@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{BergerBilousAndulkar, author = {Berger, Ulrich and Bilous, Vadym and Andulkar, Mayur}, title = {Anwendung von der Augmented Reality f{\"u}r die Mensch-Roboter Interaktion bei der Fehlerbeseitigung und bei der Maschinenbedienung}, series = {3D SENSATION - transdisziplin{\"a}re Perspektiven}, booktitle = {3D SENSATION - transdisziplin{\"a}re Perspektiven}, editor = {Bullinger, Angelika C.}, publisher = {aw\&I Wissenschaft und Praxis}, address = {Chemnitz}, isbn = {978-3-944192-07-9}, pages = {37 -- 38}, abstract = {Die in diesem Artikel beschriebene, praktische, Verwendung einer Augmented Reality Umgebung findet statt f{\"u}r die Fehlerbeseitigung und Fehlerkorrektur bei der Arbeit in einer Laboranlage, die verschiedene Fehler simuliert kann. Innerhalb der Anlage sind alle wesentlichen Komponenten mit Sensorik ausgestattet, so dass jederzeit Informationen {\"u}ber den Zustand des Systems in Echtzeit bereitliegen. Sobald sich einen Fehler innerhalb der Anlage befindet, kann das Steuerungssystem durch die vorliegenden Sensordaten dieses Problem identifizieren. Die verschiedenen Teile der Anlage sind mit Positions-Markern zur Identifizierung eines Anlagenbereiches ausger{\"u}stet. Wird die Anlage durch einen Fehler gestoppt ist, muss der Mitarbeiter die Anlage mit Hilfe des Kamerasystems eines mobilen Endger{\"a}tes (mit dem Tablet) erfassen. Die erfassten Daten aus diesem Scan werden mit Hilfe der Software verarbeitet. Durch die visuelle R{\"u}ckmeldung (z.B., auf dem Tablet) erh{\"a}lt der Anwender die Information {\"u}ber den aufgetretenen Fehler innerhalb der Anlage und zur Behebung des Zustandes. Auf Grundlager der erkannten Marker k{\"o}nnen positionsgenau Objekte eingeblendet werden die dem Anwender den Ort des Fehlers anzeigen und Hinweise zur Bedienerf{\"u}hrung zur Aufnahme des ordnungsgem{\"a}ßen Betriebs der Anlage geben. Der Anlagenf{\"u}hrer wird in die Lage versetzt, die Fehlerbeseitigung und Fehlerkorrektur schnell und erfolgreich zu realisieren. Ein Einsatz des Systems f{\"u}r Schulungsprozesse ist vorgesehen, da sich dies positiv auf die Verringerung von Stillstandszeiten auswirkt. So demonstriert das beschriebene, realisierte Verfahren wie die praktische Verwendung der AR zur Reduzierung des zeitlichen Aufwandes f{\"u}r die Fehlerbeseitigung und die Fehlerkorrektur der Maschinenumgebung bei der Mensch-Maschinen-Integration in Industrie 4.0 Umgebungen beitr{\"a}gt und den gesamten Integrationsprozess zwischen Mensch und Maschine vertiefet.}, language = {de} } @inproceedings{BergerLeZouetal., author = {Berger, Ulrich and Le, Duc Tho and Zou, Wenchao and Lehmann, Christian and St{\"a}dter, Jost Philipp}, title = {Development of a mobile robot system for assembly task on continuous conveyor}, series = {Proceedings, International Conference on Innovative Technologies, IN-TECH 2015, Dubrovnik, Croatia, 09. - 11.09.2015}, booktitle = {Proceedings, International Conference on Innovative Technologies, IN-TECH 2015, Dubrovnik, Croatia, 09. - 11.09.2015}, editor = {Car, Zlatan}, publisher = {Fac. of Engineering, Univ. of Rijeka}, address = {Rijeka}, pages = {331 -- 334}, abstract = {This paper presents a novel approach for automated smart factory based on the ideas of Internet of Things (IoT) and the usage of mobile technology of the german „Industry 4.0" [6]. IoT enables the achievement of greater value and service by exchanging data between different devices and the manufacturer. The data collected from all devices will be exchanged via wireless networks. Mobile technology can be used to cover non value-added processes [3] i.e. transportation in the manufacturing. By combining transportation tasks and value adding production steps, waste of production time, cost and effort can be reduced. This paper presents the first step toward this approach [7]: the mobile robot moves alongside the moving object and executes the manufacturing tasks during its transportation. For the demonstration of the developed solution a mobile platform and an optical measurement system was used. The synchronization between the mobile platform and the object will be experimentally tested. Consequently the results will demonstrate how the mobile robot is able to follow the moving object.}, language = {en} } @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{ZouLeBerger, author = {Zou, Wenchao and Le, Duc Tho and Berger, Ulrich}, title = {Anwendung von Technologien der Erweiterten Realit{\"a}t bei der Entwicklung eines Robotersystems f{\"u}r Montageaufgaben}, series = {Automation 2017, Baden-Baden, 27-28 Juni 2017}, booktitle = {Automation 2017, Baden-Baden, 27-28 Juni 2017}, publisher = {VDI-Verlag}, address = {D{\"u}sseldorf}, isbn = {978-3-18-092293-5}, pages = {137 -- 139}, abstract = {Die steigende Produktvielfalt und die Anforderung nach h{\"o}herer Flexibilit{\"a}t in der Produktion sowie nach Steigerung der Produktivit{\"a}t erfordern im industriellen Umfeld eine Erh{\"o}hung des Automatisierungsgrades. Vor diesem Hintergrund steigert sich der Robotereinsatz in der Industrie seit Jahren. Jedoch liegt der Automatisierungsgrad im Montagebereich immer noch auf einem niedrigen Niveau, weil entweder der hohe Zeitbedarf zur Entwicklung eines Robotersystems und/oder der hohe Aufwand zur Umsetzung ins Zielsystem hinderlich auf die Erh{\"o}hung des Automatisierungsgrads wirken. In diesem Paper wird eine neue Methode zur Entwicklung eines Robotersystems f{\"u}r Montageaufgabe vorgestellt. Diese Methode zielt auf Erstellung einer Montageaufgabe durch Anwendung der Erweiterten Realit{\"a}t (Augmented Reality, Abk{\"u}rzung AR). Eine virtuelle Montageaufgabe mit virtuellen Bauteilen wird h{\"a}ndisch ausgef{\"u}hrt, dadurch wird diese Montageaufgabe visualisiert dargestellt und automatisch im Zielsystem erstellt.}, language = {de} } @misc{ReichlingHodappBergeretal., author = {Reichling, Thorsten and Hodapp, Jan and Berger, Ulrich and Z{\"u}rn, Michael and Reichenbach, Matthias}, title = {Smarte Produktionsassistenten f{\"u}r die wandlungsf{\"a}hige Produktion (smart manufacturing assistants for the versatile production)}, series = {atp edition}, volume = {59}, journal = {atp edition}, number = {5}, issn = {2364-3137}, pages = {44 -- 51}, abstract = {Die heutige Automobilindustrie ist durch zunehmende Individualisierungsw{\"u}nsche der Kunden sowie einer Verk{\"u}rzung der Konjunkturzyklen gekennzeichnet. F{\"u}r Fahrzeughersteller, wie der Daimler AG {\"a}ußert sich diese Marktsituation in einer hohen Variantenvielfalt und St{\"u}ckzahlschwankungen. Da die Auspr{\"a}gungen dieser Einfl{\"u}sse weitgehend unbekannt sind, muss das Produktionssystem darauf vorbereitet sein, bedarfsgerecht der Marktsituation angepasst zu werden. Diese Anpassungen m{\"u}ssen schnell, mit wenig Aufwand und geringen Kosten m{\"o}glich sein. Wandlungsf{\"a}hige Produktionssysteme geh{\"o}ren deshalb zu den strategischen Erfolgsgr{\"o}ßen f{\"u}r die Automobilindustrie. Innerhalb dieses Beitrags wird ein modularer, skalierbarer Produktionsbaukasten vorgestellt, der Bestandteil einer Planungs- und Entwicklungsumgebung wandlungsf{\"a}higer roduktionskonzepte ist. Die hierf{\"u}r genutzte grenzwerttheoretische Entwicklungsmethodik wird erl{\"a}utert und die Skalierungsm{\"o}glichkeiten des Produktionsbaukastens mit Hilfe neuer Produktionstechnologien betrachtet. Dabei zeichnet sich die Mensch-Roboter-Kooperation als wesentlicher Bestandteil wandlungsf{\"a}higer Produktionskonzepte ab. „Smarte Produktionsassistenten" sind intelligente und sichere Roboter-Applikationen, die sich als M{\"o}glichkeit hervortun die Mensch-Roboter-Kooperation als Schl{\"u}sseltechnologie in industriellen Anwendungen zu realisieren.}, language = {de} } @inproceedings{BergerSchaeferSchottkeetal., author = {Berger, Ulrich and Sch{\"a}fer, Stephan and Schottke, Dirk and Kampfe, Thomas and Tauber, Bernd and Kr{\"o}nke, Dietrich}, title = {Increasing the flexibility of manufacturing: A service-oriented approach in automation}, series = {21st International Conference on Emerging Technologies and Factory Automation (ETFA), 6-9 Sept. 2016, Berlin}, booktitle = {21st International Conference on Emerging Technologies and Factory Automation (ETFA), 6-9 Sept. 2016, Berlin}, publisher = {IEEE}, address = {Piscataway, NJ}, isbn = {978-1-5090-1314-2}, doi = {10.1109/ETFA.2016.7733673}, pages = {4}, abstract = {In addition to the already required functionality, future production systems should consider the requirements of flexible and demand-oriented resource utilization. Those are not only related on fields of energy, but also material-efficient and time-efficient use of available means of production. Modular system architectures and modular solutions facilitate the planning and implementation of these requirements. Using service-oriented architectures in automation allow an approach for new or modified system components that can be integrated in the available plant environment without a high additional investment of project engineering. This aspect is interesting for companies with manageable machinery, which are able to react immediately and flexible to changes. Service-oriented solutions include among other things the identification, classification and synchronization of possible services. The paper will show general prerequisites for an implementation of a service-oriented architecture in a module-based test field.}, language = {en} } @inproceedings{BergerSchaeferSchoettkeetal., author = {Berger, Ulrich and Sch{\"a}fer, Stephan and Sch{\"o}ttke, Dirk and K{\"a}mpfe, Thomas and Matura, Dominik}, title = {Collaborating Robots in a Museum Environment - Modular Systems for 3D Documentation}, series = {20th Conference on Emerging Technologies \& Factory Automation (ETFA), 8-11 Sept. 2015 Luxembourg}, booktitle = {20th Conference on Emerging Technologies \& Factory Automation (ETFA), 8-11 Sept. 2015 Luxembourg}, publisher = {IEEE}, address = {Piscataway, NJ}, isbn = {978-1-4673-7929-8}, doi = {10.1109/ETFA.2015.7301610}, pages = {5}, language = {en} } @inproceedings{BergerSchaeferSchoettkeetal., author = {Berger, Ulrich and Sch{\"a}fer, Stephan and Sch{\"o}ttke, Dirk and K{\"a}mpfe, Thomas and Kr{\"o}nke, Dietrich}, title = {Fertigungsanlagen flexibel gestalten - Konzept einer plattform- und serviceorientierten L{\"o}sung}, series = {Entwurf komplexer Automatisierungssysteme, EKA 2016, 24.-25.05.2016, 14. Fachtagung mit Tutorium}, booktitle = {Entwurf komplexer Automatisierungssysteme, EKA 2016, 24.-25.05.2016, 14. Fachtagung mit Tutorium}, publisher = {Institut f{\"u}r Automation und Kommunikation e.V.}, address = {Magdeburg}, isbn = {978-3-944722-35-1}, pages = {1 -- 12}, language = {de} } @misc{BergerSchaeferSchoettkeetal., author = {Berger, Ulrich and Sch{\"a}fer, Stephan and Sch{\"o}ttke, Dirk and K{\"a}mpfe, Thomas and Kr{\"o}nke, Dietrich and Tauber, Bernd}, title = {Flexible Erweiterung von Arbeitsr{\"a}umen}, series = {atp edition}, volume = {58}, journal = {atp edition}, number = {7-8}, issn = {2364-3137}, pages = {58 -- 67}, language = {de} } @inproceedings{BergerVogelHeuserRegulin, author = {Berger, Ulrich and Vogel-Heuser, Birgit and Regulin, Daniel}, title = {Lessons learned - Schrittweise modellbasiert migrieren von Industrie 3.0 zu 4.0}, series = {2. VDI-Fachtagung Industrie 4.0, D{\"u}sseldorf 28./29. Januar 2015}, booktitle = {2. VDI-Fachtagung Industrie 4.0, D{\"u}sseldorf 28./29. Januar 2015}, address = {D{\"u}sseldorf}, language = {de} } @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} } @inproceedings{HodappAndulkarReichlingetal., author = {Hodapp, Jan and Andulkar, Mayur and Reichling, Thorsten and Berger, Ulrich}, title = {Improvements in Robot Teaching for Handling Operations in Production Environments}, series = {International Symposium on Robotics, ISR 2018, June 20-21, 2018 Messe M{\"u}nchen, Entrance East, Munich, Germany}, booktitle = {International Symposium on Robotics, ISR 2018, June 20-21, 2018 Messe M{\"u}nchen, Entrance East, Munich, Germany}, publisher = {VDE Verlag}, address = {Berlin [u.a.]}, isbn = {978-3-8007-4699-6}, pages = {408 -- 413}, abstract = {This work describes three technical improvements to the handling assistant, a collaborative robot for handling and commissioning, concerning the depth of information the robot can extract from the teaching process. The teaching process involves an unskilled worker setting up the robots movements and actions through hand guiding to instruct the robot to perform a given task. The possibilities of improvements in picking, placement and path demonstrated are identified and solutions for the same are presented. The task of picking of the part is improved through the use of null space motion of the robot and exploiting part symmetry. The task of placement of parts is improved through the use of data collected during the demonstration. Finally the path of the robot is optimized using regression with a cost function targeted minimizing the time required for path movement. The developed methods are implemented and validated on a test case using a handling assistant which has a KUKA iiwa robot and collaborative gripper.}, language = {en} } @inproceedings{AndulkarHodappReichlingetal., author = {Andulkar, Mayur and Hodapp, Jan and Reichling, Thorsten and Reichenbach, Matthias and Berger, Ulrich}, title = {Training CNNs from Synthetic Data for Part Handling in Industrial Environments}, series = {IEEE 14th International Conference on Automation Science and Engineering (CASE), Munich, Germany, August 20-24, 2018}, booktitle = {IEEE 14th International Conference on Automation Science and Engineering (CASE), Munich, Germany, August 20-24, 2018}, publisher = {IEEE}, address = {Piscataway, NJ}, isbn = {978-1-5386-3593-3}, doi = {10.1109/COASE.2018.8560470}, pages = {624 -- 629}, abstract = {As Convolutional Neural Network based models become reliable and efficient, two questions arise in relation to their applications for industrial purposes. The usefulness of these models in industrial environments and their implementation in these settings. This paper describes the autonomous generation of Region based CNN models trained on images from rendered CAD models and examines their applicability and performance for part handling application. The development of the automated synthetic data generation is detailed and two CNN models are trained with the aim to detect a car component and differentiate it against another similar looking part. The performance of these models is tested on real images and it was found that the proposed approach can be easily adopted for detecting a range of parts in arbitrary backgrounds. Moreover, the use of syntheic images for training CNNs automates the process of generating a detector.}, language = {en} } @inproceedings{SchiemannHodappBerger, author = {Schiemann, Markus and Hodapp, Jan and Berger, Ulrich}, title = {Collaboration-Gap: A bus-modular architecture for human-robot-collaboration systems in production environments}, series = {International Symposium on Robotics, ISR 2018, June 20-21, 2018 Messe M{\"u}nchen, Entrance East, Munich, Germany}, booktitle = {International Symposium on Robotics, ISR 2018, June 20-21, 2018 Messe M{\"u}nchen, Entrance East, Munich, Germany}, publisher = {VDE Verlag}, address = {Berlin [u.a.]}, isbn = {978-3-8007-4699-6}, pages = {450 -- 454}, abstract = {Due to the extensive changes along with Industry 4.0 many established barriers drop. One of those barriers which increasingly disappears separates the workspace between human beings and robots and thus prevents a versatile collaborating environment. This change has led to the development of a wide field of research focusing on the prevention of human-robot impacts and/or the minimization of related risks. This paper is focused on safety regulations introduced as a consequence of those developments over the last ten years and particularly on an approach for demonstrating the unintended gap arising between human and robot due to those regulations. Modularity and integrability as two of the key characteristics in the concept of Reconfigurable Manufacturing Systems (RMS), serve as the comparative parameters.}, language = {en} } @misc{GebauerBusseLehmannetal., author = {Gebauer, Marc and Busse, Martin and Lehmann, Marlon Antonin and Winkler, Herwig and Berger, Ulrich}, title = {Lebenszyklusorientierte Betrachtung von technologiebasierten Gesch{\"a}ftsmodellinnovationen am Beispiel einer industriellen W{\"a}scherei}, series = {20. Forschungskolloquium am Fraunhofer IFF INDUSTRIE 4.0 - (R)EVOLUTION DER PRODUKTION}, journal = {20. Forschungskolloquium am Fraunhofer IFF INDUSTRIE 4.0 - (R)EVOLUTION DER PRODUKTION}, editor = {Schenk, Michael}, pages = {17 -- 26}, language = {de} }