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System reliability and improving System Average Interruption Duration Index (SAIDI) and System Average Interruption Frequency Index (SAIFI) performance are of utmost importance for utility companies today. The first step to systematically achieve a reliable distribution network which contains a high percentage of Medium Voltage underground cables is Very Low Frequency (VLF) testing. VLF testing on cable networks identifies critical defects during a scheduled test when the circuit is de-energized intentionally. At the same time the n-l principle ensures continued supply to customers. The next step beyond VLF testing is diagnostics testing, namely offline Partial Discharge (PD) analysis in the field. There are various technologies available, but real-world comparisons have shown significant differences in performance between the different types of excitation voltages. This paper will illustrate those differences and give recommendations for best testing practices.

Low cost vision systems gain more and more importance in robotics and in intelligent manufacturing automation. This paper presents the solution to realize a low cost vision system based on a PC. The function and co-operation of this components, such as the programming of the vision system are described. The programming of the PC based vision system is realized by object oriented programming using an object oriented image processing concept.

In the area of robotic applications assembly and disassembly automation are the fields with one of the highest increasing rates. Especially in small and medium sized companies there is a great demand for flexible modular assembly cells usually equipped with robots, grippers, storage devices and other peripherical devices. The cost and expertise required to set-up a cell, and subsequently to operate it, negates the many advantages of implementing such flexible systems. To guarantee a high flexibility and efficiency, a proper distribution and a context sensitive supply of information between all components must be ensured. This paper describes a module system 'C_CTRL' for hierarchical cell control based on information demands of assembly cells, like controlling tasks, supervising tasks, sequence co-ordination tasks, error handling, monitoring, and statistics.

The calculation of the electrical parameters of overhead lines and cables is crucial for simulations of transient phenomena. Parameters in the frequency domain for frequencies higher than the power frequency are substantially different to parameters at power frequency. In particular, SKIN- and PROXIMITY-effects are of great importance. The partial subconductor method is accepted and effective to describe the parameters of cables using a relatively easy algorithm to obtain accurate results. This paper will introduce an extended algorithm which extensively reduces computation time through a smart frequency-dependent segmentation. The segmentation is based on the frequency-dependent current distribution throughout the conductor's cross-sectional area.

The paper starts with some considerations on CIM (computer integrated manufacturing) and especially CAM (computer aided manufacturing), which is the main topic of this paper. For efficient applications of CAM a well educated staff will be necessary. Therefore education in this field is very important. As a contribution to education in this field several software packages will be described. These packages illustrate the main fields of CAM namely the control of NC and CNC machines, machine feeding devices, transportation facilities, and storage devices.

In co-operation with an Austrian small sized company, the Institute for Handling Devices and Robotics of the Technical University Vienna started with a project with the goal to reduce the necessary time for planning, programming and set-up of robot equipped manufacturing cells. In this contribution a modular, object-oriented control system for robotized cells is presented. This system ‘C_CTRL’ is responsible for all the necessary tasks, like sequencing, supervising, controlling of basic functions, error handling, and recording of statistic data. The control system is ‘self-generating’ during program start-up — using hardware information from a simple ASCII configuration file. Regardless which and how many components used in a particular cell, there is no additional programming effort for generation of the entire control software.

Der Rechnereinsatz im Maschinenbau erfolgte verglichen mit anderen technischen Disziplinen — wie beispielsweise der Elektro- und Nachrichtentechnik — relativ spat. Den Anfang bildeten hier Rechner fur aufwendige Berechnungen — z.B. Finite Elemente — , Rechner zum Entwurf und zum Erstellen von Zeichnungen — CAD-Systeme — , sowie Rechner in der Produktions- und Fertigungsautomatisierung. Ungefahr in den 70er Jahren begann der Boom der Rechneranwendung im Maschinenbau, sodas heute aus keiner Produktionsstatte wie auch aus dem Konstruktionsburo und dem kommerziellen Bereich eines Betriebes der Rechner und hier insbesonders der PC nicht mehr wegzudenken ist.

Moderne Produktionsbetriebe sind heute gekennzeichnet durch einen vielfaltigen Einsatz unterschiedlichster Rechnersysteme. Das zentrale Schlagwort der Betriebsorganisation unserer Tage heist Rechnerintegration. Hinter diesem Schlagwort steht der Anspruch, samtliche im Produktionsbereich vorhandenen Ablaufe mittels Rechnersystemen zu erfassen, um damit die Informations- und Materialstrome im Betrieb effektiver zu gestalten. Ziel ist es dabei, die gesamte Kette vom Auftragseingang uber Konstruktion und Entwicklung bis hin zur eigentlichen Fertigung und daruber hinaus noch zum Vertrieb rechnerunterstutzt zu erfassen.

Die Rechnerprogrammierung beschaftigt sich mit der Erstellung von Programmen, d.h. Software fur die maschinelle Be- und Verarbeitung algorithmisierbarer Vorgange. Software ermoglicht die Kommunikation zwischen Mensch und Maschine oder zwischen Mensch und Mensch uber einen Informationsaustausch mit der Maschine. Aus diesem Grunde bildet die Software die Brucke zwischen den maschinellen Gegebenheiten der Hardware und den Informationsbedurfnissen des Menschen. Dies fuhrte zu einer neuen Ingenieurdisziplin, dem Softwareengineering. Softwareengineering mus

Das Wort Informatik ist ein Kunstwort, gebildet aus den Begriffen Information und Mathematik. Der Begriff ist eng mit dem elektronischen Rechner verknupft und wurde in Deutschland und Frankreich (Informatique) gepragt. Im angelsachsischen Sprachraum hat das Wort „Informatics“ kaum Eingang gefunden und man spricht von Computer Science.

The paper deals with the kinematics of an hydraulic driven robot arm which has been developed for teaching purposes. This robot has five rotational degrees of freedom and is controlled by means of a teach panel including a microprocessor. This teach panel was replaced by a personal computer with an appropriate interface. Various additional possibilities can be realized with this personal computer, e.g. calculation of connections between the stroke of the hydraulic pistons and the angles of the links, determination of the nonlinearities in these equations, connections between the robot coordinates and the cartesian world coordinates, programming of the robot in cartesian coordinates and more accurate positioning. After a short description of the robot and the commercial control panel as well as the personal computer the main part of the paper deals with the derivation of the dependence of the robot coordinates from the cartesian world coordinates and vice versa in form of equations. Due to these equations the connections between the measured relative coordinates and the robot coordinates are given. With these equations the calculation of the cartesian coordinates from the robot coordinates is possible. Based on these equations points of the working space of the robot may be calculated and plotted. The control-software for replacinq the teach panel by the personal computer is treated in the followino chapters. By means of these software-modules the programming of the robot in cartesian coordinates with a greater accuracy is possible. Finally a short outline concerning future works on this robot is given.

Die Kraft \( \vec{F} \) (force) ist eine gerichtete Grose (ein Vektor), graphisch darstellbar durch einen Pfeil (Lange entspricht dem Betrag der Kraft). Die Krafteinheit im internationalen Einheitensystem ist das Newton (N), mit dem Kilogramm (kg) als zugehoriger Masseneinheit: $$ 1N=1kg.m/{{s}^{2}} $$ (2.1) 1 Newton ist jene Kraft, durch die einer Masse von 1 kg eine Beschleunigung von 1 m/s2 erteilt wird.

Als stabformig bezeichnet man einen Korper (oder Bauteil), wenn seine Lange wesentlich groser als seine groste Querschnittsabmessung ist. Wir setzen voraus, das der Stab im Gleichgewicht ist. Um zunachst ein Bild von der Beanspruchung der Querschnitte eines solchen Stabes zu gewinnen, benutzt man das sogenannte „Schnittprinzip“: Man denkt sich den Stab im betrachteten Querschnitt in zwei Teile zerschnitten und bildet die vektorielle Summe \( \vec{F} \) aller Krafte, die an dem weggeschnitten gedachten Teil angreifen, und die vektorielle Summe \( \vec{M} \)M aller Drehmomente dieser Krafte bezuglich des geometrischen Schwerpunktes S der Querschnittsflache.

In co-operation with an Austrian small sized company, the Institute for Handling Devices and Robotics at the Vienna University of Technology started a project with the goal to reduce the time necessary for planning, programming and set-up of robot equipped manufacturing cells. In this contribution a modular, object-oriented control system for robotized cells is presented. This system ‘C_CTRL' is responsible for all necessary tasks, like sequencing, supervising, controlling of basic functions, error handling, and recording of statistic data. The control system is ‘self-generating' during program start-up – using hardware information from a simple ASCII configuration file. Regardless which and how many components used in a particular cell, there is no additional programming effort for generation of the entire control software.

The authors have been involved over some years in Educaton in Robotics in Austrian Universities. In addition to lectures, seminar as well as laboratory courses are offered for students of different fields of interest. For these purposes some software packages were developed at both Universities. The paper starts with a short summary of results of a report completed by the working group "Education in Robotics and Manufacturing" of the IFAC-EDOCOM. In the following, several software packages illustrating kinematics and kinetics, conventional and "advanced" control algorithms of robots are shortly described and discussed. Two new programming languages - ROBASIC and ROPASCAL - developed mainly for educational purposes will be also described.