Open Access

Die Konvergenz von Netzwerken ist ein zunehmender Trend im Bereich der Automatisierung. Immer mehr Anlagenbetreiber streben eine Vereinheitlichung der Netzwerke in ihren Anlagen an. Dies führt zu einer nahtlosen Netzwerkstruktur, einer vereinfachten Überwachung und einem geringeren Schulungsaufwand für das Personal, da nur eine einheitliche Netzwerktechnologie gehandhabt werden muss. Ethernet-APL ist ein Teil des Puzzles für ein solches konvergentes Netzwerk und unterstützt verschiedene Echtzeitprotokolle wie PROFINET, EtherNet, HART-IP sowie das Middleware-Protokoll OPC UA. Dieses Papier gibt einen Überblick über die Auswirkungen von Ethernet-APL-Feldgeräten auf die OT-Sicherheit und schlägt vor, wie die OT-Sicherheit für diese Geräte gewährleistet werden kann.

The authors describe the application of a combination of velocity map imaging and time-of-flight (TOF) techniques to obtain three-dimensional velocity distributions for surface photodesorption. They have established a systematic alignment procedure to achieve correct and reproducible experimental conditions. It includes four steps: (1) optimization of the velocity map imaging ion optics’ voltages to achieve optimum velocity map imaging conditions; (2) alignment of the surface normal with the symmetry axis (ion flight axis) of the ion optics; (3) determination of TOF distance between the surface and the ionizing laser beam; (4) alignment of the position of the ionizing laser beam with respect to the ion optics. They applied this set of alignment procedures and then measured Br(²P₃/₂) (Br) and Br(²P₁/₂) (Br∗) atoms photodesorbing from a single crystal of KBr after exposure to 193 nm light. They analyzed the velocity flux and energy flux distributions for motion normal to the surface. The Br∗ normal energy distribution shows two clearly resolved peaks at approximately 0.017 and 0.39 eV, respectively. The former is slightly faster than expected for thermal desorption at the surface temperature and the latter is hyperthermal. The Br normal energy distribution shows a single broad peak that is likely composed of two hyperthermal components. The capability that surface three-dimensional velocity map imaging provides for measuring state-specific velocity distributions in all three dimensions separately and simultaneously for the products of surface photodesorption or surface reactions holds great promise to contribute to our understanding of these processes.

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.

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.

In the area of manufacturing and process automation in industrial applications, technical energy management systems are mainly used to measure, collect, store, analyze and display energy data. In addition, PLC programs on the control level are required to obtain the energy data from the field level. If the measured data is available in a PLC as a raw value, it still has to be processed by the PLC, so that it can be passed on to the higher layers in a suitable format, e.g. via OPC UA. In plants with heterogeneous field device installations, a high engineering effort is required for the creation of corresponding PLC programs. This paper describes a concept for a code generator that can be used to reduce this engineering effort.