TY - JOUR AU - Bathelt, Lukas AU - Djakow, Eugen AU - Henke, Christian AU - Trächtler, Ansgar ID - 52871 JF - Procedia Computer Science KW - General Engineering SN - 1877-0509 TI - Innovative measurement system for saber curvature observation in straightening processes VL - 232 ER - TY - THES AU - Rüddenklau, Nico ID - 42344 TI - Hardware-in-the-Loop-Simulation von HD-Scheinwerfer-Steuergeräten zur Entwicklung von Lichtfunktionen in virtuellen Nachtfahrten ER - TY - THES AU - Biemelt, Patrick ID - 42345 TI - Entwurf und Analyse modellprädiktiver Regelungsansätze zur Steigerung des Immersionsempfindens in interaktiven Fahrsimulationen ER - TY - CONF AB - State estimation when only a partial model of a considered system is available remains a major challenge in many engineering fields. This work proposes a joint, square-root unscented Kalman filter to estimate states and model uncertainties simultaneously by linear combinations of physics-motivated library functions. Using a sparsity promoting approach, a selection of those linear combinations is chosen and thus an interpretable model can be extracted. Results indicate a small estimation error compared to a traditional square-root unscented Kalman filter and exhibit the enhancement of physically meaningful models. AU - Götte, Ricarda-Samantha AU - Timmermann, Julia ID - 34171 IS - 1 KW - joint estimation KW - unscented transform KW - Kalman filter KW - sparsity KW - data-driven KW - compressed sensing T2 - 12th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2022) TI - Estimating States and Model Uncertainties Jointly by a Sparsity Promoting UKF VL - 56 ER - TY - CONF AB - The development of autonomous vehicles and their introduction in urban traffic offer many opportunities for traffic improvements. In this paper, an approach for a future traffic control system for mixed autonomy traffic environments is presented. Furthermore, a simulation framework based on the city of Paderborn is introduced to enable the development and examination of such a system. This encompasses multiple elements including the road network itself, traffic lights, sensors as well as methods to analyse the topology of the network. Furthermore, a procedure for traffic demand generation and routing is presented based on statistical data of the city and traffic data obtained by measurements. The resulting model can receive and apply the generated control inputs and in turn generates simulated sensor data for the control system based on the current system state. AU - Link, Christopher AU - Malena, Kevin AU - Gausemeier, Sandra AU - Trächtler, Ansgar ID - 44390 KW - Traffic Simulation KW - Traffic Control KW - Car2X KW - Mixed Autonomy KW - Autonomous Vehicles KW - SUMO KW - Sensor Simulation KW - Traffic Demand Generation KW - Routing KW - Traffic Lights KW - Graph Analysis KW - Traffic Observer SN - 978-989-758-652-1 T2 - Proceedings of the 9th International Conference on Vehicle Technology and Intelligent Transport Systems TI - Simulation Environment for Traffic Control Systems Targeting Mixed Autonomy Traffic Scenarios ER - TY - JOUR AB - Zusammenfassung Aufgrund aktueller Transformationsprozesse kommt der automatisierten und ressourceneffizienten Fertigung hochfester Leichtbauteile eine steigende Bedeutung zu, beispielsweise im Flugzeug- und Fahrzeugbau. Für kleine Losgrößen bietet sich hier insbesondere das Fertigungsverfahren des Drückwalzens an. Der konventionelle, industriell genutzte Drückwalzprozess stößt allerdings aufgrund der Prozesskomplexität hinsichtlich der Reproduzierbarkeit an seine Grenzen. Dies wird in der Praxis teilweise durch personengebundenes Erfahrungswissen kompensiert. Auch ist es nicht möglich, Bauteileigenschaften definiert einzustellen. Aus diesem Grund bietet der Einsatz einer neuartigen Eigenschaftsregelung Chancen zur Weiterentwicklung des Fertigungsprozesses und die Möglichkeit zur Prozessautomatisierung. Hier werden die Werkzeugbahnen abhängig einer Online-Eigenschaftsmessung über eine zusätzliche Reglerkaskade manipuliert. Die Entwicklung einer solchen Eigenschaftsregelung erfordert den Einsatz geeigneter, modellbasierter Entwurfsmethoden. In diesem Beitrag wird daher ein regelungstechnisches Systemmodell für das Drückwalzen metastabiler austenitischer Edelstähle vorgestellt. Das Simulationsmodell weist aufgrund seiner Echtzeitfähigkeit neben dem Einsatz als reines Entwurfsmodell weitere Nutzungsmöglichkeiten z.B. in Beobachtern auf und grenzt sich somit von domänenspezifischen Simulationstools wie der FEM ab. AU - Kersting, Lukas AU - Arian, Bahman AU - Rozo Vasquez, Julian AU - Trächtler, Ansgar AU - Homberg, Werner AU - Walther, Frank ID - 44312 IS - 1 JF - at - Automatisierungstechnik KW - Electrical and Electronic Engineering KW - Computer Science Applications KW - Control and Systems Engineering SN - 0178-2312 TI - Echtzeitfähige Modellierung eines innovativen Drückwalzprozesses für die eigenschaftsgeregelte Bauteilfertigung VL - 71 ER - TY - CONF AB - Abstract. Climate change, rare resources and industrial transformation processes lead to a rising demand of multi-complex lightweight forming parts, especially in aerospace and automotive sectors. In these industries, flow forming is often used to produce cylindrical forming parts by reducing the wall thickness of tubular semifinished parts, e.g. for the production of hydraulic cylinders or gear shafts. The complexity and functionality of flow forming workpieces could be significantly increased by locally graded microstructure and geometry structures. This enables customized complex hardness distributions at wear surfaces or magnetic QR codes for a unique, tamper-proof product identification. The production of those complex, 2D (axial and angular) graded forming parts currently depicts a great challenge for the process and requires new solutions and strategies. Hence, this paper proposes a novel control strategy that includes online measurements from an absolute encoder to determine the angular workpiece position. Workpieces of AISI 304L stainless steel with 2D-graded structures are successfully manufactured using this new strategy and analyzed regarding the possible accuracy and resolution of the gradation. At this point, a dependency of the gradations on the sensor and actuator dynamics, accuracy and geometry could be noted. It is further evaluated how the control strategy could be extended by an observer-based closed-loop property control approach to enhance the accuracy of the suggested strategy. AU - Kersting, Lukas AU - Arian, Bahman AU - Rozo Vasquez, Julian AU - Trächtler, Ansgar AU - Homberg, Werner AU - Walther, Frank ID - 44315 SN - 2474-395X T2 - Materials Research Proceedings TI - Control strategy for angular gradations by means of the flow forming process ER - TY - JOUR AU - Rozo Vasquez, Julian AU - Arian, Bahman AU - Kersting, Lukas AU - Walther, Frank AU - Homberg, Werner AU - Trächtler, Ansgar ID - 44318 JF - Metals TI - Detection of phase transformation during plastic deformation of metastable austenitic steel AISI 304L by means of X-ray diffraction pattern analysis ER - TY - CONF AU - Henkenjohann, Mark AU - Nolte, Udo AU - Henke, Christian AU - Trächtler, Ansgar ID - 48577 T2 - 2023 International Conference on Unmanned Aircraft Systems (ICUAS) TI - Novel Cascaded Incremental Nonlinear Dynamic Inversion Controller Approach for a Tiltrotor VTOL ER - TY - CONF AU - Junker, Annika AU - Fittkau, Niklas AU - Timmermann, Julia AU - Trächtler, Ansgar ID - 42238 T2 - 2022 Sixth IEEE International Conference on Robotic Computing (IRC) TI - Autonomous Golf Putting with Data-Driven and Physics-Based Methods ER - TY - CONF AU - Rozo Vasquez, Julian AU - Arian, Bahman AU - Kersting, Lukas AU - Walther, Frank AU - Homberg, Werner AU - Trächtler, Ansgar ID - 44316 TI - Softsensor model of phase transformation during flow forming of metastable austenitic steel AISI 304L ER - TY - CONF AU - Hesse, Michael AU - Timmermann, Julia AU - Trächtler, Ansgar ID - 48476 T2 - 2023 European Control Conference (ECC) TI - Hybrid Optimal Control for Dynamical Systems using Gaussian Process Regression and Unscented Transform* ER - TY - JOUR AB - In a punch-bending machine, wire products are manufactured for a wide range of industrial sectors, such as the electronics industry. The raw material for this process is flat wire made of high-strength steel. During the manufacturing process of the flat wire, residual stresses and plastic deformations are induced into the wire. These residual stresses and deformations fluctuate over the length of the semi-finished product and have a negative effect on the final product quality. Straightening machines are used to reduce this influence to a minimum. So far, the adjustment of a straightening machine has been performed manually, which is a lengthy and complex task even for an experienced worker. This inevitably leads to the use of inefficient straightening strategies and causes high rejection rates in the entire production process. Due to a lack of sensor information from the straightening operation, application of modern feedback control methods has not been practicable. This paper presents a novel design for a straightening machine with an integrated, precise straightening force measurement. By simultaneously monitoring the position of the straightening rollers, state variables of the straightening operation can be derived. Additionally, a tension control for feeding the flat wire is introduced. This is implemented to mitigate the disturbing effects caused by irregularities in the wire-feeding process. In the results of this article, the high precision of the developed force measurement design and its possible applications are shown. AU - Bathelt, Lukas AU - Scurk, Maximilian AU - Djakow, Eugen AU - Henke, Christian AU - Trächtler, Ansgar ID - 48781 IS - 22 JF - Sensors SN - 1424-8220 TI - Novel Straightening-Machine Design with Integrated Force Measurement for Straightening of High-Strength Flat Wire VL - 23 ER - TY - CONF AU - Götte, Ricarda-Samantha AU - Klusmann, Jo Noel AU - Timmermann, Julia ID - 48482 T2 - Proceedings - 33. Workshop Computational Intelligence: Berlin, 23.-24. November 2023 TI - Data-driven identification of disturbances using a sliding mode observer ER - TY - CONF AU - Lenz, Cederic AU - Henke, Christian AU - Trächtler, Ansgar ID - 48570 T2 - 2023 IEEE 21st International Conference on Industrial Informatics (INDIN) TI - A Methodical Approach to Hybrid Modelling for Contextual Anomaly Detection on Time-Series Data ER - TY - CONF AB - Abstract. To increase the sustainability of forming processes such as punch bending, homogenization of the processed semi-finished product is an essential step in the manufacturing process. High-strength wire materials are usually available as strip material before being further processed in a forming process. For storage and transport, the material is coiled onto coils and transported to the customer. During the coiling process, residual stresses and plastic deformation are introduced into the wire. Thus, the final product quality is also influenced by the geometry of the coil. Straightening machines are used in production lines to compensate for these. Once a straightening machine has been set up, the settings for the roll positions are usually not changed. As a result, there is no reaction to material fluctuations, which means that the components to be produced do not meet the dimensional accuracy requirements. This leads to an increase in the rejection rate in manufacturing processes. To reduce the rejection rate, it is necessary to enable dynamic and flexible infeed of the straightening rollers. In this context, an innovative control concept with disturbance compensation was developed for the straightening process. The disturbance compensation uses a disturbance model that predicts the change in bending curvature over the coil radius. With this prediction, the straightening machine can be adjusted specifically. The roller positions are adjusted by a subordinate position control. The additional feedback from measured geometric product properties from the following punching-bending process enables the straightening machine to be adjusted even in the case of unforeseen fluctuations in the material properties. In this way, it is possible to react to any material fluctuations as required. This novel, demand-oriented adjustment of the straightening machine is expected to result in a high increase in the efficiency of the production process and a reduction of the rejection rate. AU - Bathelt, Lukas AU - Djakow, Eugen AU - Henke, Christian AU - Trächtler, Ansgar ID - 48572 SN - 2474-395X T2 - Materials Research Proceedings TI - Innovative self-learning disturbance compensation for straightening processes ER - TY - CONF AU - Bathelt, Lukas AU - Djakow, Eugen AU - Dahms, Frederik AU - Henke, Christian AU - Trächtler, Ansgar AU - Homberg, Werner ID - 48001 SN - 978-3-948595-09-8 T2 - Ilmenauer Federntag 2023: Neueste Erkenntnisse zu Funktion, Berechnung, Prüfung und Gestaltung von Federn und Werkstoffen TI - Neuartiger Ansatz zum Richten von zwei- und dreidimensionalen Fehlern an einem Federdraht ER - TY - CONF AU - Koppert, Steven AU - Bause, Maximilian AU - Henke, Christian AU - Trächtler, Ansgar ID - 48571 T2 - 2023 IEEE 21st International Conference on Industrial Informatics (INDIN) TI - Learning the Automated Setup of Profile Wrapping Lines for New Products from Few Past Setups ER - TY - CONF AB - Low-quality models that miss relevant dynamics lead to major challenges in modelbased state estimation. We address this issue by simultaneously estimating the system’s states and its model inaccuracies by a square root unscented Kalman filter (SRUKF). Concretely, we augment the state with the parameter vector of a linear combination containing suitable functions that approximate the lacking dynamics. Presuming that only a few dynamical terms are relevant, the parameter vector is claimed to be sparse. In Bayesian setting, properties like sparsity are expressed by a prior distribution. One common choice for sparsity is a Laplace distribution. However, due to disadvantages of a Laplacian prior in regards to the SRUKF, the regularized horseshoe distribution, a Gaussian that approximately features sparsity, is applied instead. Results exhibit small estimation errors with model improvements detected by an automated model reduction technique. AU - Götte, Ricarda-Samantha AU - Timmermann, Julia ID - 44326 IS - 2 KW - joint estimation KW - unscented Kalman filter KW - sparsity KW - Laplacian prior KW - regularized horseshoe KW - principal component analysis T2 - IFAC-PapersOnLine TI - Approximating a Laplacian Prior for Joint State and Model Estimation within an UKF VL - 56 ER - TY - CONF AU - Stieren, Stephan AU - Wichtrup, Moritz AU - Henke, Christian AU - Trächtler, Ansgar ID - 49560 T2 - NEIS - Conference on Sustainable Energy Supply and Energy Storage Systems TI - Concept for a cloud-based holistic energy management of domestic appliances to stabilize the energy supply and the power grid ER -