Abstract: A method for setting a roller hemming process for hemming a plurality of identical component arrangements comprises guiding a hemming roller arranged on a robot by the robot in accordance with a predetermined hemming path for forming a hemming flange of a component of a component arrangement, wherein a hemming process force acting on the hemming roller by the robot during forming is detected, wherein the hemming process force can be changed by a corresponding control of the robot, and a target hemming quality to be achieved is predetermined. The robot is controlled to achieve the target hemming quality, taking into account the detected hemming process force and an actual geometry of a formed hemming flange resulting from the forming process.

Abstract: The present invention relates to a method for angular determination and/or for increasing the angular resolution or a detectable angular range when operating antenna groups using the technique of digital beam forming (DBF), as well as a device for carrying out the method. In the method, a measurement signal with a carrier signal and a frequency-modulated signal component are received via at least one antenna group directly or after reflection on one or several objects. The angle, at which the measurement signal is received, is determined by evaluating a phase difference in the received measurement signal which occurs between adjacent antenna elements of the antenna group. The method is characterized in that for determining the phase difference the frequency-modulated signal component is also evaluated, exclusively or additionally to an evaluation of the carrier signal.

Abstract: The present invention relates to a method for angular determination and/or for increasing the angular resolution or a detectable angular range when operating antenna groups using the technique of digital beam forming (DBF), as well as a device for carrying out the method. In the method, a measurement signal with a carrier signal and a frequency-modulated signal component are received via at least one antenna group directly or after reflection on one or several objects. The angle, at which the measurement signal is received, is determined by evaluating a phase difference in the received measurement signal which occurs between adjacent antenna elements of the antenna group. The method is characterised in that for determining the phase difference the frequency-modulated signal component is also evaluated, exclusively or additionally to an evaluation of the carrier signal.