The Europa Explorar LUNa project is developing an exploration mission to Jupiter's moon Europa. The objective is to explore the 100 km deep ocean beneath a 20 km thick layer of ice. For this purpose, the Autonomous Underwater Vehicle (AUV) DeepLeng must be transported through the ice. In the thesis,…

Optimal behaviours of a system to perform a specific task can be achieved by exploiting the coupling between trajectory optimization, stabilization and design optimization. The main objective of this thesis work is to analyze a novel co-optimization approach, which aims to improve the optimization r…

Ambient air pollution is well known to affect humans and the environment severely. Some primary sources of air pollution are industrial processes, motorized traffic, wildfires, and volcanic activities. Estimating future air pollution concentrations can lower the effects on humans and the environment…

The importance of legged robots is emphasized, as legged robot locomotion allows highly precise performance and wide spectrum of application, even in rough, unstructured terrain. However, the present challenges in legged robot locomotion are the trade-off between versatility and robustness, and the …

Bei der Entwicklung von Exoskeletten stellt die Konstruktion der mechanischen Interfaces - also der Anbindungen zwischen Person und System - eine besondere Herausforderung dar. Für eine präzise Kraftübertragung müssen Relativbewegungen zwischen Person und Exoskelett möglichst unterbunden werden. Gle…

Brachiation is a way of moving from place to place by swinging between branches of trees, employed by monkeys (mostly gibbons), using only their arms. During brachiation, if the next branch is far away such that the gibbon is expected to have a dynamic free flight phase in its motion, this fast moti…

Exposé

An approach to obtain an optimal behaviour of a system to achieve a specific task is via an interplay between trajectory optimization, stabilization and design optimization. To find a structured way to deal with this co-optimization is the main objective of the thesis work. The sim-to-real gap repre…

The aim of this thesis is to investigate the structural survivability of an existing Rover model (Coyote III) for use in space. A Rover experiences various structural loads throughout the course of the mission. These include the intense vibration experienced during the rocket launch, the lunar landi…

While a simple system modeling emotions can make a robot show believable emotions, it can also exhibit socially questionable or unacceptable emotions, like greeting a visitor while being visibly angry. Humans solve this problem by regulating their emotions with regard to the current situation and co…