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A research framework for human aspects in the internet of production: an intra-company perspective
(2020)
Digitalization in the production sector aims at transferring concepts and methods from the Internet of Things (IoT) to the industry and is, as a result, currently reshaping the production area. Besides technological progress, changes in work processes and organization are relevant for a successful implementation of the “Internet of Production” (IoP). Focusing on the labor organization and organizational procedures emphasizes to consider intra-company factors such as (user) acceptance, ethical issues, and ergonomics in the context of IoP approaches. In the scope of this paper, a research approach is presented that considers these aspects from an intra-company perspective by conducting studies on the shop floor, control level and management level of companies in the production area. Focused on four central dimensions—governance, organization, capabilities, and interfaces—this contribution presents a research framework that is focused on a systematic integration and consideration of human aspects in the realization of the IoP.
The following article deals with the basic principles of intercultural management and possible improvements in terms of cultural, ethnic and gender diversification. The results are exemplarily applied to a bank located in Germany. The aim of this paper is to find out to what extent intercultural management could improve the productivity of Relatos-Bank in dealing with foreign employees or employees with a different cultural background. To achieve this goal, the authors con-duct a literature research. The main sources of information are books, journal articles and internet sources. It becomes clear that especially the different perceptions of different generations have a potential for conflict, which can be counteracted by applying presented scientific models. Equalizing the salaries of female and male employees and equalizing the rights and distribution of power could also be the key to becoming an open-minded, dynamic and fair organization that is pre-pared for the rapidly changing environment in which it operates.
A second-order L-stable exponential time-differencing (ETD) method is developed by combining an ETD scheme with approximating the matrix exponentials by rational functions having real distinct poles (RDP), together with a dimensional splitting integrating factor technique. A variety of non-linear reaction-diffusion equations in two and three dimensions with either Dirichlet, Neumann, or periodic boundary conditions are solved with this scheme and shown to outperform a variety of other second-order implicit-explicit schemes. An additional performance boost is gained through further use of basic parallelization techniques.
In this paper we report on an architecture for a self-driving car that is based on ROS2. Self-driving cars have to take decisions based on their sensory input in real-time, providing high reliability with a strong demand in functional safety. In principle, self-driving cars are robots. However, typical robot software, in general, and the previous version of the Robot Operating System (ROS), in particular, does not always meet these requirements. With the successor ROS2 the situation has changed and it might be considered as a solution for automated and autonomous driving. Existing robotic software based on ROS was not ready for safety critical applications like self-driving cars. We propose an architecture for using ROS2 for a self-driving car that enables safe and reliable real-time behaviour, but keeping the advantages of ROS such as a distributed architecture and standardised message types. First experiments with an automated real passenger car at lower and higher speed-levels show that our approach seems feasible for autonomous driving under the necessary real-time conditions.
An immunochromatographic lateral flow dipstick assay for the fast detection of microcystin-LR was developed. Colloid gold particles with diameters of 40 nm were used as red-colored antibody labels for the visual detection of the antigen. The new dipstick sensor is capable of detecting down to 5 µg·l−1 (ppb; total inversion of the color signal) or 1 ppb (observation of color grading) of microcystin-LR. The course of the labeling reaction was observed via spectrometric wave shifts caused by the change of particle size during the binding of antibodies. Different stabilizing reagents showed that especially bovine serum albumin (BSA) and casein increase the assays sensitivity and the conjugate stability. Performance of the dipsticks was quantified by pattern processing of capture zone CCD images. Storage stability of dipsticks and conjugate suspensions over 115 days under different conditions were monitored. The ready-to-use dipsticks were successfully tested with microcystin-LR-spiked samples of outdoor drinking- and salt water and applied to the tissue of microcystin-fed mussels.
Biopharmaceuticals such as antibodies are produced in cultivated mammalian cells, which must be monitored to comply with good manufacturing practice. We, therefore, developed a fully automated system comprising a specific exhaust gas analyzer, inline analytics and a corresponding algorithm to precisely determine the oxygen uptake rate, carbon dioxide evolution rate, carbon dioxide transfer rate, transfer quotient and respiratory quotient without interrupting the ongoing cultivation, in order to assess its reproducibility. The system was verified using chemical simulation experiments and was able to measure the respiratory activity of hybridoma cells and DG44 cells (derived from Chinese hamster ovary cells) with satisfactory results at a minimum viable cell density of ~2.0 × 10⁵ cells ml⁻¹. The system was suitable for both batch and fed-batch cultivations in bubble-aerated and membrane-aerated reactors, with and without the control of pH and dissolved oxygen.
This paper introduces a new maritime search and rescue system based on S-band illumination harmonic radar (HR). Passive and active tags have been developed and tested while attached to life jackets and a small boat. In this demonstration test carried out on the Baltic Sea, the system was able to detect and range the active tags up to a distance of 5800 m using an illumination signal transmit-power of 100 W. Special attention is given to the development, performance, and conceptual differences between passive and active tags used in the system. Guidelines for achieving a high HR dynamic range, including a system components description, are given and a comparison with other HR systems is performed. System integration with a commercial maritime X-band navigation radar is shown to demonstrate a solution for rapid search and rescue response and quick localization.
In this paper we present SMART-FACTORY, a setup for a research and teaching facility in industrial robotics that is based on the RoboCup Logistics League. It is driven by the need for developing and applying solutions for digital production. Digitization receives constantly increasing attention in many areas, especially in industry. The common theme is to make things smart by using intelligent computer technology. Especially in the last decade there have been many attempts to improve existing processes in factories, for example, in production logistics, also with deploying cyber-physical systems. An initiative that explores challenges and opportunities for robots in such a setting is the RoboCup Logistics League. Since its foundation in 2012 it is an international effort for research and education in an intra-warehouse logistics scenario. During seven years of competition a lot of knowledge and experience regarding autonomous robots was gained. This knowledge and experience shall provide the basis for further research in challenges of future production. The focus of our SMART-FACTORY is to create a stimulating environment for research on logistics robotics, for teaching activities in computer science and electrical engineering programmes as well as for industrial users to study and explore the feasibility of future technologies. Building on a very successful history in the RoboCup Logistics League we aim to provide stakeholders with a dedicated facility oriented at their individual needs.
We consider the numerical approximation of second-order semi-linear parabolic stochastic partial differential equations interpreted in the mild sense which we solve on general two-dimensional domains with a C² boundary with homogeneous Dirichlet boundary conditions. The equations are driven by Gaussian additive noise, and several Lipschitz-like conditions are imposed on the nonlinear function. We discretize in space with a spectral Galerkin method and in time using an explicit Euler-like scheme. For irregular shapes, the necessary Dirichlet eigenvalues and eigenfunctions are obtained from a boundary integral equation method. This yields a nonlinear eigenvalue problem, which is discretized using a boundary element collocation method and is solved with the Beyn contour integral algorithm. We present an error analysis as well as numerical results on an exemplary asymmetric shape, and point out limitations of the approach.
The invention relates to a system for the implementation of chemical, biological or physical reactions, consisting of - one or more magnetic micro-reactors, each comprising a shell made of hydrophobic magnetic nanoparticles encapsulating an aqueous core, - a plane platform comprising a surface to receive the micro-reactors, - a source that generates a magnetic field above or underneath the platform for manipulating the one or more hydrophobic magnetic micro-reactors, or for moving them along the surface of the platform from one position to another position, characterized in that the aqueous core of the one or more magnetic micro-reactors contains a reaction solution or buffer, and wherein the magnetic field generated by the source correlates to a defined position on the surface of the platform.
The simultaneous assessment of glottal dynamics and larynx position can be beneficial for the diagnosis of disordered voice or speech production and swallowing. Up to now, methods either concentrate on assessment of the glottis opening using optical, acoustical or electrical (electroglottography, EGG) methods, or on visualisation of the larynx position using ultrasound, computer tomography or magnetic resonance imaging techniques.
The method presented here makes use of a time-multiplex measurement approach of space-resolved transfer impedances through the larynx. The fast sequence of measurements allows a quasi simultaneous assessment of both larynx position and EGG signal using up to 32 transmit–receive signal paths. The system assesses the dynamic opening status of the glottis as well as the vertical and back/forward motion of the larynx.
Two electrode-arrays are used for the measurement of the electrical transfer impedance through the neck in different directions. From the acquired data the global and individual conductivity is calculated as well as a 2D point spatial representation of the minimum impedance.
The position information is shown together with classical EGG signals allowing a synchronous visual assessment of glottal area and larynx position. A first application to singing voice analysis is presented that indicate a high potential of the method for use as a non-invasive tool in the diagnosis of voice, speech, and swallowing disorders.
This paper presents a thermal simulation environment for moving objects on the lunar surface. The goal of the thermal simulation environment is to enable the reliable prediction of the temperature development of a given object on the lunar surface by providing the respective heat fluxes for a mission on a given travel path. The user can import any object geometry and freely define the path that the object should travel. Using the path of the object, the relevant lunar surface geometry is imported from a digital elevation model. The relevant parts of the lunar surface are determined based on distance to the defined path. A thermal model of these surface sections is generated, consisting of a porous layer on top and a denser layer below. The object is moved across the lunar surface, and its inclination is adapted depending on the slope of the terrain below it. Finally, a transient thermal analysis of the object and its environment is performed at several positions on its path and the results are visualized. The paper introduces details on the thermal modeling of the lunar surface, as well as its verification. Furthermore, the structure of the created software is presented. The robustness of the environment is verified with the help of sensitivity studies and possible improvements are presented.
Objective:
To develop a transmit/receive radiofrequency (RF) array for magnetic resonance imaging (MRI) of the carotid arteries at 7 T. The prototype is characterized in numerical simulations and bench measurements, and the feasibility of plaque imaging at 7 T is demonstrated in first in vivo images.
Materials and Methods:
The RF phased array coil consists of 8 surface loop coils. To allow imaging of both sides of the neck, the RF array is divided into 2 coil clusters, each with 4 overlapping loop elements. For safety validation, numerical computations of the RF field distribution and the corresponding specific absorption rate were performed on the basis of a heterogeneous human body model. To validate the coil model, maps of the transmit B1+ field were compared between simulation and measurement. In vivo images of a healthy volunteer and a patient (ulcerating plaque and a 50% stenosis of the right internal carotid artery) were acquired using a 3-dimensional FLASH sequence with a high isotropic spatial resolution of 0.54 mm as well as using pulse-triggered proton density (PD)/T2-weighted turbo spin echo sequences.
Results:
Measurements of the S-parameters yielded a reflection and isolation of the coil elements of better than −18 and −13 dB, respectively. Measurements of the g-factor indicated good image quality for parallel imaging acceleration factors up to 2.4. A similar distribution and a very good match of the absolute values were found between the measured and simulated B1+ transmit RF field for the validation of the coil model. In vivo images revealed good signal excitation of both sides of the neck and a high vessel-to-background image contrast for the noncontrast-enhanced 3-dimensional FLASH sequence. Imaging at 7 T could depict the extent of stenosis, and revealed the disruption and ulcer of the plaque.
Conclusions:
This study demonstrates that 2 four-channel transmit/receive RF arrays for each side of the neck is a suitable concept for in vivo MRI of the carotid arteries at 7 Tesla. Further studies are needed to explore and exploit the full potential of 7 T high-field MRI for carotid atherosclerotic plaque imaging.
Aachen: Colourdome
(2002)
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.
An increasing number of applications target their executions on specific hardware like general purpose Graphics Processing Units. Some Cloud Computing providers offer this specific hardware so that organizations can rent such resources. However, outsourcing the whole application to the Cloud causes avoidable costs if only some parts of the application benefit from the specific expensive hardware. A partial execution of applications in the Cloud is a tradeoff between costs and efficiency. This paper addresses the demand for a consistent framework that allows for a mixture of on- and off-premise calculations by migrating only specific parts to a Cloud. It uses the concept of workflows to present how individual workflow tasks can be migrated to the Cloud whereas the remaining tasks are executed on-premise.
Next-generation aircraft designs often incorporate multiple large propellers attached along the wingspan (distributed electric propulsion), leading to highly flexible dynamic systems that can exhibit aeroelastic instabilities. This paper introduces a validated methodology to investigate the aeroelastic instabilities of wing–propeller systems and to understand the dynamic mechanism leading to wing and whirl flutter and transition from one to the other. Factors such as nacelle positions along the wing span and chord and its propulsion system mounting stiffness are considered. Additionally, preliminary design guidelines are proposed for flutter-free wing–propeller systems applicable to novel aircraft designs. The study demonstrates how the critical speed of the wing–propeller systems is influenced by the mounting stiffness and propeller position. Weak mounting stiffnesses result in whirl flutter, while hard mounting stiffnesses lead to wing flutter. For the latter, the position of the propeller along the wing span may change the wing mode shapes and thus the flutter mechanism. Propeller positions closer to the wing tip enhance stability, but pusher configurations are more critical due to the mass distribution behind the elastic axis.
The impact of wake model effects is investigated for two highly
non-planar lifting systems. Dependent on the geometrical
arrangement of the configuration, the wake model shape is found
to considerably affect the estimation. Particularly at higher angles
of attack, an accurate estimation based on the common linear wake
model approaches is involved.
Background
To demonstrate the applicability of acoustic cardiac triggering (ACT) for imaging of the heart at ultrahigh magnetic fields (7.0 T) by comparing phonocardiogram, conventional vector electrocardiogram (ECG) and traditional pulse oximetry (POX) triggered 2D CINE acquisitions together with (i) a qualitative image quality analysis, (ii) an assessment of the left ventricular function parameter and (iii) an examination of trigger reliability and trigger detection variance derived from the signal waveforms.
Results
ECG was susceptible to severe distortions at 7.0 T. POX and ACT provided waveforms free of interferences from electromagnetic fields or from magneto-hydrodynamic effects. Frequent R-wave mis-registration occurred in ECG-triggered acquisitions with a failure rate of up to 30% resulting in cardiac motion induced artifacts. ACT and POX triggering produced images free of cardiac motion artefacts. ECG showed a severe jitter in the R-wave detection. POX also showed a trigger jitter of approximately Δt = 72 ms which is equivalent to two cardiac phases. ACT showed a jitter of approximately Δt = 5 ms only. ECG waveforms revealed a standard deviation for the cardiac trigger offset larger than that observed for ACT or POX waveforms.
Image quality assessment showed that ACT substantially improved image quality as compared to ECG (image quality score at end-diastole: ECG = 1.7 ± 0.5, ACT = 2.4 ± 0.5, p = 0.04) while the comparison between ECG vs. POX gated acquisitions showed no significant differences in image quality (image quality score: ECG = 1.7 ± 0.5, POX = 2.0 ± 0.5, p = 0.34).
Conclusions
The applicability of acoustic triggering for cardiac CINE imaging at 7.0 T was demonstrated. ACT's trigger reliability and fidelity are superior to that of ECG and POX. ACT promises to be beneficial for cardiovascular magnetic resonance at ultra-high field strengths including 7.0 T.
Magnetic Resonance Imaging (MRI) of moving organs requires synchronization with physiological motion or flow, which dictate the viable window for data acquisition. To meet this challenge, this study proposes an acoustic gating device (ACG) that employs acquisition and processing of acoustic signals for synchronization while providing MRI compatibility, immunity to interferences with electro-magnetic and acoustic fields and suitability for MRI at high magnetic field strengths. The applicability and robustness of the acoustic gating approach is examined in a pilot study, where it substitutes conventional ECG-gating for cardiovascular MR. The merits and limitations of the ACG approach are discussed. Implications for MR imaging in the presence of physiological motion are considered including synchronization with other structure- or motion borne sounds.
Many tasks for autonomous agents or robots are best described by a specification of the environment and a specification of the available actions the agent or robot can perform. Combining such a specification with the possibility to imperatively program a robot or agent is what we call the actionbased imperative programming. One of the most successful such approaches is Golog. In this paper, we draft a proposal for a new robot programming language YAGI, which is based on the action-based imperative programming paradigm. Our goal is to design a small, portable stand-alone YAGI interpreter. We combine the benefits of a principled domain specification with a clean, small and simple programming language, which does not exploit any side-effects from the implementation language. We discuss general requirements of action-based programming languages and outline YAGI, our action-based language approach which particularly aims at embeddability.
Adapting augmented reality systems to the users’ needs using gamification and error solving methods
(2021)
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.
To prevent the reduction of muscle mass and loss of strength coming along with the human aging process, regular training with e.g. a leg press is suitable. However, the risk of training-induced injuries requires the continuous monitoring and controlling of the forces applied to the musculoskeletal system as well as the velocity along the motion trajectory and the range of motion. In this paper, an adaptive norm-optimal iterative learning control algorithm to minimize the knee joint loadings during the leg extension training with an industrial robot is proposed. The response of the algorithm is tested in simulation for patients with varus, normal and valgus alignment of the knee and compared to the results of a higher-order iterative learning control algorithm, a robust iterative learning control and a recently proposed conventional norm-optimal iterative learning control algorithm. Although significant improvements in performance are made compared to the conventional norm-optimal iterative learning control algorithm with a small learning factor, for the developed approach as well as the robust iterative learning control algorithm small steady state errors occur.
Adaptive logistics : information management for planning and control of small series assembly
(2007)
The esophageal Doppler monitor (EDM) is a minimally-invasive hemodynamic device which evaluates both cardiac output (CO), and fluid status, by estimating stroke volume (SV) and calculating heart rate (HR). The measurement of these parameters is based upon a continuous and accurate approximation of distal thoracic aortic blood flow. Furthermore, the peak velocity (PV) and mean acceleration (MA), of aortic blood flow at this anatomic location, are also determined by the EDM. The purpose of this preliminary report is to examine additional clinical hemodynamic calculations of: compliance (C), kinetic energy (KE), force (F), and afterload (TSVRi). These data were derived using both velocity-based measurements, provided by the EDM, as well as other contemporaneous physiologic parameters. Data were obtained from anesthetized patients undergoing surgery or who were in a critical care unit. A graphical inspection of these measurements is presented and discussed with respect to each patient’s clinical situation. When normalized to each of their initial values, F and KE both consistently demonstrated more discriminative power than either PV or MA. The EDM offers additional applications for hemodynamic monitoring. Further research regarding the accuracy, utility, and limitations of these parameters is therefore indicated.
Additive Manufacturing of metal parts by Selective Laser Melting has become a powerful tool for the direct manufacturing of complex parts mainly for the aerospace and medical industry. With the introduction of its desktop machine, Realizer targeted the dental market. The contribution describes the special features of the machine, discusses details of the process and shows manufacturing results focused on metal dental devices.
The cooling process in induction based crucible melting furnaces for Industrial applications is one of the important and challenging factors in production and safety engineering. Accordingly, proper implementation of the cooling system of the furnace using optimum cooling guides and fail-safe features are critical in order to improve the safety of the process. Regarding this, manufacturing of porous material with high electrical isolation for the drainage segments of the cooling channels is examined in this study. Consequently, various geometries with different porosities using glass and ceramic powder are fabricated using Selective Laser Sintering (SLS) process. The manufactured parts are examined in a prototype furnace testing and the feasibility of the SLS manufacturing of parts for this application is discussed.
Neuromuscular strength training of the leg extensor muscles plays an important role in the rehabilitation and prevention of age and wealth related diseases. In this paper, we focus on the design and implementation of a Cartesian admittance control scheme for isotonic training, i.e. leg extension and flexion against a predefined weight. For preliminary testing and validation of the designed algorithm an experimental research and development platform consisting of an
industrial robot and a force plate mounted at its end-effector has been used. Linear, diagonal and arbitrary two-dimensional motion trajectories with different weights for the leg extension and flexion part are applied. The proposed algorithm is easily adaptable to trajectories consisting of arbitrary six-dimensional poses and allows the implementation of individualized trajectories.
Integrated voice assistants (IVA) receive more and more attention and are widespread for entertainment use cases, such as radio hearing or web searches. At the same time, the health care segment suffers in process inefficiency and missing staff, whereas the usage of IVA has the potential to improve caring processes and patient satisfaction. By applying a design science approach and based on a qualitative study, we identify IVA requirements, barriers and design guidelines for the health care sector. The results reveal three important IVA functions: the ability to set appointments with care service staff, the documentation of health history and the communication with service staff. Integration, system stability and volume control are the most important nonfunctional requirements. Based on the interview results and project experiences, six design and implementation guidelines are derived.
The scope of this study is the measurement of endotoxin adsorption rate for carbonized rice husk. It showed good adsorption properties for LPS. During the batch experiments, several techniques were used and optimized for improving the material’s adsorption behavior. Also, with the results obtained it was possible to differentiate the materials according to their adsorption capacity and kinetic characteristics.