Fundamental kinematics of rigid body systems

Newton-Euler equations for manipulators

Trajectory generation

Linear and nonlinear control of robots

Craig, John J.: Introduction to Robotics Mechanics and Control, Third Edition, Prentice Hall. ISBN 0201-54361-3

- General overview on modern engineering
- Displacement method
- Hybrid formulation
- Isoparametric elements
- Numerical integration
- Solving systems of equations (statics, dynamics)
- Eigenvalue problems
- Non-linear systems
- Applications

- Programming of elements (Matlab, hands-on sessions)
- Applications

Bathe, K.-J. (2000): Finite-Elemente-Methoden. Springer Verlag, Berlin

State space methods (single-input single-output)

• State space models and transfer functions, state feedback 
• Coordinate basis, similarity transformations 
• Solutions of state equations, matrix exponentials, Caley-Hamilton Theorem
• Controllability and pole placement 
• State estimation, observability, Kalman decomposition 
• Observer-based state feedback control, reference tracking 
• Transmission zeros
• Optimal pole placement, symmetric root locus 
Multi-input multi-output systems
• Transfer function matrices, state space models of multivariable systems, Gilbert realization 
• Poles and zeros of multivariable systems, minimal realization 
• Closed-loop stability
• Pole placement for multivariable systems, LQR design, Kalman filter 

Digital Control
• Discrete-time systems: difference equations and z-transform 
• Discrete-time state space models, sampled data systems, poles and zeros 
• Frequency response of sampled data systems, choice of sampling rate 

System identification and model order reduction 
• Least squares estimation, ARX models, persistent excitation 
• Identification of state space models, subspace identification 
• Balanced realization and model order reduction 

Case study
• Modelling and multivariable control of a process evaporator using Matlab and Simulink 
Software tools
• Matlab/Simulink

• Werner, H., Lecture Notes „Control Systems Theory and Design“
• T. Kailath "Linear Systems", Prentice Hall, 1980
• K.J. Astrom, B. Wittenmark "Computer Controlled Systems" Prentice Hall, 1997
• L. Ljung "System Identification - Theory for the User", Prentice Hall, 1999

Content:

• Introduction to software techniques
• Procedural Programming
• Object oriented software design
• Java
• Event based programming
• Formal methods

• “The Pragmatic Programmer: From Journeyman to Master”Andrew Hunt, David Thomas, Ward Cunningham
• “Core LEGO MINDSTORMS Programming: Unleash the Power of the Java Platform” Brian Bagnall Prentice Hall PTR, 1st edition (March, 2002) ISBN 0130093645
• “Objects First with Java: A Practical Introduction using BlueJ” David J. Barnes & Michael Kölling Prentice Hall/ Pearson Education; 2003, ISBN 0-13-044929-6

This course is about solving the following basic problems of Linear Algebra,

• systems of linear equations,
• least squares problems,
• eigenvalue problems

but now in function spaces (i.e. vector spaces of infinite dimension) by a stable approximation of the problem in a space of finite dimension.

Contents:

• crash course on Hilbert spaces: metric, norm, scalar product, completeness
• crash course on operators: boundedness, norm, compactness, projections
• uniform vs. strong convergence, approximation methods
• applicability and stability of approximation methods, Polski's theorem
  
• Galerkin methods, collocation, spline interpolation, truncation
• convolution and Toeplitz operators
• crash course on C*-algebras
• convergence of condition numbers
• convergence of spectral quantities: spectrum, eigen values, singular values, pseudospectra
• regularisation methods (truncated SVD, Tichonov)

• R. Hagen, S. Roch, B. Silbermann: C*-Algebras in Numerical Analysis
• H. W. Alt: Lineare Funktionalanalysis
• M. Lindner: Infinite matrices and their finite sections
  

• Optimal regulator problem with finite time horizon, Riccati differential equation
• Time-varying and steady state solutions, algebraic Riccati equation, Hamiltonian system
• Kalman’s identity, phase margin of LQR controllers, spectral factorization
• Optimal state estimation, Kalman filter, LQG control
• Generalized plant, review of LQG control
• Signal and system norms, computing H2 and H∞ norms
• Singular value plots, input and output directions
• Mixed sensitivity design, H∞ loop shaping, choice of weighting filters

• Case study: design example flight control
• Linear matrix inequalities, design specifications as LMI constraints (H2, H∞ and pole region)
• Controller synthesis by solving LMI problems, multi-objective design
• Robust control of uncertain systems, small gain theorem, representation of parameter uncertainty

• Werner, H., Lecture Notes: "Optimale und Robuste Regelung"
• Boyd, S., L. El Ghaoui, E. Feron and V. Balakrishnan "Linear Matrix Inequalities in Systems and Control", SIAM, Philadelphia, PA, 1994
• Skogestad, S. and I. Postlewhaite "Multivariable Feedback Control", John Wiley, Chichester, England, 1996
• Strang, G. "Linear Algebra and its Applications", Harcourt Brace Jovanovic, Orlando, FA, 1988
• Zhou, K. and J. Doyle "Essentials of Robust Control", Prentice Hall International, Upper Saddle River, NJ, 1998

Numerical methods for Initial Value Problems

• single step methods
• multistep methods
• stiff problems
• differential algebraic equations (DAE) of index 1

Numerical methods for Boundary Value Problems

• multiple shooting method
• difference methods
• variational methods
  

• E. Hairer, S. Noersett, G. Wanner: Solving Ordinary Differential Equations I: Nonstiff Problems
• E. Hairer, G. Wanner: Solving Ordinary Differential Equations II: Stiff and Differential-Algebraic Problems
  

The objective of the lecture with the corresponding exercise is to accomplish the prerequisites for the development and integration of complex systems using the example of commercial aircraft and cabin systems. Competences in the systems engineering process, tools and methods is to be achieved. Regulations, guidelines and certification issues will be known.

Key aspects of the course are processes for innovation and technology management, system design, system integration and certification as well as tools and methods for systems engineering:
• Innovation processes
• IP-protection
• Technology management
• Systems engineering
• Aircraft program
• Certification issues
• Systems development
• Safety objectives and fault tolerance
• Environmental and operating conditions
• Tools for systems engineering
• Requirements-based engineering (RBE)
• Model-based requirements engineering (MBRE)

- Skript zur Vorlesung
- diverse Normen und Richtlinien (EASA, FAA, RTCA, SAE)
- Hauschildt, J., Salomo, S.: Innovationsmanagement. Vahlen, 5. Auflage, 2010
- NASA Systems Engineering Handbook, National Aeronautics and Space Administration, 2007
- Hinsch, M.: Industrielles Luftfahrtmanagement: Technik und Organisation luftfahrttechnischer Betriebe. Springer, 2010
- De Florio, P.: Airworthiness: An Introduction to Aircraft Certification. Elsevier Ltd., 2010
- Pohl, K.: Requirements Engineering. Grundlagen, Prinzipien, Techniken. 2. korrigierte Auflage, dpunkt.Verlag, 2008

-Project Based Learning
-Robot Operating System
-Robot structure and description
-Motion description
-Calibration
-Accuracy

John J. Craig
Introduction to Robotics - Mechanics and Control 
ISBN: 0131236296
 Pearson Education, Inc., 2005

Stefan Hesse
Grundlagen der Handhabungstechnik
ISBN: 3446418725
 München Hanser, 2010

K. Thulasiraman and M. N. S. Swamy
Graphs: Theory and Algorithms
ISBN: 9781118033104  %CITAVIPICKER£9781118033104£Titel anhand dieser ISBN in Citavi-Projekt übernehmen£%
John Wüey & Sons, Inc., 1992

INCOSE Systems Engineering Handbuch - Ein Leitfaden für Systemlebenszyklus-Prozesse und -Aktivitäten, GfSE (Hrsg. der deutschen Übersetzung), ISBN 978-3-9818805-0-2.

ISO/IEC 15288 System- und Software-Engineering - System-Lebenszyklus-Prozesse (Systems and Software Engineering - System Life Cycle Processes).

• Processes and methods of product development - from idea to market launch
  • identification of market and technology potentials
  • development of a common product architecture
  • Synchronized product development across all engineering disciplines
  • product validation incl. customer view
• Steering and optimization of product development
  • Design of processes for product development
  • IT systems for product development
  • Establishment of management standards
  • Typical types of organization

• Bender: Embedded Systems - qualitätsorientierte Entwicklung 
• Ehrlenspiel: Integrierte Produktentwicklung: Denkabläufe, Methodeneinsatz, Zusammenarbeit 
• Gausemeier/Ebbesmeyer/Kallmeyer: Produktinnovation - Strategische Planung und Entwicklung der Produkte von morgen
• Haberfellner/de Weck/Fricke/Vössner: Systems Engineering: Grundlagen und Anwendung
• Lindemann: Methodische Entwicklung technischer Produkte: Methoden flexibel und situationsgerecht anwenden
• Pahl/Beitz: Konstruktionslehre: Grundlagen erfolgreicher Produktentwicklung. Methoden und Anwendung 
• VDI-Richtlinie 2206: Entwicklungsmethodik für mechatronische Systeme

ATmega16A 8-bit  Microcontroller with 16K Bytes In-System Programmable Flash - DATASHEET, Atmel Corporation 2014

Atmel AVR 8-bit Instruction Set Instruction Set Manual, Atmel Corporation 2016

• Introduction (historical view, scientific and economic relevance, scaling laws)
• Semiconductor Technology Basics, Lithography (wafer fabrication, photolithography, improving resolution, next-generation lithography, nano-imprinting, molecular imprinting)
• Deposition Techniques (thermal oxidation, epitaxy, electroplating, PVD techniques: evaporation and sputtering; CVD techniques: APCVD, LPCVD, PECVD and LECVD; screen printing)
• Etching and Bulk Micromachining (definitions, wet chemical etching, isotropic etch with HNA, electrochemical etching, anisotropic etching with KOH/TMAH: theory, corner undercutting, measures for compensation and etch-stop techniques; plasma processes, dry etching: back sputtering, plasma etching, RIE, Bosch process, cryo process, XeF2 etching)
• Surface Micromachining and alternative Techniques (sacrificial etching, film stress, stiction: theory and counter measures; Origami microstructures, Epi-Poly, porous silicon, SOI, SCREAM process, LIGA, SU8, rapid prototyping)
• Thermal and Radiation Sensors (temperature measurement, self-generating sensors: Seebeck effect and thermopile; modulating sensors: thermo resistor, Pt-100, spreading resistance sensor, pn junction, NTC and PTC; thermal anemometer, mass flow sensor, photometry, radiometry, IR sensor: thermopile and bolometer)
• Mechanical Sensors (strain based and stress based principle, capacitive readout, piezoresistivity,  pressure sensor: piezoresistive, capacitive and fabrication process; accelerometer: piezoresistive, piezoelectric and capacitive; angular rate sensor: operating principle and fabrication process)
• Magnetic Sensors (galvanomagnetic sensors: spinning current Hall sensor and magneto-transistor; magnetoresistive sensors: magneto resistance, AMR and GMR, fluxgate magnetometer)
• Chemical and Bio Sensors (thermal gas sensors: pellistor and thermal conductivity sensor; metal oxide semiconductor gas sensor, organic semiconductor gas sensor, Lambda probe, MOSFET gas sensor, pH-FET, SAW sensor, principle of biosensor, Clark electrode, enzyme electrode, DNA chip)
• Micro Actuators, Microfluidics and TAS (drives: thermal, electrostatic, piezo electric and electromagnetic; light modulators, DMD, adaptive optics, microscanner, microvalves: passive and active, micropumps, valveless micropump, electrokinetic micropumps, micromixer, filter, inkjet printhead, microdispenser, microfluidic switching elements, microreactor, lab-on-a-chip, microanalytics)
• MEMS in medical Engineering (wireless energy and data transmission, smart pill, implantable drug delivery system, stimulators: microelectrodes, cochlear and retinal implant; implantable pressure sensors, intelligent osteosynthesis, implant for spinal cord regeneration)
• Design, Simulation, Test (development and design flows, bottom-up approach, top-down approach, testability, modelling: multiphysics, FEM and equivalent circuit simulation; reliability test, physics-of-failure, Arrhenius equation, bath-tub relationship)
• System Integration (monolithic and hybrid integration, assembly and packaging, dicing, electrical contact: wire bonding, TAB and flip chip bonding; packages, chip-on-board, wafer-level-package, 3D integration, wafer bonding: anodic bonding and silicon fusion bonding; micro electroplating, 3D-MID)

M. Madou: Fundamentals of Microfabrication, CRC Press, 2002

N. Schwesinger: Lehrbuch Mikrosystemtechnik, Oldenbourg Verlag, 2009

T. M. Adams, R. A. Layton:Introductory MEMS, Springer, 2010

G. Gerlach; W. Dötzel: Introduction to microsystem technology, Wiley, 2008

Objectives of the problem-oriented course are the acquisition of knowledge on system design using the formal languages SysML/UML, learning about tools for modeling and finally the implementation of a project with methods and tools of Model-Based Systems Engineering (MBSE) on a realistic hardware platform (e.g. Arduino®, Raspberry Pi®):
• What is a model? 
• What is Systems Engineering? 
• Survey of MBSE methodologies
• The modelling languages SysML /UML 
• Tools for MBSE 
• Best practices for MBSE 
• Requirements specification, functional architecture, specification of a solution
• From model to software code 
• Validation and verification: XiL methods
• Accompanying MBSE project

- Skript zur Vorlesung
- Weilkiens, T.: Systems Engineering mit SysML/UML: Modellierung, Analyse, Design. 2. Auflage, dpunkt.Verlag, 2008
- Holt, J., Perry, S.A., Brownsword, M.: Model-Based Requirements Engineering. Institution Engineering & Tech, 2011

Industrial production deals with the manufacture of physical products to satisfy human needs using various manufacturing processes that change the form and physical properties of raw materials. Manufacturing is a central driver of economic development and has a major impact on the well-being of humanity. However, the scale of current manufacturing activities results in enormous global energy and material demands that are harmful to both the environment and people. Historically, industrial activities were mostly oriented towards economic constraints, while social and environmental consequences were only hardly considered. As a result, today's global consumption rates of many resources and associated emissions often exceed the natural regeneration rate of our planet. In this respect, current industrial production can mostly be described as unsustainable. This is emphasized each year by the Earth Overshoot Day, which marks the day when humanity's ecological footprint exceeds the Earth's annual regenerative capacity. 

This lecture aims to provide the motivation, analytical methods as well as approaches for sustainable industrial production and to clarify the influence of the production phase in relation to the raw material, use and recycling phases in the entire life cycle of products. For this, the following topics will be highlighted:

- Motivation for sustainable production, the 17 Sustainable Development Goals (SDGs) of the UN and their relevance for tomorrow's manufacturing;

- raw material vs. production phase vs. use phase vs. recycling/end-of-life phase: importance of the production phase for the environmental impact of manufactured products;

- Typical energy- and resource-intensive processes in industrial production and innovative approaches to increase energy and resource efficiency;

- Methodology for optimizing the energy and resource efficiency of industrial manufacturing chains with the three steps of modeling (1), evaluating (2) and improving (3);

- Resource efficiency of industrial manufacturing value chains and its assessment using life cycle analysis (LCA);

- Exercise: LCA analysis of a manufacturing process (thermoplastic joining of an aircraft fuselage segment) as part of a product life cycle assessment.

Literatur:

- Stefan Alexander (2020): Resource efficiency in manufacturing value chains. Cham: Springer International Publishing.

- Hauschild, Michael Z.; Rosenbaum, Ralph K.; Olsen, Stig Irving (Hg.) (2018): Life Cycle Assessment. Theory and Practice. Cham: Springer International Publishing.

- Kishita, Yusuke; Matsumoto, Mitsutaka; Inoue, Masato; Fukushige, Shinichi (2021): EcoDesign and sustainability. Singapore: Springer.

- Schebek, Liselotte; Herrmann, Christoph; Cerdas, Felipe (2019): Progress in Life Cycle Assessment. Cham: Springer International Publishing.

- Thiede, Sebastian; Hermann, Christoph (2019): Eco-factories of the future. Cham: Springer Nature Switzerland AG.

- Vorlesungsskript.

• Process measurement engineering in the context of process control engineering
  • Challenges of process measurement engineering
  • Instrumentation of processes
  • Classification of pickups
• Systems theory in process measurement engineering
  • Generic linear description of pickups
  • Mathematical description of two-port systems
  • Fourier and Laplace transformation
• Correlational measurement
  • Wide band signals
  • Auto- and cross-correlation function and their applications
  • Fault-free operation of correlational methods
• Transmission of analog and digital measurement signals
  • Modulation process (amplitude and frequency modulation)
  • Multiplexing
  • Analog to digital converter

- Färber: „Prozeßrechentechnik“, Springer-Verlag 1994

- Kiencke, Kronmüller: „Meßtechnik“, Springer Verlag Berlin Heidelberg, 1995

- A. Ambardar: „Analog and Digital Signal Processing“ (1), PWS Publishing Company, 1995, NTC 339

- A. Papoulis: „Signal Analysis“ (1), McGraw-Hill, 1987, NTC 312 (LB)

- M. Schwartz: „Information Transmission, Modulation and Noise“ (3,4), McGraw-Hill, 1980, 2402095

- S. Haykin: „Communication Systems“ (1,3), Wiley&Sons, 1983, 2419072

- H. Sheingold: „Analog-Digital Conversion Handbook“ (5), Prentice-Hall, 1986, 2440072

- J. Fraden: „AIP Handbook of Modern Sensors“ (5,6), American Institute of Physics, 1993, MTB 346

Always viewed from the engineer's point of view, the lecture is structured as follows:

•     Introduction to the topic
•     Fundamentals of physiological modelling
•     Introduction to Breathing and Ventilation
•     Physiology and Pathology in Cardiology
•     Introduction to the Regulation of Blood Glucose
•     kidney function and renal replacement therapy
•     Representation of the control technology on the concrete ventilator
•     Excursion to a medical technology company

Techniques of modeling, simulation and controller development are discussed. In the models, simple equivalent block diagrams for physiological processes are derived and explained how sensors, controllers and actuators are operated. MATLAB and SIMULINK are used as development tools.

• Leonhardt, S., & Walter, M. (2016). Medizintechnische Systeme. Berlin, Heidelberg: Springer Vieweg.
• Werner, J. (2005). Kooperative und autonome Systeme der Medizintechnik. München: Oldenbourg.
• Oczenski, W. (2017). Atmen : Atemhilfen ; Atemphysiologie und Beatmungstechnik: Georg Thieme Verlag KG.

1. Modelling of Multibody Systems
   
2. Basics from kinematics and kinetics
   
3. Constraints
   
4. Multibody systems in minimal coordinates
5. State space, linearization and modal analysis
   
6. Multibody systems with kinematic constraints
7. Multibody systems as DAE
8. Non-holonomic multibody systems
9. Experimental Methods in Dynamics
   

Schiehlen, W.; Eberhard, P.: Technische Dynamik, 4. Auflage, Vieweg+Teubner: Wiesbaden, 2014.

Woernle, C.: Mehrkörpersysteme, Springer: Heidelberg, 2011.

Seifried, R.: Dynamics of Underactuated Multibody Systems, Springer, 2014.

-Project Based Learning
-Robot Operating System
-Robot structure and description
-Motion description
-Calibration
-Accuracy

John J. Craig
Introduction to Robotics - Mechanics and Control 
ISBN: 0131236296
 Pearson Education, Inc., 2005

Stefan Hesse
Grundlagen der Handhabungstechnik
ISBN: 3446418725
 München Hanser, 2010

K. Thulasiraman and M. N. S. Swamy
Graphs: Theory and Algorithms
ISBN: 9781118033104  %CITAVIPICKER£9781118033104£Titel anhand dieser ISBN in Citavi-Projekt übernehmen£%
John Wüey & Sons, Inc., 1992

INCOSE Systems Engineering Handbuch - Ein Leitfaden für Systemlebenszyklus-Prozesse und -Aktivitäten, GfSE (Hrsg. der deutschen Übersetzung), ISBN 978-3-9818805-0-2.

ISO/IEC 15288 System- und Software-Engineering - System-Lebenszyklus-Prozesse (Systems and Software Engineering - System Life Cycle Processes).

• Processes and methods of product development - from idea to market launch
  • identification of market and technology potentials
  • development of a common product architecture
  • Synchronized product development across all engineering disciplines
  • product validation incl. customer view
• Steering and optimization of product development
  • Design of processes for product development
  • IT systems for product development
  • Establishment of management standards
  • Typical types of organization

• Bender: Embedded Systems - qualitätsorientierte Entwicklung 
• Ehrlenspiel: Integrierte Produktentwicklung: Denkabläufe, Methodeneinsatz, Zusammenarbeit 
• Gausemeier/Ebbesmeyer/Kallmeyer: Produktinnovation - Strategische Planung und Entwicklung der Produkte von morgen
• Haberfellner/de Weck/Fricke/Vössner: Systems Engineering: Grundlagen und Anwendung
• Lindemann: Methodische Entwicklung technischer Produkte: Methoden flexibel und situationsgerecht anwenden
• Pahl/Beitz: Konstruktionslehre: Grundlagen erfolgreicher Produktentwicklung. Methoden und Anwendung 
• VDI-Richtlinie 2206: Entwicklungsmethodik für mechatronische Systeme

ATmega16A 8-bit  Microcontroller with 16K Bytes In-System Programmable Flash - DATASHEET, Atmel Corporation 2014

Atmel AVR 8-bit Instruction Set Instruction Set Manual, Atmel Corporation 2016

• Introduction (historical view, scientific and economic relevance, scaling laws)
• Semiconductor Technology Basics, Lithography (wafer fabrication, photolithography, improving resolution, next-generation lithography, nano-imprinting, molecular imprinting)
• Deposition Techniques (thermal oxidation, epitaxy, electroplating, PVD techniques: evaporation and sputtering; CVD techniques: APCVD, LPCVD, PECVD and LECVD; screen printing)
• Etching and Bulk Micromachining (definitions, wet chemical etching, isotropic etch with HNA, electrochemical etching, anisotropic etching with KOH/TMAH: theory, corner undercutting, measures for compensation and etch-stop techniques; plasma processes, dry etching: back sputtering, plasma etching, RIE, Bosch process, cryo process, XeF2 etching)
• Surface Micromachining and alternative Techniques (sacrificial etching, film stress, stiction: theory and counter measures; Origami microstructures, Epi-Poly, porous silicon, SOI, SCREAM process, LIGA, SU8, rapid prototyping)
• Thermal and Radiation Sensors (temperature measurement, self-generating sensors: Seebeck effect and thermopile; modulating sensors: thermo resistor, Pt-100, spreading resistance sensor, pn junction, NTC and PTC; thermal anemometer, mass flow sensor, photometry, radiometry, IR sensor: thermopile and bolometer)
• Mechanical Sensors (strain based and stress based principle, capacitive readout, piezoresistivity,  pressure sensor: piezoresistive, capacitive and fabrication process; accelerometer: piezoresistive, piezoelectric and capacitive; angular rate sensor: operating principle and fabrication process)
• Magnetic Sensors (galvanomagnetic sensors: spinning current Hall sensor and magneto-transistor; magnetoresistive sensors: magneto resistance, AMR and GMR, fluxgate magnetometer)
• Chemical and Bio Sensors (thermal gas sensors: pellistor and thermal conductivity sensor; metal oxide semiconductor gas sensor, organic semiconductor gas sensor, Lambda probe, MOSFET gas sensor, pH-FET, SAW sensor, principle of biosensor, Clark electrode, enzyme electrode, DNA chip)
• Micro Actuators, Microfluidics and TAS (drives: thermal, electrostatic, piezo electric and electromagnetic; light modulators, DMD, adaptive optics, microscanner, microvalves: passive and active, micropumps, valveless micropump, electrokinetic micropumps, micromixer, filter, inkjet printhead, microdispenser, microfluidic switching elements, microreactor, lab-on-a-chip, microanalytics)
• MEMS in medical Engineering (wireless energy and data transmission, smart pill, implantable drug delivery system, stimulators: microelectrodes, cochlear and retinal implant; implantable pressure sensors, intelligent osteosynthesis, implant for spinal cord regeneration)
• Design, Simulation, Test (development and design flows, bottom-up approach, top-down approach, testability, modelling: multiphysics, FEM and equivalent circuit simulation; reliability test, physics-of-failure, Arrhenius equation, bath-tub relationship)
• System Integration (monolithic and hybrid integration, assembly and packaging, dicing, electrical contact: wire bonding, TAB and flip chip bonding; packages, chip-on-board, wafer-level-package, 3D integration, wafer bonding: anodic bonding and silicon fusion bonding; micro electroplating, 3D-MID)

M. Madou: Fundamentals of Microfabrication, CRC Press, 2002

N. Schwesinger: Lehrbuch Mikrosystemtechnik, Oldenbourg Verlag, 2009

T. M. Adams, R. A. Layton:Introductory MEMS, Springer, 2010

G. Gerlach; W. Dötzel: Introduction to microsystem technology, Wiley, 2008

Objectives of the problem-oriented course are the acquisition of knowledge on system design using the formal languages SysML/UML, learning about tools for modeling and finally the implementation of a project with methods and tools of Model-Based Systems Engineering (MBSE) on a realistic hardware platform (e.g. Arduino®, Raspberry Pi®):
• What is a model? 
• What is Systems Engineering? 
• Survey of MBSE methodologies
• The modelling languages SysML /UML 
• Tools for MBSE 
• Best practices for MBSE 
• Requirements specification, functional architecture, specification of a solution
• From model to software code 
• Validation and verification: XiL methods
• Accompanying MBSE project

- Skript zur Vorlesung
- Weilkiens, T.: Systems Engineering mit SysML/UML: Modellierung, Analyse, Design. 2. Auflage, dpunkt.Verlag, 2008
- Holt, J., Perry, S.A., Brownsword, M.: Model-Based Requirements Engineering. Institution Engineering & Tech, 2011

Industrial production deals with the manufacture of physical products to satisfy human needs using various manufacturing processes that change the form and physical properties of raw materials. Manufacturing is a central driver of economic development and has a major impact on the well-being of humanity. However, the scale of current manufacturing activities results in enormous global energy and material demands that are harmful to both the environment and people. Historically, industrial activities were mostly oriented towards economic constraints, while social and environmental consequences were only hardly considered. As a result, today's global consumption rates of many resources and associated emissions often exceed the natural regeneration rate of our planet. In this respect, current industrial production can mostly be described as unsustainable. This is emphasized each year by the Earth Overshoot Day, which marks the day when humanity's ecological footprint exceeds the Earth's annual regenerative capacity. 

This lecture aims to provide the motivation, analytical methods as well as approaches for sustainable industrial production and to clarify the influence of the production phase in relation to the raw material, use and recycling phases in the entire life cycle of products. For this, the following topics will be highlighted:

- Motivation for sustainable production, the 17 Sustainable Development Goals (SDGs) of the UN and their relevance for tomorrow's manufacturing;

- raw material vs. production phase vs. use phase vs. recycling/end-of-life phase: importance of the production phase for the environmental impact of manufactured products;

- Typical energy- and resource-intensive processes in industrial production and innovative approaches to increase energy and resource efficiency;

- Methodology for optimizing the energy and resource efficiency of industrial manufacturing chains with the three steps of modeling (1), evaluating (2) and improving (3);

- Resource efficiency of industrial manufacturing value chains and its assessment using life cycle analysis (LCA);

- Exercise: LCA analysis of a manufacturing process (thermoplastic joining of an aircraft fuselage segment) as part of a product life cycle assessment.

Literatur:

- Stefan Alexander (2020): Resource efficiency in manufacturing value chains. Cham: Springer International Publishing.

- Hauschild, Michael Z.; Rosenbaum, Ralph K.; Olsen, Stig Irving (Hg.) (2018): Life Cycle Assessment. Theory and Practice. Cham: Springer International Publishing.

- Kishita, Yusuke; Matsumoto, Mitsutaka; Inoue, Masato; Fukushige, Shinichi (2021): EcoDesign and sustainability. Singapore: Springer.

- Schebek, Liselotte; Herrmann, Christoph; Cerdas, Felipe (2019): Progress in Life Cycle Assessment. Cham: Springer International Publishing.

- Thiede, Sebastian; Hermann, Christoph (2019): Eco-factories of the future. Cham: Springer Nature Switzerland AG.

- Vorlesungsskript.

• Process measurement engineering in the context of process control engineering
  • Challenges of process measurement engineering
  • Instrumentation of processes
  • Classification of pickups
• Systems theory in process measurement engineering
  • Generic linear description of pickups
  • Mathematical description of two-port systems
  • Fourier and Laplace transformation
• Correlational measurement
  • Wide band signals
  • Auto- and cross-correlation function and their applications
  • Fault-free operation of correlational methods
• Transmission of analog and digital measurement signals
  • Modulation process (amplitude and frequency modulation)
  • Multiplexing
  • Analog to digital converter

- Färber: „Prozeßrechentechnik“, Springer-Verlag 1994

- Kiencke, Kronmüller: „Meßtechnik“, Springer Verlag Berlin Heidelberg, 1995

- A. Ambardar: „Analog and Digital Signal Processing“ (1), PWS Publishing Company, 1995, NTC 339

- A. Papoulis: „Signal Analysis“ (1), McGraw-Hill, 1987, NTC 312 (LB)

- M. Schwartz: „Information Transmission, Modulation and Noise“ (3,4), McGraw-Hill, 1980, 2402095

- S. Haykin: „Communication Systems“ (1,3), Wiley&Sons, 1983, 2419072

- H. Sheingold: „Analog-Digital Conversion Handbook“ (5), Prentice-Hall, 1986, 2440072

- J. Fraden: „AIP Handbook of Modern Sensors“ (5,6), American Institute of Physics, 1993, MTB 346

Always viewed from the engineer's point of view, the lecture is structured as follows:

•     Introduction to the topic
•     Fundamentals of physiological modelling
•     Introduction to Breathing and Ventilation
•     Physiology and Pathology in Cardiology
•     Introduction to the Regulation of Blood Glucose
•     kidney function and renal replacement therapy
•     Representation of the control technology on the concrete ventilator
•     Excursion to a medical technology company

Techniques of modeling, simulation and controller development are discussed. In the models, simple equivalent block diagrams for physiological processes are derived and explained how sensors, controllers and actuators are operated. MATLAB and SIMULINK are used as development tools.

• Leonhardt, S., & Walter, M. (2016). Medizintechnische Systeme. Berlin, Heidelberg: Springer Vieweg.
• Werner, J. (2005). Kooperative und autonome Systeme der Medizintechnik. München: Oldenbourg.
• Oczenski, W. (2017). Atmen : Atemhilfen ; Atemphysiologie und Beatmungstechnik: Georg Thieme Verlag KG.

1. Modelling of Multibody Systems
   
2. Basics from kinematics and kinetics
   
3. Constraints
   
4. Multibody systems in minimal coordinates
5. State space, linearization and modal analysis
   
6. Multibody systems with kinematic constraints
7. Multibody systems as DAE
8. Non-holonomic multibody systems
9. Experimental Methods in Dynamics
   

Schiehlen, W.; Eberhard, P.: Technische Dynamik, 4. Auflage, Vieweg+Teubner: Wiesbaden, 2014.

Woernle, C.: Mehrkörpersysteme, Springer: Heidelberg, 2011.

Seifried, R.: Dynamics of Underactuated Multibody Systems, Springer, 2014.

• Fundamentals of kinematics
• Static and dynamic stability of humanoid robotic systems
• Combination of different software environments (Matlab, C++, etc.)
• Introduction to the necessary  software frameworks
• Team project
• Presentation and Demonstration of intermediate and final results

• B. Siciliano, O. Khatib. "Handbook of Robotics. Part A: Robotics Foundations", Springer (2008)

• Experiment 1: Programming in NXC
• Experiment 2: Programming the Robot in Matlab/Simulink
• Experiment 3: Programming the Robot in LabVIEW
  

• Peter Marwedel. Embedded System Design - Embedded System Foundations of Cyber-Physical Systems. 2^nd Edition, Springer, 2012.
• Begleitende Foliensätze
  

One of the offered experiments in control theory.

Experiment Guides

One of the offered experiments in control theory.

Experiment Guides

One of the offered experiments in control theory.

Experiment Guides

• Grundlagen der Regelungstechnik
• Control systems theory and design
  
  

- B. Siciliano, O. Khatib. "Handbook of Robotics. Part A: Robotics Foundations",

Springer (2008).

• Prediction error method
  
• Linear and nonlinear model structures
• Nonlinear model structure based on multilayer perceptron network
• Approximate predictive control based on multilayer perceptron network model
• Subspace identification

• Lennart Ljung, System Identification - Theory for the User, Prentice Hall 1999
• M. Norgaard, O. Ravn, N.K. Poulsen and L.K. Hansen, Neural Networks for Modeling and Control of Dynamic Systems, Springer Verlag, London 2003
• T. Kailath, A.H. Sayed and B. Hassibi, Linear Estimation, Prentice Hall 2000

Experiment Guides

Experiment Guides

Experiment Guides

Experiment Guides

• General-Purpose Processors
• Programming the Atmel AVR
• Interrupts
• C for Embedded Systems
• Standard Single Purpose Processors: Peripherals
• Finite-State Machines
• Memory
• Operating Systems for Embedded Systems
• Real-Time Embedded Systems
• Boot loader and Power Management
  

1. Embedded System Design,  F. Vahid and T. Givargis,  John Wiley

2. Programming Embedded Systems: With C and Gnu Development Tools, M. Barr and A. Massa, O'Reilly

3. C und C++ für Embedded Systems,  F. Bollow, M. Homann, K. Köhn,  MITP
   

4. The Art of Designing  Embedded Systems, J. Ganssle, Newnses

5. Mikrocomputertechnik mit Controllern der Atmel AVR-RISC-Familie,  G. Schmitt, Oldenbourg
   

6. Making Embedded Systems: Design Patterns for Great Software, E. White, O'Reilly

• Introduction and Motivation
• Compilers for Embedded Systems - Requirements and Dependencies
• Internal Structure of Compilers
• Pre-Pass Optimizations
• HIR Optimizations and Transformations
• Code Generation
• LIR Optimizations and Transformations
• Register Allocation
• WCET-Aware Compilation
• Outlook
  

• Peter Marwedel. Embedded System Design - Embedded Systems Foundations of Cyber-Physical Systems. 2^nd Edition, Springer, 2012.
• Steven S. Muchnick. Advanced Compiler Design and Implementation. Morgan Kaufmann, 1997.
• Andrew W. Appel. Modern compiler implementation in C. Oxford University Press, 1998.
  

- kinematics
- calibration
- tracking systems
- navigation and image guidance
- motion compensation
The seminar extends and complements the contents of the lecture with respect to recent research results.

Spong et al.: Robot Modeling and Control, 2005
Troccaz: Medical Robotics, 2012
Further literature will be given in the lecture.

• Introduction
• Specifications and Modeling
• Embedded/Cyber-Physical Systems Hardware
• System Software
• Evaluation and Validation
• Mapping of Applications to Execution Platforms
• Optimization
  

• Peter Marwedel. Embedded System Design - Embedded Systems Foundations of Cyber-Physical Systems. 2^nd Edition, Springer, 2012., Springer, 2012.
  

Introduction to methodical design of mechatronic systems:

• Modelling
• System identification
• Simulation
• Optimization
  

Denny Miu: Mechatronics, Springer 1992

Modeling in MATLAB^® und Simulink^®

Controller Design (Linear, Nonlinear, Observer)

Parameter identification

Control of a real system with a realtimeboard and Simulink^® RTW

- Abhängig vom Versuchsaufbau

- Depends on the experiment

• Decision trees
• First-order inductive learning
• Incremental learning: Version spaces
• Uncertainty
• Bayesian networks
• Learning parameters of Bayesian networks
  BME, MAP, ML, EM algorithm
• Learning structures of Bayesian networks
• Gaussian Mixture Models
• kNN classifier, neural network classifier, support vector machine (SVM) classifier
  
• Clustering
  Distance measures, k-means clustering, nearest neighbor clustering
• Kernel Density Estimation
• Ensemble Learning
• Reinforcement Learning
• Computational Learning Theory

1. Artificial Intelligence: A Modern Approach (Third Edition), Stuart Russel, Peter Norvig, Prentice Hall, 2010, Chapters 13, 14, 18-21
2. Machine Learning: A Probabilistic Perspective, Kevin Murphy, MIT Press 2012

- methods for search, optimization,  planning,  classification, regression and prediction in a clinical context
- representation of medical knowledge
- understanding challenges due to clinical and patient related data and data acquisition
The students will work in groups to apply the methods introduced during the lecture using problem based learning.

Russel & Norvig: Artificial Intelligence: a Modern Approach, 2012
Berner: Clinical Decision Support Systems: Theory and Practice, 2007
Greenes: Clinical Decision Support: The Road Ahead, 2007
Further literature will be given in the lecture

- foundations of problem solving and system modeling, discrete event systems
- properties of processes, modeling using automata and Petri-nets
- design considerations for processes (mutex, deadlock avoidance, liveness)
- optimal scheduling for processes
- optimal decisions when planning manufacturing systems, decisions under uncertainty
- software design and software architectures for automation, PLCs

J. Lunze: „Automatisierungstechnik“, Oldenbourg Verlag, 2012
Reisig: Petrinetze: Modellierungstechnik, Analysemethoden, Fallstudien; Vieweg+Teubner 2010
Hrúz, Zhou: Modeling and Control of Discrete-event Dynamic Systems; Springer 2007
Li, Zhou: Deadlock Resolution in Automated Manufacturing Systems, Springer 2009
Pinedo: Planning and Scheduling in Manufacturing and Services, Springer 2009

• Transforms of discrete-time signals:

  • Discrete-time Fourier Transform (DTFT)

  • Discrete Fourier-Transform (DFT), Fast Fourier Transform (FFT)

  • Z-Transform

• Correspondence of continuous-time and discrete-time signals, sampling, sampling theorem

• Fast convolution, Overlap-Add-Method, Overlap-Save-Method

• Fundamental structures and basic types of digital filters

• Characterization of digital filters using pole-zero plots, important properties of digital filters

• Quantization effects

• Design of linear-phase filters

• Fundamentals of stochastic signal processing and adaptive filters

  • MMSE criterion

  • Wiener Filter

  • LMS- and RLS-algorithm

• Traditional and parametric methods of spectrum estimation

K.-D. Kammeyer, K. Kroschel: Digitale Signalverarbeitung. Vieweg Teubner.

V. Oppenheim, R. W. Schafer, J. R. Buck: Zeitdiskrete Signalverarbeitung. Pearson StudiumA. V.

W. Hess: Digitale Filter. Teubner.

Oppenheim, R. W. Schafer: Digital signal processing. Prentice Hall.

S. Haykin:  Adaptive flter theory.

L. B. Jackson: Digital filters and signal processing. Kluwer.

T.W. Parks, C.S. Burrus: Digital filter design. Wiley.

• Linear Parameter-Varying (LPV) Gain Scheduling
  
  - Linearizing gain scheduling, hidden coupling
  - Jacobian linearization vs. quasi-LPV models
  - Stability and induced L2 norm of LPV systems
  - Synthesis of LPV controllers based on the two-sided projection lemma
  - Simplifications: controller synthesis for polytopic and LFT models
  - Experimental identification of LPV models
  - Controller synthesis based on input/output models
  - Applications: LPV torque vectoring for electric vehicles, LPV control of a robotic manipulator

• Control of Multi-Agent Systems
  
  - Communication graphs
  - Spectral properties of the graph Laplacian
  - First and second order consensus protocols
  - Formation control, stability and performance
  - LPV models for agents subject to nonholonomic constraints
  - Application: formation control for a team of quadrotor helicopters
  
  
• Linear and Nonlinear Model Predictive Control based on LMIs
  

• Werner, H., Lecture Notes "Advanced Topics in Control"
• Selection of relevant research papers made available as pdf documents via StudIP

The goal is to introduce students to the basic statistical methods and their application to simple problems. The topics include:

•          Chi square test

•          Simple regression and correlation

•          Multiple regression and correlation

•          One way analysis of variance

•          Two way analysis of variance

•          Discriminant analysis

•          Analysis of categorial data

•          Chossing the appropriate statistical method

•          Determining critical sample sizes

Applied Regression Analysis and Multivariable Methods, 3rd Edition, David G. Kleinbaum Emory University, Lawrence L. Kupper University of North Carolina at Chapel Hill, Keith E. Muller University of North Carolina at Chapel Hill, Azhar Nizam Emory University, Published by Duxbury Press, CB © 1998, ISBN/ISSN: 0-534-20910-6

The students receive a problem task, which they have to solve in small groups (n=5). They do have to collect their own data and work with them. The results have to be presented in an executive summary at the end of the course.

Selbst zu finden

The different statistical tests are applied for the solution of realistic problems using actual data sets and the most common used commercial statistical software package (SPSS).

Student Solutions Manual for Kleinbaum/Kupper/Muller/Nizam's Applied Regression Analysis and Multivariable Methods, 3rd Edition, David G. Kleinbaum Emory University Lawrence L. Kupper University of North Carolina at Chapel Hill, Keith E. Muller University of North Carolina at Chapel Hill, Azhar Nizam Emory University, Published by Duxbury Press, Paperbound © 1998, ISBN/ISSN: 0-534-20913-0

1. Basics of Multibody Systems
2. Basics of Continuum Mechanics
3. Linear finite element modelles and modell reduction
4. Nonlinear finite element Modelles: absolute nodal coordinate formulation
   
5. Kinematics of an elastic body 
   
6. Kinetics of an elastic body
7. System assembly
   

Schwertassek, R. und Wallrapp, O.: Dynamik flexibler Mehrkörpersysteme. Braunschweig, Vieweg, 1999.

Seifried, R.: Dynamics of Underactuated Multibody Systems, Springer, 2014.

Shabana, A.A.: Dynamics of Multibody Systems. Cambridge Univ. Press, Cambridge, 2004, 3. Auflage.

1. Formulation and classification of optimization problems 
2. Scalar Optimization
3. Sensitivity Analysis
4. Unconstrained Parameter Optimization
5. Constrained Parameter Optimization
6. Stochastic optimization
   
7. Multicriteria Optimization
8. Topology Optimization
   

Bestle, D.: Analyse und Optimierung von Mehrkörpersystemen. Springer, Berlin, 1994.

Nocedal, J. , Wright , S.J. : Numerical Optimization. New York: Springer, 2006.

Experiment Guides

Experiment Guides

• Seminar on selected topics in modern control

• To be specified