Research Areas

Research Area - SYSTEMS DESIGN

The research area Systems Design deals with questions of model-based design of heterogeneous complex technical systems for automation, robotics and mechatronics. The aim is the derivation of reliable metrics for performance and behavioral properties at early stage of development on the basis of abstract system models. The current work focuses on the modeling, analysis and verification of dependability properties (RAMS - Reliability, Availability, Maintainability, Safety) using state-of-the art system models (UML-SysML, AADL, Matlab/Simulink).

Model-based Systems Engineering for Dependable Systems

Achievements

System-level model-based stochastic analysis of error propagation;
System modeling paradigms supported: UML, SySML, Matlab/Simulink, AADL, Source Code (LLVM);
Automatic model transformation;
DFG / EU / ESA funding.

Selected Publications

Morozov, A., Janschek, K.:
Probabilistic Error Propagation Model for Mechatronic Systems.
Mechatronics (Elsevier), Volume 24, Issue 8, 2014, pp. 1189 - 1202.

Janschek, K., Morozov, A.:
Dependability Aspects of Model-based Systems Design for Mechatronic Systems.
In: Proceedings of the IEEE International Conference on Mechatronics ‒ ICM2015, 6 ‒ 8 March 2015, Nagoya, Japan, DOI: 10.1109/ICMECH.2015.7083940, pp.15-22.

Ding, K., Mutzke, Th., Morozov, A., Janschek,K.:
Automatic transformation of uml system models for model-based error propagation analysis of mechatronic systems.
IFAC-PapersOnLine, vol. 49, no. 21, pp. 439-446, 2016.

Morozov, A., Janschek, K.:
Flight control software failure mitigation: Design optimization for software-implemented fault detectors.
IFAC-PapersOnLine, vol. 49, no. 17, pp. 248-253, 2016.

Ding, K., Morozov, A., Janschek, K.:
Classification of hierarchical fault-tolerant design patterns.
In 2017 IEEE 15th Intl Conf on Dependable, Autonomic and Secure Computing (DASC), pp. 612-619, IEEE, 2017

Morozov, A., Ding, K., Chen, T., Janschek, K.:
Test suite prioritization for efficient regression testing of model-based automotive software.
In 2017 International Conference on Software Analysis, Testing and Evolution (SATE), pp. 20-29, IEEE, 2017

Saraoglu, M., Morozov, A., Soylemez, T., Janschek, K.:
ErrorSim: a Tool for Error Propagation Analysis of Simulink Models.
In: Proceedings of the International Conference on Computer Safety, Reliability, and Security (SAFECOMP), Trento, Italy, 2017. Lecture Notes in Computer Science book series (LNCS, volume 10488), pp. 245-254.

Morozov, A.; Zhou, Y.; Janschek, K.:
LLVM-based Stochastic Error Propagation Analysis of Manually Developed Software Components.
In Haugen, Stein, Anne Barros, Coen van Gulijk, Trond Kongsvik, and Jan Erik Vinnem, eds. Safety and Reliability-Safe Societies in a Changing World: Proceedings of ESREL 2018. pp. 2539-2546, CRC Press, 2018. https://www.taylorfrancis.com/books/e/9781351174657/chapters/10.1201%2F9781351174664-319

Ding, K., Morozov, A., Janschek, K.:
MORE: Model-based redundancy for Simulink.
In International Conference on Computer Safety, Reliability, and Security, pp. 250-264, Springer, 2018.

Ding, K., Morozov, A., Janschek, K.:
Reliability evaluation of functionally equivalent simulink implementations of a PID controller under silent data corruption.
In 2018 IEEE 29th International Symposium on Software Reliability Engineering (ISSRE), pp. 47-57, IEEE, 2018.

Ding, K., Morozov, A., Janschek, K.:
Efficient Model-level Reliability Analysis of Simulink Models.
38th International Conference on Computer Safety, Reliability and Security, SAFECOMP 2019. Lecture Notes in Computer Science, vol 11698. Springer, Cham. https://doi.org/10.1007/978-3-030-26601-1_10

Morozov, A., Ding, K., Steurer, M., Janschek, K.:
OpenErrorPro: A New Tool for Stochastic Model-based Reliability and Resilience Analysis.
2019 IEEE 30th International Symposium on Software Reliability Engineering (ISSRE), Berlin, Germany, 2019, pp. 303-312, doi: 10.1109/ISSRE.2019.00038.

Reliability Engineering meets Artifical Intelligence (AI)

Achievements

Failure and fault detection for heterogeneous systems using data-driven artificial intelligence (AI) methods, e.g. deep learning, convolutional neuronal networks;
State / DAAD / Bundesanstalt für Arbeitsschutz und Arbeitsmedizin funding, industry cooperation.

Reliability Engineering meets Artificial Intelligence (AI)

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Selected Publications

Beyer, M., Schorn, Chr., Fabarisov, T., Morozov, A. Janschek, K.:
Automated Hardening of Deep Neural Network Architectures.
ASME - IMECE 2021 International Mechanical Engineering Congress & Exposition, Virtual Conference: November 1 – 5, 2021,
--Accepted Paper IMECE2021-72891--

Fabarisov, T., Morozov, A., Mamaev, I., Janschek., K.:
Deep Learning-Based Error Mitigation for Assistive Exoskeleton With Computational-Resource-Limited Platform and Edge Tensor Processing Unit.
ASME - IMECE 2021 International Mechanical Engineering Congress & Exposition, Virtual Conference: November 1 – 5, 2021, --Accepted Paper IMECE2021-70387--

Beyer, M., Morozov, A., Valiev, E., Schorn, Chr., Gauerhof, L., Ding, K., Janschek, K.:
Fault Injectors for TensorFlow: Evaluation of the Impact of Random Hardware Faults on Deep CNNs. 30th European Safety and Reliability Conference (ESREL). Venice, Italy, 2020.
https://www.rpsonline.com.sg/proceedings/esrel2020/html/5754.xml

Ding, Sh., Morozov, A., Vock, S., Weyrich, M., Janschek, K.:
Model-Based Error Detection for Industrial Automation Systems Using LSTM Networks. In International Symposium on Model-Based Safety and Assessment, pp. 212-226. Springer, Cham, 2020.
https://link.springer.com/chapter/10.1007/978-3-030-58920-2_14

Moradi, M., Oakes, B.J., Saraoglu, M., Morozov, A., Janschek, K., Denil, J.:
Exploring Fault Parameter Space Using Reinforcement Learning-based Fault Injection. International Workshop on Safety and Security Intelligent Vehicle - SSIV 2020, June 29, 2020, València, Spain. --Accepted paper--

Beyer, M., Morozov, A., Ding, K., Ding, Sh., Janschek, K.:
Quantification of the Impact of Random Hardware Faults on Safety-critical AI Applications: CNN-based Traffic Sign Recognition Case Study.
In Proceedings of 2019 IEEE International Symposium on Software Reliability Engineering Workshops (ISSREW), Oct 28 - 31, 2019, Berlin, Germany. DOI: 10.1109/ISSREW.2019.00058

Ding, K., Ding, Sh., Morozov, A., Fabarisov, T., Janschek, K.:
On-line Error Detection and Mitigation for Time-series Data of Cyber-physical Systems using Deep Learning based Methods.
In Proceedings of 2019 15th IEEE European Dependable Computing Conference (EDCC), Naples, Italy, 2019, pp. 7-14, doi: 10.1109/EDCC.2019.00015.
**Distinguished Paper Award**

MOBATSim: MOdel-Based Autonomous Traffic SIMulation Framework

Achievements

New research line since 2017;
Safety oriented analysis, design and simulation of control and traffic planning algorithms for autonomous cars;
State funding.

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Selected Publications

Saraoglu M., Pintscher J., Janschek K.:
Designing a Safe Intersection Management Algorithm using Formal Methods.
IFAC-PapersOnLine, Volume 55, Issue 14, 2022, Pages 22-27, ISSN 2405-8963,
https://doi.org/10.1016/j.ifacol.2022.07.577

Yang, Q., Shi, Q., Saraoglu, M., Janschek, K.:
A Hybrid Approach using an Adaptive Waypoint Generator for Lane-changing Maneuver on Curved Roads. In: Bargende M., Reuss HC., Wagner A. (eds) 21. Internationales Stuttgarter Symposium, 2021. Proceedings. Springer Vieweg, Wiesbaden, pp 127-141, https://link.springer.com/chapter/10.1007/978-3-658-33521-2_10

Saraoğlu, M., Shi, Q., Morozov, A., Janschek, K.:
Virtual validation of autonomous vehicle safety through simulation-based testing.
In 20. Internationales Stuttgarter Symposium, pp. 419-434. Springer Vieweg, Wiesbaden, 2020. https://link.springer.com/chapter/10.1007/978-3-658-29943-9_33

Hart, F., Saraoglu, M., Morozov, A., Janschek, K.:
Fail-safe Priority-based Approach for Autonomous Intersection Management.
IAV2019, 10th IFAC Symposium on Intelligent Autonomous Vehicles, IFAC-PapersOnLine, Volume 52, Issue 8, 2019, Pages 233-238 , ISSN 2405-8963. https://doi.org/10.1016/j.ifacol.2019.08.076

Saraoglu, M., Morozov, A., Janschek, K.:
MOBATSim: MOdel-Based Autonomous Traffic Simulation Framework for Fault-Error-Failure Chain Analysis.
IAV2019, 10th IFAC Symposium on Intelligent Autonomous Vehicles, IFAC-PapersOnLine, Volume 52, Issue 8, 2019, Pages 239-244, ISSN 2405-8963, https://doi.org/10.1016/j.ifacol.2019.08.077

Saraoglu, M., Morozov, A., Janschek, K.:
Safety assessment of autonomous and connected vehicles by a model-based traffic simulation framework.
19. Internationales Stuttgarter Symposium Stuttgart, Germany. Proceedings. Springer Vieweg, Wiesbaden, pp. 988-1002,
https://doi.org/10.1007/978-3-658-25939-6_78.

Saraoğlu, M.; Hart, F.; Morozov, A.; Janschek, K.:
Fault-Tolerant Path Planning in Networked Vehicle Systems in Presence of Communication Failures.
7th IFAC Workshop on Distributed Estimation and Control in Networked Systems (NECSYS), Groningen, The Netherlands, 2018. IFAC-PapersOnLine, Volume 51, Issue 23, 2018, Pages 82-87.
https://doi.org/10.1016/j.ifacol.2018.12.015

Dependability Engineering for UAVs - Unmanned Aerial Vehicles

Achievements

Holistic model-based approach to dependability assessment;
SysML-based Profile for Dependable UAV Design;
Combination of stochastic timing and data error propagation analysis;
Phase-specific requirements definition;
State funding; cooperation with Hochschule Nordhausen.

Selected Publications

Morozov, A., Diaconeasa, M.A., Steurer, M.:
A hybrid methodology for model based probabilistic resilience evaluation of dynamic systems.
Proceedings of the ASME 2020 International Mechanical Engineering Congress and Exposition. Volume 14: Safety Engineering, Risk, and Reliability Analysis. Virtual, Online. November 16–19, 2020. V014T14A024. ASME.
https://doi.org/10.1115/IMECE2020-23789

Steurer, M., Mutzke, Th., Morozov, A., Janschek. K., Neitzke, K.P.:
Utilizing Model-based Timing Analysis for Holistic Dependability Assessment of Unmanned Aerial Vehicle.
30th European Safety and Reliability Conference (ESREL). Venice, Italy, 2020.
https://www.rpsonline.com.sg/proceedings/esrel2020/html/5757.xml

Steurer, M., Morozov, A., Janschek, K., Neitzke, K.P.:
Model-Based Dependability Assessment of Phased-Mission Unmanned Aerial Vehicles.
IFAC-PapersOnLine, Volume 53, Issue 2, 2020, Pages 8915-8922, ISSN 2405-8963, https://doi.org/10.1016/j.ifacol.2020.12.1416

Mutzke, Th., Steurer, M., Morozov, A., Janschek, K.:
Model-based Analysis of Timing Errors for Reliable UAV Design.
30th European Safety and Reliability Conference (ESREL). Venice, Italy, 2020.
https://www.rpsonline.com.sg/proceedings/esrel2020/html/5414.xml

Steurer, M.; Morozov, A.; Janschek, K.; Neitzke, K.:
SysML-based Profile for Dependable UAV Design.
10th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS), Warsaw, Poland, 2018. IFAC-PapersOnLine, Volume 51, Issue 24, 2018, Pages 1067-1074.

Model-based Analysis of Timing Errors

Achievements

Stochastic system level model-based analysis of propagation of timing errors
Automated analysis framework
System modelling paradigms: UM/, SySML
Industry funding (Siemens Healtineers)

Selected Publications

Mutzke, Th., Steurer, M., Morozov, A., Janschek, K.:
Model-based Analysis of Timing Errors for Reliable UAV Design.
30th European Safety and Reliability Conference (ESREL). Venice, Italy, 2020.
https://www.rpsonline.com.sg/proceedings/esrel2020/html/5414.xml

Steurer, M., Mutzke, Th., Morozov, A., Janschek. K., Neitzke, K.P.:
Utilizing Model-based Timing Analysis for Holistic Dependability Assessment of Unmanned Aerial Vehicle.
30th European Safety and Reliability Conference (ESREL). Venice, Italy, 2020.
https://www.rpsonline.com.sg/proceedings/esrel2020/html/5757.xml

Morozov, A.; Mutzke, T.; Ren, B.; Janschek, K.:
AADL-based Stochastic Error Propagation Analysis for Reliable System Design of a Medical Patient Table.
IEEE Annual Reliability & Maintainability Symposium (RAMS). Reno, Nevada, USA, 2018. pp. 1-7. doi: 10.1109/RAM.2018.8463141.

Mutzke, T.; Morozov, A.; Ding, K.; Janschek, K.; Braun, J.:
Stochastic Model-based Analysis of Timing Errors for Mechatronic Systems with User-defined General Discrete-time Distributions.
10th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS), Warsaw, Poland, 2018. IFAC-PapersOnLine, Volume 51, Issue 24, 2018, Pages 1417-1424.

Mutzke, T.; Morozov, A.; Janschek, K.:
Verification of Timing Properties of a Medical Patient Table Case Study Using Probabilistic Model Checking.
Proceedings of ESREL 2018, June 17-21, Trondheim, Norway, 2018, Chapter 320, pp. 2547-2554.

Ding, K., Mutzke, Th., Morozov, A., Janschek, K.:
Automatic Transformation of UML System Models for Model-Based Error Propagation Analysis of Mechatronic Systems.
IFAC-PapersOnLine, Volume 49, Issue 21, 2016, Pages 439-446.

Mutzke, Th., Ding, Kai, Morozov, A., Janschek, K., Braun, J.:
Model-based Analysis of Timing Errors for Reliable Design of Mechatronic Medical Devices.
In: Proceedings of 3rd Conference on Control and Fault-Tolerant Systems (SysTol 2016), Barcelona, Spain, Sept. 7-9, 2016, pp. 233-238.

Model-based performance analysis of automation and mechatronic systems

Achievements

Methods and CAE tools for system level performance analysis of heterogeneous systems (mechatronic, automated);
State funding.

Selected Publications

Koycheva, Evelina:
Entwurfsbegleitende Leistungsanalyse mit UML, MARTE und Generalisierten Netzen.
München: Oldenbourg Wissenschaftsverlag, 2014.
https://doi.org/10.1524/9783486730777

Koycheva, E., Janschek, K.:
Leistungsanalyse von Systementwürfen mit UML und Generalisierten Netzen: Ein Framework zur frühen Qualitätssicherung.
atp - Automatisierungstechnische Praxis, Oldenbourg Verlag, Heft 08/2009, S. 62-69.
** Journal atp-Award 2009 for best university paper **

Koycheva, E., Janschek, K.:
Performance Analysis of System Models With UML and Generalized Nets.
In: Proceedings of 6th EUROSIM Congress on Modelling and Simulation, 9-13 September, 2007, Ljubljana, Slovenia, Vol. 2: Full Papers, paper no. 85.

►Projects - Systems Design

Research Area - ROBOTICS

The research area Robotics comprises the development of minimum-effort concepts and solutions for Guidance-Navigation-Control of autonomous vehicles (aerial and space vehicles, service robots), development of control algorithms and system concepts for aerial manipulation with drones and the system design of hardware-in-the-loop (HIL) test benches for the ground verification of spacecraft docking dynamics. Current work includes optical flow and LIDAR-based navigation for planetary landing vehicles, image-based rendezvous navigation for non-cooperative spacecraft (rendezvous SLAM and 3D object reconstruction) and cooperative trajectory planning. Recent projects cover image navigation for geostationary weather satellites, safe set-based navigation and path planning, behavior-based control architectures and bio-inspired visual navigation and path planning.

Entwicklung eines autarken, selbstnavigierenden Inspektions-, Überwachungs- und Serviceroboters für Flachdächer – autonomer Dachroboter ADAR

Duration:	02/2021 - 09/2024
Project Management:	Christoph Pauly (Projektkoordinator), Prof. Klaus Janschek (TU Dresden)
Project Team:	Dipl.-Ing. Yao Luo (TU Dresden)
Project Partner	Fritz H. Pauly Steuer- und Regelanlagen GmbH & Co. KG; descript Solutions GmbH; SIECOM® IT-Systemhaus GmbH; TRIMA Triebeser Maschinenbau GmbH
Funding:	Gefördert durch: Bundesministerium für Wirtschaft und Klimaschutz aufgrund eines Beschlusses des Deutschen Bundestages

Kurzfassung

Entwickelt wird ein sich selbst orientierender, autark arbeitender Roboter für Inspektion und Schadensdetektion sowie Überwachungsfunktionen auf industriellen Flachdächern. Er orientiert sich selbständig und erkundet Dachflächen. Dabei werden Schäden, die für das Dach, Menschen oder Prozesse unter dem Dach Risiken darstellen, detektiert und auch Überwachungsfunktionen ausgeführt.

Teilprojekt für Technische Universität Dresden - Institut für Automatisierungstechnik:
Entwicklung von Algorithmen und der Software zu den odometrischen Berechnungen und zur kamerabasierten Bestimmung der Position und Orientierung für den Roboter sowie Tests in einer Gesamtsimulationsumgebung.

Space Automation Systems Design

Achievements

Conceptual design and feasibility studies for advanced space systems:

synergetic use of gimballed solar arrays for optimized momentum and power management of satellites;
satellite based road traffic monitoring;
introducing industrial automation technologies for onboard use on satellites;
combined modelling of technical and economic space system properties;
ESA and DLR contracts.

Selected Publications

Kolja auf der Heide:
Integriertes Energie- und Drallmanagement von Satelliten mittels zweiachsig schwenkbarer Solargeneratoren.
Dissertation, TU Dresden, 2005. Verlag Dr. Hut, ISBN 3899631552, 9783899631555

K. auf der Heide, K. Janschek, A. Tkocz:
Synergy in Power and Momentum Management for Spacecraft using Double Gimbaled Solar Arrays.
In: Preprints of the 16th IFAC Symposium on Automatic Control in Aerospace 2004, St.Petersburg, Russia, pp.290-295.

auf der Heide, K., Janschek, K:
Integrated Momentum Management and Power Generation by Double Gimbaled Solar Arrays for Nano-Satellites.
In: Proceedings of the 5th International ESA Conference on Guidance, Navigation and Control Systems 2002, Frascati, Italy, 2002, pp.489-492.

Janschek, K., Braune, A.:
Application of Industrial CAN Bus Technology for LEO-Satellites.
Acta Astronautica, Vol. 46, Nos.2-6, pp.313-317, Pergamon Press, 2000

Minimum hardware satellite onboard navigation systems and data fusion

Achievements

New concepts and algorithmic solutions for onboard navigation systems using minimum hardware and complementary sensors;
EU and state funding

Selected Publications

Janschek, K., Boge, T., Krasilshikov, M., Jacobson, M. V.:
Data Fusion based Navigation Concept for LEO Satellites.
Proceedings of the 4^th ESA International Conference on Spacecraft Guidance, Navigation and Control Systems, 1999, Noordwijk, The Netherlands, pp.517-522

Janschek, K., Boge, T., Döge, K.P.:
Autonomous Onboard Navigation System for LEO Satellites using Data Fusion.
Paper F1072-2, ECC ´99, European Control Conference 1999, Karlsruhe, Germany

Janschek, K., Boge, T., Krasilshikov, M. N., Dishel, V., Jacobson, M. V.:
Minimum Hardware Navigation Concept for LEO Satellites Using Information Fusion. Paper No. SSC98-IX-7, Proceedings of the 12^th Annual AIAA/USU Conference of Small Satellites, Logan, UT, August 31 – September 3, 1998.

Navigation for landing and exploration on planets and asteroids

Achievements

Monocular optical flow navigation approach using 2D correlation approach with high robustness for weak illumination conditions;
New concepts and algorithms for robust estimation of impactor effectiveness for asteroid deflection using observations from a reconnaissance spacecraft;
ESA and DLR contracts; Industry funding (Airbus DS).

Planetary Landing - Optical Flow with DEM Matching © V. Chernykh

Datenschutzrichtlinie

Selected Publications

Simon Delchambre:
Linear Momentum Enhancement Beta-Factor Estimation Technique for Asteroid Deflection Missions.
Dissertation, TU Dresden, 2019.
Shaker, 2019, ISBN-13 : 978-3844065909 ISBN: 978-3-8440-6590-9

Delchambre, S.; Ziegler, T.; Trigueros, C.P.D.; Falke, A.; Johann, U.; Janschek, K.: Monocamera-Based Solar Radiation Pressure Estimation for Small-Body Rendezvous Missions.
Journal of Guidance, Control, and Dynamics, Vol. 41, No. 8 (2018), pp. 1776-1782. https://doi.org/10.2514/1.G003416

Delchambre, S,: Ziegler, T.; Falke, A.; Janschek, K.:
Momentum enhancement factor estimation for asteroid redirect missions.
Acta Astronautica, Volume 151, 2018, Pages 125-136, ISSN 0094-5765, https://doi.org/10.1016/j.actaastro.2018.05.050

Delchambre, S.; Ziegler, T.; Johann,U.; Falke, A.; Janschek, K.:
Influences of Enhancement Factor Measurement Technique on the Kinetic Impactor Mission Design.
39th IEEE Aerospace Conference, Montana, USA, 2018. DOI: 10.1109/AERO.2018.8396373

Delchambre, S.; Ziegler, T.; Johann, U.; Falke, A.; Janschek, K.:
Landmark Based Pose Estimation for Autonomous Inertial Hovering around Small Solar System Bodies,
In: Proceedings of 10th ESA Guidance Navigation & Control Conference, Salzburg, Austria, 2017

Delchambre, S.; Ziegler, T.; Falke, A.; Johann, U.; Willich, G.; Janschek, K.:
Measurement Strategy of the Momentum Enhancement Beta-Factor for Near Earth Object Mitigation Missions.
In: Proceedings of 38th IEEE Aerospace Conference, Montana, USA, 2017, DOI: 10.1109/AERO.2017.7943905

Chernykh, V., Beck, M., Janschek, K.:
Visual Navigation over Flat Terrain using Virtual Optical Flow.
In: Proceedings of 7th International ESA Conference on Guidance, Navigation & Control Systems, 2-5 June 2008, Tralee, Ireland.

K. Janschek, V. Tchernykh, M. Beck:
Performance Analysis for Visual Planetary Landing Navigation using Optical Flow and DEM Matching.
In: Proceedings of the AIAA Guidance, Navigation and Control Conference 2006, Paper no. AIAA-2006-6706, Keystone, CO, Aug. 2006

K. Janschek, V. Tchernykh, M. Beck:
An Optical Flow Approach for Precise Visual Navigation of a Planetary Lander.
In: Proceedings of the 6th International ESA Conference on Guidance, Navigation and Control Systems, 17 – 20 October 2005, Loutraki, Greece, ESA SP-606, January 2006.

Monocular optical flow navigation for orbiting spacecraft

Achievements

Single camera navigation solutions (payload camera, simple navigation camera) for orbiting satellites using 2D correlation based image motion tracking and 2D correlation with self-owned optical correlator technology;
ESA and Airbus DS contracts, EU funding;
1 patent

Selected Publications

Zaunick, E., Janschek, K., Levenhagen, J.:
Optical Flow based GEO Satellite Attitude Estimation from Payload Image Data.
In: Proceedings of 7th International ESA Conference on Guidance, Navigation & Control Systems, 2-5 June 2008, Tralee, Ireland.

Serguei Dyblenko:

Autonomous satellite navigation with image motion analysis using two-dimensional correlation.
Dissertation, TU Dresden, 2004.

Dyblenko, S., Janschek, K.:
Ein bordautonomes Verfahren zur Echtzeitschätzung von Bahn und Lage eines Satelliten mit Hilfe von Bildbewegungsverfolgung.
at-Automatisierungstechnik 52 (2004), Heft 12, S. 553-561.
**Journal Best Paper Award – Methods – 2004**

Janschek, K., Dyblenko, S.:
Satellite Autonomous Navigation Based on Image Motion Analysis.
Space Technology , Volume 21 (2001) , Issue 4, pp.157-162.

Janschek, K., Boge, T., Tchernykh, V., Dyblenko, S.:
Image Based Attitude Determination using an Optical Correlator.
Proceedings of the 4^th ESA International Conference on Spacecraft Guidance, Navigation and Control Systems, 1999, Noordwijk, The Netherlands, pp. 487-492.

Image-based rendezvous navigation for in-orbit servicing

Achievements

Estimation algorithms for relative pose and geometric structure estimation for the rendezvous with uncooperative and unknown spacecraft using multi-image data fusion (visual + infrared cameras, laser scanner);
Comprehensive sensitivity analysis for ENVISAT servicing with real-time algorithm implementation and hardware-in-the-loop demonstration;
ESA and Airbus DS contracts

IRPN - Image-based rendezvous navigation - approaching the target satellite ENVISAT © A. Sonnenburg / F. Schnitzer

Datenschutzrichtlinie

IRPN - Image-based rendezvous navigation - VIS camera only / estimated pose = grid overlay © A. Sonnenburg / F. Schnitzer

Datenschutzrichtlinie

Simulation experiment 1VA for spacecraft 3D shape reconstruction © F. Schnitzer

Datenschutzrichtlinie

3D shape reconstruction from image-based point clouds for unknown and non-cooperative spacecraft

simulation experiment

Experimental verification of 3D shape reconstruction on MiPOS (Mini Proximity Operations Simulator) © F. Schnitzer

Datenschutzrichtlinie

3D shape reconstruction from image-based point clouds for unknown and non-cooperative spacecraft

laboratory experiment with stereo-camera and MiPOS - Mini Proximity Operations Simulator at LS-AT

Selected Publications

Schnitzer, F., Sonnenburg, A., Janschek, K., Sanchez Gestido, M.:
Lessons-learned from On-ground Testing of Image-based Non-cooperative Rendezvous Navigation with Visible-spectrum and Thermal Infrared Cameras.
In: Proceedings of 10th International ESA Conference on Guidance, Navigation & Control Systems, Salzburg, Austria, 29 May -2 June 2017.

Frank Schnitzer:
Ein Systemansatz zur bildbasierten Navigation und Geometrierekonstruktion für Raumfahrt-Rendezvousmanöver.
Dissertation, TU Dresden, Vogt Verlag, Dresden, 2013.

Schnitzer, F., Janschek, K., Willich, G.:
Experimental Results for Image-based Geometrical Reconstruction for Spacecraft Rendezvous Navigation with Unknown and Uncooperative Target Spacecraft.
In: Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), October 7-12, 2012, Vilamoura, Algarve, Portugal.

Schnitzer, F., Sonnenburg, A., Janschek, K., Willich, G.:
SLAM-based 3D Shape Estimation for Rendezvous with Uncooperative and Unknown Target Spacecraft.
In: Proceedings of the 8th International ESA Conference on Guidance and Navigation Control Systems – ESA GNC 2011, 5 - 10 June 2011, Carlsbad, Czech Republic

Sonnenburg, A., Tkocz, M., Janschek, K.:
EKF-SLAM based Approach for Spacecraft Rendezvous Navigation with Unknown Target Spacecraft.
In: Proceedings of the 18th IFAC Symposium on Automatic Control in Aerospace, 6-10 September 2010, Nara, Japan. IFAC-PapersOnLine DOI 10.3182/20100906-5-JP-2022.00058, pp. 339-344

Image-based navigation for aerial vehicles

Achievements

New solutions for overcoming the observability problems of scale ambiguity with monocular imaging;
Use of 2D correlation approach for optical flow navigation and DEM matching;
DFG / ESA / State funding.

Observability-driven 6DOF body-centric monocular SLAM © M. Markgraf

Datenschutzrichtlinie

Observability-driven 6DOF body-centric monocular SLAM (M. Markgraf)

here shown: full observability during accelerated motion with monocular vision

UAV - DEM Matching from optical flow © V. Chernykh

Datenschutzrichtlinie

Monocular optical flow navigation for UAVs with fisheye camera

Optical flow generation from 2D correlation of monocamera image sequences
Pose estimation by matching of DEM (Digital Elevation Maps) using 2D correlation

UAV - DEM Matching from optical flow © V. Chernykh

Datenschutzrichtlinie

Monocular optical flow navigation for UAVs with fisheye camera

Optical flow generation from 2D correlation of monocamera image sequences
Pose estimation by matching of DEM (Digital Elevation Maps) using 2D correlation

VINS-stereo outdoor SLAM using MYNT EYE S stereo visual inertial sensor © Jinyao Zhu

Datenschutzrichtlinie

Stereo Visual-Inertial Fusion for UAV State Estimation

6 DOF pose estimation
fusion of inertial and image data
MYNT EYE S stereo visual-inertial sensor

Selected Publications

Zhu, J., Yao, Ch., Janschek. K.:
Stereo Visual-Inertial Fusion for UAV State Estimation.
IFAC-PapersOnLine, Volume 53, Issue 2, 2020, Pages 9420-9425, ISSN 2405-8963, https://doi.org/10.1016/j.ifacol.2020.12.2412

Marcel Markgraf:
An Observability-Driven System Concept for Monocular-Inertial Egomotion and Landmark Position Determination.
Dissertation, TU Dresden, 2018. Dissertation Download

Tkocz, M., Janschek, K.:
Towards Consistent State and Covariance Initialization for Monocular SLAM Filters. Journal of Intelligent & Robotic Systems: Volume 80, Issue 3 (2015), pp. 475-489

Tkocz, M., Janschek, K.:
Metric Velocity, Landmark Distance and Attitude Estimation utilizing Monocular Camera Images and Gravity biased IMU Data.
In: Proceedings of 2014 IEEE Chinese Guidance, Navigation and Control Conference (IEEE CGNCC2014), Yantai, China, August 8-10, 2014, pp. 2275 – 2280.

Tkocz, M., Janschek, K.:
Closed-Form Metric Velocity and Landmark Distance Determination utilizing Monocular Camera Images and IMU Data in the Presence of Gravity.
In: Proceedings of 14th IEEE International Conference on Autonomous Robot Systems and Competitions - IEEE ICARSC - ROBÓTICA 2014, Espinho, Portugal, May 14th to 15th, 2014, pp. 8-13.

V. Tchernykh, M. Beck, K. Janschek:
Optical Flow Navigation for an Outdoor UAV using a wide Angle Mono Camera and DEM Matching.
In: Proceedings of the 4th IFAC Symposium on Mechatronic Systems, MECHATRONICS 2006, 12-14 September 2006, Heidelberg, Germany, paper no. 212, www.ifac-papersonline.net, Mechatronic Systems, Volume # 4 , Part# 1

Aerial Manipulation

Achievements

Conceptual and technology development for aerial manipulation with free fyling fully actuated multicopters;
Fault tolerant hybrid task priority control;
Nonlinear impedance control for aerial manipulation;
Flight control of overactuated multicopter;
State funding; Cooperation with Professur für Dynamik und Mechanismentechnik, Prof. M. Beitelschmidt (TU Dresden)

Selected Publications

Schuster, M., Bernstein, D., Yao, Ch., Janschek, K., Beitelschmidt, M.:
Comparison of design approaches of fully actuated aerial robots based on maximum wrench generation and minimum energy consumption.
IFAC-PapersOnLine, Volume 52, Issue 15, 2019,pp. 603-608.

Yao, Ch., Schuster, M., Jiang, Y., Janschek, K., Beitelschmidt, M.:
Sensitivity Analysis of Model-based Impedance Control for Physically Interactive Hexarotor.
IFAC-PapersOnLine, Volume 52, Issue 15, 2019, pp. 597-602.

Schuster, M., Bernstein, D., Yao, Ch., Janschek, K., Beitelschmidt, M.:
Lastraumbasierte Auslegung vollaktuierter Flugroboter (Wrench space based design of fully actuated aerial robots).
Tagungsband Fachtagung Mechatronik 2019, ISBN 978-3-945437-05-6, S. 208-213.
** Best Poster Award**

Wilmsen, M., Yao, Ch., Schuster, M., Li, Sh., Janschek, K.:
Nonlinear Wrench Observer Design for an Aerial Manipulator.
IFAC-PapersOnLine, Volume 52, Issue 22, 2019, pp. 1-6.

Yao, Ch., Dunkelberg, N., Janschek, K.:
Trajectory Generation and Tracking of a Hexarotor with Fixed Tilted Rotors Considering Bounded Rotor Velocity.
3rd International Symposium on Aerial Robotics 2019 (ISAR 2019), May 27-28, 2019, Toronto, Canada.

Yao, Ch.; Krieglstein, J.; Janschek, K.:
Modeling and Sliding Mode Control of a Fully-Actuated Multirotor with Tilted Propellers.
12th IFAC Symposium on Robot Control (SYROCO), 27-30 August 2018 Budapest, Hungary. IFAC-PapersOnLine, Volume 51, Issue 22, 2018, Pages 115-120.

Yao, Ch.; Krieglstein, J.; Janschek, K.:
Modeling and Sliding Mode Control of a Fully-Actuated Multirotor with Tilted Propellers.
12th IFAC Symposium on Robot Control (SYROCO), 27-30 August 2018 Budapest, Hungary. IFAC-PapersOnLine, Volume 51, Issue 22, 2018, Pages 115-120.

Motion and Trajectory Planning

Achievements

Motion and trajectory planning for aerial and terrestrial vehicles as well as for robotic manipulation;
New formulation of randomized trajectory planning algorithm RRT* for differentially flat systems with input and state constraints;
New semi-infinite optimization algorithm for trajectory optimization using a primal-dual-interior-point formulation and adaptive discretization;
Cooperative trajectory planning for complex vehicle structures;
Exploring/Exploiting Tree (EET) Motion Planner;
DFG and state funding; cooperation with Fraunhofer Institut für Verkehrs- und Infrastruktursysteme (IVI).

Hybrid Planning and Optimization Concept © M. Seemann

Datenschutzrichtlinie

Hybrid Planning and Optimization Concept (M. Seeman)

here shown: RRT* based planning in dense environment for fixed wing aerial vehicle with nonholonomic constraints

Selected Publications

Keppler, F., Wagner, S., Janschek, K.:
SAFESTOP: Disturbance Handling in Prioritized Multi-robot Trajectory Planning.
4th IEEE International Conference on Robotic Computing, IRC 2020. Proceedings : 9-11 November 2020, Virtual Conference, Los Alamitos, Calif.: IEEE Computer Society Conference Publishing Services (CPS), 2020, ISBN: 978-1-7281-5238-7, ISBN: 978-1-7281-5237-0, pp. 226-231.

Liu, B. Scheurer, Chr., Janschek, K.:
Motion Planning with Cartesian Workspace Information.
IFAC-PapersOnLine, Volume 53, Issue 2, 2020, Pages 9826-9833, ISSN 2405-8963, https://doi.org/10.1016/j.ifacol.2020.12.2686

Seemann, M., Janschek, K.:
Exact and Efficient Local Planning for Orbitally Flat Systems within the RRT* Framework.
In: Proceedings of 13^th International Conference on Control, Automation, Robotics & Vision - ICARCV 2014, December 10 – 12, 2014, Marina Bay Sands, Singapore, pp.1631-1636.

Martin Seemann:
A Partially Randomized Approach to Trajectory Planning and Optimization for Mobile Robots with Flat Dynamics.
Dissertation, TU Dresden, 2018. Dissertation Download

Seemann, M., Janschek, K.:
RRT*-based Trajectory Planning for Fixed Wing UAVs using Bézier Curves.
In: Proceedings of 41st International Symposium on Robotics (ISR 2014) and the 8th German Conference on Robotics (ROBOTIK 2014), Munich, Germany, June 2nd – 3rd, 2014, pp.1-8.

Pfanne, M., Janschek, K.:
Time-efficient Trajectories under Velocity and Acceleration Constraints.
In: Proceedings of 14th IEEE International Conference on Autonomous Robot Systems and Competitions - IEEE ICARSC - ROBÓTICA 2014, Espinho, Portugal, May 14th to 15th, 2014, pp. 321 – 326.

Robot Control

Achievements

Non-conventional algorithm solutions for localization and path planning of mobile robots using set-based approaches;
Non-conventional algorithm solutions for localization and path planning of mobile robots using behaviour-based fuzzy approaches;
Versatile control systems architecture and programming framework APECA for behaviour based control using action primitives;
Service Robotics: control system design (path planning, navigation, motion control) and prototyping for a commercial wheel-less service robot (industry contract)
Control and friction compensation of elastic manipulators;
State / DAAD / DLR / industry funding.

A set-based multi-fusion approach for navigation of mobile platforms with guranteed collision-free motion (Sylvia Horn)

Set-based GNC in indoor environment with moving objects © S. Horn

Datenschutzrichtlinie

An autonomous mobile platform must be able to operate in a partially unknown and dynamic environment. This requires the acquisition of diverse enviromental information, which is generally affected by noise. Assuming that the probability distributions of the uncertainties are unknown, but bounded, interesting estimates can be modeled as sets. This thesis introduces a novel set-based navigation concept, which handles set-based information safely and productive.
To achieve a high degree of accuracy in the platform localization, multifarious information from different sources is gathered and merged to obtain a more precise pose estimation area. This merger is called set-based multifusion. Similarly the principle of multifusion can be applied to the platform guidance. Here diverse information has also to be combined to calculate a collision-free path to the goal. The verification of the presented set-based algorithms was conducted via real and simulated experiments.

Optical flow-based perception, behavior-based control, and topological path planning for mobile robots using fuzzy logic concepts (Mai Ngoc Anh)

Bio-inspired Optical Flow Interpretation with Fuzzy-Logic for Behavior-based Robot Control © Mai Ngoc Anh

Datenschutzrichtlinie

In this thesis, a new approach of optical flow-based perception through qualitative interpretations is developed. The qualitative optical flow interpretations provide mobile robots with visual perception a more detailed image of their 3D working environment, e.g. obstacle positions and indoor object types. By using fuzzy logic for the interpretations, the optical flow perception becomes simple and intelligent in a bioinspired manner and moreover gains robustness under noisy conditions in the working environment.
On the other hand, this thesis develops a generic modular structure of a behavior-based control system with three clearly separate modules for perception, motion control, and path planning. The system concept is independent of the specific type of perception. The designed behaviors are functionally classified into two separated modules, concerning collision-free motion control and goal oriented path planning. Some of the behaviors use fuzzy logic concepts, which result in flexible and smooth robotic motion.
Furthermore a new scheme for topological path planning in combination with fuzzy-based behaviors is developed for the goal-oriented navigation of a mobile robot. This combination allows a mobile robot to perform topological path planning in a real environment without metric information regarding its global and local positions.

Engineering-oriented Control Architecture based on Action Primitives for Applications in Robotics (Matthias Hennig)

APECA - dual robot synchronization with action-primitives © M. Hennig

Datenschutzrichtlinie

The APECA framework provides a flexible control architecture for robotic systems for behavior-based control. The conceptual design combines different requirements identified in miscellaneous robotic control approaches. The main focus of the resulting concept is on a simplified engineering process for the controller design. This approach is supported by the use of atomic system behaviors, the so called action primitives, in a special module hierarchy.
For this purpose a distinction between a functional behavior based system model with hierarchically and also parallelly executed action primitives and a sequential control system model with a task-dependent activation of the primitives is proposed. These models are assigned to different users through a distinct user concept. An object-oriented implementation of the proposed architecture allows the utilization and synchronisation of multiple (sub-)systems within one framework. In this work the proposed framework will be discussed, a prototypical implementation will be presented and results based on different experimental scenarios will be shown.

Selected Publications

Sylvia Horn:
Ein mengenbasierter Multifusionsansatz zur Navigation mobiler Plattformen mit garantierter Kollisionsfreiheit.
Dissertation, TU Dresden, 2014. Vogt Verlag, Dresden

Matthias Hennig:
Engineering-orientierte Steuerungsarchitektur auf der Basis von Aktionsprimitiven für Anwendungen in der Robotik.
Dissertation, TU Dresden, 2012. Dissertation Download

Hennig, M., Janschek, K.:
Aktionsprimitiv-basierte Steuerungsarchitektur für Anwendungen in der Robotik und Fertigungstechnik.
In: Tagungsband Fachtagung Mechatronik 2011, Dresden 31.03.-01.04.2011, ISBN 978-3-00-033892-2, S. 67-72.

Luc Le-Tien:

Ansätze zur entkoppelten Regelung von mechanisch gekoppelten Doppelgelenken eines DLR-Medizinroboters.
Dissertation, TU Dresden, 2010. Dissertation Download

Le-Tien, L., Albu-Schäffer, A., Janschek, K., Hirzinger, G.:
Entkopplungsregelung und Reibungskompensation für einen Roboter mit elastischen verkoppelten Gelenken.
at-Automatisierungstechnik 58 (2010), Heft 9, S. 499-511.

H. Kirmse, M. Hennig, K. Janschek:
Global Localization of an Indoor Mobile Robot with a Single Base Station.
In: Proceedings of the 4th IFAC Symposium on Mechatronic Systems, MECHATRONICS 2006, 12-14 September 2006, Heidelberg, Germany, paper no. 232, www.ifac-papersonline.net, Mechatronic Systems, Volume # 4 , Part# 1.

Guidance, Navigation & Control - - OVERVIEW

IRPN - Image-based rendezvous navigation - approaching the target satellite ENVISAT © A. Sonnenburg / F. Schnitzer

Datenschutzrichtlinie

ESA Project IRPN - Image Recognition and Processing for Navigation
This activity provides design, development and verification of the necessary capabilities in image processing for position, pose and angular motion detection on uncooperative targets in an Active Debris Removal scenario.

IRPN - Image-based rendezvous navigation - VIS camera only / estimated pose = grid overlay © A. Sonnenburg / F. Schnitzer

Datenschutzrichtlinie

ESA Project IRPN - Image Recognition and Processing for Navigation
Relative chaser-target state estimates are provided by specific image recognition and processing (IRP) algorithms and sensor fusion algorithms in a navigation function (NAV) using sensor data from cameras in the visible spectrum (VIS) and infrared spectrum (IR)) and light detection and ranging (LIDAR) considering as reference mission the Active Debris Removal of ENVISAT (100 … 2 m).

Planetary Landing - Optical Flow with DEM Matching © V. Chernykh

Datenschutzrichtlinie

Monocular optical flow navigation for planetary landing

Optical flow generation from 2D correlation of monocamera image sequences
High resilience to weak illumination and flat image textures
Optical flow from in-house embedded optical correlator processor

UAV - Optical Flow Fisheye Camera // camera (left) / optical flow (middle) / local depth (right) © V. Chernykh

Datenschutzrichtlinie

Monocular optical flow navigation for UAVs with fisheye camera

Optical flow generation from 2D correlation of monocamera image sequences
Optical flow from in-house embedded optical correlator processor

UAV - DEM Matching from optical flow © V. Chernykh

Datenschutzrichtlinie

Monocular optical flow navigation for UAVs with fisheye camera

Optical flow generation from 2D correlation of monocamera image sequences
Pose estimation by matching of DEM (Digital Elevation Maps) using 2D correlation

Datenschutzrichtlinie

Trajectory planning with nonholomic constraints

RRT* trajectory for winged aerial vehicles with nonholonomic constraints

Datenschutzrichtlinie

Stereo Visual-Inertial Fusion for UAV State Estimation

6 DOF pose estimation
fusion of inertial and image data
MYNT EYE S stereo visual-inertial sensor

Spacecraft Docking HIL Simulation

Datenschutzrichtlinie

Docking example for two small spaccraft

real behavior vs. HIL simulation with parasitic dynamics
unrealistic physical HIL simulation may suggests wrong docking result because of parasitic dynamics
here the first experiment suggests wrongly "failed docking"

Selected Publications

Karim Bondoky:
A Contribution to Validation and Testing of Non-Compliant Docking Contact Dynamics of Small and Rigid Satellites Using Hardware-In-The-Loop Simulation.
Dissertation, TU Dresden, 2020. Dissertation Download

Bondoky, K., Janschek, K., Rathke, A. and Schwarz, S.:
Analysis and Modeling of 6DOF Docking without Compliance Using Nonlinear Contact Dynamics.
2018 AIAA SPACE and Astronautics Forum and Exposition, AIAA SPACE Forum, (AIAA 2018-5225). https://doi.org/10.2514/6.2018-5225.

Bondoky, K., Janschek, K., Rathke, A. and Schwarz, S.:
Analysis of small satellite docking contact dynamics for Hardware-in-the-Loop Testing.
In: Fachtagung Mechatronik 2017: Dresden (09.03.-10.03.2017), VDI Mechatronik - Dresden, Germany, March 2017.

Bondoky, K., Janschek, K., Rathke, A. and Schwarz, S.:
Analysis of Hardware-in-the-Loop setup without artificial compliance for docking contact dynamics of satellites.
AIAA SPACE and Astronautics Forum and Exposition, AIAA SPACE Forum, Orlando, Florida, USA. (Sep. 2017). doi: 10.2514/6.2017-5183

►Projects - Robotics

Research Area - MECHATRONICS

The research area Mechatronics focuses on the development of optomechatronics system solutions and technologies. The research and development activities are spanning from the control of MEMS micromirrors and wavefront shaping, to the development of high-performance and compact optical Fourier processors and optical correlators and their usage in smart imaging systems for remote sensing and visual navigation, as well as optical measurement systems for industrial visual inspection systems, and computer-aided modeling and simulation of optomechatronic systems..

Mechatronics - OVERVIEW

Smart Imaging

Datenschutzrichtlinie

SmartScan - Airborne Test

image motion recorded by sequential images from area image sensors in image plane
image motion trajectory derived from image-motion tracking by onboard embedded optical correlator
post-flight pushbroom image correction using recorded image motion trajectory

Selected Publications

Chernykh, V., Janschek, K., Harnisch, B.: High Accuracy Line-of-Sight Stabilization for GEO High-resolution Earth Observation Missions with Onboard Optical Correlator: Imaging Performances Estimation. In: Proceedings of 10th International ESA Conference on Guidance, Navigation & Control Systems, Salzburg, Austria, 29 May -2 June 2017.

Chernykh, V., Grzelak, S., Janschek, K., Harnisch, B.: Design & Analysis of High Accuracy LOS Stabilization for GEO High-Resolution Imaging Missions with Onboard Optical Correlator. In: Proceedings of 9th International ESA Conference on Guidance, Navigation & Control Systems, Oporto, Portugal, 2 - 6 June 2014.

Janschek, K., Tchernykh, V., Dyblenko, S.: Performance analysis of opto-mechatronic image stabilization for a compact space camera. Control Engineering Practice, Volume 15, Issue 3, March 2007, Pages 333-347

Tchernykh, V., Dyblenko, S., Janschek, K., Seifart, K., Harnisch, B.: Clever Imaging with SmartScan. ESA Bulletin No. 123, August 2005, pp.40-45.

K. Janschek, V. Tchernykh, S. Dyblenko: Integrated Camera Motion Compensation by Real-Time Image Motion Tracking and Image Deconvolution. In: Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Monterey, California, USA, 24-28 July, 2005, pp. 1437-1444.

K. Janschek, V. Tchernykh, S. Dyblenko: Opto-Mechatronic Image Stabilization for a Compact Space Camera. In: Preprints of the 3rd IFAC Conference on Mechatronic Systems - Mechatronics 2004, 6-8 September 2004, Sydney, Australia, pp.547-552. ** Conference Best Paper Award **

K. Janschek, V. Tchernykh, S. Dyblenko, B.Harnisch: Compensation of the Attitude Instability Effect on the Imaging Payload Performance with Optical Correlators. Acta Astronautica 52 (2003) pp.965-974

Optomechatronics - Wavefront Shaping

pdf as download

Selected Publications

Matthias Roth: Contributions to the design of Fourier-optical modulation systems based on micro-opto-electro-mechanical tilt-mirror arrays. Dissertation, TU Dresden, 2020. Dissertation download

Roth, M.; Heber, J.; Janschek, K.: Modulating Complex Beams in Amplitude and Phase Using Fast Tilt-Micromirror Arrays and Phase Masks. In: Optics Letters 43.12 (June 2018), pp. 2860-2863. doi: 10.1364/OL.43.002860

Roth, M.; Heber, J.; Janschek, K.: Spatial Beam Shaping in Amplitude and Phase for Multispectral Applications Using Binary Amplitude Modulators and Phase Masks. In: 11th International Conference on Optics-photonics Design and Fabrication, Hiroshima/Japan (Nov. 2018)

Roth, M., Heber, J., Janschek, K.: Concept for the fast modulation of light in amplitude and phase using analog tilt-mirror Arrays. Proc. SPIE 10116, MOEMS and Miniaturized Systems XVI, 101160H (February 20, 2017); doi:10.1117/12.2250746

Roth, M., Heber, J., Janschek, K.: System design of programmable 4f phase modulation techniques for rapid intensity shaping: A conceptual comparison. In: Proc. SPIE 9736, Laser-based Micro- and Nanoprocessing X, 97361G (March 4, 2016); doi:10.1117/12.2210917

Kaden, Th., Janschek, K., Neuber, E.: Integrating Diffractive Optomechatronic System Models in Modelica-based Simulation Environments. In: Proceedings of the 18th IFAC World Congress, August 28 - September 2, 2011, Milano, Italy, pp. 9434-9439.

Control of MEMS

Achievements

Open and closed loop control of electrostatic MEMS;
Nonlinear control of non-smooth mechatronic systems;
State and DAAD funding

Selected Publications

Schroedter, R., Grahmann, J., Janschek, K.:
Silicone oil damping for quasi-static micro scanners with electrostatic vertical staggered comb drives.
IFAC-PapersOnLine, Volume 52, Issue 15, 2019, pp. 37-42

Richard Schroedter:
Model-based system design for the control of quasi-static
micro scanning mirrors with electrostatic comb drive.
Dissertation, TU Dresden, 2018. Jörg Vogt Verlag, Dresden, 340 pages, ISBN: 9783959470308

Schroedter, R.; Roth, M.; Janschek, K.; Sandner, T.:
Flatness-based open-loop and closed-loop control for electrostatic quasi-static microscanners using jerk limited trajectory design.
Mechatronics, Volume 56, December 2018, Pages 318-331.

Schroedter, R.; Schwarzenberg, M.; Grahmann, J.; Sandner, T.; Janschek, K.:
Repetitive nonlinear control for linear scanning micro mirrors.
Proc. SPIE, 2018, pp. 10545-10545-8, DOI: 10.1117/12.2285558

Dong, R., Tan, Y., Xie, Y., Janschek, K.:
Recursive Identification of Micropositioning Stage Based on Sandwich Model With Hysteresis.
IEEE Transactions on Control Systems Technology, Year: 2017, Volume: 25, Issue: 1, Pages: 317 - 325, DOI: 10.1109/TCST.2016.2542004.

Schroedter, R.; Schwarzenberg, M.; Dreyhaupt, A.; Barth, R.; Sandner, T.; Janschek, K.:
Microcontroller based closed-loop control of a 2D quasi-static/resonant microscanner with on-chip piezo-resistive sensor feedback.
Proc. SPIE, 2017, pp. 1011605-1011605-11, DOI: 10.1117/12.2251802

Dong, R., Tan, Y., Janschek, K., Chen, X.:
Non-smooth predictive control for mechanical transmission systems with backlash-like hysteresis.
Nonlinear Dynamics, September 2016, Volume 85, Issue 4, pp 2277–2295.

Dong, R., Tan, Y., Janschek, K.:
Non-smooth Predictive Control for Wiener Systems with Backlash-Like Hysteresis.
IEEE/ASME Transactions on Mechatronics, vol. 21, no. 1, DOI: 10.1109/TMECH.2015.2453794, pp. 17-28, Feb. 2016.

Schroedter, R.; Sandner, T.; Janschek, K.; Roth, M.; Hruschka, C.:
Realtime closed-loop control for micro mirrors with quasistatic comb drives.
Proc. SPIE, MOEMS and Miniaturized Systems XV, 2016, pp. 976009-976009-13, DOI:10.1117/12.2208431

Schroedter, R., Janschek, K., Sandner, Th.:
Jerk and Current Limited Flatness-based Open Loop Control of Foveation Scanning Electrostatic Micromirrors.
In: Proceedings of 19th World Congress of the International Federation of Automatic Control – IFAC, Cape Town, South Africa, 24-29 August 2014, pp. 2685-2690, DOI 10.3182/20140824-6-ZA-1003.02566.

Janschek, K., Schroedter, R., Sandner, Th.:
Flatness-Based Open Loop Command Tracking for Quasistatic Microscanners.
In: Proceedings of 2013 ASME Dynamic Systems & Control Conference (DSCC), October 21-23, 2013, Stanford University, CA, USA. Paper No. DSCC2013-3865, pp. V003T37A001; 5 pages, doi:10.1115/DSCC2013-3865.

Janschek, K., Sandner, Th., Schroedter, R., Roth, M.:
Adaptive Prefilter Design for Control of Quasistatic Microscanners.
In: Proceedings of 6th IFAC Symposium on Mechatronic Systems – Mechatronics ‘13, April 10-12, 2013, Hangzhou, China, DOI 10.3182/20130410-3-CN-2034.00112, pp. 197-206

Embedded optical Fourier processors and optical correlators

Achievements

Development and demonstration of embedded optical Fourier processor and optical correlator technology (diffractive optics);
Worldwide 1-st optical space pre-qualified optical correlator (thermal, vacuum, radiation, vibration) using a MEMS micromirror spatial light modulator;
ESA contracts; 1 patent.

Selected Publications

Tchernykh, V., Beck, M., Janschek, K.:
Optical Correlator based Optical Flow Processor for Real Time Visual Navigation.
In: Vision Systems: Applications, Edited by G. Obinata and A. Dutta, I-Tech Education and Publishing, Vienna, Austria (2007), chapter 13, pp. 223-236.

V. Tchernykh, M. Beck, K. Janschek:
An Embedded Optical Flow Processor for Visual Navigation using Optical Correlator Technology.
In: Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 9 - 15, 2006, Beijing, China, pp. 67-72.

Janschek, K., Tchernykh, V.:
Optical Correlator for Image Motion Compensation in the Focal Plane of a Satellite Camera.
Space Technology , Volume 21 (2001) , Issue 4, pp.127-132.

Tchernykh, V., Dyblenko, S., Janschek, K.:
Space Application of a Selfcalibrating Optical Processor for Harsh Mechanical Environment.
In: Proceedings of 1^stIFAC Conference on Mechatronic Systems - Mechatronics 2000, September 18-20, 2000, Darmstadt, Germany. Pergamon-Elsevier Science. Volume 3, pp.309-314.

Mechatronic Systems Design

Achievements

Comprehensive textbook on fundamental methods for model-based design of mechatronic systems.
The method framework comprises domain-neutral methods for modeling and performance analysis: multi-domain modeling (energy/port/signal-based), simulation (ODE/DAE/hybrid systems), robust control methods, stochastic dynamic analysis, and quantitative evaluation of designs using system budgets.
New: unified models for reciprocal transducers

Selected Publications

Book
Janschek, K.:
Mechatronic Systems Design: Methods, Models, Concepts.
2012, Hardcover, ISBN 978-3-642-17530-5, Springer Berlin Heidelberg.

Book
Janschek, K.:
Systementwurf mechatronischer Systeme, Methoden – Modelle – Konzepte.
2010, 842 S. 387 Abb., Geb. ISBN: 978-3-540-78876-8, Springer Berlin Heidelberg.

Book
Janschek, K.:

Mechatronic Systems Design: Methods, Models, Concepts -机电系统设计方法、模型及概念. Chinese translation,
2017, Tsinghua University Press Ltd., China, (2 volumes).

Malzahn J., Barasuol V., Janschek K.:
Actuator Modeling and Simulation.
In: Goswami A., Vadakkepat P. (eds) Humanoid Robotics: A Reference. Springer, Dordrecht, 2019, pp. 1957-2005, DOI https://doi.org/10.1007/978-94-007-6046-2_75

Janschek, K.:
The Generic Mechatronic Transducer Model – A Unified System Modeling Approach.
In: Proceedings of 5th IFAC Symposium on Mechatronic Systems, September 13-15, 2010, Cambridge, MA, USA. (IFAC-PapersOnLine, ID 10.3182/20100913-3-US-2015.00060), pp. 267-276.

►Projects - Mechatronics

Research Area - INDUSTRIAL AUTOMATION

The research area of Industrial Automation focuses on the application of innovative information technologies e.g. model-driven and communication technologies, their challenges and risks for automation solutions. The goals are the conception and design of formal models and languages for a systematic and consistent design of automation systems to support essential use cases in the life cycle of automation systems such as Plug&Produce or Continuous Engineering. One application field is the development of sub models for Human-Machine Interface fragments for a self-description within Industrie 4.0 components following industrial requirement definitions. Another field is the conception and development of novel multimodal user interfaces to intelligently network people and remote product surfaces using internet and telecommunication technologies (Web, XML, Web services, 5G technologies).

Previous research was focusing on automation of closed material cycles (1994-2013) and SPS & Motion Control and electromagnetic compatibility (1990-2000).

Model-based Design of User Interfaces

Selected Publications

C. Martin u. a., „Integrated Design of Human-Machine Interfaces for Production Plants“, in Proceedings of 20th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA2015), Sep. 2015, S. 1–6, DOI: 10.1109/ETFA.2015.7301550

Multimodal signal processing

Selected Publications

C. Martin and A. Braune: Multimodal Inspection of Product Surfaces using Mobile Consumer Devices. 22nd International Conference on Human-Computer Interaction, Copenhagen Denmark, 2020; http://2020.hci.international/program.html

Rendering haptic signals

Selected Publications

Tung Le, Christopher Martin* and Annerose Braune: Haptic virtualisation of surfaces: Feeling textiles on your phone (invited presentation), Clotech Conference 2020 „Innovative Technologies for Development and Assembling of Functional Textile Products“ & Doctoral School for Innovative Clothing Technology, Dresden, September 2020. https ://www.clotech.eu/program/#session1

Development of a UI Submodel for the Industry 4.0 Component

Selected Publications

Baron, L., Braune, A.: Development of a UI Submodel for the Industry 4.0 Component.
In 21st IFAC World Congress 2020, to be published in PapersOnLine.

►Projects - Industrial Automation

Research Areas

Research Area - SYSTEMS DESIGN

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Research Area - ROBOTICS

Kurzfassung

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Selected Publications

Achievements

Selected Publications

Achievements

A set-based multi-fusion approach for navigation of mobile platforms with guranteed collision-free motion (Sylvia Horn)

Optical flow-based perception, behavior-based control, and topological path planning for mobile robots using fuzzy logic concepts (Mai Ngoc Anh)

Engineering-oriented Control Architecture based on Action Primitives for Applications in Robotics (Matthias Hennig)

Selected Publications

Selected Publications

Research Area - MECHATRONICS

Selected Publications

Achievements

Selected Publications

Achievements

Selected Publications

Achievements

Selected Publications

Research Area - INDUSTRIAL AUTOMATION

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