wbk

Simon Mangold, M.Sc.

  • 76131 Karlsruhe
    Kaiserstraße 12

Simon Mangold, M.Sc.

Projekte:

  • AgiProbot
  • Agiles Produktionssystem mittels mobiler, lernender Roboter mit Multisensorik bei ungewissen Produktspezifikationen

 

Lebenslauf:

seit 06/2019 Wissenschaftlicher Mitarbeiter am Institut für Produktionstechnik (wbk) des Karlsruher Instituts für Technologie (KIT)
04/2018 - 05/2019 Wissenschaftlicher Mitarbeiter bei der Firma SCHUNK GmbH & Co. KG
09/2015 - 03/2018 Master Studium (M.Sc.) Automation and Robotics an der TU Dortmund
09/2011 - 02/2015 Bachelor Studium (B.Eng.) Mechatronik an der FH Südwestfalen (Campus Iserlohn)

 

Veröffentlichungen

[ 5 ] Lanza, G.; Asfour, T.; Beyerer, J.; Deml, B.; Fleischer, J.; Heizmann, M.; Furmans, K.; Hofmann, C.; Cebulla, A.; Dreher, C.; Kaiser, J.; Klein, J.; Leven, F.; Mangold, S.; Mitschke, N.; Stricker, N.; Pfrommer, J.; Wu, C.; Wurster, M. & Zaremski, M. (2022), „Agiles Produktionssystem mittels lernender Roboter bei ungewissen Produktzuständen am Beispiel der Anlasser-Demontage“, at - Automatisierungstechnik, Band 70, S. 504-516. 10.1515/auto-2021-0158
Abstract
Agile production systems combine a high degree of flexibility and adaptability. These qualities are particularly crucial in an environment with high uncertainty, for example in the context of remanufacturing. Remanufacturing describes the industrial process of reconditioning used parts so that they regain comparable technical properties as new parts. Due to the scarcity of resources and regulatory requirements, the importance of remanufacturing is increasing. Due to the unpredictable component properties, automation plays a subordinate role in remanufacturing. The authors present a concept how automated disassembly can be achieved even for components of uncertain specifications by using artificial intelligence. For the autonomous development of disassembly capabilities, digital twins are used as learning environments. On the other hand, skills and problem-solving strategies are identified and abstracted from human observation. To achieve an efficient disassembly system, a modular station concept is applied, both on the technical and on the information technology level.

[ 4 ] Wurster, M.; Klein, J.; Kaiser, J.; Mangold, S.; Furmans, K.; Heizmann, M.; Fleischer, J. & Lanza, G. (2022), „Integrierte Steuerungsarchitektur für ein agiles Demontagesystem mit autonomer Produktbefundung“, at - Automatisierungstechnik, Band 70, S. 542-556. 10.1515/auto-2021-0157
Abstract
Competitive remanufacturing of used products with uncertain conditions requires a high degree of flexibility and responsiveness. This article describes an integrated control architecture for a modular, agile disassembly system with autonomous product inspection and learning production resources. The approach includes a material flow control and vertically-integrated sub-architectures to control the station and intralogistics operations.

[ 3 ] Mangold, S.; Steiner, C.; Friedmann, M. & Fleischer, J. (2022), „Vision-Based Screw Head Detection for Automated Disassembly for Remanufacturing“. Procedia CIRP Volume 105, Elsevier, S. 01. Jun. 10.1016/j.procir.2022.02.001
Abstract
Remanufacturing is commonly perceived as a promising field for future challenges such as resource efficient production. For an economic operation of remanufacturing facilities, an automation of the currently manual labor is mandatory. Thus, the automation plays a vital role in order to realize high rates of re-utilization and therefore a significant reduction of waste. Screw connections allow for non-destructive dismantling and are commonly used connection elements. Especially the automation of the disassembly step is a key element as products from the field are of unknown specification upon feeding to the remanufacturing line due to alterations during their life cycles. State of the art solutions for automated disassembly lack flexibility to adapt to different products and product conditions. This contribution presents a highly flexible approach for the localization and classification of screws in electric motors. The presented system utilizes a tool equipped industrial robot with an integrated eye-in-hand vision system and an industrial computer. The system is able to locate and classify six different types of screw heads of varying sizes using machine learning approaches in order to adapt the robot’s end-effector. Because of the presented hardware concept the system depends upon a minimum of constraints concerning the presentation of objects. This paper compares different network architectures and peripheral settings and presents the most suitable solution to the use case. A dataset consisting of six classes of different screw heads was created to train neural networks to detect screws in an experimental set-up consisting of metal blocks holding different screws of diverse types and conditions. Results are validated on two different electric motors from the automotive sector being processed on an automated disassembly line.

[ 2 ] Rieß, S.; Wiedemann, J.; Coutandin, S. & Fleischer, J. (2022), „Secure Clamping of Parts for Disassembly for Remanufacturing“. Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021, Hrsg. Schüppstuhl, T.; Tracht, K. & Raatz, A., Springer, S. 79-87. 10.1007/978-3-030-74032-0
Abstract
Robot based remanufacturing of valuable products is commonly perceived as promising field in future in terms of an efficient and globally competitive economy. Additionally, it plays an important role with regard to resource-efficient manufacturing. The associated processes however, require a reliable non-destructive disassembly. For these disassembly processes, there is special robot periphery essential to enable the tasks physically. Unlike manufacturing, within remanufacturing there are End-of-Life (EoL) products utilized. The specifications and conditions are often uncertain and varying. Consequently the robot system and especially the periphery needs to adapt to the used product, based on an initial examination and classification of the part. State of the art approaches provide limited flexibility and adaptability to the disassembly of electric motors used in automotive industry. Especially the geometrical shape is a limiting factor for using state of the art periphery for remanufacturing. Within this contribution a new kind of flexible clamping device for the disassembly of EoL electrical motors is presented. The robot periphery is systematically developed

[ 1 ] Fleischer, J.; Gerlitz, E.; Rieß, S.; Coutandin, S. & Hofmann, J. (2021), „Concepts and Requirements for Flexible Disassembly Systems for Drive Train Components of Electric Vehicles“. Procedia CIRP, Elsevier, S. 577-582. 10.1016/j.procir.2021.01.154
Abstract
An increase in the sales number of battery electric vehicles within the last year can be recorded. At the end-of-life these vehicles require a reliable disassembly for recycling or remanufacturing. On the one hand, drivetrain components of those vehicles contain valuable resources and thus are mainly relevant for recycling or remanufacturing. On the other hand, the automated disassembly of especially electric motors and Li-ion battery systems encloses major challenges. Especially the high number of variants and the unknown specifications and conditions of the components are challenging points for the disassembly system. Conventional automated disassembly systems provide limited flexibility and adaptability for the disassembly of these products. Within this contribution two robot-based flexible disassembly systems are systematically derived for Li-ion battery modules and supplementary electric motors. Both products are analysed and the product-specific challenges and requirements are identified. The state of the art regarding flexible disassembly systems is captured using the methodology of a morphological box. Four subsystems are identified: Kinematic, Tools, Workpiece fixation, Safety system. Based on the results, concepts for disassembly systems for both Li-ion battery modules and supplementary electric motors are developed and presented in detail. Especially the structure and functionality of both systems are explained. This is followed by an assessment of the approaches and an identification of limitations as well as possible optimization potentials.

[ 0 ] Rieß, S.; Laub, J.; Coutandin, S. & Fleischer, J. (2020), „Demontageeffektor für Schraubverbindungen mit ungewissem Zustand“, ZWF Zeitschrift für wirtschaftlichen Fabrikbetrieb, Band 115, Nr. 10, S. 711-714. 10.3139/104.112401
Abstract
In diesem Beitrag wird die systematische Entwicklung einer Schraubeinheit für Industrieroboter vorgestellt, mit derer Hilfe ein Roboter die Demontage von Elektromotoren vornehmen kann. Aufgrund der Anwendung im Remanufacturing, haben die Elektromotoren bereits einen Lebenszyklus durchlaufen und zeichnen sich durch ungewisse Produktzustände aus. Der Schraubeffektor ist unabhängig davon im Stande, verschiedene Schrauben zu lösen und dabei Messwerte aufzunehmen.