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Industrie 4.0 bedeutet nicht nur einen Wandel der technischen Möglichkeiten und Arbeitsbedingungen, sondern auch einen Bedarf an neuen, sich kontinuierlich weiterentwickelnden Kompetenzen und die Bereitschaft der Beschäftigten, Veränderungen mitzugestalten. Spielerische Ansätze der Kompetenzentwicklung können v.a. bei weiterbildungsfernen Mitarbeitern hilfreich sein, um das komplexe Thema verständlich zu vermitteln. Der Beitrag beschreibt ein Seminarkonzept mit integriertem Brettspiel, mit dem Teilnehmer anhand eines fiktiven Unternehmens (Müller GmbH) die Transformation eines Unternehmens in die Industrie 4.0 spielerisch nachvollziehen. Dieses Konzept erweist sich in einer ersten Evaluation als durchaus vielversprechend.
In this paper a practical way for fatigue life prediction of rubber products under multiaxial loads is shown. This is done by means of fracture mechanical concepts and the energy release rate as the failure criterion. Due to a FEA post-processor the potential energy release rate might be calculated at every material point supposed there was a crack. And therefore the risk of failure and with the help of a strain number curve the time to fatigue is able to be calculated by FEA. This concept is applied for an estimation of the life time of a test specimen with tensile loading from fatigue data of a shear loaded specimen of different design. This rather more theoretical concept of the energy release rate is complemented by experimental crack growth data by a Tear Fatigue Analyzer with its great advantage of reduction of testing time and costs compared to those of fatigue tests. For some materials a thorough characterization of crack growth and fatigue behavior is presented and is applied to estimate the time to fatigue by FEA for a real component under multiaxial loads.
There are additional long-term effects which also change the micro-structure of the polymer network and consequently the effective number of polymer chains in the material. These effects are summarized by ageing processes and will be used in the following to explain the basic assumptions of the model which can be generalized to simulate the viscous behaviour of the material. An implementation of these concepts into FEM codes is straightforward and has been carried out to the solver ABAQUS, Baaser & Ziegler (2006), Baaser et al. (2009).
Biological in situ methanation: Gassing concept and feeding strategy for enhanced performance
(2017)
The expansion of fluctuating renewable electricity production from wind and solar energy requires huge storage capacities. Power-to-gas (PtG) can contribute to tackle that issue via a two-step process, the electrolytic production of hydrogen and a subsequent methanation step (with additional CO2). The resulting fully grid compatible methane, also known as synthetic natural gas (SNG), can be both stored and transported in the vast existing natural gas infrastructure.
To overcome current major drawbacks of PtG, the relatively low efficiency and the high costs, we developed an improved method for the methanation step. In our approach we use a further development of the biological in situ methanation of hydrogen in biogas plants. Because this strategy uses directly internal residual CO2 from the biogas process in the biogas plant, you neither need additional external CO2 nor special reactors. Thus, PtG is combined with the production of an upgraded highly methane rich raw biogas.
However, the low solubility of hydrogen in aqueous solutions and the exploitation of the maximum biological production rates are still an engineering challenge for high performance biological in situ methanation.
In our experiments a setup with membrane gassing turned out to be most promising to ensure a sufficient gas liquid mass transfer of the hydrogen. The monitoring of hydrogenotrophic and aceticlastic archaea showed some adaption of these microbial subgroups to the hydrogen feed.
In order to achieve high methane concentrations of more than 90 % in the raw biogas a CO2-controlled hydrogen feed flow rate is suggested. For methane concentrations lower than 90 % simple current controlled hydrogen supply can be applied.
Vorgestellt wird ein Konzept zur biologischen Methanisierung von Wasserstoff direkt in Biogasreaktoren, mit dem durch Membranbegasung der Methangehalt des Biogases auf > 96 % erhöht werden kann. Essentiell zum Erreichen solch hoher Methanwerte sind die Einhaltung eines optimalen pH-Bereichs und die Vermeidung von H2-Akkumulation. Im Falle einer Limitierung der Methanbildungsrate durch den eigentlichen anaeroben Abbauprozess der Biomasse ist auch eine externe Zufuhr von CO2 zur weiteren Methanbildung denkbar. Das Verfahren soll weiter optimiert und in einem von der Deutschen Bundesstiftung Umwelt geförderten Projekt in der Biogasanlage einer regionalen Käserei in der Praxis getestet werden. Die hier angestrebte Kombination aus dezentraler Abfallverwertung und Eigenenergieerzeugung eines lebensmittelverarbeitenden Betriebs unter Einbindung in ein intelligentes Erneuerbare Energien - Konzept soll einen zusätzlichen Mehrwert liefern.
Durch eine stetige Preissteigerung der fossilen Energieträger werden auch im Bereich der mobilen Arbeitsmaschinen neben einer hohen Zuverlässig u.a. Forderungen nach steigenden Gesamtwirkungsgraden, mit der hierdurch einhergehenden Energieeffizienz, forciert. Auch bei mobilen Arbeitsmaschinen ist der häufig eingeschränkt zur Verfügung stehende Bauraum für Traktionsantriebe eine Herausforderung. Ziel dieser Veröffentlichung ist ein allgemeingültiger Vergleich verschiedener elektrischer Antriebsarten als Traktionsantrieb für mobile Arbeitsmaschinen.
A system for the on-line/in-line measurement of soot particle sizes and concentrations in the undiluted exhaust gas of diesel engines was developed and successfully tested. The unit uses the individual attenuations of three different laser wavelengths and is combined with an optical cell (white principle) with adjustable path lengths from 2.5 to 15 meters.
Time Resolved Measurements of Soot Concentrations and Mean Particle Sizes during EUDC and ECE Cycles
(2002)
Having 22 GW of nominal power installed Germany is the leading nation in wind energy conversion. While the number of suitable installation sites ashore is limited, and the average windspeed and thus the utilization level offshore is significantly higher, more and more offshore wind farms are planned. In order to reduce the cost of building the foundations and of connecting the wind turbines to the power grid, the single plant is designed as powerful as possible and therefore the components become huge and weighty. For instance: In order to lift the nacelle with around 500 tons of weight up on the tower - which can be up to 120 m above the water level - at the time special ships and cranes are designed and built. But those firstly will be very expensive and secondly will be available only on a limited scale. Hence the installation cost of those huge wind turbines significantly influence the rentability of a wind farm. Against this background a joint research project supported by the German Federal Ministry for the Environment, Nature Conservation and Nuclear Safety (BMU) was started comprising the project partners Ed. Züblin AG, Berg-idl GmbH (an engineering company and a maker of special purpose machines in Altlußheim, Germany), the IPEK (institute for product development) at the university of Karlsruhe and the Hochschule Offenburg, university of applied science. Project target is the conceptual design of a heavy-duty elevator, which can be used to install the tower segments and the nacelle of a wind turbine offshore without a crane. The most relevant challenges in this context result of holding up extreme loads by means of comparatively filigree carrying structures. The paper shows some examples of structural analysis and optimization work accomplished during the project. For the structural analysis of the heavy loaded components ANSYS workbench was used. The development process was also supported by optimization tools like TOSCA and OPTIMUS. The linking of the FE solver and the optimizer provides important hints concerning improvement of the topology and the dimensions of the components. Examples of designs illustrate the development process and the methods applied.
The purpose of this study was to describe the effects of running speed and slope on metatarsophalangeal (MTP) joint kinematics. 22 male and female runners underwent 3D motion analysis on an instrumented treadmill at three different speeds (2.5 m/s, 3.0 m/s, 3.5 m/s). At each speed, participants ran at seven slope conditions (downhill: -15%, -10%, -5%, level, and uphill: +5%, +10%, +15%). We found a significant main effect (p < 0.001) of running speed and slope on peak MTP dorsiflexion and a running speed by slope interaction effect (p < 0.001) for peak MTP dorsiflexion velocity. These findings highlight the need to consider running intensity and environmental factors like running surface inclination when considering MTP joint mechanics and technological aids to support runners.
The identification and quantification of compounds in the gas phase becomes of increasing interest in the context of environmental protection, as well as in the analytical field. In this respect, the high extinction coefficients of vapours and gases in the ultraviolet wavelength region allow a very sensitive measurement system. In addition, the increased performance of the components necessary for setting up a measurement system, such as fibres, light sources and detectors has been improved. In particular the light sources and detectors offer improved stability, and the deep UV performance and solarisation resistance of fused silica fibres allow have been significantly optimized in the past years. Therefore a compact and reliable detection system with high measuring accuracy is developed. Within this paper possible applications of the system under development and recent results will be discussed.
Do you know that for each banana bunch the complete plant must be cut as well? Only in Brazil 440 million trees are planted annually. With an average weight of 30 kg per banana plant you can estimate about 13,5 million tons of banana residues per year. Although there exist some projects to use these residues for the production of valuable products (e.g fibers for textile and paper production) most of this organic waste material is unused and left for composting on the farmland.
The basic idea of this project is to evaluate this organic waste material for converting it to a renewable and CO2 neutral fuel. Therefore, the different parts of the banana plant (heart, leaves and pseudo stem) were analyzed regarding their biogas potential (specific biogas yield and biogas production kinetics). In further studies the effect of mechanical and enzymatic pretreatments of the different parts of the plants was investigated. This examination could then be the basis for an energetic usage of this organic residue.
The biogas batch experiments were performed according to the german guideline VDI 4630 in 2-L-Batch reactors at 37°C. As biogas substrates, the heart, the leaves and the pseudo stem of the banana plant residue with and without enzymatic/mechanical pretreatment were used.
The different parts of the banana plants result in a specific biogas production yield in the range of 260-470 norm liters per kg organic dry mass.
To determine the influence of the mechanical pretreatment (particle size 1-15 mm) on the biogas production kinetics, the kinetic constants were defined and calculated. The reduction of the particle size leads to an improved biogas production kinetics. Therefore experiments will demonstrate, if the results from the batch experiments can be converted in the continuous fed biogas reactor. The experiments of the enzymatic pretreatment are still under investigation.
Die angestrebten Klimaschutzziele erfordern, dass Erneuerbare Energien längerfristig zur Hauptenergiequelle der Energieversorgung werden. Um dieses ehrgeizige Ziel zu erreichen, ist es angebracht konventionelle und erneuerbare Energie oder noch besser nachhaltige Einzelprozesse intelligent miteinander zu verknüpfen.
Das Projekt EBIPREP wird von einer interdisziplinären Forschergruppe bestehend aus Chemikern, Prozessingenieuren und Bioprozessingenieuren sowie Physikern, die auf Sensoren und Prozesssteuerung spezialisiert sind durchgeführt. Das Ziel ist es, neue Lösungen für die Nutzungswege von Holzhackschnitzeln und den bei der mechanischen Trocknung anfallenden Holzpresssaft zu entwickeln. Neben der Hackschnitzelvergasung und der katalytischen Reinigung des Holzgases steht die Nutzung des Holzpresssafts in Biogasanlagen und bei der biotechnologischen Wertstofferzeugung, z.B. bei der Enzymherstellung, im Vordergrund.
Was wir tun?
Das EBIPREP-Projekt wird von einer interdisziplinären Forschungsgruppe durchgeführt, die sich aus Chemikern, Prozessingenieuren, Bioprozessingenieuren und Physikern zusammensetzt. Ziel ist es, neue Lösungen für den Einsatz von Hackschnitzeln und Holzpresssaft zu entwickeln, die durch ein innovatives mechanisches Trocknungsverfahren gewonnen werden. Neben der Holzvergasung und katalytischen Reinigung des Holzgases ist der Einsatz von Holzpresssaft in Biogasanlagen und in biotechnologischen Produktionsprozessen von Wertstoffen vorgesehen. Holzhackschnitzel werden thermisch vergast. Es werden Online-Sensoren entwickelt, um die relevanten Parameter der stabilisierten und optimierten Einzelprozesse auszuwerten. Die Verknüpfung von thermischen und biotechnologischer Konversionsprozessen könnte dazu beitragen, die Dimension von Biogasreaktoren erheblich zu reduzieren. Diese Tatsache wird folglich zu einer spürbaren Kostensenkung führen.
Ziele des EBIPREP-Projekts
• die Vorteile der thermischen und biologischen Umwandlung von Biomasse zu kombinieren;
• Entwicklung eines Verfahrens zur Reduzierung von Schadstoffemissionen mit innovativen Sensoren und katalytische Behandlung von Synthesegasen;
• nachhaltige Produktion biotechnologischer wertvoller Produkte
• wirtschaftliche und ökologische Analyse des Gesamtprozesses im Vergleich zu den Einzelprozessen
• Einsatz von Prozessabwässern zur Erzeugung regenerativer Energie oder biotechnologischer Wertstoffe
• Erwerb neuer Kenntnisse auf dem Gebiet der Rückgewinnungstechnik von Rückständen
• und Energieerzeugung;
• Erweiterung neuer Anwendungsfelder für innovative Sensoren und Keramik
• Schäume für Katalysatoren;
• Senkung der Kosten für die Biogasproduktion
Im geplanten Übersichtsvortrag werden die vernetzten Strukturen des Projekts EBIPREP und deren zentralen Ergebnisse vorgestellt.
Short-term load forecasting (STLF) has been playing a key role in the electricity sector for several decades, due to the need for aligning energy generation with the demand and the financial risk connected with forecasting errors. Following the top-down approach, forecasts are calculated for aggregated load profiles, meaning the sum of singular loads from consumers belonging to a balancing group. Due to the emerging flexible loads, there is an increasing relevance for STLF of individual factories. These load profiles are typically more stochastic compared to aggregated ones, which imposes new requirements to forecasting methods and tools with a bottom-up approach. The increasing digitalization in industry with enhanced data availability as well as smart metering are enablers for improved load forecasts. There is a need for STLF tools processing live data with a high temporal resolution in the minute range. Furthermore, behin-the-meter (BTM) data from various sources like submetering and production planning data should be integrated in the models. In this case, STLF is becoming a big data problem so that machine learning (ML) methods are required. The research project “GaIN” investigates the improvement of the STLF quality of an energy utility using BTM data and innovative ML models. This paper describes the project scope, proposes a detailed definition for a benchmark and evaluates the readiness of existing STLF methods to fulfil the described requirements as a reviewing paper.
The review highlights that recent STLF investigations focus on ML methods. Especially hybrid models gain more and more importance. ML can outperform classical methods in terms of automation degree and forecasting accuracy. Nevertheless, the potential for improving forecasting accuracy by the use of ML models depends on the underlying data and the types of input variables. The described methods in the analyzed publications only partially fulfil the tool requirements for STLF on company level. There is still a need to develop suitable ML methods to integrate the expanded data base in order to improve load forecasts on company level.
Colored glass products with various printing technologies are becoming more important in industry. The aim is to achieve individual solution in a very short delivery time. Conventional thermal treatment of burning glasses in oven for tempered color printing has predominant issues with high time consumption, energy consumption and manufacturing cost. It requires alternative process development.
This paper proposes laser process to overcome issues in conventional treatment with the latest results of tempering colored glass. Samples have been analyzed with the scanning electron microscope (SEM). Two different laser systems have been applied and the glass has been printed with black paste.
Combined heat and power production (CHP) based on solid oxide fuel cells (SOFC) is a very promising technology to achieve high electrical efficiency to cover power demand by decentralized production. This paper presents a dynamic quasi 2D model of an SOFC system which consists of stack and balance of plant and includes thermal coupling between the single components. The model is implemented in Modelica® and validated with experimental data for the stack UI-characteristic and the thermal behavior. The good agreement between experimental and simulation results demonstrates the validity of the model. Different operating conditions and system configurations are tested, increasing the net electrical efficiency to 57% by implementing an anode offgas recycle rate of 65%. A sensitivity analysis of characteristic values of the system like fuel utilization, oxygen-to-carbon ratio and electrical efficiency for different natural gas compositions is carried out. The result shows that a control strategy adapted to variable natural gas composition and its energy content should be developed in order to optimize the operation of the system.
HiSiMo cast irons are frequently used as material for high temperature components in engines as e.g. exhaust manifolds and turbo chargers. These components must withstand severe cyclic mechanical and thermal loads throughout their service life. The combination of thermal transients with mechanical load cycles results in a complex evolution of damage, leading to thermomechanical fatigue (TMF) of the material and, after a certain number of loading cycles, to failure of the component. In this paper (Part I), the low-cycle fatigue (LCF) and TMF properties of HiSiMo are investigated in uniaxial tests and the damage mechanisms are addressed. On the basis of the experimental results a fatigue life model is developed which is based on elastic, plastic and creep fracture mechanics results of short cracks, so that time and temperature dependent effects on damage are taken into account. The model can be used to estimate the fatigue life of components by means of finite-element calculations (Part II of the paper).
During the coronavirus crisis, labs had to be offered in digital form in mechanical engineering at short notice. For this purpose, digital twins of more complex test benches in the field of fluid energy machines were used in the mechanical engineering course, with which the students were able to interact remotely to obtain measurement data. The concept of the respective lab was revised with regard to its implementation as a remote laboratory. Fortunately, real-world labs were able to be fully replaced by remote labs. Student perceptions of remote labs were mostly positive. This paper explains the concept and design of the digital twins and the lab as well as the layout, procedure, and finally the results of the accompanying evaluation. However, the implementation of the digital twins to date does not yet include features that address the tactile experience of working in real-world labs.
HPTLC (High Performance Thin Layer Chromatography) is a well known and versatile separation method which shows a lot of advantages and options in comparison to other separation techniques. The method is fast and inexpensive and does not need time-consuming pretreatments. Using fiber-optic elements for controlled light-guiding, the TLC-method was significantly improved: the new HPTLC-system is able to measure simultaneously at different wavelengths without destroying the plate surface or the analytes on the surface. For registration of the sample distribution on a HPTLC-plate we developed a new and sturdy diode-array HPTLC- scanner which allows registration of spectra on the TLC- plates in the range of 198 nm to 610 nm with a spectral resolution better than 1.2 nm. The spatial resolution on plate is better than 160 micrometers . In the spectral mode, the new HPTLC-scanner delivers much more information than the commonly used TLC-scanner. The measurement of 450 spectra of one separation track does not need more than three minutes. However, in the fixed wavelength mode the contour plot can be measured within 15 seconds. In this case, the signal will be summarized and averaged over a spectral range having FWHM from 10 nm to 25 nm depending on the substance under test. The new diode-array HPTLC-scanner makes various chemometric applications possible. The new method can be used easily in clinical diagnostic systems easily, e.g. for blood and uring investigations. In addition, new applications are possible. For example, the rich structured PAHs were studied. Although the separation is incomplete the 16 compounds can be quantified using suitable wavelengths.
HPTLC (High Performance Thin Layer Chromatography) is a well known and versatile separation method which shows many advantages when compared to other separation techniques. The method is fast and inexpensive and does not need time-consuming pretreatments. For visualisation of the sample distribution on a HPTLC-plate we developed a new and sturdy HPTLC-scanner. The scanner allows simultaneous registrations of spectra in a range from 198 nm to 612 nm with a spectral resolution of better than 0.8 nm. The on-plate spatial resolution is better than 160 μm. The measurement of 450 spectra in one separation track does not need more than two minutes. The new diode-array scanner offers a fast survey over a TLC-separation and makes various chemometric applications possible. For compound identification a cross-correlation function is described to compare UV sample spectra with appropriate library data. The cross-correlation function herein described can also be used for purity testing. Unresolved peaks can be virtually separated by use of a least squares fit algorithm. In summary, the diode arry system delivers much more information than the commonly used TLC-scanner.
Quantitative Bestimmung von Clozapin im Serum mittels Dioden-Array Dünnschichtchromatographie
(2003)
Hot forging dies are subjected to high cyclic thermo-mechanical loads. In critical areas, the occurring stresses can exceed the material’s yield limit. Additionally, loading at high temperatures leads to thermal softening of the used martensitic materials. These effects can result in an early crack initiation and unexpected failure of the dies, usually described as thermo-mechanical fatigue (TMF). In previous works, a temperature-dependent cyclic plasticity model for the martensitic hot forging tool steel 1.2367 (X38CrMoV5-3) was developed and implemented in the finite element (FE)-software Abaqus. However, in the forging industry, application-specific software is usually used to ensure cost-efficient numerical process design. Therefore, a new implementation for the FE-software Simufact Forming 16.0 is presented in this work. The results are compared and validated with the original implementation by means of a numerical compression test and a cyclic simulation is calculated with Simufact Forming.
In the course of the last few years, our students are becoming increasingly unhappy. Sometimes they stop attending lectures and even seem not to know how to behave correctly. It feels like they are getting on strike. Consequently, drop-out rates are sky-rocketing. The lecturers/professors are not happy either, adopting an “I-don’t-care” attitude.
An interdisciplinary, international team set in to find out: (1) What are the students unhappy about? Why is it becoming so difficult for them to cope? (2) What does the “I-don’t-care” attitude of professors actually mean? What do they care or not care about? (3) How far do the views of the parties correlate? Could some kind of mutual understanding be achieved?
The findings indicate that, at least at our universities, there is rather a long way to go from “Engineering versus Pedagogy” to “Engineering Pedagogy”.
The provisioning of security for highly dynamic wireless networks, as for Car2X applications is still a major topic, as very specific requirements have to be solved. Those include a perfect privacy level and advanced real-time behavior, and the necessity to work with a public infrastructure (PKI) to support secure authentication.
This contribution analyzes these requirements, discusses the existing approaches, performs a gap analysis and elaborates on proposals to fill these gaps. It describes work in progress within the KoFAS-initiative for the development of a cooperative pedestrian protection system (CPPS).
HiSiMo cast irons are frequently used as material for high temperature components in engines as e.g. exhaust manifolds and turbo chargers. These components must withstand severe cyclic mechanical and thermal loads throughout their life cycle. The combination of thermal transients with mechanical load cycles results in a complex evolution of damage, leading to thermomechanical fatigue (TMF) of the material and, after a certain number of loading cycles, to failure of the component. In Part I of the paper, a fracture mechanics model for TMF life prediction was developed based on results of uniaxial tests. In this paper (Part II), the model is formulated for three-dimensional stress states, so that it can be applied in a post-processing step of a finite-element analysis. To obtain reliable stresses and (time dependent plastic) strains in the finite-element calculation, a time and temperature dependent plasticity model is applied which takes non-linear kinematic hardening into account. The material properties of the model are identified from the results of the uniaxial test. The plasticity model and the TMF life model are applied to assess the lifetime of an exhaust manifold.
For the RoboCup Soccer AdultSize League the humanoid robot Sweaty uses a single fully convolutional neural network to detect and localize the ball, opponents and other features on the field of play. This neural network can be trained from scratch in a few hours and is able to perform in real-time within the constraints of computational resources available on the robot. The time it takes to precess an image is approximately 11 ms. Balls and goal posts are recalled in 99 % of all cases (94.5 % for all objects) accompanied by a false detection rate of 1.2 % (5.2 % for all). The object detection and localization helped Sweaty to become finalist for the RoboCup 2017 in Nagoya.
Model-based analysis of Electrochemical Pressure Impedance Spectroscopy (EPIS) for PEM Fuel Cells
(2019)
Electrochemical impedance spectroscopy (EIS) is a widely-used diagnostic technique to characterize electrochemical processes. It is based on the dynamic analysis of two electrical observables, that is, current and voltage. Electrochemical cells with gaseous reactants or products, in particular fuel cells, offer an additional observable, that is, the gas pressure. The dynamic coupling of current or voltage with gas pressure gives rise to a number of additional impedance definitions, for which we have previously introduced the term electrochemical pressure impedance spectroscopy (EPIS) [1,2]. EPIS shows a particular sensitivity towards transport processes of gas-phase or dissolved species, in particular, diffusion coefficients and transport pathway lengths. It is as such complementary to standard EIS, which is mainly sensitive towards electrochemical processes. First EPIS experiments on PEM fuel cells have recently been shown [3].
We present a detailed modeling and simulation analysis of EPIS of a PEM fuel cell. We use a 1D+1D continuum model of a fuel/air channel pair with GDL and MEA. Backpressure is dynamically varied, and the resulting simulated oscillation in cell voltage is evaluated to yield the ▁Z_( V⁄p_ca ) EPIS signal. Results are obtained for different transport situations of the fuel cell, giving rise to very complex EPIS shapes in the Nyquist plot. This complexity shows the necessity of model-based interpretation of the complex EPIS shapes. Based on the simulation results, specific features in the EPIS spectra can be assigned to different transport domains (gas channel, GDL, membrane water transport).
Für die solarunterstützte CO2-neutrale Nahwärmeversorgung des Neubaugebiets Hülben in Holzgerlingen wurden Holzpelletskessel mit einer 249m²-großen Solaranlage kombiniert. Im ersten Intensivmessjahr vom 01.03.2007 bis 29.02.2008 wurde eine Gesamt-Wärmeabgabe ins Nahwärmenetz von 920.606 kWh gemessen, wobei der solare Anteil bei 84.033 kWh lag. Es wurden ein Systemnutzungsgrad von 23,8 % und ein solarer Deckungsanteil von 9,5% gemessen. Die vom Lieferanten abgegebene Energiegarantie wurde in der ersten Intensivmessphase nicht erreicht.
One of the challenges in humanoid robotics is motion control. Interacting with humans requires impedance control algorithms, as well as tackling the problem of the closed kinematic chains which occur when both feet touch the ground. However, pure impedance control for totally autonomous robots is difficult to realize, as this algorithm needs very precise sensors for force and speed of the actuated parts, as well as very high sampling rates for the controller input signals. Both requirements lead to a complex and heavy weight design, which makes up for heavy machines unusable in RoboCup Soccer competitions.
A lightweight motor controller was developed that can be used for admittance and impedance control as well as for model predictive control algorithms to further improve the gait of the robot.
Autonomous humanoid robots require light weight, high torque and high speed actuators to be able to walk and run. For conventional gears with a fixed gear ratio the product of torque and velocity is constant. On the other hand desired motions require maximum torque and speed. In this paper it is shown that with a variable gear ratio it is possible to vary the relation between torque and velocity. This is achieved by introducing systems of rods and levers to move the joints of our humanoid robot ”Sweaty II”. On the basis of a variable gear ratio low speed and high torque can be achieved for those joint angles, which require this motion mode, whereas high speed and low torque can be realized for those joint angles, where it is favorable for the desired motion.
With the need for automatic control based supervisory controllers for complex energy systems, comes the need for reduced order system models representing not only the non-linear behaviour of the components but also certain unknown process dynamics like their internal control logic. At the Institute of Energy Systems Technology in Offenburg we have built a real-life microscale trigeneration plant and present in this paper a rational modelling procedure that satisfies the necessary characteristics for models to be applied in model predictive control for grid-reactive optimal scheduling of this complex energy system. These models are validated against experimental data and the efficacy of the methodology is discussed. Their application in the future for the optimal scheduling problem is also briefly motivated.