Universität Stuttgart
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Item Open Access Enzyme-assisted circular additive manufacturing as an enabling technology for a circular bioeconomy : a conceptual review(2024) Protte-Freitag, Kristin; Gotzig, Sophia; Rothe, Hannah; Schwarz, Oliver; Silber, Nadine; Miehe, RobertAdditive manufacturing (AM) is a decisive element in the sustainable transformation of technologies. And yet its inherent potential has not been fully utilized. In particular, the use of biological materials represents a comparatively new dimension that is still in the early stages of deployment. In order to be considered sustainable and contribute to the circular economy, various challenges need to be overcome. Here, the literature focusing on sustainable, circular approaches is reviewed. It appears that existing processes are not yet capable of being used as circular economy technologies as they are neither able to process residual and waste materials, nor are the produced products easily biodegradable. Enzymatic approaches, however, appear promising. Based on this, a novel concept called enzyme-assisted circular additive manufacturing was developed. Various process combinations using enzymes along the process chain, starting with the preparation of side streams, through the functionalization of biopolymers to the actual printing process and post-processing, are outlined. Future aspects are discussed, stressing the necessity for AM processes to minimize or avoid the use of chemicals such as solvents or binding agents, the need to save energy through lower process temperatures and thereby reduce CO2 consumption, and the necessity for complete biodegradability of the materials used.Item Open Access Design of fiber-composite/metal-hybrid structures made by multi-stage coreless filament winding(2022) Mindermann, Pascal; Müllner, Ralf; Dieringer, Erik; Ocker, Christof; Klink, René; Merkel, Markus; Gresser, Götz T.The methods presented in this study assist in fabricating load-bearing structures with high mass-specific mechanical performance at various scales. Possible applications include primary and secondary structures in engineering, architecture, automotive, or aerospace industries.Additive manufacturing processes, such as coreless filament winding with fiber composites or laser powder bed fusion with metals, can produce lightweight structures while exhibiting process-specific characteristics. Those features must be accounted for to successfully combine multiple processes and materials. This hybrid approach can merge the different benefits to realize mass savings in load-bearing structures with high mass-specific stiffnesses, strict geometrical tolerances, and machinability. In this study, a digital tool for coreless filament winding was developed to support all project phases by natively capturing the process-specific characteristics. As a demonstration, an aluminum base plate was stiffened by a coreless wound fiber-composite structure, which was attached by additively manufactured metallic winding pins. The geometrical deviations and surface roughness of the pins were investigated to describe the interface. The concept of multi-stage winding was introduced to reduce fiber–fiber interaction. The demonstration example exhibited an increase in mass-specific component stiffness by a factor of 2.5 with only 1/5 of the mass of a state-of-the-art reference. The hybrid design approach holds great potential to increase performance if process-specific features, interfaces, material interaction, and processes interdependencies are aligned during the digitized design phase.Item Open Access Model-based biomechanical exoskeleton concept optimization for a representative lifting task in logistics(2022) Schiebl, Jonas; Tröster, Mark; Idoudi, Wiem; Gneiting, Elena; Spies, Leon; Maufroy, Christophe; Schneider, Urs; Bauernhansl, ThomasOccupational exoskeletons are a promising solution to prevent work-related musculoskeletal disorders (WMSDs). However, there are no established systems that support heavy lifting to shoulder height. Thus, this work presents a model-based analysis of heavy lifting activities and subsequent exoskeleton concept optimization. Six motion sequences were captured in the laboratory for three subjects and analyzed in multibody simulations with respect to muscle activities (MAs) and joint forces (JFs). The most strenuous sequence was selected and utilized in further simulations of a human model connected to 32 exoskeleton concept variants. Six simulated concepts were compared concerning occurring JFs and MAs as well as interaction loads in the exoskeleton arm interfaces. Symmetric uplifting of a 21 kg box from hip to shoulder height was identified as the most strenuous motion sequence with highly loaded arms, shoulders, and back. Six concept variants reduced mean JFs (spine: >70%, glenohumeral joint: >69%) and MAs (back: >63%, shoulder: >59% in five concepts). Parasitic loads in the arm bracing varied strongly among variants. An exoskeleton design was identified that effectively supports heavy lifting, combining high musculoskeletal relief and low parasitic loads. The applied workflow can help developers in the optimization of exoskeletons.Item Open Access The effect of rod orientation on electrical anisotropy in silver nanowire networks for ultra-transparent electrodes(2016) Ackermann, Thomas; Neuhaus, Raphael; Roth, SiegmarTwo-dimensional networks made of metal nanowires are excellent paradigms for the experimental observation of electrical percolation caused by continuous jackstraw-like physical pathways. Such systems became very interesting as alternative material in transparent electrodes, which are fundamental components in display devices. This work presents the experimental characterization of low-haze and ultra-transparent electrodes based on silver nanowires. The films are created by dip-coating, a feasible and scalable liquid film coating technique. We have found dominant alignment of the silver nanowires in withdrawal direction. The impact of this structural anisotropy on electrical anisotropy becomes more pronounced for low area coverage. The rod alignment does not influence the technical usability of the films as significant electrical anisotropy occurs only at optical transmission higher than 99 %. For films with lower transmission, electrical anisotropy becomes negligible. In addition to the experimental work, we have carried out computational studies in order to explain our findings further and compare them to our experiments and previous literature. This paper presents the first experimental observation of electrical anisotropy in two-dimensional silver nanowire networks close at the percolation threshold.Item Open Access A survey on learning-based robotic grasping(2020) Kleeberger, Kilian; Bormann, Richard; Kraus, Werner; Huber, Marco F.This review provides a comprehensive overview of machine learning approaches for vision-based robotic grasping and manipulation. Current trends and developments as well as various criteria for categorization of approaches are provided. Model-free approaches are attractive due to their generalization capabilities to novel objects, but are mostly limited to top-down grasps and do not allow a precise object placement which can limit their applicability. In contrast, model-based methods allow a precise placement and aim for an automatic configuration without any human intervention to enable a fast and easy deployment. Both approaches to robotic grasping and manipulation with and without object-specific knowledge are discussed. Due to the large amount of data required to train AI-based approaches, simulations are an attractive choice for robot learning. This article also gives an overview of techniques and achievements in transfers from simulations to the real world.Item Open Access Smart nesting : estimating geometrical compatibility in the nesting problem using graph neural networks(2023) Abdou, Kirolos; Mohammed, Osama; Eskandar, George; Ibrahim, Amgad; Matt, Paul-Amaury; Huber, Marco F.Reducing material waste and computation time are primary objectives in cutting and packing problems (C &P). A solution to the C &P problem consists of many steps, including the grouping of items to be nested and the arrangement of the grouped items on a large object. Current algorithms use meta-heuristics to solve the arrangement problem directly without explicitly addressing the grouping problem. In this paper, we propose a new pipeline for the nesting problem that starts with grouping the items to be nested and then arranging them on large objects. To this end, we introduce and motivate a new concept, namely the Geometrical Compatibility Index (GCI). Items with higher GCI should be clustered together. Since no labels exist for GCIs, we propose to model GCIs as bidirectional weighted edges of a graph that we call geometrical relationship graph (GRG). We propose a novel reinforcement-learning-based framework, which consists of two graph neural networks trained in an actor-critic-like fashion to learn GCIs. Then, to group the items into clusters, we model the GRG as a capacitated vehicle routing problem graph and solve it using meta-heuristics. Experiments conducted on a private dataset with regularly and irregularly shaped items show that the proposed algorithm can achieve a significant reduction in computation time (30% to 48%) compared to an open-source nesting software while attaining similar trim loss on regular items and a threefold improvement in trim loss on irregular items.Item Open Access Investigation of possible effects of wearing exoskeletons during welding on heart rate(2022) Schalk, Marco; Schalk, Ines; Bauernhansl, Thomas; Siegert, Jörg; Schneider, UrsThis study aims to investigate the possible effects of wearing exoskeletons during welding on heart rate. Additionally, the validity of a measuring instrument for determining acute heart rate is to be assessed. N = 15 young healthy subjects with welding experience took part in the study. The study design defines a one-hour workflow that abstracts welding and grinding tasks. The sequence is based on the internationally recognized standard DIN EN ISO 9606-1 and reproduces authentic work sequences in constrained body positions. Each subject completed the workflow once with and once without an exoskeleton. Recorded measures were the heart rates measured by a wrist-worn smartwatch and by Impedance Cardiography (ICG). The average heart rate shows no statistically significant differences in the measurement series with and without exoskeletons. The temporal variation of the heart rate shows a statistically significant influence of wearing exoskeletons and provides a moderate to strong effect, corresponding to a Cohens d of d = 0.78. Only 28.57% of all data series obtained with a smartwatch were equivalent to ICG-data after analysis with t-test, Pearson’s correlation, and orthogonal regression. Using averaged heart rates to assess exoskeleton effects is not a suitable measure. A trend analysis using linear regression shows moderate to strong statistically significant effects in the time course of heart rates and provides an approach to evaluate exoskeleton-induced effects.Item Open Access Increased resilience for manufacturing systems in supply networks through data-based turbulence mitigation(2021) Bauer, Dennis; Böhm, Markus; Bauernhansl, Thomas; Sauer, AlexanderIn manufacturing systems, a state of high resilience is always desirable. However, internal and external complexity has great influence on these systems. An approach is to increase manufacturing robustness and responsiveness-and thus resilience-by manufacturing control. In order to execute an effective control method, it is necessary to provide sufficient information of high value in terms of data format, quality and time of availability. Nowadays, raw data is available in large quantities. An obstacle to manufacturing control is the short-term handling of events induced by customers and suppliers. These events cause different kinds of turbulence in manufacturing systems. If such turbulences could be evaluated in advance, based on data processing, they could serve as aggregated input data for a control system. This paper presents an approach how to combine turbulence evaluation and the derivation of measures into a learning system for turbulence mitigation. Integrated in manufacturing control, turbulence mitigation increases manufacturing resilience and strengthens the supply network’s resilience.Item Open Access A conceptual framework for biointelligent production : calling for systemic life cycle thinking in cellular units(2021) Miehe, Robert; Buckreus, Lorena; Kiemel, Steffen; Sauer, Alexander; Bauernhansl, ThomasA sustainable design of production systems is essential for the future viability of the economy. In this context, biointelligent production systems (BIS) are currently considered one of the most innovative paths for a comprehensive reorientation of existing industrial patterns. BIS are intended to enable a highly localized on-demand production of personalized goods via stand-alone non-expert systems. Recent studies in this field have primarily adopted a technical perspective; this paper addresses the larger picture by discussing the essential issues of integrated production system design. Following a normative logic, we introduce the basic principle of systemic life cycle thinking in cellular units as the foundation of a management framework for BIS. Thereupon, we develop a coherent theoretical model of a future decentralized production system and derive perspectives for future research and development in key areas of management.Item Open Access Design options for sustainable and open business models : a taxonomy-based analysis(2024) Mais, Franziska; Bauernhansl, ThomasThe imperative for decarbonization forces businesses to transform their business models (BMs) and to adopt Sustainable Business Models which focus on creating value sustainably. In the context of Sustainable Business Model Innovation, maintaining close relationships within ecosystems is crucial to ensure a sustainable transformation while preserving competitiveness. As corporate boundaries become more transparent, the importance of external resources increases, leading to a shift from closed to open business models (OBM). In OBMs, stakeholders, including customers, actively co-create innovation and value creation. Our research investigates how integrating these approaches can shape BMs that effectively address decarbonization drivers and tackle the required business model innovation. We conducted a structured literature review to develop a taxonomy that outlines 64 design options across nine dimensions for sustainable, open BMs. In conclusion, this study provides sustainable and open design options, classified into detailed taxonomies. The practical applicability of this taxonomy was demonstrated through a use case classification, providing a foundation for companies and further research into designing and implementing these BMs in the context of decarbonization.