Shan Fur

Herr M.Sc.

Wissenschaftlicher Mitarbeiter "Virtuelle Methoden in der Produktionstechnik"
Institut für Steuerungstechnik der Werkzeugmaschinen und Fertigungseinrichtungen

Kontakt

+49 711 685 82330
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Seidenstr. 36
70174 Stuttgart
Deutschland
Raum: 4.053

Sprechstunde

Nach Vereinbarung

Fachgebiet

Virtuelle Inbetriebnahme
Hardware-in-the-loop Simulation
Regelungstechnik

Publikationen

Meine Veröffentlichungen:

2022
1. Fur, Shan ; Mages, Alexander ; Wortmann, Andreas ; Riedel, Oliver: Auf dem Weg zum digitalen Zwilling/Investigation and compensation of the discrepancy between simulation models and their twins – On the way to the digital twin. In: wt Werkstattstechnik online, wt Werkstattstechnik online. Bd. 112, VDI Fachmedien GmbH and Co. KG (2022), Nr. 04, S. 258--263
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  BibTeX
  @article{Fur_2022, abstract = {Simulationsmodelle der virtuellen Inbetriebnahme eignen sich als Grundlage für digitale Zwillinge von Produktionsanlagen, da sie das Verhalten dieser Anlagen abbilden und häufig bereits aus der Entwicklungsphase zur Verfügung stehen. Der Stand der Technik zeigt allerdings, dass zwischen dem Verhalten der Modelle und dem der realen Systeme noch erhebliche Diskrepanzen bestehen. In diesem Beitrag wird eine Methodik zur Kompensation von Diskrepanzen exemplarisch an einer Fräsanlage untersucht.}, author = {Fur, Shan and Mages, Alexander and Wortmann, Andreas and Riedel, Oliver}, doi = {10.37544/1436-4980-2022-04-58}, journal = {wt Werkstattstechnik online}, number = 04, pages = {258--263}, publisher = {{VDI} Fachmedien {GmbH} and Co. {KG}}, title = {Auf dem Weg zum digitalen Zwilling/Investigation and compensation of the discrepancy between simulation models and their twins {\textendash} On the way to the digital twin}, url = {https://doi.org/10.37544%2F1436-4980-2022-04-58}, volume = 112, year = 2022 }
  Link
  https://doi.org/10.37544%2F1436-4980-2022-04-58
2021
1. von Arnim, Christian ; Lechler, Armin ; Riedel, Oliver: Operations for non-disruptive modification of real-time network schedules. In: 2021 22nd IEEE International Conference on Industrial Technology (ICIT), 2021 22nd IEEE International Conference on Industrial Technology (ICIT). Bd. 1, 2021 — ISBN 978-1-7281-5730-6, S. 1131–1137
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  @inproceedings{9453586, abstract = {New production architectures and the Time Sensitive Networking extensions of the Ethernet standard enable larger real-time networks with more participants than before. Due to the guaranteed response times of real-time applications, there are limitations in rescheduling. This paper presents operations which allow modification of the schedule of a time-division multiple access (TDMA) real-time network without affecting its proper functionality. For this purpose, both the communication and the involved real-time applications are considered. This allows the active schedule to be modified during the rescheduling. Therefore, failed rescheduling due to fragmentation is less likely.}, author = {von Arnim, Christian and Lechler, Armin and Riedel, Oliver}, booktitle = {2021 22nd IEEE International Conference on Industrial Technology (ICIT)}, doi = {10.1109/ICIT46573.2021.9453586}, isbn = {978-1-7281-5730-6}, month = {03}, pages = {1131-1137}, title = {Operations for non-disruptive modification of real-time network schedules}, url = {https://ieeexplore.ieee.org/document/9453586/}, volume = 1, year = 2021 }
  Link
  https://ieeexplore.ieee.org/document/9453586/
2. 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
3. Fur, Shan ; Riedel, Oliver ; Verl, Alexander: Hybrid Commissioning of Production Plants. In: 2021 26th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA ), 2021 26th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA ), 2021, S. 1–6
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  @inproceedings{9613256, abstract = {For the commissioning of production plants, the virtual commissioning (VCOM) method has proven to accelerate the overall commissioning time by increasing the software quality of the plant controller. VCOM is carried out in advance of the commissioning of the real plant, using a simulated plant. However, the hard transition from the simulated to the real plant proves to be problematic if components of the real plant are not available. In these cases the hybrid commissioning (HCOM) method, a hardware-in-the-loop (HIL) simulation setup including both real and simulated components, is desirable. In this article, the disadvantages of a hard transition of VCOM, the concept of the HCOM and it's benefits for commissioning production plants are explained and discussed. Also, an evaluation of an implementation is briefly presented.}, author = {Fur, Shan and Riedel, Oliver and Verl, Alexander}, booktitle = {2021 26th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA )}, doi = {10.1109/ETFA45728.2021.9613256}, month = {09}, pages = {1-6}, title = {Hybrid Commissioning of Production Plants}, year = 2021 }
4. Friedl, Sebastian ; Heinemann, Tonja ; Lechler, Armin ; Riedel, Oliver: Implicit Templates for Conformance Units in OPC UA Companion Specifications. In: 2021 22nd IEEE International Conference on Industrial Technology (ICIT), 2021 22nd IEEE International Conference on Industrial Technology (ICIT). Bd. 1, 2021, S. 730–735
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  @inproceedings{9453582, abstract = {Due to its importance in the Industry 4.0 movement, the usage of OPC UA has increased in recent years. More and more vendor-independent and domain-specific models are developed as so-called Companion Specifications. OPC UA Profiles allow to subdivide functionality within the Companion Specifications, and thus offer flexibility to the standards. An OPC UA Profile is a set of individually testable entities called Conformance Units, which are also defined within the Companion Specification. In this work, similarities between Conformance Units defined by different working groups are analyzed and grouped in CU classes by the scope of the Conformance Units. For the most prevalent CU classes, textual templates are suggested, based on the typical formulations in existing Companion Specifications. These templates are intended to ease the development of Companion Specifications and the Conformance Units therein. The CU classes identified in this work suggest the templates can be used for more than two-thirds of the Conformance Units in a Companion Specification. The CU classes and templates are also a step towards automation in the generation of OPC UA Companion Specification Documents and test cases for the Conformance Units.}, author = {Friedl, Sebastian and Heinemann, Tonja and Lechler, Armin and Riedel, Oliver}, booktitle = {2021 22nd IEEE International Conference on Industrial Technology (ICIT)}, doi = {10.1109/ICIT46573.2021.9453582}, month = {03}, pages = {730-735}, title = {Implicit Templates for Conformance Units in OPC UA Companion Specifications}, url = {https://ieeexplore.ieee.org/document/9453582/}, volume = 1, year = 2021 }
  Link
  https://ieeexplore.ieee.org/document/9453582/
2020
1. 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
2. Qi, Yue ; Zhong, Ruqing ; Kaiser, Benjamin ; Nguyen, Long ; Wagner, Hans Jakob ; Verl, Alexander ; Menges, Achim: Working with Uncertainties: An Adaptive Fabrication Workflow for Bamboo Structures. In: Yuan, P. F. ; Yao, J. ; Yan, C. ; Wang, X. ; Leach, N. (Hrsg.) ; Yuan, P. F. ; Yao, J. ; Yan, C. ; Wang, X. ; Leach, N. (Hrsg.): Proceedings of the 2020 DigitalFUTURES, Proceedings of the 2020 DigitalFUTURES : Springer Nature Switzerland AG, 2020
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  @inproceedings{Qi, abstract = {This paper presents and investigates a cyber-physical fabrication workflow, which can respond to the deviations between built- and designed form in real-time with vision augmentation. We apply this method for large scale structures built from natural bamboo poles. Raw bamboo poles obtain evolutionarily optimized fibrous layouts ideally suitable for lightweight and sustainable building construction. Nevertheless, their intrinsically imprecise geometries pose a challenge for reliable, automated construction processes. Despite recent digital advancements, building with bamboo poles is still a labor-intensive task and restricted to building typologies where accuracy is of minor importance. The integration of structural bamboo poles with other building layers is often limited by tolerance issues at the interfaces, especially for large scale structures where deviations accumulate incrementally. To address these challenges, an adaptive fabrication process is developed, in which existing deviations can be compensated by changing the geometry of subsequent joints to iteratively correct the pose of further elements. A vision-based sensing system is employed to three-dimensionally scan the bamboo elements before and during construction. Computer vision algorithms are used to process and interpret the sensory data. The updated conditions are streamed to the computational model which computes tailor-made bending stiff joint geometries that can then be directly fabricated on-the-fly. In this paper, we contextualize our research and investigate the performance domains of the proposed workflow.}, author = {Qi, Yue and Zhong, Ruqing and Kaiser, Benjamin and Nguyen, Long and Wagner, Hans Jakob and Verl, Alexander and Menges, Achim}, booktitle = {Proceedings of the 2020 DigitalFUTURES}, editor = {Yuan, P. F. and Yao, J. and Yan, C. and Wang, X. and Leach, N.}, file = {:C\:/Users/ac128044/Google Drive/ICD_Wagner/01_Publikationen/2006_VISUAL_SEMANTICS/2005_CDRF_Tongji_2020/20200624_Submission_2/Submission/Working with Uncertainties_An Adaptive Fabrication Workflow for Bamboo Structures_0624.pdf:pdf}, publisher = {Springer Nature Switzerland AG}, title = {{Working with Uncertainties: An Adaptive Fabrication Workflow for Bamboo Structures}}, year = 2020 }
3. Tinsel, Erik-Felix ; Fur, Shan ; Lechler, Armin ; Riedel, Oliver: Durchgängigkeit von Steuerungstests. In: wt Werkstattstechnik online, wt Werkstattstechnik online. Bd. 110 (2020), Nr. 5/2020, S. 277–281
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  @article{tinsel2020durchgngigkeit, author = {Tinsel, Erik-Felix and Fur, Shan and Lechler, Armin and Riedel, Oliver}, journal = {wt Werkstattstechnik online}, language = {deutsch}, month = {Mai}, number = {5/2020}, pages = {277-281}, title = {Durchgängigkeit von Steuerungstests}, url = {https://e-paper.vdi-fachmedien.de/webreader-v3/index.html#/2603/9}, volume = 110, year = 2020 }
  Link
  https://e-paper.vdi-fachmedien.de/webreader-v3/index.html#/2603/9
2018
1. 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 = {06}, title = {Simulation of Industrial Bin Picking: An Application of Laser Range Finder Simulation}, url = {https://ieeexplore.ieee.org/abstract/document/8439959/}, year = 2018 }
  Link
  https://ieeexplore.ieee.org/abstract/document/8439959/
2017
1. Fur, Shan ; Scheifele, Christian ; Pott, Andreas ; Verl, Alexander: HiL-Simulator für den industriellen „Griff in die Kiste“. In: wt Werkstattstechnik online, wt Werkstattstechnik online. Bd. 107 (2017), Nr. 10, S. 767–772
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  @article{noauthororeditor, abstract = {Beim „Griff in die Kiste“ kommen Robotersysteme mit intelligenten Algorithmen für die Objekterkennung, Bewegungsplanung und Be - wegungssteuerung zum Einsatz. Auf dem Markt gibt es derzeit verschiedene Softwaretools, die sich mit der Steuerung solcher Systeme beschäftigen. Um die steigende Komplexität zu beherrschen und die Auslegung der Systeme zu optimieren, wird ein simulationsgestütztes Werkzeug zur simulationsbasierten Inbetriebnahme benötigt. Dieser Beitrag stellt ein Konzept für eine umfassende virtuelle Absicherung des industriellen „Griffs in die Kiste“ vor.}, author = {Fur, Shan and Scheifele, Christian and Pott, Andreas and Verl, Alexander}, journal = {wt Werkstattstechnik online}, language = {Deutschland}, number = 10, pages = {767-772}, title = {HiL-Simulator für den industriellen "Griff in die Kiste"}, url = {http://www.werkstattstechnik.de/wt/get_article.php?data[article_id]=88481}, volume = 107, year = 2017 }
  Link
  http://www.werkstattstechnik.de/wt/get_article.php?data[article_id]=88481
2012
1. A. Dadalau, A. Verl: Modeling linear guide systems with CoFEM - experimental validation: Modeling linear guide systems with CoFEM - experimental validation (2012)
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  @misc{A.Dadalau2012, __markedentry = {[xtl:6]}, abstract = {In this work a new efficient FE model for rolling contact (RiBEM) is shortlypresented. The RiBEM model is used to efficiently compute the eigenmodes of alinear guide system. Experimental modal analysis of the real linear guideshows with 5% error a very good correlation with the numerical results.Although the new contact model reduces computational time by more than tentimes compared with the standard FE model, it is still too expensive for usewithin whole machine tool models. For this reason an equivalent, meshindependent and geometrically scalable model (RoCS - Rolling Contact Spring)based on the Hertz theory is introduced and also validated with the help ofmodal measurements. As a justification for the presented work, results withstiffness data from the manufacturer are also presented and less correlationwith the experiment is found in this case.}, author = {A. Dadalau, A. Verl}, pages = {--}, title = {Modeling linear guide systems with CoFEM - experimental validation: Modeling linear guide systems with CoFEM - experimental validation}, year = 2012 }
2. Keinert, Matthias ; Verl, Alexander: System Platform Requirements for High Performance CNCs. In: Proceeding of the 22nd International Conference on Flexible Automation and Intelligent Manufacturing FAIM 2012, Proceeding of the 22nd International Conference on Flexible Automation and Intelligent Manufacturing FAIM 2012. Tampere : Tampere University of Technology, 2012, S. 837–844
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  @inproceedings{KeinertVerl2012, __markedentry = {[xtl:6]}, abstract = {Todays computer numerical control (CNC) systems controlling machine toolshave to meet high requirements: Short control sampling periods shall increaseinterpolation accuracy and productivity while the path trajectory planning andinterpolation algorithms are getting more complex at the same time. CNCsystems therefore have to be built upon powerful system platforms.Even though control systems already have highly developed processing units attheir disposal, this paper illustrates the further need for high-performancesystem platforms as they are already available in the IT. By identifyingdifferent processing scenarios this paper demonstrates how actual CNC systemscan be driven into its limitation regarding processing power. Each scenario iscausing different loads in the CNC kernel. In the area of high speed cutting(HSC) the look ahead is charged heavily whereas multi-axes processing andcomplex path interpolation algorithms like splines causing bigger loads in theinterpolation module.From this observation the paper derives requirements for a suitable systemplatform to cope with the increased needs for processing power in the area ofCNC systems. As with single-core CPUs performance reached a physical limit,only parallel system platforms can provide sufficient processing power. Withmulticore CPUs more than sufficient performance is provided. Hence, first CNCsystems supporting asymmetric multiprocessing have emerged. By separatingrealtime and non-realtime operating system and by allocating CNC modules todedicated cores of the processing unit, each module has the full processingpower of one CPU-kernel. Symmetric multiprocessing (SMP), however, couldcontribute even more to build a high-performance industrial control system,despite the need of modifications in the software architecture to allowparallel code execution.}, address = {Tampere}, author = {Keinert, Matthias and Verl, Alexander}, booktitle = {Proceeding of the 22nd International Conference on Flexible Automation and Intelligent Manufacturing FAIM 2012}, pages = {pp. 837-844}, publisher = {Tampere University of Technology}, title = {System Platform Requirements for High Performance CNCs}, year = 2012 }
2011
1. Voss, V.: Monitoring, Simulation and Optimization of Robot Applications for more EnergyEfficiency: Monitoring, Simulation and Optimization of Robot Applications for more EnergyEfficiency (2011)
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  @misc{Voss2011, __markedentry = {[xtl:6]}, abstract = {Energy efficiency in production engineering is a highly relevant topicregarding both economic and environmental aspects. In robotics, however, thistopic has been neglected so far. In the course of the project “MoniSimO”,which is being funded by the foundation of the state of Baden-Württemberg, new methods for making robot applications more energy efficient in future bymeans of monitoring, simulation and optimization are developed. The firstresults regarding simulation methods are presented in this article. Thesemethods can be applied for the design of new but also for the improvement ofexisting robot applications. Designers of robot applications in industrialautomation are to be supported in comparing and evaluating differentalternatives for their specific application at the beginning of the designprocess in regard to their energy consumption. Operators of existing robotapplications are to be informed about the current energy consumption of eachcomponent and to be shown savings potential. The special benefit of theintroduced methods is that they can be applied without the need of buying newcomponents. The energy saving can be achieved simply by use of optimized pathsand the optimized arrangement and synchronization of the existing components.The newly introduced methods assist designers and operators in finding theoptimal paths and the best positioning of the robot regarding the startingpoint and the destination point of the objects to be moved by the robot. Themovement speed of the robot’s axes is also taken into consideration, becausedepending on the process slower movement can be sufficient due to dead time inadvance of upcoming process steps. Slower movement speed is less energyconsuming than movement with full speed. Nevertheless, in some processes itcan also be more energy efficient to move with full speed and thus to havemore time in which the robot’s breaks can be applied and the axes arecurrentless. These alternatives are difficult to overlook for designers andoperators without any support. The new methods introduced in this articlecover this kind of support, making it possible to take different alternativesfor a specific robot application into consideration and eventually choosingthe optimum.}, author = {Voss, V.}, pages = {--}, title = {Monitoring, Simulation and Optimization of Robot Applications for more EnergyEfficiency: Monitoring, Simulation and Optimization of Robot Applications for more EnergyEfficiency}, year = 2011 }
2. Voss, V. ; Verl, A.: Methods for Simulation of Robot Applications for the Increase of Energy Efficiency: Methods for Simulation of Robot Applications for the Increase of Energy Efficiency (2011)
  - BibTeX
  BibTeX
  @misc{VossVerl2011, __markedentry = {[xtl:6]}, abstract = {Energy efficiency in production engineering is a highly relevant topicregarding both economic and environmental aspects. In robotics, however, thistopic has been neglected so far. In the course of the project “MoniSimO”,which is being funded by the foundation of the state of Baden-Württemberg, new methods for making robot applications more energy efficient in future bymeans of monitoring, simulation and optimization are developed. The firstresults regarding simulation methods are presented in this article. Thesemethods can be applied for the design of new but also for the improvement ofexisting robot applications. Designers of robot applications in industrialautomation are to be supported in comparing and evaluating differentalternatives for their specific application at the beginning of the designprocess in regard to their energy consumption. Operators of existing robotapplications are to be informed about the current energy consumption of eachcomponent and to be shown savings potential. The special benefit of theintroduced methods is that they can be applied without the need of buying newcomponents. The energy saving can be achieved simply by use of optimized pathsand the optimized arrangement and synchronization of the existing components.The newly introduced methods assist designers and operators in finding theoptimal paths and the best positioning of the robot regarding the startingpoint and the destination point of the objects to be moved by the robot. Themovement speed of the robot’s axes is also taken into consideration, becausedepending on the process slower movement can be sufficient due to dead time inadvance of upcoming process steps. Slower movement speed is less energyconsuming than movement with full speed. Nevertheless, in some processes itcan also be more energy efficient to move with full speed and thus to havemore time in which the robot’s breaks can be applied and the axes arecurrentless. These alternatives are difficult to overlook for designers andoperators without any support. The new methods introduced in this articlecover this kind of support, making it possible to take different alternativesfor a specific robot application into consideration and eventually choosingthe optimum.}, author = {Voss, V. and Verl, A.}, pages = {--}, title = {Methods for Simulation of Robot Applications for the Increase of Energy Efficiency: Methods for Simulation of Robot Applications for the Increase of Energy Efficiency}, year = 2011 }
1997
1. Pritschow, G. ; Tran, T.L.: PC-based Control System for Modern Manufacturing. Proceedings of the Annual VACETS Technical International Conference VTIC ’97, San José (USA), 17.07.-19.07.1997, S. V.9...14. PC-based Control System for Modern Manufacturing. Proceedings of the Annual VACETS Technical International Conference VTIC ’97, San José (USA), 17.07.-19.07.1997, S. V.9...14. (1997)
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  @misc{PritschowTran1997, __markedentry = {[xtl:6]}, author = {Pritschow, G. and Tran, T.L.}, pages = {--}, title = {PC-based Control System for Modern Manufacturing. Proceedings of the Annual VACETS Technical International Conference VTIC '97, San José (USA), 17.07.-19.07.1997, S. V.9...14. PC-based Control System for Modern Manufacturing. Proceedings of the Annual VACETS Technical International Conference VTIC '97, San José (USA), 17.07.-19.07.1997, S. V.9...14.}, year = 1997 }

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