Research Assistant
Phone:
+49 711 685 66819
In the context of a more and more resource saving industry, efficient drive systems become more and more important. Production sites have to be equipped with economical drives and innovative solutions enable a flexibel use. Drive systems in work machines are sized based on models and answers to the demands of energy generation and supply have to be provided.
Current Research Projects
- Trajectory planning for continuum manipulators
- Development and comparison of control design methods for continuum manipulators with coupled actuator dynamics
- Extension of the trajectory planning and control design concepts to the case of contact
- Further information
Photo: Festo AG & Co. KG
- Modeling of vacuum technology components
- Optimization of vacuum systems in handling technology
- Detection and prediction of system and component degradation based on machine learning
- Detection of changes in utilization and error states during operation
- Further information
- Energy optimal selection of drives
- Technology-neutral analysis
- Optimal control of drive systems
- Further information
Completed Research Projects
- Kinematic modelling
- Kinematic control
- Feedback and feedforward control of pneumatic actuators
- Dynamic modelling
- Feedback and feedforward control
- Further information
Photo: Festo AG & Co. KG
- Hydraulic excavators represent complex mechatronic systems
- Predictive driver models allow a model based development process
- Driver models based on model predictive control
- Application in simulation and on the excavator
- Further information
Photo: Frank Bender
Student's Theses
The Drive and Energy Systems group at ISYS is always looking for students who want to contribute to one of our research projects through a bachelor's or master's thesis.
For more information, please do not hesitate to contact one of our group members.
Publications
- , “Multi-objective three stage design optimization for island microgrids”, Applied Energy, 2016, doi:10.1016/j.apenergy.2015.12.059
- , “A Two-Stage Model Predictive Control Strategy für Economic Diesel-PV-Battery Island Microgrid Operation in Rural Areas”, IEEE Transactions on Sustainable Energy, 2016, doi:10.1109/TSTE.2015.2509031
- , “Dynamic Modeling of Bellows-Actuated Continuum Robots Using the Euler–Lagrange Formalism”, IEEE Transactions on Robotics, 31, pp. 1483-1496, 2015, doi:10.1109/TRO.2015.2496826
- , “Optimisation of real-time control for hybrid diesel-PV-battery systems”, International Journal of Sustainable Energy, 2015, doi:10.1080/14786451.2014.999072
- , “A Variable Curvature Continuum Kinematics for Kinematic Control of the Bionic Handling Assistant”, IEEE Transactions on Robotics, 30, pp. 935-949, 2014, doi:10.1109/tro.2014.2314777
- , “Online TCP Trajectory Planning for Redundant Continuum Manipulators using Quadratic Programming”, IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Banff, Kanada, 2016, pp. 1163-1168
- , “Combined Probabilistic and Set-Based Uncertainties for a Stochastic Model Predictive Control of Island Energy Systems”, American Control Conference (ACC), Boston, MA, USA, 2016
- , “Nonlinear Model Predictive Control of a Hydraulic Excavator using Hammerstein Models”, IEEE International Conference on Automation, Robotics and Applications (ICARA), Queenstown, New Zealand, 2015, pp. 557-562, doi:10.1109/ICARA.2015.7081208
- , “Model-based feed-forward position control of constant curvature continuum robots using feedback linearization”, IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA, 2015, pp. 762-767, doi:10.1109/ICRA.2015.7139264
- , “Automatic loop shaping: optimization-based controller tuning for motion systems”, IEEE/IES International Conference on Mechatronics, 2015, pp. 34-39, doi:10.1109/ICMECH.2015.7083944
- , “Two layer model predictive control for a cost efficient operation of island energy systems”, American Control Conference (ACC), Chicago, IL, USA, 2015, doi:10.1109/ACC.2015.7172108
- , “A predictive driver model for the virtual excavator”, International Conference on Control, Automation, Robotics & Vision (ICARCV), Singapore, 2014, pp. 187-192, doi:10.1109/ICARCV.2014.7064302
- , “Offline Trajectory Planning of a Pneumatically Actuated, Continuum Manipulator on the Example of the Bionic Handling Assistant”, International Fluid Power Conference (IFK), Aachen, Germany, 2014, pp. 456-463
- , “Trajectory Optimization of Pneumatically Actuated, Redundant Continuum Manipulators”, American Control Conference (ACC), Portland, OR, USA, 2014, pp. 4008-4013, doi:10.1109/ACC.2014.6858736
- , “Dynamic modeling of constant curvature continuum robots using the Euler-Lagrange formalism”, IEEE/ RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, IL, USA, 2014, pp. 2428-2433, doi:10.1109/IROS.2014.6942892
- , “Filter-based PV Power Smoothing Control for Island Hybrid Energy Systems With High PV Penetration”, IEEE International Conference on Automation Science and Engineering (CASE), 2014, pp. 872-877, doi:10.1109/CoASE.2014.6899428
- , “A Variable Curvature Modeling Approach for Kinematic Control of Continuum Manipulators”, American Control Conference (ACC), Washington, DC, USA, 2013, pp. 4952-4957
- , “Forward kinematics of a compliant pneumatically actuated redundant manipulator”, IEEE Conference on Industrial Electronics and Applications (ICIEA), 2012, pp. 1267-1273, doi:10.1109/ICIEA.2012.6360917
- , “Model-based Analysis of Pneumatic Networks – prosepcts and challenges”, Scandinavian International Conference on Fluid Power (SICFP), Tampere, Finnland, 2011, pp. 471-484
- , “Modelling and Optimization in Pressurized-Air Networks – A first Approach with Respect to Energy-Efficiency”, International Fluid Power Conference, Aachen, Germany, 2010, pp. 317-328
Members of the Drive and Energy Systems Group
Wissenschaftlicher Mitarbeiter
Phone:
+49 711 685 65927
Research assistant
Phone:
+49 711 685 66620
Research Assistant
Phone:
+49 711 685 69904