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Verl, Alexander

Alexander Verl

Prof. Dr.-Ing.

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

Contact

+49 711 685 82422
Email
Business card (VCF)

Seidenstr. 36
70174 Stuttgart
Germany
Room: 5.005

Publications

My Publications:

2023
1. Ellwein, Carsten ; Neumann, Rebekka ; Verl, Alexander: Software-defined Manufacturing: Data Representation. In: Procedia CIRP, Procedia CIRP. Bd. 118, Elsevier BV (2023), S. 360--365
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  @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
2. Fischer, Marc ; Klingel, Lars ; Lechler, Armin ; Verl, Alexander ; Neubauer, Michael: Dynamic Safety Distance Determination for Human Robot Coexistence in Industrial Applications. In: Advances in Automotive Production Technology – Towards Software-Defined Manufacturing and Resilient Supply Chains, Advances in Automotive Production Technology – Towards Software-Defined Manufacturing and Resilient Supply Chains. (2023), S. 35–45
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  @article{fischer2023dynamic, abstract = {The coexistence of humans and robots in manufacturing requires safety. Typically, safety functionalities for coexistence are based on speed and separation monitoring according to EN ISO 10218. Thereby, a robot should reduce speed or stop completely when an obstacle is too close to avoid collisions. Nowadays, despite this standard, speed and separation monitoring are still realized with static worst-case safety assumptions about the kinematics of humans and robots. Over the years, different static techniques have evolved in the industrial environment like fences, light fences, or camera-based systems where critical zones can be configured. The latter is admittedly more flexible in the configuration but still static during the run-time of the manufacturing system. The static worst-case assumptions result in large unnecessary distances between humans and robots, which leads to inefficient use of space. Therefore, factories are larger than they need to be, which leads to higher costs. This work aims to enhance the use of space in human-robot coexistence applications to make factory layouts more efficient. Therefore, a dynamic minimum distance calculation based on the DIN ISO 15066 with the kinematic information of the coexisting human and industrial robots is provided. It is shown in a simulation that this approach of a dynamic safety distance calculation leads to a reduction of the required space.}, author = {Fischer, Marc and Klingel, Lars and Lechler, Armin and Verl, Alexander and Neubauer, Michael}, doi = {10.1007/978-3-031-27933-1_4}, journal = {Advances in Automotive Production Technology – Towards Software-Defined Manufacturing and Resilient Supply Chains}, pages = {35-45}, title = {Dynamic Safety Distance Determination for Human Robot Coexistence in Industrial Applications}, year = 2023 }
3. Fischer, Marc ; Walker, Moritz ; Lechler, Armin ; Riedel, Oliver ; Verl, Alexander: Fehlertolerante Sicherheitssteuerung aus der Cloud. In: wt Werkstattstechnik online (Hrsg.) ; wt Werkstattstechnik online (Hrsg.): wt Werkstattstechnik, wt Werkstattstechnik. Bd. 113, 2023, S. 189–194
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  @incollection{fischer2023fehlertolerante, author = {Fischer, Marc and Walker, Moritz and Lechler, Armin and Riedel, Oliver and Verl, Alexander}, doi = {10.37544/1436-4980-2023-05-11}, editor = {wt Werkstattstechnik online}, journal = {wt Werkstattstechnik}, number = 5, pages = {189-194}, title = {Fehlertolerante Sicherheitssteuerung aus der Cloud}, url = {https://elibrary.vdi-verlag.de/10.37544/1436-4980-2023-05-11/fehlertolerante-sicherheitssteuerung-aus-der-cloud-cloud-based-fault-tolerance-of-safety-control-in-the-cloud-jahrgang-113-2023-heft-05?page=1}, volume = 113, year = 2023 }
  Link
  https://elibrary.vdi-verlag.de/10.37544/1436-4980-2023-05-11/fehlertolerante-sicherheitssteuerung-aus-der-cloud-cloud-based-fault-tolerance-of-safety-control-in-the-cloud-jahrgang-113-2023-heft-05?page=1
4. Helfesrieder, Nico ; Lechler, Armin ; Verl, Alexander: Leichtbau durch schichtweise LLM-Fertigung – zur Anisotropie der Bauteileigenschaften. In: Konstruktion, Konstruktion. Bd. 75, VDI Fachmedien GmbH and Co. KG (2023), Nr. 09, S. 42--44
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  @article{2023, author = {Helfesrieder, Nico and Lechler, Armin and Verl, Alexander}, doi = {10.37544/0720-5953-2023-09-42}, journal = {Konstruktion}, number = 09, pages = {42--44}, publisher = {{VDI} Fachmedien {GmbH} and Co. {KG}}, title = {Leichtbau durch schichtweise {LLM}-Fertigung {\textendash} zur Anisotropie der Bauteileigenschaften}, url = {https://doi.org/10.37544%2F0720-5953-2023-09-42}, volume = 75, year = 2023 }
  Link
  https://doi.org/10.37544%2F0720-5953-2023-09-42
5. Jud, Oliver ; Lechler, Armin ; Verl, Alexander: Vorspannungsverluste kompensieren. In: konstruktionspraxis, konstruktionspraxis. (2023), Nr. 07, S. 42–43
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  @article{jud2023vorspannungsverluste, author = {Jud, Oliver and Lechler, Armin and Verl, Alexander}, journal = {konstruktionspraxis}, month = {07}, number = 07, pages = {42-43}, title = {Vorspannungsverluste kompensieren}, url = {https://www.konstruktionspraxis.vogel.de/vorspannungsverluste-kompensieren-prototyp-auf-dem-pruefstand-a-9f59277ce2066aace87a5962d35cc579/}, year = 2023 }
  Link
  https://www.konstruktionspraxis.vogel.de/vorspannungsverluste-kompensieren-prototyp-auf-dem-pruefstand-a-9f59277ce2066aace87a5962d35cc579/
6. Leipe, Valentin ; Hinze, Christoph ; Lechler, Armin ; Verl, Alexander: Model predictive control for compliant feed drives with offset-free tracking behavior. In: Production Engineering, Production Engineering. (2023)
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  @article{Leipe2023, abstract = {Industrial machine tool feed drives are predominantly controlled by cascade control due to their low tuning complexity and inherent robustness. However, the cascaded structure requires the inner cascades to have higher dynamics than the outer cascades, which limits the achievable dynamic accuracy. Direct control approaches, which substitute the position and velocity cascade, offer the potential to utilize the unused potential. A promising approach is model predictive control (MPC), which optimizes the manipulated variable with a plant model along a prediction horizon. However, model uncertainties between the nominal model and the real plant lead to tracking errors. Therefore, this paper presents, a linear MPC (LMPC) and an adaptive MPC (AMPC) with an additional integral action to robustly compensate for model mismatches. Both controllers use a compliant model, are real-time capable with a sample rate of {\$}{\$}{\{}{\{}2{\}}{\backslash},{\backslash}textrm{\{}kHz{\}}{\}}{\$}{\$}and consider state and input space constraints. The AMPC accounts for position-varying stiffness and friction. The controllers are experimentally compared with classical P-PI cascaded control on a ball screw drive. They show a tracking error reduction of {\$}{\$}{\{}{\{}37{\}}{\{}{\backslash},{\backslash}{\%}{\}}{\}}{\$}{\$}(LMPC) and {\$}{\$}{\{}{\{}44{\}}{\{}{\backslash},{\backslash}{\%}{\}}{\}}{\$}{\$}(AMPC) during a high speed motion profile and an increase in bandwidth of {\$}{\$}{\{}{\{}180{\}}{\{}{\backslash},{\backslash}{\%}{\}}{\}}{\$}{\$}(LMPC) and {\$}{\$}{\{}{\{}184{\}}{\{}{\backslash},{\backslash}{\%}{\}}{\}}{\$}{\$}(AMPC), resulting in significantly improved dynamic accuracy.}, author = {Leipe, Valentin and Hinze, Christoph and Lechler, Armin and Verl, Alexander}, day = 22, doi = {10.1007/s11740-023-01206-6}, issn = {1863-7353}, journal = {Production Engineering}, month = {05}, title = {Model predictive control for compliant feed drives with offset-free tracking behavior}, url = {https://doi.org/10.1007/s11740-023-01206-6}, year = 2023 }
  Link
  https://doi.org/10.1007/s11740-023-01206-6
7. Neubauer, Michael ; Reiff, Colin ; Walker, Moritz ; Oechsle, Stefan ; Lechler, Armin ; Verl, Alexander: Cloud-based evaluation platform for software-defined manufacturing - Stuttgarter Maschinenfabrik as a realization example of an Industry 4.0 production. In: at - Automatisierungstechnik, at - Automatisierungstechnik. Bd. 71 (2023), Nr. 5, S. 351--363
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  @article{NeubauerReiffWalkerOechsleLechlerVerl+2023+351+363, abstract = {Software-Deﬁned Manufacturing (SDM) is a new paradigm for how to manufacture in the Industry 4.0 factory of the future. The approach requires a fundamental change in thinking and reinvention of central business models in production technology. This paper discusses the main challenges on the way to a software-deﬁned factory of the future and illustrates possible solutions. An exemplary future factory is presented, in which the validation of the solutions is carried out. For this purpose, cloud-based Computerized Numerical Control (CNC) is considered as use case. Experimental results demonstrate the proof of concept and show the potential for further applications.}, author = {Neubauer, Michael and Reiff, Colin and Walker, Moritz and Oechsle, Stefan and Lechler, Armin and Verl, Alexander}, doi = {doi:10.1515/auto-2022-0137}, journal = {at - Automatisierungstechnik}, number = 5, pages = {351--363}, title = {Cloud-based evaluation platform for software-defined manufacturing - Stuttgarter Maschinenfabrik as a realization example of an Industry 4.0 production}, url = {https://doi.org/10.1515/auto-2022-0137}, volume = 71, year = 2023 }
  Link
  https://doi.org/10.1515/auto-2022-0137
8. Neubauer, Michael ; Steinle, Lukas ; Reiff, Colin ; Ajdinovic, Samed ; Klingel, Lars ; Lechler, Armin ; Verl, Alexander: Architecture for Manufacturing-X: Bringing Asset Administration Shell, Eclipse Dataspace Connector and OPC UA together. In: Manufacturing Letters, Manufacturing Letters. Bd. 37, Elsevier (2023), S. 1–6
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  @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
9. Oechsle, Stefan ; Frick, Florian ; Lechler, Armin ; Verl, Alexander: A modular configuration and management framework for distributed real-time applications based on converged networks using TSN. In: Procedia CIRP, Procedia CIRP. Bd. 118 : Elsevier BV, 2023, S. 38--43
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  @inproceedings{oechsle2023modular, abstract = {Industrial control systems are distributed real-time applications deployed on field and controller devices, connected by fieldbuses. Their lack of interoperability, mutually and towards IT-systems, is a major obstacle for the digitalization. Converged networks are considered as the solution across industries with Time-Sensitive Networking (TSN) as the enabling technology. To ease the adoption of TSN for industrial automation, a modular framework was developed for future engineering tools. The core of the framework consists of a module management including interfaces and a YANG-based datastore, maintaining a system-wide data model. Modules are provided for network configuration implementing CUC-functions, monitoring and container-based application and deployment.}, author = {Oechsle, Stefan and Frick, Florian and Lechler, Armin and Verl, Alexander}, doi = {10.1016/j.procir.2023.06.008}, journal = {Procedia CIRP}, pages = {38--43}, publisher = {Elsevier BV}, title = {A modular configuration and management framework for distributed real-time applications based on converged networks using TSN}, url = {https://doi.org/10.1016/j.procir.2023.06.008}, volume = 118, year = 2023 }
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  https://doi.org/10.1016/j.procir.2023.06.008
10. 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
11. Reichenbach, Thomas ; Verl, Alexander: Seilwindenprüfstand zur Untersuchung hochdynamischer Schlupf- und Reibeigenschaften von Kunststofffaserseilen. In: GmbH, V. F. (Hrsg.) antriebstechnik, antriebstechnik. Bd. 2023 (2023), Nr. 09, 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
12. Steinle, Lukas ; Helfesrieder, Nico ; Lechler, Armin ; Verl, Alexander ; Montazeri, Ali ; Wang, Jinfan: Decentralized Motion Control for a Novel Planar Motor Intralogistics System. In: 2023 IEEE 32nd International Symposium on Industrial Electronics (ISIE), 2023 IEEE 32nd International Symposium on Industrial Electronics (ISIE) : IEEE, 2023
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  @inproceedings{Steinle_2023, author = {Steinle, Lukas and Helfesrieder, Nico and Lechler, Armin and Verl, Alexander and Montazeri, Ali and Wang, Jinfan}, booktitle = {2023 IEEE 32nd International Symposium on Industrial Electronics (ISIE)}, doi = {10.1109/isie51358.2023.10227969}, month = {06}, publisher = {IEEE}, title = {Decentralized Motion Control for a Novel Planar Motor Intralogistics System}, url = {https://doi.org/10.1109%2Fisie51358.2023.10227969}, year = 2023 }
  Link
  https://doi.org/10.1109%2Fisie51358.2023.10227969
13. 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, 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
14. Verl, Alexander ; Hinze, Christoph: Increasing the dynamic accuracy of ball screw drives with quasi-sliding-mode (qSMC) position control. In: CIRP Annals, 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
15. Verl, Alexander ; Neubauer, Michael: Software-defined Manufacturing. In: Stuttgarter Maschinenbau Magazin, 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 }
16. Walker, Moritz ; Arnim, Christian von ; Neubauer, Michael ; Lechler, Armin ; Riedel, Oliver ; Verl, Alexander: Reflection-based Prototyping Framework for OPC UA Servers for Companion Specifications. In: 2023 IEEE International Conference on Industrial Technology (ICIT), 2023 IEEE International Conference on Industrial Technology (ICIT), 2023, S. 1–6
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  @inproceedings{10143130, author = {Walker, Moritz and Arnim, Christian von 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
17. 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
18. Xu, Haijia ; Hinze, Christoph ; Lechler, Armin ; Verl, Alexander: Robust µ parameterization with low tuning complexity of cascaded control for feed drives. In: Control Engineering Practice, Control Engineering Practice. Bd. 138, Elsevier BV (2023), S. 105607
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  @article{Xu_2023, author = {Xu, Haijia and Hinze, Christoph and Lechler, Armin and Verl, Alexander}, doi = {10.1016/j.conengprac.2023.105607}, journal = {Control Engineering Practice}, month = {09}, pages = 105607, publisher = {Elsevier {BV}}, title = {Robust µ parameterization with low tuning complexity of cascaded control for feed drives}, url = {https://doi.org/10.1016%2Fj.conengprac.2023.105607}, volume = 138, year = 2023 }
  Link
  https://doi.org/10.1016%2Fj.conengprac.2023.105607
2022
1. Bubeck, Wolfgang ; Frick, Florian ; Verl, Alexander: Hardware-Accelerated Data Processing of Capacitive Sensor Arrays for Industrial and Service Robotic Applications. In: ISR Europe, ISR Europe. Bd. 54 (2022), S. 174–179 — ISBN 978-3-8007-5891-3
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  @article{noauthororeditor, abstract = {To ensure a safe environment for human-machine interaction through signal processing and to process big data from intelligent production systems, increasingly powerful computational hardware is required. Central Processing Unit (CPU) based systems are reaching their load limits when processing large amounts of data. This paper presents a hardware-software architecture for Field Programmable Gate Array (FPGA) based platforms for high-frequency data evaluation using capacitive sensor arrays as an example. The architecture includes on the one hand a concept for hardware-acceler-ated sensor data processing and on the other hand the methodology for reading out capacitive sensor arrays. The focus is on simple and easily scalable electronics as well as a dynamic data processing module that can execute and deterministically process complex algorithms with large amount of data based on flexible rules using hardware acceleration. The presented concept was implemented on a FPGA based hardware platform. This allowed the signal processing of 100 sensor values with a resolution of 32 Bit each by 3 pipelined rules, a second order IIR-filter, a 10-times linear interpolation and an averaging algorithm at a task cycle of 1kHz. For the capacitance measurement validation, a custom developed Printed Circuit Board (PCB) with 6 channels is connected to the FPGA platform. It was shown to be capable of a robust and deterministic capacitance measurement at intervals of 1ms with capacitance values from Femto- to Nanofarad. Due to its easy scalability, the method can be used, for example, to completely cover a robotic arm similar to human skin, fully evaluate its measurement signals and therefore increases Human Machine Interaction (HMI).}, author = {Bubeck, Wolfgang and Frick, Florian and Verl, Alexander}, booktitle = {ISR Europe}, eventdate = {June 20 - 21 2022}, isbn = {978-3-8007-5891-3}, pages = {174-179}, title = {Hardware-Accelerated Data Processing of Capacitive Sensor Arrays for Industrial and Service Robotic Applications}, url = {https://ieeexplore.ieee.org/document/9861814}, volume = 54, year = 2022 }
  Link
  https://ieeexplore.ieee.org/document/9861814
2. Dietrich, David ; Neubauer, Michael ; Lechler, Armin ; Verl, Alexander: Fehlerfreie Produktion durch flexibilisierte Prozesse/Error-free production through flexible manufacturing processes – Change of planning and error compensation in software-defined manufacturing. In: wt Werkstattstechnik online, wt Werkstattstechnik online. Bd. 112, VDI Fachmedien GmbH and Co. KG (2022), Nr. 05, S. 276--281
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  @article{Dietrich_2022, author = {Dietrich, David and Neubauer, Michael and Lechler, Armin and Verl, Alexander}, doi = {10.37544/1436-4980-2022-05-6}, journal = {wt Werkstattstechnik online}, number = 05, pages = {276--281}, publisher = {VDI Fachmedien GmbH and Co. KG}, title = {Fehlerfreie Produktion durch flexibilisierte Prozesse/Error-free production through flexible manufacturing processes {\textendash} Change of planning and error compensation in software-defined manufacturing}, url = {https://doi.org/10.37544%2F1436-4980-2022-05-6}, volume = 112, year = 2022 }
  Link
  https://doi.org/10.37544%2F1436-4980-2022-05-6
3. Elser, Anja ; Lechler, Armin ; Verl, Alexander: Implementation of Surface Interpolators for Compound Surfaces without C2-continuity. In: Procedia CIRP, Procedia CIRP. Bd. 109 : Elsevier BV, 2022, S. 19--24
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  @inproceedings{Elser_2022, author = {Elser, Anja and Lechler, Armin and Verl, Alexander}, doi = {10.1016/j.procir.2022.05.208}, journal = {Procedia {CIRP}}, pages = {19--24}, publisher = {Elsevier {BV}}, title = {Implementation of Surface Interpolators for Compound Surfaces without C2-continuity}, url = {https://doi.org/10.1016%2Fj.procir.2022.05.208}, volume = 109, year = 2022 }
  Link
  https://doi.org/10.1016%2Fj.procir.2022.05.208
4. 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 IEEE 27th International Conference on Emerging Technologies and Factory Automation (ETFA), 2022, S. 1–7
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  @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 }
5. Jaensch, Florian ; Klingel, Lars ; Verl, Alexander: Virtual Commissioning Simulation as OpenAI Gym - A Reinforcement Learning Environment for Control Systems. In: 2022 5th International Conference on Artificial Intelligence for Industries (AI4I), 2022 5th International Conference on Artificial Intelligence for Industries (AI4I), 2022, S. 64–67
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  @inproceedings{10123668, abstract = {Manual development of control systems’ software is time-consuming and error-prone. Thus, high costs are already incurred in this phase of mechatronic system development. Virtual prototypes have so far only been used for testing purposes, such as virtual commissioning, but not for the automated creation of the control. A good test environment can also be extended to a learning environment with appropriate trial and error based algorithms. This work shows an approach to extend an industrial software tool for virtual commissioning as a standardized OpenAI gym environment. Thereby, established reinforcement learning algorithms can be used more easily and a step towards an industrial application of self-learning control systems can be made. The goal of this work is to provide industry and research with a platform for easy entry into the field of reinforcement learning.}, author = {Jaensch, Florian and Klingel, Lars and Verl, Alexander}, booktitle = {2022 5th International Conference on Artificial Intelligence for Industries (AI4I)}, doi = {10.1109/AI4I54798.2022.00023}, issn = {2770-4718}, month = {09}, pages = {64-67}, title = {Virtual Commissioning Simulation as OpenAI Gym - A Reinforcement Learning Environment for Control Systems}, year = 2022 }
6. Jaensch, Florian ; Kübler, Karl ; Schwarz, Elmar ; Verl, Alexander: Test-Driven Reward Function for Reinforcement Learning: A Contribution towards Applicable Machine Learning Algorithms for Production Systems. In: Procedia CIRP, Procedia CIRP. Bd. 112 (2022), S. 103–108. — 15th CIRP Conference on Intelligent Computation in ManufacturingEngineering, 14-16 July 2021
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  @article{JAENSCH2022103, abstract = {Reinforcement Learning algorithms find more and more application in fields where complex tasks need to be solved. The automation of production systems is one of those fields. Normally, programming a control system defines the automation strategy. Previous contributions by the authors have shown that a so-called agent can learn automation strategies for production systems using a Reinforcement Learning setup. However, the development of the reward function for the agent can be challenging and needs Reinforcement Learning domain knowledge. This paper introduces a novel approach in combining Test-Driven Development with Reinforcement Learning in order to solve the problem of a suitable reward function. In the presented approach predefined test cases are used to derive rewards for the agent. The use of an automated test framework allows for continuous learning sequences until all test cases are passed. An application example of a robot cell is used to demonstrate the novel approach and verify its suitability and usability. The first application shows promising results for further examination towards more application scenarios.}, author = {Jaensch, Florian and Kübler, Karl and Schwarz, Elmar and Verl, Alexander}, doi = {https://doi.org/10.1016/j.procir.2022.09.043}, issn = {2212-8271}, journal = {Procedia CIRP}, note = {15th CIRP Conference on Intelligent Computation in ManufacturingEngineering, 14-16 July 2021}, pages = {103-108}, title = {Test-Driven Reward Function for Reinforcement Learning: A Contribution towards Applicable Machine Learning Algorithms for Production Systems}, url = {https://www.sciencedirect.com/science/article/pii/S2212827122011970}, volume = 112, year = 2022 }
  Link
  https://www.sciencedirect.com/science/article/pii/S2212827122011970
7. Jud, Oliver ; Helfesrieder, Nico ; Lechler, Armin ; Verl, Alexander: Vorspannungsnachstellung an Kugelgewindetrieben/Preload adjustment on ball screws – Methods for increasing service life due to automatic adjustment of preload force. In: wt Werkstattstechnik online, wt Werkstattstechnik online. Bd. 112, VDI Fachmedien GmbH and Co. KG (2022), Nr. 05, S. 282--287
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  @article{Jud_2022, author = {Jud, Oliver and Helfesrieder, Nico and Lechler, Armin and Verl, Alexander}, doi = {10.37544/1436-4980-2022-05-12}, journal = {wt Werkstattstechnik online}, month = {05}, number = 05, pages = {282--287}, publisher = {{VDI} Fachmedien {GmbH} and Co. {KG}}, title = {Vorspannungsnachstellung an Kugelgewindetrieben/Preload adjustment on ball screws {\textendash} Methods for increasing service life due to automatic adjustment of preload force}, url = {https://doi.org/10.37544%2F1436-4980-2022-05-12}, volume = 112, year = 2022 }
  Link
  https://doi.org/10.37544%2F1436-4980-2022-05-12
8. Jud, Oliver ; Lechler, Armin ; Verl, Alexander: Vorspannung adaptiv nachstellen. In: konstruktionspraxis, konstruktionspraxis., Vogel Communications Group GmbH & Co. KG (2022) (2022), Nr. 08, S. 32–33
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  @article{jud2022vorspannung, author = {Jud, Oliver and Lechler, Armin and Verl, Alexander}, journal = {konstruktionspraxis}, month = {08}, number = 08, pages = {32-33}, publisher = {Vogel Communications Group GmbH & Co. KG (2022)}, title = {Vorspannung adaptiv nachstellen}, url = {https://www.konstruktionspraxis.vogel.de/epaperarchiv/konstruktionspraxis_2022008/html5/index.html?pn=33}, year = 2022 }
  Link
  https://www.konstruktionspraxis.vogel.de/epaperarchiv/konstruktionspraxis_2022008/html5/index.html?pn=33
9. Kaiser, Benjamin ; Reichle, Alexander ; Verl, Alexander: Model-based automatic generation of digital twin models for the simulation of reconfigurable manufacturing systems for timber construction. In: Procedia CIRP, Procedia CIRP. Bd. 107 : Elsevier BV, 2022, S. 387--392
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  @inproceedings{Kaiser_2022, author = {Kaiser, Benjamin and Reichle, Alexander and Verl, Alexander}, doi = {10.1016/j.procir.2022.04.063}, journal = {Procedia {CIRP}}, pages = {387--392}, publisher = {Elsevier {BV}}, title = {Model-based automatic generation of digital twin models for the simulation of reconfigurable manufacturing systems for timber construction}, url = {https://doi.org/10.1016%2Fj.procir.2022.04.063}, volume = 107, year = 2022 }
  Link
  https://doi.org/10.1016%2Fj.procir.2022.04.063
10. Kaiser, Benjamin ; Wolf, Martin ; Verl, Alexander: Modular Control Architecture for Reconfigurable Fabrication Systems for Prefabrication in Construction. In: ISR Europe 2022; 54th International Symposium on Robotics, ISR Europe 2022; 54th International Symposium on Robotics, 2022, S. 1–7
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  @inproceedings{9861808, author = {Kaiser, Benjamin and Wolf, Martin and Verl, Alexander}, booktitle = {ISR Europe 2022; 54th International Symposium on Robotics}, pages = {1-7}, title = {Modular Control Architecture for Reconfigurable Fabrication Systems for Prefabrication in Construction}, year = 2022 }
11. Kienzlen, Annika ; Jaensch, Florian ; Verl, Alexander ; Cheng, Leo: Concept for a Reinforcement Learning Approach to Navigate Catheters Through Blood Vessels. In: 2022 28th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), 2022 28th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), 2022
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  @inproceedings{kienzlen2022concept, author = {Kienzlen, Annika and Jaensch, Florian and Verl, Alexander and Cheng, Leo}, booktitle = {2022 28th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)}, doi = {10.1109/M2VIP55626.2022.10041096}, eventdate = {16-18 Nov. 2022}, eventtitle = {2022 28th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)}, title = {Concept for a Reinforcement Learning Approach to Navigate Catheters Through Blood Vessels}, url = {https://doi.org/10.1109/M2VIP55626.2022.10041096}, year = 2022 }
  Link
  https://doi.org/10.1109/M2VIP55626.2022.10041096
12. Klingel, Lars ; Kamm, Valentin ; Verl, Alexander: Comparison and Application of Multi-Rate Methods for Real-Time Simulations of Production Systems. In: Proceedings of the 63rd International Conference of Scandinavian Simulation Society, Proceedings of the 63rd International Conference of Scandinavian Simulation Society, 2022
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  @inproceedings{klingel2022multirate, author = {Klingel, Lars and Kamm, Valentin and Verl, Alexander}, booktitle = {Proceedings of the 63rd International Conference of Scandinavian Simulation Society}, doi = {https://doi.org/10.3384/ecp192008}, month = {09}, title = {Comparison and Application of Multi-Rate Methods for Real-Time Simulations of Production Systems}, url = {https://ecp.ep.liu.se/index.php/sims/article/view/492}, year = 2022 }
  Link
  https://ecp.ep.liu.se/index.php/sims/article/view/492
13. Klingel, Lars ; Penter, Lars ; Mayer, Philip ; Ihlenfeldt, Steffen ; Verl, Alexander: Digital Twins in deep drawing for virtual tool commissioning and inline parameter optimization. In: . Bd. IOP Conference Series: Materials Science and Engineering, 2022
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  @conference{klingel2022digital, author = {Klingel, Lars and Penter, Lars and Mayer, Philip and Ihlenfeldt, Steffen and Verl, Alexander}, doi = {10.1088/1757-899X/1238/1/012072}, eventtitle = {International Deep-Drawing Research Group Conference (IDDRG 2022)}, title = {Digital Twins in deep drawing for virtual tool commissioning and inline parameter optimization}, url = {https://iopscience.iop.org/article/10.1088/1757-899X/1238/1/012072}, volume = {IOP Conference Series: Materials Science and Engineering}, year = 2022 }
  Link
  https://iopscience.iop.org/article/10.1088/1757-899X/1238/1/012072
14. Kovaleva, Daria ; Nistler, Maximilian ; Blandini, Lucio ; Sobek, Werner ; Verl, Alexander: Rezyklierbare Sandschalungen – Auf dem Weg zur Kreislaufproduktion leichter Betonbauteile. In: Beton- und Stahlbetonbau, Beton- und Stahlbetonbau. Bd. 117, Wiley (2022), Nr. 5, S. 333--342
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  @article{Kovaleva_2022, author = {Kovaleva, Daria and Nistler, Maximilian and Blandini, Lucio and Sobek, Werner and Verl, Alexander}, doi = {10.1002/best.202200009}, journal = {Beton- und Stahlbetonbau}, month = {04}, number = 5, pages = {333--342}, publisher = {Wiley}, title = {Rezyklierbare Sandschalungen {\textendash} Auf dem Weg zur Kreislaufproduktion leichter Betonbauteile}, url = {https://doi.org/10.1002%2Fbest.202200009}, volume = 117, year = 2022 }
  Link
  https://doi.org/10.1002%2Fbest.202200009
15. Kovaleva, Daria ; Nistler, Maximilian ; Verl, Alexander ; Blandini, Lucio ; Sobek, Werner: Zero-Waste Production of Lightweight Concrete Structures with Water-Soluble Sand Formwork. In: Buswell, R. ; Blanco, A. ; Cavalaro, S. ; Kinnell, P. (Hrsg.) ; Buswell, R. ; Blanco, A. ; Cavalaro, S. ; Kinnell, P. (Hrsg.): Proceedings of the 3rd RILEM International Conference on Digital Fabrication with Concrete (Digital Concrete 2022), Proceedings of the 3rd RILEM International Conference on Digital Fabrication with Concrete (Digital Concrete 2022). Cham : Springer International Publishing, 2022 — ISBN 978-3-031-06116-5, S. 3--8
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  @inproceedings{10.1007/978-3-031-06116-5_1, abstract = {In the face of climate change and resource crisis, the construction industry can contribute to sustainable economic development by reducing its material consumption, emissions and waste. The application of lightweight construction principles in combination with circular production processes offers a comprehensive approach to this problem. The newly developed zero-waste formwork production method, based on the additive manufacturing of water-soluble sand mixture, enables to produce geometrically complex concrete structures and to reuse formwork material repeatedly in production cycles. This paper demonstrates the potential of this method for the production of the topologically optimised concrete single-span beam with spatial lattice structure (Fig. 1). First, a brief overview of the method will be given, followed then by a description of the design and production of the concrete component under the consideration of production parameters.}, address = {Cham}, author = {Kovaleva, Daria and Nistler, Maximilian and Verl, Alexander and Blandini, Lucio and Sobek, Werner}, booktitle = {Proceedings of the 3rd RILEM International Conference on Digital Fabrication with Concrete (Digital Concrete 2022)}, editor = {Buswell, Richard and Blanco, Ana and Cavalaro, Sergio and Kinnell, Peter}, isbn = {978-3-031-06116-5}, pages = {3--8}, publisher = {Springer International Publishing}, title = {Zero-Waste Production of Lightweight Concrete Structures with Water-Soluble Sand Formwork}, year = 2022 }
16. Littfinski, Daniel ; Verl, Alexander: Virtual Reality in der Steuerungstechnik. In: KG, V. F. G. & Co. (Hrsg.) wt Werkstattstechnik online, wt Werkstattstechnik online. Bd. 112 (2022), Nr. 09, S. 552–558
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  @article{littfinski2022virtual, author = {Littfinski, Daniel and Verl, Alexander}, doi = {doi.org/10.37544/1436-4980-2022-09}, editor = {KG, VDI Fachmedien GmbH & Co.}, journal = {wt Werkstattstechnik online}, month = {09}, number = 09, pages = {552-558}, title = {Virtual Reality in der Steuerungstechnik}, volume = 112, year = 2022 }
17. Lässig, Nico ; Herschel, Melanie ; Reichle, Alexander ; Ellwein, Carsten ; Verl, Alexander: The ArchIBALD Data Integration Platform: Bridging Fragmented Processes in the Building Industry. In: De Weerdt, J. ; Polyvyanyy, A. (Hrsg.) ; De Weerdt, J. ; Polyvyanyy, A. (Hrsg.): Intelligent Information Systems, Intelligent Information Systems : Springer International Publishing, 2022 — ISBN 978-3-031-07481-3, S. 45--54
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  @inproceedings{10.1007/978-3-031-07481-3_6, author = {L{\"a}ssig, Nico and Herschel, Melanie and Reichle, Alexander and Ellwein, Carsten and Verl, Alexander}, booktitle = {Intelligent Information Systems}, editor = {De Weerdt, Jochen and Polyvyanyy, Artem}, isbn = {978-3-031-07481-3}, pages = {45--54}, publisher = {Springer International Publishing}, title = {The ArchIBALD Data Integration Platform: Bridging Fragmented Processes in the Building Industry}, year = 2022 }
18. Mesmer, Patrick ; Hinze, Christoph ; Lechler, Armin ; Verl, Alexander: Gain-Scheduled Drive-based Damping Control for Industrial Robots. In: 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2022, S. 1706–1713
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  @inproceedings{9863417, abstract = {The drivetrain flexibility of industrial robots limits their accuracy. To open up new areas of application for industrial robots, an increased dynamic path accuracy has to be obtained. Therefore, this paper addresses this issue by a gain-scheduled drive-based damping control for industrial robots with secondary encoders. For this purpose, a linear parameter-varying (LPV) model is derived as well as a system identification method is presented. Based on this, a gain-scheduled drive-based LPV damping control design is proposed, which guarantees stability and performance under variation of the manipulator configuration. The control performance of the approach is experimentally validated for the three base joints of a KUKA KR210-2 industrial robot. The approach realizes a trade-off between ease of implementation and control performance as well as robustness.}, author = {Mesmer, Patrick and Hinze, Christoph and Lechler, Armin and Verl, Alexander}, booktitle = {2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)}, doi = {10.1109/AIM52237.2022.9863417}, issn = {2159-6255}, month = {07}, pages = {1706-1713}, title = {Gain-Scheduled Drive-based Damping Control for Industrial Robots}, year = 2022 }
19. Mesmer, Patrick ; Lechler, Armin ; Verl, Alexander: Genauigkeit von Robotern steigern. In: INDUSTRIAL Production, INDUSTRIAL Production. Bd. 11/2022 (2022), S. 46–47
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  @article{mesmer2022genauigkeit, author = {Mesmer, Patrick and Lechler, Armin and Verl, Alexander}, journal = {INDUSTRIAL Production}, pages = {46-47}, title = {Genauigkeit von Robotern steigern}, volume = {11/2022}, year = 2022 }
20. Mesmer, Patrick ; Lechler, Armin ; Verl, Alexander: Sensorlose Hysteresekompensation von Industrierobotern. In: GmbH, V. F. (Hrsg.) antriebstechnik, antriebstechnik. Bd. 08/2022 (2022), S. 40–42
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  @article{mesmer2022sensorlose, author = {Mesmer, Patrick and Lechler, Armin and Verl, Alexander}, editor = {GmbH, Vereinigte Fachverlage}, journal = {antriebstechnik}, month = {08}, pages = {40-42}, title = {Sensorlose Hysteresekompensation von Industrierobotern}, volume = {08/2022}, year = 2022 }
21. Mesmer, Patrick ; Nagel, Patrick ; Lechler, Armin ; Verl, Alexander: Modeling and Identification of Hysteresis in Robot Joints with Cycloidal Drives. In: 2022 IEEE 17th International Conference on Advanced Motion Control (AMC), 2022 IEEE 17th International Conference on Advanced Motion Control (AMC), 2022, S. 358–363
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  @inproceedings{9729274, abstract = {Cycloidal drives (CDs) are precision transmissions that are often installed in the joints of industrial robots (IRs) with high payloads. It is well known that the hysteresis behavior of the CDs has a significant influence on the dynamic path accuracy of IRs. In contrast to harmonic drives (HDs), which are commonly used in lightweight robots, less literature has been published on the dynamic behavior of robot joints with CDs. Thus, this paper investigates the hysteresis behavior of robot joints with CDs. For the representation of the hysteresis behavior, a nonlinear auto-regressive with exogenous inputs (NARX) model is proposed and compared to a Bouc-Wen model. Both, the data-driven NARX and the Bouc-Wen model are investigated experimentally in terms of their capability for representing the hysteresis behavior of CDs. The quality of the models is validated using a laboratory setup that mimics the drivetrain of a robot joint of the high payload class.}, author = {Mesmer, Patrick and Nagel, Patrick and Lechler, Armin and Verl, Alexander}, booktitle = {2022 IEEE 17th International Conference on Advanced Motion Control (AMC)}, doi = {10.1109/AMC51637.2022.9729274}, issn = {1943-6580}, month = {02}, pages = {358-363}, title = {Modeling and Identification of Hysteresis in Robot Joints with Cycloidal Drives}, year = 2022 }
22. Mesmer, Patrick ; Neubauer, Michael ; Lechler, Armin ; Verl, Alexander: Robust design of independent joint control of industrial robots with secondary encoders. In: Robotics and Computer-Integrated Manufacturing, Robotics and Computer-Integrated Manufacturing. Bd. 73, Elsevier BV (2022), S. 102232
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  @article{Mesmer_2022, author = {Mesmer, Patrick and Neubauer, Michael and Lechler, Armin and Verl, Alexander}, doi = {10.1016/j.rcim.2021.102232}, journal = {Robotics and Computer-Integrated Manufacturing}, month = {02}, pages = 102232, publisher = {Elsevier {BV}}, title = {Robust design of independent joint control of industrial robots with secondary encoders}, url = {https://doi.org/10.1016%2Fj.rcim.2021.102232}, volume = 73, year = 2022 }
  Link
  https://doi.org/10.1016%2Fj.rcim.2021.102232
23. Mesmer, Patrick ; Riedel, Patrick ; Lechler, Armin ; Verl, Alexander: Investigation and Compensation of Hysteresis in Robot Joints with Cycloidal Drives. In: Schüppstuhl, T. ; Tracht, K. ; Fleischer, J. (Hrsg.) ; Schüppstuhl, T. ; Tracht, K. ; Fleischer, J. (Hrsg.): Annals of Scientific Society for Assembly, Handling and Industrial Robotics, Annals of Scientific Society for Assembly, Handling and Industrial Robotics. Berlin, Heidelberg : Springer Berlin Heidelberg, 2022, S. angenommen, noch nicht veröffentlicht
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  @inproceedings{mesmer2023investigation, address = {Berlin, Heidelberg}, author = {Mesmer, Patrick and Riedel, Patrick and Lechler, Armin and Verl, Alexander}, booktitle = {Annals of Scientific Society for Assembly, Handling and Industrial Robotics}, editor = {Sch{\"u}ppstuhl, Thorsten and Tracht, Kirsten and Fleischer, J{\"u}rgen}, pages = {angenommen, noch nicht veröffentlicht}, publisher = {Springer Berlin Heidelberg}, title = {Investigation and Compensation of Hysteresis in Robot Joints with Cycloidal Drives}, year = 2022 }
24. Neher, Philipp ; Lechler, Armin ; Verl, Alexander: Experimental Evaluation of the Deterministic Wireless Communication System Industrial LTE. In: 2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE), 2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE) : Institute of Electrical and Electronics Engineers Inc., 2022 — ISBN 9781665483773, S. 157–162
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  @inproceedings{9734108, abstract = {The demand for highly customized products will be met in the future by smart and flexible factories. Future factories will rise to this challenge by employing stationary and mobile Cyber Physical Systems (CPS) which need to exchange various information. With mobile systems, this should be done wirelessly. This paper evaluates a previously proposed concept for a deterministic wireless communication system based on LTE. The concept combines LTE for data transmission with GPS for time synchronization and a time-based control scheme to enable a deterministic exchange of control information. To conduct experimental evaluation, an implementation of the concept is necessary. A prototypical implementation using off-the-shelf hardware and custom software is presented. Using two exemplary test cases, the concept and implementation are evaluated with regard to the overall system latency and the quality of the time synchronization of the internal clocks. The level of synchronicity of coordinated output values after transmitting the corresponding set-point values over the communication system is evaluated in another exemplary test case using a total of three communication end devices. With a measured maximum offset of 814 &#x00B5;s between the synchronized output of two receivers, the concept and implementation stand validated and deemed feasible.}, author = {Neher, Philipp and Lechler, Armin and Verl, Alexander}, booktitle = {2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE)}, doi = {10.1109/ICMRE54455.2022.9734108}, eventdate = {10.02.2022-12.02.2022}, isbn = {9781665483773}, language = {English}, month = {02}, pages = {157-162}, publisher = {Institute of Electrical and Electronics Engineers Inc.}, title = {Experimental Evaluation of the Deterministic Wireless Communication System Industrial LTE}, url = {http://icmre.org/}, venue = {Virtual, Munich, Germany}, year = 2022 }
  Link
  http://icmre.org/
25. Neher, Philipp ; Lechler, Armin ; Verl, Alexander: Identification and Classification of the Communication Data of Automated Guided Vehicles and Autonomous Mobile Robots. In: 2022 8th International Conference on Automation, Robotics and Applications (ICARA), 2022 8th International Conference on Automation, Robotics and Applications (ICARA) : Institute of Electrical and Electronics Engineers Inc., 2022 — ISBN 9781665483834, S. 68–75
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  @inproceedings{9738572, abstract = {Automated guided vehicles and autonomous mobile robots will be a key technology in the factories of the future. They supply the necessary flexibility for smart factories which produce individualized products with lot sizes down to one. With the increased number of tasks for automated guided vehicles, the requirements for their wireless communication systems become more demanding and current solutions won&#x2019;t be sufficient anymore. To efficiently develop, configure and setup communication systems, the knowledge about what type of information is communicated and what are the characteristics of the information communicated is necessary. This work identifies most relevant types of information in an automated guided vehicle system based on a set of use-cases. For each identified information type, an estimate for the communication properties (payload size, cycle-time and latency) is given. The information types are then classified into traffic types for further use to design a wireless communication system.}, author = {Neher, Philipp and Lechler, Armin and Verl, Alexander}, booktitle = {2022 8th International Conference on Automation, Robotics and Applications (ICARA)}, doi = {10.1109/ICARA55094.2022.9738572}, eventdate = {18.02.2022-20.02.2022}, isbn = {9781665483834}, issn = {2767-7745}, language = {en}, month = {02}, pages = {68-75}, publisher = {Institute of Electrical and Electronics Engineers Inc.}, title = {Identification and Classification of the Communication Data of Automated Guided Vehicles and Autonomous Mobile Robots}, url = {http://www.icara.us/2022.html}, venue = {Virtual, Online, Czech republic}, year = 2022 }
  Link
  http://www.icara.us/2022.html
26. Neubauer, Michael ; Frick, Florian ; Ellwein, Carsten ; Lechler, Armin ; Verl, Alexander: Software-defined Manufacturing - Ein Paradigmenwechsel für die industrielle Produktion. In: wt Werkstatttechnik online, wt Werkstatttechnik online. Bd. 112 (2022), Nr. 6, S. 383–389
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  @article{neubauer2022softwaredefined, abstract = {Software-defined manufacturing (SDM) überträgt den Ansatz der Trennung von Anwendungen und unterlagerten Systemen, welcher ein entscheidendes Paradigma und Erfolgsfaktor für die Digitalisierung in vielen Branchen ist, auf die industrielle Produktion. Neben einer gesteigerten Integration von IT und OT können so die Produktionsprozesse einer gesamten Fabrik dynamisch durch Software anpasst werden. Ziel dieses Beitrags ist es, den SDM-Ansatz und die zur Umsetzung notwendigen Konzepte hinsichtlich technologischer Infrastruktur und Abstraktionsschicht vorzustellen. Anhand von zwei Use Cases werden die sich daraus ergebenden Potenziale aufgezeigt.}, author = {Neubauer, Michael and Frick, Florian and Ellwein, Carsten and Lechler, Armin and Verl, Alexander}, doi = {10.37544/1436–4980–2022–6–33}, journal = {wt Werkstatttechnik online}, month = {06}, number = 6, pages = {383-389}, title = {Software-defined Manufacturing - Ein Paradigmenwechsel für die industrielle Produktion}, volume = 112, year = 2022 }
27. Nistler, Maximilian ; Kovaleva, Daria ; Tepper, Louis ; Blandini, Lucio ; Sobek, Werner ; Verl, Alexander: Camera-based Process Monitoring for Powder Bed Additive Manufacturing in Construction. In: Procedia CIRP, Procedia CIRP. Bd. 107 : Elsevier BV, 2022, S. 534--539
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  @inproceedings{Nistler_2022, author = {Nistler, Maximilian and Kovaleva, Daria and Tepper, Louis and Blandini, Lucio and Sobek, Werner and Verl, Alexander}, doi = {10.1016/j.procir.2022.05.021}, journal = {Procedia {CIRP}}, pages = {534--539}, publisher = {Elsevier {BV}}, title = {Camera-based Process Monitoring for Powder Bed Additive Manufacturing in Construction}, url = {https://doi.org/10.1016%2Fj.procir.2022.05.021}, volume = 107, year = 2022 }
  Link
  https://doi.org/10.1016%2Fj.procir.2022.05.021
28. Reichenbach, Thomas ; Trautwein, Felix ; Pott, Andreas ; Verl, Alexander: Parallele Seilroboter: Endlose Rotation durch Hybridstruktur. In: Bertram, T. ; Corves, B. ; Janschek, K. ; Rinderknecht, S. (Hrsg.) Fachtagung VDI MECHATRONIK 2022, Fachtagung VDI MECHATRONIK 2022. (2022)
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  @article{https://doi.org/10.26083/tuprints-00020963, author = {Reichenbach, Thomas and Trautwein, Felix and Pott, Andreas and Verl, Alexander}, copyright = {Creative Commons Attribution 4.0 International}, doi = {10.26083/TUPRINTS-00020963}, editor = {Bertram, Torsten and Corves, Burkhard and Janschek, Klaus and Rinderknecht, Stephan}, journal = {Fachtagung VDI MECHATRONIK 2022}, title = {Parallele Seilroboter: Endlose Rotation durch Hybridstruktur}, url = {https://tuprints.ulb.tu-darmstadt.de/id/eprint/20963}, year = 2022 }
  Link
  https://tuprints.ulb.tu-darmstadt.de/id/eprint/20963
29. Reichle, Alexander ; Ellwein, Carsten ; Verl, Alexander: Adaptive CAM planning to support co-design in the building industry. In: Anwer, N. (Hrsg.) ; Anwer, N. (Hrsg.): Procedia CIRP, Procedia CIRP. Bd. 109. Elsevier BV, 2022, S. 78–83
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  @inproceedings{reichle2022adaptive, address = {Elsevier {BV}}, author = {Reichle, Alexander and Ellwein, Carsten and Verl, Alexander}, doi = {10.1016/j.procir.2022.05.217}, editor = {Anwer, Nabil}, journal = {Procedia {CIRP}}, pages = {78-83}, title = {Adaptive CAM planning to support co-design in the building industry}, url = {https://doi.org/10.1016/j.procir.2022.05.217}, volume = 109, year = 2022 }
  Link
  https://doi.org/10.1016/j.procir.2022.05.217
30. Schmucker, Benedikt ; Trautwein, Felix ; Hartl, Roman ; Lechler, Armin ; Zaeh, Michael F. ; Verl, Alexander: Online Parameterization of a Milling Force Model using an Intelligent System Architecture and Bayesian Optimization. In: Procedia CIRP, Procedia CIRP. Bd. 107, Elsevier BV (2022), S. 1041--1046
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  @article{Schmucker_2022, author = {Schmucker, Benedikt and Trautwein, Felix and Hartl, Roman and Lechler, Armin and Zaeh, Michael F. and Verl, Alexander}, doi = {10.1016/j.procir.2022.05.105}, journal = {Procedia {CIRP}}, pages = {1041--1046}, publisher = {Elsevier {BV}}, title = {Online Parameterization of a Milling Force Model using an Intelligent System Architecture and Bayesian Optimization}, url = {https://doi.org/10.1016%2Fj.procir.2022.05.105}, volume = 107, year = 2022 }
  Link
  https://doi.org/10.1016%2Fj.procir.2022.05.105
31. Schulte, Alexander ; Lechler, Armin ; Verl, Alexander: Impact Actuator for Increased Dynamics. In: IECON 2022 – 48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022 – 48th Annual Conference of the IEEE Industrial Electronics Society, 2022, S. 1–6
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  @inproceedings{9968593, abstract = {This article investigates the use of impuls transfer during mechanical impacts for the acceleration of feed axes. For this purpose, additional masses are attached to linear axes and moved by an actuator. Very high accelerations can be obtained by impacts with a defined velocity on contact surfaces. Thus, almost abrupt velocity changes can be achieved on the main drives. To enable driving through corners with constant path velocity, the concept consists of a cross table with two axis equiped with an impact actuator each. Investigations are carried out by using a reference contour and the results are compared with existing strategies for adjusting the corners.}, author = {Schulte, Alexander and Lechler, Armin and Verl, Alexander}, booktitle = {IECON 2022 – 48th Annual Conference of the IEEE Industrial Electronics Society}, doi = {10.1109/IECON49645.2022.9968593}, issn = {2577-1647}, month = {10}, pages = {1-6}, title = {Impact Actuator for Increased Dynamics}, year = 2022 }
32. Schütz, Andreas ; Lechler, Armin ; Verl, Alexander: Modelling for Control of Vacuum Grippers in automatically reconfigurable Fixturing Systems for thin-walled Workpieces. In: Procedia CIRP, Procedia CIRP. Bd. 115 (2022), S. 226–231
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  @article{noauthororeditor, author = {Schütz, Andreas and Lechler, Armin and Verl, Alexander}, doi = {10.1016/j.procir.2022.10.078}, journal = {Procedia CIRP}, pages = {226-231}, title = {Modelling for Control of Vacuum Grippers in automatically reconfigurable Fixturing Systems for thin-walled Workpieces}, url = {https://www.sciencedirect.com/science/article/pii/S221282712201513X}, volume = 115, year = 2022 }
  Link
  https://www.sciencedirect.com/science/article/pii/S221282712201513X
33. Verl, Alexander ; Steinle, Lukas: Adaptive compensation of the transmission errors in rack-and-pinion drives. In: Technology, C. A. M. (Hrsg.) CIRP Annals, CIRP Annals. Bd. 71, Elsevier BV (2022), Nr. 1, S. 345--348
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  @article{Verl_2022, author = {Verl, Alexander and Steinle, Lukas}, doi = {10.1016/j.cirp.2022.03.026}, editor = {Technology, CIRP Annals Manufacturing}, journal = {{CIRP} Annals}, number = 1, pages = {345--348}, publisher = {Elsevier {BV}}, title = {Adaptive compensation of the transmission errors in rack-and-pinion drives}, url = {https://doi.org/10.1016%2Fj.cirp.2022.03.026}, volume = 71, year = 2022 }
  Link
  https://doi.org/10.1016%2Fj.cirp.2022.03.026
34. von Bergen, Timm ; Hert, Christian ; Röck, Sascha ; Klingel, Lars ; Jaensch, Florian ; Verl, Alexander: Simulationsgestützter Betrieb von Indoor-Flugrobotern. In: wt Werkstattstechnik online, wt Werkstattstechnik online. Bd. 112, VDI Fachmedien GmbH and Co. KG (2022), Nr. 05, S. 309–313
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  @article{vonbergen2022simulationsgesttzter, author = {von Bergen, Timm and Hert, Christian and Röck, Sascha and Klingel, Lars and Jaensch, Florian and Verl, Alexander}, doi = {doi.org/10.37544/1436-4980-2022-05}, journal = {wt Werkstattstechnik online}, number = 05, pages = {309-313}, publisher = {VDI Fachmedien GmbH and Co. KG}, title = {Simulationsgestützter Betrieb von Indoor-Flugrobotern}, url = {https://elibrary.vdi-verlag.de/10.37544/1436-4980-2022-05/wt-werkstattstechnik-online-jahrgang-112-2022-heft-05}, volume = 112, year = 2022 }
  Link
  https://elibrary.vdi-verlag.de/10.37544/1436-4980-2022-05/wt-werkstattstechnik-online-jahrgang-112-2022-heft-05
35. Wulle, Frederik ; Gorke, Oliver ; Schmidt, Sarah ; Nistler, Maximilian ; Tovar, Günter E.M. ; Riedel, Oliver ; Verl, Alexander ; Weber, Achim ; u. a.: Multi-axis 3D printing of gelatin methacryloyl hydrogels on a non-planar surface obtained from magnetic resonance imaging. In: Additive Manufacturing, Additive Manufacturing. Bd. 50, Elsevier BV (2022), S. 102566
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  @article{Wulle_2022, author = {Wulle, Frederik and Gorke, Oliver and Schmidt, Sarah and Nistler, Maximilian and Tovar, Günter E.M. and Riedel, Oliver and Verl, Alexander and Weber, Achim and Southan, Alexander}, doi = {10.1016/j.addma.2021.102566}, journal = {Additive Manufacturing}, month = {02}, pages = 102566, publisher = {Elsevier {BV}}, title = {Multi-axis 3D printing of gelatin methacryloyl hydrogels on a non-planar surface obtained from magnetic resonance imaging}, url = {https://doi.org/10.1016%2Fj.addma.2021.102566}, volume = 50, year = 2022 }
  Link
  https://doi.org/10.1016%2Fj.addma.2021.102566
36. Zürn, Manuel ; Wnuk, Markus ; Lechler, Armin ; Verl, Alexander: Software Architecture For Deformable Linear Object Manipulation: A Shape Manipulation Case Study. In: 2022 IEEE/ACM 4th International Workshop on Robotics Software Engineering (RoSE), 2022 IEEE/ACM 4th International Workshop on Robotics Software Engineering (RoSE), 2022, S. 9–16
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  @inproceedings{9814824, author = {Zürn, Manuel and Wnuk, Markus and Lechler, Armin and Verl, Alexander}, booktitle = {2022 IEEE/ACM 4th International Workshop on Robotics Software Engineering (RoSE)}, doi = {10.1145/3526071.3527520}, pages = {9-16}, title = {Software Architecture For Deformable Linear Object Manipulation: A Shape Manipulation Case Study}, year = 2022 }
37. Zürn, Manuel ; Wnuk, Markus ; Schneider, Anja ; Lechler, Armin ; Verl, Alexander: Localization and Tracking of Deformable Linear Objects with Self Organizing Maps. In: Proceedings of the 54th International Symposium on Robotics (ISR), Proceedings of the 54th International Symposium on Robotics (ISR), 2022, S. 17–25
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  @inproceedings{zurn2022localization, author = {Zürn, Manuel and Wnuk, Markus and Schneider, Anja and Lechler, Armin and Verl, Alexander}, booktitle = {Proceedings of the 54th International Symposium on Robotics (ISR)}, pages = {17-25}, title = {Localization and Tracking of Deformable Linear Objects with Self Organizing Maps}, year = 2022 }
2021
1. Brenner, Felix ; Lechler, Armin ; Verl, Alexander: Acceleration-based disturbance compensation for elastic rack-and-pinion drives. In: Production Engineering - Research and Development, Production Engineering - Research and Development. (2021)
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  @article{Brenner2021, abstract = {Rack-and-pinion drives are mainly used for large machine tools and are often operated with indirect position control. Due to the lack of state information on the output side, this results in reduced accuracy regarding the table position. In addition, the system can only react inadequately to disturbances outside the control loop, meaning that often insufficient results can be achieved in typical application scenarios such as milling. To meet the increasing dynamic and accuracy requirements of the modern manufacturing industry, this paper presents a highly dynamic acceleration-based disturbance compensation method. For this purpose, the table acceleration is estimated using a dynamical model of the drive train and compared to the signal from an additional acceleration sensor attached to the machine table. Based on the resulting difference, an additional compensation torque is provided, which suppresses the disturbance in counterphase. The approach is tested experimentally on an open control platform with industrial drive components and the behavior is investigated based on compliance frequency responses and externally applied milling forces. At the same time, a standardized parametrization methodology is developed and the robustness is evaluated by varying table masses. In summary, a considerable improvement of the dynamic disturbance behavior can be achieved compared to the conventional system without compensator.}, author = {Brenner, Felix and Lechler, Armin and Verl, Alexander}, day = 19, doi = {10.1007/s11740-021-01068-w}, issn = {1863-7353}, journal = {Production Engineering - Research and Development}, month = {07}, title = {Acceleration-based disturbance compensation for elastic rack-and-pinion drives}, url = {https://doi.org/10.1007/s11740-021-01068-w}, year = 2021 }
  Link
  https://doi.org/10.1007/s11740-021-01068-w
2. Brenner, Felix ; Lechler, Armin ; Verl, Alexander: Störgrößenkompensation für Vorschubantriebe. In: vdi fachmedien (Hrsg.) wt Werkstattstechnik online, wt Werkstattstechnik online. Bd. 111 (2021), Nr. 1, S. 82–87
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  @article{noauthororeditor, abstract = {Zahnstange-Ritzel-Antriebe werden überwiegend bei großen Werkzeugmaschinen eingesetzt und häufig mit indirekter Lageregelung betrieben. Hieraus resultiert eine geringe Positioniergenauigkeit und ein unzureichendes dynamisches Nachgiebigkeitsverhalten. Um den hohen Genauigkeitsanforderungen moderner Werkzeugmaschinen gerecht zu werden, wird in diesem Beitrag eine beschleunigungsbasierte Störgrößenkompensation vorgestellt. Experimentelle Ergebnisse belegen eine Verbesserung des Störverhaltens}, author = {Brenner, Felix and Lechler, Armin and Verl, Alexander}, editor = {vdi fachmedien}, journal = {wt Werkstattstechnik online}, number = 1, pages = {82-87}, title = {Störgrößenkompensation für Vorschubantriebe}, volume = 111, year = 2021 }
3. 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, Software and Systems Modeling., Springer (2021), S. 1--31
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  @article{casalaro2021model, author = {Casalaro, Giuseppina Lucia and Cattivera, Giulio and Ciccozzi, Federico and Malavolta, Ivano and Wortmann, Andreas and Pelliccione, Patrizio}, doi = {10.1007/s10270-021-00908-8}, journal = {Software and Systems Modeling}, pages = {1--31}, publisher = {Springer}, title = {Model-driven engineering for mobile robotic systems: a systematic mapping study}, url = {https://link.springer.com/article/10.1007/s10270-021-00908-8}, year = 2021 }
  Link
  https://link.springer.com/article/10.1007/s10270-021-00908-8
4. Ellwein, Carsten ; Reichle, Alexander ; Herschel, Melanie ; Verl, Alexander: Integrative data processing for cyber-physical off-site and on-site construction promoting co-design. In: Procedia CIRP, Procedia CIRP. Bd. 100 (2021), S. 451–456. — 31st CIRP Design Conference 2021 (CIRP Design 2021)
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  @article{ELLWEIN2021451, abstract = {The term co-design describes a collaborative design process, usually across the boundaries of individual areas. A major aspect, and often an obstacle in the implementation of the co-design approach, is the establishment of a centralized data management system. In the past, the data management concept has been approached from different perspectives. Current approaches usually are oriented along the process chain and thus reflect a unidirectional flow of information. Neither the information feedback nor the reaction to adjustments in upstream model steps is supported, which makes continuous collaboration more difficult and at best reduces the co-design approach for continuous data usage. This paper addresses these weaknesses while outlining an integrative data processing concept enabling co-design between the domains of construction and industrial prefabrication. Geometrical information generated during architectural design and construction planning is reused for the production of components, manufacturing-related design adjustments are transferred back into the domain of construction. Changes throughout the entire process are centrally recorded. To ensure independence from the software tools used and to consider their great diversity, data exchange is largely based on standards, namely industry foundation classes and the standard for the exchange of product model data. In order to counteract the sequential processing according to a waterfall model and to support the co-design approach, the industrial prefabrication toolchain, consisting of computer-aided manufacturing software and downstream postprocessors, is largely automated, so that reprocessing of a workpiece for minor geometric adjustments no longer requires any interaction of the production planner.}, author = {Ellwein, Carsten and Reichle, Alexander and Herschel, Melanie and Verl, Alexander}, doi = {https://doi.org/10.1016/j.procir.2021.05.103}, issn = {2212-8271}, journal = {Procedia CIRP}, note = {31st CIRP Design Conference 2021 (CIRP Design 2021)}, pages = {451-456}, title = {Integrative data processing for cyber-physical off-site and on-site construction promoting co-design}, url = {https://www.sciencedirect.com/science/article/pii/S2212827121005746}, volume = 100, year = 2021 }
  Link
  https://www.sciencedirect.com/science/article/pii/S2212827121005746
5. Fischer, Marc ; Riedel, Oliver ; Lechler, Armin ; Verl, Alexander: Arithmetic Coding for Floating-Point Numbers. In: 2021 IEEE Conference on Dependable and Secure Computing (DSC), 2021 IEEE Conference on Dependable and Secure Computing (DSC), 2021, S. 01–08
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  @inproceedings{9346236, author = {Fischer, Marc and Riedel, Oliver and Lechler, Armin and Verl, Alexander}, booktitle = {2021 IEEE Conference on Dependable and Secure Computing (DSC)}, doi = {10.1109/DSC49826.2021.9346236}, pages = {01-08}, title = {Arithmetic Coding for Floating-Point Numbers}, url = {https://ieeexplore.ieee.org/document/9346236}, year = 2021 }
  Link
  https://ieeexplore.ieee.org/document/9346236
6. Fur, Shan ; Riedel, Oliver ; Verl, Alexander: Hybrid Commissioning of Production Plants. In: 2021 26th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA ), 2021 26th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA ), 2021, S. 1–6
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  BibTeX
  @inproceedings{9613256, abstract = {For the commissioning of production plants, the virtual commissioning (VCOM) method has proven to accelerate the overall commissioning time by increasing the software quality of the plant controller. VCOM is carried out in advance of the commissioning of the real plant, using a simulated plant. However, the hard transition from the simulated to the real plant proves to be problematic if components of the real plant are not available. In these cases the hybrid commissioning (HCOM) method, a hardware-in-the-loop (HIL) simulation setup including both real and simulated components, is desirable. In this article, the disadvantages of a hard transition of VCOM, the concept of the HCOM and it's benefits for commissioning production plants are explained and discussed. Also, an evaluation of an implementation is briefly presented.}, author = {Fur, Shan and Riedel, Oliver and Verl, Alexander}, booktitle = {2021 26th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA )}, doi = {10.1109/ETFA45728.2021.9613256}, month = {09}, pages = {1-6}, title = {Hybrid Commissioning of Production Plants}, year = 2021 }
7. Heiland, Stefan ; Klingel, Lars ; Penter, Lars ; Jaensch, Florian ; Schenke, Christer ; Ihlenfeldt, Steffen ; Verl, Alexander: Virtual Tool Commissioning using LS-DYNA Functional Mock-up Interface. In: , 2021
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  @conference{heiland2021virtual, author = {Heiland, Stefan and Klingel, Lars and Penter, Lars and Jaensch, Florian and Schenke, Christer and Ihlenfeldt, Steffen and Verl, Alexander}, eventdate = {2021}, eventtitle = {13th European LS-DYNA Conference 2021, Ulm, Germany}, title = {Virtual Tool Commissioning using LS-DYNA Functional Mock-up Interface}, url = {https://www.dynalook.com/conferences/13th-european-ls-dyna-conference-2021/simulation-methods/heiland_tu_dresden.pdf}, year = 2021 }
  Link
  https://www.dynalook.com/conferences/13th-european-ls-dyna-conference-2021/simulation-methods/heiland_tu_dresden.pdf
8. Helfesrieder, Nico ; Lechler, Armin ; Verl, Alexander: Strukturoptimierte Maschinenkomponenten mit hoher Dämpfung. In: Antriebstechnik, Antriebstechnik. Bd. 3/2021 (2021), Nr. 3, S. 40--43
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  @article{Helfesrieder.2021, author = {Helfesrieder, Nico and Lechler, Armin and Verl, Alexander}, issn = {0722-8546}, journal = {Antriebstechnik}, number = 3, pages = {40--43}, title = {Strukturoptimierte Maschinenkomponenten mit hoher Dämpfung}, url = {http://digital.antriebstechnik.de/antriebstechnik-3-2020/65318893/40}, volume = {3/2021}, year = 2021 }
  Link
  http://digital.antriebstechnik.de/antriebstechnik-3-2020/65318893/40
9. Helfesrieder, Nico ; Neubauer, Michael ; Lechler, Armin ; Verl, Alexander: Hybrid manufacturing of topology optimized machine tool parts through a layer laminated manufacturing method: Practical validation using the example of a bearing block. In: Production Engineering Research and Development, Production Engineering Research and Development. (2021)
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  @article{Helfesrieder.2021b, abstract = {Load-oriented lightweight structures are commonly designed based on topology optimization. For machine tool parts, they enable the reduction of moving masses and therefore increase the resource and energy efficiency of production systems. However, this usually results in complex part structures that are difficult or impossible to produce using conventional manufacturing methods. In this paper, a hybrid layer laminated manufacturing (LLM) method is proposed enabling manufacturing of topology-optimized machine tool parts. The method is referred to as hybrid, as the subtractive structuring of metal sheets is combined with the additive joining of the sheets by adhesive bonding. This enables enclosed inner cavities without support structures, which are used to approximate the optimal density distribution from a topology optimization via manufacturing. The proposed LLM method is validated on the basis of a bearing block of a ball screw feed drive. A experimental study in the time and frequency domain on a test rig confirms the principle suitability of the LLM method for the production of industrial applicable lightweight components.}, author = {Helfesrieder, Nico and Neubauer, Michael and Lechler, Armin and Verl, Alexander}, doi = {10.1007/s11740-021-01095-7}, file = {Helfesrieder, Neubauer et al. 2021 - Hybrid manufacturing of topology optimized:Attachments/Helfesrieder, Neubauer et al. 2021 - Hybrid manufacturing of topology optimized.pdf:application/pdf}, issn = {0944-6524}, journal = { Production Engineering Research and Development}, month = {12}, title = {Hybrid manufacturing of topology optimized machine tool parts through a layer laminated manufacturing method: Practical validation using the example of a bearing block}, url = {https://doi.org/10.1007/s11740-021-01095-7}, year = 2021 }
  Link
  https://doi.org/10.1007/s11740-021-01095-7
10. Jaensch, Florian ; Steidle, Adrian ; Verl, Alexander: Curriculum Multi-Stage Reinforcement Learning for Automated Interlinked Production Systems on Virtual Commissioning Simulations. In: 2021 Third International Conference on Transdisciplinary AI (TransAI), 2021 Third International Conference on Transdisciplinary AI (TransAI), 2021, S. 129–136
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  BibTeX
  @inproceedings{9565636, abstract = {In order to automate the software engineering process of interlinked production systems, reinforcement learning applications can be used to learn the control flow logic on the basis of virtual production systems. Since the simulation- based prototypes are available for virtual commissioning (VC) anyway, they can be used simultaneously as reinforcement learning environments. In this work, the event-discrete flow logic for the transport and assembly of a target workpiece is learned automatically by reinforcement learning on the real use case of the VC simulation of a PLC-based production system. According to the idea of curriculum learning, the system is trained separately in subsystems to support its modularity and to reduce the complexity of the overall learning process. With regard to the learning processes, subsystems, sequence errors, termination criteria and necessary action and state adjustments typical for the PLC-based plant are identified and implemented in the VC simulation. The reward functions are derived with respect to the individual subsystems. The learned controls of the subsystems are then merged back together for a complete flow of the entire system.}, author = {Jaensch, Florian and Steidle, Adrian and Verl, Alexander}, booktitle = {2021 Third International Conference on Transdisciplinary AI (TransAI)}, doi = {10.1109/TransAI51903.2021.00031}, month = {09}, pages = {129-136}, title = {Curriculum Multi-Stage Reinforcement Learning for Automated Interlinked Production Systems on Virtual Commissioning Simulations}, year = 2021 }
11. Kaiser, Benjamin ; Littfinski, Daniel ; Verl, Alexander: Automatic Generation of Digital Twin Models for Simulation of Reconfigurable Robotic Fabrication Systems for Timber Prefabrication. In: Feng, C. ; Linner, T. ; Brilakis, I. ; Castro, D. ; Chen, P.-H. ; Cho, Y. ; Du, J. ; Ergan, S. ; u. a. (Hrsg.) ; Feng, C. ; Linner, T. ; Brilakis, I. ; Castro, D. ; Chen, P.-H. ; Cho, Y. ; Du, J. ; Ergan, S. ; u. a. (Hrsg.): Proceedings of the 38th International Symposium on Automation and Robotics in Construction (ISARC), Proceedings of the 38th International Symposium on Automation and Robotics in Construction (ISARC). Dubai, UAE : International Association for Automation and Robotics in Construction (IAARC), 2021 — ISBN 978-952-69524-1-3, S. 717–724
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  BibTeX
  @inproceedings{10.22260/ISARC2021/0097, address = {Dubai, UAE}, author = {Kaiser, Benjamin and Littfinski, Daniel and Verl, Alexander}, booktitle = {Proceedings of the 38th International Symposium on Automation and Robotics in Construction (ISARC)}, doi = {10.22260/ISARC2021/0097}, editor = {Feng, Chen and Linner, Thomas and Brilakis, Ioannis and Castro, Daniel and Chen, Po-Han and Cho, Yong and Du, Jing and Ergan, Semiha and Garcia de Soto, Borja and Gašparík, Jozef and Habbal, Firas and Hammad, Amin and Iturralde, Kepa and Bock, Thomas and Kwon, Soonwook and Lafhaj, Zoubeir and Li, Nan and Liang, Ci-Jyun and Mantha, Bharadwaj and Ng, Ming Shan and Hall, Daniel and Pan, Mi and Pan, Wei and Rahimian, Farzad and Raphael, Benny and Sattineni, Anoop and Schlette, Christian and Shabtai, Isaac and Shen, Xuesong and Tang, Pingbo and Teizer, Jochen and Turkan, Yelda and Valero, Enrique and Zhu, Zhenhua}, isbn = {978-952-69524-1-3}, issn = {2413-5844}, month = {11}, pages = {717-724}, publisher = {International Association for Automation and Robotics in Construction (IAARC)}, title = {Automatic Generation of Digital Twin Models for Simulation of Reconfigurable Robotic Fabrication Systems for Timber Prefabrication}, year = 2021 }
12. Kaiser, Benjamin ; Strobel, Tim ; Verl, Alexander: Human-Robot Collaborative Workflows for Reconfigurable Fabrication Systems in Timber Prefabrication using Augmented Reality. In: M2VIP, M2VIP : IEEE, 2021 — ISBN 978-1-6654-3153-8, S. 576–581
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  @inproceedings{conf/m2vip/KaiserSV21, author = {Kaiser, Benjamin and Strobel, Tim and Verl, Alexander}, booktitle = {M2VIP}, crossref = {conf/m2vip/2021}, ee = {https://doi.org/10.1109/M2VIP49856.2021.9665011}, isbn = {978-1-6654-3153-8}, pages = {576-581}, publisher = {IEEE}, title = {Human-Robot Collaborative Workflows for Reconfigurable Fabrication Systems in Timber Prefabrication using Augmented Reality.}, url = {http://dblp.uni-trier.de/db/conf/m2vip/m2vip2021.html#KaiserSV21}, year = 2021 }
  Link
  http://dblp.uni-trier.de/db/conf/m2vip/m2vip2021.html#KaiserSV21
13. Kaiser, Benjamin ; Verl, Alexander: Planning of Curvature-Optimal Smooth Paths for Industrial Robots Using Neural Networks. In: 2021 4th International Conference on Artificial Intelligence for Industries (AI4I), 2021 4th International Conference on Artificial Intelligence for Industries (AI4I), 2021, S. 10–15
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  @inproceedings{9565548, author = {Kaiser, Benjamin and Verl, Alexander}, booktitle = {2021 4th International Conference on Artificial Intelligence for Industries (AI4I)}, doi = {10.1109/AI4I51902.2021.00011}, pages = {10-15}, title = {Planning of Curvature-Optimal Smooth Paths for Industrial Robots Using Neural Networks}, year = 2021 }
14. Kienzlen, Annika ; Verl, Alexander: Konzept zur Integration eines kontinuierlichen Materialflussmodells in die Virtuelle Inbetriebnahme durch Signalgenerierung. In: Franke, J. ; Schuderer, P. (Hrsg.) ; Franke, J. ; Schuderer, P. (Hrsg.): Simulation in Produktion und Logistik 2021, Simulation in Produktion und Logistik 2021. Göttingen : Cuvillier Verlag, 2021 — ISBN 9783736974791, S. 585--594
  - BibTeX
  BibTeX
  @inproceedings{ASIM2021.182, address = {Göttingen}, author = {Kienzlen, Annika and Verl, Alexander}, booktitle = {Simulation in Produktion und Logistik 2021}, editor = {Franke, Jörg and Schuderer, Peter}, eventtitle = {19. ASIM Fachtagung - Simulation in Produktion und Logistik}, isbn = {9783736974791}, month = {09}, pages = {585--594}, publisher = {Cuvillier Verlag}, title = {Konzept zur Integration eines kontinuierlichen Materialflussmodells in die Virtuelle Inbetriebnahme durch Signalgenerierung}, year = 2021 }
15. Mesmer, Patrick ; Lechler, Armin ; Verl, Alexander: Genauigkeitssteigerung von Industrierobotern - Methoden zur Hysteresekompensation. In: Robotik und Produktion, Robotik und Produktion. Bd. 09/2021 (2021), S. 26–27
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  @article{mesmer2021genauigkeitssteigerung, author = {Mesmer, Patrick and Lechler, Armin and Verl, Alexander}, journal = {Robotik und Produktion }, month = {09}, pages = {26-27}, title = {Genauigkeitssteigerung von Industrierobotern - Methoden zur Hysteresekompensation}, volume = {09/2021}, year = 2021 }
16. Mesmer, Patrick ; Neubauer, Michael ; Lechler, Armin ; Verl, Alexander: Challenges of Linearization-based Control of Industrial Robots with Cycloidal Drives. In: 2021 IEEE International Conference on Mechatronics (ICM), 2021 IEEE International Conference on Mechatronics (ICM) : IEEE, 2021
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  @inproceedings{mesmer2021challenges, author = {Mesmer, Patrick and Neubauer, Michael and Lechler, Armin and Verl, Alexander}, booktitle = {2021 IEEE International Conference on Mechatronics (ICM)}, eventdate = {07.03.2021-09.03.2021}, eventtitle = {2021 IEEE International Conference on Mechatronics (ICM)}, language = {eng}, publisher = {IEEE}, title = {Challenges of Linearization-based Control of Industrial Robots with Cycloidal Drives}, venue = {Kashiwa, Japan}, year = 2021 }
17. Neubauer, Michael ; Brenner, Felix ; Hinze, Christoph ; Verl, Alexander: Cascaded sliding mode position control (SMC-PI) for an improved dynamic behavior of elastic feed drives. In: International Journal of Machine Tools and Manufacture, International Journal of Machine Tools and Manufacture. (2021)
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  @article{NEUBAUER2021103796, abstract = {The precision of machine tools is essentially determined by the feed drive control. To improve the dynamic behavior of elastic feed drives, this paper presents a novel position control concept, substituting the conventional P position controller of the industrial cascade control with a continuous sliding mode controller (SMC) together with a Kalman Filter for state estimation. The novelty of this approach lies in the focus on practical applicability: The underlying PI-cascade structure leads to low commissioning effort and the SMC controller’s parameterization is simplified to a single tuning parameter. A general compliant feed drive model is used as plant, whose parameters usually are already known from commissioning of the velocity controller. The SMC position controller is derived analytically and its stability and damping properties are investigated for the dominating mechanical mode for uncertainties of the model parameters and a wide range of controller gains. The effectiveness of the SMC-PI controller is validated for an industrial ball screw feed drive. Extensive experimental results show a considerable decrease of tracking errors in command tracking, disturbance rejection and for a high speed cutting (HSC) milling experiment compared to P-PI cascade control, while stability margins remain almost independent of the controller gains. The parameterization is discussed on the basis of a theoretical analysis and measuring results. Furthermore, excellent robustness properties regarding model errors are demonstrated.}, author = {Neubauer, Michael and Brenner, Felix and Hinze, Christoph and Verl, Alexander}, doi = {https://doi.org/10.1016/j.ijmachtools.2021.103796}, issn = {0890-6955}, journal = {International Journal of Machine Tools and Manufacture}, title = {Cascaded sliding mode position control (SMC-PI) for an improved dynamic behavior of elastic feed drives}, url = {https://www.sciencedirect.com/science/article/pii/S089069552100105X}, year = 2021 }
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  https://www.sciencedirect.com/science/article/pii/S089069552100105X
18. Neubauer, Michael ; Lechler, Armin ; Verl, Alexander: Genauigkeits- und Dynamiksteigerung bei Industrierobotern: Auf die Dämpfung kommt es an. In: Industrieanzeiger, Industrieanzeiger. Bd. 2021 (2021), Nr. 1, S. 38–39
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  @article{neubauer2021genauigkeits, abstract = {Industrieroboter müssen sehr schnell und höchst präzise sein. Hochdynamische Bewegungsabläufe regen jedoch unerwünschte Schwingungen an. Damit sind entweder Genauigkeitsabweichungen verbunden oder es muss langsamer gefahren werden. Ein Dämpfungsaktuator schafft Abhilfe.}, author = {Neubauer, Michael and Lechler, Armin and Verl, Alexander}, journal = {Industrieanzeiger}, month = {01}, number = 1, pages = {38-39}, title = {Genauigkeits- und Dynamiksteigerung bei Industrierobotern: Auf die Dämpfung kommt es an}, volume = 2021, year = 2021 }
19. Neubauer, Michael ; Mesmer, Patrick ; Lechler, Armin ; Verl, Alexander: Schwingungsdämpfung am Industrieroboter: Ein semiaktiver Ansatz zur Verbesserung des dynamischen Verhaltens. In: wt Werkstatttechnik online, wt Werkstatttechnik online. Bd. 111 (2021), Nr. 9, S. 422–427
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  @article{neubauer2021schwingungsdmpfung, author = {Neubauer, Michael and Mesmer, Patrick and Lechler, Armin and Verl, Alexander}, doi = {10.37544/1436-4980-2021-09-48}, journal = {wt Werkstatttechnik online}, month = {10}, number = 9, pages = {422-427}, title = {Schwingungsdämpfung am Industrieroboter: Ein semiaktiver Ansatz zur Verbesserung des dynamischen Verhaltens}, volume = 111, year = 2021 }
20. Qi, Yue ; Zhong, Ruqing ; Kaiser, Benjamin ; Tahouni, Yasaman ; Wagner, Hans Jakob ; Verl, Alexander ; Menges, Achim: Augmented Accuracy: A Human-Machine Integrated Adaptive Fabrication Workflow for Bamboo. In: Stojakovic, V. ; Tepavcevic, B. (Hrsg.) ; Stojakovic, V. ; Tepavcevic, B. (Hrsg.): Proceedings of the 39th eCAADe Conference, Proceedings of the 39th eCAADe Conference. Bd. 1. Novi Sad : Cumincad, 2021, S. 345--354
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  @inproceedings{Qi2021, abstract = {Despite being sustainable, strong and lightweight, naturally grown bamboo poles are currently used in restricted building typologies. This is due to the large tolerances in the built structures, which is caused by the variations in the dimensions and geometry ofnatural material as well as the manual, uninformed and imprecise assembly methods. In previous work, we introduced an adaptive fabrication method for bamboo structures that can monitor the fabrication process and compensate for deviations between built and designed form. As a proofofconcept, the method is suitable for small scale bamboo structures in 2D- or simple 3D configuration. This paper extends the previous method by integrating the adaptation strategies into a cohesive fabrication and assembly workflow for large scale complex bamboo structures. To enable that, a more effective sensor localization method, adaptation algorithm, connection and assembly system, as well as web-based user interface are developed. The effectiveness ofthe proposed methods is demonstrated through the fabrication of a pavilion scale branching bamboo structure that complies with intended geometric boundary conditions. Even though the material has substantial geometrical variations, the final structure shows small geometric deviations and a successful interface with the prefabricated roofelements. Our work shows how vernacular materials and processes can be digitally augmented in order to reliably produce building structures, hence enabling their usage in modern applications to a larger extent.}, address = {Novi Sad}, author = {Qi, Yue and Zhong, Ruqing and Kaiser, Benjamin and Tahouni, Yasaman and Wagner, Hans Jakob and Verl, Alexander and Menges, Achim}, booktitle = {Proceedings of the 39th eCAADe Conference}, editor = {Stojakovic, V and Tepavcevic, B}, file = {:C\:/Users/ac128044/Google Drive/ICD_Wagner/01_Publikationen/PUBLICATION_COLLECTION/2021_ECAADE_AUGMENTED_ACCURACY.pdf:pdf}, pages = {345--354}, publisher = {Cumincad}, title = {Augmented Accuracy: A Human-Machine Integrated Adaptive Fabrication Workflow for Bamboo}, url = {http://papers.cumincad.org/cgi-bin/works/paper/ecaade2021_169}, volume = 1, year = 2021 }
  Link
  http://papers.cumincad.org/cgi-bin/works/paper/ecaade2021_169
21. Reichenbach, Thomas ; Rausch, Kathrin ; Trautwein, Felix ; Pott, Andreas ; Verl, Alexander: Velocity Based Hybrid Position-Force Control of Cable Robots and Experimental Workspace Analysis. In: Gouttefarde, M. ; Bruckmann, T. ; Pott, A. (Hrsg.) ; Gouttefarde, M. ; Bruckmann, T. ; Pott, A. (Hrsg.): Cable-Driven Parallel Robots, Cable-Driven Parallel Robots. Cham : Springer International Publishing, 2021 — ISBN 978-3-030-75789-2, S. 230--242
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  @inproceedings{10.1007/978-3-030-75789-2_19, abstract = {One important design criteria of a cable-driven parallel robot is its workspace. Disturbance effects on drive systems, pulley mechanisms and cables have a major impact on the workspace due to their influence on cable forces. Thus, the computed wrench-feasible workspace with ideal kinematic constraints may not be valid while operating the platform of a cable robot. To ensure that the platform moves within the workspace, cable forces can be controlled, whereby kinematic inaccuracies such as calibration errors affecting the platform's positional accuracy. Hence, in this paper a concept of the velocity based hybrid position-force controller is presented in order to pretension cable forces on one hand, and ensure positioning accuracy on the other hand. The controller stability is investigated on extreme poses outside the wrench-feasible workspace hull of a dynamic model of a planar cable robot in simulation environment. Thereupon, the hybrid controller was implemented in a real-time control system and analyzed on the cable robot setup COPacabana with experiments inside and outside the computed workspace border. The analysis of measured signals is based on statistical investigation by performing multiple measurements of the same platform trajectory. Both, simulation and experiments show that the proposed velocity based hybrid position-force controller is feasible and can be applied to move the platform outside the workspace.}, address = {Cham}, author = {Reichenbach, Thomas and Rausch, Kathrin and Trautwein, Felix and Pott, Andreas and Verl, Alexander}, booktitle = {Cable-Driven Parallel Robots}, doi = {10.1007/978-3-030-75789-2_19}, editor = {Gouttefarde, Marc and Bruckmann, Tobias and Pott, Andreas}, isbn = {978-3-030-75789-2}, pages = {230--242}, publisher = {Springer International Publishing}, title = {Velocity Based Hybrid Position-Force Control of Cable Robots and Experimental Workspace Analysis}, url = {https://doi.org/10.1007/978-3-030-75789-2_19}, year = 2021 }
  Link
  https://doi.org/10.1007/978-3-030-75789-2_19
22. Reichenbach, Thomas ; Verl, Alexander: Seilroboter im prüfenden Blick, Hochdynamikuntersuchung von Seilwinden mit Kunststofffaserseilen. In: Matthiesen, S. ; Wartzack, S. ; Zimmer, D. (Hrsg.) Konstruktion, Konstruktion. (2021), Nr. 4, S. 40
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  @article{reichenbach2021seilroboter, author = {Reichenbach, Thomas and Verl, Alexander}, editor = {Matthiesen, Sven and Wartzack, Sandro and Zimmer, Detmar}, institution = {VDI fachmedien}, journal = {Konstruktion}, month = {04}, number = 4, pages = 40, title = {Seilroboter im prüfenden Blick, Hochdynamikuntersuchung von Seilwinden mit Kunststofffaserseilen}, year = 2021 }
23. Reiff, Colin ; Bubeck, Wolfgang ; Krawczyk, Daniel ; Steeb, Maximilian ; Lechler, Armin ; Verl, Alexander: Learning Feedforward Control for Laser Powder Bed Fusion. In: Procedia CIRP, Procedia CIRP. Bd. 96 (2021), S. 127–132. — 8th CIRP Global Web Conference
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  @article{noauthororeditor, abstract = {Additive manufacturing is becoming increasingly important for industrial applications. Especially laser powder bed fusion processes play a decisive role. However, the technology often lacks in reliability and part quality due to complex process interactions and disturbing influences. To counteract these limitations, a flexible and high-dynamic control of relevant process parameters, taking into account the transient process conditions, is indispensable. Currently, the most process parameters are often kept constant, since the used control systems do not offer real-time capable interfaces for intervention. To enable the adjustment of parameters during the process, an open control architecture for galvanometer scanners and laser sources was developed. The architecture is based on an industrial control system in combination with a field-programmable gate array (FPGA) communicating via a real-time fieldbus. The novel control architecture is used to integrate a model-based feedforward control, adjusting the laser power, scan speed and scan strategy based on the current powder bed temperature calculated by a two-dimensional thermal model during run time. An integrated learning algorithm autonomously tunes the process parameters during the manufacturing process and determines the optimal combination of laser power, scan speed and powder bed temperature to achieve a homogeneous melt pool. On average, the standard deviation of the powder bed temperature along the scan path was reduced by 48% for the simulated test cases.}, author = {Reiff, Colin and Bubeck, Wolfgang and Krawczyk, Daniel and Steeb, Maximilian and Lechler, Armin and Verl, Alexander}, doi = {https://doi.org/10.1016/j.procir.2021.01.064}, journal = {Procedia CIRP}, note = {8th CIRP Global Web Conference}, pages = {127-132}, title = {Learning Feedforward Control for Laser Powder Bed Fusion}, url = {https://www.sciencedirect.com/science/article/pii/S2212827121000883}, volume = 96, year = 2021 }
  Link
  https://www.sciencedirect.com/science/article/pii/S2212827121000883
24. Schmucker, Benedikt ; Trautwein, Felix ; Semm, Thomas ; Lechler, Armin. ; Zaeh, Michael F. ; Verl, Alexander.: Implementation of an Intelligent System Architecture for Process Monitoring of Machine Tools. In: Procedia CIRP, Procedia CIRP. Bd. 96 (2021), S. 342–346. — 8th CIRP Global Web Conference – Flexible Mass Customisation (CIRPe 2020)
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  @article{SCHMUCKER2021342, abstract = {State of the art machine tool controllers offer several Internet-of-Things (IoT) interfaces for machine data acquisition using industrial or edge computers. However, the available data exchange rates for these communication platforms are limited to a few hundred Hertz. As the data is not available in high frequency resolution, such a network communication is not suitable for monitoring and optimizing highly dynamic machining processes. This paper describes an efficient system architecture, which enables the acquisition of internal machine data as well as the high frequency sampling of external sensors. Based on this data, an Operational Modal Analysis (OMA) approach can be used to determine the tool tip dynamics during the machining process. Identification of tool tip frequency response requires the reconstruction of the excitation of the machine tool structure, i.e. the occurring machining forces. For this purpose, an approach relying on monitoring the commanded motor currents is applied.}, author = {Schmucker, Benedikt and Trautwein, Felix and Semm, Thomas and Lechler, Armin. and Zaeh, Michael F. and Verl, Alexander.}, doi = {https://doi.org/10.1016/j.procir.2021.01.097}, issn = {2212-8271}, journal = {Procedia CIRP}, note = {8th CIRP Global Web Conference – Flexible Mass Customisation (CIRPe 2020)}, pages = {342-346}, title = {Implementation of an Intelligent System Architecture for Process Monitoring of Machine Tools}, url = {https://www.sciencedirect.com/science/article/pii/S2212827121001268}, volume = 96, year = 2021 }
  Link
  https://www.sciencedirect.com/science/article/pii/S2212827121001268
25. Schulte, Alexander ; Lechler, Armin ; Verl, Alexander: Konzeption eines zweiachsigen Impulsaktors. In: wt Werkstattstechnik online, wt Werkstattstechnik online. Bd. 111, VDI Fachmedien GmbH and Co. KG (2021), Nr. 05, S. 282–285
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  @article{Schulte_2021, author = {Schulte, Alexander and Lechler, Armin and Verl, Alexander}, doi = {10.37544/1436-4980-2021-05-16}, journal = {wt Werkstattstechnik online}, number = 05, pages = {282-285}, publisher = {{VDI} Fachmedien {GmbH} and Co. {KG}}, title = {Konzeption eines zweiachsigen Impulsaktors}, url = {https://doi.org/10.37544%2F1436-4980-2021-05-16}, volume = 111, year = 2021 }
  Link
  https://doi.org/10.37544%2F1436-4980-2021-05-16
26. Steinle, Lukas ; Lechler, Armin ; Neubauer, Michael ; Verl, Alexander: Experimental investigation into the implications of transmission errors for rack‑and‑pinion drives. In: Production Engineering Research and Development, Production Engineering Research and Development. (2021)
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  @article{steinle2021experimental, abstract = {Rack-and-pinion drives are the preferred option in the machine tool sector when long ranges of motion and high loads are involved. However, their shortcomings particularly include defciencies in the achievable positioning and path accuracy. The backlash as one of the main issues is well described in the literature and numerous solutions to reduce its negative efects exist. In contrast, there is a lack of literature regarding the scientifc and systematic analysis of the transmission errors in rack-and-pinion drives. In this paper, the displacements originating in the drive train of a system with industrial components are measured under diferent operating conditions. The observed transmission errors are thoroughly analyzed in no-load operation and their sources are discussed. Subsequent investigations show signifcant load-dependent alterations of the transmission errors and direction-dependent characteristics, the causes of which are explained. It is shown, that transmission errors negatively afect the path accuracy of position controlled drives, which is amplifed by excitation of the machine structure in certain operating conditions. To address this issue, diferent error compensation concepts are presented.}, author = {Steinle, Lukas and Lechler, Armin and Neubauer, Michael and Verl, Alexander}, doi = {https://doi.org/10.1007/s11740-021-01090-y}, journal = { Production Engineering Research and Development}, month = {11}, title = {Experimental investigation into the implications of transmission errors for rack‑and‑pinion drives}, year = 2021 }
27. Steinle, Lukas ; Lechler, Armin ; Verl, Alexander: Antrieb im Gleichlauf. In: Industrial Production, Industrial Production. Bd. 8–9 (2021), S. 50–52
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  @article{steinle2021antrieb, author = {Steinle, Lukas and Lechler, Armin and Verl, Alexander}, journal = {Industrial Production}, pages = {50-52}, title = {Antrieb im Gleichlauf}, volume = {8-9}, year = 2021 }
28. Tinsel, Erik-Felix ; Riedel, Oliver ; Verl, Alexander: Smartes Assistenzsystem zur Anforderungserhebung. In: wt Werkstattstechnik online, wt Werkstattstechnik online. Bd. 111 (2021), S. 295–299
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  @article{tinsel2021smartes, author = {Tinsel, Erik-Felix and Riedel, Oliver and Verl, Alexander}, doi = {10.37544/1436-4980-2021-05-29}, journal = {wt Werkstattstechnik online}, month = {01}, pages = {295-299}, title = {Smartes Assistenzsystem zur Anforderungserhebung}, volume = 111, year = 2021 }
29. Trautwein, Felix ; Reichenbach, Thomas ; Pott, Andreas ; Verl, Alexander: Workspace Planning for In-Operation-Reconfiguration of Cable-Driven Parallel Robots. In: Gouttefarde, M. ; Bruckmann, T. ; Pott, A. (Hrsg.) ; Gouttefarde, M. ; Bruckmann, T. ; Pott, A. (Hrsg.): Cable-Driven Parallel Robots, Cable-Driven Parallel Robots. Cham : Springer International Publishing, 2021 — ISBN 978-3-030-75789-2, S. 182--193
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  @inproceedings{10.1007/978-3-030-75789-2_15, abstract = {This paper presents a planning method to systematically determine a geometry for a cable-driven parallel robot (short: cable robot) that satisfies a given workspace requirement. Furthermore, the method should be suitable for a fast workspace planning during In-Operation-Reconfiguration which implies that the algorithm should be executable fast, i.e. the aim is a computation time below one second. To do so, firstly the theoretical backgrounds for kinematics and workspace analysis of cable robots are introduced. Based on that, the parameter restrictions are modelled in terms of continuous closed sets, which are later used as bounds during the planning process. Afterwards, the theoretical problem of reconfiguration is presented and the solution strategy is proposed. In order to evaluate the given method, in the last section an exemplary reconfiguration situation is investigated, which shows that the method is suitable for the purpose to determine a cable robot for a given workspace requirement.}, address = {Cham}, author = {Trautwein, Felix and Reichenbach, Thomas and Pott, Andreas and Verl, Alexander}, booktitle = {Cable-Driven Parallel Robots}, doi = {10.1007/978-3-030-75789-2_15}, editor = {Gouttefarde, Marc and Bruckmann, Tobias and Pott, Andreas}, isbn = {978-3-030-75789-2}, pages = {182--193}, publisher = {Springer International Publishing}, title = {Workspace Planning for In-Operation-Reconfiguration of Cable-Driven Parallel Robots}, url = {https://doi.org/10.1007/978-3-030-75789-2_15}, year = 2021 }
  Link
  https://doi.org/10.1007/978-3-030-75789-2_15
30. Wnuk, Markus ; Hinze, Christoph ; Zürn, Manuel ; Pan, Qizhen ; Lechler, Armin ; Verl, Alexander: Tracking Branched Deformable Linear Objects With Structure Preserved Registration by Branch-wise Probability Modification. In: 2021 IEEE 27th International Conference on Machatronics and Machine Vision in Practice, 2021 IEEE 27th International Conference on Machatronics and Machine Vision in Practice, 2021
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  @inproceedings{wnuk2021tracking, author = {Wnuk, Markus and Hinze, Christoph and Zürn, Manuel and Pan, Qizhen and Lechler, Armin and Verl, Alexander}, booktitle = {2021 IEEE 27th International Conference on Machatronics and Machine Vision in Practice}, month = {11}, title = {Tracking Branched Deformable Linear Objects With Structure Preserved Registration by Branch-wise Probability Modification}, year = 2021 }
31. Wnuk, Markus ; Jaensch, Florian ; Tomzik, David Adrian ; Chen, Zixiao ; Terfurth, Jonathan ; Kandasamy, Sivakumar ; Shahabi, Jalil ; Garrett, Amy ; u. a.: Challenges in Robotic Soft Tissue Manipulation—Problem Identification Based on an Interdisciplinary Case Study of a Teleoperated Drawing Robot in Practice. In: Billingsley, J. ; Peter, B. (Hrsg.) ; Billingsley, J. ; Peter, B. (Hrsg.): . Bd. Mechatronics and Machine Vision in Practice 4 : Springer, 2021 — ISBN 978-3-030-43702-2, S. 245–262
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  @inbook{wnuk2021challenges, abstract = {Manipulating soft materials with robots is a complex and highly interdisciplinary research topic. Due to the underlying body of involved theories including material science, (bio-)mechanics, control, sensing as well as electrical and mechanical engineering, it is even difficult to provide a comprehensive problem formulation. In this paper, the problem of identifying challenges within the different research areas and between their respective interfaces is addressed with a practical case study. Based on a generalized sandbox scenario of a remotely controlled drawing robot, challenges with regard to the interdisciplinary research fields of robot control, architecture, sensor development, material modelling and interaction between rigid actuators acting on soft materials are investigated and analyzed. The major contribution of this paper is the explicit identification of unresolved research problems in the field and a quantification of the correlations between the involved disciplines. Furthermore, novel approaches on how to circumvent some of the found challenges in the future are proposed.}, author = {Wnuk, Markus and Jaensch, Florian and Tomzik, David Adrian and Chen, Zixiao and Terfurth, Jonathan and Kandasamy, Sivakumar and Shahabi, Jalil and Garrett, Amy and Mahmoudinezhad, Masoumeh Hesam and Csiszar, Akos and Xu, Weiliang and Röhrle, Oliver and Verl, Alexander}, doi = {https://doi.org/10.1007/978-3-030-43703-9_20}, editor = {Billingsley, John and Peter, Brett}, isbn = {978-3-030-43702-2}, pages = {245-262}, publisher = {Springer}, title = {Challenges in Robotic Soft Tissue Manipulation—Problem Identification Based on an Interdisciplinary Case Study of a Teleoperated Drawing Robot in Practice.}, url = {https://link.springer.com/chapter/10.1007/978-3-030-43703-9_20}, volume = {Mechatronics and Machine Vision in Practice 4}, year = 2021 }
  Link
  https://link.springer.com/chapter/10.1007/978-3-030-43703-9_20
32. Wnuk, Markus ; Zürn, Manuel ; Hinze, Christoph ; Lechler, Armin ; Verl, Alexander: Simulationsbasierter Beobachter für die Handhabungbiegeschlaffer Bauteile. In: antriebstechnik, antriebstechnik. (2021), Nr. 7, S. 38–42
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  @article{wnuk2021simulationsbasierter, author = {Wnuk, Markus and Zürn, Manuel and Hinze, Christoph and Lechler, Armin and Verl, Alexander}, journal = {antriebstechnik}, month = {07}, number = 7, pages = {38-42}, title = {Simulationsbasierter Beobachter für die Handhabungbiegeschlaffer Bauteile}, url = {https://digital.antriebstechnik.de/antriebstechnik-7-2021/65722079/38}, year = 2021 }
  Link
  https://digital.antriebstechnik.de/antriebstechnik-7-2021/65722079/38
33. Wulle, Frederik ; Richter, Max ; Hinze, Christoph ; Verl, Alexander: Time-optimal Path Planning of Multi-axis CNC Processes Using Variability of Orientation. In: Procedia CIRP, Procedia CIRP. Bd. 96, Elsevier BV (2021), S. 324--329
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  @article{Wulle_2021, author = {Wulle, Frederik and Richter, Max and Hinze, Christoph and Verl, Alexander}, doi = {10.1016/j.procir.2021.01.095}, journal = {Procedia {CIRP}}, pages = {324--329}, publisher = {Elsevier {BV}}, title = {Time-optimal Path Planning of Multi-axis {CNC} Processes Using Variability of Orientation}, url = {https://doi.org/10.1016%2Fj.procir.2021.01.095}, volume = 96, year = 2021 }
  Link
  https://doi.org/10.1016%2Fj.procir.2021.01.095
34. Zürn, Manuel ; Wnuk, Markus ; Hinze, Christoph ; Lechler, Armin ; Verl, Alexander ; Xu, Weiliang: Kinematic Trajectory Following Control For Constrained Deformable Linear Objects. In: 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE), 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE), 2021, S. 1701–1707
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  @inproceedings{9551613, abstract = {deformable linear objects (DLOs) such as hoses, cables or wires are often a limiting factor in robotic manipulation. For an industrial robot control, their nonlinear dynamics combined with their large variations in material parameters make it challenging to handle. Therefore, DLOs are usually manipulated manually in the industry, offering a huge potential for automation. This paper contributes to the field of robotic handling of DLOs by presenting and evaluating a novel model based controller and observer concept which is based on a multibody simulation. The presented closed-loop framework of a kinematic trajectory following controller with an online point cloud processing observer is first evaluated separately in the simulation and then in an experiment, showing its potential for cable routing scenarios.}, author = {Zürn, Manuel and Wnuk, Markus and Hinze, Christoph and Lechler, Armin and Verl, Alexander and Xu, Weiliang}, booktitle = {2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)}, doi = {10.1109/CASE49439.2021.9551613}, issn = {2161-8089}, month = {08}, pages = {1701-1707}, title = {Kinematic Trajectory Following Control For Constrained Deformable Linear Objects}, year = 2021 }
2020
1. Brenner, Felix ; Verl, Alexander ; Lechler, Armin: Störgrößenschätzung in Zahnstange-Ritzel-Antrieben. In: Maschinenmarkt, M. (Hrsg.) Maschinenmarkt, MM, Maschinenmarkt, MM. (2020), Nr. 19, S. 74–77
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  @article{brenner2020strgrenschtzung, abstract = {Abtriebsseitige Beschleunigungsdaten an elektromechanischen Vorschubantriebssystem eröffnen neue Möglichkeiten zur Steigerung der Bewegungsdynamik. Um den Einfluss von reibungs- und prozessbedingte Störkräften zu reduzieren, wird am Institut für Steuerungstechnik (ISW) der Univer-sität Stuttgart an regelungstechnischen Verfahren zur Störgrößenschätzung und -kompensation mittles MEMS Beschleunigungssensoren geforscht.}, author = {Brenner, Felix and Verl, Alexander and Lechler, Armin}, editor = {Maschinenmarkt, MM}, journal = {Maschinenmarkt, MM}, language = {deutsch}, month = {11}, number = 19, pages = {74-77}, title = {Störgrößenschätzung in Zahnstange-Ritzel-Antrieben }, url = {https://www.maschinenmarkt.vogel.de/stoergroessenschaetzung-in-zahnstange-ritzel-antrieben-a-976503/}, year = 2020 }
  Link
  https://www.maschinenmarkt.vogel.de/stoergroessenschaetzung-in-zahnstange-ritzel-antrieben-a-976503/
2. Dripke, Caren ; Schöbel, Daniel ; Verl, Alexander: Distributed Interpolation: Synchronization of motion-controlled axes with coordination vector and decentralized segment controllers. In: IEEE (Hrsg.) ; IEEE (Hrsg.): IEEE 16th International Workshop on Advanced Motion Control (AMC), IEEE 16th International Workshop on Advanced Motion Control (AMC) : IEEE, 2020, S. 141–146
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  @inproceedings{dripke2020distributed, author = {Dripke, Caren and Schöbel, Daniel and Verl, Alexander}, booktitle = {IEEE 16th International Workshop on Advanced Motion Control (AMC)}, editor = {IEEE}, eventdate = {September 14th - 16th, 2020}, organization = {IEEE}, pages = {141 - 146}, title = {Distributed Interpolation: Synchronization of motion-controlled axes with coordination vector and decentralized segment controllers}, venue = {Kristiansand, Norway}, year = 2020 }
3. Eger, Florian ; Reiff, Colin ; Lechler, Armin ; Verl, Alexander: Weniger Ausschuss bei der Fertigung rotierender Bauteile. In: fachmedien, V. (Hrsg.) wt WerkstattsTechnik, wt WerkstattsTechnik. (2020), Nr. 5, S. 271–275
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  @article{eger2020weniger, abstract = {Bei mehrstufigen Produktionssystemen rotierender Bauteile kann bereits ein kleiner Fehler zu Ausschuss führen. Um die Wettbewerbsfähigkeit europäischer Unternehmen zu gewährleisten, wird eine Null-Fehler Fertigung angestrebt. Wir stellen dafür eine Web-App vor, welche Bauteilvariationen automatisch erkennen und Fehlerkompensationsstrategien ableiten kann. Das Potential des mehrstufigen Produktionssystems wird genutzt um Fehler am Bauteil im Produktionsfluss durch eine geeignete Steuerung und Regelung zu beheben.}, author = {Eger, Florian and Reiff, Colin and Lechler, Armin and Verl, Alexander}, editor = {fachmedien, VDI}, journal = {wt WerkstattsTechnik}, language = {Deutsch}, month = {Mai}, number = 5, pages = {271-275}, title = {Weniger Ausschuss bei der Fertigung rotierender Bauteile}, url = {https://e-paper.vdi-fachmedien.de/webreader-v3/index.html#/2603/1}, year = 2020 }
  Link
  https://e-paper.vdi-fachmedien.de/webreader-v3/index.html#/2603/1
4. Eger, Florian ; Reiff, Colin ; Tempel, Philipp ; Magnanini, Maria Chiara ; Caputo, Davide ; Lechler, Armin ; Verl, Alexander: Reaching zero-defect manufacturing by compensation of dimensional deviations in the manufacturing of rotating hollow parts. In: Procedia Manufacturing, Procedia Manufacturing. Bd. 51, Elsevier (2020), S. 388–393. — 30th International Conference on Flexible Automation and Intelligent Manufacturing, FAIM 2021 ; Conference date: 15-06-2021 Through 18-06-2021
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  @article{6f6da48ad3484f158ea738841e3dddd0, abstract = {In many sectors such as the aerospace industry, the manufacturing of rotating components is based on multi-stage production systems to achieve the complex requirements of high quality products. Even in the presence of Industry 4.0 and the increasing connectivity, these systems are very prone to failure due to the high level of potential influences of both the system and the products, ultimately leading to defects. The project “ForZDM”, funded by the EU under Horizon2020, envisions reducing scrap rate by avoiding and compensating defects at an early stage thus guaranteeing a high quality product. This paper presents an approach using an existing manufacturing line to compensate the dimensional deviations of an inner contour of a turbine shaft at an early stage. Based on measurements of the inner contour, a new rotation axis for the subsequent manufacturing processes is calculated in order to avoid unbalances at the end-of-line control. Different algorithms are developed and integrated in a web-based application to find an optimal rotation axis under consideration of the to-be-manufactured outer contour in an operator-friendly usage on the shop floor. The application is connected with the measurement system and the subsequent CNC machine which enables automatic execution and data transfer.}, author = {Eger, Florian and Reiff, Colin and Tempel, Philipp and Magnanini, Maria Chiara and Caputo, Davide and Lechler, Armin and Verl, Alexander}, doi = {10.1016/j.promfg.2020.10.055}, issn = {2351-9789}, journal = {Procedia Manufacturing}, language = {English}, note = {30th International Conference on Flexible Automation and Intelligent Manufacturing, FAIM 2021 ; Conference date: 15-06-2021 Through 18-06-2021}, pages = {388-393}, publisher = {Elsevier}, title = {Reaching zero-defect manufacturing by compensation of dimensional deviations in the manufacturing of rotating hollow parts}, url = {https://doi.org/10.1016%2Fj.promfg.2020.10.055}, volume = 51, year = 2020 }
  Link
  https://doi.org/10.1016%2Fj.promfg.2020.10.055
5. Friedl, Sebastian ; von Arnim, Christian ; Lechler, Armin ; Verl, Alexander: Generation of OPC UA Companion Specification with Eclipse Modeling Framework. In: 2020 16th IEEE International Conference on Factory Communication Systems (WFCS), 2020 16th IEEE International Conference on Factory Communication Systems (WFCS), 2020, S. 1--7
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  @inproceedings{friedl2020generation, author = {Friedl, Sebastian and von Arnim, Christian and Lechler, Armin and Verl, Alexander}, booktitle = {2020 16th IEEE International Conference on Factory Communication Systems (WFCS)}, notes = {Sourced from Microsoft Academic - https://academic.microsoft.com/paper/3034858113}, pages = {1--7}, title = {Generation of OPC UA Companion Specification with Eclipse Modeling Framework}, year = 2020 }
6. Fur, Shan ; Boughattas, Bilel ; Verl, Alexander ; Pott, Andreas: Prediction of the configuration of objects in a bin based on synthetic sensor data. In: Procedia CIRP, Procedia CIRP. Bd. 88 (2020), S. 54–59. — 13th CIRP Conference on Intelligent Computation in Manufacturing Engineering, 17-19 July 2019, Gulf of Naples, Italy
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  @article{FUR202054, abstract = {Bin picking describes a robot system that picks unsorted objects from a bin based on sensor data. The object recognition is one of the main difficulties when calculating the grasping pose. In the worst case, a faulty object recognition leads to a system standstill. This work introduces a framework concept for improving the object recognition by predicting the configuration of all the objects in the bin based on an initial scan in form of a point cloud. This is done by taking advantage of an online simulation, with the goal of reducing the total number of scan cycles, which leads to a reduced risk of failure and improves the overall performance of a bin picking system.}, author = {Fur, Shan and Boughattas, Bilel and Verl, Alexander and Pott, Andreas}, doi = {https://doi.org/10.1016/j.procir.2020.05.010}, issn = {2212-8271}, journal = {Procedia CIRP}, note = {13th CIRP Conference on Intelligent Computation in Manufacturing Engineering, 17-19 July 2019, Gulf of Naples, Italy}, pages = {54 - 59}, title = {Prediction of the configuration of objects in a bin based on synthetic sensor data}, url = {http://www.sciencedirect.com/science/article/pii/S2212827120303255}, volume = 88, year = 2020 }
  Link
  http://www.sciencedirect.com/science/article/pii/S2212827120303255
7. Helfesrieder, Nico ; Lechler, Armin ; Verl, Alexander: Method for generating manufacturable, topology-optimized parts for Laminated Layer Manufacturing. In: Procedia CIRP, Procedia CIRP. Bd. 93 (2020), S. 38--43
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  @article{Helfesrieder.2020, abstract = {The great flexibility provided by generative manufacturing offers immense potential for the structural component optimization. However, this freedom needs to be utilized by appropriate CAx tools. In this paper, we present a novel slicing method, enabling the automatic generation of topology-optimized Laminated Layer Manufacturing (LLM) parts. With this method a part of arbitrary shape can be automatically sliced and equipped with a uniform virtual grid that is suitable for manufacturing. The optimal density distribution is then mapped onto the individual slices and locally approximated through the introduction of variably shaped cavities. By using 3D modeling techniques all LLM sheets are modeled parametrically and assembled automatically. To verify the functionality of the presented method, it is applied to two practical parts and compared with a conventional topology optimization method.}, author = {Helfesrieder, Nico and Lechler, Armin and Verl, Alexander}, doi = {10.1016/j.procir.2020.04.048}, issn = {22128271}, journal = {Procedia CIRP}, pages = {38--43}, title = {Method for generating manufacturable, topology-optimized parts for Laminated Layer Manufacturing}, url = {http://www.sciencedirect.com/science/article/pii/S2212827120306144}, volume = 93, year = 2020 }
  Link
  http://www.sciencedirect.com/science/article/pii/S2212827120306144
8. Henke, Torben ; Frick, Florian ; Lechler, Armin ; Verl, Alexander: Adaptive PWM Modulation for an Increased Energy Efficiency of Industrial Drives. In: 2020 International Symposium on Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM), 2020 International Symposium on Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM), 2020, S. 237–242
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  @inproceedings{9161851, abstract = {Switching losses in inverters for industrial electric drives have a noticeable impact on their energy consumption and lifetime. In order to fulfill the accuracy requirements of electric drives for production equipment, a high switching frequency is typically used. This results in high switching losses which are proportional to the switching frequency. However, a high accuracy is not always required. Therefore, a method for adapting the switching frequency of the drive inverter during runtime when high accuracy is not required is presented in this paper. The method includes the identification of operating states of the machine tool, automatic calculation of the controller parameters and strategies for changing the PWM frequency during runtime. Experimental results validate this novel approach.}, author = {Henke, Torben and Frick, Florian and Lechler, Armin and Verl, Alexander}, booktitle = {2020 International Symposium on Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM)}, doi = {10.1109/SPEEDAM48782.2020.9161851}, month = {06}, pages = {237-242}, title = {Adaptive PWM Modulation for an Increased Energy Efficiency of Industrial Drives}, url = {https://ieeexplore.ieee.org/document/9161851/}, year = 2020 }
  Link
  https://ieeexplore.ieee.org/document/9161851/
9. Hinze, Christoph ; Wnuk, Markus ; Zürn, Manuel ; Lechler, Armin ; Verl, Alexander: Daten-integrierte Simulation. In: inVision, inVision. (2020)
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  @article{hinze2020datenintegrierte, author = {Hinze, Christoph and Wnuk, Markus and Zürn, Manuel and Lechler, Armin and Verl, Alexander}, journal = {inVision}, title = {Daten-integrierte Simulation}, url = {https://invision-news.de/allgemein/daten-integrierte-simulation-2/}, year = 2020 }
  Link
  https://invision-news.de/allgemein/daten-integrierte-simulation-2/
10. Hinze, Christoph ; Zürn, Manuel ; Wnuk, Markus ; Lechler, Armin ; Verl, Alexander: Nonlinear Trajectory Control for Deformable Linear Objects based on Physics Simulation. In: IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society, IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society, 2020, S. 310–316
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  @inproceedings{9254923, abstract = {The handling of deformable linear objects (DLOs), such as cables or hoses, with industrial robots is hardly industrially automated due to the underactuated material behavior. Increasing computing power and decreasing cost of processors over the last decades are now allowing the online computation of more complex handling processes. Within this paper, DLOs are approximated as a multibody chain with a finite number of degrees of freedom. Based on that model, a nonlinear, partially IO-linearizing controller is derived to control an underactuated end point on a trajectory when grasped by a robot arm at the other end. The controller is verified in simulation for high dynamics and shown to significantly reduce the tracking error. A practical evaluation finally shows the qualitative suitability of the multibody approximation and is used to validate the functionality of the controller in an open-loop experiment.}, author = {Hinze, Christoph and Zürn, Manuel and Wnuk, Markus and Lechler, Armin and Verl, Alexander}, booktitle = {IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society}, doi = {10.1109/IECON43393.2020.9254923}, issn = {2577-1647}, month = {10}, pages = {310-316}, title = {Nonlinear Trajectory Control for Deformable Linear Objects based on Physics Simulation}, url = {https://ieeexplore.ieee.org/document/9254923/}, year = 2020 }
  Link
  https://ieeexplore.ieee.org/document/9254923/
11. Jaensch, Florian ; Verl, Alexander: Virtual Commissioning Simulation as Reinforcement Learning Environment for Robot Cable Handling. In: 2020 Third International Conference on Artificial Intelligence for Industries (AI4I), 2020 Third International Conference on Artificial Intelligence for Industries (AI4I), 2020, S. 27–31
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  @inproceedings{9253103, abstract = {The paper introduces an approach to generate control strategies for cable handling tasks automatically, using Reinforcement Learning. Cable handling tasks require human like sensomotoric and cognitive abilities. Humans develop an understanding of the cable behaviour and are able to derive control strategies, how to handle the cable. Transferring these strategies to an industrial robot control system with the usual programming interface is very difficult. The introduced approach addresses this problem by giving the robot control the possibility to learn the cable handling strategies by itself. Therefore an Virtual Commissioning simulation environment was adapted to model Reinforcement Learning problems using the OpenAI Gym and Functional Mock-Up Interface standard.}, author = {Jaensch, Florian and Verl, Alexander}, booktitle = {2020 Third International Conference on Artificial Intelligence for Industries (AI4I)}, doi = {10.1109/AI4I49448.2020.00013}, month = {09}, pages = {27-31}, title = {Virtual Commissioning Simulation as Reinforcement Learning Environment for Robot Cable Handling}, year = 2020 }

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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