@inproceedings{UlmerBraunChengetal.2021, author = {Ulmer, Jessica and Braun, Sebastian and Cheng, Chi-Tsun and Dowey, Steve and Wollert, J{\"o}rg}, title = {Adapting augmented reality systems to the users' needs using gamification and error solving methods}, series = {Procedia CIRP - 54th CIRP CMS 2021 - Towards Digitalized Manufacturing 4.0}, volume = {104}, booktitle = {Procedia CIRP - 54th CIRP CMS 2021 - Towards Digitalized Manufacturing 4.0}, publisher = {Elsevier}, address = {Amsterdam}, issn = {2212-8271}, doi = {10.1016/j.procir.2021.11.024}, pages = {140 -- 145}, year = {2021}, abstract = {Animations of virtual items in AR support systems are typically predefined and lack interactions with dynamic physical environments. AR applications rarely consider users' preferences and do not provide customized spontaneous support under unknown situations. This research focuses on developing adaptive, error-tolerant AR systems based on directed acyclic graphs and error resolving strategies. Using this approach, users will have more freedom of choice during AR supported work, which leads to more efficient workflows. Error correction methods based on CAD models and predefined process data create individual support possibilities. The framework is implemented in the Industry 4.0 model factory at FH Aachen.}, language = {en} } @inproceedings{EvansBraunUlmeretal.2022, author = {Evans, Benjamin and Braun, Sebastian and Ulmer, Jessica and Wollert, J{\"o}rg}, title = {AAS implementations - current problems and solutions}, series = {20th International Conference on Mechatronics - Mechatronika (ME)}, booktitle = {20th International Conference on Mechatronics - Mechatronika (ME)}, publisher = {IEEE}, address = {New York, NY}, isbn = {978-1-6654-1040-3}, doi = {10.1109/ME54704.2022.9982933}, pages = {6 Seiten}, year = {2022}, abstract = {The fourth industrial revolution presents a multitude of challenges for industries, one of which being the increased flexibility required of manufacturing lines as a result of increased consumer demand for individualised products. One solution to tackle this challenge is the digital twin, more specifically the standardised model of a digital twin also known as the asset administration shell. The standardisation of an industry wide communications tool is a critical step in enabling inter-company operations. This paper discusses the current state of asset administration shells, the frameworks used to host them and their problems that need to be addressed. To tackle these issues, we propose an event-based server capable of drastically reducing response times between assets and asset administration shells and a multi-agent system used for the orchestration and deployment of the shells in the field.}, language = {en} } @inproceedings{EngemannWiesenKallweitetal.2018, author = {Engemann, Heiko and Wiesen, Patrick and Kallweit, Stephan and Deshpande, Harshavardhan and Schleupen, Josef}, title = {Autonomous mobile manipulation using ROS}, series = {Advances in Service and Industrial Robotics}, booktitle = {Advances in Service and Industrial Robotics}, publisher = {Springer}, address = {Cham}, isbn = {978-3-319-61276-8}, doi = {10.1007/978-3-319-61276-8_43}, pages = {389 -- 401}, year = {2018}, language = {en} } @incollection{NiemuellerZwillingLakemeyeretal.2017, author = {Niemueller, Tim and Zwilling, Frederik and Lakemeyer, Gerhard and L{\"o}bach, Matthias and Reuter, Sebastian and Jeschke, Sabina and Ferrein, Alexander}, title = {Cyber-Physical System Intelligence}, series = {Industrial Internet of Things}, booktitle = {Industrial Internet of Things}, publisher = {Springer}, address = {Cham}, isbn = {978-3-319-42559-7}, doi = {10.1007/978-3-319-42559-7_17}, pages = {447 -- 472}, year = {2017}, abstract = {Cyber-physical systems are ever more common in manufacturing industries. Increasing their autonomy has been declared an explicit goal, for example, as part of the Industry 4.0 vision. To achieve this system intelligence, principled and software-driven methods are required to analyze sensing data, make goal-directed decisions, and eventually execute and monitor chosen tasks. In this chapter, we present a number of knowledge-based approaches to these problems and case studies with in-depth evaluation results of several different implementations for groups of autonomous mobile robots performing in-house logistics in a smart factory. We focus on knowledge-based systems because besides providing expressive languages and capable reasoning techniques, they also allow for explaining how a particular sequence of actions came about, for example, in the case of a failure.}, language = {en} } @inproceedings{StopforthDavrajhFerrein2017, author = {Stopforth, Riaan and Davrajh, Shaniel and Ferrein, Alexander}, title = {South African robotics entity for a collaboration initiative}, series = {Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference (PRASA-RobMech), 2016}, booktitle = {Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference (PRASA-RobMech), 2016}, publisher = {IEEE}, isbn = {978-1-5090-3335-5}, doi = {10.1109/RoboMech.2016.7813144}, pages = {1 -- 6}, year = {2017}, language = {en} } @article{SchifferFerrein2016, author = {Schiffer, Stefan and Ferrein, Alexander}, title = {Decision-Theoretic Planning with Fuzzy Notions in GOLOG}, series = {International Journal of Uncertainty, Fuzziness and Knowledge-Based Systems}, volume = {24}, journal = {International Journal of Uncertainty, Fuzziness and Knowledge-Based Systems}, number = {Issue Suppl. 2}, publisher = {World Scientific}, address = {Singapur}, issn = {1793-6411}, doi = {10.1142/S0218488516400134}, pages = {123 -- 143}, year = {2016}, abstract = {In this paper we present an extension of the action language Golog that allows for using fuzzy notions in non-deterministic argument choices and the reward function in decision-theoretic planning. Often, in decision-theoretic planning, it is cumbersome to specify the set of values to pick from in the non-deterministic-choice-of-argument statement. Also, even for domain experts, it is not always easy to specify a reward function. Instead of providing a finite domain for values in the non-deterministic-choice-of-argument statement in Golog, we now allow for stating the argument domain by simply providing a formula over linguistic terms and fuzzy uents. In Golog's forward-search DT planning algorithm, these formulas are evaluated in order to find the agent's optimal policy. We illustrate this in the Diner Domain where the agent needs to calculate the optimal serving order.}, language = {en} } @inproceedings{WalentaSchellekensFerreinetal.2017, author = {Walenta, Robert and Schellekens, Twan and Ferrein, Alexander and Schiffer, Stefan}, title = {A decentralised system approach for controlling AGVs with ROS}, series = {AFRICON, Proceedings}, booktitle = {AFRICON, Proceedings}, publisher = {IEEE}, isbn = {978-1-5386-2775-4}, issn = {2153-0033}, doi = {10.1109/AFRCON.2017.8095693}, pages = {1436 -- 1441}, year = {2017}, language = {en} } @incollection{NiemuellerLakemeyerReuteretal.2017, author = {Niemueller, T. and Lakemeyer, G. and Reuter, S. and Jeschke, S. and Ferrein, Alexander}, title = {Benchmarking of Cyber-Physical Systems in Industrial Robotics: The RoboCup Logistics League as a CPS Benchmark Blueprint}, series = {Cyber-Physical Systems: Foundations, Principles and Applications}, booktitle = {Cyber-Physical Systems: Foundations, Principles and Applications}, publisher = {Academic Press}, address = {London}, doi = {10.1016/B978-0-12-803801-7.00013-4}, pages = {193 -- 207}, year = {2017}, abstract = {In the future, we expect manufacturing companies to follow a new paradigm that mandates more automation and autonomy in production processes. Such smart factories will offer a variety of production technologies as services that can be combined ad hoc to produce a large number of different product types and variants cost-effectively even in small lot sizes. This is enabled by cyber-physical systems that feature flexible automated planning methods for production scheduling, execution control, and in-factory logistics. During development, testbeds are required to determine the applicability of integrated systems in such scenarios. Furthermore, benchmarks are needed to quantify and compare system performance in these industry-inspired scenarios at a comprehensible and manageable size which is, at the same time, complex enough to yield meaningful results. In this chapter, based on our experience in the RoboCup Logistics League (RCLL) as a specific example, we derive a generic blueprint for how a holistic benchmark can be developed, which combines a specific scenario with a set of key performance indicators as metrics to evaluate the overall integrated system and its components.}, language = {de} } @inproceedings{NiemuellerNeumannHenkeetal.2017, author = {Niemueller, Tim and Neumann, Tobias and Henke, Christoph and Sch{\"o}nitz, Sebastian and Reuter, Sebastian and Ferrein, Alexander and Jeschke, Sabina and Lakemeyer, Gerhard}, title = {International Harting Open Source Award 2016: Fawkes for the RoboCup Logistics League}, series = {RoboCup 2016: RoboCup 2016: Robot World Cup XX. RoboCup 2016}, booktitle = {RoboCup 2016: RoboCup 2016: Robot World Cup XX. RoboCup 2016}, publisher = {Springer}, address = {Cham}, isbn = {978-3-319-68792-6}, doi = {10.1007/978-3-319-68792-6_53}, pages = {634 -- 642}, year = {2017}, language = {en} } @inproceedings{ZugNiemuellerHochgeschwenderetal.2017, author = {Zug, Sebastian and Niemueller, Tim and Hochgeschwender, Nico and Seidensticker, Kai and Seidel, Martin and Friedrich, Tim and Neumann, Tobias and Karras, Ulrich and Kraetzschmar, Gerhard K. and Ferrein, Alexander}, title = {An Integration Challenge to Bridge the Gap Among Industry-Inspired RoboCup Leagues}, series = {RoboCup 2016: Robot World Cup XX. RoboCup 2016.}, booktitle = {RoboCup 2016: Robot World Cup XX. RoboCup 2016.}, publisher = {Springer}, address = {Cham}, isbn = {978-3-319-68792-6}, doi = {10.1007/978-3-319-68792-6_13}, pages = {157 -- 168}, year = {2017}, language = {en} }