Analyzing RFID Data For The Management Of Reusable Packaging

A common issue that most automotive manufacturers have to face in production logistics is the efficient handling of a considerable number of cost-intensive pallets, trays, boxes and similar reusable packaging goods. As empirical studies show, deficiencies in monitoring, controlling and optimizing packaging material are widespread within this industry. In this contribution a case study is used to investigate the potential of supporting these managerial tasks with a combined use of RFID infrastructures and Business Intelligence (BI) infrastructures. This includes a derivation of relevant RFID reader locations, the identification of further relevant data sources as well as crafting concrete analysis and reporting scenarios based on the paradigm of multidimensional data modeling. The results are used to design a concept for a BI and RFID based system architecture. They highlight the need to include data management systems that bring data integration capabilities and that are capable of tracking historical data – as a possible component of a wider BI infrastructure for manufacturing and logistics

The Delta-Hole model at Finite Temperature

The spectral function of pions interacting with a gas of nucleons and Delta-33-resonances is investigated using the formalism of Thermo Field Dynamics. After a discussion of the zero Delta-width approximation at finite temperature, we take into account a constant width of the resonance. Apart from a full numerical calculation, we give analytical approximations to the pionic spectral function including such a width. They are found to be different from previous approximations, and require an increase of the effective Delta-width in hot compressed nuclear matter. The results are summarized in an effective dispersion relation for interacting pions.Comment: 34 pages in standard LaTeX GSI-preprint No. GSI-93-2

Using Model-based Optimal Control for Conceptional Motion Generation for the Humannoid Robot HRP-2 14 and Design Investigations for Exo-Skeletons

The research field of bipedal locomotion has been active since a few decades now. At one hand, the legged locomotion principle comprises highly flexible and robust mobility for technical applications. At the other hand, a thorough technical understanding of bipedalism supports efforts of clinicians and engineers to help people, suffering from reduced locomotion capabilities caused by fatal incidents. Since the technology enabled the construction of numerous robotic devices, among them: various humanoids, researchers started to investigate bipedalism by abstraction and adoption for technical applications. Findings from humanoid robotics are further exploited for the construction of devices for human performance augmentation and mobility support or gait rehabilitation, among them: orthosis and exo-skeletons. Although this research continuously progresses, the motion capacities of humanoid robots still lack far behind those of humans in terms of forward velocity, robustness and appearance of the overall motion. Generally, it is claimed that the difference of performance between humans and robotics is not only due to the limiting characteristics of the employed technology, e.g. constructive lack of specific determinants of gait for bipedalism or dynamic limits of the actuation system, but as well to the adopted methods for motion generation and control. For humanoid robotics, methods for motion generation are classified into optimization-based methods and those that employ heuristics, that are mostly distinguished based on the problem complexity (computation time) and the resulting dynamic error between the generated motion and the dynamics of the real robot. The implementation of the dynamic motion on the robotic platform is usually comprised with an on-line stabilizing control system. This control system must then identify and resolve instantaneously the dynamic error to maintain a continuously stable operation of the device. A large dynamic error and breach of the dynamic limits of the actuation system can quickly lead to a fatal destabilization of the device. This work proposes a contribution to the model computation and the strategy of the problem formulation of direct multiple-shooting based optimal control (Bock et. al.) for dynamically stable optimization-based motion generation. The computation of the whole-body dynamic model inside the optimization relies either on forward or inverse dynamics approach. As the inverse dynamics approach has frequently been perceived as less resource intensive than the forward dynamics approach, a new generic algorithm for insufficiently constrained, under-actuated dynamic systems has been developed and thoroughly tested to comply with all numerical restrictions of the enveloping optimization algorithm. Based on this contribution, various optimal control problems for the humanoid platform HRP-2 14 have been formulated to assess the influence of different biologically inspired optimization criteria on the final motion characteristics of walking motions. From thorough bibliographic researches a dynamically more accurate model was comprised, by taking into account the impact absorbing element in the ankle joint complex. Based on the experiences of the previous study, a problem formulation for the limiting case of, dynamically overstepping an obstacle of 20cm x 11cm (height x width) with only two steps, while maintaining its stable operation was accomplished. This is a new record for this platform. In a further part, this work proposes an iterative comprehensive model-based optimal control approach for the conception of a lower limb exo-skeleton that respects the integrated nature of such a mechatronic device. In this contribution, a human effectively wearing such a lower limb exo-skeleton is modeled. The approach then substantiates all system components in an iterative procedure, based on the complete system model, effectively resolving all complex inter-dependencies between the different components of the system. The study in this work is conducted on an important benchmark motion, walking, of a healthy human being. From this study the limiting characteristics of the system are determined and substantial propositions to the realization of various system components are formulated

Manufacturing Execution Systems and Business Intelligence for Production Environments

In the domain of production, Manufacturing Execution Systems (MES) are becoming increasingly popular. State of the art MES not only bring interfaces to a large variety of shop floor systems, they also come with functionality for data integration, data analysis, and dashboard generation – features commonly associated with Business Intelligence (BI) systems. At the same time, Data Warehouse (DHW) based BI infrastructures are increasingly extended to the support of operational managerial levels (Operational BI). This contribution sheds light on whether or not BI systems and MES are at odds and in how far they are complementary. To achieve this, two subsequent studies have been conducted: a case study based exploration and a quantitative online survey. The study results motivate an integration framework for MES and BI systems