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

Identification & Control

Analyse von Triebstrangschwingungen

 

Researcher:

M. Sc. Eduard Popp

Funded by:

IAV GmbH

Brief description:

Ein aktuelles Projekt am imes stellt die Analyse von Fahrzeugschwingungen im Antriebsstrang des PKW dar. Das Forschungsvorhaben zielt darauf hin, einzelne Phänomene zu analysieren und deren Auslöser im PKW zu identifizieren, damit geeignete Maßnahmen zur Reduzierung bzw. Vermeidung eingeleitet werden können. Diese Arbeit wird im Rahmen eines Industrieprojektes mit der Firma IAV GmbH bearbeitet.

 

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Robotics & Autonomous Systems

Auto-tuning of PID controllers for robot manipulators

Bild zum Projekt Automatische PID-Reglereinstellung für serielle Roboter

Researcher:

M.Sc. Ahmed Zidan

Brief description:

Traditional PID controller is one of the most popular control structures in industrial processes. This is due to its simplicity and robustness. These advantages qualify PID controllers to be widely used in the field of robotics. Robot manipulators, however, are highly nonlinear, highly coupled, multi-input multi-output (MIMO) dynamic systems. Tuning the PID gains for such systems is considered to be a complicated task, which is usually done using traditional or manual methods, e.g. trials and errors.

 

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Energy efficient path planning for industrial robots

Bild zum Projekt Energieeffiziente Bahnplanung für Industrieroboter

Funded by:

Industrie

Brief description:

This project focuses on improving the energy efficiency of industrial robots by optimising the path planning algorithms. Intelligent path planning approaches can increase the energy efficiency by avoiding unfavourable operating points or by utilising the eletrical as well as the mechanical couplings of the axes. In order to optimise the path, it is necessary to simulate the comprehensive drive system as well as the robot's mechanics. The energy-optimal path is determined using non-linear optimisation algorithms.

 

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Medical Systems & Vision

Evaluation des laryngealen Adduktionsreflexes mit einem mechatronischen Mikrotropfen-Laryngoskop

Bild zum Projekt Evaluation des laryngealen Adduktionsreflexes mit einem mechatronischen Mikrotropfen-Laryngoskop

Researcher:

Jacob F. Fast, M.Sc.

Funded by:

DFG

Brief description:

Im Rahmen dieses DFG-geförderten Projektes wird in Kooperation mit der Klinik für Phoniatrie und Pädaudiologie (Leitung: Prof. Dr. med. Dr. med. h.c. Martin Ptok) der Medizinischen Hochschule Hannover (MHH) ein neuartiges, endoskopisches System zur Untersuchung des laryngealen Adduktionsreflexes (LAR) entwickelt und im klinischen Einsatz erprobt. Die Auslösung des LAR soll durch die Applikation eines beschleunigten Tröpfchens erfolgen. Zur Beobachtung der Reflexantwort wird ein Hochgeschwindigkeits-Kamerasystem eingesetzt. Die Einbindung bildverarbeitender Algorithmen soll den Automatisierungs- und Objektivitätsgrad des Untersuchungsverfahrens steigern.

 

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Robotics & Autonomous Systems

Generation of Task Specific Robot Manipulators via Combined Structural and Dimensional Synthesis

Bild zum Projekt Generierung aufgabenspezifischer Roboterkinematiken durch kombinierte Struktur- und Maßsynthese

Researcher:

Moritz Schappler, M.Sc.

Duration:

01.01.2018 - 31.12.2019

Funded by:

German Research Foundation (DFG)

Brief description:

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

 

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Medical Systems & Vision

Hand-Held Projection and Measurement System for Surgical Interventions

Bild zum Projekt Hand-Held Projection and Measurement System for Surgical Interventions

Researcher:

M. Sc. Dipl.-Ing. Shivaraman Ilango

Funded by:

Lower Saxony Ministry for Science and Culture

Brief description:

In Augmented reality, image overlay projection is a technique that would help the surgeons to view the underlying anatomical structures directly on the surface of the skin or organ of the patient. Within the scope of the Tailored Light Scholarship Program , a novel hand-held projector system would be developed that would allow the images of 3-D patient-specific models to be projected directly onto the surface of the organ intraoperatively without the need of intrusive hardware around the surgical scene. This would circumvent the problems of sight diversion and view reorientation from the patient, to the monitors with patient information like CT, MRI and would help the surgeons in performing the surgeries without any strain.

 

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Robotics & Autonomous Systems

Implementation of robot-assisted orientation systems at the Campus Maschinenbau

Bild zum Projekt Implementierung robotergestützter Orientierungssysteme auf dem Campus Maschinenbau

Researcher:

M.Sc. Marvin Stüde

Duration:

01.03.2018 - 28.02.2021

Brief description:

The Campus Maschinenbau is the University's largest new construction project and is scheduled to commence its final operation in the winter semester of 2019/20. To faciliate orientation at the campus and answer requests of different kinds, the purpose of this project is to conceptualize and implement a robot-assisted orientation system. The robot is supposed to provide information from the central information- and room-planning system and will also work as a guide for people who require orientation at the campus.

 

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Intelligente Steuerung für das Energiemanagement von Gleichstromversorgten Industrieanlagen

Bild zum Projekt Intelligente Steuerung für das Energiemanagement von Gleichstromversorgten Industrieanlagen

Researcher:

M. Sc. Elias Knöchelmann

Funded by:

Bosch Rexroth AG.

Brief description:

The aim of this project is to develop intelligent control of the systems within a DC link circuit to reduce the energy absorbed by the production line. The next step is to extend the energy control system to energy storage and variable renewable energies. Emphasis is on the depth of simulation, the size of the influence of various factors, the energy storage control and the construction of an intelligent control, which actively intervenes in the process.

 

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Medical Systems & Vision

Endoscopy of trabecular bone for intraoperative registration

Bild zum Projekt Intraoperative Registrierung durch Endoskopie der Knochenbälkchen

Researcher:

Dipl.-Ing. Jan Bergmeier

Funded by:

DFG

Brief description:

The project iBoneRegistration explores endoscopy of trabecular bone structures (cancellous bone) for intraoperative registration in navigated bone surgery. Trabecular bone is optimally suited as features for establishing the spatial transformation between preoperative image data and the intraoperative situation

 

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Identification & Control

Online-Identifikation of control parameters in electric drives for parameter tracking II

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

Researcher:

M. Sc. Mathias Tantau

Brief description:

The main goal of the project is the identification of the main parameters for electric drives with elastically coupled mechanics without additional sensors. This is achieved firstly with dedicated identification trajectories and secondly during operation by observing the parameter identifiability with respect to the features of the trajectory. The basis is a mechatronic model of the overall mechatronic system.

 

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Medical Systems & Vision

OPhonLas: OCT-geregelte Laserablation bei Stimmlippen-Phonation

Bild zum Projekt OPhonLas: OCT-geregelte Laserablation bei Stimmlippen-Phonation

Researcher:

Sontje Ihler, M. Sc., Max-Heinrich Laves, M. Sc.

Duration:

3 Jahre

Funded by:

EFRE (Europäischer Fonds für regionale Entwicklung)

Brief description:

Im Rahmen dieses EFRE-geförderten Projektes soll ein rigides, anatomisch geformtes Laryngoskop entwickelt werden, das mit einem steuerbaren Ablationslaser ausgestattet ist. Neben der Anwendung auf ruhenden Stimmlippen soll ein Laserschnitt auch während einer Phonation–also auf schwingenden Stimmlippen–durchgeführt werden. Dadurch wird die Behandlung bestimmter Pathologien ermöglicht und der funktionelle Therapieerfolg direkt sichtbar gemacht. Die hohen Anforderungen an die Echtzeit-Regelung des Lasers setzen die Fusion von Stereobilddaten und optischer Kohärenztomographien voraus.

 

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Robotics & Autonomous Systems

Parallel-continuous manipulators - equalization of structure-specific disadvantages by combining parallel and continuum robots

Bild zum Projekt Parallel-kontinuierliche Manipulatoren – Egalisierung strukturindividueller Nachteile durch Kombination von Parallel- und Kontinuumsrobotern

Researcher:

Dipl.-Ing. Kathrin Nülle

Duration:

1.1.2018-31.12.2019

Funded by:

Deutsche Forschungsgemeinschaft (DFG)

Brief description:

The project investigates the kinematical structure of parallel continuous robots that are parallel robots with continuous kinematic chains. The goal is to combine the high accuracy and stiffness of parallel robots with the high dexterity and manipulability of continuous robots.

 

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Integrated Systems & Machine Learning

Prozessmonitoring in der Produktionstechnik (ProMoPro)

Bild zum Projekt Prozessmonitoring in der Produktionstechnik (ProMoPro)

Researcher:

Karl-Philipp Kortmann, M. Sc., Johannes Zumsande, M. Sc.

Duration:

3 Jahre

Funded by:

EFRE (Europäischer Fonds für regionale Entwicklung)

Brief description:

Im Rahmen dieses EFRE-geförderten Projektes werden universelle Werkzeuge und Methoden zur Digitalisierung von Produktionsanlagen energieintensiver Industriezweige geschaffen. Die umfassende Akquise heterogener Anlagen- und Prozessdaten ermöglicht das Partitionieren des Gesamtprozesses in geeignete Teilprozessen, deren Beschreibung durch aussagekräftige Merkmale und das Anlernen mathematischer Modelle, um die Auswirkungen der Teilprozesse auf verschiedene Zielgrößen (z.B. Produktqualität und Energieverbrauch) zu beschreiben.

 

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Medical Systems & Vision

RoboJiG

Bild zum Projekt RoboJiG

Researcher:

Dipl.-Ing. Johannes Gaa

Funded by:

BMBF

Brief description:

Preclinical realization of a integrated, minimal-invasive cochlea implant system based on patient specific jigs

 

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Robotics & Autonomous Systems

Roboterfabrik

Bild zum Projekt Roboterfabrik

Researcher:

Simon Aden, M. Sc.

Duration:

5 years

Funded by:

Region Hannover

Brief description:

In order to establish Hanover as a leading venue for robotics, the project Roboterfabrik was launched as a cooperation between Region Hannover, Leibniz Universität and Roberta Regiozentrum Hannover. The ‘robot factory’ pursues a continuous approach for the education of so-called Robotic Natives, spanning from school to university.

 

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Identification & Control

RoCCl - Road Condition Cloud

 

Researcher:

M. Sc. Alexander Busch

Duration:

02/2018 - 01/2021

Funded by:

Deutsche Forschungsgemeinschaft (DFG)

Brief description:

As part of the DFG-funded project RoCCl, a time-varying map, the Road Condition Cloud, is developed in cooperation with the Institute of Automotive Engineering of the TU Braunschweig. Therefore the road condition with additional confidence will be estimated by probability-based data fusion of various heterogeneous information from onboard and environmental sensors and transferred to the card. The communication with the RoCCl thus offers the possibility to correctly initialize driver assistance systems with regard to the current road condition at any time.

 

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simTrailer - Complete, Model-based State Monitoring of Trailers

Bild zum Projekt simTrailer - Vollständige, modellbasierte Trailer-Zustandsüberwachung

Researcher:

Zygimantas Ziaukas, M .Sc.

Funded by:

BPW Bergische Achsen KG

Brief description:

In the simTrailer project, online-capeable methods for model-based state monitoring of trailers are being developed to ensure the most efficient use of sensor technology.

 

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Robotics & Autonomous Systems

Electromagnetic bending actuator for endoscopic applications

Bild zum Projekt Vollaktuierter elektromagnetischer Biegeaktor für endoskopische Anwendungen

Researcher:

M. Sc. Svenja Tappe

Funded by:

Deutsche Forschungsgemeinschaft (DFG)

Brief description:

The main objective of this project is aimed at the disadvantages of existing endoscopic systems which consider handling and risk of injury to the patient. The development of a new actuator, the modeling of kinematics and dynamics as well as the implementation of suitable control algorithms should compensate the aforementioned criteria. The work will be carried out in close cooperation with the Institute of Drive Systems and Power Electronics (IAL).

 

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