@inproceedings{LeAndulkarZouetal., author = {Le, Duc Tho and Andulkar, Mayur and Zou, Wenchao and St{\"a}dter, Jost Philipp and Berger, Ulrich}, title = {Self adaptive system for flexible robot assembly operation}, series = {Self adaptive system for flexible robot assembly operation, Emerging Technologies and Factory Automation (ETFA), 2016 IEEE 21st International Conference on, 2016}, booktitle = {Self adaptive system for flexible robot assembly operation, Emerging Technologies and Factory Automation (ETFA), 2016 IEEE 21st International Conference on, 2016}, publisher = {IEEE}, address = {Piscataway, NJ}, isbn = {978-1-5090-1314-2}, doi = {10.1109/ETFA.2016.7733544}, pages = {5}, abstract = {In this paper a flexible robot system for assembly operations in a semi structured environment is proposed. The system uses a moveable robot equipped with an arbitrarily mounted 3D camera and a 2D camera on the robot gripper for accurate object detection. The system is developed based on the Robot Operating System (ROS) and uses the state of the art trajectory planner MoveIt for collision free robot motion planning. The object recognition for the system is performed using a combination of the two camera's and robot end effector and the deviation of objects in the robot workspace is found to be in the range of 2.2 mm along X and Y axes. Furthermore, an implementation procedure of the proposed system for assembly task is explained.}, language = {en} } @inproceedings{BergerLeZouetal., author = {Berger, Ulrich and Le, Duc Tho and Zou, Wenchao and Andulkar, Mayur}, title = {Towards a Mobile Robotic Assembly System Using a Compliant Robot}, series = {Tagungsband des 2. Kongresses Montage Handhabung Industrieroboter, 2018}, booktitle = {Tagungsband des 2. Kongresses Montage Handhabung Industrieroboter, 2018}, editor = {Sch{\"u}ppstuhl, Thorsten and Franke, J{\"o}rg and Tracht, Kirsten}, publisher = {Springer}, address = {Berlin [u.a.]}, isbn = {978-3-662-54440-2}, pages = {145 -- 154}, abstract = {In this paper the use of a mobile lightweight robot is evaluated to perform an assembly task while simultaneously moving. The motion of the mobile platform results into a variable end effector position in space. The paper assesses the existing method of placing a screw in an assembly where the location of placement is variable due to end effector movement. Experiments have been conducted to evaluate the task performance by monitoring the applied force on the end effector, the position data and the task time. The results show that with impedance configuration, a moveable compliant robot is a possible solution for use in assembly operation.}, language = {en} } @inproceedings{BergerLeAndulkaretal., author = {Berger, Ulrich and Le, Duc Tho and Andulkar, Mayur and Ampatzopoulos, Alexandros and Zou, Wenchao}, title = {Integration of a PID Control System for a Mobile System for Manufacturing Task on Continuous Conveyor}, series = {IFAC-PapersOnLine}, volume = {49}, booktitle = {IFAC-PapersOnLine}, number = {12}, issn = {2405-8963}, pages = {162 -- 167}, language = {en} } @inproceedings{AndulkarLeBerger, author = {Andulkar, Mayur and Le, Duc Tho and Berger, Ulrich}, title = {A multi-case study on Industry 4.0 for SME's in Brandenburg, Germany}, series = {Proceedings of the 51st Hawaii International Conference on System Sciences, 2018}, booktitle = {Proceedings of the 51st Hawaii International Conference on System Sciences, 2018}, isbn = {978-0-9981331-1-9}, pages = {4544 -- 4553}, abstract = {Industry 4.0 is still in its development phase and it promises to bring remarkable benefits to the manufacturing industry around the world when employing the Smart Factory application in large organizations and their supply chains. However, there is a risk of a miss-match when trying to introduce Industry 4.0 to Small and Medium Enterprises (SME) as the concept is mainly being developed around large manufacturing companies. The purpose of this research is to analyze the readiness level and feasibility of implementing Industry 4.0 technologies for SME's in the federal state of Brandenburg (Germany). The work is based on the survey of 20 SME's assessing their current problems emphasizing on automation, Enterprise Resource Planning (ERP), CAD/CAM, factory layout planning and logistics. Five SME's from different domains out of the 20 surveyed are taken as case studies to evaluate the potential benefits, trade-offs and barriers from an implementation of these integrated technologies. The findings revealed that the companies are still coping with the issues relating to planning, logistics and automation. It was also found that all the concepts of i4.0 may not be necessary or even beneficial to an enterprise in the current scenario and new strategies need to be developed for its realization in SME's.}, language = {en} }