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This article describes the functionality of a MATLAB® library that can be used to develop motion-logic applications in MATLAB programming language for industrial drive and control systems using the well known sercos automation bus. Therewith MATLAB's functionality is extended to designing automation applications from single axis machines up to multi-kinematic robots.
Mit freundlicher Genehmigung der Autoren und des Oldenbourg Industrieverlags https://www.oldenbourg-industrieverlag.de/de/9783835633223-33223 erschienen als Beitrag im Tagungsband zur AALE-Tagung 2012. 9. Fachkonferenz 4.-5. Mai 2012, Aachen, Fachhochschule. ISBN 9783835633223 S 6-2. S. 165-174 Zusammenfassung der Autoren: "Abschließend kann festgehalten werden, dass die gesamten durchgeführten Überlegungen von den Messergebnissen der Inbetriebnahme positiv bestätigt werden. Es wird durch diese Topologie eine maximale Systemverfügbarkeit garantiert und die Zellen werden optimal betrieben. Ein Blick in die Zukunft für dieses Projekt zeigt viele Erweiterungs- und Optimierungsaufgaben. So muss der DC/DC-Wandler für einen bidirektionalen Betrieb erweitert werden, um einen Rekuperationsbetrieb zu gewährleisten bzw. die Zellen laden zu können. Dadurch können gleichzeitig die Gleichrichterdioden im Sekundärleistungsteil durch IGBTs oder MOSFETs ersetzt werden. Die voll funktionsfähige Version des DC/DC-Wandlers könnte höchstwahrscheinlich direkt auf die Anschlusspole der Zelle montiert werden, wodurch das Gewicht gesenkt wird. Durch die verringerte Verlustleistung in den Zuleitungen könnte der Wirkungsgrad noch einmal gesteigert werden.
Mit freundlicher Genehmigung der Autoren und des Oldenbourg Industrieverlags https://www.oldenbourg-industrieverlag.de/de/9783835633223-33223 erschienen als Beitrag im Tagungsband zur AALE-Tagung 2012. 9. Fachkonferenz 4.-5. Mai 2012, Aachen, Fachhochschule. ISBN 9783835633223 S 2-1 S. 37-46 Original-Abstract der Autoren: "Dieser Artikel beschreibt eine universelle Programmierschnittstelle zur Entwicklung von Motion-Logic Applikationen für industrielle Motion-Controller. Sie ermöglicht die Entwicklung von Software mit modernen Hochsprachen, wie C/C++. Visual Basic, C#, Java, Objective-Cund visuellen Programmiersprachen, wie LabVIEW in Koexistenz mit klassischen Programmiersprachen für speicherprogrammierbare Steuerungen nach IEC 61131-3. Daraus ergeben sich neue Möglichkeiten industrielle Antriebs- und Steuerungssysteme mit ihrem IT-Umfeld zu verbinden."
This paper introduces a hardware setup to measure efficiency maps of low-power electric motors and their associated inverters. Here, the power of the device under test (DUT) ranges from some Watts to a few hundred Watts. The torque and speed of the DUT are measured independent of voltage and current in multiple load points. A Matlab-based software approach in combination with an open Texas-Instruments (TI) hardware setup ensures flexibility. Exemplarily, the efficiency field of a Permanent Magnet Synchronous Machine (PMSM) is measured to proof the concept. Brushless-DC (BLDC) motors can be tested as well. The nomenclature in this paper is based on the new European standard DIN EN 50598. Special attention is paid to the calculation of the measurement error.
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.
Der Erfolg eines Softwarenentwicklungsprojektes insbesondere eines Systemintegrationsprojektes wird mit der Erfüllung des „Teufelsdreiecks“, „In-Time“, „In-Budget“, „In-Quality“ gemessen. Hierzu ist die Kenntnis der Software- und Prozessqualität essenziell, um die Einhaltung der Qualitätskriterien festzustellen, aber auch, um eine Vorhersage hinsichtlich Termin- und Budgettreue zu treffen. Zu diesem Zweck wurde in der T-Systems Systems Integration ein System aus verschiedenen Key Performance Indikatoren entworfen und in der Organisation implementiert, das genau das leistet und die Kriterien für CMMI Level 3 erfüllt.
This paper addresses the pixel based recognition of 3D objects with bidirectional associative memories. Computational power and memory requirements for this approach are identified and compared to the performance of current computer architectures by benchmarking different processors. It is shown, that the performance of special purpose hardware, like neurocomputers, is between one and two orders of magnitude higher than the performance of mainstream hardware. On the other hand, the calculation of small neural networks is performed more efficiently on mainstream processors. Based on these results a novel concept is developed, which is tailored for the efficient calculation of bidirectional associative memories. The computational efficiency is further enhanced by the application of algorithms and storage techniques which are matched to characteristics of the application at hand.
In der Vergangenheit basierten große Systemintegrationsprojekte in der Regel auf Individualentwicklungen für einzelne Kunden. Getrieben durch Kostendruck steigt aber der Bedarf nach standardisierten Lösungen, die gleichzeitig die individuellen Anforderungen des jeweiligen Umfelds berücksichtigen. T-Systems GEI GmbH wird beiden Anforderungen mit Produktkerneln gerecht. Neben den technischen Aspekten der Kernelentwicklung spielen besonders organisatorische Aspekte eine Rolle, um Kernel effizient und qualitativ hochwertig zu entwickeln, ohne deren Funktionalitäten ins Uferlose wachsen zu lassen. Umgesetzt hat T-Systems dieses Konzept für Flughafeninformationssysteme. Damit kann dem wachsenden Bedarf der Flughafenbetreiber nach einer effizienten und kostengünstigen Softwarelösung zur Unterstützung Ihrer Geschäftsprozesse entsprochen werden.
This paper addresses the pixel based classification of three dimensional objects from arbitrary views. To perform this task a coding strategy, inspired by the biological model of human vision, for pixel data is described. The coding strategy ensures that the input data is invariant against shift, scale and rotation of the object in the input domain. The image data is used as input to a class of self organizing neural networks, the Kohonen-maps or self-organizing feature maps (SOFM). To verify this approach two test sets have been generated: the first set, consisting of artificially generated images, is used to examine the classification properties of the SOFMs; the second test set examines the clustering capabilities of the SOFM when real world image data is applied to the network after it has been preprocessed to be invariant against shift, scale and rotation. It is shown that the clustering capability of the SOFM is strongly dependant on the invariance coding of the images.
Tool supported requirements analysis for the user centered development of mobile enterprise software
(2008)
A user centered development method has proved satisfactory for the development of mobile enterprise software. To make use of this method, detailed information about the user and the place where the user interacts with his mobile device is required. This article describes how both can be modeled by a stereotypical and conceptual extended UML extension. Finally, a software tool is presented that supports the developed UML extension.
Design and Development of a Hot S-Parameter Measurement System for Plasma and Magnetron Applications
(2020)
This paper presents the design, development and calibration procedures of a novel hot S-parameter measurement system for plasma and magnetron applications with power level up to 6 kW. Based on a vector network analyzer, a power amplifier and two directional couplers, the input matching hotS 11 and transmission hotS 21 of the device under test are measured at 2.45 GHz center frequency and 300MHz bandwidth, while the device is driven by the magnetron. This measurement system opens a new horizon to develop many new industrial applications such as microwave plasma jets, dryer systems, dryers and so forth. Furthermore, the developing, controlling and monitoring a 2kW 2.45GHz plasma jet and a dryer system using the measurement system are presented and explained.
Autonomous agents require rich environment models for fulfilling their missions. High-definition maps are a well-established map format which allows for representing semantic information besides the usual geometric information of the environment. These are, for instance, road shapes, road markings, traffic signs or barriers. The geometric resolution of HD maps can be as precise as of centimetre level. In this paper, we report on our approach of using HD maps as a map representation for autonomous load-haul-dump vehicles in open-pit mining operations. As the mine undergoes constant change, we also need to constantly update the map. Therefore, we follow a lifelong mapping approach for updating the HD maps based on camera-based object detection and GPS data. We show our mapping algorithm based on the Lanelet 2 map format and show our integration with the navigation stack of the Robot Operating System. We present experimental results on our lifelong mapping approach from a real open-pit mine.
Competence Developing Games (CDGs) are a new concept of how to think about games with serious intentions. In order to emphasize on this topic, a new framework has been developed. It basically relies on learning and motivation theories. This ‘motivational Competence Developing Game Framework’ demonstrates how it is possible to use these theories in a CDG development process. The theoretical derivation and use of the framework is explained in this paper.