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This paper presents a cascaded methodology for enhancing the path accuracy of industrial robots by using advanced control schemes. It includes kinematic calibration as well as dynamic modeling and identification. This is followed by a centralized model-based compensation of robot dynamics. The implemented feed-forward torque control shows the expected improvements of control accuracy. However, external measurements show the influence of joint elasticities as systematic path errors. To further increase the accuracy an iterative learning controller (ILC) based on external camera measurements is designed. The implementation yields to significant improvements of path accuracy. By means of a kind of automated ”Teach-In”, an overall effective concept for the automated calibration and optimization of the accuracy of industrial robots in high-dynamic path-applications is realized.
Legal documents often have a complex layout with many different headings, headers and footers, side notes, etc. For the further processing, it is important to extract these individual components correctly from a legally binding document, for example a signed PDF. A common approach to do so is to classify each (text) region of a page using its geometric and textual features. This approach works well, when the training and test data have a similar structure and when the documents of a collection to be analyzed have a rather uniform layout. We show that the use of global page properties can improve the accuracy of text element classification: we first classify each page into one of three layout types. After that, we can train a classifier for each of the three page types and thereby improve the accuracy on a manually annotated collection of 70 legal documents consisting of 20,938 text elements. When we split by page type, we achieve an improvement from 0.95 to 0.98 for single-column pages with left marginalia and from 0.95 to 0.96 for double-column pages. We developed our own feature-based method for page layout detection, which we benchmark against a standard implementation of a CNN image classifier. The approach presented here is based on corpus of freely available German contracts and general terms and conditions.
Both the corpus and all manual annotations are made freely available. The method is language agnostic.
We present a feedback-corrected optimal scheduling approach to reduce the demand of electrical energy of batch processes, exemplified at the sand preparation in foundry. The main energy driver in the exemplary foundry is the idle time of the batch-wise working sand mixers. In this novel approach, we use linear integer programming to minimize the demand of energy of the sand mixers by scheduling the batches in real-time. For the optimization we use a physical model of the sand preparation, which takes dwell-times of the processes as dead-time systems into account. In this paper, we present the steps to make the optimal scheduling approach applicable for the production process. The application at the real production plant proves the performance of the suggested approach. Compared to the conventional control, the feedback-corrected optimal scheduling approach leads to an reduction in energy consumption of approximately 6.5 % without modifying the process or the aggregates.
For anomaly-based intrusion detection in computer networks, data cubes can be used for building a model of the normal behavior of each cell. During inference an anomaly score is calculated based on the deviation of cell metrics from the corresponding normality model. A visualization approach is shown that combines different types of diagrams and charts with linked user interaction for filtering of data.
During the transition from conventional towards purely electrical, sustainable mobility, transitional technologies play a major part in the task of increasing adaption rates and decreasing range anxiety. Developing new concepts to meet this challenge requires adaptive test benches, which can easily be modified e.g. when progressing from one stage of development to the next, but also meet certain sustainability demands themselves.
The system architecture presented in this paper is built around a service-oriented software layer, connecting a modular hardware layer for direct access to sensors and actuators to an extensible set of client tools. Providing flexibility, serviceability and ease of use, while maintaining a high level of reusability for its constituent components and providing features to reduce the required overall run time of the test benches, it can effectively decrease the CO2 emissions of the test bench while increasing its sustainability and efficiency.
Intrusion detection systems and other network security components detect security-relevant events based on policies consisting of rules. If an event turns out as a false alarm, the corresponding policy has to be adjusted in order to reduce the number of false positives. Modified policies, however, need to be tested before going into productive use. We present a visual analysis tool for the evaluation of security events and related policies which integrates data from different sources using the IF-MAP specification and provides a “what-if” simulation for testing modified policies on past network dynamics. In this paper, we will describe the design and outcome of a user study that will help us to evaluate our visual analysis tool.
The negative effects of traffic, such as air quality problems and road congestion, put a strain on the infrastructure of cities and high-populated areas. A potential measure to reduce these negative effects are grocery home deliveries (e-grocery), which can bundle driving activities and, hence, result in decreased traffic and related emission outputs. Several studies have investigated the potential impact of e-grocery on traffic in various last-mile contexts. However, no holistic view on the sustainability of e-grocery across the entire supply chain has yet been proposed. Therefore, this paper presents an agent-based simulation to assess the impact of the e-grocery supply chain compared to the stationary one in terms of mileage and different emission outputs. The simulation shows that a high e-grocery utilization rate can aid in decreasing total driving distances by up to 255 % relative to the optimal value as well as CO 2 emissions by up to 50 %.
With an increasing complexity and scale, sufficient evaluation of Information Systems (IS) becomes a challenging and difficult task. Simulation modeling has proven as suitable and efficient methodology for evaluating IS and IS artifacts, presupposed it meets certain quality demands. However, existing research on simulation modeling quality solely focuses on quality in terms of accuracy and credibility, disregarding the role of additional quality aspects. Therefore, this paper proposes two design artifacts in order to ensure a holistic quality view on simulation quality. First, associated literature is reviewed in order to extract relevant quality factors in the context of simulation modeling, which can be used to evaluate the overall quality of a simulated solution before, during or after a given project. Secondly, the deduced quality factors are integrated in a quality assessment framework to provide structural guidance on the quality assessment procedure for simulation. In line with a Design Science Research (DSR) approach, we demonstrate the eligibility of both design artifacts by means of prototyping as well as an example case. Moreover, the assessment framework is evaluated and iteratively adjusted with the help of expert feedback.
A new type of rotary compressor, called “rotary-chamber compressor”, consists of two interlocking rotors with 4 wings each, that perform non-uniform rotary movements. Both rotors have the same direction of rotation, while one rotor is accelerating, the other rotor is retarding. After surpassing a specific mark, the sequence changes and the leading rotor begins to retard and vice versa. Due to the resulting relative phase difference, the volume between the two wings is changing periodically, which allows pulsating working chambers. The technology was first introduced by its founder Jürgen Schukey in 1987. Since then, no further development on this machine is known to us except our own. In this contribution, a study on the kinematics of the rotary-chamber-compressor is presented. Initial studies have shown that changes in the kinematics of the rotors will have a direct influence on the thermodynamical variables, which, if optimized, can lead to an increased performance of the machine. Therefore, a mathematical model has been developed to obtain the performance parameters from different kinematic concepts by using numerical CFD analysis. Furthermore, additional optimization possibilities will be listed and discussed.