Annals of Scientific Society for Assembly, Handling and Industrial Robotics.

• Author: Schüppstuhl, Thorsten.
• TeilnehmendeR: Tracht, Kirsten.; Henrich, Dominik.
• Place / Publishing House: Berlin, Heidelberg : : Springer Berlin / Heidelberg,, 2020.; {copy}2020.
• Year of Publication: 2020
• Edition: 1st ed.
• Language: English
• Physical Description: 1 online resource (333 pages)

Table of Contents

Intro -- Inhaltsverzeichnis -- 1 Virtual Reality based Assembly Process Validation and Rework Assistance with consistent Data Exchange -- 1 Introduction -- 2 State of the art and initial situation -- 2.1 Virtual Environment and Assembly Planning -- 2.2 Virtual Training System -- 2.3 Cognitive assistance systems -- 3 Concept for the creation and validation of assembly sequences -- 4 Implementation of the environment for the creation and validation of the assembly sequences and transfer of the work plan into reworking -- 4.1 Scope of functions within the Virtual Environment -- 4.2 Development and setup of a planning tool for the creation of graph-based assembly sequences -- 4.3 Data Transfer between Virtual Environment and SGT-Platform -- 4.4 Transferring the routing to rework -- 5 Conclusion and Outlook -- Acknowledgment -- References -- 2 Intuitive, VR- and Gesture-based Physical Interaction with Virtual Commissioning Simulation Models -- 1 Introduction -- 2 State of the Art -- 2.1 Related work -- 2.2 Research Gap and Contribution -- 3 System Concept -- 4 Implementation and Results -- 4.1 System Setup -- 4.2 Evaluation Use-Case -- 4.3 User Study -- 5 Conclusion and Outlook -- References -- 3 Accuracy of Marker Tracking on an Optical See-Through Head Mounted Display -- 1 Introduction -- 2 Related Work -- 3 Method -- 3.1 Marker Tracking Integration -- 3.2 Calibration procedure -- 3.3 Evaluation Concept -- 4 Evaluation -- 4.1 Results -- 4.2 Discussion -- 5 Conclusion -- Acknowledgement. -- References -- 4 User Guidance and Automatic Completion for Generating Planar B-Rep Models -- 1 Introduction -- 2 State of the Art -- 3 Our Approach -- 3.1 Definition and Handling of holes -- 3.2 Detection of holes -- 3.3 Automatic closing of holes and Generation of User Guidance -- 4 Validation -- 5 Conclusion -- Acknowledgements -- References.

5 Development of a Shared Environment Model with Dynamic Trajectory Representation for Multiple Mobile Robots -- 1 Motivation -- 2 Related Work -- 3 Scientific Approach -- 3.1 Requirements -- 3.2 Scientific Concept -- 4 Proof of Concept -- 4.1 Implementation -- 4.2 Experiment and Observation -- 5 Results, Discussion and Conclusion -- 5.1 Fulfillment of Requirements -- 5.2 Outlook -- 6 Acknowledgements -- References -- 6 Octree-based, multiresolution environment mapping for efficient calculation of collision-free paths for industrial robots -- 1 Introduction -- 2 State of the art -- 3 Methodology -- 3.1 Problem Formulation -- 3.2 Resolution areas -- 3.3 Multimap Generation -- 4 Experiments -- 4.1 Reduction of voxels -- 4.2 Planning times -- 5 Conclusion -- References -- 7 Towards Embedded Force Sensors in Exoskeletons for Evaluating Interaction Forces in Interfaces -- 1 Introduction -- 2 Interface Prototype with Embedded Pressure Sensors -- 2.1 Construction -- 2.2 Calibration of the Pressure Sensors -- 3 Experiments -- 3.1 General Test Set-Up -- 3.2 Test Scenarios -- 4 Results -- 5 Discussion -- 6 Conclusion -- References -- 8 Numerical simulation and statistical analysis of a cascaded flexure hinge for use in a cryogenic working environment -- 1 Introduction -- 1.1 Related work -- 1.2 Materials and methods -- 2 Prototype geometry -- 2.1 Simulations of the prototype geometry -- 3 Development of the joint geometry -- 3.1 Simulation of the joint geometry -- 4 Graphical evaluation of the results -- 5 Analysis of the results -- 6 Conclusion and outlook -- 7 Acknowledgements -- References -- 9 Automated generation of adapter plates for industrial robots -- 1 Introduction -- 2 Flange patterns -- 3 Automated adapter plate generation -- 3.1 Design specification for the generation of adapter plates.

3.2 Generation of geometric flanges using constructive solid geometry -- 4 Results -- Acknowledgements -- References -- 10 Fragmentation in Reconfigured Real-time Production Networks -- 1 Introduction -- 2 Real-time Ethernet -- 3 Reconfiguration of real-time production networks -- 3.1 Execution of a reconfiguration in a real-time production network -- 3.2 Fragmentation -- 4 Simulation -- 5 Summary -- 6 Further work -- References -- 11 Towards Spatial Databases using Simulation State Transformations. Providing the Means for High Performance Simulation of Digital Twins in Three-Dimensional Scenarios -- 1 Introduction -- 2 Related Work and Theory -- 3 State Transformations -- 4 Implementation -- 5 Evaluation -- 6 Summary -- References -- 12 A multi-domain networking infrastructure enabling the situation-specific choreography of decentralized things -- 1 Introduction -- 2 State of the art -- 3 Smart Systems Service Infrastructure (S3I) -- 3.1 Directory -- 3.2 Identity Provider -- 3.3 S3I Broker -- 4 Application -- 5 Conclusion -- References -- 13 Data Acquisition and Classification of Best Practices for the Configuration of Robot Applications -- 1 Introduction -- 2 Planning Approaches -- 3 Internet-based Configuration Process -- 3.1 Fields of Application for Best Practice Acquisition -- 3.2 Best Practice Database -- 3.3 Selection of Best Practices -- 4 Application -- 5 Conclusion and outlook -- Acknowledgment -- References -- 14 Cognitive Effects of Physical Support Systems: A Study of Resulting Effects for Tasks at and above Head Level Using Exoskeletons -- 1 Introduction -- 2 Study design -- 2.1 Exoskeleton Lucy -- 2.2 Experimental setup -- 2.3 Observed variables -- 2.4 Statistical Analysis -- 3 Results -- 4 Discussion -- 5 Conclusion -- Acknowledgements -- References.

15 Industrial Data Science - Interdisciplinary Competence for Machine Learning in Industrial Production -- 1 Introduction -- 2 State of the Art -- 2.1 Machine Learning in Production -- 2.2 Educational Concepts -- 3 Concept and Development -- 3.1 Qualification Requirements for Industrial Data Science -- 3.2 Conception of interdisciplinary competence development -- 3.3 Development of Methodological Competence -- 3.4 Transfer to Practical Applications -- 4 Concept Evaluation -- 5 Conclusion and Outlook -- Acknowledgment -- References -- 16 Measurement based robot cutting as preparation for welding tubular connections -- 1 Introduction -- 2 Description of the developed process -- 2.1 Test setup -- 2.2 Digitization of the pipes -- 2.3 Weld seam preparation -- 2.4 Offline programming and Preparation for flame cutting -- 3 Verification and Results -- 4 Conclusion and outlook -- References -- 17 Information requirements and interfaces for the programming of robots in flexible manufacturing -- 1 Introduction -- 2 Flexible Manufacturing -- 3 Decision making -- 3.1 Information -- 3.2 Interface Usability -- 4 Implementation -- 4.1 Graphical Programming -- 4.2 Gesture based Programming using Augmented Reality -- 5 Conclusion -- References -- 18 User-Centered Design of an Intuitive Robot Playback Programming System -- 1 Introduction -- 2 Related Work -- 3 Design Process for Robot Programming Systems -- 3.1 Analysis -- 3.2 Design -- 3.3 Evaluation -- 3.4 Summary -- 4 Example: A Playback Programming System -- 4.1 First Iteration -- 4.2 Second Iteration -- 5 Evaluation Outcomes -- 5.1 Evaluation with Usability Experts -- 5.2 Evaluation with Domain Experts -- 6 Conclusion -- Acknowledgment -- References -- 19 Circular Path Generation for Toroidal Cavity Inspection -- 1 Introduction -- 2 Related Work -- 2.1 Endoscopy -- 2.2 Continuum Robotics -- 2.3 Tube Forming.

3 System Description -- 3.1 System Definition -- 3.2 Path Planning -- 3.3 Experimental Setup -- 3.4 Results and System Characteristics -- 4 Discussion -- 5 Conclusion -- 5.1 Summary -- 5.2 Future Work -- Acknowledgements -- References -- 20 Multi-agent path planning: comparison of different behaviors in the case of collisions -- 1 Introduction -- 2 State of the art -- 2.1 Logistics and mobile resources -- 2.2 Path planning for multiple resources -- 2.3 Collision detection and avoidance -- 3 Concept -- 3.1 Criteria to compare collision avoidance strategies -- 3.2 Comparison of different collision avoidance strategies -- 4 Application and evaluation settings -- 5 Conclusion -- Acknowledgements. -- References -- 21 Trajectory Optimization Methods for Robotic Cells Considering Energy Efficiency and Collisions -- 1 Introduction -- 2 Modeling of Industrial Robots -- 3 Optimization Strategy -- 4 Collision Detection -- 5 Results -- 6 Conclusion -- Acknowledgment -- References -- 22 Localization and grasping of small load carriers with autonomous unmanned aerial vehicles -- 1 Introduction and related work -- 2 System architecture -- 2.1 Mechatronic cargo handling device -- 2.2 Object localization and tracking -- 2.3 Pose estimation and software architecture -- 3 Evaluation -- 4 Conclusion and Outlook -- Acknowledgment -- References -- 23 Determination of Gripping Forces for Handling Surface-sensitive Objects -- 1 Introduction -- 2 Use Case -- 3 Gripper Hardware -- 4 Gripping Force Test Bench -- 5 Experimental Design -- 6 Results -- Acknowledgements -- References -- 24 Disturbance Force Estimation for a Low Pressure Suction Gripper Based on Differential Pressure Analysis. -- 1 Introduction -- 2 Low Pressure Suction Grippers -- 3 Evaluation of the State of the Art -- 3.1 Pressure Monitoring for Suction Grippers.

3.2 Gripping Force Estimation for Low Pressure Suction Grippers.