@inproceedings{HoecherlBottkeSchlegl, author = {H{\"o}cherl, Johannes and Bottke, Christian and Schlegl, Thomas}, title = {Eine redundante Steuerungsarchitektur zur Realisierung sicherer Mensch-Roboter-Kollaboration - Entwicklung gem{\"a}ß DIN EN ISO 10218, 13849 und 12100}, series = {Tagungsband AALE 2014}, booktitle = {Tagungsband AALE 2014}, publisher = {Deutscher Industrieverlag}, address = {M{\"u}nchen}, isbn = {978-3-8356-7142-3}, pages = {165 -- 173}, abstract = {Das Forschungsprojekt ManuCyte konzentriert sich auf die Realisierung einer Plattform f{\"u}r die Kultivierung menschlicher Zellen und Gewebe im industriellen Maßstab. F{\"u}r die Mensch-Roboter-Kolloboration ist die Robotersteuerung technologisch diversit{\"a}r und redundant ausgef{\"u}hrt. Skizziert und analysiert wird ein prototypisches Robotersystem zum Erhalt von sicherer Mensch-Roboter-Kollaboration. Eine normgerechte Risikobeurteilung wird anhand der vorliegenden Anwendung Schritt f{\"u}r Schritt aufgezeigt. Wichtige Kenngr{\"o}ßen zur Bestimmung des sicherheitstechnischen Leistungsgrades sicherheitsrelevanter Steuerungsfunktionen werden exemplarisch berechnet und zusammengefasst. Die Vorgehensweise der Steuerungsentwicklung und die entwickelte Steuerungsarchitektur werden aufgezeigt. Außerdem werden die Sicherheitsanforderungen exemplarisch validiert und die Ergebnisse diskutiert. Aufgezeigt werden die Entwicklungsschritte zu einer m{\"o}glichen Zertifizierung. A prototypic robot system for Human-Robot Collaboration is sketched and analyzed in the article at hand. For the present application, the risk assessment according to the relevant standards is visualized step by step. Important parameters to determine the safety performance level of safety related control functions are calculated and summarized. The procedure to develop a safe control system and the developed control architecture are shown. Furthermore, the safety requirements are validated exemplarily and the results are discussed. Possible steps to carry the system to a certification complete the present article.}, language = {de} } @article{HoecherlBottkeSchlegl, author = {H{\"o}cherl, Johannes and Bottke, Christian and Schlegl, Thomas}, title = {Steuerungsarchitektur f{\"u}r kollaborierende Roboter. Analyse - Risikobeurteilung - Entwurf - Validierung}, series = {atp edition. Automatisierungstechnische Praxis}, volume = {57}, journal = {atp edition. Automatisierungstechnische Praxis}, number = {6}, publisher = {DIV Deutscher Industrieverlag}, address = {Essen}, doi = {10.17560/atp.v57i06.497}, pages = {38 -- 46}, abstract = {Der Beitrag beschreibt den Systemaufbau f{\"u}r die Risikobeurteilung zur Realisierung einer sicheren Mensch-Maschine-Kollaboration und stellt die vorgeschriebene Risikobeurteilung gem{\"a}ß DIN EN ISO 10218-1:2012-01 in folgende Schritten vor: Beurteilung der Erfahrenswerte und des Nutzerverhaltens, Festlegung der Grenzen des Roboters, Identifikation der Gef{\"a}hrdungen und Risikoeinsch{\"a}tzung in den dimensionen Ausmaß, Exposition, Eintrittswahrscheinlichkeit und Vermeidungsm{\"o}glichkeit. Die Umsetzung in eine Steuerung, die Steuerungsarchitektur und die eingesetzten Komponenten zur Realisierung einer sicheren Abstands{\"u}berwachung werden beschrieben und in Blockschaltbildern grafisch dargestellt. Die Validit{\"a}t der Sicherheitsfunktion wird diskutiert.}, language = {de} } @article{HoecherlWredeSchlegl, author = {H{\"o}cherl, Johannes and Wrede, Britta and Schlegl, Thomas}, title = {Mensch-Roboter-Arbeitsabl{\"a}ufe methodisch entwickeln}, series = {atp edition (Automatisierungstechnische Praxis)}, volume = {59}, journal = {atp edition (Automatisierungstechnische Praxis)}, number = {5}, publisher = {DIV Dt. Industrieverlag}, address = {M{\"u}nchen}, issn = {2190-4111}, pages = {34 -- 42}, abstract = {In Mensch-Roboter-Arbeitszellen werden Teile eines Produktionsablaufs von einemv Menschen, andere von einem kollaborativen Roboter und wieder andere kooperativvin einem gemeinsamen Arbeitsbereich durchgef{\"u}hrt. Bisher werden das Potenzialvund der Mehrwert dieser Systeme noch nicht ausgesch{\"o}pft, weshalb ein systematischer Ansatz zur Definition der Arbeitsabl{\"a}ufe unerl{\"a}sslich ist. Der Beitrag pr{\"a}sentiert einen iterativen, menschzentrierten Entwicklungszyklus f{\"u}r interaktive Mensch-Roboter-Anwendungen. Dieser Zyklus erg{\"a}nzt die bisher verwendeten Ans{\"a}tze der Automatisierung. Er beinhaltet Methoden der virtuellen Realit{\"a}t, um die Arbeitsabl{\"a}ufe iterativ evaluieren und dadurch den Entwicklungsprozess effizient gestalten zu k{\"o}nnen.}, language = {de} } @inproceedings{HoecherlWredeSchlegl, author = {H{\"o}cherl, Johannes and Wrede, Britta and Schlegl, Thomas}, title = {Motion Analysis of Human-Human and Human-Robot Cooperation During Industrial Assembly Tasks}, series = {Proceedings of the 5th International Conference on Human Agent Interaction (HAI '17), Bielefeld Germany, 17.10.2017 -20.10.2017}, booktitle = {Proceedings of the 5th International Conference on Human Agent Interaction (HAI '17), Bielefeld Germany, 17.10.2017 -20.10.2017}, editor = {Wrede, Britta and Nagai, Yukie and Komatsu, Takanori and Hanheide, Marc and Natale, Lorenzo}, publisher = {ACM}, address = {New York, NY, USA}, isbn = {9781450351133}, doi = {10.1145/3125739.3132615}, pages = {425 -- 429}, abstract = {This article discusses the relevance of the motion behavior and adaptation of a collaborative robot for human-robot cooperation. Two experiments on cooperative assembly are shown. First, a human-human experiment with defined test conditions evaluates the aspects of distance, nearest body part, and predictability as significant. Second, a human-robot experiment shows that fixed trajectories and conservative dynamic parameters lead to a quick gain of confidence of the participants. Besides, the data shows that a realistic use case with complex tasks is key to evaluate the impact of motion parameters.}, language = {en} } @inproceedings{HoecherlAdamSchlegletal., author = {H{\"o}cherl, Johannes and Adam, Andreas and Schlegl, Thomas and Wrede, Britta}, title = {Human-Robot Assembly: Methodical Design and Assessment of an Immersive Virtual Environment for Real-World Significance}, series = {2020 25th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA): 8-11 Sept. 2020, Vienna, Austria}, booktitle = {2020 25th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA): 8-11 Sept. 2020, Vienna, Austria}, publisher = {IEEE}, doi = {10.1109/ETFA46521.2020.9212039}, pages = {549 -- 556}, abstract = {Virtual reality is a powerful tool for industrial applications. The article at hand addresses designers of industrial virtual environments. It summarizes key aspects to design immersive and coherent virtual environments. Furthermore, relevant influencing factors for a high quality virtual environment and tools to quantify this quality are presented. So far, a methodology to design, evaluate, and transfer knowledge from virtual environments into reality has been missing and is of high value for industrial applications. The proposed methodical approach includes the steps application analysis, technology selection and integration, design of virtual environment, evaluation of simulator quality, as well as discussion of the real-world validity. The method is shown on the example of a virtual human-robot working cell used to analyze the human perception of robot behavior during mutual assembly processes. The quality of the virtual environment is evaluated to be adequate for those purposes and the transfer of knowledge gained in virtuality on a corresponding real-world application is discussed. To the best of our knowing a system like the presented one, including full-body tracking, finger tracking, a virtual avatar and a head-mounted display has not been used for industrial use cases and human-robot cooperation before.}, language = {en} } @inproceedings{HoecherlPohltNiedersteineretal., author = {H{\"o}cherl, Johannes and Pohlt, Clemens and Niedersteiner, Sascha and Schlegl, Thomas and Haug, Sonja and Weber, Karsten}, title = {Entwicklung eines industriellen Assistenzsystems unter Einbeziehung der Anlagenbediener}, series = {2. OTH Clusterkonferenz}, booktitle = {2. OTH Clusterkonferenz}, organization = {OTH Regensburg und OTH Amberg-Weiden}, pages = {11 -- 15}, language = {de} } @inproceedings{WeberHaugSchlegletal., author = {Weber, Karsten and Haug, Sonja and Schlegl, Thomas and Pohlt, Clemens and H{\"o}cherl, Johannes}, title = {Kollaborative Robotik als Beispiel der Mensch-Maschine-Interaktion}, series = {Tagung Technikfolgenabsch{\"a}tzung, 19.06.2017, Akademie der Wissenschaften Wien}, booktitle = {Tagung Technikfolgenabsch{\"a}tzung, 19.06.2017, Akademie der Wissenschaften Wien}, language = {de} } @inproceedings{HoecherlNiedersteinerHaugetal., author = {H{\"o}cherl, Johannes and Niedersteiner, Sascha and Haug, Sonja and Pohlt, Clemens and Schlegl, Thomas and Weber, Karsten and Berlehner, Thomas}, title = {Smart Workbench}, series = {2. OTH Clustertagung, 18.01.2017, Regensburg}, booktitle = {2. OTH Clustertagung, 18.01.2017, Regensburg}, language = {de} } @inproceedings{HoecherlNiedersteinerHaugetal., author = {H{\"o}cherl, Johannes and Niedersteiner, Sascha and Haug, Sonja and Pohlt, Clemens and Schlegl, Thomas and Weber, Karsten and Berlehner, Thomas}, title = {Smart Workbench}, series = {2. Transdisziplin{\"a}ren Konferenz "Technische Unterst{\"u}tzungssysteme, die die Menschen wirklich wollen", 12.-13.12.2016, Helmut-Schmidt-Universit{\"a}t, Hamburg}, booktitle = {2. Transdisziplin{\"a}ren Konferenz "Technische Unterst{\"u}tzungssysteme, die die Menschen wirklich wollen", 12.-13.12.2016, Helmut-Schmidt-Universit{\"a}t, Hamburg}, editor = {Weidner, Robert}, pages = {49 -- 50}, language = {de} } @inproceedings{HoinkesRomanoEhrlichetal., author = {Hoinkes, Carl J. J. and Romano, Marco and Ehrlich, Ingo and H{\"o}cherl, Johannes and Gebbeken, Norbert}, title = {Investigation of fibre reinforced plastics with monolithic and hybrid stacking sequences under high-velocity impact loads}, series = {Applied Research Conference 2014 - ARC 2014, 5th July 2014, Ingolstadt}, booktitle = {Applied Research Conference 2014 - ARC 2014, 5th July 2014, Ingolstadt}, editor = {Ziemann, Olaf and Mottok, J{\"u}rgen and Pforr, Johannes}, publisher = {Shaker}, address = {Aachen}, language = {en} } @inproceedings{RomanoHoinkesEhrlichetal., author = {Romano, Marco and Hoinkes, Carl J. J. and Ehrlich, Ingo and H{\"o}cherl, Johannes and Gebbeken, Norbert}, title = {Influence of the impactor on the experimentally determined energy dissipation properties of fiber-reinforced plastics with hybrid layups under high velocity impact loads}, series = {Proceeding of the 15th International Materials Symposium (IMSP´2014), Pamukkale University (Denizli, Turkey), 15./17. October 2014}, booktitle = {Proceeding of the 15th International Materials Symposium (IMSP´2014), Pamukkale University (Denizli, Turkey), 15./17. October 2014}, editor = {Meran, C.}, pages = {650 -- 664}, language = {en} } @article{RomanoHoinkesEhrlichetal., author = {Romano, Marco and Hoinkes, Carl J. J. and Ehrlich, Ingo and H{\"o}cherl, Johannes and Gebbeken, Norbert}, title = {Experimental investigation of energy dissipation properties of fibre reinforced plastics with hybrid layups under high-velocity impact loads}, series = {Journal of Achievements in Materials and Manufacturing Engineering (JAMME)}, volume = {64}, journal = {Journal of Achievements in Materials and Manufacturing Engineering (JAMME)}, number = {1}, pages = {14 -- 20}, abstract = {Purpose: The present work deals with the experimental investigation concerning the energy dissipation capacity of different kinds of reinforcement fibres in monolithic and hybrid layups under high velocity impact loads. The investigated kinds of fibres are carbon, glass and basalt. Design/methodology/approach: The test panels have been impregnated with thermoset resin. Curing was done by autoclave processing. In order to obtain comparable fibre volume contents of approx. 60 \% in the different layups (monolithic and hybrid without and with separating layer), curing cycles adapted to the type of layup have been identified. The resulting fibre volume content of the test panels has been determined both by weighing and experimentally by chemical extraction and calcination. The impact load was applied by an instrumented experimental setup. Thereby both commercially available bullets and bearing balls accelerated with weighted propellant in a sabot have been used as impactors. The measured values are the velocities of the bearing balls as the impactor before and after penetration of the test panels. Findings: In both cases the results show the energy dissipation capacity of each single kind of fibre in case of the monolithic layups as well as the enhanced properties of the hybrid stacked layups without and with the separating layer as a core material. Typical failure modes on the impact surface and on the outlet areas are identified. Research limitations/implications: The influence of the respective kind of impactors, namely bullets and bearing balls, on the evaluated results is identified. Thereby the bearing balls exhibited a higher degree of reproducibility due to several reasons. Originality/value: Fibre reinforced plastics with hybrid stacking sequences can be used as load-bearing structures and at the same time as safety structures for passengers in automotive or aerospace applications. Moreover, with the hybrid stacked composites lightweight concepts can efficiently be realized regarding energy saving issues.}, language = {en} } @article{RomanoHoinkesEhrlichetal., author = {Romano, Marco and Hoinkes, Carl J. J. and Ehrlich, Ingo and H{\"o}cherl, Johannes and Gebbeken, Norbert}, title = {Experimental investigation of fibre reinforced plastics with hybrid layups under high-velocity impact loads}, series = {Frattura ed Integrit{\`a} Strutturale (Fracture and Structural Integrity)}, volume = {8}, journal = {Frattura ed Integrit{\`a} Strutturale (Fracture and Structural Integrity)}, number = {29}, doi = {10.3221/IGF-ESIS.29.34}, pages = {384 -- 398}, abstract = {This paper deals with experimental investigations concerning energy dissipation capacity of different kinds of reinforcement fibres in monolithic and hybrid layups under high-velocity impact loads. The investigated kinds of fibres are carbon, glass and basalt fibres. Therefore test panels, using the same thermoset resin, were built up and cured by autoclave processing. The fibre volume content of the test panels has been determined. Furthermore the influence of a separating layer at selected positions in the hybrid stacked panels was investigated. The results show the influence and the energy dissipation capacity of each single kind of fibre and the enhanced properties for the hybrid layups by hybrid stacking sequences and the use of a separating core material.}, language = {en} }