TY - JOUR A1 - Engemann, Heiko A1 - Cönen, Patrick A1 - Dawar, Harshal A1 - Du, Shengzhi A1 - Kallweit, Stephan T1 - A robot-assisted large-scale inspection of wind turbine blades in manufacturing using an autonomous mobile manipulator JF - Applied Sciences N2 - Wind energy represents the dominant share of renewable energies. The rotor blades of a wind turbine are typically made from composite material, which withstands high forces during rotation. The huge dimensions of the rotor blades complicate the inspection processes in manufacturing. The automation of inspection processes has a great potential to increase the overall productivity and to create a consistent reliable database for each individual rotor blade. The focus of this paper is set on the process of rotor blade inspection automation by utilizing an autonomous mobile manipulator. The main innovations include a novel path planning strategy for zone-based navigation, which enables an intuitive right-hand or left-hand driving behavior in a shared human–robot workspace. In addition, we introduce a new method for surface orthogonal motion planning in connection with large-scale structures. An overall execution strategy controls the navigation and manipulation processes of the long-running inspection task. The implemented concepts are evaluated in simulation and applied in a real-use case including the tip of a rotor blade form. KW - mobile manipulation KW - large-scale inspection KW - wind turbine production KW - autonomous navigation KW - surface-orthogonal path planning Y1 - 2021 U6 - http://dx.doi.org/10.3390/app11199271 SN - 2076-3417 N1 - Belongs to the Special Issue "Advances in Industrial Robotics and Intelligent Systems" VL - 11 IS - 19 SP - 1 EP - 22 PB - MDPI CY - Basel ER - TY - JOUR A1 - Engemann, Heiko A1 - Du, Shengzhi A1 - Kallweit, Stephan A1 - Cönen, Patrick A1 - Dawar, Harshal T1 - OMNIVIL - an autonomous mobile manipulator for flexible production JF - Sensors Y1 - 2020 SN - 1424-8220 U6 - http://dx.doi.org/10.3390/s20247249 N1 - Special issue: Sensor Networks Applications in Robotics and Mobile Systems VL - 20 IS - 24, art. no. 7249 SP - 1 EP - 30 PB - MDPI CY - Basel ER - TY - JOUR A1 - Kunkel, Maximilian Hugo A1 - Gebhardt, Andreas A1 - Mpofu, Khumbulani A1 - Kallweit, Stephan T1 - Quality assurance in metal powder bed fusion via deep-learning-based image classification JF - Rapid Prototyping Journal Y1 - 2019 U6 - http://dx.doi.org/10.1108/RPJ-03-2019-0066 SN - 1355-2546 VL - 26 IS - 2 SP - 259 EP - 266 ER - TY - JOUR A1 - Franko, Josef A1 - Du, Shengzhi A1 - Kallweit, Stephan A1 - Duelberg, Enno Sebastian A1 - Engemann, Heiko T1 - Design of a Multi-Robot System for Wind Turbine Maintenance JF - Energies N2 - The maintenance of wind turbines is of growing importance considering the transition to renewable energy. This paper presents a multi-robot-approach for automated wind turbine maintenance including a novel climbing robot. Currently, wind turbine maintenance remains a manual task, which is monotonous, dangerous, and also physically demanding due to the large scale of wind turbines. Technical climbers are required to work at significant heights, even in bad weather conditions. Furthermore, a skilled labor force with sufficient knowledge in repairing fiber composite material is rare. Autonomous mobile systems enable the digitization of the maintenance process. They can be designed for weather-independent operations. This work contributes to the development and experimental validation of a maintenance system consisting of multiple robotic platforms for a variety of tasks, such as wind turbine tower and rotor blade service. In this work, multicopters with vision and LiDAR sensors for global inspection are used to guide slower climbing robots. Light-weight magnetic climbers with surface contact were used to analyze structure parts with non-destructive inspection methods and to locally repair smaller defects. Localization was enabled by adapting odometry for conical-shaped surfaces considering additional navigation sensors. Magnets were suitable for steel towers to clamp onto the surface. A friction-based climbing ring robot (SMART— Scanning, Monitoring, Analyzing, Repair and Transportation) completed the set-up for higher payload. The maintenance period could be extended by using weather-proofed maintenance robots. The multi-robot-system was running the Robot Operating System (ROS). Additionally, first steps towards machine learning would enable maintenance staff to use pattern classification for fault diagnosis in order to operate safely from the ground in the future. Y1 - 2020 U6 - http://dx.doi.org/10.3390/en13102552 SN - 1996-1073 VL - 13 IS - 10 SP - Article 2552 PB - MDPI CY - Basel ER - TY - JOUR A1 - Michaux, F. A1 - Mattern, P. A1 - Kallweit, Stephan T1 - RoboPIV: how robotics enable PIV on a large industrial scale JF - Measurement Science and Technology N2 - This work demonstrates how the interaction between particle image velocimetry (PIV) and robotics can massively increase measurement efficiency. The interdisciplinary approach is shown using the complex example of an automated, large scale, industrial environment: a typical automotive wind tunnel application. Both the high degree of flexibility in choosing the measurement region and the complete automation of stereo PIV measurements are presented. The setup consists of a combination of three robots, individually used as a 6D traversing unit for the laser illumination system as well as for each of the two cameras. Synchronised movements in the same reference frame are realised through a master-slave setup with a single interface to the user. By integrating the interface into the standard wind tunnel management system, a single measurement plane or a predefined sequence of several planes can be requested through a single trigger event, providing the resulting vector fields within minutes. In this paper, a brief overview on the demands of large scale industrial PIV and the existing solutions is given. Afterwards, the concept of RoboPIV is introduced as a new approach. In a first step, the usability of a selection of commercially available robot arms is analysed. The challenges of pose uncertainty and importance of absolute accuracy are demonstrated through comparative measurements, explaining the individual pros and cons of the analysed systems. Subsequently, the advantage of integrating RoboPIV directly into the existing wind tunnel management system is shown on basis of a typical measurement sequence. In a final step, a practical measurement procedure, including post-processing, is given by using real data and results. Ultimately, the benefits of high automation are demonstrated, leading to a drastic reduction in necessary measurement time compared to non-automated systems, thus massively increasing the efficiency of PIV measurements. Y1 - 2018 U6 - http://dx.doi.org/10.1088/1361-6501/aab5c1 SN - 1361-6501 N1 - Special Section on the 12th International Symposium on Particle Image Velocimetry (PIV 2017) VL - 29 IS - 7 SP - 074009 PB - IOP CY - Bristol ER - TY - JOUR A1 - Kunkel, Maximilian Hugo A1 - Gebhardt, Andreas A1 - Mpofu, Khumbaulani A1 - Kallweit, Stephan T1 - Statistical assessment of mechanical properties of selective laser melted specimens of stainless steel JF - The International Journal of Advanced Manufacturing Technology N2 - The rail business is challenged by long product life cycles and a broad spectrum of assembly groups and single parts. When spare part obsolescence occurs, quick solutions are needed. A reproduction of obsolete parts is often connected to long waiting times and minimum lot quantities that need to be purchased and stored. Spare part storage is therefore challenged by growing stocks, bound capital and issues of part ageing. A possible solution could be a virtual storage of spare parts which will be 3D printed through additive manufacturing technologies in case of sudden demand. As mechanical properties of additive manufactured parts are neither guaranteed by machine manufacturers nor by service providers, the utilization of this relatively young technology is impeded and research is required to address these issues. This paper presents an examination of mechanical properties of specimens manufactured from stainless steel through the selective laser melting (SLM) process. The specimens were produced in multiple batches. This paper interrogates the question if the test results follow a normal distribution pattern and if mechanical property predictions can be made. The results will be put opposite existing threshold values provided as the industrial standard. Furthermore, probability predictions will be made in order to examine the potential of the SLM process to maintain state-of-the-art mechanical property requirements. Y1 - 2018 U6 - http://dx.doi.org/10.1007/s00170-018-2040-8 SN - 0268-3768 VL - 98 IS - 5-8 SP - 1409 EP - 1431 PB - Springer CY - London ER - TY - JOUR A1 - Kallweit, Stephan A1 - Korculanin, O. A1 - Fröhlig, F. A1 - Gabi, M. A1 - Mattern, P. T1 - Photogrammetrische Rekonstruktion von Partikelpositionen mittels Rückprojektion für 3D-PIV JF - Lasermethoden in der Strömungsmesstechnik : 19. Fachtagung, 6. - 8. September 2011, Ilmenau ; [Tagungsband enthält ... Beiträge, die anlässlich der 19. Fachtagaung "Lasermethoden in der Strömungsmesstechnik" ... vorgetragen und diskutiert wurden] / veranst. von der Deutschen Gesellschaft für Laser-Anemometrie GALA e.V. Hrsg. A. Thess... Y1 - 2011 SN - 978-3-9805613-7-2 N1 - Fachtagung Lasermethoden in der Strömungsmesstechnik <19, 2011, Ilmenau> ; Deutsche Gesellschaft für Laser-Anemometrie SP - 28/1 EP - 28/6 PB - Dt. Ges. für Laser-AnemometrieGALA e. V. CY - Karlsruhe ER - TY - JOUR A1 - Dues, M. A1 - Gebhardt, Andreas A1 - Kallweit, Stephan A1 - Scheffler, T. A1 - Siekmann, H. A1 - Uchiyama, T. T1 - Flow Visualization in a Cavitating Flow JF - Proceedings of the German-Japanese Symposium on Multi-Phase Flow : Karlsruhe, Germany, August 23 - 25, 1994 / comp. by U. Müller ... Y1 - 1994 N1 - German Japanese Symposium on Multi-Phase Flow <1994, Karlsruhe> ; Kernforschungszentrum Karlsruhe ; 5389 SP - 391 EP - 402 PB - Kernforschungszentrum Karlsruhe CY - Karlsruhe ER - TY - JOUR A1 - Kallweit, Stephan A1 - Kaminsky, R. A1 - Rossi, M. A1 - Scalise, L. T1 - PIV Measurements with high temporal Resolution behind Artificial Heart Valves / Kaminsky, R. ; Rossi, M. ; Scalise, L. ; Kallweit, S. ; Verdonck, P. JF - Proceedings of the 6th International Symposium on Particle Image Velocimetry Y1 - 2005 N1 - link zum abstract PB - Caltech CY - Pasadena, CA ER - TY - JOUR A1 - Kallweit, Stephan A1 - Uchiyama, R. A1 - Siekmann, H. T1 - Fault Diagnostic Method for Pump Running Conditions Based on Process Modeling and Neural Network / Uchiyama, R. ; Kallweit, S. ; Siekmann, H. JF - International Journal of Rotating Machinery. 4 (1998), H. 1 Y1 - 1998 SN - 1542-3034 SP - 49 EP - 59 ER - TY - JOUR A1 - Kallweit, Stephan A1 - Schimpf, Axel T1 - Photogrammetric Particle Image Velocimetry / Schimpf, Axel ; Kallweit, Stephan JF - Particle image velocimetry : recent improvements; proceedings of the Europiv 2 Workshop held in Zaragoza, Spain, March 31 - April 1, 2003 / edited by M. Stanislas ... Y1 - 2003 SN - 3-540-21423-2 SP - 295 PB - Springer CY - Berlin ER - TY - JOUR A1 - Kallweit, Stephan A1 - Dues, M. W. A1 - Siekmann, H. E. T1 - Spectral Analysis of Pressure Fluctuations and Velocity Fields as Investigated on Propeller Pumps / Dues, M. W. ; Kallweit, S. D. ; Siekmann, H. E. JF - Preprints : Fifth International Symposium on Transport Phenomena and Dynamics of Rotating Machinery (ISROMAC-5) : May 8 - 11, 1994, Maui Marriott Hotel, Kaanapali, Maui, Hawaii, U.S.A / sponsored by Pacific Center of Thermal-Fluids Engineering. [W.-J. Yang, chairman] / Vol. B. Y1 - 1994 N1 - International Symposium on Transport Phenomena and Dynamics of Rotating Machinery 5, 1994, Kaanapali, Hawaii SP - 98 EP - 112 ER - TY - JOUR A1 - Kallweit, Stephan A1 - Kaminsky, Radoslav A1 - Rossi, Massimiliano A1 - Morbiducci, Umberto T1 - PIV Measurements of Flows in Artificial Heart Valves / Kaminsky, Radoslav ; Kallweit, Stephan ; Rossi, Massimiliano ; Morbiducci, Umberto ; Scalise, Lorenzo JF - Particle Image Velocimetry - New Developments and Recent Applications Y1 - 2008 SN - 978-3-540-73528-1 N1 - Topics in Applied Physics SP - 55 EP - 72 ER - TY - JOUR A1 - Kallweit, Stephan A1 - Helbing, M. A1 - Orglmeister, R. A1 - Siekmann, H. E. T1 - Image Processing Techniques with Neural Networks for Flow Visualization in Rotating Machinery / Helbing, M. ; Orgimeiste, R. [Orglmeister, R.] ; Kallweit, S. ; Siekmann, H. E. ; Dues, M. ; Cronemeyer, J. JF - FLUCOME '94 : the 4th Triennial International Symposium on Fluid Control, Measurement and Visualization; August 29 - September 1, 1994, Toulouse, France, International Congress Centre, DIGORA-Labège / CERT/ONERA. General chairman Patrick Hebrard Y1 - 1994 SP - 87 EP - 94 CY - Toulouse ER - TY - JOUR A1 - Kallweit, Stephan A1 - Ebinger, G. A1 - Dues, M. A1 - Siekmann, H. T1 - Anwendung des Laserlichtschnitt-Verfahrens zur qualitativen Untersuchung der Durchströmung von Kreiselpumpen / Ebinger, G. ; Kallweit, S. ; Dues, M. ; Siekmann, H. JF - Lasermethoden in der Strömungsmesstechnik, 2. Fachtagung der Deutschen Gesellschaft für Laser-Anemometrie (GALA), PTB Braunschweig, DE, 14.-16. Sep, 1993 Y1 - 1993 SN - 3-86111-595-6 N1 - Lasermethoden in der Strömungsmesstechnik, Fachtagung, 2 SP - 37.1 EP - 37.4 PB - Shaker CY - Aachen ER - TY - JOUR A1 - Kallweit, Stephan A1 - Dues, M. A1 - Siekmann, H. T1 - Particle-Image-Velocimetry (PIV) in rotierenden Maschinen / Dues, M. ; Kallweit, S. ; Siekmann, H. JF - Lasermethoden in der Strömungsmesstechnik, 3. Fachtagung der Deutschen Gesellschaft für Laser-Anemometrie (GALA), Bremen, DE, 5.-7. Sep, 1994 Y1 - 1994 SN - 3-8265-0162-4 N1 - Lasermethoden in der Strömungsmesstechnik, Fachtagung, 3 SP - 19.1 EP - 19-5 PB - Shaker CY - Aachen ER - TY - JOUR A1 - Kallweit, Stephan A1 - Abromeit, W. A1 - Dues, M. A1 - Siekmann, H. T1 - Anwendung der LDA zur Untersuchung der instationären Strömung im Nachleitrad einer axialen Kreiselpumpenstufe / Abromeit, W. ; Dues, M. ; Siekmann, H. ; Kallweit, S. JF - Lasermethoden in der Strömungsmesstechnik, 3. Fachtagung der Deutschen Gesellschaft für Laser-Anemometrie (GALA), Bremen, DE, 5.-7. Sep, 1994 Y1 - 1994 SN - 3-8265-0162-4 N1 - Lasermethoden in der Strömungsmesstechnik, Fachtagung, 3 SP - 27.1 EP - 27.6 PB - Shaker CY - Aachen ER - TY - JOUR A1 - Kallweit, Stephan A1 - Vanlanduit, S. A1 - Vanherzeele, J. A1 - Brouns, M. T1 - Time resolved PIV reconstruction of periodic flows / Vanlanduit, S. ; Vanherzeele, J. ; Kallweit, S. ; Brouns, M. ; Guillaume, P. JF - PIV'07, 7th International Symposium on Particle Image Velocimetry, Roma, IT, Sep 11-14, 2007 Y1 - 2007 N1 - PIV, Internional Symposium on Particle Image Velocimetry, 7 ; Datei: Vanlanduit.pdf SP - 1 EP - 14 ER - TY - JOUR A1 - Kallweit, Stephan A1 - Dues, Michael A1 - Radke, Michael T1 - Möglichkeiten und Grenzen laseroptischer Verfahren zur Untersuchung hydraulischer Strömungsmaschinen / Dues, Michael ; Kallweit, Stephan ; Radke, Michael JF - Forschung im Ingenieurwesen. 60 (1994), H. 11-12 Y1 - 1994 SN - 0015-7899 SP - 332 EP - 336 ER - TY - JOUR A1 - Kallweit, Stephan A1 - Kaminsky, R. A1 - Rossi, M. A1 - Morbiducci, U. T1 - 2D PIV Study of the flow downstream : Two prototypes of a ney monoleaflet artificial aortic heart valve prosthesis / Kaminsky, R. ; Kramm, K. ; Weber, H. J. ; Simons, A. P. ; Kallweit, S. ; Verdonck, P. R. JF - The International Journal of Artificial Organs. 28 (2005), H. 9 Y1 - 2005 SN - 1724-6040 N1 - Abstracts: XXXII Annual ESAO Congress, 5-8 October 2005, Bologna - Italy SP - 921 ER -