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Logo: Hannover Center of Mechatronics/Leibniz Universität Hannover
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Logo: Hannover Center of Mechatronics/Leibniz Universität Hannover
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Medical Engineering

Debulking From Within: A Steerable Needle for Intracerebral Hemorrhage Aspiration

Bild zum Projekt Minimal-invasive Evakuation von intrazerebralen Blutungen (ICB)

Supervisor:

Dr.-Ing. Jessica Burgner-Kahrs

Duration:

09/2014-08/2016

Funded by:

National Institutes of Health (NIH) R21

Brief description:

In collaboration with Vanderbilt University, Nashville, USA we are developing a robot system for minimally-invasive intracebral hemorrhage evacuation in the scope of this NIH R21 project. The goal is to approach the hemorrhage through a small borehole in the skull with an active cannula and to debulk it from within by coordinated movements of a prebend aspiration cannula. The subproject of our research group CROSS is concerned with effecient motion planning techniques for aspiration of arbitrary hemorrhage geometries. The challenge is to develop adaptive motion planning methods that allow for real-time changes in the hemorrhage geometry during the procedure.

 

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Bending actuator for endoscopic applications

Bild zum Projekt Bending actuator for endoscopic applications

Supervisor:

Prof. Dr.-Ing. Tobias Ortmaier

Researcher:

Dipl.-Ing. Dennis Kundrat

Funded by:

German Research Foundation (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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Emmy Noether Research Group CROSS

Bild zum Projekt Emmy Noether-Nachwuchsgruppe CROSS

Supervisor:

Dr.-Ing. Jessica Burgner-Kahrs

Researcher:

M.Sc. Carolin Fellmann, M.Sc. Ernar Amanov

Duration:

10/2013-09/2018

Funded by:

DFG Emmy Noether Programme

Brief description:

The Emmy Noether research group CROSS investigates continuum robots for surgical applications. In particular, CROSS research is devoted to a sub category of continuum robots so called Concentric Tube Continuum Robots (CTCR). The manipulators are composed of multiple concentric, pre-bend, and flexible tubes.

 

| details |

 

Development of Biocompatible Magnesium Alloys and Investigations into their Degradation Behaviour

Bild zum Projekt Entwicklung von biokompatiblen Magnesiumlegierungen und Untersuchung von deren Degradationsverhalten

Researcher:

IW

Duration:

until 2014

Funded by:

DFG - SFB 599

Brief description:

This research project deals with the development of an alloy for degradable implants based on magnesium. These implant materials shall be suitable for use in hard tissue (high strength) as well as in soft tissue (high ductility). The degradation process adapted to the component and its implantation area is adapted by different coatings and various material combinations. The alloys are tested in in-vitro and ex-vivo test systems concerning their biocompatibility in different types of tissues and are then transferred into in-vivo systems. Applications are for example paranasal sinus stents.

 

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Sonification-based Motoric Rehabilitation

Bild zum Projekt Sonifikationsbasierte motorische Rehabilitation

Researcher:

IMS, Institute of Sports Science, Hannover University of Music, Drama and Media, Co. KIND, Co. videantis

Duration:

since 2011

Funded by:

EFRE, EU & Land Lower Saxony

Brief description:

Within the scope of this joint research project, the IMS investigates possible hardware platforms for sonification of motion data, which can be used in medical rehabilitation, e.g. for stroke patients. By this means, the rehabilitation time for relearning motion patterns shall be reduced. Important parameters for mobile hardware platforms are their weight, battery life and sufficient computing power. The research at IMS focuses on hardware platforms for real-time mobile capturing, processing and sonification of complex motion data.

 

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Robot-assisted Laser Osteotomy

Bild zum Projekt Roboterassistierte Laserosteotomie

Researcher:

imes

Duration:

since 2011

Funded by:

KUKA Laboratories GmbH

Brief description:

Laser osteotomy is of great interest for many clinical indications. Tissue removal following well defined geometries raises questions primarily in the fields of path planning, high-precision beam control, human-machine interface and determination of cutting depth. Therefore, a system consisting of a KUKA lightweight robot (LWR), a stereo camera, an optical coherence tomograph (OCT), and an Er:YAG laser is assembled at the Institute of Mechatronic Systems in close cooperation with the KUKA Laboratories GmbH to demonstrate a possible application for robot-assisted laser osteotomy.

 

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Development of Instruments for Laparoscopic Surgery

Bild zum Projekt Entwicklung chirurgischer Instrumente für die Laparoskopie

Researcher:

imes

Duration:

since 2010

Funded by:

Richard Wolf GmbH

Brief description:

For minimally invasive surgery (MIS), instruments are inserted into the abdominal cavity of the patient through small incisions. In order to make these procedures easier and safer - even for complicated manipulations such as knot tying - novel surgical instruments are needed. They offer more degrees of freedom inside the patient and are controlled by an intuitive console. The aim of the project is to develop these adequate instruments with at least two degrees of freedom.

 

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Determination of Drawing Parameters and Production of Resorbable Suture Materials Based on Magnesium

Bild zum Projekt Entwicklung der Ziehparameter und Herstellung resorbierbarer Nahtmaterialien auf Magnesiumbasis

Researcher:

IW, AGH Krakau

Duration:

2009 - 2011

Funded by:

DFG

Brief description:

Aim of the project is to investigate all aspects concerning drawing magnesium wires. The main research focus is laid on magnesium alloys with an improved biocompatibility, since one possible application of magnesium wires is their use as bioresorbable suture material for medical purposes. The investigations comprise the complete process chain from the alloy casting process over extrusion processes for the manufacturing of pre wire materials towards the evaluation of the influence of various drawing parameters.

 

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Active Micro-optics

Bild zum Projekt Aktive Mikrooptiken

Researcher:

IMPT

Duration:

sincs 2009

Funded by:

DFG

Brief description:

Within the framework of the project „Electromagnetic Actuation of Micro-optics: Adaptive Systems on the basis of Ferro fluidic Actuators“ of the SPP 1337 „Active Micro-optics“, the Institute of Micro Production Technology (IMPT) deals with the design and production of a micro actuator. By excitation of the micro coil array as part of the micro actuator, an electromagnetic field is induced, displacing a ferrofluid in a micro channel. By moving the electromagnetic liquid body, an optically active liquid is displaced within the fine micro channel structures made of PMMA. To model the micro coil array, FEM analyses were successfully carried out for simulation of the magnetically excited field and the temperature. From the simulation results, the design for the lithographic photo masks was derived. Then a process chain was developed for the micro actuator production, and the corresponding thin-film processes were optimised. In the meantime, the first actuators have already been produced, and the experiences gained have been used for design optimisation. The first optimised micro actuators are now completed and under test. In the subsequent system integration phase, two micro actuators form a sandwich structure with the micro channel structure in the middle.

 

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Inner Ear Micro Actuator for the Excitation of the Perilymph in case of Hearing Problems

Bild zum Projekt Innenohrmikrowandler zur Anregung der Perilymphe bei Schwerhörigkeit

Researcher:

IMPT, MHH

Duration:

2008 - 2012

Funded by:

DFG

Brief description:

Aim of the project is to develop a micro system which can be implanted in order to improve hearing. For this purpose, an electromagnetic micro actuator excites via the round window membrane the perilymph of the cochlea. Possible applications are medium labyrinthine hearing loss, conductive deafness and combined labyrinthine hearing loss. The prerequisites for this project are a high degree of biocompatibility and reliability and a simple handling during surgery. The project is realised in cooperation with the Hannover Medical School.

 

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Medical Image Processing

Bild zum Projekt Medizinische Bildverarbeitung

Researcher:

TNT

Duration:

2007 - 2010

Funded by:

Philips

Brief description:

In case of an automated image-based analysis of the spinal column used for many orthopedic applications, an exact segmentation of the individual vertebras is the basis. The spinal column is of great interest, because the scanned image area can be identified via the individual vertebras. In order to extract the relevant information from the image data obtained via computer tomography (CT), previous knowledge is needed. One approach for an automated analysis of medical image data is therefore the use of anatomic models. In Philips research laboratories in Hamburg, surface models of all presacral vertebras are developed and integrated in the segmentation process.

 

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Enhancement of Magnesium Structures to Support Cardiovascular Tissue Replacement in the High-pressure System

Bild zum Projekt Stabilisierende Magnesiumgeflechte zur Unterstützung von kardiovaskulärem Gewebeersatz im Hochdrucksystem

Researcher:

IW, IKM, MHH-LEBAO

Duration:

2007 - 2014

Funded by:

DFG - SFB599

Brief description:

In cardiovascular surgery, rehabilitative surgery methods for valvular and vascular transplants as well as for heart muscle damage are state-of-the-art. Decellularised tissue which is recolonised by incorporation of the receiver‘s own cells, having growth potential without being immunogenic, has already been used successfully in cardiovascular low-pressure systems. Goal of this project is the development of magnesium structures to support cardiovascular tissue replacement in the high-pressure system of the left chamber of the heart and the aorta.

 

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Image-based Automated Insertion of Cochlear Implants

Bild zum Projekt Optisch kontrollierte, automatisierte Insertion einer Cochlear Implant Elektrode

Researcher:

imes

Duration:

2006 - 2008

Funded by:

Deutsche Forschungsgemeinschaft (DFG)

Brief description:

The Institute of Mechatronic Systems developed a robot-assisted, minimal-invasive approach to the cochlea, drilling a small channel from the lateral skull base to the cochlea. In this context, the problem arises to insert the electrode into the cochlea via the keyhole access, which is not manually applicable by the surgeon any more. Main target of the project is the development of an automated insertion tool to insert the electrode via the keyhole access. The project is carried out in cooperation with the Department of Otolaryngology of the Hannover Medical School (MHH).

 

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Production Engineering

Active Manipulation of Tool Wear in External Cylindrical Plunge Grinding

Bild zum Projekt Aktive Beeinflussung des Werkzeugverschleißes
beim Außenrundeinstechschleifen

Researcher:

IFW, imes

Duration:

since 2011

Funded by:

DFG

Brief description:

Chatter vibrations are still a problem for the handling of high-precision systems in manufacturing, e.g. they are limiting the performance of these machines. To avoid chattering caused by abrasion of the tool, true running cycles are frequently needed nowadays. The goal of this project is to build up an active damping with an electromagnetic actuator. The actuator leads to additional forces to realise the damping.

 

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Ultrasonic-assisted Composite Casting

Bild zum Projekt Ultraschallunterstützter Verbundguss

Researcher:

IDS, IW

Duration:

2011

Funded by:

DFG

Brief description:

For simultaneous composite casting, two or more casts are simultaneously poured into a mould. In order to avoid a mixing up, phase separating plates are used.

 

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Development of Biocompatible Magnesium Alloys and Investigations into their Degradation Behaviour

Bild zum Projekt Entwicklung von biokompatiblen Magnesiumlegierungen und Untersuchung von deren Degradationsverhalten

Researcher:

IW

Duration:

until 2014

Funded by:

DFG - SFB 599

Brief description:

This research project deals with the development of an alloy for degradable implants based on magnesium. These implant materials shall be suitable for use in hard tissue (high strength) as well as in soft tissue (high ductility). The degradation process adapted to the component and its implantation area is adapted by different coatings and various material combinations. The alloys are tested in in-vitro and ex-vivo test systems concerning their biocompatibility in different types of tissues and are then transferred into in-vivo systems. Applications are for example paranasal sinus stents.

 

| details |

 

InUse – Intelligent Washer for Force Measurement in Bolt Connections

Bild zum Projekt InUse - Intelligente Unterlegscheibe zur Messung von Kräften in Schraubverbindungen

Researcher:

ITA

Duration:

2010 - 2011

Funded by:

AiF, Eilhauer Maschinenbau GmbH, Microsensys GmbH

Brief description:

Aim of the project InUse is the development of a novel intelligent washer for measuring forces directly in a bolt connection via piezoelectric sensors in conjunction with contactless RFID transfer to a reading device.

 

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Method for Motor-integrated Damping of Spindle Oscillations in Machine Tools

Bild zum Projekt Methode zur motorintegrierten Dämpfung von Spindelschwingungen bei Werkzeugmaschinen

Researcher:

IFW, IAL

Duration:

2009 - 2011

Funded by:

DFG

Brief description:

Goal of this DFG-funded joint research project of the IAL and IFW is an active damping of oscillations at main spindle units for milling machines. Basis of the damping method is to integrate magnetic actors into the active part of a synchronous spindle motor.

 

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Machining of Stone with Ultrasonically Excited Tools

Bild zum Projekt Gesteinsbearbeitung mit ultraschallangeregtem Werkzeug

Researcher:

IDS

Duration:

2009 - 2011

Funded by:

DFG

Brief description:

Aim of this DFG-funded project is to investigate on how to improve efficiency in automatic machining of stone, e.g. granite.

 

| details |

 

Active Micro-optics

Bild zum Projekt Aktive Mikrooptiken

Researcher:

IMPT

Duration:

sincs 2009

Funded by:

DFG

Brief description:

Within the framework of the project „Electromagnetic Actuation of Micro-optics: Adaptive Systems on the basis of Ferro fluidic Actuators“ of the SPP 1337 „Active Micro-optics“, the Institute of Micro Production Technology (IMPT) deals with the design and production of a micro actuator. By excitation of the micro coil array as part of the micro actuator, an electromagnetic field is induced, displacing a ferrofluid in a micro channel. By moving the electromagnetic liquid body, an optically active liquid is displaced within the fine micro channel structures made of PMMA. To model the micro coil array, FEM analyses were successfully carried out for simulation of the magnetically excited field and the temperature. From the simulation results, the design for the lithographic photo masks was derived. Then a process chain was developed for the micro actuator production, and the corresponding thin-film processes were optimised. In the meantime, the first actuators have already been produced, and the experiences gained have been used for design optimisation. The first optimised micro actuators are now completed and under test. In the subsequent system integration phase, two micro actuators form a sandwich structure with the micro channel structure in the middle.

 

| details |

 

Modelling of a Direct Linear Drive for Conveyor Belts

Bild zum Projekt Modellierung eines Lineardirektantriebs für Transportbänder

Researcher:

IAL, ITA

Duration:

2008 - 2011

Funded by:

DFG

Brief description:

In intralogistics, conveyor belts are used for cargo transportation. They are normally driven by means of a driving drum. To induce a feeding force, static friction is necessary between the conveyor and the driving drum. The spanning force in addition to the feeding force leads to a high mechanical charge of the conveyor belt. The maximum force determines the mechanical design of the belt. Linear drives located along the conveying line serve for reduction of force peaks and their distribution over the whole length of the conveyor belt, so that the traction carriers can be dimensioned to a smaller extent.

 

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CogniLog - Cognitive Logistics for Warehousing

Bild zum Projekt CogniLog - Cognitive Logistiknetzwerke

Researcher:

ITA

Duration:

2008 - 2013

Funded by:

EFRE

Brief description:

Aim of the research project CogniLog is to investigate how autonomous subsystems can cooperate in a cognitive logistics network. Such network would reduce the complexity in the organisation, control and monitoring of the individual subsystems, thus increasing the degree of automation.

 

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Automated Optical Inspection of Electronic Components

Bild zum Projekt Automatische optische Inspektion elektronischer Bauteile

Researcher:

TNT

Duration:

2008 - 2011

Funded by:

Industry

Brief description:

Within the scope of this BMWi-funded research project, inspection and classification methods for electronic components, as for example SMDs, are developed. For quality assurance, the proper processing of such components in electronic circuits shall be verified. The focus is laid on machine learning methods (boosting algorithms), which on the basis of training quantities allow the automated generation of the corresponding classifiers. In this learning process, a complex classifier is composed of a variety of simple parameters, as for example rectangular structures.

 

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Ultra-Lightweight High-speed Bonder

Bild zum Projekt Ultraleichtbau-Hochgeschwindigkeits-Bonder

Researcher:

IDS, IW

Duration:

2008 - 2010

Funded by:

BMBF

Brief description:

Within the scope of the BMBF-funded project "ULH Bonder", the IDS works in cooperation with the Institute of Materials Science (IW) and the Co. Hesse and Knipps on an ultra-lightweight high-speed bonder for wedge-to-wedge bonding.

 

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Electromagnetically Actuated Punch - Cutting of Thin Sheet Metals via Adaptive Magnetic Actuators

Bild zum Projekt Magnetstanze - Scherschneiden dünner Bleche mittels adaptiver Magnetaktorik

Researcher:

imes, IFUM

Funded by:

DFG

Brief description:

The challenge of the DFG-funded research project “Cutting of Thin Sheet Metals via Adaptive Magnetic Actuators“ realised in cooperation with the Institute of Metal Forming and Metal Forming Machines is the design and control of an electromagnetically actuated punch. This drive concept allows the adaption of the cutting process and therefore gives the possibility to compensate oscillations and tracking errors during the cut. Up to now, stroke rates up to 50 strokes per second can be achieved.

 

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IdentProLog - Flexible Guidance in Production and Material Flow Logistics by Integration of Industrial Trucks into the Information Flow

Bild zum Projekt IdentProLog - Flexible Zielführung in Produktion und Materialflusslogistik durch vollständig in den Informationsfluss integrierte Flurförderzeuge

Researcher:

ITA

Duration:

2006 - 2009

Funded by:

BMBF

Brief description:

The advances in communication and information technologies and a worldwide economy require new logistics processes. To fit these requirements, more and more decentralized information technology will take place.

 

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Spindle Test Bench

Bild zum Projekt Spindelprüfstand

Researcher:

PZH GmbH

Duration:

2006 - 2007

Brief description:

High-precision and high-speed metal cutting processes make high demands (e.g. torque, performance) on motor spindles applied in turning and milling machines. To handle the process of machining up to its maximum capacity, a detailed knowledge of the tool and spindle load is required. Due to the high dynamics in machining processes, combined (axial/radial/tangential) spindle loads can presently be investigated only in a limited way. Before this background, the PZH GmbH developed a novel spindle test bench to investigate the complete load spectrum acting on motor spindles during machining processes.

 

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Gentelligent Components in their Lifecycle (SFB 653) - Components with Gentelligent Surfaces and Subsurface Zones

Bild zum Projekt Gentelligente Bauteile im Lebenszyklus (SFB 653)- 
Bauteiloberflächen und -randzonen mit gentelligenten  Eigenschaften

Researcher:

TNT, IFW

Duration:

2005 - 2013

Funded by:

DFG

Brief description:

Component data, as for example batch no., machining parameters or construction details, are normally stored in databases. Within the framework of the DFG-funded Collaborative Research Centre SFB 653 "Gentelligent Components in their Lifecycle", methods are investigated to store such data in the components themselves, i.e. to create gentelligent components. For this purpose, micro structures are applied to the component’s surface, which can be used for data storage. The data can for example describe the original state of an object. Another part of the project aims at giving the component the ability to „feel“, based on the respective residual stress of the subsurface zone. The residual stress of surfaces is reduced by overload, thus providing information on their stress history. The data stored in the micro structures can for example be used during an inspection to figure out the remaining life by analysing original and current state, so that a component is not exchanged, except it fails until the next inspection. In a third aspect, the identification of components based on their surface structure is investigated. By analysis of the characteristic surface parameters, each component can be allocated with a fingerprint similar to the one known from human beings. Within the scope of this research project, these features are additionally used to develop a state-of-the-art protection against plagiarism in the manufacturing of components.

 

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Glue Line Scanner

Bild zum Projekt Leimspurscanner

Researcher:

PZH GmbH

Duration:

2005 - 2006

Brief description:

Within the scope of this project, an integrated glue line analysis for quality assurance of the manufacturing of rolling papers for cigarettes was developed.

 

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Fast Machine Tool

Bild zum Projekt Schnelle Werkzeugmaschine

Researcher:

IFW, IRT, IDS

Duration:

1998 - 2004

Funded by:

DFG

Brief description:

The research group 'structure and control of highly dynamic machine tools', builts up a prototype of a 'Fast Machine Tool' in collaboration with IFW, IRT and IDS. The IFW develops the machine structure and the feed drives. The IDS explores the magnetically guided machine axis and the IRT provides for the necessary hardware and software. Using this novel electromagnetic bearing Z-axis, new options in the field of high-speed machining can be evaluated. Higher dynamics, as well as an increase in accuracy can be achieved through the active system 'magnetic guidance'.

 

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PaLiDA – Parallel Kinematics with Linear Direct Drives

Bild zum Projekt PaLiDA - Parallelkinematik mit Lineardirektantrieben

Researcher:

imes, IFW

Duration:

2000 - 2006

Funded by:

DFG

Brief description:

The experimental platform PaLiDA is used at the Hannover Centre for Mechatronics within the DFG main focus program "Production Machines with Parallel Kinematics". This project exploits, analyses, and advances the advantages thanks to a combination of a parallel kinematic structure with high dynamic linear drives. This paves the way for the future use of parallel kinematics in the industrial production with an increased productivity.

 

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Robotics

Bending actuator for endoscopic applications

Bild zum Projekt Bending actuator for endoscopic applications

Supervisor:

Prof. Dr.-Ing. Tobias Ortmaier

Researcher:

Dipl.-Ing. Dennis Kundrat

Funded by:

German Research Foundation (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).

 

| details |

 

Emmy Noether Research Group CROSS

Bild zum Projekt Emmy Noether-Nachwuchsgruppe CROSS

Supervisor:

Dr.-Ing. Jessica Burgner-Kahrs

Researcher:

M.Sc. Carolin Fellmann, M.Sc. Ernar Amanov

Duration:

10/2013-09/2018

Funded by:

DFG Emmy Noether Programme

Brief description:

The Emmy Noether research group CROSS investigates continuum robots for surgical applications. In particular, CROSS research is devoted to a sub category of continuum robots so called Concentric Tube Continuum Robots (CTCR). The manipulators are composed of multiple concentric, pre-bend, and flexible tubes.

 

| details |

 

Electromagnetic Planar Drive with Piezoelectrically Excited Ultrasonic Levitation

Bild zum Projekt Elektromagnetischer Planarantrieb
mit piezoelektrisch angeregter Ultraschall-Levitation

Researcher:

IAL, IDS

Duration:

2011 - 2014

Funded by:

DFG, proposal submitted

Brief description:

The electromagnetic planar drive shall be moved on a silicon wafer by means of a micro-fabricated matrix coil system. Due to its material parameters, silicon is perfectly suitable for ultrasonic excitation, allowing traveller levitation for frictionless motion.

 

| details |

 

Robot-assisted Laser Osteotomy

Bild zum Projekt Roboterassistierte Laserosteotomie

Researcher:

imes

Duration:

since 2011

Funded by:

KUKA Laboratories GmbH

Brief description:

Laser osteotomy is of great interest for many clinical indications. Tissue removal following well defined geometries raises questions primarily in the fields of path planning, high-precision beam control, human-machine interface and determination of cutting depth. Therefore, a system consisting of a KUKA lightweight robot (LWR), a stereo camera, an optical coherence tomograph (OCT), and an Er:YAG laser is assembled at the Institute of Mechatronic Systems in close cooperation with the KUKA Laboratories GmbH to demonstrate a possible application for robot-assisted laser osteotomy.

 

| details |

 

Development of Instruments for Laparoscopic Surgery

Bild zum Projekt Entwicklung chirurgischer Instrumente für die Laparoskopie

Researcher:

imes

Duration:

since 2010

Funded by:

Richard Wolf GmbH

Brief description:

For minimally invasive surgery (MIS), instruments are inserted into the abdominal cavity of the patient through small incisions. In order to make these procedures easier and safer - even for complicated manipulations such as knot tying - novel surgical instruments are needed. They offer more degrees of freedom inside the patient and are controlled by an intuitive console. The aim of the project is to develop these adequate instruments with at least two degrees of freedom.

 

| details |

 

Active Micro-optics

Bild zum Projekt Aktive Mikrooptiken

Researcher:

IMPT

Duration:

sincs 2009

Funded by:

DFG

Brief description:

Within the framework of the project „Electromagnetic Actuation of Micro-optics: Adaptive Systems on the basis of Ferro fluidic Actuators“ of the SPP 1337 „Active Micro-optics“, the Institute of Micro Production Technology (IMPT) deals with the design and production of a micro actuator. By excitation of the micro coil array as part of the micro actuator, an electromagnetic field is induced, displacing a ferrofluid in a micro channel. By moving the electromagnetic liquid body, an optically active liquid is displaced within the fine micro channel structures made of PMMA. To model the micro coil array, FEM analyses were successfully carried out for simulation of the magnetically excited field and the temperature. From the simulation results, the design for the lithographic photo masks was derived. Then a process chain was developed for the micro actuator production, and the corresponding thin-film processes were optimised. In the meantime, the first actuators have already been produced, and the experiences gained have been used for design optimisation. The first optimised micro actuators are now completed and under test. In the subsequent system integration phase, two micro actuators form a sandwich structure with the micro channel structure in the middle.

 

| details |

 

Ultra-Lightweight High-speed Bonder

Bild zum Projekt Ultraleichtbau-Hochgeschwindigkeits-Bonder

Researcher:

IDS, IW

Duration:

2008 - 2010

Funded by:

BMBF

Brief description:

Within the scope of the BMBF-funded project "ULH Bonder", the IDS works in cooperation with the Institute of Materials Science (IW) and the Co. Hesse and Knipps on an ultra-lightweight high-speed bonder for wedge-to-wedge bonding.

 

| details |

 

Image-based Automated Insertion of Cochlear Implants

Bild zum Projekt Optisch kontrollierte, automatisierte Insertion einer Cochlear Implant Elektrode

Researcher:

imes

Duration:

2006 - 2008

Funded by:

Deutsche Forschungsgemeinschaft (DFG)

Brief description:

The Institute of Mechatronic Systems developed a robot-assisted, minimal-invasive approach to the cochlea, drilling a small channel from the lateral skull base to the cochlea. In this context, the problem arises to insert the electrode into the cochlea via the keyhole access, which is not manually applicable by the surgeon any more. Main target of the project is the development of an automated insertion tool to insert the electrode via the keyhole access. The project is carried out in cooperation with the Department of Otolaryngology of the Hannover Medical School (MHH).

 

| details |

 

Autonomous Forklift

Bild zum Projekt Autonomer Gabelstapler

Researcher:

ISE/RTS

Duration:

since 2005

Funded by:

STILL GmbH

Brief description:

The Real Time Systems Group (RTS) of the Leibniz University of Hannover has developed an autonomous forklift truck, in cooperation with STILL GmbH, to facilitate flexible navigation and material handling. The forklift truck is able to recognize pallets, to lift these up and to move them to another location autonomously. The pallets, as with the usual systems, need not be placed at a pre-defined hand over point. Instead, they are recognized by using laser scanners and can be automatically lifted from varying positions and heights.

 

| details |

 

Bipedal Autonomous Robot BARt

Bild zum Projekt Zweibeiniger Serviceroboter BARt

Researcher:

IRT

Duration:

since 1999

Brief description:

Wheel-based locomotion is very efficient for autonomous robots. Various applications in human surroundings are however not suitable for wheels, as for example stairs or similar obstacles. Here, leg-based robots are more convenient. To investigate dynamic walking, the two-legged robot BARt-UH (Bipedal Autonomous Robot Universität Hannover) was created. An updated version of the test platform BARt does still exist and is applied in further research projects.

 

| details |

 

Investigation of Fall Scenarios of Bipedal Robots

Bild zum Projekt Untersuchung von Fallszenarien zweibeiniger Laufmaschinen

Researcher:

IRT

Duration:

2003 - 2008

Funded by:

DFG

Brief description:

Bipedal locomotion provides service robots with the greatest possible flexibility to move in a human environment, but bears on the other hand high susceptibility to fall down. Conventional stability criteria are not sufficient for recognising and classifying fall scenarios. Within this project, methods to detect and classify possible falls were developed, and an optimum reaction to such scenarios was learned. Moreover, methods how to get up after a fall were investigated.

 

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Bipedal Autonomous Robot LISA

Bild zum Projekt Zweibeiniger autonomer Serviceroboter LISA

Researcher:

IRT

Duration:

2002 - 2009

Brief description:

LISA is an experimental robot for the development and testing of novel approaches for bipedal walking machines. A specialty of the shown walking machine is the construction of the hip joint, which is built like a ball-and-socket joint but with all hip motors attached to the upper body. The two legs of the robot are movable in a way, so that each foot can be moved spatially and rotated around all of its three axes.

 

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Energy- optimal Trajectory Planning by Use of Natural Motion Patterns

Bild zum Projekt Energieoptimale Bahnplanung durch Ausnutzung natürlicher Bewegungsmuster

Researcher:

imes

Duration:

2002 - 2003

Brief description:

In continuation of research projects dealing with underactuated manipulators in which the motion of passive joints takes place due to dynamic coupling (i.e. inertial force, Coriolis force, etc.), this coupling shall be exploited in order to implement energy-minimal trajectories for fully actuated systems.

 

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Inertial Measurement Unit

Bild zum Projekt Inertiale Messeinheit

Researcher:

IRT

Duration:

2000 - 2005

Funded by:

Start-up grant of the Hannover Centre for Mechatronics

Brief description:

The control of a two-legged robot requires a sensor that, like the sense of balance, measures the attitude and the position in three-dimensional space. Sensor clusters commonly used for inertial navigation are inapplicable for this task because of their weight, costs and high power consumption. Due to the rapid development of automotive micromechanical sensors a lot of low-cost alternatives have appeared. Though low-cost sensors have much higher measurement errors, these errors can be reduced to an adequate, application-specific degree. Within this project, the measurements of the sensor system therefore have to be designed redundant, and the sensor data has to be fused by an intelligent data fusion algorithm.

 

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Vision-based Robot Control

Bild zum Projekt Bildrückgeführte Roboterregelung

Researcher:

imes

Funded by:

Start-up grant of the Hannover Centre for Mechatronics

Brief description:

Goal of this research project is the vision-based control of the MARGe mounted serial manipulator. The system shall be able to recognize objects autonomously and, thereafter, grasp it due to a vision-based control.

 

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Autonomous Mobile Service Robot MARGe

Bild zum Projekt Autonome mobile Plattform MARGe

Researcher:

imes

Funded by:

Start-up grant of the Hannover Centre for Mechatronics

Brief description:

The mobile robot MARGe (Mobile Autonomous Robot Genie) serves as experimental platform for the development and evaluation of algorithms for localisation, trajectory control and dynamic obstacle avoidance. MARGe is equipped with a variety of internal and external sensors, including encoders and laser scanners.

 

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Automotive Mechatronics

Reducing Friction in Soil Cultivation

Bild zum Projekt Reibungsreduktion in der Bodenbearbeitung

Researcher:

IDS

Duration:

2009 - 2010

Funded by:

DFG

Brief description:

In cooperation with the Institute of Mobile Machines and Commercial Vehicles of the TU Braunschweig, the IDS investigate in how to minimise the tractive effort by reducing the friction forces in soil cultivation between ground and device.

 

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IdentProLog - Flexible Guidance in Production and Material Flow Logistics by Integration of Industrial Trucks into the Information Flow

Bild zum Projekt IdentProLog - Flexible Zielführung in Produktion und Materialflusslogistik durch vollständig in den Informationsfluss integrierte Flurförderzeuge

Researcher:

ITA

Duration:

2006 - 2009

Funded by:

BMBF

Brief description:

The advances in communication and information technologies and a worldwide economy require new logistics processes. To fit these requirements, more and more decentralized information technology will take place.

 

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Autonomous Forklift

Bild zum Projekt Autonomer Gabelstapler

Researcher:

ISE/RTS

Duration:

since 2005

Funded by:

STILL GmbH

Brief description:

The Real Time Systems Group (RTS) of the Leibniz University of Hannover has developed an autonomous forklift truck, in cooperation with STILL GmbH, to facilitate flexible navigation and material handling. The forklift truck is able to recognize pallets, to lift these up and to move them to another location autonomously. The pallets, as with the usual systems, need not be placed at a pre-defined hand over point. Instead, they are recognized by using laser scanners and can be automatically lifted from varying positions and heights.

 

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Model-based Boost Pressure Control in Diesel Engines

 

Researcher:

IRT

Duration:

2005 - 2009

Funded by:

Industry

Brief description:

The charging of internal combustion engines is a key technology to meet the requirements of modern passenger cars towards the emission of exhaust gas and efficiency. This project deals with the control of boost pressure necessary for combustion. A model-based nonlinear pre-control for exhaust turbo chargers was developed. Here, the modeling of the exhaust turbine was of major importance. The structural robustness of the boost pressure control in different operating points could be proved by analysis.

 

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Online Friction Estimation

Bild zum Projekt Online-Reibwertprognose

Researcher:

imes

Duration:

2003 - 2004

Funded by:

Industry

Brief description:

This project is carried out in cooperation with an automotive component supplier company and examines the feasibility of friction coefficient prognosis in automobiles on the basis of a multi sensor concept. The main focus of the project lies in the automotive technique, measurement technology and digital signal processing.

 

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Autonomous Friction Measuring Platform

Bild zum Projekt Autonome Messeinrichtung zur Untersuchung des Reibprozesses am Groschrad

Researcher:

imes, IKM, IDS, ibnm, DIK

Duration:

2000 - 2002

Funded by:

DFG

Brief description:

The investigation of friction between tires and driving surface is complicated due to the complexity of the tire properties and the interactions with chassis and drive chain. In order to tackle this problem, an electrically driven autonomous friction measuring platform was developed in close cooperation between the Hannover Centre for Mechatronics and the Institute of Mechanics.

 

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Semi-active Engine Mounting

Bild zum Projekt Semi-Aktives Motorlager

Researcher:

imes

Duration:

2000 - 2004

Funded by:

Industry

Brief description:

At the Hannover Centre for Mechatronics, a semi-active engine mounting was developed which is based on the magnetic reluctance force principle and controls the contact force of so-called friction linings.

 

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