@article{SchleglTomaselliSchlegletal., author = {Schlegl, Thomas and Tomaselli, Domenico and Schlegl, Stefan and West, Nicolai and Deuse, Jochen}, title = {Automated search of process control limits for fault detection in time series data}, series = {Journal of Process Control}, volume = {117}, journal = {Journal of Process Control}, publisher = {Elsevier}, doi = {10.1016/j.jprocont.2022.07.002}, pages = {52 -- 64}, abstract = {Manually defined control limits remain a common strategy for quality control in manufacturing due to their ease of deployment on the shop floor compared to more advanced data analysis approaches. Despite their continued importance, there is no systematic method of defining these control limits. However, sub-optimal control limits can lead to undetected faults or cause unnecessary interruption to production. This manuscript presents an algorithm that systematizes this manual process into an efficient search task. We conceptualized the search task as a sequence of sub-problems that are based on the conventional steps taken by process experts when defining control limits. This algorithm can be integrated into an expert tool for shop floor personnel to automate the definition of control limits in annotated time series data. We demonstrate the efficacy of the control limits found by our algorithm by comparing them to those manually defined by process experts in real-world process data from the automotive industry. Furthermore, we show that our algorithm generalizes to traditional time series classification problems and achieves state-of-the-art performance on selected benchmark datasets. Our work is the first effort in automating the otherwise manual definition of control limits for fault detection.}, language = {en} } @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{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} } @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{HaugGlashauserGrossmannetal., author = {Haug, Sonja and Glashauser, Lisa and Großmann, Benjamin and Pohlt, Clemens and Schlegl, Thomas and Wackerbarth, Alena and Weber, Karsten}, title = {Gamification im Anlernprozess am Industriearbeitsplatz}, series = {2. OTH Clusterkonferenz}, booktitle = {2. OTH Clusterkonferenz}, organization = {OTH Regensburg und OTH Amberg-Weiden}, pages = {183 -- 188}, 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{HaugGlashauserGrossmannetal., author = {Haug, Sonja and Glashauser, Lisa and Großmann, Benjamin and Pohlt, Clemens and Schlegl, Thomas and Wackerbarth, Alena and Weber, Karsten}, title = {Gamification im Anlernprozess am Industriearbeitsplatz - ein inklusiver Ansatz}, 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 = {421 -- 430}, abstract = {Um die Lebensqualit{\"a}t und Einsatzf{\"a}higkeit von Menschen mit Behinderung oder {\"a}lteren Menschen zu verbessern, wurde untersucht, inwiefern Gamification-Anwendungen beim Anlernen einer Gestensteuerung geeignet sind. Grundlage des Experiments stellt ein intelligenter Arbeitsplatz (Smart Workbench, SWoB) dar, der Personen bei manuellen Handhabungsaufgaben unterst{\"u}tzt sowie bestimmte Produktionsprozesse teilautomatisiert ausf{\"u}hrt. Um die Anlage bedienen zu k{\"o}nnen, muss im Vorfeld eine Einweisung erfolgen, welche von Menschen oder durch ein Lerntutorial mit Gamification-Elementen zur Motivationssteigerung durchgef{\"u}hrt werden kann. In der Studie wurde untersucht, welche Form des Anleitens aus welchen Gr{\"u}nden von unterschiedlichen Personen eher akzeptiert oder abgelehnt wird.}, language = {de} } @inproceedings{LangBeckeSchlegl, author = {Lang, Jonas and Becke, Mark and Schlegl, Thomas}, title = {A Systematic Approach for the Parameterisation of the Kernel-Based Hough Transform Using a Human-Generated Ground Truth}, series = {Intelligent Robotics and Applications}, volume = {9244}, booktitle = {Intelligent Robotics and Applications}, editor = {Liu, Honghai and Kubota, Naoyuki and Zhu, Xiangyang and Dillmann, R{\"u}diger and Zhou, Dalin}, publisher = {Springer}, address = {Cham}, isbn = {978-3-319-22878-5}, doi = {10.1007/978-3-319-22879-2_44}, pages = {473 -- 486}, abstract = {Lines are one of the basic features that are used to characterise the content of an image and to detect objects. Unlike edges or segmented blobs, lines are not only an accumulation of certain feature pixels but can also be described in an easy and exact mathematical way. Besides a lot of different detection methods, the Hough transform has gained much attention in recent years. With increasing processing power and continuous development, computer vision algorithms get more powerful with respect to speed, robustness and accuracy. But there still arise problems when searching for the best parameters for an algorithm or when characterising and evaluating the results of feature detection tasks. It is often difficult to estimate the accuracy of an algorithm and the influences of the parameter selection. Highly interdependent parameters and preprocessing steps continually lead to only hardly comprehensible results. Therefore, instead of pure trial and error and subjective ratings, a systematic assessment with a hard, numerical evaluation criterion is suggested. The paper at hand deals with the latter ones by using a human-generated ground truth to approach the problem. Thereby, the accuracy of the surveyed Kernel-based Hough transform algorithm was improved by a factor of three. These results are used for the tracking of cylindrical markers and to reconstruct their spatial arrangement for a biomedical research application.}, language = {en} } @article{HoecherlWredeSchlegl, author = {Hoecherl, Johannes and Wrede, Britta and Schlegl, Thomas}, title = {Developing human-robot assembly cells - Simulation, virtual interaction, and applications}, series = {ATP EDITION}, journal = {ATP EDITION}, number = {5}, publisher = {DIV DEUTSCHER INDUSTRIEVERLAG GMBH}, pages = {34 -- 42}, abstract = {In human-robot assembly cells, some tasks in a production process are carried out by the user, others by the robot, and some tasks are carried out in collaboration. However, the potential and advantages of such systems have not yet been fully harnessed. A systematic approach is needed to design cooperative workflows. Here, an iterative, user-centred development cycle is presented for interactive human-robot applications, complementing traditional automation. Virtual reality development is applied to evaluate the workflows to be defined and to develop a more efficient overall design cycle.}, 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{PohltSchleglWachsmuth, author = {Pohlt, Clemens and Schlegl, Thomas and Wachsmuth, Sven}, title = {Human Work Activity Recognition for Working Cells in Industrial Production Contexts}, series = {2019 IEEE International Conference on Systems, Man and Cybernetics (SMC), 6-9 Oct. 2019, Bari, Italy}, booktitle = {2019 IEEE International Conference on Systems, Man and Cybernetics (SMC), 6-9 Oct. 2019, Bari, Italy}, doi = {10.1109/SMC.2019.8913873}, pages = {4225 -- 4230}, abstract = {Collaboration between robots and humans requires communicative skills on both sides. The robot has to understand the conscious and unconscious activities of human workers. Many state-of-the-art activity recognition algorithms with high performance rates on existing benchmark datasets are available for this task. This paper re-evaluates appropriate architectures in light of human work activity recognition for working cells in industrial production contexts. The specific constraints of such a domain is elaborated and used as prior knowledge. We utilize state-of-the-art algorithms as spatiotemporal feature encoders and search for appropriate classification and fusion strategies. Furthermore, we combine keypoint-based with appearance-based approaches to a multi-stream recognition system. Due to data protection rules and the high effort of data annotation within industrial domains only small datasets are available that reflect production aspects. Therefore, we use transfer learning approaches to reduce the dependency on data volume and variance in the target domain. The resulting recognition system achieves high performance for both singular person action and human-object interaction.}, language = {en} } @incollection{LangSchlegl, author = {Lang, Jonas and Schlegl, Thomas}, title = {Camera-Projector Calibration - Methods, Influencing Factors and Evaluation Using a Robot and Structured-Light 3D Reconstruction}, series = {Intelligent Robotics and Applications}, volume = {9835}, booktitle = {Intelligent Robotics and Applications}, editor = {Kubota, Naoyuki and Kiguchi, Kazuo and Liu, Honghai and Obo, Takenori}, publisher = {Springer}, address = {Cham}, isbn = {978-3-319-43517-6}, doi = {10.1007/978-3-319-43518-3_40}, pages = {413 -- 427}, abstract = {As camera and projector hardware gets more and more affordable and software algorithms more sophisticated, the area of application for camera-projector configurations widens its scope. Unlike for sole camera calibration, only few comparative surveys for projector calibration methods exist. Therefore, in this paper, two readily available algorithms for the calibration of those arrays are studied and methods for the evaluation of the results are proposed. Additionally, statistical evaluations under consideration of different influencing factors like the hardware arrangement, the number of input images or the calibration target characteristics on the accuracy of the calibration results are performed. Ground truth comparison data is realized through a robotic system and structured light 3D scanning.}, language = {en} } @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} } @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} } @article{GrossmannSchlegl, author = {Grossmann, Benjamin and Schlegl, Thomas}, title = {Telerobotiksysteme zum industriellen Einsatz. Entwicklung einer vierkanaligen Regelungsarchitektur : Telerobotic systems for industrial applications. Development of a four-channel control architecture}, series = {atp edition. Automatisierungstechnische Praxis}, volume = {57}, journal = {atp edition. Automatisierungstechnische Praxis}, number = {6}, publisher = {DIV Deutscher Industrieverlag}, pages = {48 -- 55}, abstract = {Die Regensburg Robotics Research Unit entwickelt Regelungsarchitekturen f{\"u}r Telerobotiksysteme f{\"u}r den industriellen Einsatz. Der Beitrag beschreibt das lokale und globale Regelungsmodell hinsichtlich Stabilit{\"a}t und Transparenz auf der Basis der von Lawrence und Yokokohji vorgestellten Regelungsarchitektur und zeigt Simulationsergebnisse auf. Die Modellbildung des geregelten Manipulators, die Kopplung des Operators und des Teleoperators und sowie die {\"U}bertragungsfunktion werden dargestellt. Die Simulation des vorgestellten Algorithmus in Matlab/Simulink wird durchgef{\"u}hrt. Innerhalb der Simulationsumgebung ist als Regelstrecke unter der Annahme einer idealen, lokalen Regelung eine im Raum bewegliche Punktmasse modelliert. Die vorgestellte Regelungsarchitektur liefert innerhalb der durchgef{\"u}hrten Simulation vor allem im niederfrequenten Bereich sehr gute Ergebnisse. Die n{\"a}chsten Schritte sind die experimentelle Evaluierung der lokalen Architektur und der globalen Vierkanalarchitektur an den Robotern.}, language = {de} }