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Logo: Institute of Mechatronic Systems
Logo Leibniz Universität Hannover
Logo: Institute of Mechatronic Systems
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Finished Projects

Identification & Control

On-Line identification of control relevant system parameters electrically driven mechanical systems

Bild zum Projekt Online-Identifikation regelungstechnisch relevanter Systemparameter elektrisch
angetriebener mechanischer Systeme

Researcher:

M. Sc. Dipl.-Ing. (FH) Daniel Beckmann

Funded by:

Forschungsvereinigung Antriebstechnik (FVA)

Brief description:

The primary objective of this research project is to determine the main parameters of an electric drive system coupled with mechanics, without use of special trajactories and without additional sensors but by observing the identifiability of the parameters on the fly. The basis is a real-time model of the mechatronic system.

 

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Electromagnetically actuated Punch

Bild zum Projekt Magnetstanze

Researcher:

Dipl.-Ing. Matthias Dagen, Ing. Mauro H. Riva

Funded by:

German Research Foundation (DFG)

Brief description:

The challenge of this research joint research project with the institute of metal forming and metal forming machines is the design and control of an electromangetically actuated punch. This drive concept allows the adaption of the cutting process and, therefore, gives the possibility to compensate oscillations and tracking errors during the cut. Thus, a higher stroke rate, better quality of the produced elements, and lower tool wear level of the die can be achieved. Up to now, rates up to 50 strokes per second and cutting forces up to 10 kN were reached. Thanks to the direct drive concept a very compact construction is possible.

 

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Modelbased analysis of electrical drive systems

Bild zum Projekt Modellbasierte Analyse elektrischer Antriebssysteme

Researcher:

Dipl.-Ing Lars Perner

Funded by:

Lenze Automation GmbH

Brief description:

Electrical drive systems are classical mechatronic systems, consisting of power electronics, three-phase motor, mechanical load, and signal processing. The time constants of these systems vary in several orders of magnitude. Because of this, a lot of work is done in order to describe and optimize the behavior of each subsystem disregarding the interaction between the subsystems. For further optimization of electrical drive systems it is necessary to describe the behavior of the complete system, which is goal of this project.

 

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Autonomous Friction Measuring Platform

Bild zum Projekt Autonome Messeinrichtung zur Untersuchung des Reibprozesses am Groschrad

Researcher:

Dipl.-Ing. Noamen Bouzid

Funded by:

German Research Foundation (DFG)

Brief description:

The investigation of friction between tires and driving surface is complicated due to the complexity of the tire properties and the interactions with chassis and drive chain. In order to tackle this problem an electrically driven autonomous friction measuring platform was developed in close cooperation between the Mechatronic Centre of Hannover and the Institute of Mechanics.

 

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Online Friction Estimation

Bild zum Projekt Online-Reibwertprognose

Researcher:

Dr.-Ing. Ahmed Trabelsi

Funded by:

Industry

Brief description:

The further development and optimization of both car safety and control systems requires precise knowledge of process performance and parameter dependency of relevant system parameters. Therefore, these parameters must be measured using appropriate sensors, estimated or derived from existing parameters and system data. A particularly important parameter for the development of steering and control systems for motor vehicles is the friction coefficient between the tires and the road. This project is carried out in cooperation with an automotive component supplier company and examines the feasibility of friction coefficient prognosis in automobiles on the basis of a multi sensor concept. The main focus of the project lies in the automotive technique, measurement technology, and digital signal processing.

 

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Semi-Active Engine Mounting

Bild zum Projekt Semi-Aktives Motorlager

Researcher:

Dr.-Ing. Marc Lorenz

Funded by:

Industry

Brief description:

At the Mechatronic Center of Hannover, a semi-active engine mounting was developed which is based on the magnetic reluctance force principle and controls the contact force of friction bellows. Through the variation of the perpendicular force the friction force (i.e. the damping force) can be controlled according to the operation condition.

 

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Time-Optimal Control of Electromechanical Actuators

Bild zum Projekt Zeitoptimale Regelung elektromechanischer Aktoren

Duration:

11/2012-10/2013

Funded by:

IAV GmbH Gifhorn

Brief description:

Several electromechanical actuators are used for a exhaust gas recirculation in diesel engined passenger vehicles. These actuators regulate the exhaust gas ratio with a high dynamical behavior. To account for the bounded power supply different model based control concepts are implemented within this research project

 

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Medical Systems & Vision

Robot-Assisted Surgery

Bild zum Projekt Genauigkeitssteigerung für die Roboterassistierte Chirurgie

Researcher:

M. Sc. Sebastian Tauscher

Brief description:

The topic of this project is the development of methods for minimally invasive surgical interventions at the lateral skull base. The goal is to increase the accuracy and safety of such interventions incorporating mechatronic assistance. The project is carried out in close cooperation with surgeons from the department of otolaryngology of the Hannover Medical School. As target application, a minimally invasive opening of the inner ear during cochlear implantation is considered. Cochlear implantation is the only efficient treatment of patients with severe to profound sensorineural hearing loss or deafness. During the intervention, an electrode array is implanted into the windings of the inner ear (cochlea) and electrically stimulates the auditory nerve. This results in a hearing impression for the patient and allows them to understand spoken language or listen to music. The surgical intervention is characterised by a high degree of complexity and required accuracy. In order to achieve the desired accuracy and improve the surgeon’s physical precision, intraoperative navigation and robotic assistance are combined in this project.

 

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µRALP - Micro-Technologies and Systesm for Robot-Assisted Laser Phonemicrosurgery

Bild zum Projekt Mikrotechnologien und Systeme für die roboterassistierte Laser-Stimmlippenchirurgie

Researcher:

Dipl.-Ing. Dennis Kundrat, Dipl.-Ing. Andreas Schoob

Funded by:

EU, FP7

Brief description:

The µRALP project is focused at advancing the state of the art in laser phonomicrosurgeries, which currently relies completely on the dexterity of surgeons who must operate through a microscope, control the laser aiming directly by hand, and deal with the associated poor ergonomics of the operating setup.

 

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Robot assisted laser osteotomy

Bild zum Projekt Roboterassistierte Laserosteotomie

Researcher:

Dipl.-Ing. Alexander Fuchs

Funded by:

KUKA Laboratories GmbH

Brief description:

Laser osteotomy is of great interest for many clinical indications. Tissue removal following well defined geometries raises questions primarily in the fields of path planning, high precision beam control, human-machine-interface and determination of cutting depth. Therefore, a system consisting of a KUKA lightweight robot (LWR), a stereo camera, an optical coherence tomograph (OCT), and an Er:YAG laser is assembled at the Institute of Mechatronic Systems in close cooperation with the KUKA Laboratories GmbH to demonstrate a possible application for robot assisted laser osteotomy.

 

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Development of instruments for laparoscopic single-site surgery

Bild zum Projekt Entwicklung chirurgischer Instrumente für die Single-Port-Laparoskopie

Researcher:

Dipl.-Ing. Jan-Hinnerk Borchard

Brief description:

In laparoscopic surgery, the abdominal cavity of the patient is opened through a small incision. In the created access a laparoscope is inserted to illuminate and optically detect the internal organs and indicate it to the surgeon by an appropriate visual representation. In single-site surgery beside the laparoscope at least two other instruments for tissue manipulation are inserted through the same opening into the abdominal cavity. Where such access is located in the navel, the scar is barely visible later. However, besides the resulting good cosmetic result, the single-port laparoscopy has the advantages of a low blood loss and a short recovery time. To expand the applications for this new surgical technique medical systems are needed. This should in particular have a high mobility of the end-effector in a large collision-free workspace.

 

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Development of a head-mounted surgical robot for skull surgery

Bild zum Projekt Situsnahes mechatronisches Assistenzsystem für hochgenaue Eingriffe am Schädel (Mini-Hexapod)

Researcher:

M.Sc. Dipl.-Ing. (FH) Jan-Philipp Kobler

Funded by:

German Research Foundation (DFG)

Brief description:

Precision skull surgery requires specialized instrumentation to satisfy demanding requirements in cochlear array implantation, deep brain stimulation electrode placement and related applications. A miniaturized reconfigurable parallel kinematic mechanism which can be directly mounted on a patient’s skull is being designed, built and tested in collaboration with the department of otolaryngology of the Medical School Hannover (MHH)

 

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Mini-Projector based Augmented Reality for medical applications

Bild zum Projekt Mini-Projektor basierte Augmented Reality für medizinische Anwendungen

Researcher:

M.Sc. Dipl.-Ing. (FH) Jan-Philipp Kobler

Brief description:

For the purpose of optimizing the presentation of information, augmented reality approaches are the subject of current research. In the field of medical technology, the goal is the visualization of data directly in the surgeons field of view. This approach is based on a simultaneous representation of reality, in this case the patient, and additional visual information. Using a mini-projector and an optical navigation system, a handheld projection device was built up, enabling the projection of anatomical structures as well as navigation instructions in real time directly onto the surface of the patient.

 

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Integration of an OCT in a Medical Navigation System

Bild zum Projekt Einsatz der OCT-Bildgebung zur medizinischen Navigation

Researcher:

Dipl.-Math. Jesús Díaz Díaz

Funded by:

German Research Foundation (DFG)

Brief description:

There is an increasing need of high accuracy of mechatronic assistance systems in the field of minimal invasive surgery. Since standard systems do not satisfy the accuracy requirements, we are developping in cooperation with the Institute of Measurement and Automatic Control and the department of otolaryngology of the Medical School Hanover a mechatronic assistance system which includes an optical coherence tomograph (OCT). High accurate positioning of a robot is possible with the information of this sensor on the basis of multimodal image registration of preoperative CT- and intraoperative OCT-data.

 

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GentleCI

Bild zum Projekt GentleCI

Researcher:

M.Sc. Dipl.-Ing. (FH) Jan-Philipp Kobler

Funded by:

BMBF

Brief description:

The goal of this project is to design innovative, steerable electrodes in order to allow for a contactless and thereby riskless insertion into the spiral-wound cochlea. This aim is achieved by making use of shape memory micro-actuators, which take the desired shape dependent on the patient's body temperature. The project is carried out in cooperation with the department of otolaryngology of the Medical School Hannover (MHH).

 

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Environment Chamber

Bild zum Projekt Analyse der frühembryonalen Herzentwicklung

Researcher:

Dipl.-Ing. J. Thommes

Funded by:

German Research Foundation (DFG)

Brief description:

External influences on the early embryonic heart play an important role in the following cardiovascular development and the heart's efficiency. Especially in the first week of growth, a closer investigation of these relations is necessary. In cooperation with the department of Pediatric Cardiology at the Medical School Hannover (MHH) it is intended to accomplish the investigations at chicken embryos.

 

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Robot assisted surgery

Bild zum Projekt Roboterassistierte Chirurgie

Researcher:

Dipl.-Ing. Stephan Baron

Brief description:

The topic of this project is the development of methods for minimally invasive surgical interventions at the lateral skull base. The goal is to increase the accuracy and safety of such interventions incorporating mechatronic assistance. The project is carried out in close cooperation with surgeons from the department of otolaryngology of the Hannover Medical School. As target application, a minimally invasive opening of the inner ear during cochlear implantation is considered. Cochlear implantation is the only efficient treatment of patients with severe to profound sensorineural hearing loss or deafness. During the intervention, an electrode array is implanted into the windings of the inner ear (cochlea) and electrically stimulates the auditory nerve. This results in a hearing impression for the patient and allows them to understand spoken language or listen to music. The surgical intervention is characterised by a high degree of complexity and required accuracy. In order to achieve the desired accuracy and improve the surgeon’s physical precision, intraoperative navigation and robotic assistance are combined in this project.

 

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Image-Based Automated Insertion of Cochlear Implants

Bild zum Projekt Optisch kontrollierte, automatisierte Insertion einer Cochlear Implant Elektrode

Researcher:

Dipl.-Ing. Andreas Hussong

Funded by:

German Research Foundation (DFG)

Brief description:

The Institute of Mechatronic Systems developed a robot-assisted, minimal-invasive approach to the cochlea, drilling a small channel from the lateral skull base to the cochlea. In this context the problem arises to insert the electrode into the cochlea via the keyhole access, which is not manually applicable by the surgeon any more. Main target of the project is the development of an automated insertion tool to insert the electrode via the keyhole access. The project is carried out in cooperation with the department of otolaryngology of the Medical School Hannover (MHH).

 

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Robotics & Autonomous Systems

"3rd Arm" - Craftsmen-Force-Assistence with adaptive Human-Machine Interaction

Bild zum Projekt "3. Arm" - Handwerker-Kraftassistenzsystem mit adaptiver Mensch-Technik-Interaktion

Researcher:

Dipl.-Ing. Kathrin Nülle

Duration:

3 years

Funded by:

German Federal Ministry of Education and Research (BMBF)

Brief description:

Regarding an aging work force with higher requirements for work efficiency, a force assistence system is developed. The system is based on a mechatronic structure ("3rd arm"), which is fixed to the body of the user via a supporting construction. Apart from the physical support the system meets cognitive assistance functions. Thus, it provides force support on the one hand and on the other hand the increase in work efficiency and quality of work.

 

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Automatic generation of optimized robotic structures for a desired task

Bild zum Projekt Automatische Generierung aufgabenoptimaler Roboterstrukturen

Researcher:

M. Sc. Daniel Andrés Ramirez

Brief description:

In order to propel the middle and small industries forward, a new method for robots development from a specific task is expected. The goal of the project is the automatic and global synthesis of the robot structure from the design requirements.

 

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Modularly structured motion control system for robotics and handling.

Bild zum Projekt Modular strukturiertes Motion-Control-System für Robotik und Handling

Researcher:

Dipl.-Ing. Julian Öltjen

Funded by:

Lenze Automation GmbH

Brief description:

In this project, an easy to use, modularly structured and thus flexible platform for the control of various robotic applications is being developed. In addition to established systems, such as SCARA, articulated or delta kinematics, different interfaces offer the ability to control custom-made kinematics. The aim is to simplify the programming and commissioning of complex, multi-axis manufacturing machines.

 

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Development of instruments for laparoscopic single-site surgery

Bild zum Projekt Entwicklung chirurgischer Instrumente für die Single-Port-Laparoskopie

Researcher:

Dipl.-Ing. Jan-Hinnerk Borchard

Brief description:

In laparoscopic surgery, the abdominal cavity of the patient is opened through a small incision. In the created access a laparoscope is inserted to illuminate and optically detect the internal organs and indicate it to the surgeon by an appropriate visual representation. In single-site surgery beside the laparoscope at least two other instruments for tissue manipulation are inserted through the same opening into the abdominal cavity. Where such access is located in the navel, the scar is barely visible later. However, besides the resulting good cosmetic result, the single-port laparoscopy has the advantages of a low blood loss and a short recovery time. To expand the applications for this new surgical technique medical systems are needed. This should in particular have a high mobility of the end-effector in a large collision-free workspace.

 

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Planning of Energy-Efficient Trajectories with Utilization of Energy Storage and Energy Interchange between Electrical Drives

Bild zum Projekt Planung energieeffizienter Trajektorien unter Ausnutzung von Energiespeichern und Energieaustausch zwischen elektrischen Antrieben

Researcher:

Dipl.-Ing. Christian Hansen

Funded by:

German Research Foundation (DFG)

Brief description:

In multiple-axis applications, the direct current links of the utilized frequency converters can be connected for temporary energy storage and for energy interchange between different electrical drives respectively. On this background, the research objective is the analysis of potentials for planning optimal trajectories to increase energy efficiency of such applications.

 

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Improving the Performance of Parallel Manipulators using Reconfigurable Mechanisms based on Kinematic Redundancy

Bild zum Projekt Leistungssteigerung von Parallelrobotern mittels parametervariabler Strukturen basierend auf kinematischer Redundanz

Researcher:

Dipl.-Ing. Jens Kotlarski

Funded by:

German Research Foundation (DFG)

Brief description:

The goal of this research project is to increase the singularity-free workspace of parallel kinematic structures through kinematic redundancy and simultaneously to improve their accuracy, stiffness, and dynamics. In addition to appropriate analyzing and evaluation methods, procedures for the optimal open- and closed-loop control of kinematically redundant mechanisms with a variable structures have to be developed and applied in practice.

 

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Energy Optimal Trajectory Planning by Natural Motion Patterns

Bild zum Projekt Energieoptimale Bahnplanung durch Ausnutzung natürlicher Bewegungsmuster

Researcher:

Dipl.-Ing. Andreas Hussong

Funded by:

German Research Foundation (DFG)

Brief description:

In continuation of research projects dealing with underactuated manipulators in which the motion of passive joints takes place due to dynamic coupling (i.e. inertial force, Coriolis force, etc.) this coupling shall be exploited in order to implement energy minimal trajectories for fully actuated systems.

 

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PaLiDA - Parallel Kinematic with Linear Direct Drives

Bild zum Projekt PaLiDA - Parallelkinematik mit Lineardirektantrieben

Researcher:

Dr.-Ing. Houssem Abdellatif

Funded by:

German Research Foundation (DFG)

Brief description:

The experimental platform PaLiDA is used at the Mechatronic Centre of Hannover within the DFG main focus program "Production Machines with Parallel Kinematics". This project exploits, analyses, and advances the advantages thanks to a combination of a parallel kinematic structure with high dynamic linear drives. This paves the way for the future use of parallel kinematics in the industrial production with an increased productivity.

 

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MARGe

Bild zum Projekt MARGe

Researcher:

Dr.-Ing. Holger Blume

Funded by:

Start-up grant of the Mechatronic Center of Hannover

Brief description:

The mobile robot MARGe (Mobile Autonomous Robot Genie) serves as experimental platform for the development and evaluation of algorithms for localization, trajectory control, and dynamic obstacle avoidance. MARGe is equipped with a variety of internal and external sensors, including encoders and laser scanner.

 

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Vision Based Robot Control

Bild zum Projekt Bildrückgeführte Roboterregelung

Researcher:

Dr.-Ing. Oliver Hornung

Funded by:

Start-up grant of the Mechatronic Center of Hannover

Brief description:

Goal of this research project is the vision based control of the MARGe (mobile platform, see below) mounted serial manipulator. The system shall be able to recognize objects autonomously and, thereafter, grasp it due to a visual servoing control loop.

 

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Interface for the Integration of a Robot in an Image-guided therapy System

Bild zum Projekt Schnittstellen zur Anbindung eines Roboters in ein bildgestütztes Therapiesystem

Researcher:

M. Sc. Sebastian Tauscher

Funded by:

KUKA Laboratories GmbH

Brief description:

Within this cooperative project with the KUKA Laboratories GmbH the Institute for Mechatronic Systems develops a generic interface concept for the integration of the Light Weight Robot (KUKA) in an image-guided therapy system. This leads to an easier Integration of the LWR into an image-guided therapy system. The interface concept is going to be tested and validated by integrating the KUKA LWR into the MediLAB environment in the medical technology laboratory of the institute.

 

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