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  - Enning, Manfred
A1  - Jenayeh, I.
A1  - Müller, C.
A1  - Rake, Heinrich
T1  - Development and realization of a manipulator for automatic decoupling of freight cars in marshalling yards /  Jenayeh, I. ; Müller, C. ; Enning, Manfred ; Rake, Heinrich ; Peter, J.
Y1  - 1997
N1  - World Congress on Railway Research, Florenz, 16.-19.11.1997, 1997
ER  - 
TY  - JOUR
A1  - Starke, Günther
A1  - Drews, P.
T1  - Development approaches for advanced control in automated arc welding
Y1  - 1985
N1  - Konferenz-Einzelbericht: Automation and robotisation in welding and allied processes. International conference on automation and robotisation in welding and allied processes, Strasbourg, FR, 02.09.1985-03.09.1985
SP  - 115
EP  - 124
ER  - 
TY  - JOUR
A1  - Kämper, Klaus-Peter
T1  - Development of low-cost injection moulded micropumps. Entwicklung von kostengünstigen, mittels Spritzguß hergestellten Mikropumpen / Döpper, J. (u.a.)
JF  - Actuator 96 : Conference Proceedings ; 5th International Conference on New Actuators ; 26- 28 June, Bremen, Germany / Ed.: Hubert Borgmann. Publ. by: AXON Technology Consult GmbH
Y1  - 1996
N1  - Konferenz-Einzelbericht: ACTUATOR, Internat. Conf. on New Actuators, 5
SP  - 37
EP  - 40
CY  - Bremen
ER  - 
TY  - JOUR
A1  - Kämper, Klaus-Peter
A1  - Lehr, H.
A1  - Ehrfeld, W.
A1  - Hagemann, B.
T1  - Development of micro and millimotors. Lehr, H.; Ehrfeld, W.; Hagemann, B.; Kämper, K.-P.; Michel, F.; Schulz, C.; Thürigen C.
JF  - Minimally Invasive Therapy and Allied Technologies. 6 (1997)
Y1  - 1997
SN  - 1364-5706
ER  - 
TY  - JOUR
A1  - Kämper, Klaus-Peter
A1  - Picard, A.
A1  - Schütze, A.
T1  - Die Ausbildungsfoundry pro-mst und das virtuelle Technologielabor: Ein Konzept für eine exzellente praktische MST-Ausbildung in einem modernen Reinraum zu niedrigen Gesamtkosten. Picard, A.; Kämper, K.-P.; Schütze, A.
JF  - Mikrosystemtechnik-Kongress 2005 : 10. bis 12. Oktober 2005 in Freiburg ; gemeinsame Veranstaltung von: Bundesministerium für Bildung und Forschung (BMBF) ... / organisiert von: GMM VDE/VDI-Gesellschaft Mikroelektronik, Mikro- und Feinwerktechnik ... Chairman: Roland Zengerle
Y1  - 2005
SN  - 3-8007-2926-1
N1  - Mikrosystemtechnik-Kongress <2005, Freiburg, Breisgau>
SP  - 127
PB  - VDE-Verl.
CY  - Berlin
ER  - 
TY  - JOUR
A1  - Pleßmann, K. W.
A1  - Wollert, Jörg
A1  - Fiedler, Jörg
T1  - Die ganzheitliche und objektorientierte Prozesssteuerung - eine Vision?
JF  - CIM-Management : Produkte, Strategien, Entscheidungshilfen
Y1  - 1995
SN  - 0179-2679
VL  - 11
IS  - 2
SP  - 56
EP  - 60
ER  - 
TY  - JOUR
A1  - Wollert, Jörg
A1  - Kruse, Thomas
A1  - Vedral, Andreas
T1  - Die Kraft der drei Antennen : zuverlässige Funkkommunikation für die Automatisierungstechnik
JF  - Elektronik : Fachmedium für industrielle Anwender und Entwickler ; Sonderh. Wireless : Fachmedium für Entwicklungen funkbasierter Systeme
Y1  - 2007
SN  - 0013-5658; 1611-5120
N1  - Printausgabe in der Bibliothek vorhanden: 23 Z 133; 63 ZS 035
VL  - 56
IS  - Sonderh. 2
SP  - 36
EP  - 42
ER  - 
TY  - JOUR
A1  - Wollert, Jörg
T1  - Die Kunst des Weglassens : Windows NT Embedded - Was die neue Version vom Standard-NT unterscheidet
JF  - Elektronik : Fachmedium für industrielle Anwender und Entwickler
Y1  - 1999
SN  - 0013-5658
N1  - Printausg. in der Bibliothek vorhanden: 63 ZS 030
VL  - Bd. 48
IS  - H. 23
SP  - 116
EP  - 121
ER  - 
TY  - JOUR
A1  - Kämper, Klaus-Peter
T1  - Die Mikroaktorik wird erwachsen
JF  - INNO : innovative Technik - neue Anwendungen / Hrsg.: IVAM Fachverband für Mikrotechnik, Dortmund. Ausgabe 22 (2002)
Y1  - 2002
SP  - 4
EP  - 5
ER  -