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.