Papers by Martin Benedikt

Title:	Parallel Fast: An Efficient Coupling Approach for Co-Simulation with Different Coupling Step Sizes
Authors:	Franz Holzinger, Klaus Schuch, Martin Benedikt and Daniel Watzenig
Abstract:	The primary task of co-simulation is the synchronization and exchange of data between the subsystems, e.g., FMUs, at certain coupling points. If the FMUs have different step sizes, the synchronization of the FMUs is often at the expense of the simulation duration of the co-simulation. The presented parallel fast scheduling algorithm is an effective approach to couple FMUs with different coupling step sizes. Therefore, synchronization intervals are introduced in which FMUs that finish their coupling step are synchronized. This allows a high performance of the coupling in terms of simulation duration. The higher performance compared to other scheduling algorithms is particularly evident in real-time applications, i.e., HiL simulations. However, the synchronization intervals are defined via a synchronization step size, which can be set independently to the coupling step sizes of the FMUs. This additional step size has a significant impact on the simulation accuracy. An extrapolation measure is introduced, which approximates the impact of the synchronization step size on the extrapolation error and thus on the simulation accuracy. Based on this, an optimization approach is presented, which derives the optimal synchronization step size to minimize the extrapolation measure.
Keywords:	parallel scheduling, synchronization step size, optimal step size
Paper:	full paper
Bibtex:	@InProceedings{modelica.org:Holzinger:2021, title = "{Parallel Fast: An Efficient Coupling Approach for Co-Simulation with Different Coupling Step Sizes}", author = {Franz Holzinger and Klaus Schuch and Martin Benedikt and Daniel Watzenig}, pages = {649--658}, doi = {10.3384/ecp21181649}, booktitle = {Proceedings of the 14th International Modelica Conference}, location = {Link\"oping, Sweden}, editor = {Martin Sj\"olund and Lena Buffoni and Adrian Pop and Lennart Ochel}, isbn = {978-91-7929-027-6}, issn = {1650-3740}, month = sep, series = {Link\"oping Electronic Conference Proceedings}, number = {181}, publisher = {Modelica Association and Link\"oping University Electronic Press}, year = {2021} }

Title:	Accurate Robot Simulation for Industrial Manufacturing Processes using FMI and DCP Standards
Authors:	Nihar Hasmukhbhai Shah, Perig Le Henaff, Clemens Schiffer, Martin Krammer and Martin Benedikt
Abstract:	Increased demand for customized products and reduced manufacturing times are key drivers towards modern, automated manufacturing systems. Manufacturing companies increasingly rely on simulation models of their manufacturing systems, with the goal to optimize critical production parameters and programming of their industrial assets. Simulation driven optimization concepts like digital twin and virtual commissioning are gaining popularity among manufacturing units to drive production rates higher. Manufacturing systems in the aerospace domain are highly complex, due to component size, tight tolerance requirements, and multi-tier manufacturing processes. Accurate simulations of robots and other programmable assets are needed, in order to lower the risk of collisions and manufacturing down times.In practice, this leads to inhomogeneous and even proprietary simulation environments, with different software interfaces. In this paper we introduce an accurate robotic arm simulation for industrial manufacturing robots that is based on open standards. This simulation environment is based on two open access standards, namely the Functional Mock-up Interface (FMI) and the Distributed Co-Simulation Protocol (DCP). In such a virtualized manufacturing process, the number of involved stakeholders is significantly higher. It includes software and simulation tool vendors, as well as robotic system providers. In such an environment, a modular software architecture based on open access standards is considered beneficial. The high number of aircraft customizations leads to continuous reprogramming of the involved systems. The challenge is to keep up with constant-quality manufacturing processes for aircraft components, requiring high levels of accuracy and reliability.
Keywords:	manufacturing, robotics, co-simulation, virtualization, standards
Paper:	full paper
Bibtex:	@InProceedings{modelica.org:Shah:2021, title = "{Accurate Robot Simulation for Industrial Manufacturing Processes using FMI and DCP Standards}", author = {Nihar Hasmukhbhai Shah and Perig Le Henaff and Clemens Schiffer and Martin Krammer and Martin Benedikt}, pages = {673--679}, doi = {10.3384/ecp21181673}, booktitle = {Proceedings of the 14th International Modelica Conference}, location = {Link\"oping, Sweden}, editor = {Martin Sj\"olund and Lena Buffoni and Adrian Pop and Lennart Ochel}, isbn = {978-91-7929-027-6}, issn = {1650-3740}, month = sep, series = {Link\"oping Electronic Conference Proceedings}, number = {181}, publisher = {Modelica Association and Link\"oping University Electronic Press}, year = {2021} }