Masterarbeit

Adaptive Component Handling for Intelligent Assembly
Development of an adaptive robotic assembly approach for sockets and connectors based on visual and force-based methods. First evaluated in a peg-in-hole scenario, then in more complex real-world scenarios at TTZ Nürnberger Land.
Bin Picking of Cables
Development of an approach for separating limp cables from a bin: localising connectors, determining grasp poses, handling mutual occlusions and tracking the connector pose during handling.
Bin Picking of Cables
Grasping Unknown Components for Robotic Assembly
Development of an approach for detecting unknown components and computing their grasp poses using RGB/depth cameras and neural networks. Validation on a robot cell with a collaborative robot at TTZ Nürnberger Land.
Handling of Films and Paper Interlayers
Development of a robotic concept for grasping, unfolding and placing paper and plastic-film interlayers into transport boxes. Validation on robot cells with collaborative robots at TTZ Nürnberger Land.
Emergent Systems in Production
Comparison of centralised and decentralised (emergent) coordination strategies for heterogeneous robot fleets in production environments. Simulation in ROS 2 / Gazebo, multi-agent reinforcement learning, validation on real hardware at TTZ.
Recommissioning of a Mobile C-Arm Robot with Mecanum Drive
Analysis, technical revision, and recommissioning of a mobile C-arm robot with mecanum drive, including possible mechanical modifications and validation of system and driving behaviour.
2R Robot Arm Lab Experiment – Gravity Compensation and Reinforcement Learning
Building a 2R robot arm with BLDC motors as an M-IAS lab experiment: model-based gravity compensation and reinforcement learning demo with ROS integration and simulation support.
Drone Charging Setup – Automated Wireless Charging of Micro-Drones
Development of an automated charging setup for Crazyflie drones: precise landing planning on wireless charging pads, mechanical adaptation via 3D printing, and integration into the automated swarm operation.
Drone Light Painting – Coordinated Light Image Generation with Micro-Drones
Coordinated light image generation with Crazyflie drone swarms through predefined flight patterns and long-exposure photography. Trajectory planning, collision avoidance and synchronisation at AerodrOHM.
Drone Swarm Obstacle Avoidance – Collision-Free Navigation of Micro-Drones
Development of a system for collision-free navigation of Crazyflie drone swarms using an external 3D camera, ROS integration and reactive swarm behaviour. Testing in the AerodrOHM flight space.