Research Assistant
Phone:
+49 711 685 66193
What we do
The use-oriented questions are dealt with in close cooperation with the respective industrial partner. In a first step, this requires to anaylze the system at hand and develop an appropriate representative model capturing the system's behavior. The characterizing parameters of the system need to be identified und subsequently, the models are validated by comparison of real measurements and simulation data. Based on these results methods of control engineering are applied in order to achieve automatization or enhance the efficiency, the precision, the safety or the comfort. Particular emphasis is placed on researching methods for active vibration compensation. Such vibrations occur in large structures due to progressing lightweight construction and due to an increasing demand for precision.
In this context, different theories of robotics, such as modeling the system, trajectory generation and tracking, model-based feedforward control as well as decentralized control, are put into practice within a broad field of industrial applications. Among others the topic of reference trajectory tracking of a tool (e.g. crane hook, rescue platform) is researched. Moreover, damping of structural vibrations or oscillating loads are of particular interest. Here, nonlinearities of the mechanical systems, the dynamics and nonlinearities of hydraulic actuators (popular in large scale robotics), structural flexibilities, the computational cost, and possibilities for porting on real-time capable hardware are considered. In cooperation with our project partners we develop control concepts from the theoretical idea towards product introduction.
Current Research Projects
- Control-oriented dynamic modeling of top slewing tower cranes with structural elasticities
- Feedback and feedforward control design for active sway damping by taking the structural dynamics into account.
- Observer design for estimation of load sway and structural deformations
- Further information
- Modeling of the elastic turntable ladder and of the employed actuators
- Data fusion for the reconstruction of the modes
- Active damping of the vibrations with decentralized control
- Fully automatized trajectory tracking of the rescue platform
- Further information
Fire truck ladder
Photo: Magirus
Telescopic handler by Liebherr
Image: Liebherr-Werk Telfs GmbH
- Modeling of the mechanical and hydraulic components
- Coupling of the subsystems for the derivation of the entire system dynamics
- Automated parametrization of existing functions based on the digital twin
- Velocity control of the hydraulic actuators with trajectory generation
- Development of automation functions and assistance systems
- Further information
- Path planning for tower cranes in a virtual environmental model of the construction site
- Trajectory generation and hybrid control strategies of a spider crane and a tower crane
- Design of a hook-mounted tower crane gripper system for automated load transportation
- Further information
Elements of the cyberphysical construction platform
- Development of a cyber-physical construction platform for (partly) automating assembly in construction
- Tool center point control for a large-scale hydraulic manipulator with local sensors and precise absolute positions provided by an RTS (robotic total station) network
- Smart teleoperation, wearable haptic interfac and assistance functions for human operators
- Hybrid control of minicrane and tower crane or between two minicranes
- Further information
- Cooperative trajectory generation for a heterogeneous group of mobile manipulators for indoor construction tasks
- Optimization-based and AI-supported approaches for adaptive decentralized trajectory generation
- Development of an absolute positioning system
- Creation of a digital twin
- SLAM approaches for online monitoring of construction processes
- Simulative and experimental validation for the construction of a stud wall system
- Further information
Completed Research Projects
- Reconstruction of the pendulum state for mobile harbor cranes
- Path planning for luffing, turning and swing gear with teach-in operation for facilitated handling of general cargo or bulk cargo
- Active damping of the swinging load
- Functionality for a spectrum of crane types
- Further information
Boom cranes
Photo: Liebherr
- Recording and prediction of the heave motion based on sensor data fusion and dynamical models of the system
- Trajectory generation in due consideration of the constrained dynamics of the actuators
- Active control of the hoisting winch to compensate for vertical vessel motion
- Further information
Offshore crane
Photo: Liebherr
- Development of a servo-pneumatic flight simulator
- Modeling and high precision control of a 6 degree of freedom motion platform
- Motion cueing algorithm for a realistic simulation of forces and acceleration for the training pilot
- Further information
Servoflight
- Modeling of an innovative passenger accommodation system
- Development of a damping concept to minimize vibration of the elevator cabin
- Further information
- Coarse assembly planning using Logic-Geometric Programming
- Modeling abstractions of building systems in interaction with construction robotics for the analyses of structural states and constructive integrity
- Modellpredictive control strategies for robotic construction
- Further Information
Student's Theses
We are always looking for students, who want to contribute to one of our research projects through a bachelor's or master's thesis. The assigned subjects typically include but are not limited to:
- Distributed-parameter and lumped-parameter modeling of mechanical and mechatronic systems
- Methods of parameter and state estimation
- Sensor fusion and signal processing
- Methods of constraint and unconstrained optimization
- Strategies for designing reference trajectories
- Design and comparison of control strategies for the analyzed systems in due consideration and for the compensation of elastic deformations and vibrations
If you are interested in one of our projects and would like to get more information, or if you'd like to inquire about additional topics, please don't hesitate to contact us.
Publications
- , “Dynamic Multibody Model of a Turntable Ladder Truck Considering Unloaded Outriggers and Sensitivity-based Parameter Identification”, Mathematical and Computer Modelling of Dynamical Systems , 2024, doi:10.1080/13873954.2024.2361011
- , “Model-based velocity-tracking-control of self-erecting industrial tower cranes”, Control Engineering Practice, 147, pp. 105928, 2024, doi:10.1016/j.conengprac.2024.105928
- , “Optimization-based Multi-Point Trajectory Planning Along Straight Lines for Tower Cranes”, IEEE Transactions on Control Systems Technology, 2023, doi:10.1109/TCST.2023.3308762
- , “Automated on-site assembly of timber buildings on the example of a biomimetic shell”, Automation in Construction, 156, pp. 105118, 2023, doi:10.1016/j.autcon.2023.105118
- , “Tool Center Point Control of a Large-Scale Manipulator Using Absolute Position Feedback”, Control Engineering Practice, 131, pp. 105388, 2023, doi:10.1016/j.conengprac.2022.105388
- , “Quaternion attitude and disturbance observer mass estimation with low-cost sensors for industrial vehicles with trailers”, Mechatronics, 93, 2023, doi:10.1016/j.mechatronics.2023.102991
- , “Flexible multibody system modelling of an aerial rescue ladder using Lagrange’s equations”, Mathematical and Computer Modelling of Dynamical Systems, 27, pp. 322-346, 2021, doi:10.1080/13873954.2021.1918175
- , “Efficient Online Trajectory Planning for Integrator Chain Dynamics using Polynomial Elimination”, IEEE Robotics and Automation Letters (RA-L), 2021
- , “Modeling and Control of Tower CranesWith Elastic Structure”, IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2020, doi:10.1109/TCST.2019.2961639
- , “Online payload estimation for hydraulically actuated manipulators”, Mechatronics, 2020, doi:10.1016/j.mechatronics.2020.102322
- , “Tool-Center-Point Control of a Concrete PumpUsing Constrained Quadratic Optimization”, IEEE Transactions on Automation Science and Engineering, 2020
- , “A crane-based five-axis manipulator for antenna tests”, Control Engineering Practice, 85, pp. 149-162, 2019, doi:10.1016/j.conengprac.2019.01.014
- , “Comparison of Joint Angle, Velocity and Acceleration Estimators for Hydraulically Actuated Manipulators to a Novel Dynamical Approach”, Control Engineering Practice, 91, 2019, doi:10.1016/j.conengprac.2019.104118
- , “Predictive operator modeling for virtual prototyping of hydraulic excavators”, Automation in Construction, 84, pp. 133-145, 2017, doi:10.1016/j.autcon.2017.08.008
- , “Modelling and Boundary Control of a Hanging Rope Immersed in Water”, ASME Journal on Dynamic Systems, Measurement and Control (JDSMC), 136, pp. 1-15, 2014, doi:10.1115/1.4024604
- , “Modeling and Volume Flow Control of a Hydraulic Concrete Piston Pump”, Newcastle upon Tyne, UK, 2024, doi:10.1109/CCTA60707.2024.10666564
- , “Data-based Reachability Analysis and Optimized Robot Positioning for Co-Design of Construction Processes”, IEEE/SICE International Symposium on System Integration, 2024, doi:10.1109/SII58957.2024.10417196
- , “Improving Data-based Trajectory Generation by Quadratic Programming for Redundant Mobile Manipulators”, IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Boston, USA, 2024, doi:10.1109/AIM55361.2024.10636991
- , “Structural Modeling of a Flexible Reachtruck Mast as a Distributed Parameter System”, SII - International Symposium on System Integration, 2024, pp. 1193-1198, doi:10.1109/SII58957.2024.10417252
- , “Cooperative Time-Optimal Trajectory Generation for a Heterogeneous Group of Redundant Mobile Manipulators”, IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Seattle, USA, 2023, doi:10.1109/AIM46323.2023.10196138
- , “State Estimation with Static Displacement Compensation for Large-Scale Manipulators”, SII - International Symposium on System Integration, Atlanta, USA, 2023
- , “Force-Controlled On-Site Assembly using Pose-Dependent Stiffness of Large-Scale Manipulators”, 19th International Conference on Automation Science and Engineering (CASE), Auckland, Neuseeland, 2023
- , “Smooth Path Planning for Redundant Large-Scale Robots using Measured Reference Points”, IFAC World Congress, Yokohama, Japan, 2023, doi:10.1016/j.ifacol.2023.10.1586
- , “Adaptive feedforward control using a gaussian process and a recursive least squares algorithm for a hydraulic axial piston pump”, IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Seattle, USA, 2023
- , “Feed-Forward Control of a Construction Vehicle's Hydro-Mechanical Powertrain to Prevent Engine Stalling”, IEEE International Conference on Systems, Man, and Cybernetics (SMC), 2023, doi:10.1109/SMC53992.2023.10394518
- , “State Observer for Position Control of Systems with Quantized Outputs in Large Scale Robotics”, IEEE International Conference on Systems, Man, and Cybernetics (SMC), Prag, 2022, doi:10.1109/SMC53654.2022.9945413
- , “Sensitivity Analysis and Fisher-Information Matrix for a Dynamic Model of a Turntable ladder”, 9th IFAC Symposium on Mechatronic Systems (Mechatronics 2022), Los Angeles, 2022, doi:10.1016/j.ifacol.2022.10.507
- , “Extended State Observer Based Control for a Mechanical Drive System with Unmatched External Disturbance”, IEEE/SICE International Symposium on System Integration (SII), 2022, doi:10.1109/SII52469.2022.9708760
- , “Modelling of the Work Functionality of a Hydraulically Actuated Telescopic Handler”, 10th Vienna International Conference on Mathematical Modelling (MathMod 2022), Vienna, Austria, 2022
- , “Modeling the Driving Dynamics of a Hydraulic Construction Vehicle”, 9th IFAC Symposium on Mechatronic Systems (Mechatronics 2022), Los Angeles, USA, 2022
- , “Flatness-based feedforward and modal model-predictive state-feedback control of a double pendulum bridge crane”, 9th IFAC Symposium on Mechatronic Systems (Mechatronics 2022), Los Angeles, USA, 2022
- , “Nonlinear Model Predictive Control with Non-Equidistant Discretization Time Grids for Rotary Cranes”, ASCC - Asian Control Conference, 2022, doi:10.23919/ASCC56756.2022.9828180
- , “Modelling of Transient Incompressible Concrete Mass Flow through a Hose”, Conference on Control Technology and Applications (CCTA), 2021
- , “A graph-based path planning algorithm for the control of tower cranes”, American Control Conference (ACC), 2021
- , “Towards Modeling and Control of a Crane-Collaboration for the Automated Assembly of Timber Structures”, 47th Annual Conference of the IEEE Industrial Electronics Society (IECON), 2021
- , “Flexible Multibody System Model of a Spider Crane with two Extendable Booms”, 47th Annual Conference of the IEEE Industrial Electronics Society (IECON), 2021
- , “Trajectory sequence generation and static obstacle avoidance for automatic positioning tasks with a tower crane”, 47th Annual Conference of the IEEE Industrial Electronics Society (IECON), 2021
- , “Online trajectory generation and feedforward control for manually-driven cranes with input constraints”, Conference on Control Technology and Applications (CCTA), 2021
- , “Closed-form solutions and analysis of the eigenmodes of Euler-Bernoulli beams with inner pinned support and end mass”, IEEE Conference of Advanced Intelligent Mechatronics (AIM), Boston (virtual), 2020
- , “Design and Experimental Verification of Two-Dimensional Rate Limiters in Trajectory Generation for Differential Drive Robots”, 1st Virtual IFAC World Congress (IFAC-V 2020), Berlin, Germany (virtual), 2020
- , “Loosely Coupled Integrated Navigation System for Excavators”, European Control Conference (ECC), St. Petersburg, Russia, 2020
- , “Observer Design for non-stationary oscillating Disturbances in Mixing Processes”, 21st IFAC World Congress, Berlin, Germany, 2020
- , “A model to control self-erecting tower cranes with elastic structure”, 21st IFAC World Congress, Berlin, 2020
- , “Trajectory planning with obstacle avoidance for a concrete pump using harmonic potentials”, 21st IFAC World Congress, Berlin, Germany, 2020
- , “Tool-center-point control of a flexible link concrete pump with task space constraints using quadratic programming”, IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Boston (virtual), 2020
- , “Trajectory Generation for a Hydraulic Mini Excavator using Nonlinear Model Predictive Control”, IEEE International Conference on Industrial Technology (ICIT), Buenos Aires, 2020
- , “Simplified Method for Calculation of the Frequency Spectrum of Time and Value Discretized Signals”, International Conference on Mechatronics (ICM), Ilmenau, 2019, doi:10.1109/ICMECH.2019.8722828
- , “Closed-form solution for the eigenmodes of Euler-Bernoulli beams in Pinned-Pinned-Free configuration”, Conference on Control Technology and Applications (CCTA), Hongkong, 2019
- , “Online Trajectory Generation for Differential Drive Mobile Robots Using Multi-Dimensional Rate Limiters”, International Electronics Symposium, Surabaya, Indonesia, 2019
- , “RLS-Based Adaptive Feedforward Control of Ctanes with Double Pendulum Dynamics”, International Conference on Mechatronics, 2019, pp. 91-96, doi:10.1109/ICMECH.2019.8722880
- , “A lumped parameter model of the boom of a mobile concrete pump”, European Control Conference (ECC), Neapel, 2019, doi:10.23919/ECC.2019.8796004
- , “Tool-center-point control of a flexible link concrete pump with hydraulic limitations using quadratic programming”, Conference on Automation Science and Engineering (CASE), Vancouver, Kanada, 2019
- , “Design of an Adaptive Velocity Controller for a Hydraulic Mini Excavator using a Moving-Horizon-Estimator”, Conference on Control Technology and Applications (CCTA), Hongkong, 2019
- , “Time-Optimal Playback Trajectory Generation for Hydraulic Material Handling Excavator”, Conference on Automation Science and Engineering (CASE), Vancouver, Kanada, 2019
- , “Strukturdynamik von punktuell verkoppelten Balken”, GMA FA 1.30, Salzburg, Austria, 2018
- , “Motion Control of an Overhead Crane using a Wireless Hook Mounted IMU”, American Control Conference (ACC), Milwaukee, USA, 2018
- , “An Elastic Jib Model for the Slewing Control of Tower Cranes”, IFAC World Congress, Toulouse, France, 2017, doi:10.1016/j.ifacol.2017.08.886
- , “Modelling of a rope-free Passenger Transportation System for Active Cabin Vibration Damping”, 6th Symposium on Lift and Escalator Technologies, Northampton, United Kingdom, 2016
- , “Parameter identification and controller design for high-rack feeder systems and fork lifts”, IEEE International Conference on Automation Science and Engineering (CASE), Fort Worth, TX, USA, 2016, pp. 2161-8089
- , “Modeling Offshore Ropes for Deepwater Lifting Applications”, IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Banff, Canada, 2016
- , “Modelling the structural dynamics of a tower crane”, IEEE Conference of Advanced Intelligent Mechatronics (AIM), Banff, Canada, 2016, doi:10.1109/AIM.2016.7576860
Members of the Large Scale Robotics Group
Research Assistant
Phone:
+49 711 685 69899
Head of the Construction Robotics Group
Phone:
+49 711 685 65934
Research Assistant
Phone:
+49 711 685 66279
Research Assistant
Phone:
+49 711 685 66624
Research Assistant
Phone:
+49 711 685 67220
Research Assistent
Phone:
+49 711 685 69903
Research Assistant
Phone:
+49 711 685 67072
Research Assistant
Phone:
+49 711 685 66314
Research Assistant
Phone:
+49 711 685 66954
Research Assistant
Phone:
+49 711 685 66296
Research Assistant
Phone:
+49 711 685 64051