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See detailHuman Error Identification in Programming by Demonstration of Compliant Motion Robotic Tasks
Jasim, Ibrahim UL; Plapper, Peter UL

in 2013 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE 2013), Hyderabad 7-10 July 2013 (2013, July)

In this paper, we suggest a scheme for error identification in human skills transfer when using the Programming by Demonstration (PbD) in adding a set of skills from a human operator to the force ... [more ▼]

In this paper, we suggest a scheme for error identification in human skills transfer when using the Programming by Demonstration (PbD) in adding a set of skills from a human operator to the force- controlled robotic tasks. Such errors in human skills transfer is majorly caused from the difficulty of properly synchronizing the human and machine responses. Based on the captured Cartesian forces and torques signals of the manipulated object, we present an approach of identifying the errors stemmed from human wrong skills transfer in a PbD process. The scheme is composed of using the Gravitational Search- Fuzzy Clustering Algorithm (GS-FSA) in finding the centroid of the captured forces and torques signals for each Contact Formation (CF). Then using a distance- based outlier identification approach along with the centroid of each signal, the human errors can be identified in the framework of data outlier identification. In order to validate the approach, a test stand, composed of a KUKA Light Weight Robot manipulating a rigid cube object, is built. The manipulated object is assumed to interact with an environment composed of three orthogonal planes. Error identification for two case studies will be considered and other cases can be dealt with in a similar manner. From the experimental results, excellent human error identification is shown when using the suggested approach. [less ▲]

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See detailT-S Fuzzy Contact State Recognition for Compliant Motion Robotic Tasks Using Gravitational Search-Based Clustering Algorithm
Jasim, Ibrahim UL; Plapper, Peter UL

in 2013 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE 2013) (2013, July)

In this paper, we address the problem of contact state recognition for compliant motion robotic systems. The wrench (Cartesian forces and torques) and pose (position and orientation) of the manipulated ... [more ▼]

In this paper, we address the problem of contact state recognition for compliant motion robotic systems. The wrench (Cartesian forces and torques) and pose (position and orientation) of the manipulated object in different Contact Formations (CFs) are firstly captured during a certain task execution. Then for each CF, we develop an efficient Takagi- Sugeno (T-S) fuzzy inference system that can model that specific CF using the available input (wrench and pose) - output (the desired model output for each CF) data. The antecedent part parameters are computed using the Gravitational Search- based Fuzzy Clustering Algorithm (GS- FCA) and the consequent parts parameters are tuned by the Least Mean Square (LMS). Excellent mapping and hence recognition capabilities can be expected from the suggested scheme. In order to validate the approach; experimental test stand is built which is composed of a KUKA Light Weight Robot (LWR) manipulating a cube rigid object that interacts with an environment composed of three orthogonal planes. The manipulated object is rigidly attached to the robot arm. The robot is programmed, by a human operator, to move in different CFs and for each CF, the wrench and pose readings are captured via the Fast Research Interface (FRI) available at the KUKA LWR. Using the suggested approach, excellent modeling is obtained for different CFs during the robot task execution. A comparison with the available CF recognition approaches is also performed and the superiority of the suggested scheme is shown. [less ▲]

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See detailCombined Laser Beam Braze-Welding Process for Fluxless Al-Cu Connections
Solchenbach, Tobias UL; Plapper, Peter UL

in PROCEEDINGS INTERNATIONAL CONFERENCE ON COMPETITIVE MANUFACTURING (2013, January 31)

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See detailCombined Laser Beam Braze-Welding Process for Fluxless Al-Cu Connections
Solchenbach, Tobias UL; Plapper, Peter UL

in Dimitrov, Dimiter; Schutte, Corne (Eds.) PROCEDINGS International Conference on competitive Manufacturing, COMA 13 (2013, January)

A combined laser beam welding and brazing process for Al-Cu connections in overlap configuration is investigated. Aluminium and copper for electric and electronic application is used for experiments ... [more ▼]

A combined laser beam welding and brazing process for Al-Cu connections in overlap configuration is investigated. Aluminium and copper for electric and electronic application is used for experiments without surface treatment or activation, e.g. by flux. Although Al and Cu have been considered as “not weldable”, the possibility of a thermal joining process, i.e., the weld-brazing, was proved. The inevitable formation of intermetallic compounds at the interfacial region was reduced to less than 4 µm. Shear strength up to 51 MPa was achieved. A detailed fracture analysis has shown that the copper-rich intermetallic phase is the metallurgical weakest point due to the distinctive brittleness, even though the Al-rich Cu-phase is several times thicker. [less ▲]

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See detailMechanical Characteristics of Laser Braze-Welded Aluminium-Copper Connections
Solchenbach, Tobias UL; Plapper, Peter UL

in Optics & Laser Technology (2013)

Abstract The mechanical characteristics of dissimilar Al-Cu connections, joined by a novel, robust laser braze-welding process are reported. A ber laser is used in combination with a 2D galvoscanner to ... [more ▼]

Abstract The mechanical characteristics of dissimilar Al-Cu connections, joined by a novel, robust laser braze-welding process are reported. A ber laser is used in combination with a 2D galvoscanner to provide spatial power modulation by superposed circular beam oscillation. With the help of statistical experimental design, a broad range of processing parameters has been inves- tigated in order to understand their e ects on the joint characteristics. A maximum shear strength of 121 MPa has been detected within the scope of the experiments. [less ▲]

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See detailMechanical Properties of Laser Braze-Welded Al-Cu connections
Solchenbach, Tobias UL; Plapper, Peter UL

in Mechanical Properties of Laser Braze-Welded Al-Cu connections (2012, November)

The paper describes an innovative, laser based joining method for dissimilar Al-Cu connections. The main objective is the improvement of the mechanical and electrical properties of the joints.

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See detailLaser Diffusion welding of Al-Cu connections
Solchenbach, Tobias UL; Plapper, Peter UL

in Laser Diffusion welding of Al-Cu connections (2012, February)

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See detailLaser Diffusion welding of Al-Cu connections
Plapper, Peter UL; Solchenbach, Tobias UL

Scientific Conference (2012)

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See detailLASERFÜGEN UNGLEICHER WERKSTOFFE_
Plapper, Peter UL

Article for general public (2012)

Luxemburgs Wirtschaft weist eine starke Abhängigkeit vom tertiären Sektor auf. Der sekundäre Sektor mit den produzierenden Unternehmen offenbart auch im Vergleich zu den Nachbarn Nachholpotential. Dabei ... [more ▼]

Luxemburgs Wirtschaft weist eine starke Abhängigkeit vom tertiären Sektor auf. Der sekundäre Sektor mit den produzierenden Unternehmen offenbart auch im Vergleich zu den Nachbarn Nachholpotential. Dabei sind die Voraussetzungen für den Ausbau der wertschöpfenden Fertigung in Luxemburg sehr gut. Das zeigt sich an mehreren Werken international renommierter Konzerne, die von einem dichten Netz an wettbewerbsfähigen KMU mit einem breiten Produktportfolio ergänzt werden. Das Laser Technologie Kompetenz Zentrum will Klein- und Mittelbetrieben sowie internationalen Firmen mit neuen Erkenntnissen aus der Lasertechnologie und mit der Ausbildung von Fachkräften unterstützen. Im Rahmen von Machbarkeitsstudien werden applikationsspezifi sche Prozessparameter untersucht, Prozessfenster defi niert und produktionsrelevantes Knowhow rund um die lasergestützte Fertigung erarbeitet. [less ▲]

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See detailReferenzsysteme für wandlungsfähige Produktion
Plapper, Peter UL; Jatzkowski, Philipp; Schmitt, Robert et al

in Wettbewerbsfaktor Produktionstechnik: Aachener Perspektiven: Aachener Werkzeugmaschinenkolloquium (2011, June)

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See detailWertstrommethode – Value Stream Mapping
Plapper, Peter UL; Andre, Christian

Book published by TUV Media - Koln: TUV Media (2011)

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See detailAdvanced Manufacturing Technologies for General Assembly
Plapper, Peter UL; Neef, Dieter; Krammer, Petra

in SAE International (2011), SAE Techni.

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See detailVerbesserung des Fertigungsablaufs von Spezialwerkzeugen
Plapper, Peter UL; Jacobs, Guy; Plantier, Stefan et al

in Cahier Scientifique - Revue Technique Luxembourgeoise (2010)

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See detailErfolgreiches Lieferantenmanagement durch eindeutige Schnittstellendefinition
Plapper, Peter UL

Book published by TÜV Media (2009)

In schlanken Werken montieren externe Dienstleister ausgewählte Baugruppen und liefern sie direkt an die Hauptmontagelinie. Dabei sind zahlreiche technische und organisatorische Schnittstellen zu ... [more ▼]

In schlanken Werken montieren externe Dienstleister ausgewählte Baugruppen und liefern sie direkt an die Hauptmontagelinie. Dabei sind zahlreiche technische und organisatorische Schnittstellen zu definieren, um den Wissenstransfer in beide Richtungen effektiv und sicher zu gestalten und dabei gleichzeitig das Know-how beider Seiten zu schützen. Dieser Beitrag beschreibt exemplarisch erfolgreich angewandte Methoden zur Einbindung externer Dienstleister in mehreren Werken in der Automobilindustrie. [less ▲]

Detailed reference viewed: 122 (3 UL)