {2378-363X}, month = {08}, pages = {1-6}, title = {Concept of an Initial Requirements-Driven Factory Layout Planning and Synthetic Expert Verification for Industrial Simulation Based on LLM}, year = 2024 }
34. Trautwein, Felix ; Dietrich, David ; Pott, Andreas ; Verl, Alexander: Strategy for Topological Reconfiguration of Cable-Driven Parallel Robots. In: Journal of Mechanisms and Robotics, ASME International (2024), S. 1–15
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  @article{Trautwein_2024, author = {Trautwein, Felix and Dietrich, David and Pott, Andreas and Verl, Alexander}, doi = {10.1115/1.4065642}, issn = {1942-4310}, journal = {Journal of Mechanisms and Robotics}, month = {06}, pages = {1–15}, publisher = {ASME International}, title = {Strategy for Topological Reconfiguration of Cable-Driven Parallel Robots}, url = {http://dx.doi.org/10.1115/1.4065642}, year = 2024 }
  Link
  http://dx.doi.org/10.1115/1.4065642
35. Verl, Alexander ; Leipe, Valentin: Dual motor position feedback control for electrically preloaded rack-and-pinion drive systems to increase accuracy. In: CIRP Annals Bd. 73, Elsevier BV (2024), S. 313–316
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  @article{Verl_2024, author = {Verl, Alexander and Leipe, Valentin}, doi = {10.1016/j.cirp.2024.04.087}, issn = {0007-8506}, journal = {CIRP Annals}, number = 1, pages = {313–316}, publisher = {Elsevier BV}, title = {Dual motor position feedback control for electrically preloaded rack-and-pinion drive systems to increase accuracy}, url = {http://dx.doi.org/10.1016/j.cirp.2024.04.087}, volume = 73, year = 2024 }
  Link
  http://dx.doi.org/10.1016/j.cirp.2024.04.087
36. Walker, Moritz ; Fischer, Marc ; Neubauer, Michael ; Lechler, Armin ; Verl, Alexander: Towards a Domain Specific Language for the Development of Distributed Real-Time Systems. In: Bauernhansl, T. ; Verl, A. ; Liewald, M. ; Möhring, H.-C. (Hrsg.) ; Bauernhansl, T. ; Verl, A. ; Liewald, M. ; Möhring, H.-C. (Hrsg.): Production at the Leading Edge of Technology. Cham : Springer Nature Switzerland, 2024 — ISBN 978-3-031-47394-4, S. 268–279
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  @inproceedings{10.1007/978-3-031-47394-4_27, abstract = {Static configurations and slow adaption to changing requirements characterize today's production systems. In order to cope with variable external influences, these systems need to become more flexible. One basic building block to achieve more flexible automation systems from the software perspective are modular real-time architectures which are realized as distributed real-time systems. The improved modularity and flexibility come at the price of greater complexity. In order to enable developers to design robust systems regarding real-time properties, a domain specific language is proposed, which allows reasoning and validation of modules and composed distributed real-time systems.}, address = {Cham}, author = {Walker, Moritz and Fischer, Marc and Neubauer, Michael and Lechler, Armin and Verl, Alexander}, booktitle = {Production at the Leading Edge of Technology}, editor = {Bauernhansl, Thomas and Verl, Alexander and Liewald, Mathias and M{\"o}hring, Hans-Christian}, isbn = {978-3-031-47394-4}, pages = {268--279}, publisher = {Springer Nature Switzerland}, title = {Towards a Domain Specific Language for the Development of Distributed Real-Time Systems}, url = {https://link.springer.com/chapter/10.1007/978-3-031-47394-4_27}, year = 2024 }
  Link
  https://link.springer.com/chapter/10.1007/978-3-031-47394-4_27
37. Walker, Moritz ; Imhoff, Nils ; Neumann, Rebekka ; Neubauer, Michael ; Lechler, Armin ; Verl, Alexander: Methodology for the Combined Orchestration of Real-Time Containers and Time-Sensitive Networks. In: 18th CIRP Conference on Intelligent Computation in Manufacturing Engineering, CIRP (2024)
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  @article{walker2024tsn, author = {Walker, Moritz and Imhoff, Nils and Neumann, Rebekka and Neubauer, Michael and Lechler, Armin and Verl, Alexander}, journal = {18th CIRP Conference on Intelligent Computation in Manufacturing Engineering, CIRP}, title = {Methodology for the Combined Orchestration of Real-Time Containers and Time-Sensitive Networks}, year = 2024 }
38. Walker, Moritz ; Lechler, Armin ; Neubauer, Michael ; Verl, Alexander: Konzept zum kontinuierlichen Deployment virtualisierter Steuerungstechnik. In: Krüger, J. ; Uhlmann, E. (Hrsg.) Forschritt-Berichte VDI - Nachhaltigkeit in der Produktion Bd. 712 (2024), S. 16–26
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  @article{walker2024konzept, author = {Walker, Moritz and Lechler, Armin and Neubauer, Michael and Verl, Alexander}, editor = {Krüger, Jörg and Uhlmann, Eckard}, journal = {Forschritt-Berichte VDI - Nachhaltigkeit in der Produktion}, month = {06}, pages = {16-26}, title = {Konzept zum kontinuierlichen Deployment virtualisierter Steuerungstechnik}, volume = 712, year = 2024 }
39. Weiss, Manuel ; Frick, Florian ; Lechler, Armin ; Verl, Alexander: Enhanced Control Structure for Servo Drives with Adaptive PWM. In: 2024 IEEE International Conference on Power Electronics, Drives and Energy Systems (PEDES), 2024, S. 1–6
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  @inproceedings{10961716, abstract = {The PWM switching frequency significantly impacts the performance and power dissipation of electrical servo drives. In many fields of application, such as industrial automation, static PWM frequencies are typically used. The novel adaptive PWM approach dynamically adjusts the PWM frequency according to process requirements of manufacturing processes. By adapting the PWM frequency, switching losses and the overall energy consumption of servo drives can be reduced. Changing the PWM frequency at runtime requires enhancements to the control structure for dynamic parameter adjustments and a stable operation of the controllers. To validate the enhanced control structure, an experimental evaluation of the performance at different, dynamically changing PWM frequencies is presented. It is shown that the controller operates with the expected behavior at different frequencies but that there are disturbances at the moment of adjusting the PWM frequency. Non-linearities are identified as a major source, including those caused by IGBT-deadtimes. A simple compensation mechanism is integrated in the enhanced control structure as a proof-of-concept, resulting in an almost complete cancelation of disturbances at the moment of adjusting the PWM frequency.}, author = {Weiss, Manuel and Frick, Florian and Lechler, Armin and Verl, Alexander}, booktitle = {2024 IEEE International Conference on Power Electronics, Drives and Energy Systems (PEDES)}, doi = {10.1109/PEDES61459.2024.10961716}, issn = {2768-3486}, month = {12}, pages = {1-6}, title = {Enhanced Control Structure for Servo Drives with Adaptive PWM}, year = 2024 }
40. Weiss, Manuel ; Frick, Florian ; Lechler, Armin ; Verl, Alexander: Modulation-Frequency-Dependent Power Dissipation Model for Servo Drives With Adaptive PWM. In: 2024 IEEE 18th International Conference on Advanced Motion Control (AMC), 2024, S. 1–6
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  @inproceedings{10505712, abstract = {The switching frequency of the power electronics in servo drives significantly impacts its power dissipation and process accuracy. To date, a constant high switching frequency is typically used, based on the strictest requirements of the manufacturing process. The novel adaptive PWM approach dynamically adjusts the switching frequency at runtime to reduce switching losses of the power electronics, while maintaining the required process accuracy. The switching frequency is set based on the requirements of the active operating state of the tooling machine. To determine the optimal switching frequency, a holistic understanding of power dissipation in servo drives is required. A novel modulation-frequency-dependent power dissipation model, incorporating the losses in the drive amplifier and in the motor due to current ripple effects, is presented in this paper. The new model is validated over a wide range of parameters, including different motors, voltages and currents. The evaluation of the model results in a better understanding of the modulation-frequency-dependent power dissipation in servo drives and enables the determination of the optimal PWM frequencies. It is shown that higher energy savings can be achieved at higher voltages, while current ripple effects limit the effectiveness of the adaptive PWM approach for motors with lower power ratings.}, author = {Weiss, Manuel and Frick, Florian and Lechler, Armin and Verl, Alexander}, booktitle = {2024 IEEE 18th International Conference on Advanced Motion Control (AMC)}, doi = {10.1109/AMC58169.2024.10505712}, issn = {1943-6580}, month = {02}, pages = {1-6}, title = {Modulation-Frequency-Dependent Power Dissipation Model for Servo Drives With Adaptive PWM}, year = 2024 }
41. Xu, Haijia ; Hinze, Christoph ; Iannelli, Andrea ; Verl, Alexander: Robust Inversion-Based Feedforward Control With Hybrid Modeling for Feed Drives. In: IEEE Transactions on Control Systems Technology (2024), S. 1–14
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  @article{10798993, abstract = {This article presents a robust feedforward design approach using hybrid modeling to improve the output tracking performance of feed drives. Geared toward the use for feedforward design, the hybrid model represents the dominant linear dynamics with a flat analytical model and captures the output nonlinearity by Gaussian process (GP) regression. The feedforward control is based on the model inversion, and the design procedure is formulated as a signal-based robust control problem, considering multiple performance objectives of tracking, disturbance rejection, and input reduction under uncertainties. In addition, the technique of structured $\mu$ synthesis is applied, which allows direct robust tuning of the fixed-structure feedforward gains and ensures the applicability in industrial hardware. The proposed methodological approach covers the entire procedure from modeling to control architecture selection and weights design, delivering an end-to-end strategy that accounts for performance and robustness requirements. Validated on an industrial milling machine with real-time capability, the proposed robust controller reduces the mean absolute tracking error in the transient phase by $83\%$ and $63\%$ compared to the industrial standard baseline feedforward and the nominal design, respectively. Even with a variation of $20\%$ in the model parameters, the robust feedforward still reduces the error by $58\%$ in the worst case with respect to the baseline.}, author = {Xu, Haijia and Hinze, Christoph and Iannelli, Andrea and Verl, Alexander}, doi = {10.1109/TCST.2024.3512862}, issn = {1558-0865}, journal = {IEEE Transactions on Control Systems Technology}, pages = {1-14}, title = {Robust Inversion-Based Feedforward Control With Hybrid Modeling for Feed Drives}, year = 2024 }
42. Zürn, Manuel ; Dzubba, Marcel ; Reiff, Colin ; Ajdinovic, Samed ; Lechler, Armin ; Verl, Alexander: Cobot for Automated Vision Data: Streamlining Production with Automated Annotations for Machine Learning. In: 2024 International Conference on Artificial Intelligence, Computer, Data Sciences and Applications (ACDSA), 2024, S. 1–6
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  @inproceedings{10468034, abstract = {Robotic vision tasks require a large amount of annotated data for effective training and performance. However, the manual creation of such datasets is a complex and time-consuming process. Particularly for smaller companies or those with high product variability, there is a need to optimise the resources dedicated to creating datasets for machine vision applications. This paper investigates novel ways to acquire annotated vision data through the integration of collaborative robots. Two methods are outlined to streamline the generation of annotated datasets. One of these methods is then used to construct a dataset tailored for 6D robotic gripping of an automotive connector. The effectiveness of automated annotated dataset generation is demonstrated by training a deep learning model to accurately estimate the orientation of the automotive connector.}, author = {Zürn, Manuel and Dzubba, Marcel and Reiff, Colin and Ajdinovic, Samed and Lechler, Armin and Verl, Alexander}, booktitle = {2024 International Conference on Artificial Intelligence, Computer, Data Sciences and Applications (ACDSA)}, doi = {10.1109/ACDSA59508.2024.10468034}, month = {02}, pages = {1-6}, title = {Cobot for Automated Vision Data: Streamlining Production with Automated Annotations for Machine Learning}, year = 2024 }
2023
1. Bubeck, Wolfgang ; Lechler, Armin ; Verl, Alexander: FPGA-basierte Signalverarbeitung kapazitiver Sensorflächen für Industrie- und Servicerobotikanwendungen. In: Krüger, J. ; Uhlmann, E. ; Lechler, A. ; Verl, A. ; Riedel, O. (Hrsg.) ; Krüger, J. ; Uhlmann, E. ; Lechler, A. ; Verl, A. ; Riedel, O. (Hrsg.): Algorithmik und KI für moderne Roboterapplikationen – ein Überblick, Fertigungstechnik. Bd. 710. Düsseldorf : VDI Verlag, 2023 — ISBN 978-3-18-371002-7, S. 110
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  @incollection{bubeck2023fpgabasierte, address = {Düsseldorf}, author = {Bubeck, Wolfgang and Lechler, Armin and Verl, Alexander}, booktitle = {Algorithmik und KI für moderne Roboterapplikationen – ein Überblick}, editor = {Krüger, Jörg and Uhlmann, Eckart and Lechler, Armin and Verl, Alexander and Riedel, Oliver}, isbn = {978-3-18-371002-7}, pages = 110, publisher = {VDI Verlag}, series = {Fertigungstechnik}, title = {FPGA-basierte Signalverarbeitung kapazitiver Sensorflächen für Industrie- und Servicerobotikanwendungen}, volume = 710, year = 2023 }
2. Ellwein, Carsten ; Neumann, Rebekka ; Verl, Alexander: Software-defined Manufacturing: Data Representation. In: Procedia CIRP Bd. 118, Elsevier BV (2023), S. 360–365
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  BibTeX
  @article{Ellwein_2023, author = {Ellwein, Carsten and Neumann, Rebekka and Verl, Alexander}, doi = {10.1016/j.procir.2023.06.062}, journal = {Procedia {CIRP}}, pages = {360--365}, publisher = {Elsevier {BV}}, title = {Software-defined Manufacturing: Data Representation}, url = {https://doi.org/10.1016%2Fj.procir.2023.06.062}, volume = 118, year = 2023 }
  Link
  https://doi.org/10.1016%2Fj.procir.2023.06.062
3. Fischer, Marc ; Klingel, Lars ; Lechler, Armin ; Verl, Alexander ; Neubauer, Michael: Dynamic Safety Distance Determination for Human Robot Coexistence in Industrial Applications. In: Advances in Automotive Production Technology – Towards Software-Defined Manufacturing and Resilient Supply Chains (2023), S. 35–45
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  @article{fischer2023dynamic, abstract = {The coexistence of humans and robots in manufacturing requires safety. Typically, safety functionalities for coexistence are based on speed and separation monitoring according to EN ISO 10218. Thereby, a robot should reduce speed or stop completely when an obstacle is too close to avoid collisions. Nowadays, despite this standard, speed and separation monitoring are still realized with static worst-case safety assumptions about the kinematics of humans and robots. Over the years, different static techniques have evolved in the industrial environment like fences, light fences, or camera-based systems where critical zones can be configured. The latter is admittedly more flexible in the configuration but still static during the run-time of the manufacturing system. The static worst-case assumptions result in large unnecessary distances between humans and robots, which leads to inefficient use of space. Therefore, factories are larger than they need to be, which leads to higher costs. This work aims to enhance the use of space in human-robot coexistence applications to make factory layouts more efficient. Therefore, a dynamic minimum distance calculation based on the DIN ISO 15066 with the kinematic information of the coexisting human and industrial robots is provided. It is shown in a simulation that this approach of a dynamic safety distance calculation leads to a reduction of the required space.}, author = {Fischer, Marc and Klingel, Lars and Lechler, Armin and Verl, Alexander and Neubauer, Michael}, doi = {10.1007/978-3-031-27933-1_4}, journal = {Advances in Automotive Production Technology – Towards Software-Defined Manufacturing and Resilient Supply Chains}, pages = {35-45}, title = {Dynamic Safety Distance Determination for Human Robot Coexistence in Industrial Applications}, year = 2023 }
4. Fischer, Marc ; Walker, Moritz ; Lechler, Armin ; Riedel, Oliver ; Verl, Alexander: Fehlertolerante Sicherheitssteuerung aus der Cloud. In: wt Werkstattstechnik online (Hrsg.) ; wt Werkstattstechnik online (Hrsg.): wt Werkstattstechnik. Bd. 113, 2023, S. 189–194
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  @incollection{fischer2023fehlertolerante, author = {Fischer, Marc and Walker, Moritz and Lechler, Armin and Riedel, Oliver and Verl, Alexander}, doi = {10.37544/1436-4980-2023-05-11}, editor = {wt Werkstattstechnik online}, journal = {wt Werkstattstechnik}, number = 5, pages = {189-194}, title = {Fehlertolerante Sicherheitssteuerung aus der Cloud}, url = {https://elibrary.vdi-verlag.de/10.37544/1436-4980-2023-05-11/fehlertolerante-sicherheitssteuerung-aus-der-cloud-cloud-based-fault-tolerance-of-safety-control-in-the-cloud-jahrgang-113-2023-heft-05?page=1}, volume = 113, year = 2023 }
  Link
  https://elibrary.vdi-verlag.de/10.37544/1436-4980-2023-05-11/fehlertolerante-sicherheitssteuerung-aus-der-cloud-cloud-based-fault-tolerance-of-safety-control-in-the-cloud-jahrgang-113-2023-heft-05?page=1
5. Frick, Florian ; Weiss, Manuel ; Lechler, Armin ; Verl, Alexander: Software-Defined Control Cabinet - Reprogramming Instead of Replacing. In: Bauernhansl, T. ; Verl, A. ; Liewald, M. ; Möhring, H.-C. (Hrsg.) ; Bauernhansl, T. ; Verl, A. ; Liewald, M. ; Möhring, H.-C. (Hrsg.): Production at the Leading Edge of Technology. Cham : Springer Nature Switzerland, 2023 — ISBN 978-3-031-47394-4, S. 438–447
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  @inproceedings{frick2024softwaredefined, address = {Cham}, author = {Frick, Florian and Weiss, Manuel and Lechler, Armin and Verl, Alexander}, booktitle = {Production at the Leading Edge of Technology}, doi = {10.1007/978-3-031-47394-4_43}, editor = {Bauernhansl, Thomas and Verl, Alexander and Liewald, Mathias and Möhring, Hans-Christian}, isbn = {978-3-031-47394-4}, pages = {438-447}, publisher = {Springer Nature Switzerland}, title = {Software-Defined Control Cabinet - Reprogramming Instead of Replacing}, url = {https://doi.org/10.1007/978-3-031-47394-4_43}, year = 2023 }
  Link
  https://doi.org/10.1007/978-3-031-47394-4_43
6. Fur, Shan ; Ajdinovic, Samed ; Lechler, Armin ; Verl, Alexander: Towards an Implementation of Simulation Based Digital Twins in Cyber-Physical Production Systems Environments. In: 2023 IEEE 28th International Conference on Emerging Technologies and Factory Automation (ETFA), 2023, S. 1–4
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  BibTeX
  @inproceedings{10275580, abstract = {The increasing digitization of the manufacturing industry offers a wide range of opportunities for the effective use of production data, which can lead to significant time and cost savings. One promising approach is the use of synchronous simulations during the actual operation of cyber-physical production systems (CPPS) to provide valuable insights into possible performance improvements and at the same time reduce the risk of costly downtime. This paper presents a novel concept that enables structured storage of CPPS production data as part of a digital twin that serves as a virtual replica of the physical production environment. In particular, this approach is based on the Asset Administration Shell (AAS), which provides a comprehensive framework for the management of production data and allows for a seamless integration with simulation models. Storing production data in a structured and standardized format can make data queries efficient, facilitate data processing, and provide a solid foundation for simulation model development, calibration, and validation. These simulation models can then be used to identify potential process improvements and test different scenarios, minimizing the risk of disruption to actual production.}, author = {Fur, Shan and Ajdinovic, Samed and Lechler, Armin and Verl, Alexander}, booktitle = {2023 IEEE 28th International Conference on Emerging Technologies and Factory Automation (ETFA)}, doi = {10.1109/ETFA54631.2023.10275580}, issn = {1946-0759}, month = {09}, pages = {1-4}, title = {Towards an Implementation of Simulation Based Digital Twins in Cyber-Physical Production Systems Environments}, year = 2023 }
7. Helfesrieder, Nico ; Lechler, Armin ; Verl, Alexander: Leichtbau durch schichtweise LLM-Fertigung – zur Anisotropie der Bauteileigenschaften. In: Konstruktion Bd. 75, VDI Fachmedien GmbH and Co. KG (2023), S. 42–44
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  @article{2023, author = {Helfesrieder, Nico and Lechler, Armin and Verl, Alexander}, doi = {10.37544/0720-5953-2023-09-42}, journal = {Konstruktion}, number = 09, pages = {42--44}, publisher = {{VDI} Fachmedien {GmbH} and Co. {KG}}, title = {Leichtbau durch schichtweise {LLM}-Fertigung {\textendash} zur Anisotropie der Bauteileigenschaften}, url = {https://doi.org/10.37544%2F0720-5953-2023-09-42}, volume = 75, year = 2023 }
  Link
  https://doi.org/10.37544%2F0720-5953-2023-09-42
8. Helfesrieder, Nico ; Neubauer, Michael ; Lechler, Armin ; Verl, Alexander: Anisotropic Damping and Stiffness of laminated steel parts using adhesive bonding – an empirical influence study. In: Procedia CIRP. Bd. 120 : Elsevier BV, 2023, S. 428–433
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  @inproceedings{Helfesrieder_2023, abstract = {Layered part manufacturing enables part topology to be optimized internally by structuring individual layers separately, which is especially promising for large machine parts. However, the resulting part properties as a function of the selected manufacturing parameters are largely unexplored. Therefore, this paper investigates the impacts of the slicing direction, the sheet thickness as well as the adhesive on anisotropic damping and stiffness values of adhesively bonded steel parts. A cantilever beam of symmetric cross-section is chosen as an easy-to-manufacture geometry. Three redundant specimens were prepared for each of six parameter variations investigated within this study, resulting in a total of 18 investigated beams. The results indicate highly anisotropic stiffness and damping as a function of the layer build-up direction and it was found that the modal damping rises with increasing amount of adhesive. These findings must be taken into account for future applications of layered lightweight machine parts and their simulative predictability should be studied.}, author = {Helfesrieder, Nico and Neubauer, Michael and Lechler, Armin and Verl, Alexander}, doi = {10.1016/j.procir.2023.09.014}, issn = {2212-8271}, journal = {Procedia CIRP}, pages = {428–433}, publisher = {Elsevier BV}, title = {Anisotropic Damping and Stiffness of laminated steel parts using adhesive bonding – an empirical influence study}, url = {http://dx.doi.org/10.1016/j.procir.2023.09.014}, volume = 120, year = 2023 }
  Link
  http://dx.doi.org/10.1016/j.procir.2023.09.014
9. Hinze, Christoph ; Riedel, O. ; Verl, A. ; Wortmann, A. (Hrsg.) ; Riedel, O. ; Verl, A. ; Wortmann, A. (Hrsg.): Dynamiksteigerung von Kugelgewindetrieben durch modellbasierte Lageregelung der nachgiebigen Mechanik, Universität Stuttgart, 2023
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  @phdthesis{hinze2023dynamiksteigerung, author = {Hinze, Christoph}, editor = {Riedel, Oliver and Verl, Alexander and Wortmann, Andreas}, isbn = {978-3-8396-1940-7}, language = {de}, school = {Universität Stuttgart}, title = {Dynamiksteigerung von Kugelgewindetrieben durch modellbasierte Lageregelung der nachgiebigen Mechanik}, year = 2023 }
10. Jaensch, Florian ; Herburger, Klaus ; Bobe, Eva ; Csiszar, Akos ; Kienzlen, Annika ; Verl, Alexander: Complex Physics with Graph Networks for Industrial Material Flow Simulation. In: Procedia CIRP Bd. 118, Elsevier BV (2023), S. 50–55
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  @article{Jaensch_2023, author = {Jaensch, Florian and Herburger, Klaus and Bobe, Eva and Csiszar, Akos and Kienzlen, Annika and Verl, Alexander}, doi = {10.1016/j.procir.2023.06.010}, issn = {2212-8271}, journal = {Procedia CIRP}, pages = {50–55}, publisher = {Elsevier BV}, title = {Complex Physics with Graph Networks for Industrial Material Flow Simulation}, url = {http://dx.doi.org/10.1016/j.procir.2023.06.010}, volume = 118, year = 2023 }
  Link
  http://dx.doi.org/10.1016/j.procir.2023.06.010
11. Jaensch, Florian ; Klingel, Lars ; Fur, Shan ; Verl, Alexander: Virtuelle Methoden in der Produktionstechnik: Virtuelle Inbetriebnahme als Bindeglied zwischen digitaler und realer Fabrik. In: atp magazin Bd. 65, Vulkan-Verlag GmbH (2023), S. 82–88
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  @article{Jaensch_2023, author = {Jaensch, Florian and Klingel, Lars and Fur, Shan and Verl, Alexander}, doi = {10.17560/atp.v65i6-7.2658}, issn = {2190-4111}, journal = {atp magazin}, month = {06}, number = {6–7}, pages = {82–88}, publisher = {Vulkan-Verlag GmbH}, title = {Virtuelle Methoden in der Produktionstechnik: Virtuelle Inbetriebnahme als Bindeglied zwischen digitaler und realer Fabrik}, url = {http://dx.doi.org/10.17560/atp.v65i6-7.2658}, volume = 65, year = 2023 }
  Link
  http://dx.doi.org/10.17560/atp.v65i6-7.2658
12. Jud, Oliver ; Lechler, Armin ; Verl, Alexander: Vorspannungsverluste kompensieren. In: konstruktionspraxis (2023), S. 42–43
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  @article{jud2023vorspannungsverluste, author = {Jud, Oliver and Lechler, Armin and Verl, Alexander}, journal = {konstruktionspraxis}, month = {07}, number = 07, pages = {42-43}, title = {Vorspannungsverluste kompensieren}, url = {https://www.konstruktionspraxis.vogel.de/vorspannungsverluste-kompensieren-prototyp-auf-dem-pruefstand-a-9f59277ce2066aace87a5962d35cc579/}, year = 2023 }
  Link
  https://www.konstruktionspraxis.vogel.de/vorspannungsverluste-kompensieren-prototyp-auf-dem-pruefstand-a-9f59277ce2066aace87a5962d35cc579/
13. Kamm, Valentin ; Mesmer, Patrick ; Lechler, Armin ; Verl, Alexander: Prozessmodellierung für das Rührreibschweißen/Process modeling of friction stir welding – Semi-analytical process model of robotic friction stir welding. In: wt Werkstattstechnik online Bd. 113, VDI Fachmedien GmbH and Co. KG (2023), S. 183–188
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  @article{Kamm_2023, author = {Kamm, Valentin and Mesmer, Patrick and Lechler, Armin and Verl, Alexander}, doi = {10.37544/1436-4980-2023-05-5}, issn = {1436-4980}, journal = {wt Werkstattstechnik online}, number = 05, pages = {183–188}, publisher = {VDI Fachmedien GmbH and Co. KG}, title = {Prozessmodellierung für das Rührreibschweißen/Process modeling of friction stir welding – Semi-analytical process model of robotic friction stir welding}, url = {http://dx.doi.org/10.37544/1436-4980-2023-05-5}, volume = 113, year = 2023 }
  Link
  http://dx.doi.org/10.37544/1436-4980-2023-05-5
14. Kienzlen, Annika ; Verl, Alexander: KI ebnet den Weg für autonome Katheternavigation. In: mt | medizintechnik Bd. 143 (2023), S. 10–16
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  @article{kienzlen2023ebnet, author = {Kienzlen, Annika and Verl, Alexander}, journal = {mt | medizintechnik}, number = 6, pages = {10-16}, title = {KI ebnet den Weg für autonome Katheternavigation}, volume = 143, year = 2023 }
15. Kienzlen, Annika ; Zuern, Manuel ; Kazemi, Shahab ; Xu, Weiliang ; Cheng, Leo K. ; Strommel, Martin ; Verl, Alexander: Recurrent Neural Network for Modelling a Contractive Soft Actuator. In: ISR Europe 2023; 56th International Symposium on Robotics, 2023, S. 419–425
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  @inproceedings{10363103, author = {Kienzlen, Annika and Zuern, Manuel and Kazemi, Shahab and Xu, Weiliang and Cheng, Leo K. and Strommel, Martin and Verl, Alexander}, booktitle = {ISR Europe 2023; 56th International Symposium on Robotics}, pages = {419-425}, title = {Recurrent Neural Network for Modelling a Contractive Soft Actuator}, year = 2023 }
16. Klingel, Lars ; Heine, Alexander ; Acher, Steven ; Dausend, Niklas ; Verl, Alexander: Simulation-Based Predictive Real-Time Collision Avoidance for Automated Production Systems. In: 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE), 2023, S. 1–6
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  @inproceedings{10260637, abstract = {The usage of simulation technology is deeply established in the development and commissioning of automated production systems. Impending collisions of moving kinematics, such as robots, can therefore already be detected with the help of simulations before the production system goes into operation. However, changes in the control software of production systems that occur in the operating phase are often not secured, which entails risk, especially in the age of cyber-physical and adaptive production systems. This work presents a predictive simulation-based approach for the online collision avoidance of automated production systems by enabling virtual commissioning simulations for the application in the operating phase. This allows a cost-efficient way to achieve the safe operation of production systems without the need of additional configurations and sensors.}, author = {Klingel, Lars and Heine, Alexander and Acher, Steven and Dausend, Niklas and Verl, Alexander}, booktitle = {2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)}, doi = {10.1109/CASE56687.2023.10260637}, issn = {2161-8089}, month = {08}, pages = {1-6}, title = {Simulation-Based Predictive Real-Time Collision Avoidance for Automated Production Systems}, year = 2023 }
17. Klingel, Lars ; Kübler, Karl ; Verl, Alexander: A Multicore Control System Architecture as an Operating Platform for Industrial Digital Twins. In: Procedia CIRP Bd. 118, Elsevier BV (2023), S. 294–299
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  @article{Klingel_2023, author = {Klingel, Lars and Kübler, Karl and Verl, Alexander}, doi = {10.1016/j.procir.2023.06.051}, issn = {2212-8271}, journal = {Procedia CIRP}, pages = {294–299}, publisher = {Elsevier BV}, title = {A Multicore Control System Architecture as an Operating Platform for Industrial Digital Twins}, url = {http://dx.doi.org/10.1016/j.procir.2023.06.051}, volume = 118, year = 2023 }
  Link
  http://dx.doi.org/10.1016/j.procir.2023.06.051
18. Kurth, Daniel ; Ristok, Simon ; Rühle, Sopie ; Verl, Alexander ; Giessen, Harald: Multi-axis two photon polymerization machine and software concept for the manufacturing of aspheric lenses on non-planar substrates. In: Procedia CIRP. Bd. 118 : Elsevier BV, 2023, S. 682–687
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  @inproceedings{10.1016/j.procir.2023.06.117, author = {Kurth, Daniel and Ristok, Simon and Rühle, Sopie and Verl, Alexander and Giessen, Harald}, doi = {10.1016/j.procir.2023.06.117}, journal = {Procedia {CIRP}}, pages = {682--687}, publisher = {Elsevier {BV}}, title = {Multi-axis two photon polymerization machine and software concept for the manufacturing of aspheric lenses on non-planar substrates}, url = {https://doi.org/10.1016%2Fj.procir.2023.06.117}, volume = 118, year = 2023 }
  Link
  https://doi.org/10.1016%2Fj.procir.2023.06.117
19. Kurth, Daniel ; Verl, Alexander: Kinematic multi-axis two-photon polymerization printer concept for the manufacturing of micro-optics. In: Narendran, N. ; Rao, G. (Hrsg.) ; Narendran, N. ; Rao, G. (Hrsg.): 3D Printing for Lighting. Bd. 12670 : SPIE, 2023, S. 1267004
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  @inproceedings{10.1117/12.2675889, author = {Kurth, Daniel and Verl, Alexander}, booktitle = {3D Printing for Lighting}, doi = {10.1117/12.2675889}, editor = {Narendran, Nadarajah and Rao, Govi}, organization = {International Society for Optics and Photonics}, pages = 1267004, publisher = {SPIE}, title = {Kinematic multi-axis two-photon polymerization printer concept for the manufacturing of micro-optics}, url = {https://doi.org/10.1117/12.2675889}, volume = 12670, year = 2023 }
  Link
  https://doi.org/10.1117/12.2675889
20. König, Timo ; Verl, Alexander ; Lechler, Armin: Replication Data for: Cornuspline path planning algorithm for the fabrication of coreless wound fiber-polymer composite structures. Brief.
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  @dataset{https://doi.org/10.18419/darus-3577, author = {König, Timo and Verl, Alexander and Lechler, Armin}, doi = {10.18419/DARUS-3577}, publisher = {DaRUS}, title = {Replication Data for: Cornuspline path planning algorithm for the fabrication of coreless wound fiber-polymer composite structures}, url = {https://darus.uni-stuttgart.de/citation?persistentId=doi:10.18419/darus-3577}, year = 2023 }
  Link
  https://darus.uni-stuttgart.de/citation?persistentId=doi:10.18419/darus-3577
21. König, Timo ; Verl, Alexander ; Lechler, Armin: Cornuspline Path Planning Algorithm for the Fabrication of Coreless Wound Fiber-Polymer Composite Structures. In: IECON 2023- 49th Annual Conference of the IEEE Industrial Electronics Society, 2023, S. 1–6
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  @inproceedings{10312385, abstract = {Industrial robots are now used in a wide range of manufacturing processes. The increasing demands on quality and the complexity of the processes cannot always be met by the range of functions that are available in numerical control systems. In the coreless winding of fiber-polymer composites, it is important to keep the roving tension as constant as possible while maintaining a high processing speed. Currently, the winding paths are programmed via a number of control points. This results in a trade-off between lower process properties and higher processing speed with fewer control points. Conversely, finer interpolation of the path can improve process characteristics at lower processing speeds. With interpolation methods that are adapted to the process, new possibilities open up to overcome these trade-offs. This paper presents a spline path planning algorithm based on clothoids. This algorithm considers both the process requirements and the dynamic characteristics of the manufacturing unit. Furthermore, the algorithm is validated on a test contour and compared with established commercial methods.}, author = {König, Timo and Verl, Alexander and Lechler, Armin}, booktitle = {IECON 2023- 49th Annual Conference of the IEEE Industrial Electronics Society}, doi = {10.1109/IECON51785.2023.10312385}, issn = {2577-1647}, month = {10}, pages = {1-6}, title = {Cornuspline Path Planning Algorithm for the Fabrication of Coreless Wound Fiber-Polymer Composite Structures}, year = 2023 }
22. Leipe, Valentin ; Hinze, Christoph ; Lechler, Armin ; Verl, Alexander: Model predictive control for compliant feed drives with offset-free tracking behavior. In: Production Engineering (2023)
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  @article{Leipe2023, abstract = {Industrial machine tool feed drives are predominantly controlled by cascade control due to their low tuning complexity and inherent robustness. However, the cascaded structure requires the inner cascades to have higher dynamics than the outer cascades, which limits the achievable dynamic accuracy. Direct control approaches, which substitute the position and velocity cascade, offer the potential to utilize the unused potential. A promising approach is model predictive control (MPC), which optimizes the manipulated variable with a plant model along a prediction horizon. However, model uncertainties between the nominal model and the real plant lead to tracking errors. Therefore, this paper presents, a linear MPC (LMPC) and an adaptive MPC (AMPC) with an additional integral action to robustly compensate for model mismatches. Both controllers use a compliant model, are real-time capable with a sample rate of {\$}{\$}{\{}{\{}2{\}}{\backslash},{\backslash}textrm{\{}kHz{\}}{\}}{\$}{\$}and consider state and input space constraints. The AMPC accounts for position-varying stiffness and friction. The controllers are experimentally compared with classical P-PI cascaded control on a ball screw drive. They show a tracking error reduction of {\$}{\$}{\{}{\{}37{\}}{\{}{\backslash},{\backslash}{\%}{\}}{\}}{\$}{\$}(LMPC) and {\$}{\$}{\{}{\{}44{\}}{\{}{\backslash},{\backslash}{\%}{\}}{\}}{\$}{\$}(AMPC) during a high speed motion profile and an increase in bandwidth of {\$}{\$}{\{}{\{}180{\}}{\{}{\backslash},{\backslash}{\%}{\}}{\}}{\$}{\$}(LMPC) and {\$}{\$}{\{}{\{}184{\}}{\{}{\backslash},{\backslash}{\%}{\}}{\}}{\$}{\$}(AMPC), resulting in significantly improved dynamic accuracy.}, author = {Leipe, Valentin and Hinze, Christoph and Lechler, Armin and Verl, Alexander}, day = 22, doi = {10.1007/s11740-023-01206-6}, issn = {1863-7353}, journal = {Production Engineering}, month = {05}, title = {Model predictive control for compliant feed drives with offset-free tracking behavior}, url = {https://doi.org/10.1007/s11740-023-01206-6}, year = 2023 }
  Link
  https://doi.org/10.1007/s11740-023-01206-6
23. Neubauer, Michael ; Reiff, Colin ; Walker, Moritz ; Oechsle, Stefan ; Lechler, Armin ; Verl, Alexander: Cloud-based evaluation platform for software-defined manufacturing - Stuttgarter Maschinenfabrik as a realization example of an Industry 4.0 production. In: at - Automatisierungstechnik Bd. 71 (2023), S. 351–363
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  @article{NeubauerReiffWalkerOechsleLechlerVerl+2023+351+363, abstract = {Software-Deﬁned Manufacturing (SDM) is a new paradigm for how to manufacture in the Industry 4.0 factory of the future. The approach requires a fundamental change in thinking and reinvention of central business models in production technology. This paper discusses the main challenges on the way to a software-deﬁned factory of the future and illustrates possible solutions. An exemplary future factory is presented, in which the validation of the solutions is carried out. For this purpose, cloud-based Computerized Numerical Control (CNC) is considered as use case. Experimental results demonstrate the proof of concept and show the potential for further applications.}, author = {Neubauer, Michael and Reiff, Colin and Walker, Moritz and Oechsle, Stefan and Lechler, Armin and Verl, Alexander}, doi = {doi:10.1515/auto-2022-0137}, journal = {at - Automatisierungstechnik}, number = 5, pages = {351--363}, title = {Cloud-based evaluation platform for software-defined manufacturing - Stuttgarter Maschinenfabrik as a realization example of an Industry 4.0 production}, url = {https://doi.org/10.1515/auto-2022-0137}, volume = 71, year = 2023 }
  Link
  https://doi.org/10.1515/auto-2022-0137
24. Neubauer, Michael ; Steinle, Lukas ; Reiff, Colin ; Ajdinovic, Samed ; Klingel, Lars ; Lechler, Armin ; Verl, Alexander: Architecture for Manufacturing-X: Bringing Asset Administration Shell, Eclipse Dataspace Connector and OPC UA together. In: Manufacturing Letters Bd. 37, Elsevier (2023), S. 1–6
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  @article{Neubauer_2023, abstract = {Manufacturing-X represents the idea of a decentralized data economy. The aim is to increase sustainability, competitiveness and resilience by digitizing supply chains. Technically, this requires three technologies. First, a standardized data model to ensure interoperability across company boundaries. Second, a solution to realize sovereign inter-organizational data exchange. And thirdly, a component for the company’s internal data communication. Asset Administration Shell (AAS), Eclipse Dataspace Connector (EDSC) and Open Platform Communication Unified Architecture (OPC UA) are suitable solutions. This paper introduces an appropriate architecture to combine these technologies in an industrial production environment and discusses existing challenges, limitations and future potentials.}, author = {Neubauer, Michael and Steinle, Lukas and Reiff, Colin and Ajdinovic, Samed and Klingel, Lars and Lechler, Armin and Verl, Alexander}, doi = {10.1016/j.mfglet.2023.05.002}, journal = {Manufacturing Letters}, month = {06}, pages = {1-6}, publisher = {Elsevier}, title = {Architecture for Manufacturing-X: Bringing Asset Administration Shell, Eclipse Dataspace Connector and OPC UA together}, url = {https://doi.org/10.1016%2Fj.mfglet.2023.05.002}, volume = 37, year = 2023 }
  Link
  https://doi.org/10.1016%2Fj.mfglet.2023.05.002
25. Neumann, Rebekka ; von Arnim, Christian ; Neubauer, Michael ; Lechler, Armin ; Verl, Alexander: Requirements and Challenges in the Configuration of a Real-Time Node for OPC UA Publish-Subscribe Communication. In: 2023 29th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), 2023, S. 1–6
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  @inproceedings{10413399, abstract = {Factory automation is evolving from a hierarchical structure towards an interconnected architecture in which systems at different levels can communicate seamlessly with each other. This requires an appropriate replacement of proprietary fieldbus systems in the automation sector. A promising solution to implement cross-plane end-to-end real-time capable communication between computing nodes is proposed in literature. The usage of Open Platform Communication Unified Architecture (OPC UA) as the information model with the Publish-Subscribe (PubSub) communication mechanism in combination with Time Sensitive Networking (TSN) is presented to fulfill the requirements for message transmission. In contrast to the state of the art of configuring fieldbus systems, the configuration of such a real-time communication node has to be done manually. This process is complex, as deep knowledge in different domains is required. In this work we elaborate the requirements for such a communication node and present the resulting implementation challenges, which can be used as the basis for a configuration tool.}, author = {Neumann, Rebekka and von Arnim, Christian and Neubauer, Michael and Lechler, Armin and Verl, Alexander}, booktitle = {2023 29th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)}, doi = {10.1109/M2VIP58386.2023.10413399}, month = {11}, pages = {1-6}, title = {Requirements and Challenges in the Configuration of a Real-Time Node for OPC UA Publish-Subscribe Communication}, year = 2023 }
26. Oechsle, Stefan ; Frick, Florian ; Lechler, Armin ; Verl, Alexander: A modular configuration and management framework for distributed real-time applications based on converged networks using TSN. In: Procedia CIRP. Bd. 118 : Elsevier BV, 2023, S. 38–43
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  @inproceedings{oechsle2023modular, abstract = {Industrial control systems are distributed real-time applications deployed on field and controller devices, connected by fieldbuses. Their lack of interoperability, mutually and towards IT-systems, is a major obstacle for the digitalization. Converged networks are considered as the solution across industries with Time-Sensitive Networking (TSN) as the enabling technology. To ease the adoption of TSN for industrial automation, a modular framework was developed for future engineering tools. The core of the framework consists of a module management including interfaces and a YANG-based datastore, maintaining a system-wide data model. Modules are provided for network configuration implementing CUC-functions, monitoring and container-based application and deployment.}, author = {Oechsle, Stefan and Frick, Florian and Lechler, Armin and Verl, Alexander}, doi = {10.1016/j.procir.2023.06.008}, journal = {Procedia CIRP}, pages = {38--43}, publisher = {Elsevier BV}, title = {A modular configuration and management framework for distributed real-time applications based on converged networks using TSN}, url = {https://doi.org/10.1016/j.procir.2023.06.008}, volume = 118, year = 2023 }
  Link
  https://doi.org/10.1016/j.procir.2023.06.008
27. Oechsle, Stefan ; Walker, Moritz ; Fischer, Marc ; Frick, Florian ; Lechler, Armin ; Verl, Alexander: Real-Time Capable Architecture for Software-Defined Manufacturing. In: 2036, A. (Hrsg.) ; 2036, A. (Hrsg.): . Bd. Advances in Automotive Production Technology – Towards Software-Defined Manufacturing and Resilient Supply Chains : Springer, 2023 — ISBN 978-3-031-27932-4, S. 3–13
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  @inbook{inbook, author = {Oechsle, Stefan and Walker, Moritz and Fischer, Marc and Frick, Florian and Lechler, Armin and Verl, Alexander}, doi = {10.1007/978-3-031-27933-1_1}, editor = {2036, Arena}, isbn = {978-3-031-27932-4}, month = {06}, pages = {3-13}, publisher = {Springer}, title = {Real-Time Capable Architecture for Software-Defined Manufacturing}, url = {https://doi.org/10.1007/978-3-031-27933-1_1}, volume = {Advances in Automotive Production Technology – Towards Software-Defined Manufacturing and Resilient Supply Chains}, year = 2023 }
  Link
  https://doi.org/10.1007/978-3-031-27933-1_1
28. Reichenbach, Thomas ; Verl, Alexander: Seilwindenprüfstand zur Untersuchung hochdynamischer Schlupf- und Reibeigenschaften von Kunststofffaserseilen. In: GmbH, V. F. (Hrsg.) antriebstechnik Bd. 2023 (2023), S. 40–42
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  @article{reichenbach2023seilwindenprfstand, author = {Reichenbach, Thomas and Verl, Alexander}, editor = {GmbH, Vereinigte Fachverlage}, journal = {antriebstechnik}, month = {09}, number = 09, pages = {40-42}, title = {Seilwindenprüfstand zur Untersuchung hochdynamischer Schlupf- und Reibeigenschaften von Kunststofffaserseilen}, url = {https://digital.antriebstechnik.de/antriebstechnik-9-2023/68394687/40}, volume = 2023, year = 2023 }
  Link
  https://digital.antriebstechnik.de/antriebstechnik-9-2023/68394687/40
29. Steinle, Lukas ; Helfesrieder, Nico ; Lechler, Armin ; Verl, Alexander ; Montazeri, Ali ; Wang, Jinfan: Decentralized Motion Control for a Novel Planar Motor Intralogistics System. In: 2023 IEEE 32nd International Symposium on Industrial Electronics (ISIE) : IEEE, 2023
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  @inproceedings{Steinle_2023, author = {Steinle, Lukas and Helfesrieder, Nico and Lechler, Armin and Verl, Alexander and Montazeri, Ali and Wang, Jinfan}, booktitle = {2023 IEEE 32nd International Symposium on Industrial Electronics (ISIE)}, doi = {10.1109/isie51358.2023.10227969}, month = {06}, publisher = {IEEE}, title = {Decentralized Motion Control for a Novel Planar Motor Intralogistics System}, url = {https://doi.org/10.1109%2Fisie51358.2023.10227969}, year = 2023 }
  Link
  https://doi.org/10.1109%2Fisie51358.2023.10227969
30. Steinle, Lukas ; Leipe, Valentin ; Lechler, Armin ; Verl, Alexander: Effizientere Antriebe durch smarte Steuerung. In: KG, V. C. G. G. &. Co. (Hrsg.) MM Maschinenmarkt (2023), S. 51–53
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  @article{maschinenmarkt2023effizientere, author = {Steinle, Lukas and Leipe, Valentin and Lechler, Armin and Verl, Alexander}, editor = {KG, Vogel Communications Group GmbH & Co.}, journal = {MM Maschinenmarkt}, number = 10, pages = {51-53}, title = {Effizientere Antriebe durch smarte Steuerung}, year = 2023 }
31. Trautwein, Felix ; Reichenbach, Thomas ; Pott, Andreas ; Verl, Alexander: A Predictor-Corrector-Scheme for the Geometry Planning for In-Operation-Reconfiguration of Cable-Driven Parallel Robots. In: Caro, S. ; Pott, A. ; Bruckmann, T. (Hrsg.) ; Caro, S. ; Pott, A. ; Bruckmann, T. (Hrsg.): Cable-Driven Parallel Robots. Bd. 132. Cham : Springer Nature Switzerland, 2023 — ISBN 9783031323218, S. 261–272
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  @inbook{trautwein2023predictorcorrectorscheme, address = {Cham}, author = {Trautwein, Felix and Reichenbach, Thomas and Pott, Andreas and Verl, Alexander}, booktitle = {Cable-Driven Parallel Robots}, doi = {10.1007/978-3-031-32322-5_21}, editor = {Caro, Stéphane and Pott, Andreas and Bruckmann, Tobias}, isbn = {9783031323218}, pages = {261--272}, publisher = {Springer Nature Switzerland}, title = {A Predictor-Corrector-Scheme for the Geometry Planning for In-Operation-Reconfiguration of Cable-Driven Parallel Robots}, url = {https://link.springer.com/chapter/10.1007/978-3-031-32322-5_21}, volume = 132, year = 2023 }
  Link
  https://link.springer.com/chapter/10.1007/978-3-031-32322-5_21
32. Trautwein, Felix ; Reichenbach, Thomas ; Verl, Alexander: Steuerung rekonfigurierbarer Seilroboter. In: Fachverlage, V. (Hrsg.) antriebstechnik Sonderausgabe Marktübersicht - Innovation Scout 2023, Vereinigte Fachverlage (2023)
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  @misc{trautwein2023steuerung, author = {Trautwein, Felix and Reichenbach, Thomas and Verl, Alexander}, editor = {Fachverlage, Vereinigte}, howpublished = {Online-Zeitschriftenartikel}, journal = {antriebstechnik Sonderausgabe Marktübersicht - Innovation Scout 2023}, month = {01}, pages = 44, publisher = {Vereinigte Fachverlage}, title = {Steuerung rekonfigurierbarer Seilroboter}, url = {https://digital.antriebstechnik.de/ant-marktuebersicht-2023/67408166/44}, year = 2023 }
  Link
  https://digital.antriebstechnik.de/ant-marktuebersicht-2023/67408166/44
33. Verl, Alexander ; Hinze, Christoph: Increasing the dynamic accuracy of ball screw drives with quasi-sliding-mode (qSMC) position control. In: CIRP Annals, Elsevier BV (2023)
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  @article{Verl_2023, author = {Verl, Alexander and Hinze, Christoph}, doi = {10.1016/j.cirp.2023.04.081}, journal = {{CIRP} Annals}, month = {05}, publisher = {Elsevier {BV}}, title = {Increasing the dynamic accuracy of ball screw drives with quasi-sliding-mode ({qSMC}) position control}, url = {https://doi.org/10.1016%2Fj.cirp.2023.04.081}, year = 2023 }
  Link
  https://doi.org/10.1016%2Fj.cirp.2023.04.081
34. Verl, Alexander ; Neubauer, Michael: Software-defined Manufacturing. In: Stuttgarter Maschinenbau Magazin Bd. 4 (2023), S. 28–31
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  @article{verl2023softwaredefined, abstract = {»Software-defined X« umfasst eine Reihe von Ansätzen aus der IT, die mittels Virtualisierung Software-Applikationen von der Hardware entkoppeln. Die konsequente Umsetzung dieses Paradigmas verspricht höhere Agilität und Flexibilität. Software-defined Manufacturing (SDM) überträgt diese Idee auf die Produktionstechnik.}, author = {Verl, Alexander and Neubauer, Michael}, journal = {Stuttgarter Maschinenbau Magazin}, pages = {28-31}, title = {Software-defined Manufacturing}, volume = 4, year = 2023 }
35. von Arnim, Christian ; Walker, Moritz ; Lechler, Armin ; Riedel, Oliver ; Verl, Alexander: Isolating Shared Resources for Time-Triggered Networking of Containerized Applications. In: 2023 29th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), 2023, S. 1–6
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  @inproceedings{10413388, author = {von Arnim, Christian and Walker, Moritz and Lechler, Armin and Riedel, Oliver and Verl, Alexander}, booktitle = {2023 29th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)}, doi = {10.1109/M2VIP58386.2023.10413388}, pages = {1-6}, title = {Isolating Shared Resources for Time-Triggered Networking of Containerized Applications}, url = {http://dx.doi.org/10.1109/M2VIP58386.2023.10413388}, year = 2023 }
  Link
  http://dx.doi.org/10.1109/M2VIP58386.2023.10413388
36. Walker, Moritz ; Fischer, Marc ; Lechler, Armin ; Verl, Alexander: Evaluation of Isolation and Communication Mechanisms for Real-Time Containers. In: 2023 IEEE 32nd International Symposium on Industrial Electronics (ISIE), 2023, S. 1–8
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  @inproceedings{10228012, author = {Walker, Moritz and Fischer, Marc and Lechler, Armin and Verl, Alexander}, booktitle = {2023 IEEE 32nd International Symposium on Industrial Electronics (ISIE)}, doi = {10.1109/ISIE51358.2023.10228012}, pages = {1-8}, title = {Evaluation of Isolation and Communication Mechanisms for Real-Time Containers}, url = {http://dx.doi.org/10.1109/ISIE51358.2023.10228012}, year = 2023 }
  Link
  http://dx.doi.org/10.1109/ISIE51358.2023.10228012
37. Walker, Moritz ; Klingel, Lars ; Oechsle, Stefan ; Neubauer, Michael ; Lechler, Armin ; Verl, Alexander: Safeguarded Continuous Deployment of Control Containers through Real-Time Simulation. In: 2023 IEEE 28th International Conference on Emerging Technologies and Factory Automation (ETFA), 2023, S. 1–8
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  @inproceedings{10275659, author = {Walker, Moritz and Klingel, Lars and Oechsle, Stefan and Neubauer, Michael and Lechler, Armin and Verl, Alexander}, booktitle = {2023 IEEE 28th International Conference on Emerging Technologies and Factory Automation (ETFA)}, doi = {10.1109/ETFA54631.2023.10275659}, pages = {1-8}, title = {Safeguarded Continuous Deployment of Control Containers through Real-Time Simulation}, url = {http://dx.doi.org/10.1109/ETFA54631.2023.10275659}, year = 2023 }
  Link
  http://dx.doi.org/10.1109/ETFA54631.2023.10275659
38. Walker, Moritz ; Tasci, Timur ; Lechler, Armin ; Verl, Alexander: Analysis of Real-Time Execution Models for Container-Based Control Applications. In: . Bd. Advances in Automotive Production Technology – Towards Software-Defined Manufacturing and Resilient Supply Chains : Springer, 2023 — ISBN 978-3-031-27932-4, S. 14–24
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  @inbook{inbook, author = {Walker, Moritz and Tasci, Timur and Lechler, Armin and Verl, Alexander}, doi = {10.1007/978-3-031-27933-1_2}, isbn = {978-3-031-27932-4}, month = {06}, pages = {14-24}, publisher = {Springer}, title = {Analysis of Real-Time Execution Models for Container-Based Control Applications}, url = {https://link.springer.com/chapter/10.1007/978-3-031-27933-1_2}, volume = { Advances in Automotive Production Technology – Towards Software-Defined Manufacturing and Resilient Supply Chains}, year = 2023 }
  Link
  https://link.springer.com/chapter/10.1007/978-3-031-27933-1_2
39. Walker, Moritz ; von Arnim, Christian ; Neubauer, Michael ; Lechler, Armin ; Riedel, Oliver ; Verl, Alexander: Reflection-based Prototyping Framework for OPC UA Servers for Companion Specifications. In: 2023 IEEE International Conference on Industrial Technology (ICIT), 2023, S. 1–6
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  @inproceedings{10143130, author = {Walker, Moritz and von Arnim, Christian and Neubauer, Michael and Lechler, Armin and Riedel, Oliver and Verl, Alexander}, booktitle = {2023 IEEE International Conference on Industrial Technology (ICIT)}, doi = {10.1109/ICIT58465.2023.10143130}, pages = {1-6}, title = {Reflection-based Prototyping Framework for OPC UA Servers for Companion Specifications}, url = {https://doi.org/10.1109/ICIT58465.2023.10143130}, year = 2023 }
  Link
  https://doi.org/10.1109/ICIT58465.2023.10143130
40. Wnuk, Markus ; Zürn, Manuel ; Paukner, Matthias ; Ulbrich, Sascha ; Lechler, Armin ; Verl, Alexander: Case Study on Localization for Robotic Wire Harness Installation. In: Kiefl, N. ; Wulle, F. ; Ackermann, C. ; Holder, D. (Hrsg.) ; Kiefl, N. ; Wulle, F. ; Ackermann, C. ; Holder, D. (Hrsg.): Advances in Automotive Production Technology -- Towards Software-Defined Manufacturing and Resilient Supply Chains. Cham : Springer International Publishing, 2023 — ISBN 978-3-031-27933-1, S. 333–343
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  @inproceedings{10.1007/978-3-031-27933-1_31, abstract = {Wire harness installation is one of the most challenging processing steps for automation in automotive production. Wire harnesses have an infinite number of degrees of freedom, such that they change their shape continuously during manipulation. As of today, the human's ability to perceive the wire harness and deal with its shape changes, is unmatched by any technical solution. Therefore, wire harnesses are still installed manually. This paper proposes a concept for wire harness localization and applies it for robotic wire harness installation. The concept uses two stereo cameras, one to perceive the shape of the wire harness and obtain rough position estimates of wire harness components, and a second for accurate 6D pose estimation of the individual components. The concept is evaluated with a case study on localization in a car chassis, where the accuracy and limitations of the concept are investigated by practical experiments.}, address = {Cham}, author = {Wnuk, Markus and Zürn, Manuel and Paukner, Matthias and Ulbrich, Sascha and Lechler, Armin and Verl, Alexander}, booktitle = {Advances in Automotive Production Technology -- Towards Software-Defined Manufacturing and Resilient Supply Chains}, editor = {Kiefl, Niklas and Wulle, Frederik and Ackermann, Clemens and Holder, Daniel}, isbn = {978-3-031-27933-1}, pages = {333--343}, publisher = {Springer International Publishing}, title = {Case Study on Localization for Robotic Wire Harness Installation}, year = 2023 }
41. Wolf, Martin ; Maier, Vinzent ; Verl, Alexander: Method for the Calculation of Local Bead Volume in Multi-Axis Additive Manufacturing. In: Procedia CIRP. Bd. 120 : Elsevier BV, 2023, S. 1244–1249
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  @inproceedings{Wolf_2023, author = {Wolf, Martin and Maier, Vinzent and Verl, Alexander}, doi = {10.1016/j.procir.2023.09.156}, issn = {2212-8271}, journal = {Procedia CIRP}, pages = {1244–1249}, publisher = {Elsevier BV}, title = {Method for the Calculation of Local Bead Volume in Multi-Axis Additive Manufacturing}, url = {http://dx.doi.org/10.1016/j.procir.2023.09.156}, volume = 120, year = 2023 }
  Link
  http://dx.doi.org/10.1016/j.procir.2023.09.156
42. Xu, Haijia ; Hinze, Christoph ; Lechler, Armin ; Verl, Alexander: Robust µ parameterization with low tuning complexity of cascaded control for feed drives. In: Control Engineering Practice Bd. 138, Elsevier BV (2023), S. 105607
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  @article{Xu_2023, author = {Xu, Haijia and Hinze, Christoph and Lechler, Armin and Verl, Alexander}, doi = {10.1016/j.conengprac.2023.105607}, journal = {Control Engineering Practice}, month = {09}, pages = 105607, publisher = {Elsevier {BV}}, title = {Robust µ parameterization with low tuning complexity of cascaded control for feed drives}, url = {https://doi.org/10.1016%2Fj.conengprac.2023.105607}, volume = 138, year = 2023 }
  Link
  https://doi.org/10.1016%2Fj.conengprac.2023.105607
43. Zürn, Manuel ; Kienzlen, Annika ; Klingel, Lars ; Lechler, Armin ; Verl, Alexander ; Ren, Shiyi ; Xu, Weiliang: Deep Learning-Based Instance Segmentation for Feature Extraction of Branched Deformable Linear Objects for Robotic Manipulation. In: 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE), 2023, S. 1–6
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  @inproceedings{10260646, abstract = {Branched deformable linear objects, like wire harnesses, are vastly used in the electrical industry to interconnect multiple electronic components while allowing small relative motions. Their deformable nature gives them an infinite-dimensional configuration space, which is challenging for robotic manipulation and requires sensor feedback about the actual configuration. Cameras have been used before in automation attempts as sensor feedback of branched deformable linear objects. However, image processing is sensible to occlusions and unstructured environments. This paper presents a method of using deep learning-based instance segmentation networks to extract topological features like connectors, clips, branch points and overlapping points on the branched deformable linear object. The topological features originate from features that can be used for matching a stretched representation of the branched deformable linear object to its sensor representation. Our results show that the network is capable of extracting the features for different datasets with high accuracy. Furthermore, this paper evaluates the use of preliminary results in the training process to facilitate annotation by predicting the labels. For now, this paper only uses 2D images of the branched deformable linear objects. Future work will also use depth images, such that individual deformable linear object features, such as length or radius, can be extracted from the images. We anticipate the usage of wire harness automation with robotic manipulation, augmented reality support of the worker or quality control of wire harnesses.}, author = {Zürn, Manuel and Kienzlen, Annika and Klingel, Lars and Lechler, Armin and Verl, Alexander and Ren, Shiyi and Xu, Weiliang}, booktitle = {2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)}, doi = {10.1109/CASE56687.2023.10260646}, issn = {2161-8089}, month = {08}, pages = {1-6}, title = {Deep Learning-Based Instance Segmentation for Feature Extraction of Branched Deformable Linear Objects for Robotic Manipulation}, year = 2023 }
44. Zürn, Manuel ; Wnuk, Markus ; Lechler, Armin ; Verl, Alexander: Topology Matching of Branched Deformable Linear Objects. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023, S. 7097–7103
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  @inproceedings{10161483, abstract = {This paper presents a new method for correspondence estimation between a previously known topology of a branched deformable linear object and an image representation from a 3D stereo camera. Although frequently encountered in production, robotic deformable linear object manipulation still lacks reliable sensor feedback. Especially for branched deformable linear objects, such as wire harnesses, correspondence estimation is very challenging. Due to their flexible nature, they have an infinite-dimensional configuration space, such that visual appearances of the same object can vary strongly. Knowing the correspondence is vital for various applications, e.g., estimating valid grasping positions for robotic wire routing or augmented reality support for workers. Therefore, this paper presents a method for matching the topology of a branched deformable linear object to camera sensor data. Asymmetries in the wire harness design reduce the solution space by comparing the known topology of a model to the topology extracted from sensor data. The problem of finding the most likely solution to the matching problem requires features extracted from camera images. These features are used to construct a graph-based topology representation, which can then be matched to a graph-based topology representation of the known branched deformable linear object. The presented method is evaluated using multiple different non-overlapping configurations of a wire harness, showing the effectiveness of a graph-based segment matching approach.}, author = {Zürn, Manuel and Wnuk, Markus and Lechler, Armin and Verl, Alexander}, booktitle = {2023 IEEE International Conference on Robotics and Automation (ICRA)}, doi = {10.1109/ICRA48891.2023.10161483}, month = {05}, pages = {7097-7103}, title = {Topology Matching of Branched Deformable Linear Objects}, year = 2023 }
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 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. Casalaro, Giuseppina Lucia ; Cattivera, Giulio ; Ciccozzi, Federico ; Malavolta, Ivano ; Wortmann, Andreas ; Pelliccione, Patrizio: Model-driven engineering for mobile robotic systems: a systematic mapping study. In: Software and Systems Modeling Bd. 21, Springer (2022), S. 19–49
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  @article{casalaro2022model, author = {Casalaro, Giuseppina Lucia and Cattivera, Giulio and Ciccozzi, Federico and Malavolta, Ivano and Wortmann, Andreas and Pelliccione, Patrizio}, journal = {Software and Systems Modeling}, number = 1, pages = {19--49}, publisher = {Springer}, title = {Model-driven engineering for mobile robotic systems: a systematic mapping study}, volume = 21, year = 2022 }
3. Dietrich, David ; Neubauer, Michael ; Lechler, Armin ; Verl, Alexander: Fehlerfreie Produktion durch flexibilisierte Prozesse/Error-free production through flexible manufacturing processes – Change of planning and error compensation in software-defined manufacturing. In: wt Werkstattstechnik online Bd. 112, VDI Fachmedien GmbH and Co. KG (2022), S. 276–281
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  @article{Dietrich_2022, author = {Dietrich, David and Neubauer, Michael and Lechler, Armin and Verl, Alexander}, doi = {10.37544/1436-4980-2022-05-6}, journal = {wt Werkstattstechnik online}, number = 05, pages = {276--281}, publisher = {VDI Fachmedien GmbH and Co. KG}, title = {Fehlerfreie Produktion durch flexibilisierte Prozesse/Error-free production through flexible manufacturing processes {\textendash} Change of planning and error compensation in software-defined manufacturing}, url = {https://doi.org/10.37544%2F1436-4980-2022-05-6}, volume = 112, year = 2022 }
  Link
  https://doi.org/10.37544%2F1436-4980-2022-05-6
4. Elser, Anja ; Lechler, Armin ; Verl, Alexander: Implementation of Surface Interpolators for Compound Surfaces without C2-continuity. In: Procedia CIRP. Bd. 109 : Elsevier BV, 2022, S. 19–24
  - BibTeX
  - Link
  BibTeX
  @inproceedings{Elser_2022, author = {Elser, Anja and Lechler, Armin and Verl, Alexander}, doi = {10.1016/j.procir.2022.05.208}, journal = {Procedia {CIRP}}, pages = {19--24}, publisher = {Elsevier {BV}}, title = {Implementation of Surface Interpolators for Compound Surfaces without C2-continuity}, url = {https://doi.org/10.1016%2Fj.procir.2022.05.208}, volume = 109, year = 2022 }
  Link
  https://doi.org/10.1016%2Fj.procir.2022.05.208
5. Fur, Shan ; Delonge, Nicolas ; Riedel, Oliver ; Verl, Alexander: Hybrid Commissioning of Industrial Plants: A Merge-Tool for PROFINET. In: 2022 IEEE 27th International Conference on Emerging Technologies and Factory Automation (ETFA), 2022, S. 1–7
  - BibTeX
  BibTeX
  @inproceedings{9921686, author = {Fur, Shan and Delonge, Nicolas and Riedel, Oliver and Verl, Alexander}, booktitle = {2022 IEEE 27th International Conference on Emerging Technologies and Factory Automation (ETFA)}, doi = {10.1109/ETFA52439.2022.9921686}, pages = {1-7}, title = {Hybrid Commissioning of Industrial Plants: A Merge-Tool for PROFINET}, year = 2022 }

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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