TY  - JOUR
A1  - Schüller, K.
A1  - Kowalski, Julia
A1  - Raback, P.
T1  - Curvilinear melting – A preliminary experimental and numerical study
JF  - International Journal of Heat and Mass Transfer
N2  - When exploring glacier ice it is often necessary to take samples or implement sensors at a certain depth underneath the glacier surface. One way of doing this is by using heated melting probes. In their common form these devices experience a straight one-dimensional downwards motion and can be modeled by standard close-contact melting theory. A recently developed melting probe however, the IceMole, achieves maneuverability by simultaneously applying a surface temperature gradient to induce a change in melting direction and controlling the effective contact-force by means of an ice screw to stabilize its change in attitude. A modeling framework for forced curvilinear melting does not exist so far and will be the content of this paper. At first, we will extend the existing theory for quasi-stationary close-contact melting to curved trajectories. We do this by introducing a rotational mode. This additional unknown in the system implies yet the need for another model closure. Within this new framework we will focus on the effect of a variable contact-force as well as different surface temperature profiles. In order to solve for melting velocity and curvature of the melting path we present both an inverse solution strategy for the analytical model, and a more general finite element framework implemented into the open source software package ELMER. Model results are discussed and compared to experimental data conducted in laboratory tests.
Y1  - 2016
U6  - http://dx.doi.org/10.1016/j.ijheatmasstransfer.2015.09.046
SN  - 0017-9310
IS  - 92
SP  - 884
EP  - 892
PB  - Elsevier
CY  - Amsterdam
ER  - 
TY  - CHAP
A1  - Kallweit, Stephan
A1  - Gottschalk, Michael
A1  - Walenta, Robert
T1  - ROS based safety concept for collaborative robots in industrial applications
T2  - Advances in robot design and intelligent control : proceedings of the 24th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD). (Advances in intelligent systems and computing ; 371)
N2  - The production and assembly of customized products increases the demand for flexible automation systems. One approach is to remove the safety fences that separate human and industrial robot to combine their skills. This collaboration possesses a certain risk for the human co-worker, leading to numerous safety concepts to protect him. The human needs to be monitored and tracked by a safety system using different sensors. The proposed system consists of a RGBD camera for surveillance of the common working area, an array of optical distance sensors to compensate shadowing effects of the RGBD camera and a laser range finder to detect the co-worker when approaching the work cell. The software for collision detection, path planning, robot control and predicting the behaviour of the co-worker is based on the Robot Operating System (ROS). A first prototype of the work cell shows that with advanced algorithms from the field of mobile robotics a very flexible safety concept can be realized: the robot not simply stops its movement when detecting a collision, but plans and executes an alternative path around the obstacle.
KW  - Collaborative robot
KW  - Human-Robot interaction
KW  - Safety concept
KW  - Workspace monitoring
KW  - Path planning
Y1  - 2016
SN  - 978-3-319-21289-0 (Print) ; 978-3-319-21290-6 (E-Book)
U6  - http://dx.doi.org/10.1007/978-3-319-21290-6_3
SP  - 27
EP  - 35
PB  - Springer
CY  - Cham
ER  -