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Verl, Alexander

Prof. Dr.-Ing.

Alexander Verl

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:

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 = {7}, 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. 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
4. Fischer, Marc ; Riedel, Oliver ; Lechler, Armin ; Verl, Alexander: Arithmetic Coding for Floating-Point Numbers. In: 2021 IEEE Conference on Dependable and Secure Computing (DSC), 2021 IEEE Conference on Dependable and Secure Computing (DSC), 2021, S. 01–08
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  @inproceedings{9346236, author = {Fischer, Marc and Riedel, Oliver and Lechler, Armin and Verl, Alexander}, booktitle = {2021 IEEE Conference on Dependable and Secure Computing (DSC)}, doi = {10.1109/DSC49826.2021.9346236}, pages = {01-08}, title = {Arithmetic Coding for Floating-Point Numbers}, url = {https://ieeexplore.ieee.org/document/9346236}, year = 2021 }
  Link
  https://ieeexplore.ieee.org/document/9346236
5. 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
6. 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 }
7. 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}, 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}, year = 2021 }
8. Reichenbach, Thomas ; Verl, Alexander ; Matthiesen, S. ; Wartzack, S. ; Zimmer, D. (Hrsg.) ; Matthiesen, S. ; Wartzack, S. ; Zimmer, D. (Hrsg.): Seilroboter im prüfenden Blick, Hochdynamikuntersuchung von Seilwinden mit Kunststofffaserseilen, Konstruktion ( Nr. 4) : VDI fachmedien, 2021
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  @techreport{reichenbach2021seilroboter, author = {Reichenbach, Thomas and Verl, Alexander}, editor = {Matthiesen, Sven and Wartzack, Sandro and Zimmer, Detmar}, institution = {VDI fachmedien}, journal = {Konstruktion}, month = {4}, number = 4, pages = 40, title = {Seilroboter im prüfenden Blick, Hochdynamikuntersuchung von Seilwinden mit Kunststofffaserseilen}, year = 2021 }
9. 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
10. 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}, 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}, year = 2021 }
11. 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
12. 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
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. 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 }
5. 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
6. 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
7. 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 = {June}, 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/
8. 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 = oct, 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/
9. Kienzlen, Annika ; Weißen, Jennifer ; Verl, Alexander ; Göttlich, Simone: Simulative Optimierung der Steuerungsparameter eines Materialflusslayouts mit Bandförderern. In: Forschung im Ingenieurwesen, Forschung im Ingenieurwesen. (2020)
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  @article{Kienzlen2020, abstract = {Moderne Fertigungssysteme sind komplexe, umfangreiche Systeme. Eine sorgf{\"a}ltige Planung des gesamten Fertigungssystems ist erforderlich, um langfristig effektiv zu produzieren und Gewinne zu erzielen. Bei der Layoutplanung dieser Systeme muss ber{\"u}cksichtigt werden, dass der Materialfluss zwischen einzelnen Stationen zuverl{\"a}ssig und reibungslos funktioniert. Die virtuelle Inbetriebnahme (VIBN) erm{\"o}glicht es, das Zusammenspiel von Anlagenlayout und Steuerungssystem, welches das optimale Design der Anlage wesentlich beeinflusst, fr{\"u}hzeitig zu testen. Konzeptionsfehler und Engp{\"a}sse, die die Performance beeinflussen, k{\"o}nnen im Voraus erkannt und behoben werden. F{\"u}r die VIBN wird die reale Anlage durch ein Simulationsmodell ersetzt, um im Zusammenspiel mit dem realen Steuerungssystem Tests durchf{\"u}hren zu k{\"o}nnen.}, author = {Kienzlen, Annika and Wei{\ss}en, Jennifer and Verl, Alexander and G{\"o}ttlich, Simone}, day = 27, doi = {10.1007/s10010-020-00420-3}, issn = {1434-0860}, journal = {Forschung im Ingenieurwesen}, month = oct, title = {Simulative Optimierung der Steuerungsparameter eines Materialflusslayouts mit Bandf{\"o}rderern}, url = {https://doi.org/10.1007/s10010-020-00420-3}, year = 2020 }
  Link
  https://doi.org/10.1007/s10010-020-00420-3
10. Kienzlen, Annika ; Verl, Alexander: Comparison of Material Flow Models and Acceleration of the Macroscopic Flow Model for Virtual Commissioning. In: ETI-EUROSIS (Hrsg.) ; ETI-EUROSIS (Hrsg.): 34th Annual European Simulation Simulation and Modelling Conference: Modelling and Simulation 2020 (ESM), 34th Annual European Simulation Simulation and Modelling Conference: Modelling and Simulation 2020 (ESM), 2020 — ISBN 978-9492859-12-9, S. 168–175
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  @inproceedings{kienzlen2020comparison, author = {Kienzlen, Annika and Verl, Alexander}, booktitle = {34th Annual European Simulation Simulation and Modelling Conference: Modelling and Simulation 2020 (ESM)}, editor = {ETI-EUROSIS}, eventdate = {21. - 23.10.2020}, eventtitle = {The 34th Annual European Simulation and Modelling Conference 2020}, isbn = {978-9492859-12-9}, pages = {168 - 175}, title = {Comparison of Material Flow Models and Acceleration of the Macroscopic Flow Model for Virtual Commissioning}, venue = {Toulouse, France}, year = 2020 }
11. Kienzlen, Annika ; Scheifele, Christian ; Verl, Alexander: Predicting coupling signals in a material flow real-time co-simulation with a Kalman filter. In: Teti, R. ; D (Hrsg.) ; Teti, R. ; D (Hrsg.): Procedia CIRP, Procedia CIRP. Bd. 88 : Elsevier BV, 2020, S. 9--14
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  @inproceedings{Kienzlen_2020, author = {Kienzlen, Annika and Scheifele, Christian and Verl, Alexander}, doi = {10.1016/j.procir.2020.05.002}, editor = {Teti, Roberto and D'Addona, Doriana M.}, journal = {Procedia {CIRP}}, pages = {9--14}, publisher = {Elsevier {BV}}, title = {Predicting coupling signals in a material flow real-time co-simulation with a Kalman filter}, url = {https://doi.org/10.1016%2Fj.procir.2020.05.002}, volume = 88, year = 2020 }
  Link
  https://doi.org/10.1016%2Fj.procir.2020.05.002
12. Mesmer, Patrick ; Neubauer, Michael ; Lechler, Armin ; Verl, Alexander: Drive-based Vibration Damping Control for Robot Machining. In: IEEE Robotics and Automation Letters, IEEE Robotics and Automation Letters. Bd. 5 (2020), Nr. 2, S. 564–571
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  @article{8936926, author = {Mesmer, Patrick and Neubauer, Michael and Lechler, Armin and Verl, Alexander}, doi = {10.1109/LRA.2019.2960723}, issn = {2377-3774}, journal = {IEEE Robotics and Automation Letters}, month = {April}, number = 2, pages = {564-571}, title = {Drive-based Vibration Damping Control for Robot Machining}, url = {https://ieeexplore.ieee.org/document/8936926/}, volume = 5, year = 2020 }
  Link
  https://ieeexplore.ieee.org/document/8936926/
13. Mesmer, Patrick ; Neubauer, Michael ; Lechler, Armin ; Verl, Alexander: Ansätze zur Genauigkeits- und Dynamiksteigerung von Industrierobotern mit abtriebsseitiger Winkelerfassung. In: GmbH, V. F. (Hrsg.) Antriebstechnik, Antriebstechnik. Bd. Sonderausgabe Marktübersicht (2020), S. 20–22
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  @article{mesmer2020anstze, author = {Mesmer, Patrick and Neubauer, Michael and Lechler, Armin and Verl, Alexander}, editor = {GmbH, Vereinigte Fachverlage}, journal = {Antriebstechnik}, month = {November}, pages = {20-22}, title = {Ansätze zur Genauigkeits- und Dynamiksteigerung von Industrierobotern mit abtriebsseitiger Winkelerfassung}, volume = {Sonderausgabe Marktübersicht}, year = 2020 }
14. Neubauer, Michael ; Mesmer, Patrick ; Lechler, Armin ; Verl, Alexander: Dynamisches Verhalten von Industrierobotern - Über das Potenzial von Secondary Encodern zur Vermessung. In: wt Werkstatttechnik online, wt Werkstatttechnik online. Bd. 110 (2020), Nr. 3, S. 130–134
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  @article{neubauer2020dynamisches, author = {Neubauer, Michael and Mesmer, Patrick and Lechler, Armin and Verl, Alexander}, journal = {wt Werkstatttechnik online}, month = {3}, number = 3, pages = {130-134}, title = {Dynamisches Verhalten von Industrierobotern - Über das Potenzial von Secondary Encodern zur Vermessung}, volume = 110, year = 2020 }
15. Schulte, Alexander ; Lechler, Armin ; Verl, Alexander: Eckenfahrt durch schlagartige Beschleunigung. In: Antriebstechnik, Antriebstechnik. Bd. 09 (2020), S. 58–59
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  @article{schulte2020eckenfahrt, author = {Schulte, Alexander and Lechler, Armin and Verl, Alexander}, journal = {Antriebstechnik}, month = {09}, pages = {58-59}, title = {Eckenfahrt durch schlagartige Beschleunigung}, volume = 09, year = 2020 }
16. Schulte, Alexander ; Lechler, Armin ; Verl, Alexander: Geschwindigkeitssprünge an Vorschubachsen. In: atp magazin, atp magazin. Bd. 62, Vulkan-Verlag GmbH (2020), Nr. 11–12, S. 86–93
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  @article{Schulte_2020, author = {Schulte, Alexander and Lechler, Armin and Verl, Alexander}, doi = {10.17560/atp.v62i11-12.2517}, journal = {atp magazin}, month = {11}, number = {11-12}, pages = {86-93}, publisher = {Vulkan-Verlag {GmbH}}, title = {Geschwindigkeitssprünge an Vorschubachsen}, url = {https://doi.org/10.17560%2Fatp.v62i11-12.2517}, volume = 62, year = 2020 }
  Link
  https://doi.org/10.17560%2Fatp.v62i11-12.2517
17. Schütz, Andreas ; Helfesrieder, Nico ; Lechler, Armin ; Verl, Alexander: Automatisierte Werkstückfixierung - Formadaptive Aufspannung von Schalenelementen für Bearbeitungsaufgaben mit Industrierobotern. In: wt Werkstattstechnik online, wt Werkstattstechnik online. Bd. 110 (2020), Nr. 01–02, S. 80–85
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  @article{Schuetz2020, author = {Schütz, Andreas and Helfesrieder, Nico and Lechler, Armin and Verl, Alexander}, journal = {wt Werkstattstechnik online}, language = {Deutsch}, month = {Februar}, number = {01-02}, pages = {80-85}, title = {Automatisierte Werkstückfixierung - Formadaptive Aufspannung von Schalenelementen für Bearbeitungsaufgaben mit Industrierobotern}, url = {https://www.werkstattstechnik.de/wt/currentarticle.php?data[article_id]=92636}, volume = 110, year = 2020 }
  Link
  https://www.werkstattstechnik.de/wt/currentarticle.php?data[article_id]=92636
18. Trautwein, Felix ; Reichenbach, Thomas ; Verl, Alexander ; Eberhard, P. (Hrsg.) ; Eberhard, P. (Hrsg.): Seilroboter als rekonfigurierbare Handhabungssysteme, handling ( Nr. 7–8), 2020
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  @techreport{trautwein2020seilroboter, author = {Trautwein, Felix and Reichenbach, Thomas and Verl, Alexander}, editor = {Eberhard, Peter}, journal = {handling}, month = {8}, number = {7-8}, pages = {28-29}, title = {Seilroboter als rekonfigurierbare Handhabungssysteme}, year = 2020 }
19. Trautwein, Felix ; Reichenbach, Thomas ; Tempel, Philipp ; Pott, Andreas ; Verl, Alexander: COPacabana: A Modular Cable-Driven Parallel Robot. In: Sechste IFToMM D-A-CH Konferenz, Sechste IFToMM D-A-CH Konferenz. Bd. 2020, 2020
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  @incollection{Trautwein.2020, abstract = {Due to their use of modular components, cable-driven parallel robots are prime candidates for use as reconfigurable robotic manipulators. Reconfiguration comprises both the change of the geometry as well as topological changes such as adding or removing axes. To validate practicability of methods for reconfiguration, we developed the reconfigurable cable-driven parallel robot Cable-Operated Parallel Robot (COPacabana). This paper presents the mechanical design as well as the hardware and software in use on the test rig. Further use cases for validation of research findings are presented as well.}, author = {Trautwein, Felix and Reichenbach, Thomas and Tempel, Philipp and Pott, Andreas and Verl, Alexander}, booktitle = {Sechste IFToMM D-A-CH Konferenz}, doi = {10.17185/duepublico/71189}, file = {1ccdb281-835c-4959-be53-eb5ef6b33537:C\:\\Users\\ac123748\\AppData\\Local\\Swiss Academic Software\\Citavi 6\\ProjectCache\\cusz0rmxhlz77jjnyb5zp4hwqdh14zphlkpe42130wtgp54k\\Citavi Attachments\\1ccdb281-835c-4959-be53-eb5ef6b33537.pdf:pdf}, title = {COPacabana: A Modular Cable-Driven Parallel Robot}, volume = 2020, year = 2020 }
20. von Arnim, Christian ; Lechler, Armin ; Riedel, Oliver ; Verl, Alexander: Fragmentation in Reconfigured Real-time Production Networks. In: Annals of Scientific Society for Assembly, Handling and Industrial Robotics, Annals of Scientific Society for Assembly, Handling and Industrial Robotics : Springer, 2020. — Open Access — ISBN 978-3-662-61755-7, S. 105--115
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  @inproceedings{vonArnim2020fragmentation, abstract = {A reconfigurable production is able to adapt to a new product in a short time. This can be built up from cyber-physical production systems (CPPS) which exchange various data with several devices simultaneously via a convergent network. In these future production systems, convergent networks will connect more participants than real-time production networks do today. In order to enable uninterrupted operation, reconfigurations must not affect existing communication. Due to this limitation, fragmentation of the configuration can occur, restricting future operations. This paper investigates fragmentation caused by reconfigurations using a simulation to determine whether fragmentation can lead to problems in future production networks.}, author = {von Arnim, Christian and Lechler, Armin and Riedel, Oliver and Verl, Alexander}, booktitle = {Annals of Scientific Society for Assembly, Handling and Industrial Robotics}, doi = {https://doi.org/10.1007/978-3-662-61755-7_10}, isbn = {978-3-662-61755-7}, note = {Open Access}, pages = {105--115}, publisher = {Springer}, title = {Fragmentation in Reconfigured Real-time Production Networks}, url = {https://link.springer.com/chapter/10.1007/978-3-662-61755-7_10}, year = 2020 }
  Link
  https://link.springer.com/chapter/10.1007/978-3-662-61755-7_10
21. Wnuk, Markus ; Hinze, Christoph ; Lechler, Armin ; Verl, Alexander: Kinematic Multibody Model Generation of Deformable Linear Objects from Point Clouds. In: 2020 International Conference on Intelligent Robots and Systems (IROS), 2020 International Conference on Intelligent Robots and Systems (IROS), 2020, S. 9545–9552
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  @inproceedings{wnuk2020kinematic, author = {Wnuk, Markus and Hinze, Christoph and Lechler, Armin and Verl, Alexander}, booktitle = {2020 International Conference on Intelligent Robots and Systems (IROS)}, doi = {10.1109/IROS45743.2020.9340887}, month = {October}, pages = {9545-9552}, title = {Kinematic Multibody Model Generation of Deformable Linear Objects from Point Clouds}, year = 2020 }
22. Zahn, Peter ; Schulte, Alexander ; Verl, Alexander: Impact‑based feed drive actuator for discontinuous motion profiles. In: Production Engineering Research and Development, Production Engineering Research and Development. Bd. 14 (2020), Nr. 2, S. 157–163
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  @article{zahn2020impactbased, author = {Zahn, Peter and Schulte, Alexander and Verl, Alexander}, doi = {10.1007/s11740-020-00950-3}, journal = {Production Engineering Research and Development}, number = 2, pages = {157-163}, title = {Impact‑based feed drive actuator for discontinuous motion profiles}, url = {https://link.springer.com/article/10.1007/s11740-020-00950-3}, volume = 14, year = 2020 }
  Link
  https://link.springer.com/article/10.1007/s11740-020-00950-3
2019
1. Dripke, Caren ; Sun, Yuesheng ; Verl, Alexander: Framework for the Closed-Form Calculation of Forward and Inverse Kinematics for Basic Kinematics in Reconfigurable Multi-Component Systems. In: Proceedings of the 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), Proceedings of the 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) : IEEE, 2019, S. 687–694
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  @inproceedings{dripke2019framework, author = {Dripke, Caren and Sun, Yuesheng and Verl, Alexander}, booktitle = {Proceedings of the 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)}, eventdate = {September 10th - 13th, 2019}, organization = {IEEE}, pages = {687-694}, title = {Framework for the Closed-Form Calculation of Forward and Inverse Kinematics for Basic Kinematics in Reconfigurable Multi-Component Systems}, venue = {Zaragoza, Spain}, year = 2019 }
2. Dripke, Caren ; Ye, Zhongyi ; Verl, Alexander: Synchronization of a distributed interpolation application via cross-coupled control. In: IEEE International Conference on Engineering, Technology and Innovation (ICE/ITMC), IEEE International Conference on Engineering, Technology and Innovation (ICE/ITMC) : IEEE, 2019 — ISBN 978-1-7281-3401-7
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  @inproceedings{noauthororeditor2019synchronization, author = {Dripke, Caren and Ye, Zhongyi and Verl, Alexander}, booktitle = {IEEE International Conference on Engineering, Technology and Innovation (ICE/ITMC)}, doi = {10.1109/ICE.2019.8792616}, eventdate = {June 17 – 19, 2019}, isbn = {978-1-7281-3401-7}, organization = {IEEE}, title = {Synchronization of a distributed interpolation application via cross-coupled control}, venue = {Sophia Antipolis Innovation Park, France}, year = 2019 }
3. Eger, Florian ; Tempel, Philipp ; Magnanini, Maria Chiara ; Reiff, Colin ; Colledani, Marchello ; Verl, Alexander: Part Variation Modeling in Multi-Stage Production Systems for Zero-Defect Manufacturing. In: 2019 IEEE International Conference on Industrial Technology (ICIT), 2019 IEEE International Conference on Industrial Technology (ICIT), 2019, S. 1017–1022
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  @inproceedings{eger2019variation, abstract = {Multi-stage production systems concede for low error and failure margins within every single machining and assembly step to not degrade product quality. Especially during multi-stage production of rotating parts, minor defects during a single step can corrupt a workpiece beyond repair. Since multistage production systems are complex, inter-connected chains of machining steps, a global approach to handling and compensating error emergence and propagation is for reaching Zero-Defect Manufacturing indispensable. We introduce Part Variation Modeling within a knowledge capturing platform to monitor centrally gathered metrological data for deviations. Further, a parametric model is presented allowing for description of rotating parts and enabling identification of deviations at every stage. Based on our inter-stage correlation analysis technique, the parametric model enables description of Part Variation Modes of a piece given current machine states and historic deviation likelihood as will be presented.}, author = {Eger, Florian and Tempel, Philipp and Magnanini, Maria Chiara and Reiff, Colin and Colledani, Marchello and Verl, Alexander}, booktitle = {2019 IEEE International Conference on Industrial Technology (ICIT)}, doi = {10.1109/ICIT.2019.8754964}, issn = {2643-2978}, month = {February}, pages = {1017-1022}, title = {Part Variation Modeling in Multi-Stage Production Systems for Zero-Defect Manufacturing}, url = {https://ieeexplore.ieee.org/document/8754964/}, year = 2019 }
  Link
  https://ieeexplore.ieee.org/document/8754964/
4. Ellwein, Carsten ; Neff, Sascha ; Verl, Alexander: Cloud Manufacturing: An Automated Literature Review. In: Procedia CIRP, Procedia CIRP. Bd. 86 (2019), S. 251–256. — 7th CIRP Global Web Conference – Towards shifted production value stream patterns through inference of data, models, and technology (CIRPe 2019)
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  @article{ELLWEIN2019251, abstract = {Due to digitalization, virtualization and Industry 4.0, the structure of the manufacturing industry is changing. One result of this development is cloud manufacturing, a new manufacturing paradigm. The number of new literatures related to this topic is increasing tremendously. Therefore, cloud manufacturing degenerates into a collective term, with a wide variety of definitions and research areas emerging. On the one hand, this paper deals with an automated statistical evaluation of the literature on cloud manufacturing. On the other hand, the main research areas of cloud manufacturing are identified by a statistical evaluation of the literature keywords from three selected databases. By means of natural language processing and machine learning methods, the keywords are automatically evaluated and grouped into clusters to obtain the main research areas.}, author = {Ellwein, Carsten and Neff, Sascha and Verl, Alexander}, doi = {https://doi.org/10.1016/j.procir.2020.01.006}, issn = {2212-8271}, journal = {Procedia CIRP}, note = {7th CIRP Global Web Conference – Towards shifted production value stream patterns through inference of data, models, and technology (CIRPe 2019)}, pages = {251 - 256}, title = {Cloud Manufacturing: An Automated Literature Review}, url = {http://www.sciencedirect.com/science/article/pii/S2212827120300068}, volume = 86, year = 2019 }
  Link
  http://www.sciencedirect.com/science/article/pii/S2212827120300068
5. Engelberth, Tim ; Neubauer, Michael ; Verl, Alexander: Master-Switch für verspannte Zahnstange-Ritzel-Antriebe. In: atp magazin, atp magazin. Bd. 61 (2019), Nr. 3, S. 54–63
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  @article{noauthororeditor, abstract = {Das Umkehrspiel gilt als zentrales Problem von Zahnstange-Ritzel-Antrieben. Es kann durch elektrische Verspannung kompensiert und die Genauigkeit in Kombination mit direkter Lageregelung maximiert werden. Wird aus Kostengründen auf die direkte Lageregelung verzichtet, geht dies zu Lasten der Genauigkeit. Vor diesem Hintergrund wurde der hier vorgestellte Master-Switch-Ansatz entwickelt. Der Ansatz optimiert die Genauigkeit von Systemen mit indirekter Lageregelung, sodass diese nicht mehr von der Genauigkeit direkt geregelter Systeme abweicht. Simulationsergebnisse belegen die Funktionalität des vorgestellten Ansatzes.}, author = {Engelberth, Tim and Neubauer, Michael and Verl, Alexander}, doi = {https://doi.org/10.17560/atp.v61i3.2389}, journal = {atp magazin}, language = {de}, month = {März}, number = 3, pages = {54-63}, title = {Master-Switch für verspannte Zahnstange-Ritzel-Antriebe}, url = {http://ojs.di-verlag.de/index.php/atp_edition/article/view/2389}, volume = 61, year = 2019 }
  Link
  http://ojs.di-verlag.de/index.php/atp_edition/article/view/2389
6. Engelberth, Tim ; Verl, Alexander: Adaptive Verspannung von Zahnstange-Ritzel-Antrieben. In: wt Werkstattstechnik online, wt Werkstattstechnik online. Bd. 109 (2019), Nr. 5, S. 312–318
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  @article{noauthororeditor, abstract = {Zahnstange-Ritzel-Antriebe werden vorwiegend in großen Werkzeugmaschinen eingesetzt. Um die hohen Genauigkeitsanforderungen moderner Produktionsanlagen zu erreichen, werden diese Antriebe elektrisch verspannt. Die Verspannung ist konstant. Dieser Beitrag beschreibt eine neuartige Methode, die sogenannte adaptive Verspannung. Ziel ist es, den Energiebedarf und die Belastung des Antriebssystems durch Anpassung der Verspannung während des Betriebs zu reduzieren, ohne die Genauigkeit zu beeinflussen.}, author = {Engelberth, Tim and Verl, Alexander}, journal = {wt Werkstattstechnik online}, month = {Mai}, number = 5, pages = {312-318}, title = {Adaptive Verspannung von Zahnstange-Ritzel-Antrieben}, url = {https://www.werkstattstechnik.de/wt/currentarticle.php?data[article_id]=91750}, volume = 109, year = 2019 }
  Link
  https://www.werkstattstechnik.de/wt/currentarticle.php?data[article_id]=91750
7. Heinemann, Tonja ; Lechler, Armin ; Riedel, Oliver ; Verl, Alexander: Vermeidung von Nothalten von fahrerlosen Transportfahrzeugen durch lokale Bahnplanung. In: Krüger, J. ; Uhlmann, E. ; Verl, A. ; Rieder, O. ; Brecher, C. (Hrsg.) ; Krüger, J. ; Uhlmann, E. ; Verl, A. ; Rieder, O. ; Brecher, C. (Hrsg.): Fortschritt-Berichte VDI. Reihe 2, Fertigungstechnik, Fortschritt-Berichte VDI. Reihe 2, Fertigungstechnik. Bd. Produktion 2030-Wandel in der Automatisierungstechnik. Als Manuskript gedruckt. Düsseldorf : VDI Verlag, 2019 — ISBN 3183699028, S. 151
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  @inbook{heinemann2019vermeidung, address = {Düsseldorf}, author = {Heinemann, Tonja and Lechler, Armin and Riedel, Oliver and Verl, Alexander}, chapter = 3, edition = {Als Manuskript gedruckt}, editor = {Krüger, Jörg and Uhlmann, Eckart and Verl, Alexander and Rieder, Oliver and Brecher, Christian}, isbn = {3183699028}, number = 699, pages = 151, publisher = {VDI Verlag}, series = {Fortschritt-Berichte VDI. Reihe 2, Fertigungstechnik}, title = {Vermeidung von Nothalten von fahrerlosen Transportfahrzeugen durch lokale Bahnplanung}, volume = {Produktion 2030 - Wandel in der Automatisierungstechnik}, year = 2019 }
8. Helfesrieder, Nico ; Neubauer, Michael ; Lechler, Armin ; Verl, Alexander: Hochautomatisierte Roboterzelle mit adaptiver Werkstückaufspannung für die komplexe Holzbearbeitung. In: agt agile technik verlag (Hrsg.) HOB Die Holzbearbeitung, HOB Die Holzbearbeitung. (2019), Nr. 3/2019, S. 57–58
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  @article{helfesrieder2019hochautomatisierte, author = {Helfesrieder, Nico and Neubauer, Michael and Lechler, Armin and Verl, Alexander}, editor = {agt agile technik verlag}, journal = {HOB Die Holzbearbeitung}, number = {3/2019}, pages = {57-58}, title = {Hochautomatisierte Roboterzelle mit adaptiver Werkstückaufspannung für die komplexe Holzbearbeitung}, year = 2019 }
9. Hinze, Christoph ; Tomzik, David ; Lechler, Armin ; Xu, Xun ; Verl, Alexander: Control Architecture for Industrial Robotics based on Container Virtualization. In: Schüppstuhl, T. ; Tracht, K. ; Roßmann, J. (Hrsg.) ; Schüppstuhl, T. ; Tracht, K. ; Roßmann, J. (Hrsg.): Tagungsband des 4. Kongresses Montage Handhabung Industrieroboter, Tagungsband des 4. Kongresses Montage Handhabung Industrieroboter. Berlin, Heidelberg : Springer Berlin Heidelberg, 2019 — ISBN 978-3-662-59317-2, S. 64--73
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  BibTeX
  @inproceedings{10.1007/978-3-662-59317-2_7, abstract = {Current robot control is a rather static, monolithic application, where the application data has to be programmed, before the actual process starts. For the automation of more dynamical tasks, additional real-time control loops for process control and a more flexible robot control are needed. Therefore, this paper introduces a robot control architecture for real-time and separate asynchronous communication, which is able to build up local real-time control loops as well as including massively scalable cloud components. In a proof-of-concept, a multibody dynamic simulation of a robot and a controller are virtualized as separate components. The real-time suitability of the architecture is evaluated in comparison with non-virtualized and a monolithic variant of the same application.}, address = {Berlin, Heidelberg}, author = {Hinze, Christoph and Tomzik, David and Lechler, Armin and Xu, Xun and Verl, Alexander}, booktitle = {Tagungsband des 4. Kongresses Montage Handhabung Industrieroboter}, editor = {Sch{\"u}ppstuhl, T. and Tracht, K. and Ro{\ss}mann, J.}, isbn = {978-3-662-59317-2}, pages = {64--73}, publisher = {Springer Berlin Heidelberg}, title = {Control Architecture for Industrial Robotics based on Container Virtualization}, year = 2019 }
10. Hinze, Christoph ; Wnuk, Markus ; Lechler, Armin ; Verl, Alexander: Harte Echtzeit für weiche Materialien. In: atp magazin, atp magazin. Bd. 61, Vulkan-Verlag GmbH (2019), Nr. 11–12, S. 112
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  - Link
  BibTeX
  @article{Hinze_2019, author = {Hinze, Christoph and Wnuk, Markus and Lechler, Armin and Verl, Alexander}, doi = {10.17560/atp.v61i11-12.2446}, journal = {atp magazin}, month = nov, number = {11-12}, pages = 112, publisher = {Vulkan-Verlag {GmbH}}, title = {Harte Echtzeit für weiche Materialien}, url = {https://doi.org/10.17560%2Fatp.v61i11-12.2446}, volume = 61, year = 2019 }
  Link
  https://doi.org/10.17560%2Fatp.v61i11-12.2446
11. Jaensch, Florian ; Csiszar, Akos ; Sarbandi, Janik ; Verl, Alexander: Reinforcement Learning of a Robot Cell Control Logic using a Software-in-the-Loop Simulation as Environment. In: 2019 Second International Conference on Artificial Intelligence for Industries (AI4I), 2019 Second International Conference on Artificial Intelligence for Industries (AI4I), 2019, S. 79–84
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  BibTeX
  @inproceedings{9027783, abstract = {This paper introduces a method for automatic robot programming of industrial robots using reinforcement learning on a Software-in-the-loop simulation. The focus of the the paper is on the higher levels of a hierarchical robot programming problem. While the lower levels the skills are stored as domain specific program code, the combination of the skills into a robot control program to solve a specific task is automated. The reinforcement learning learning approach allows the shopfloor workers and technicians just to define the end result of the manufacturing process through a reward function. The programming and process optimization is done within the learning procedure. The Software-in-the-loop simulation with the robot control software makes it possible to to interpret the real program code and generate the exact motion. The exact motion of the robot is needed in order to find not just an optimal but also a collision-free policy.}, author = {Jaensch, Florian and Csiszar, Akos and Sarbandi, Janik and Verl, Alexander}, booktitle = {2019 Second International Conference on Artificial Intelligence for Industries (AI4I)}, doi = {10.1109/AI4I46381.2019.00027}, month = {Sep.}, pages = {79-84}, title = {Reinforcement Learning of a Robot Cell Control Logic using a Software-in-the-Loop Simulation as Environment}, url = {https://ieeexplore.ieee.org/document/9027783/}, year = 2019 }
  Link
  https://ieeexplore.ieee.org/document/9027783/
12. König, Timo ; Verl, Alexander ; Lechler, Armin: Motion superimposition for machine tool trajectories using asynchronous axis interpolation. In: 13th IFAC Workshop on Intelligent Manufacturing Systems IMS 2019, 13th IFAC Workshop on Intelligent Manufacturing Systems IMS 2019. Bd. Volume 52 : ELSEVIER - ScienceDirect, 2019, S. 300–305
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  BibTeX
  @inproceedings{noauthororeditor, abstract = {This paper presents a method for reducing non-productive times in the planning and interpolation of lift movements during 2.5D machining. At the moment, this mostly vertical lift movement is executed separately from the position changing in the operating plane. This sequential processing of motions increases the non-productive time in processes with frequent changes of operating height, such as laser cutting. The reduction is realized by superimposing the planar path movements with lift motion. An asynchronous axis interpolation is applied to make use of the maximum machine dynamics. In addition, known obstacles can be taken into account by further parameters in the planning.}, author = {König, Timo and Verl, Alexander and Lechler, Armin}, booktitle = {13th IFAC Workshop on Intelligent Manufacturing Systems IMS 2019}, doi = {https://doi.org/10.1016/j.ifacol.2019.10.046}, eventdate = {12. August 2019}, eventtitle = {13th IFAC Workshop on Intelligent Manufacturing Systems IMS 2019}, language = {englisch}, number = 10, organization = {IFAC}, pages = {300-305}, publisher = {ELSEVIER - ScienceDirect}, series = {IFAC-PapersOnLine}, title = {Motion superimposition for machine tool trajectories using asynchronous axis interpolation}, url = {https://www.sciencedirect.com/science/article/pii/S2405896319309012}, venue = {Oshawa, Kanada}, volume = {Volume 52}, year = 2019 }
  Link
  https://www.sciencedirect.com/science/article/pii/S2405896319309012
13. König, Timo ; Atmosudiro, Agus ; Verl, Alexander ; Lechler, Armin: G2-stetiges Klothoidenüberschleifen. In: wt Werkstattstechnik online, wt Werkstattstechnik online. Bd. Jahrgang 109 (2019), Nr. 6, S. 489–493
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  @article{konig209g2stetiges, abstract = {Das Klothoidenüberschleifverfahren ermöglicht einen G2-stetigen Übergang zwischen NC (Numerical Control)-Sätzen bei linearem Krümmungsprofil. Zudem ist dieses Profil über die Verteilung der Klothoiden- und Kreissegmente steuerbar und bietet die Möglichkeit beispielsweise hinsichtlich der Vorschubgeschwindigkeit optimiert zu werden. Allgemein entstehen glattere Dynamikprofile, welche die Maschinenbelastung reduzieren oder höhere Bearbeitungsgeschwindigkeiten zulassen.}, author = {König, Timo and Atmosudiro, Agus and Verl, Alexander and Lechler, Armin}, journal = {wt Werkstattstechnik online}, language = {deutsch}, month = {Juni}, number = 6, pages = {489-493}, title = {G2-stetiges Klothoidenüberschleifen}, volume = {Jahrgang 109}, year = 2019 }
14. Magnanini, Maria Chiara ; Eger, Florian ; Reiff, Colin ; Colledani, Marcello ; Verl, Alexander: A control model for downstream compensation strategy in multi-stage manufacturing systems of complex parts. In: Elsevier (Hrsg.) IFAC-PapersOnLine, IFAC-PapersOnLine. Bd. Volume 52 (2019), Nr. Issue 13, S. 1473–1478
  - BibTeX
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  BibTeX
  @article{noauthororeditor, author = {Magnanini, Maria Chiara and Eger, Florian and Reiff, Colin and Colledani, Marcello and Verl, Alexander}, doi = {https://doi.org/10.1016/j.ifacol.2019.11.407}, editor = {Elsevier}, journal = {IFAC-PapersOnLine}, month = {December}, number = {Issue 13}, pages = {1473-1478}, title = {A control model for downstream compensation strategy in multi-stage manufacturing systems of complex parts}, url = {https://www.sciencedirect.com/science/article/pii/S2405896319313886}, volume = {Volume 52}, year = 2019 }
  Link
  https://www.sciencedirect.com/science/article/pii/S2405896319313886
15. Menze, Christian ; Becker, Dina ; Stehle, Thomas ; Möhring, Hans-Christian ; Helfesrieder, Nico ; Lechler, Armin ; Verl, Alexander: Spanende Bearbeitung mit Industrierobotern und Bearbeitungszentren: Vergleichende Analyse der erzielbaren Bauteilqualität in der Holzbearbeitung. In: wt Werkstattstechnik online, wt Werkstattstechnik online. Bd. 109 (2019), Nr. 9, S. 650–655
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  @article{Menze.2019, author = {Menze, Christian and Becker, Dina and Stehle, Thomas and M{\"o}hring, Hans-Christian and Helfesrieder, Nico and Lechler, Armin and Verl, Alexander}, journal = {wt Werkstattstechnik online}, number = 9, pages = {650-655}, title = {Spanende Bearbeitung mit Industrierobotern und Bearbeitungszentren: Vergleichende Analyse der erzielbaren Bauteilqualit{\"a}t in der Holzbearbeitung}, volume = 109, year = 2019 }
16. Mesmer, Patrick ; Neubauer, Michael ; Lechler, Armin ; Verl, Alexander: Spanende Bearbeitung mit Industrierobotern - Herausforderungen bei der Roboterbearbeitung. In: Robotik und Produktion, Robotik und Produktion. Bd. 4/2019 (2019), S. 54–55
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  BibTeX
  @article{mesmer2019spanende, author = {Mesmer, Patrick and Neubauer, Michael and Lechler, Armin and Verl, Alexander}, journal = {Robotik und Produktion}, pages = {54-55}, title = {Spanende Bearbeitung mit Industrierobotern - Herausforderungen bei der Roboterbearbeitung}, volume = {4/2019}, year = 2019 }
17. Neubauer, Michael ; Mesmer, Patrick ; Lechler, Armin ; Verl, Alexander: Industrieroboter mit offener Steuerungsplattform. In: Antriebstechnik, Antriebstechnik. (2019), Nr. 2019/10, S. 96–97
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  BibTeX
  @article{neubauer2019industrieroboter, author = {Neubauer, Michael and Mesmer, Patrick and Lechler, Armin and Verl, Alexander}, journal = {Antriebstechnik}, number = {2019/10}, pages = {96-97}, title = {Industrieroboter mit offener Steuerungsplattform}, year = 2019 }
18. Pott, Andreas ; Tempel, Philipp ; Verl, Alexander ; Wulle, Frederik: Design, Implementation and Long-Term Running Experiences of the Cable-Driven Parallel Robot CaRo Printer. In: Pott, A. ; Bruckmann, T. (Hrsg.) ; Pott, A. ; Bruckmann, T. (Hrsg.): Cable-Driven Parallel Robots, Cable-Driven Parallel Robots. Cham : Springer International Publishing, 2019 — ISBN 978-3-030-20751-9, S. 379--390
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  @inproceedings{10.1007/978-3-030-20751-9_32, abstract = {Additive manufacturing has attracted a lot of attention in the recent years as it allows to effectively manufacture objects with complex shape in batch size one. Extrusion-based additive processes employ manipulators, such as robots, to move the printing head along a predefined path. This paper deals with the design, implementation, and experimental evaluation of a new cable-driven parallel robot for additive manufacturing called CaRo printer. We compare the proposed robot structure with other cable robots and present technical details of the evaluation. Technical details on the mechanical and controller design are given. A special focus is laid on practical aspects and observations made from long-term operation of the demonstrator. We present measured data from the long-term operation at the exhibition.}, address = {Cham}, author = {Pott, Andreas and Tempel, Philipp and Verl, Alexander and Wulle, Frederik}, booktitle = {Cable-Driven Parallel Robots}, editor = {Pott, Andreas and Bruckmann, Tobias}, isbn = {978-3-030-20751-9}, pages = {379--390}, publisher = {Springer International Publishing}, title = {Design, Implementation and Long-Term Running Experiences of the Cable-Driven Parallel Robot CaRo Printer}, url = {https://link.springer.com/chapter/10.1007/978-3-030-20751-9_32}, year = 2019 }
  Link
  https://link.springer.com/chapter/10.1007/978-3-030-20751-9_32
19. Reichenbach, Thomas ; Tempel, Philipp ; Verl, Alexander ; Pott, Andreas: On Kinetostatics and Workspace Analysis of Multi-Platform Cable-Driven Parallel Robots with Unlimited Rotation. In: Kuo, C.-H. u. a. (Hrsg.) ; Kuo, C.-H. u. a. (Hrsg.): Proceedings of the 6th IFToMM International Symposium on Robotics and Mechatronics, Proceedings of the 6th IFToMM International Symposium on Robotics and Mechatronics : Springer Switzerland, 2019
  - BibTeX
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  BibTeX
  @inproceedings{Reichenbach.2019b, author = {Reichenbach, Thomas and Tempel, Philipp and Verl, Alexander and Pott, Andreas}, booktitle = {Proceedings of the 6th IFToMM International Symposium on Robotics and Mechatronics}, doi = {https://doi.org/10.1007/978-3-030-30036-4}, editor = {Kuo, Chin-Hsing et al.}, publisher = {Springer Switzerland}, title = {On Kinetostatics and Workspace Analysis of Multi-Platform Cable-Driven Parallel Robots with Unlimited Rotation}, url = {https://doi.org/10.1007/978-3-030-30036-4}, year = 2019 }
  Link
  https://doi.org/10.1007/978-3-030-30036-4
20. Reichenbach, Thomas ; Verl, Alexander ; Eberhard, P. (Hrsg.) ; Eberhard, P. (Hrsg.): Umdrehungen ohne Ende. Seilroboter mit endloser Rotationsachse, handling ( Nr. 6), 2019
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  BibTeX
  @techreport{reichenbach2019umdrehungen, author = {Reichenbach, Thomas and Verl, Alexander}, editor = {Eberhard, Peter}, journal = {handling}, month = {6}, number = 6, pages = 24, title = {Umdrehungen ohne Ende. Seilroboter mit endloser Rotationsachse}, year = 2019 }
21. Reichenbach, Thomas ; Tempel, Philipp ; Verl, Alexander ; Pott, Andreas: Static Analysis of a Two-Platform Planar Cable-Driven Parallel Robot with Unlimited Rotation. In: Pott, A. ; Bruckmann, T. (Hrsg.) ; Pott, A. ; Bruckmann, T. (Hrsg.): Proceedings of the Fourth International Conference on Cable-Driven Parallel Robots, Proceedings of the Fourth International Conference on Cable-Driven Parallel Robots : Springer Switzerland, 2019
  - BibTeX
  - Link
  BibTeX
  @inproceedings{reichenbach2019static, author = {Reichenbach, Thomas and Tempel, Philipp and Verl, Alexander and Pott, Andreas}, booktitle = {Proceedings of the Fourth International Conference on Cable-Driven Parallel Robots}, doi = {https://doi.org/10.1007/978-3-030-20751-9_11}, editor = {Pott, Andreas and Bruckmann, Tobias}, publisher = {Springer Switzerland}, series = {Advances in Mechanism and Machine Science}, title = {Static Analysis of a Two-Platform Planar Cable-Driven Parallel Robot with Unlimited Rotation}, url = {https://doi.org/10.1007/978-3-030-20751-9_11}, year = 2019 }
  Link
  https://doi.org/10.1007/978-3-030-20751-9_11
22. Reiff, Colin ; Eger, Florian ; Verl, Alexander: Smart Centering - Methodik zur intelligenten Zentrierung von rotationssymmetrischer Körper für die Null-Fehler-Fertigung in mehrstufigen Produktionssystemen. In: Krüger, J. ; Uhlmann, E. ; Verl, A. ; Rieder, O. ; Brecher, C. (Hrsg.) ; Krüger, J. ; Uhlmann, E. ; Verl, A. ; Rieder, O. ; Brecher, C. (Hrsg.): Fortschritt-Berichte VDI. Reihe 2, Fertigungstechnik, Fortschritt-Berichte VDI. Reihe 2, Fertigungstechnik. Bd. Produktion 2030-Wandel in der Automatisierungstechnik. Als Manuskript gedruckt. Düsseldorf : VDI Verlag, 2019 — ISBN 9783183699025, S. 110–132
  - BibTeX
  BibTeX
  @inbook{reiff2019smart, abstract = {Die vorgestellte Smart Centering Strategie zielt darauf ab, eine wirtschaftlichere Fertigung von rotationssymmetrischen Bauteilen durch eine intelligente Ausrichtung der Rotationsachse zu erreichen. Dazu wurden Ansätze der Null-Fehler-Fertigung in einem industriellen Anwendungsfall realisiert und in Form eines cyber-physischen Systems in die Prozesskette integriert. Um Fehler, bedingt durch Verformungen des Ausgangmaterials zu kompensieren, werden sowohl die Soll-Geometrie als auch die tatsächliche Geometrie des Bauteils berücksichtigt. Für ei-nen Vergleich beider Geometrien wurden verschiedene Modellierungsmethoden vorgestellt und diskutiert. Darauf aufbauend wurden Algorithmen entwickelt, welche die Position der Referenzbohrung zur Festlegung der Rotationsachse hinsichtlich verschiedener Kriterien optimieren. Darüber hinaus werden für den Fall, dass eine Welle voraussichtlich nicht gefertigt werden kann, weitere Soll-Geometrien über-prüft und so alternative Vorschläge zur Fertigung gemacht. Das System berechnet eine Vielzahl von Parametern, wie Unwucht und minimaler Abstand der Soll-Geometrie zur Ist-Geometrie und kann dadurch zur weiteren Verbesserung der gesamten Prozesskette verwendet werden. Folglich können auf Basis der Auswertung dieser Daten, zukünftig Toleranzen gesenkt und dadurch Material eingespart und der Werkzeugverschleiß sowie die benötigt Bearbeitungsdauer reduziert werden.}, address = {Düsseldorf}, author = {Reiff, Colin and Eger, Florian and Verl, Alexander}, chapter = 6, edition = {Als Manuskript gedruckt}, editor = {Krüger, Jörg and Uhlmann, Eckart and Verl, Alexander and Rieder, Oliver and Brecher, Christian}, isbn = {9783183699025}, number = 699, pages = {110-132}, publisher = {VDI Verlag}, series = {Fortschritt-Berichte VDI. Reihe 2, Fertigungstechnik}, title = {Smart Centering - Methodik zur intelligenten Zentrierung von rotationssymmetrischer Körper für die Null-Fehler-Fertigung in mehrstufigen Produktionssystemen}, volume = {Produktion 2030 - Wandel in der Automatisierungstechnik}, year = 2019 }
23. Reiff, Colin ; Oechsle, Stefan ; Eger, Florian ; Verl, Alexander: Web-based Platform for Data Analysis and Monitoring. In: Procedia CIRP, Procedia CIRP. Bd. 86 (2019), S. 31–36. — 7th CIRP Global Web Conference
  - BibTeX
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  BibTeX
  @article{noauthororeditor, abstract = {With the increasing number of sensors installed in production systems and the associated amount of recorded data, a high potential for optimizing manufacturing processes is offered. Based on the gathered information, data analyzing methods can be used to identify correlations and thus, optimize complex multi-stage production systems with the goal of zero-defect manufacturing. For this purpose, multiple statistical methods have to be applied, which is often a time-consuming task and currently requires trained and experienced specialists. Furthermore, the investigated data must be kept up to date for the early recognition of changes possibly leading to cost-intensive scrap and production downtimes. To address these issues, a web-based platform with an intuitive user interface was developed. The platform can access and process various data sources using modular methods. In addition, as part of continuous monitoring, the results of these analyzing steps can be dynamically calculated. The aim of the platform is to make complex analysis processes accessible to machine operators and thus to combine domain expertise and statistical knowledge. The paper describes the underlying architecture and the relevant interfaces of the platform.}, author = {Reiff, Colin and Oechsle, Stefan and Eger, Florian and Verl, Alexander}, doi = {https://doi.org/10.1016/j.procir.2020.01.009}, journal = {Procedia CIRP}, note = {7th CIRP Global Web Conference}, pages = {31-36}, title = {Web-based Platform for Data Analysis and Monitoring}, url = {https://www.sciencedirect.com/science/article/pii/S2212827120300093}, volume = 86, year = 2019 }
  Link
  https://www.sciencedirect.com/science/article/pii/S2212827120300093
24. Reiff, Colin ; Eger, Florian ; Tempel, Philipp ; Magnanini, Maria Chiara ; Ortiz, Jon Ander ; Colledani, Marcello ; Verl, Alexander ; Sarries, Iñigo: Smart centering for rotation-symmetric parts in multi-stage production systems for zero-defect manufacturing. In: Procedia CIRP, Procedia CIRP. Bd. 79 (2019), S. 27–32. — 12th CIRP Conference on Intelligent Computation in Manufacturing Engineering, 18-20 July 2018, Gulf of Naples, Italy
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  BibTeX
  @article{REIFF201927, abstract = {During manufacturing, geometrical deviations occur, e.g. due to heating processes. In multi-stage production systems, these errors propagate and lead to expensive rework or, even, to unusable products. In this paper, a method for smart centering of rotation-symmetric parts is introduced. The method is used in the scope of achieving zero-defect manufacturing processes. For this purpose, the products are measured and automatically compared with the required specifications. Based on the identified deviations, process parameters can be adjusted and thus, defects can be compensated in downstream production steps. The method is exemplified in the context of an industrial use case.}, author = {Reiff, Colin and Eger, Florian and Tempel, Philipp and Magnanini, Maria Chiara and Ortiz, Jon Ander and Colledani, Marcello and Verl, Alexander and Sarries, Iñigo}, doi = {https://doi.org/10.1016/j.procir.2019.02.006}, issn = {2212-8271}, journal = {Procedia CIRP}, note = {12th CIRP Conference on Intelligent Computation in Manufacturing Engineering, 18-20 July 2018, Gulf of Naples, Italy}, pages = {27 - 32}, title = {Smart centering for rotation-symmetric parts in multi-stage production systems for zero-defect manufacturing}, url = {http://www.sciencedirect.com/science/article/pii/S2212827119301192}, volume = 79, year = 2019 }
  Link
  http://www.sciencedirect.com/science/article/pii/S2212827119301192
25. Schulte, Alexander ; Zahn, Peter ; Lechler, Armin ; Verl, Alexander: Extreme Beschleunigung von Vorschubachsen. In: MM MaschinenMarkt, MM MaschinenMarkt., Vogel Communications Group GmbH & Co. KG (2019), Nr. 24, S. 68–69
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  @article{schulte2019extreme, author = {Schulte, Alexander and Zahn, Peter and Lechler, Armin and Verl, Alexander}, journal = {MM MaschinenMarkt}, language = {deutsch}, month = nov, number = 24, pages = {68-69}, publisher = {Vogel Communications Group GmbH & Co. KG}, title = {Extreme Beschleunigung von Vorschubachsen}, url = {https://www.maschinenmarkt.vogel.de/extremes-beschleunigungsvermoegen-von-vorschubachsen-durch-zusaetzlichen-aktor-a-880746/}, year = 2019 }
  Link
  https://www.maschinenmarkt.vogel.de/extremes-beschleunigungsvermoegen-von-vorschubachsen-durch-zusaetzlichen-aktor-a-880746/
26. Verl, Alexander ; Kienzlen, Annika: Der Materialfluss des digitalen Zwillings. In: SPS Magazin, SPS Magazin. (2019), Nr. 10, S. 34–36
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  @article{verl2019materialfluss, author = {Verl, Alexander and Kienzlen, Annika}, journal = {SPS Magazin}, month = {okt}, number = 10, pages = {34-36}, title = {Der Materialfluss des digitalen Zwillings}, year = 2019 }
27. von Arnim, Christian ; Friedl, Sebastian ; Lechler, Armin ; Verl, Alexander: Automated OPC UA address space generation from existing data structures. In: 2019 IEEE 17th International Conference on Industrial Informatics (INDIN), 2019 IEEE 17th International Conference on Industrial Informatics (INDIN). Bd. 1, 2019, S. 959–964
  - BibTeX
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  BibTeX
  @inproceedings{vonArnim_2019_OpcUaAddressSpaceGeneration, abstract = {If existing communication systems are converted to OPC UA, an OPC UA information model is required for the existing data structures. In small systems, an information model can be created manually with reasonable effort. In systems with numerous data structures, however, the effort for manual creation is too demanding. In order to continue using the existing data structures in the code without having to handle OPC UA-specific data structures, a transformation between the existing data structures and the OPC UA information model is necessary. This article presents a possibility of generating an OPC UA information model by a description of the existing data structures, e.g. generated based on ROS messages. The description of data structures is evaluated at runtime and linked with the existing data structures. The different representations for the different access types (read, request/response) in the OPC UA information model are discussed. In addition, an OPC UA client can read the information model from the descriptions of the data structures and write the read data back to the original data structure. In this way, both the provision of the data via OPC UA and the reception are possible. The adaptation effort of the existing software is minimal, since the existing structures are automatically populated and can still be used as usual.}, author = {von Arnim, Christian and Friedl, Sebastian and Lechler, Armin and Verl, Alexander}, booktitle = {2019 IEEE 17th International Conference on Industrial Informatics (INDIN)}, doi = {10.1109/INDIN41052.2019.8972189}, issn = {1935-4576}, month = {07}, pages = {959-964}, title = {Automated OPC UA address space generation from existing data structures}, url = {https://ieeexplore.ieee.org/document/8972189/}, volume = 1, year = 2019 }
  Link
  https://ieeexplore.ieee.org/document/8972189/
28. Wnuk, Markus ; Wenger, Thomas ; Lechler, Armin ; Verl, Alexander: Nachgiebigkeit ist Einstellungssache. In: Eberhard, P. (Hrsg.) handling, handling. (2019), Nr. 9, S. 20
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  @article{wnuk2019tech, author = {Wnuk, Markus and Wenger, Thomas and Lechler, Armin and Verl, Alexander}, editor = {Eberhard, Peter}, journal = {handling}, month = sep, number = 9, pages = 20, title = {Nachgiebigkeit ist Einstellungssache}, year = 2019 }
29. Wulle, Frederik ; Wolf, Martin ; Riedel, Oliver ; Verl, Alexander: Method for load-capable path planning in multi-axis fused deposition modeling. In: Procedia CIRP, Procedia CIRP. Bd. 84, Elsevier BV (2019), S. 335--340
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  BibTeX
  @article{Wulle_2019, author = {Wulle, Frederik and Wolf, Martin and Riedel, Oliver and Verl, Alexander}, doi = {10.1016/j.procir.2019.04.188}, journal = {Procedia {CIRP}}, pages = {335--340}, publisher = {Elsevier {BV}}, title = {Method for load-capable path planning in multi-axis fused deposition modeling}, url = {https://doi.org/10.1016%2Fj.procir.2019.04.188}, volume = 84, year = 2019 }
  Link
  https://doi.org/10.1016%2Fj.procir.2019.04.188
30. Wulle, Frederik ; Bubeck, Wolfgang ; Elser, Anja ; Wolf, Martin ; Verl, Alexander: Trajektorienplanung mittels modellprädiktiver Vorsteuerung eines FDM-Druckkopfes. In: 26. Stuttgarter Kunststoffkolloquium, 26. Stuttgarter Kunststoffkolloquium : IKT, Universität Stuttgart, 2019 — ISBN 978-3-9818681-1-1, S. 83–88
  - BibTeX
  BibTeX
  @conference{wulle2019trajektorienplanung, abstract = {Das dynamische Verhalten von Kunststoffextrudern wird in der Trajektorienplanung bei der Additiven Fertigung kaum berücksichtigt. Dies verursacht Prozess- und Bauteilqualitätsminderungen, die vor allem in den Anfahr- und Endphasen beim Ablegen von Raupen sichtbar werden. Durch eine modellprädiktive Vorsteuerung auf Basis einer Dynamikmodellierung des Kunstoffes im Extruder kann der Volumenstrom jedoch geregelt werden. Diese Trajektorienplanung läuft auf der CNC in Echtzeit und beeinflusst zusätzlich die Trajektorie des Druckkopfs. Anhand eines Beispiels wird ein Lösungsvorschlag für eine Modellierung und Implementierung erläutert.}, author = {Wulle, Frederik and Bubeck, Wolfgang and Elser, Anja and Wolf, Martin and Verl, Alexander}, booktitle = {26. Stuttgarter Kunststoffkolloquium}, eventdate = {28.03.2019}, isbn = {978-3-9818681-1-1}, language = {deutsch}, month = mar, pages = {83-88}, publisher = {IKT, Universität Stuttgart}, title = {Trajektorienplanung mittels modellprädiktiver Vorsteuerung eines FDM-Druckkopfes}, venue = {Stuttgart}, year = 2019 }
2018
1. Dripke, Caren ; Schneider, Ben ; Dragan, Mihai ; Zoitl, Alois ; Verl, Alexander: Concept of Distributed Interpolation for Skill-Based Manufacturing with Real-Time Communication. In: Schüppstuhl, T. ; Tracht, K. ; Franke, J. (Hrsg.) ; Schüppstuhl, T. ; Tracht, K. ; Franke, J. (Hrsg.): Tagungsband des 3. Kongresses Montage Handhabung Industrieroboter, Tagungsband des 3. Kongresses Montage Handhabung Industrieroboter : Springer Vieweg, 2018 — ISBN 978-3-662-56714-2
  - BibTeX
  BibTeX
  @incollection{dripke2018concept, author = {Dripke, Caren and Schneider, Ben and Dragan, Mihai and Zoitl, Alois and Verl, Alexander}, booktitle = {Tagungsband des 3. Kongresses Montage Handhabung Industrieroboter}, doi = {10.1007/978-3-662-56714-2}, editor = {Schüppstuhl, Thorsten and Tracht, Kirsten and Franke, Jörg}, isbn = {978-3-662-56714-2}, publisher = {Springer Vieweg}, title = {Concept of Distributed Interpolation for Skill-Based Manufacturing with Real-Time Communication}, year = 2018 }
2. Dripke, Caren ; Laicher, Sonja ; Verl, Alexander: Axis-in-the-loop simulation: a concept to transfer verfication and validation of distributed interpolation algorithms from simulation to interaction with commercial motion control hardware. In: Proceedings of International Conference on Computers & Industrial Engineering (CIE 48), Proceedings of International Conference on Computers & Industrial Engineering (CIE 48), 2018
  - BibTeX
  BibTeX
  @inproceedings{dripke2018axisintheloop, author = {Dripke, Caren and Laicher, Sonja and Verl, Alexander}, booktitle = {Proceedings of International Conference on Computers & Industrial Engineering (CIE 48)}, eventdate = {2nd - 5th December, 2018}, issn = {2164-8689}, title = {Axis-in-the-loop simulation: a concept to transfer verfication and validation of distributed interpolation algorithms from simulation to interaction with commercial motion control hardware}, venue = {Auckland, New Zealand}, year = 2018 }
3. Eger, Florian ; Reiff, Colin ; Colledani, Marcello ; Verl, Alexander: Knowledge Capturing Platform in Multi-Stage Production Systems for Zero-Defect Manufacturing. In: 2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), 2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), 2018, S. 1–6
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  @inproceedings{8600910, abstract = {The increasing complexity of parts and the growing quality requirements pose new challenges for today’s manufacturing industry. Multi-Stage Production Systems, which are known for complex links and sequences of many different process steps, must be adapted to these requirements. This means, being cost-effective and flexible while still meeting high quality standards. The idea of Zero-Defect Manufacturing aims to reduce scrap, rework and special operations by analyzing and optimizing multi-stage production systems through data-driven and learning-based approaches. A Knowledge Capturing Platform concept is introduced to extract a deeper understanding from collected data with inter-stage correlation methods, part variation approaches along the line and intelligent monitoring systems.}, author = {Eger, Florian and Reiff, Colin and Colledani, Marcello and Verl, Alexander}, booktitle = {2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)}, doi = {10.1109/M2VIP.2018.8600910}, month = nov, pages = {1-6}, title = {Knowledge Capturing Platform in Multi-Stage Production Systems for Zero-Defect Manufacturing}, url = {https://ieeexplore.ieee.org/document/8600910/}, year = 2018 }
  Link
  https://ieeexplore.ieee.org/document/8600910/
4. Eger, Florian ; Reiff, Colin ; Brantl, Bernd ; Colledani, Marcello ; Verl, Alexander: Correlation analysis methods in multi-stage production systems for reaching zero-defect manufacturing. In: Procedia CIRP, Procedia CIRP. Bd. 72, Elsevier BV (2018), S. 635--640
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  @article{Eger_2018, author = {Eger, Florian and Reiff, Colin and Brantl, Bernd and Colledani, Marcello and Verl, Alexander}, doi = {10.1016/j.procir.2018.03.163}, journal = {Procedia {CIRP}}, pages = {635--640}, publisher = {Elsevier {BV}}, title = {Correlation analysis methods in multi-stage production systems for reaching zero-defect manufacturing}, url = {https://doi.org/10.1016%2Fj.procir.2018.03.163}, volume = 72, year = 2018 }
  Link
  https://doi.org/10.1016%2Fj.procir.2018.03.163
5. Elser, Anja ; Königs, Michael ; Verl, Alexander ; Servos, Michael: On achieving accuracy and efficiency in Additive Manufacturing: Requirements on a hybrid CAM system. In: Procedia CIRP, Procedia CIRP. Bd. 72 (2018), Nr. 2018, S. 1512–1517
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  @article{elserachieving, author = {Elser, Anja and Königs, Michael and Verl, Alexander and Servos, Michael}, journal = {Procedia CIRP}, number = 2018, pages = {1512-1517}, title = {On achieving accuracy and efficiency in Additive Manufacturing: Requirements on a hybrid CAM system}, volume = 72, year = 2018 }
6. Engelberth, Tim ; Krawczyk, Daniel ; Verl, Alexander: Model-based method for condition monitoring and diagnosis of compressors. In: Procedia CIRP, Procedia CIRP. Bd. 72, Elsevier BV (2018), S. 1321--1326
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  @article{Engelberth_2018, author = {Engelberth, Tim and Krawczyk, Daniel and Verl, Alexander}, doi = {10.1016/j.procir.2018.03.271}, journal = {Procedia {CIRP}}, pages = {1321--1326}, publisher = {Elsevier {BV}}, title = {Model-based method for condition monitoring and diagnosis of compressors}, url = {https://doi.org/10.1016%2Fj.procir.2018.03.271}, volume = 72, year = 2018 }
  Link
  https://doi.org/10.1016%2Fj.procir.2018.03.271
7. Engelberth, Tim ; Verl, Alexander ; Heckmann, Marco: Potenziale von Zahnstange-Ritzel-Antriebssystemen. In: Antriebstechnik, Antriebstechnik., Vereinigte Fachverlage GmbH (2018), Nr. 3, S. 52–58
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  @article{engelberth2018potenziale, abstract = {Moderne Produktionsanlagen stellen immer höhere Forderungen an die Fertigungsgüte und Dynamik der eingesetzten Antriebssysteme. Dieser Artikel betrachtet zentrale Eigenschaften von Zahnstange-Ritzel-Antriebssystemen und beschreibt Maßnahmen zur Steigerung dieser Eigenschaften. Es wird gezeigt, dass sich elektrisch verspannte Zahnstange-Ritzel-Antriebssysteme in Bezug auf Positioniergenauigkeit und Steifigkeitsverhalten für den Einsatz in High-Performance-Werkzeugmaschinen auszeichnen.}, author = {Engelberth, Tim and Verl, Alexander and Heckmann, Marco}, journal = {Antriebstechnik}, language = {deutsch}, month = mar, number = 3, pages = {52-58}, publisher = {Vereinigte Fachverlage GmbH}, title = {Potenziale von Zahnstange-Ritzel-Antriebssystemen}, url = {https://digital.antriebstechnik.de/antriebstechnik-3-2018/59892441/52}, year = 2018 }
  Link
  https://digital.antriebstechnik.de/antriebstechnik-3-2018/59892441/52
8. Fur, Shan ; Verl, Alexander ; Pott, Andreas: Simulation of Industrial Bin Picking: An Application of Laser Range Finder Simulation. In: IEEE (Hrsg.) ; IEEE (Hrsg.): 2018 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications (CIVEMSA), 2018 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications (CIVEMSA). Ottawa, ON, Canada, 2018
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  @inproceedings{fur2018simulation, address = {Ottawa, ON, Canada}, author = {Fur, Shan and Verl, Alexander and Pott, Andreas}, booktitle = {2018 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications (CIVEMSA)}, days = {12}, doi = {10.1109/CIVEMSA.2018.8439959}, editor = {IEEE}, issn = {2377-9322}, month = jun, title = {Simulation of Industrial Bin Picking: An Application of Laser Range Finder Simulation}, url = {https://ieeexplore.ieee.org/abstract/document/8439959/}, year = 2018 }
  Link
  https://ieeexplore.ieee.org/abstract/document/8439959/
9. Helfesrieder, Nico ; Lechler, Armin ; Verl, Alexander: Mehr Steifigkeit bei weniger Gewicht. In: MM Maschinenmarkt, MM Maschinenmarkt., Vogel Communications Group GmbH & Co. KG (2018), Nr. 019, S. 112–113
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  @article{helfesrieder2018steifigkeit, author = {Helfesrieder, Nico and Lechler, Armin and Verl, Alexander}, journal = {MM Maschinenmarkt}, month = {09}, number = 019, pages = {112-113}, publisher = {Vogel Communications Group GmbH & Co. KG}, title = {Mehr Steifigkeit bei weniger Gewicht}, year = 2018 }
10. Hinze, Christoph ; Tasci, Timur ; Lechler, Armin ; Verl, Alexander: Towards Real-Time Capable Simulations with a Containerized Simulation Environment. In: 2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), 2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), 2018, S. 1–6
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  @inproceedings{8600827, abstract = {The handling of non-rigid objects, such as cables, with industrial robots is characterized by nonlinear, timedependent and location-dependent equations for the object's behavior. To manipulate them in a desired way, real-time capable simulations for control that are able to run in cycle-time are required as well as highly accurate and detailed simulations for path planning. We introduce a common simulation environment that is wrapped in a container with the advantages of including all dependencies and being easy to set up and orchestrate. Automated code generation is used to set up a standardized communication and virtualization in a Docker container such that only the simulation itself has to be provided by a user. The advantage of containerization, compared to the simulation running natively, is finally demonstrated with a sample robot simulation under heavy CPU load.}, author = {Hinze, Christoph and Tasci, Timur and Lechler, Armin and Verl, Alexander}, booktitle = {2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)}, doi = {10.1109/M2VIP.2018.8600827}, month = nov, pages = {1-6}, title = {Towards Real-Time Capable Simulations with a Containerized Simulation Environment}, url = {https://ieeexplore.ieee.org/document/8600827/}, year = 2018 }
  Link
  https://ieeexplore.ieee.org/document/8600827/
11. Jaensch, Florian ; Csiszar, Akos ; Kienzlen, Annika ; Verl, Alexander: Reinforcement Learning of Material Flow Control Logic Using Hardware-in-the-Loop Simulation. In: 2018 First International Conference on Artificial Intelligence for Industries (AI4I), 2018 First International Conference on Artificial Intelligence for Industries (AI4I), 2018, S. 77–80
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  @inproceedings{8665712, abstract = {In this paper the concept of reinforcement learning agent is presented, which can deduce the correct control policy of a plant by acting in its digital twin (the HiL simulation). This way the agent substitutes a real control system. By using reinforcement learning methods, a proof of concept application is presented for a simplistic material flow system, with the same type of access to the digital twin which a PLC controller-hardware would have. With the presented approach the agent is able to find the correct control policy.}, author = {Jaensch, Florian and Csiszar, Akos and Kienzlen, Annika and Verl, Alexander}, booktitle = {2018 First International Conference on Artificial Intelligence for Industries (AI4I)}, doi = {10.1109/AI4I.2018.8665712}, month = {Sep.}, pages = {77-80}, title = {Reinforcement Learning of Material Flow Control Logic Using Hardware-in-the-Loop Simulation}, url = {https://ieeexplore.ieee.org/document/8665712/}, year = 2018 }
  Link
  https://ieeexplore.ieee.org/document/8665712/
12. Jaensch, Florian ; Csiszar, Akos ; Scheifele, Christian ; Verl, Alexander: Digital Twins of Manufacturing Systems as a Base for Machine Learning. In: 2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), 2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), 2018, S. 1–6
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  @inproceedings{8600844, abstract = {In the engineering phase of modern manufacturing systems, simulation-based methods and tools have been established to face the increasing demands on time-efficiency and profitability. In the application of these simulation solutions, model-based digital twins are created, as multi-domain simulation models to describe the behavior of the manufacturing system. During the production process, a data-driven digital twin arises in the context of industry 4.0 based on an increasing networking and new cloud technologies. Recent developments in machine learning of fer new possibilities in conjunction with the digital twin. These range from data-based learning of models to learning control logic of complex systems. This paper proposes a combined model-based and data-driven concept of a digital twin. It shows how to use machine learning in connection with these models, in order to archive faster development times of manufacturing systems.}, author = {Jaensch, Florian and Csiszar, Akos and Scheifele, Christian and Verl, Alexander}, booktitle = {2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)}, doi = {10.1109/M2VIP.2018.8600844}, month = nov, pages = {1-6}, title = {Digital Twins of Manufacturing Systems as a Base for Machine Learning}, url = {https://ieeexplore.ieee.org/document/8600844/}, year = 2018 }
  Link
  https://ieeexplore.ieee.org/document/8600844/
13. Kaiser, Benjamin ; Csiszar, Akos ; Verl, Alexander: Generative models for direct generation of CNC toolpaths. In: 2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), 2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), 2018, S. 1–6
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  @inproceedings{8600856, abstract = {Today, numerical controls (CNC) are the standard for the control of machine tools and industrial robots in production and enable highly flexible and efficient production, especially for frequently changing production tasks. A numerical control has discrete inputs and outputs. Within the NC channel, however, it is necessary to analytically describe curves for the calculation of the position setpoints and the jerk limitation. The resulting change between discrete and continuous description forms and the considerable restrictions in the parallelisation of the interpolation of continuous curves within the NC channel lead to a performance overhead that limits the performance of the NC channel with regard to the calculation of new position setpoints. This can lead to a drop in production speed and thus to longer production times. To solve this problem, we propose a new approach in this paper. This is based on the use of deep generative models and allows the direct generation of interpolated toolpaths without calculation of continuous curves and subsequent discretization. The generative models are being trained to create curves of certain types such as linear and parabolic curves or splines directly as discrete point sequences. This approach is very well feasible with regard to its parallelization and reduces the computing effort within the NC channel. First results with straight lines and parabolic curves show the feasibility of this new approach for the generation of CNC toolpaths.}, author = {Kaiser, Benjamin and Csiszar, Akos and Verl, Alexander}, booktitle = {2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)}, doi = {10.1109/M2VIP.2018.8600856}, month = nov, pages = {1-6}, title = {Generative models for direct generation of CNC toolpaths}, url = {https://ieeexplore.ieee.org/document/8600856/}, year = 2018 }
  Link
  https://ieeexplore.ieee.org/document/8600856/
14. Karim, Ali ; Schmid, S ; Verl, Alexander: POSE AND FEED-DIRECTION DEPENDENCY ANALYSIS FOR MILLING TASKS WITH INDUSTRIAL ROBOTS. In: DEStech Transactions on Engineering and Technology Research, DEStech Transactions on Engineering and Technology Research. Bd. ICPR, DEStech Publications (2018)
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  @article{Karim_2018, author = {Karim, Ali and Schmid, S and Verl, Alexander}, doi = {10.12783/dtetr/icpr2017/17670}, journal = {{DEStech} Transactions on Engineering and Technology Research}, language = {english}, month = jan, publisher = {{DEStech} Publications}, title = {POSE AND FEED-DIRECTION DEPENDENCY ANALYSIS FOR MILLING TASKS WITH INDUSTRIAL ROBOTS}, url = {https://doi.org/10.12783%2Fdtetr%2Ficpr2017%2F17670}, volume = {ICPR}, year = 2018 }
  Link
  https://doi.org/10.12783%2Fdtetr%2Ficpr2017%2F17670
15. Mesmer, Patrick ; Lechler, Armin ; Verl, Alexander: Antriebsbasierte Schwingungsdämpfung an Industrierobotern für die spanende Bearbeitung. In: Antriebstechnik, Antriebstechnik. Bd. 10/2018, Vereinigte Fachverlage GmbH (2018), S. 96–97
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  @article{mesmer2018aSDaIR, author = {Mesmer, Patrick and Lechler, Armin and Verl, Alexander}, journal = {Antriebstechnik}, month = {Oktober}, pages = {96-97}, publisher = {Vereinigte Fachverlage GmbH}, title = {Antriebsbasierte Schwingungsdämpfung an Industrierobotern für die spanende Bearbeitung}, volume = {10/2018}, year = 2018 }
16. Reiff, Colin ; Eger, Florian ; Korb, Tobias ; Freiberger, Hermann ; Verl, Alexander: User Interface for the Acquisition and Characterization of Defects and Performed Rework in Multi-Stage Production Systems. In: Procedia CIRP, Procedia CIRP. Bd. 78 (2018), S. 243–248. — 6th CIRP Global Web Conference – Envisaging the future manufacturing, design, technologies and systems in innovation era (CIRPe 2018)
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  @article{REIFF2018243, abstract = {In the context of the optimization of multi-stage production systems, a large number of process, workpiece and machine data are recorded using sensor systems. However, since not all influencing factors and possible defects, especially in highly complex process chains, can be detected by physical sensors, the machine operator’s experience and his ability to identify non-conformances play a decisive role for achieving zero-defect manufacturing of high-quality parts. In order to make use of these aspects for defect and process analyses as well as for downstream compensation, rework measures and data-driven optimization strategies, a user interface connected to a central database is required. The user interface aims to enable standardized recording of identified defects and performed rework. For this purpose, a game engine is used to allow a user-friendly operation using touch gestures and a three-dimensional visualization of the workpiece. The web-based tool is implemented on the front end of a database enabling a cross-platform access from various devices.}, author = {Reiff, Colin and Eger, Florian and Korb, Tobias and Freiberger, Hermann and Verl, Alexander}, doi = {https://doi.org/10.1016/j.procir.2018.09.066}, issn = {2212-8271}, journal = {Procedia CIRP}, note = {6th CIRP Global Web Conference – Envisaging the future manufacturing, design, technologies and systems in innovation era (CIRPe 2018)}, pages = {243 - 248}, title = {User Interface for the Acquisition and Characterization of Defects and Performed Rework in Multi-Stage Production Systems}, url = {http://www.sciencedirect.com/science/article/pii/S2212827118312460}, volume = 78, year = 2018 }
  Link
  http://www.sciencedirect.com/science/article/pii/S2212827118312460
17. Scheifele, Stefan ; Verl, Alexander ; Riedel, Oliver: Engineering mit cyber-physischen Systemen - Vom mechatronischen zum cyber-physischen Engineering. In: atp magazin, atp magazin. (2018), Nr. 11/12 2018, S. 68–78
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  @article{scheifele2018engineering, abstract = {Der heutige Maschinen- und Anlagenbau setzt auf ein mechatronisches Engineering, um Maschinen und Anlagen wirtschaftlich anbieten zu können. Der Markt verlangt jedoch zunehmend danach, bestehende Anlagen über ihre gesamte Lebensdauer hinweg auf dem aktuellen Stand der Technik halten zu können. Dies kann zum Beispiel durch Umrüstung auf neue Fertigungstechnologien geschehen. Mit dem aktuellen Stand der Technik ist dies heute jedoch nicht wirtschaftlich möglich. In diesem Beitrag wird dargestellt, wie der mechatronische Maschinenbau zu einem Engineering mit cyber-physischen Systemen (CPS) weiterentwickelt werden kann. Außerdem wird gezeigt, wie sich das Engineering von Werkzeugmaschinen und Fertigungssystemen in Zukunft verändern wird und welche Konzepte realisierbar sind.}, author = {Scheifele, Stefan and Verl, Alexander and Riedel, Oliver}, issn = {2190-4111}, journal = {atp magazin}, month = {11}, number = {11/12 2018}, pages = {68-78}, title = {Engineering mit cyber-physischen Systemen - Vom mechatronischen zum cyber-physischen Engineering}, year = 2018 }
18. Sommer, Philipp ; Verl, Alexander ; Kiefer, Manuel ; Rahäuser, Raphael ; Müller, Sebastian ; Brühl, Jens ; Gras, Michael ; Berckmann, Eva ; u. a. ; Sommer, P. (Hrsg.) ; Sommer, P. (Hrsg.): iWindow - Intelligentes Maschinenfenster, Fortschritt-Berichte VDI: Reihe 2. Düsseldorf : VDI Verlag, 2018 — ISBN 978-3-18-369702-1
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  @book{sommer2018iwindow, abstract = {Das Verbundforschungsprojekt iWindow: Intelligentes Maschinenfenster beschäftigte sich mit der visuellen Unterstützung von Maschinenbedienern an Werkzeugmaschinen. Diese konnten bisher nur auf wenige bis keine Systeme, die sie bei ihren täglichen Aufgaben direkt an der Werkzeugmaschine unterstützen, zurückgreifen. Das Forschungsprojekt verbindet reale und virtuelle Welt in der Werkzeugmaschine durch Technologien wie Virtual und Augmented Reality, digitaler Zwilling, Simulation und Mehrwertdienste. Durch Nutzung jeweils für die aktuelle Arbeitssituation passender Dienste, werden Mitarbeiter befähigt, sich an die steigende Individualisierung der Produkte und die flexiblere Produktion anzupassen. Kunden und Geschäftspartner werden durch die Möglichkeit eigene mehrwertgenerierende Dienste zu entwickeln und anderen Anwendern zur Verfügung zu stellen in den Wertschöpfungsprozess eingebunden. Diese Publikation beleuchtet die im Rahmen des Forschungsprojekts erarbeiteten Ergebnisse hinsichtlich für ein intelligentes Maschinenfenster benötigter Technologien und Entwicklungen.}, address = {Düsseldorf}, author = {Sommer, Philipp and Verl, Alexander and Kiefer, Manuel and Rahäuser, Raphael and Müller, Sebastian and Brühl, Jens and Gras, Michael and Berckmann, Eva and Stautner, Marc and Schäfer, D. and Schotte, Wolfgang and Do-Khac, Dennis and Neyrinck, Adrian and Eger, Ulrich}, editor = {Sommer, Philipp}, isbn = {978-3-18-369702-1}, number = 697, publisher = {VDI Verlag}, series = {Fortschritt-Berichte VDI: Reihe 2}, title = {iWindow - Intelligentes Maschinenfenster}, url = {http://dx.doi.org/10.18419/opus-9818}, year = 2018 }
  Link
  http://dx.doi.org/10.18419/opus-9818
19. Verl, Alexander ; Engelberth, Tim: Adaptive preloading for rack-and-pinion drive systems. In: CIRP Annals, CIRP Annals. Bd. 67, Elsevier BV (2018), Nr. 1, S. 369--372
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  @article{Verl_2018, author = {Verl, Alexander and Engelberth, Tim}, doi = {10.1016/j.cirp.2018.03.006}, journal = {{CIRP} Annals}, number = 1, pages = {369--372}, publisher = {Elsevier {BV}}, title = {Adaptive preloading for rack-and-pinion drive systems}, url = {https://doi.org/10.1016%2Fj.cirp.2018.03.006}, volume = 67, year = 2018 }
  Link
  https://doi.org/10.1016%2Fj.cirp.2018.03.006
20. Verl, Alexander ; Scheifele, Stefan: Produktions-IT für Losgröße 1.
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  @presentation{verl2018produktionsit, abstract = {Ein wesentlicher Aspekt von Industrie 4.0 ist die Wandlungsfähigkeit. Während die Verarbeitung von Informationen flexibel und nicht an bestimmte Hardware gebunden ist, sind die Objekte in einer Fabrik heutzutage wenig veränderlich. Durch Ansätze wandelbarer Systeme oder Modularisierung ist es denkbar, eine schnelle Adaptierbarkeit auch für kleine Losgrößen zu erreichen. Der Vortrag soll ausgehend von einer Darstellung heutiger Hilfsmittel für eine schnelle Rekonfigurierbarkeit in Entwicklung und Betrieb von Produktionsanlagen aufzeigen, welche Potentiale aus aktuellen Ansätzen wie Software Defined Everything und Cyberphysischen Systemenen basierend auf Echtzeitsimulation erwachsen. Ausgehend von dem Paradigma, dass maximale Wandlungsfähigkeit in der Produktion erreicht werden kann, wenn Software automatisiert generiert wird, sollen beginnend bei typischen Prozessen in der Produktion über die Produktionsmaschine, die Produktionsautomatisierung bis hin zum Produktionsnetzwerk und der dazugehörigen cloudbasierten Software die Potentiale und die Auswirkungen dieses Paradigmas aufgezeigt werden.}, author = {Verl, Alexander and Scheifele, Stefan}, eventdate = {03.12.2018}, eventtitle = {20. Dresdner Werkzeugmaschinen-Fachseminar}, title = {Produktions-IT für Losgröße 1}, url = {/brokenurl#www.wzm-fachseminar.de}, venue = {Dresden}, year = 2018 }
  Link
  /brokenurl#www.wzm-fachseminar.de
21. Weβeler, Peter ; Kaiser, Benjamin ; t. Vrugt, Jürgen ; Lechler, Armin ; Verl, Alexander: Camera based path planning for low quantity - high variant manufacturing with industrial robots. In: 2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), 2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), 2018, S. 1–6
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  @inproceedings{8600833, abstract = {The acquisition costs for industrial robots have been steadily decreasing in past years. Nevertheless, they still face significant drawbacks in the required effort for the preparation of complex robot tasks which causes these systems to be rarely present so far in small and medium-sized enterprises (SME) that focus mainly on small volume, high variant manufacturing. In this paper, we propose a camera-based path planning framework that allows the fast preparation and execution of robot tasks in dynamic environments which leads to less planning overhead, fast program generation and reduced cost and hence overcomes the major impediments for the usage of industrial robots for automation in SMEs with focus on low volume and high variant manufacturing. The framework resolves existing problems in different steps. The exact position and orientation of the workpiece are determined from a 3D environment model scanned by an optical sensor. The so retrieved information is used to plan a collision-free path that meets the boundary conditions of the specific robot task. Experiments show the potential and effectiveness of the the framework presented here by evaluating a case study.}, author = {Weβeler, Peter and Kaiser, Benjamin and t. Vrugt, Jürgen and Lechler, Armin and Verl, Alexander}, booktitle = {2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)}, doi = {10.1109/M2VIP.2018.8600833}, month = nov, pages = {1-6}, title = {Camera based path planning for low quantity - high variant manufacturing with industrial robots}, url = {https://ieeexplore.ieee.org/document/8600833/}, year = 2018 }
  Link
  https://ieeexplore.ieee.org/document/8600833/
22. Wnuk, Markus ; Lechler, Armin ; Verl, Alexander: Formschlüssiges Spannen leicht gemacht. In: Michael, C. (Hrsg.) KEM Konstruktion, KEM Konstruktion. (2018), Nr. 12, S. 34–35
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  @article{wnuk2018formschlssiges, author = {Wnuk, Markus and Lechler, Armin and Verl, Alexander}, editor = {Michael, Corban}, journal = {KEM Konstruktion}, number = 12, pages = {34-35}, title = {Formschlüssiges Spannen leicht gemacht}, year = 2018 }
23. Wnuk, Markus ; Lechler, Armin ; Verl, Alexander: Der Umgang mit Weichheit. In: Eberhard, P. (Hrsg.) handling, handling. (2018), Nr. 10, S. 34–35
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  @article{wnuk2018tech, author = {Wnuk, Markus and Lechler, Armin and Verl, Alexander}, editor = {Eberhard, Peter}, journal = {handling}, number = 10, pages = {34-35}, title = {Der Umgang mit Weichheit}, year = 2018 }
24. Zahn, Peter ; Lechler, Armin ; Verl, Alexander: Vorrichtung und Verfahren zur Erzeugung einer Relativbewegung zwischen einem Werkzeug und einem Werkstück (mittels trägheitsbasiertem Impulsaktor), Patentamt, E. (Hrsg.). , (PCT/EP2018/062608).
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  @patent{zahn2018vorrichtung, author = {Zahn, Peter and Lechler, Armin and Verl, Alexander}, editor = {Patentamt, Europäisches}, number = {PCT/EP2018/062608}, title = {Vorrichtung und Verfahren zur Erzeugung einer Relativbewegung zwischen einem Werkzeug und einem Werkstück (mittels trägheitsbasiertem Impulsaktor)}, year = 2018 }
25. Zahn, Peter ; Lechler, Armin ; Verl, Alexander: Vorschubantrieb für unstetige Bewegungsprofile - Konzept zur Bewegungserzeugung an Vorschubachsen mittels eines trägheitsbasierten Impulsaktors. In: Verlag, S. V. (Hrsg.) wt Werkstattstechnik online, wt Werkstattstechnik online. Bd. 108 (2018), Nr. 5, S. 295–300
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  BibTeX
  @article{zahn2018vorschubantrieb, author = {Zahn, Peter and Lechler, Armin and Verl, Alexander}, editor = {Verlag, Springer VDI}, journal = {wt Werkstattstechnik online}, number = 5, pages = {295-300}, title = {Vorschubantrieb für unstetige Bewegungsprofile - Konzept zur Bewegungserzeugung an Vorschubachsen mittels eines trägheitsbasierten Impulsaktors}, url = {https://www.werkstattstechnik.de/wt/currentarticle.php?data[article_id]=89617}, volume = 108, year = 2018 }
  Link
  https://www.werkstattstechnik.de/wt/currentarticle.php?data[article_id]=89617
2017
1. Csiszar, Akos ; Hoppe, Martin ; Khader, Shahbaz A. ; Verl, Alexander: Behavior Trees for Task-Level Programming of Industrial Robots. In: Schüppstuhl, T. ; Franke, J. ; Tracht, K. (Hrsg.) ; Schüppstuhl, T. ; Franke, J. ; Tracht, K. (Hrsg.): Tagungsband des 2. Kongresses Montage Handhabung Industrieroboter, Tagungsband des 2. Kongresses Montage Handhabung Industrieroboter. Berlin, Heidelberg : Springer Berlin Heidelberg, 2017 — ISBN 978-3-662-54441-9, S. 175--186
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  @inproceedings{10.1007/978-3-662-54441-9_18, abstract = {The number of industrial robots used worldwide has been continuously increasing. In almost all cases the application program has the form of a text based source code, which has inherent drawbacks (in terms of complexity and ease of development) when compared to the graphical approaches seen in general purpose software engineering. These graphical programming approaches have not been developed, having industrial robots in mind. In this paper a behavior trees based approach for creating and representing source code for robotic applications is proposed. The software architecture and an experimental implementation of the developed programming method is presented and a validation using a common assembly task is shown.}, address = {Berlin, Heidelberg}, author = {Csiszar, Akos and Hoppe, Martin and Khader, Shahbaz A. and Verl, Alexander}, booktitle = {Tagungsband des 2. Kongresses Montage Handhabung Industrieroboter}, editor = {Sch{\"u}ppstuhl, Thorsten and Franke, J{\"o}rg and Tracht, Kirsten}, isbn = {978-3-662-54441-9}, pages = {175--186}, publisher = {Springer Berlin Heidelberg}, title = {Behavior Trees for Task-Level Programming of Industrial Robots}, year = 2017 }
2. Dripke, Caren ; Verl, Alexander: Challenges in distributed interpolation with multi-component systems in future-oriented manufacturing units. In: . Bd. Proceedings of International Conference on Computers & Industrial Engineering (CIE 47), 2017
  - BibTeX
  BibTeX
  @inproceedings{noauthororeditor, author = {Dripke, Caren and Verl, Alexander}, eventdate = {11 - 13th Oct. 2017}, eventtitle = {International Conference on Computers & Industrial Engineering (CIE 47)}, issn = {ISSN 2164-8670}, title = {Challenges in distributed interpolation with multi-component systems in future-oriented manufacturing units}, venue = {Lisbon, Portugal}, volume = {Proceedings of International Conference on Computers & Industrial Engineering (CIE 47)}, year = 2017 }
3. Dripke, Caren ; Höhr, Sara ; Csiszar, Akos ; Verl, Alexander: A Concept for the Application of Reinforcement Learning in the Optimization of CAM-Generated Tool Paths. In: Beyerer, J. ; Niggemann, O. ; Kühnert, C. (Hrsg.) ; Beyerer, J. ; Niggemann, O. ; Kühnert, C. (Hrsg.): Machine Learning for Cyber Physical Systems, Machine Learning for Cyber Physical Systems. Berlin, Heidelberg : Springer Berlin Heidelberg, 2017 — ISBN 978-3-662-53806-7, S. 1--8
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  @inproceedings{10.1007/978-3-662-53806-7_1, abstract = {Cyber physical systems (CPS) are changing the way machine tools function and operate. As the CAD-CAM-CNC tool chain gains intelligence the boundaries of the elements of the tool chain become blurred and new features, based on advancements in artificial intelligence can be integrated. The main task of the CAD-CAM-CNC chain is to generate the cutter trajectories for the manufacturing operation. Driven by sustainability and the need for capacity, the need arises to optimize the paths through this tool chain. In this paper a concept for path optimization with reinforcement learning is proposed, with focus on the reward function, specific to tool path optimization via the channel method.}, address = {Berlin, Heidelberg}, author = {Dripke, Caren and H{\"o}hr, Sara and Csiszar, Akos and Verl, Alexander}, booktitle = {Machine Learning for Cyber Physical Systems}, editor = {Beyerer, J{\"u}rgen and Niggemann, Oliver and K{\"u}hnert, Christian}, isbn = {978-3-662-53806-7}, pages = {1--8}, publisher = {Springer Berlin Heidelberg}, title = {A Concept for the Application of Reinforcement Learning in the Optimization of CAM-Generated Tool Paths}, year = 2017 }
4. Eger, Florian ; Verl, Alexander: Reduzierung von Ausschuss und Nacharbeiten durch intelligente Datenauswertung und Kompensationsalgorithmen in mehrstufigen Produktionssystemen. In: Fortschritt-Berichte VDI, Fortschritt-Berichte VDI. Bd. Nr. 698 : VDI Verlag, 2017 — ISBN 987-3-18-369802-8, S. 57–66
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  @inproceedings{eger2017reduzierung, author = {Eger, Florian and Verl, Alexander}, booktitle = {Fortschritt-Berichte VDI}, isbn = {987-3-18-369802-8}, pages = {57-66}, publisher = {VDI Verlag}, series = 2, title = {Reduzierung von Ausschuss und Nacharbeiten durch intelligente Datenauswertung und Kompensationsalgorithmen in mehrstufigen Produktionssystemen}, volume = {Nr. 698}, year = 2017 }
5. Karim, Ali ; Hitzer, Julian ; Lechler, Armin ; Verl, Alexander: Analysis of the dynamic behavior of a six-axis-industrial robot across the entire workspace in respect of machining tasks. In: IEEE International Conference on Advanced Intelligent Mechatronics (AIM), IEEE International Conference on Advanced Intelligent Mechatronics (AIM). Bd. 2017. Piscataway, NJ : IEEE, 2017 — ISBN 978-1-5090-6000-9, S. 670--675
  - BibTeX
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  @inproceedings{Karim.2017, address = {Piscataway, NJ}, author = {Karim, Ali and Hitzer, Julian and Lechler, Armin and Verl, Alexander}, booktitle = {IEEE International Conference on Advanced Intelligent Mechatronics (AIM)}, doi = {10.1109/AIM.2017.8014094}, isbn = {978-1-5090-6000-9}, pages = {670--675}, publisher = {IEEE}, title = {Analysis of the dynamic behavior of a six-axis-industrial robot across the entire workspace in respect of machining tasks}, volume = 2017, year = 2017 }
6. Karim, Ali ; Lechler, Armin ; Verl, Alexander: Kompensation des Umkehrspiels bei Zahnstange-Ritzel-Antrieben. In: GmbH, V. F. (Hrsg.) Antriebstechnik, Antriebstechnik. (2017), Nr. 4, S. 116–117
  - BibTeX
  - Link
  BibTeX
  @article{karim2017kompensation, abstract = {Neben Kugelgewindetrieben (KGT) und Lineardirektantrieben (LDA) werden auch Zahnstange-Ritzel-Antriebe (ZRA) zur Erzeugung von Vorschubbewegungen in Werkzeugmaschinen eingesetzt. Dabei wird die rotatorische Bewegung des elektrischen Antriebsmotors über ein Getriebe und eine Ritzel-Zahnstange-Kombination in eine lineare Vorschubbewegung umgesetzt. Dieser Mechanismus weist, vor allem wenn es sich um Werkzeugmaschinen mit großen Abmessungen handelt, grundlegende Vorteile auf. Im Gegensatz zu KGTs, bei denen die resultierende Steifigkeit von dem der aktuellen Position des Tischs sowie vom Verhältnis der Verfahrlänge zum Spindeldurchmesser bestimmt wird, ist die Vorschubsteifigkeit des ZRA weitgehend konstant. Ein weiterer Vorteil liegt in der möglichen Kosteneinsparung bei langen Verfahrwegen hinsichtlich der notwendigen Sensorik zur Bestimmung der Tischposition. Diese wird indirekt über den Drehwinkel des Antriebsmotors bestimmt, was teure und lange Messsysteme zur direkten Bestimmung der Tischposition überflüssig machen. Aber gerade der mechanische Aufbau von Ritzel und Zahnstange im Verbund mit einer indirekten Positionsermittlung führen zu Umkehrspiel und somit zu einer geringeren Positioniergenauigkeit sowie geringer Systemstabilität.}, author = {Karim, Ali and Lechler, Armin and Verl, Alexander}, editor = {GmbH, Vereinigte Fachverlage}, journal = {Antriebstechnik}, language = {deutsch}, month = {April}, number = 4, pages = {116 - 117}, title = {Kompensation des Umkehrspiels bei Zahnstange-Ritzel-Antrieben}, url = {http://digital.antriebstechnik.de/antriebstechnik-4-2017/58127174/116}, year = 2017 }
  Link
  http://digital.antriebstechnik.de/antriebstechnik-4-2017/58127174/116
7. Kübler, Karl ; Oberle, Michael ; Verl, Alexander ; Riedel, Oliver: Simulation-assisted run-to-run control for battery manufacturing in a cloud environment. In: 2017 24th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), 2017 24th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), 2017, S. 1–6
  - BibTeX
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  @inproceedings{8211450, author = {Kübler, Karl and Oberle, Michael and Verl, Alexander and Riedel, Oliver}, booktitle = {2017 24th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)}, doi = {10.1109/M2VIP.2017.8211450}, month = nov, pages = {1-6}, title = {Simulation-assisted run-to-run control for battery manufacturing in a cloud environment}, year = 2017 }
8. Neher, Philipp ; Lechler, Armin ; Verl, Alexander: Applications enabled by a deterministic wireless communication system such as Industrial LTE. In: Proceedings of 2017 the 7th International Workshop on Computer Science and Engineering (WCSE 2017), Proceedings of 2017 the 7th International Workshop on Computer Science and Engineering (WCSE 2017), 2017
  - BibTeX
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  @inproceedings{neher2017applications, author = {Neher, Philipp and Lechler, Armin and Verl, Alexander}, booktitle = {Proceedings of 2017 the 7th International Workshop on Computer Science and Engineering (WCSE 2017)}, title = {Applications enabled by a deterministic wireless communication system such as Industrial LTE}, year = 2017 }
9. Neubauer, Michael ; Lechler, Armin ; Verl, Alexander: Die Maschinendynamik im Visier. In: der Konstrukteur, der Konstrukteur. (2017), Nr. 9, S. 82–84
  - BibTeX
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  @article{neubauer2017maschinendynamik, author = {Neubauer, Michael and Lechler, Armin and Verl, Alexander}, journal = {der Konstrukteur}, number = 9, pages = {82-84}, title = {Die Maschinendynamik im Visier}, year = 2017 }
10. Neubauer, Michael ; Zahn, Peter ; Lechler, Armin ; Verl, Alexander: Simulation des dynamischen Verhaltens von Kugelgewindetrieben. In: Antriebstechnik, Antriebstechnik. (2017), Nr. 11, S. 144–145
  - BibTeX
  BibTeX
  @article{neubauer2017simulation, author = {Neubauer, Michael and Zahn, Peter and Lechler, Armin and Verl, Alexander}, journal = {Antriebstechnik}, number = 11, pages = {144-145}, title = {Simulation des dynamischen Verhaltens von Kugelgewindetrieben}, year = 2017 }
11. Wnuk, Markus ; Pott, Andreas ; Xu, Weilang ; Lechler, Armin ; Verl, Alexander: Concept for a simulation-based approach towards automated handling of deformable objects - A bin picking scenario. In: 24th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), 24th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), 2017 — ISBN 978-1-5090-6546-2, S. 1–6
  - BibTeX
  - Link
  BibTeX
  @inproceedings{8211452, abstract = {Handling of deformable objects with industrial robots holds many unresolved challenges. Especially, describing and predicting the deformed state is computationally expensive and therefore difficult under the requirements of manufacturing environments. A concept for a simulation-based approach towards bin picking of deformable objects, is presented in this paper. The emphasis of the approach lies on the subtask of localisation and pose estimation, but regards the context of gripping and manipulation as well. A multi-body modelling approach is considered to model the deformation of soft objects. The basic idea is to provide a reduced order model accounting for the requirements of short computation times. At last, the implementation of the proposed bin picking system is discussed and further research activities with the presented system are outlined.}, author = {Wnuk, Markus and Pott, Andreas and Xu, Weilang and Lechler, Armin and Verl, Alexander}, booktitle = {24th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)}, doi = {10.1109/M2VIP.2017.8211452}, eventtitle = {International Conference on Mechatronics and Machine Vision in Practice (M2VIP)}, isbn = {978-1-5090-6546-2}, issn = {null}, month = nov, pages = {1-6}, title = {Concept for a simulation-based approach towards automated handling of deformable objects - A bin picking scenario.}, type = {Publication}, url = {https://ieeexplore.ieee.org/document/8211452/}, venue = {Auckland, New Zealand}, year = 2017 }
  Link
  https://ieeexplore.ieee.org/document/8211452/

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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2021

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