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Item type:Publication, Access status: with files , Modeling, sensing, and control for agile trajectory tracking of soft robots(2026); Accurate, agile trajectory tracking is important for modern soft robotic applications. This requires models that accurately represent dynamic behavior, soft sensors for state estimation, and dynamic controllers. In this work, first, different model-based and data-driven modeling approaches for soft robots are presented and evaluated in terms of accuracy and efficiency. Second, curvature sensors that can be integrated into the soft robot body to measure its configuration are presented and evaluated experimentally. Third, feedforward and feedback control approaches for soft robots are presented and evaluated in simulations and experiments.Publicationtype: Doctoral Thesis118 75 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: with files , Adaptive isogeometric impact models in flexible multibody systems(2025); Usually, detailed impact simulation models within flexible multibody systems have to be set up manually rather than being generated automatically. This is because the process requires prior knowledge of the time and location of the impact, as well as the element resolution within the contact area. If the penalty method is used to determine the occurring contact forces, the corresponding penalty factor also needs to be determined manually. This thesis presents an adaptive procedure to simulate impacts within flexible multibody systems fully automatically using reduced models based on the isogeometric analysis (IGA), the floating frame of reference formulation, and quasistatic contact models for an efficient but still accurate simulation.Publicationtype: Doctoral Thesis104 67 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: with files , A new computational method for the fluid-structure interaction in random nonlinear ocean waves(2025); An efficient computation of the fluid-structure interaction (FSI) between mechanical structures and ocean waves is an important topic in many ocean engineering and naval architecture applications. However, the numerical computation of the FSI is often very expensive. In this work, a new method is developed to calculate the FSI in random nonlinear ocean waves more efficiently. The corresponding approach is based on the nonlinear Schrödinger equation, which can be solved numerically efficiently. The new method to calculate the FSI in random nonlinear ocean waves is investigated concerning its application areas, accuracy, stability, and computational efficiency.Publicationtype: Doctoral Thesis74 86 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: without files , On level set-based topology optimization of flexible multibody systems(2024); Publicationtype: Doctoral Thesis76 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: without files , Ein marker-basierter rekursiver Mehrkörperformalismus zur Implementierung in akausalen ModellierungssprachenPublicationtype: Doctoral Thesis81 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: with files , Control strategies for flexible link parallel robots(2023); This research contributes to the field of flexible link parallel robots by showing how a variety of inherent control problems of such robots can be solved. Since the focus lies on promising techniques, well-established approaches are adapted to these robots. The proposed methods are experimentally validated within realistic scenarios. These confirm the need for modern controllers based on flexible multibody models as in most cases they significantly outperform controllers based on classical rigid multibody models.Publicationtype: Doctoral Thesis144 78 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: with files , Systematic design of particle dampers for passive vibration attenuationThe nonlinear damping behavior of particle dampers and the multitude of influence parameters hinder their wide industrial usage. Hence, the goal of this work is the development of a new design methodology in form of a toolchain enabling a systematic damper design. On that account, various numerical models and experimental tests are combined. The toolchain commences with investigations of the micro-mechanical behavior of single particle impacts, continues with analyzing the properties of vibrating granular matter inside different containers and ends with designing a particle damper for a desired vibrating structure. The good agreement of the experimental and numerical models and their efficiency for the damper design and dimensioning are demonstrated on multiple examples.Publicationtype: Doctoral Thesis233 3791 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: with files , Servo-constraints for inversion of underactuated multibody systems(2022); Accurate inverse models are essential for the control of underactuated multibody systems. The servo-constraints approach is applied here, which formulates the inverse model problem as a set of differential-algebraic equations (DAEs). These DAEs have different properties depending on the system type. In this work, the servo-constraints approach is analyzed for all three possible system types. For differentially flat systems, experimental results demonstrate the real-time capabilities of the approach. For minimum phase systems, various integration methods are compared with respect to efficiency and accuracy. For non-minimum phase systems, a simplification of stable inversion is proposed and an output redefinition strategy is introduced for flexible bodies.Publicationtype: Doctoral Thesis505 1859 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: with files , Effiziente Kontaktberechnung in flexiblen Mehrkörpersystemen(2020); For efficient and accurate impact analysis, reduced flexible multibody systems can be used. To capture the stresses and deformations in the colliding bodies precisely, an elastic description of the body using a set of eigenmodes and static shape functions has to be used. The latter are necessary to capture the local deformation effects in the contact area. However, they introduce artificial eigenfrequencies of very high magnitude to the reduced system and therefore, the numerical efficiency is reduced. In this thesis two approaches for efficient contact simulation using reduced flexible multibody systems are presented. In the first approach, the artificial eigenfrequencies are damped. In the second approach they are neglected in the dynamic simulation. To verify these two approaches, detailed finite element simulations and experiments are used.Publicationtype: Doctoral Thesis621 912 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: with files , Contributions to topology optimization in flexible multibody dynamics(2019); This work contributes to the development of the topology optimization of flexible multibody systems. The conventional coupling strategies of the topology optimization and the flexible multibody systems exhibit two limitations regarding its applicability in real-life and industrial application: the high computational cost that limits the optimization size, and the restricted capability of considering nonlinear effects such as contact in flexible structures. These limitations are both addressed in this work, and steps toward the modelling of nonlinearities and the large-scale topology optimization of flexible multibody systems are introduced.Publicationtype: Doctoral Thesis1072 1353