## 4 Results
### Anomaly Resolution during the Forming Process
#### 4.3.2 Anomaly Detection, Diagnosis, Problem Solving and Resolution
Possible action alternatives are an analysis and adjustment of the analytical definition/control data (proposed by operator 1) or a continuation of the \begin{table}
\begin{tabular}{p{113.8 pt} p{113.8 pt} p{113.8 pt} p{113.8 pt}} \hline \hline
**Regular Process Monitoring** & **Anomaly Detection and Diagnosis** & **Problem Solving and Resolution** \\ \hline (4) Detection of a slight collision (sub-task: forming the work piece) & & & Individual Generation of Action Alternatives \\ \hline \multirow{4}{*}{Information Detection} & \multirow{4}{*}{Supervision and control of the forming process to avoid collisions with the clamping device (and thus, to minimize the frequency of releasing and fixating the clamping device)} & & \multirow{4}{*}{Operators 1 and 3: Exclusion of a discontinuation of the process; instead: returning the robot (and releasing the clamping device) or continuing the ongoing process (i.e., pushing the machine tool through the wedging)} \\ \hline \multirow{4}{*}{State-Goal-Comparison} & \multirow{4}{*}{Expertise Alignment} & & Joint Team Evaluation \\  & & & \(\bullet\) & The risk for damages on the robot or machine tool when continuing the ongoing process are expected to be small \\ \hline \multirow{4}{*}{\(\bullet\)} & \multirow{4}{*}{All operators detect a slight wedging between the machine tool and clamping device} & \multirow{4}{*}{Operator 1} & & \multirow{4}{*}{
\begin{tabular}{} \end{tabular} \\  & & & & \\ \hline \hline \end{tabular}
\end{table} 
Table 3: _Cont._process despite possible quality losses (proposed by operator 2). The operators agreed with operator 2 and decided to continue the process. The second anomaly occurred during the sub-task 4, \"empty run(s)\". Operator 1 detected a distance between machine tool and work table, which was too small and, therefore, might lead to collision(s). There was no identification of possible causes for this anomaly by the operators. However, all operators reported that finding a lasting solution for this anomaly falls into the area of responsibility of operator 2. Two action alternatives were reported to solve the anomaly: first, an adjustment of the analytical definition/control data (reported by operator 1) and, second, the relocation of the clamping device (reported by operator 2). The team decided to relocate the clamping device. Thus, the distance between machine tool and work table could be increased and uncontrolled residual stress on the work piece due to releasing and fixating the clamping device more frequently could be avoided. Moreover, this enabled a continuation of the process and, therefore, learning experience. The next three anomalies were detected during the sub-task 7, \"forming the work piece\". First, operator 2 detected a quality defect on the work piece, which belonged to their area of expertise. All operators expected that too many parts of the clamping device were released at the same time, which led to uncontrolled release of residual stresses on the work piece and, thus, to an unfavorable forming result. Because all operators believed that there was no possibility of solving the quality defect, it had to be decided between a discontinuation or continuation of the process. The latter increased the learning experience; therefore, the process was continued. Second, the operators detected a slight wedging between the machine tool and clamping device, probably because the clamping device was not sufficiently long released. Operators 1 and 3, which were the experts in solving this anomaly, excluded a discontinuation of the process. Instead, it was proposed to either return the robot and release the clamping device or to continue the ongoing process, i.e., to push the machine tool through the wedging. All operators agreed to continue the process, as the risk for damages on the robot or machine tool were expected to be small. Finally, the operators detected a serious wedging between the machine tool and clamping device.