Integrating a flexible anthropomorphic, robot hand into the control, system of a humanoid robot

This article presents the approaches taken to integrate a novel anthropomorphic robot hand into a humanoid robot. The requisites enabling such a robot hand to use everyday objects in an environment built for humans are presented. Starting from a design that resembles the human hand regarding size and movability of the mechatronical system, a low-level control system is shown providing reliable and stable controllers for single joint angles and torques, entire fingers and several coordinated fingers. Further on, the high-level control system connecting the low-level control system with the rest of the humanoid robot is presented. It provides grasp skills to the superior robot control system, coordinates movements of hand and arm and determines grasp patterns, depending on the object to grasp and the task to execute. Finally some preliminary results of the system, which is currently tested in simulations, will be presented.     

The Conditional Probability Density Function for a Reflected Brownian Motion

Models in economics and other fields often require a restricted Brownian motion because frequently implicit or explicit barriers restrict the domain. This paper contributes to the literature on reflected Brownian motion by deriving its conditional density function as a closed-form expression that consists of infinite sums of Gaussian densities. This solution is compared with an alternative, trigonometric expression derived earlier. Numerical analyses reveal that convergence properties of the expression derived in this paper are superior to those of the alternative representation for most practically relevant set-ups. Despite the complex appearance of the density formula, its use only requires fractions of a second on simple desktop computers such that, next to the theoretical appeal, also practicability is guaranteed.     

An automated Thixo‐Forging Plant for Steel Parts

The scope of the article is to describe the automated production of a thixoformed steel part. The production plant was set up within a prototype initiative at the Institute of Metal Forming in cooperation with the Institute of Automatic Control of RWTH Aachen University and industrial partners. Preliminary experiments showed that the quality of the formed parts varied to a great extent due to changing production conditions since the handling of the billet was carried out manually. To eliminate the possible disturbances introduced by the manual handling of the billet, an automation concept has been elaborated in order to guarantee a defined production environment. An industrial robot (KUKA) fulfils the handling tasks like the feeding of the induction coil with the feedstock material and the placing of the heated billet into the hydraulic press. The removal of the formed part from the press is realised by a simple mechanical device in order to be able to use only one gripper. The design of the gripper ensures a minimal heat loss during handling. The induction coil, the gripper system and the cavity are flooded with inert gas in order to prevent scaling. The sequence control for the production of a part is realised on the controller of the robot which provides sufficient PLC functionality and can be easily equipped with the required I/O components to trigger the different automation components.     

Robust flexible LCDs with paintable technology

Abstract— In this article, second‐generation liquid‐crystal displays (LCDs) made by Paintable LCD technology is presented. With this technology, LCDs are manufactured by a sequence of simple coating and UV curing processes. Since the process can be carried out on plastic substrates and the stack of optical layers is only tens of micrometers thick, the resulting LCDs are ultra‐thin and flexible.     

Advances in micro assembly injection moulding for use in medical systems

In micro systems technology, the process of micro assembly injection moulding is used for the generation of hybrid micro systems. With this process, more functions are integrated in less space. In the field of medical technology, miniaturisation also means new methods of treatment with fewer side effects on the patient. New cures are developed by the miniaturisation of medical instruments, such as keyhole surgery. For detailed investigations a specific demonstration was developed to display the potential of micro assembly injection moulding in medical science. This part consists of a carbon-fibre reinforced PEEK puncture needle, which incorporates three lumens. The selected materials allow use of the needle during magnetic resonance imaging. In order to attach additional equipment a plastic connector needs to be overmoulded on the needle. The investigations focus on the injection moulding process by characterising the influences of temperature, moulding parameters and material combinations on the resulting bond strength between needle and connector.     

Counting Fluorescent Dye Molecules on DNA Origami by Means of Photon Statistics

Obtaining quantitative information about molecular assemblies with high spatial and temporal resolution is a challenging task in fluorescence microscopy. Single‐molecule techniques build on the ability to count molecules one by one. Here, a method is presented that extends recent approaches to analyze the statistics of coincidently emitted photons to enable reliable counting of molecules in the range of 1–20. This method does not require photochemistry such as blinking or bleaching. DNA origami structures are labeled with up to 36 dye molecules as a new evaluation tool to characterize this counting by a photon statistics approach. Labeled DNA origami has a well‐defined labeling stoichiometry and ensures equal brightness for all dyes incorporated. Bias and precision of the estimating algorithm are determined, along with the minimal acquisition time required for robust estimation. Complexes containing up to 18 molecules can be investigated non‐invasively within 150 ms. The method might become a quantifying add‐on for confocal microscopes and could be especially powerful in combination with STED/RESOLFT‐type microscopy.     

Holistic process planning chain for robot machining

Today, machining of large, integral constructed structural parts requires expensive machining centers. In contrast, modern industrial robots are suitable for a wide field of applications and are characterized large working spaces and low capital investment. Therefore, they provide high economical potential for machining applications in aerospace industry, especially for the machining of near to shape pre-products like extruded profiles. However, their constructive characteristics like low stiffness and high sensitivity to vibrations lead to disadvantages compared with conventional machining centers and have to be considered during process planning. Therefore, several methods for offline and online optimization of robot machining processes were developed and integrated in a new process chain for manufacturing of structural fuselage parts. Thereby, the conventional CAD–CAM process planning chain was extended with simulation based analysis and optimization methods and a load-depending trajectory planning. These methods for offline process optimization within this novel process chain are presented in this paper.     

Damage Model and Progressive Failure Analyses for Filament Wound Composite Laminates

Recent improvements in manufacturing processes and materials properties associated with excellent mechanical characteristics and low weight have made composite materials very attractive for application on civil aircraft structures. However, even new designs are still very conservative, because the composite failure phenomenon is very complex. Several failure criteria and theories have been developed to describe the damage process and how it evolves, but the solution of the problem is still open. Moreover, modern filament winding techniques have been used to produce a wide variety of structural shapes not only cylindrical parts, but also “flat” laminates. Therefore, this work presents the development of a damage model and its application to simulate the progressive failure of flat composite laminates made using a filament winding process. The damage model was implemented as a UMAT (User Material Subroutine), in ABAQUS^TM Finite Element (FE) framework. Progressive failure analyses were carried out using FE simulation in order to simulate the failure of flat filament wound composite structures under different loading conditions. In addition, experimental tests were performed in order to identify parameters related to the material model, as well as to evaluate both the potential and the limitations of the model. The difference between numerical and the average experimental results in a four point bending set-up is only 1.6 % at maximum load amplitude. Another important issue is that the model parameters are not so complicated to be identified. This characteristic makes this model very attractive to be applied in an industrial environment.     

Anticipation and flexibility in dynamic scheduling

Many real-world optimization problems change over time and require frequent re-optimization. We suggest that in such environments, an optimization algorithm should reflect the problem's dynamics and explicitly take into account that changes to the current solution are to be expected. We claim that this can be achieved by having the optimization algorithm search for solutions that are not only good, but also flexible, i.e. easily adjustable if necessary in the case of problem changes. For the example of a job-shop with jobs arriving non-deterministically over time, we demonstrate that avoiding early idle times increases flexibility, and thus that the incorporation of an early idle time penalty as secondary objective into the scheduling algorithm can greatly enhance the overall system performance.