Lars Klingel

Herr M.Sc.

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

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+49 711 685 82393
+49 711 685 82808
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Seidenstr. 36
70174 Stuttgart
Deutschland
Raum: 4.065

Sprechstunde

Nach Vereinbarung

Fachgebiet

Digitale Zwillinge
Virtuelle Inbetriebnahme
Echtzeitsimulation
Co-Simulation
Hardware-in-the-Loop Simulation

Publikationen

Meine Publikationen:

2024
1. Klingel, Lars ; Littfinski, Daniel ; Chen, Shengjian ; Brandt, Nico ; Neubauer, Michael ; Verl, Alexander ; Scheifele, Christian: Durchgängige Steuerung und Simulation/Continuous control and simulation – Open platforms for automated production systems with industrial robots. In: wt Werkstattstechnik online, wt Werkstattstechnik online. Bd. 114, VDI Fachmedien GmbH and Co. KG (2024), Nr. 05, S. 183–188
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  @article{Klingel_2024, author = {Klingel, Lars and Littfinski, Daniel and Chen, Shengjian and Brandt, Nico and Neubauer, Michael and Verl, Alexander and Scheifele, Christian}, doi = {10.37544/1436-4980-2024-05-19}, issn = {1436-4980}, journal = {wt Werkstattstechnik online}, number = 05, pages = {183–188}, publisher = {VDI Fachmedien GmbH and Co. KG}, title = {Durchgängige Steuerung und Simulation/Continuous control and simulation – Open platforms for automated production systems with industrial robots}, url = {http://dx.doi.org/10.37544/1436-4980-2024-05-19}, volume = 114, year = 2024 }
  Link
  http://dx.doi.org/10.37544/1436-4980-2024-05-19
2. Chen, Shengjian ; Watter, Pascal ; Klingel, Lars ; Neubauer, Michael ; Verl, Alexander: Utilizing Operational-Parallel Real-Time Simulation to Monitor and Optimize Workpiece Quality on CNC Machines. In: Wang, Y.-C. ; Chan, S. H. ; Wang, Z.-H. (Hrsg.) ; Wang, Y.-C. ; Chan, S. H. ; Wang, Z.-H. (Hrsg.): Flexible Automation and Intelligent Manufacturing: Manufacturing Innovation and Preparedness for the Changing World Order, Flexible Automation and Intelligent Manufacturing: Manufacturing Innovation and Preparedness for the Changing World Order. Cham : Springer Nature Switzerland, 2024 — ISBN 978-3-031-74482-2, S. 218--225
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  @inproceedings{10.1007/978-3-031-74482-2_25, abstract = {Digital twins have a wide range of applications throughout the life cycle of computerized numerical controlled (CNC) machines. One particular manifestation of digital twins is the creation of models derived from virtual commissioning. These models actively accompany a physical machine throughout the engineering phase, but are typically discarded afterward. The objective of this study is to demonstrate the effectiveness of operation-parallel real-time simulation using virtual commissioning models for the early detection and elimination of defects in workpieces produced by CNC machines. The simulation model interfaces directly with the control drive, producing a virtual workpiece simultaneously with the actual manufacturing process in real-time, thus enabling necessary optimizations. Simultaneously, a virtual comparative model operates in the background to detect errors in the workpiece during runtime. This approach provides the advantage of eliminating the requirement for post-production quality inspections since the operational-parallel simulation conducts the inspection function. In addition, defects in the workpiece can be detected early so that the machine can be stopped in the event of a tolerance violation. At last, a framework is proposed to enable a knowledge-based model derived from identified defects. This framework can identify errors in early engineering stages, including the CAM planning phase, by using the knowledge from the production phase.}, address = {Cham}, author = {Chen, Shengjian and Watter, Pascal and Klingel, Lars and Neubauer, Michael and Verl, Alexander}, booktitle = {Flexible Automation and Intelligent Manufacturing: Manufacturing Innovation and Preparedness for the Changing World Order}, editor = {Wang, Yi-Chi and Chan, Siu Hang and Wang, Zih-Huei}, isbn = {978-3-031-74482-2}, pages = {218--225}, publisher = {Springer Nature Switzerland}, title = {Utilizing Operational-Parallel Real-Time Simulation to Monitor and Optimize Workpiece Quality on CNC Machines}, year = 2024 }
2023
1. Klingel, Lars ; Heine, Alexander ; Acher, Steven ; Dausend, Niklas ; Verl, Alexander: Simulation-Based Predictive Real-Time Collision Avoidance for Automated Production Systems. In: 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE), 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE), 2023, S. 1–6
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  @inproceedings{10260637, abstract = {The usage of simulation technology is deeply established in the development and commissioning of automated production systems. Impending collisions of moving kinematics, such as robots, can therefore already be detected with the help of simulations before the production system goes into operation. However, changes in the control software of production systems that occur in the operating phase are often not secured, which entails risk, especially in the age of cyber-physical and adaptive production systems. This work presents a predictive simulation-based approach for the online collision avoidance of automated production systems by enabling virtual commissioning simulations for the application in the operating phase. This allows a cost-efficient way to achieve the safe operation of production systems without the need of additional configurations and sensors.}, author = {Klingel, Lars and Heine, Alexander and Acher, Steven and Dausend, Niklas and Verl, Alexander}, booktitle = {2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)}, doi = {10.1109/CASE56687.2023.10260637}, issn = {2161-8089}, month = {08}, pages = {1-6}, title = {Simulation-Based Predictive Real-Time Collision Avoidance for Automated Production Systems}, year = 2023 }
2. Walker, Moritz ; Klingel, Lars ; Oechsle, Stefan ; Neubauer, Michael ; Lechler, Armin ; Verl, Alexander: Safeguarded Continuous Deployment of Control Containers through Real-Time Simulation. In: 2023 IEEE 28th International Conference on Emerging Technologies and Factory Automation (ETFA), 2023 IEEE 28th International Conference on Emerging Technologies and Factory Automation (ETFA), 2023, S. 1–8
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  @inproceedings{10275659, author = {Walker, Moritz and Klingel, Lars and Oechsle, Stefan and Neubauer, Michael and Lechler, Armin and Verl, Alexander}, booktitle = {2023 IEEE 28th International Conference on Emerging Technologies and Factory Automation (ETFA)}, doi = {10.1109/ETFA54631.2023.10275659}, pages = {1-8}, title = {Safeguarded Continuous Deployment of Control Containers through Real-Time Simulation}, url = {http://dx.doi.org/10.1109/ETFA54631.2023.10275659}, year = 2023 }
  Link
  http://dx.doi.org/10.1109/ETFA54631.2023.10275659
3. Zürn, Manuel ; Kienzlen, Annika ; Klingel, Lars ; Lechler, Armin ; Verl, Alexander ; Ren, Shiyi ; Xu, Weiliang: Deep Learning-Based Instance Segmentation for Feature Extraction of Branched Deformable Linear Objects for Robotic Manipulation. In: 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE), 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE), 2023, S. 1–6
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  @inproceedings{10260646, abstract = {Branched deformable linear objects, like wire harnesses, are vastly used in the electrical industry to interconnect multiple electronic components while allowing small relative motions. Their deformable nature gives them an infinite-dimensional configuration space, which is challenging for robotic manipulation and requires sensor feedback about the actual configuration. Cameras have been used before in automation attempts as sensor feedback of branched deformable linear objects. However, image processing is sensible to occlusions and unstructured environments. This paper presents a method of using deep learning-based instance segmentation networks to extract topological features like connectors, clips, branch points and overlapping points on the branched deformable linear object. The topological features originate from features that can be used for matching a stretched representation of the branched deformable linear object to its sensor representation. Our results show that the network is capable of extracting the features for different datasets with high accuracy. Furthermore, this paper evaluates the use of preliminary results in the training process to facilitate annotation by predicting the labels. For now, this paper only uses 2D images of the branched deformable linear objects. Future work will also use depth images, such that individual deformable linear object features, such as length or radius, can be extracted from the images. We anticipate the usage of wire harness automation with robotic manipulation, augmented reality support of the worker or quality control of wire harnesses.}, author = {Zürn, Manuel and Kienzlen, Annika and Klingel, Lars and Lechler, Armin and Verl, Alexander and Ren, Shiyi and Xu, Weiliang}, booktitle = {2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)}, doi = {10.1109/CASE56687.2023.10260646}, issn = {2161-8089}, month = {08}, pages = {1-6}, title = {Deep Learning-Based Instance Segmentation for Feature Extraction of Branched Deformable Linear Objects for Robotic Manipulation}, year = 2023 }
4. Jaensch, Florian ; Klingel, Lars ; Fur, Shan ; Verl, Alexander: Virtuelle Methoden in der Produktionstechnik: Virtuelle Inbetriebnahme als Bindeglied zwischen digitaler und realer Fabrik. In: atp magazin, atp magazin. Bd. 65, Vulkan-Verlag GmbH (2023), Nr. 6–7, S. 82–88
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  @article{Jaensch_2023, author = {Jaensch, Florian and Klingel, Lars and Fur, Shan and Verl, Alexander}, doi = {10.17560/atp.v65i6-7.2658}, issn = {2190-4111}, journal = {atp magazin}, month = {06}, number = {6–7}, pages = {82–88}, publisher = {Vulkan-Verlag GmbH}, title = {Virtuelle Methoden in der Produktionstechnik: Virtuelle Inbetriebnahme als Bindeglied zwischen digitaler und realer Fabrik}, url = {http://dx.doi.org/10.17560/atp.v65i6-7.2658}, volume = 65, year = 2023 }
  Link
  http://dx.doi.org/10.17560/atp.v65i6-7.2658
5. Neubauer, Michael ; Steinle, Lukas ; Reiff, Colin ; Ajdinovic, Samed ; Klingel, Lars ; Lechler, Armin ; Verl, Alexander: Architecture for Manufacturing-X: Bringing Asset Administration Shell, Eclipse Dataspace Connector and OPC UA together. In: Manufacturing Letters, Manufacturing Letters. Bd. 37, Elsevier (2023), S. 1–6
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  @article{Neubauer_2023, abstract = {Manufacturing-X represents the idea of a decentralized data economy. The aim is to increase sustainability, competitiveness and resilience by digitizing supply chains. Technically, this requires three technologies. First, a standardized data model to ensure interoperability across company boundaries. Second, a solution to realize sovereign inter-organizational data exchange. And thirdly, a component for the company’s internal data communication. Asset Administration Shell (AAS), Eclipse Dataspace Connector (EDSC) and Open Platform Communication Unified Architecture (OPC UA) are suitable solutions. This paper introduces an appropriate architecture to combine these technologies in an industrial production environment and discusses existing challenges, limitations and future potentials.}, author = {Neubauer, Michael and Steinle, Lukas and Reiff, Colin and Ajdinovic, Samed and Klingel, Lars and Lechler, Armin and Verl, Alexander}, doi = {10.1016/j.mfglet.2023.05.002}, journal = {Manufacturing Letters}, month = {06}, pages = {1-6}, publisher = {Elsevier}, title = {Architecture for Manufacturing-X: Bringing Asset Administration Shell, Eclipse Dataspace Connector and OPC UA together}, url = {https://doi.org/10.1016%2Fj.mfglet.2023.05.002}, volume = 37, year = 2023 }
  Link
  https://doi.org/10.1016%2Fj.mfglet.2023.05.002
6. Klingel, Lars ; Kübler, Karl ; Verl, Alexander: A Multicore Control System Architecture as an Operating Platform for Industrial Digital Twins. In: Procedia CIRP, Procedia CIRP. Bd. 118, Elsevier BV (2023), S. 294–299
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  @article{Klingel_2023, author = {Klingel, Lars and Kübler, Karl and Verl, Alexander}, doi = {10.1016/j.procir.2023.06.051}, issn = {2212-8271}, journal = {Procedia CIRP}, pages = {294–299}, publisher = {Elsevier BV}, title = {A Multicore Control System Architecture as an Operating Platform for Industrial Digital Twins}, url = {http://dx.doi.org/10.1016/j.procir.2023.06.051}, volume = 118, year = 2023 }
  Link
  http://dx.doi.org/10.1016/j.procir.2023.06.051
7. Fischer, Marc ; Klingel, Lars ; Lechler, Armin ; Verl, Alexander ; Neubauer, Michael: Dynamic Safety Distance Determination for Human Robot Coexistence in Industrial Applications. In: Advances in Automotive Production Technology – Towards Software-Defined Manufacturing and Resilient Supply Chains, Advances in Automotive Production Technology – Towards Software-Defined Manufacturing and Resilient Supply Chains. (2023), S. 35–45
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  @article{fischer2023dynamic, abstract = {The coexistence of humans and robots in manufacturing requires safety. Typically, safety functionalities for coexistence are based on speed and separation monitoring according to EN ISO 10218. Thereby, a robot should reduce speed or stop completely when an obstacle is too close to avoid collisions. Nowadays, despite this standard, speed and separation monitoring are still realized with static worst-case safety assumptions about the kinematics of humans and robots. Over the years, different static techniques have evolved in the industrial environment like fences, light fences, or camera-based systems where critical zones can be configured. The latter is admittedly more flexible in the configuration but still static during the run-time of the manufacturing system. The static worst-case assumptions result in large unnecessary distances between humans and robots, which leads to inefficient use of space. Therefore, factories are larger than they need to be, which leads to higher costs. This work aims to enhance the use of space in human-robot coexistence applications to make factory layouts more efficient. Therefore, a dynamic minimum distance calculation based on the DIN ISO 15066 with the kinematic information of the coexisting human and industrial robots is provided. It is shown in a simulation that this approach of a dynamic safety distance calculation leads to a reduction of the required space.}, author = {Fischer, Marc and Klingel, Lars and Lechler, Armin and Verl, Alexander and Neubauer, Michael}, doi = {10.1007/978-3-031-27933-1_4}, journal = {Advances in Automotive Production Technology – Towards Software-Defined Manufacturing and Resilient Supply Chains}, pages = {35-45}, title = {Dynamic Safety Distance Determination for Human Robot Coexistence in Industrial Applications}, year = 2023 }
2022
1. von Bergen, Timm ; Hert, Christian ; Röck, Sascha ; Klingel, Lars ; Jaensch, Florian ; Verl, Alexander: Simulationsgestützter Betrieb von Indoor-Flugrobotern. In: wt Werkstattstechnik online, wt Werkstattstechnik online. Bd. 112, VDI Fachmedien GmbH and Co. KG (2022), Nr. 05, S. 309–313
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  @article{vonbergen2022simulationsgesttzter, author = {von Bergen, Timm and Hert, Christian and Röck, Sascha and Klingel, Lars and Jaensch, Florian and Verl, Alexander}, doi = {doi.org/10.37544/1436-4980-2022-05}, journal = {wt Werkstattstechnik online}, number = 05, pages = {309-313}, publisher = {VDI Fachmedien GmbH and Co. KG}, title = {Simulationsgestützter Betrieb von Indoor-Flugrobotern}, url = {https://elibrary.vdi-verlag.de/10.37544/1436-4980-2022-05/wt-werkstattstechnik-online-jahrgang-112-2022-heft-05}, volume = 112, year = 2022 }
  Link
  https://elibrary.vdi-verlag.de/10.37544/1436-4980-2022-05/wt-werkstattstechnik-online-jahrgang-112-2022-heft-05
2. Neubauer, Michael ; Klingel, Lars ; Reiff, Colin: Forschungsinstitut baut Fabrik der Zukunft - Maschinenfabrik Made in Stuttgart. In: SPS-Magazin, SPS-Magazin. (2022), Nr. 10/22, S. 38–39
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  @article{neubauer2022forschungsinstitut, abstract = {Die Stuttgarter Maschinenfabrik stellt eine vollständig digitalisierte Produktionsumgebung dar, in der vom Kunden individualisierte Produkte selbstorganisiert hergestellt werden. Dafür ist eine neue technologische Infrastruktur in Kombination mit einem durchgängigen Einsatz von digitalen Zwillingen erforderlich. Das erlaubt eine hohe Freiheit bei der Entwicklung von neuen Anwendungen und die nötige Flexibilität im Maschinenpark. Die Artikelserie soll beispielhafte Aspekte der Stuttgarter Maschinenfabrik beleuchten, um das Umsetzungsprojekt vorzustellen.}, author = {Neubauer, Michael and Klingel, Lars and Reiff, Colin}, journal = {SPS-Magazin}, month = {10}, number = {10/22}, pages = {38-39}, title = {Forschungsinstitut baut Fabrik der Zukunft - Maschinenfabrik Made in Stuttgart}, year = 2022 }
3. Jaensch, Florian ; Klingel, Lars ; Verl, Alexander: Virtual Commissioning Simulation as OpenAI Gym - A Reinforcement Learning Environment for Control Systems. In: 2022 5th International Conference on Artificial Intelligence for Industries (AI4I), 2022 5th International Conference on Artificial Intelligence for Industries (AI4I), 2022, S. 64–67
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  @inproceedings{10123668, abstract = {Manual development of control systems’ software is time-consuming and error-prone. Thus, high costs are already incurred in this phase of mechatronic system development. Virtual prototypes have so far only been used for testing purposes, such as virtual commissioning, but not for the automated creation of the control. A good test environment can also be extended to a learning environment with appropriate trial and error based algorithms. This work shows an approach to extend an industrial software tool for virtual commissioning as a standardized OpenAI gym environment. Thereby, established reinforcement learning algorithms can be used more easily and a step towards an industrial application of self-learning control systems can be made. The goal of this work is to provide industry and research with a platform for easy entry into the field of reinforcement learning.}, author = {Jaensch, Florian and Klingel, Lars and Verl, Alexander}, booktitle = {2022 5th International Conference on Artificial Intelligence for Industries (AI4I)}, doi = {10.1109/AI4I54798.2022.00023}, issn = {2770-4718}, month = {09}, pages = {64-67}, title = {Virtual Commissioning Simulation as OpenAI Gym - A Reinforcement Learning Environment for Control Systems}, year = 2022 }
4. Klingel, Lars ; Penter, Lars ; Mayer, Philip ; Ihlenfeldt, Steffen ; Verl, Alexander: Digital Twins in deep drawing for virtual tool commissioning and inline parameter optimization. In: . Bd. IOP Conference Series: Materials Science and Engineering, 2022
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  @conference{klingel2022digital, author = {Klingel, Lars and Penter, Lars and Mayer, Philip and Ihlenfeldt, Steffen and Verl, Alexander}, doi = {10.1088/1757-899X/1238/1/012072}, eventtitle = {International Deep-Drawing Research Group Conference (IDDRG 2022)}, title = {Digital Twins in deep drawing for virtual tool commissioning and inline parameter optimization}, url = {https://iopscience.iop.org/article/10.1088/1757-899X/1238/1/012072}, volume = {IOP Conference Series: Materials Science and Engineering}, year = 2022 }
  Link
  https://iopscience.iop.org/article/10.1088/1757-899X/1238/1/012072
5. Klingel, Lars ; Kamm, Valentin ; Verl, Alexander: Comparison and Application of Multi-Rate Methods for Real-Time Simulations of Production Systems. In: Proceedings of the 63rd International Conference of Scandinavian Simulation Society, Proceedings of the 63rd International Conference of Scandinavian Simulation Society, 2022
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  @inproceedings{klingel2022multirate, author = {Klingel, Lars and Kamm, Valentin and Verl, Alexander}, booktitle = {Proceedings of the 63rd International Conference of Scandinavian Simulation Society}, doi = {https://doi.org/10.3384/ecp192008}, month = {09}, title = {Comparison and Application of Multi-Rate Methods for Real-Time Simulations of Production Systems}, url = {https://ecp.ep.liu.se/index.php/sims/article/view/492}, year = 2022 }
  Link
  https://ecp.ep.liu.se/index.php/sims/article/view/492
2021
1. Heiland, Stefan ; Klingel, Lars ; Penter, Lars ; Jaensch, Florian ; Schenke, Christer ; Ihlenfeldt, Steffen ; Verl, Alexander: Virtual Tool Commissioning using LS-DYNA Functional Mock-up Interface. In: , 2021
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  @conference{heiland2021virtual, author = {Heiland, Stefan and Klingel, Lars and Penter, Lars and Jaensch, Florian and Schenke, Christer and Ihlenfeldt, Steffen and Verl, Alexander}, eventdate = {2021}, eventtitle = {13th European LS-DYNA Conference 2021, Ulm, Germany}, title = {Virtual Tool Commissioning using LS-DYNA Functional Mock-up Interface}, url = {https://www.dynalook.com/conferences/13th-european-ls-dyna-conference-2021/simulation-methods/heiland_tu_dresden.pdf}, year = 2021 }
  Link
  https://www.dynalook.com/conferences/13th-european-ls-dyna-conference-2021/simulation-methods/heiland_tu_dresden.pdf

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Lars Klingel

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Lars Klingel

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