Institute of Engineering and Computational Mechanics

The Institute of Engineering and Computational Mechanics focuses on questions relating to Technical Dynamics. This is the guideline for many research projects and courses. The research work of the institute is dedicated to technical dynamics in the broadest sense. In the course of time, changing focal points have developed. The research areas include multibody systems, contact mechanics, mechatronics, driving safety and uncertainties.

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1 to 10 of 301 Results

Animation from Approximate Explicit Model Predictive Control for EMS-type Maglev Vehicles Jul 21, 2026 Kargl, Arnim; Hermle, Mario; Eberhard, Peter, 2026, "Animation from Approximate Explicit Model Predictive Control for EMS-type Maglev Vehicles", https://doi.org/10.18419/DARUS-5805, DaRUS, V1 The provided animation visualizes an exemplary simulation result, applying approximate explicit model predictive control (aeMPC) to a simulation model of a 2D cross section model of the magnetic levitation vehicle Transrapid. Besides the animation, additional signals of interest are plotted, i.e., the excitation of the guideway element in vertical...
transrapid_cross_section_model_430kmh.mp4 Jul 21, 2026 - Animation from Approximate Explicit Model Predictive Control for EMS-type Maglev Vehicles MPEG-4 Video - 18.8 MB - MD5: 94e2c3893498ea237250ae2251c0b431 Animation of the Maglev vehicle Transrapid traveling over an uneven guideway.
Supplementary Material from Investigating Advantageous Approaches for Incorporating DAE-Based Multibody Models in Model Predictive Control Problems Jul 10, 2026 Kargl, Arnim; Ebel, Henrik; Eberhard, Peter, 2026, "Supplementary Material from Investigating Advantageous Approaches for Incorporating DAE-Based Multibody Models in Model Predictive Control Problems", https://doi.org/10.18419/DARUS-5751, DaRUS, V2 This repository provides supplementary material alongside the publication, namely the Matlab implementation, i.e., scripts and functions, for the studied five-bar linkage system, and an animation of the studied serial manipulator with flexible link. The Matlab implementation provides all variants of optimal control problems, which are mentioned wit...
MPC.m Jul 10, 2026 - Supplementary Material from Investigating Advantageous Approaches for Incorporating DAE-Based Multibody Models in Model Predictive Control Problems Objective-C Source Code - 5.0 KB - MD5: d51b796dd4e6bdd438eda123f2381253 Closed-loop MPC implementation in Matlab.
OCP_index1_encapsulated.m Jul 10, 2026 - Supplementary Material from Investigating Advantageous Approaches for Incorporating DAE-Based Multibody Models in Model Predictive Control Problems Objective-C Source Code - 6.2 KB - MD5: a0624233010f188e9e06b585d12e547b OCP with index-1 DAE and encapsulated (external) integrator
OCP_index1.m Jul 10, 2026 - Supplementary Material from Investigating Advantageous Approaches for Incorporating DAE-Based Multibody Models in Model Predictive Control Problems Objective-C Source Code - 5.3 KB - MD5: 8e9195ee1c475ddbfd720e8c82c4357e OCP with index-1 DAE and integrator embedded into OCP
OCP_index2.m Jul 10, 2026 - Supplementary Material from Investigating Advantageous Approaches for Incorporating DAE-Based Multibody Models in Model Predictive Control Problems Objective-C Source Code - 5.9 KB - MD5: 87289ea48c82fd3e1a3da3b617118b59 OCP with index-2 DAE
OCP_index3.m Jul 10, 2026 - Supplementary Material from Investigating Advantageous Approaches for Incorporating DAE-Based Multibody Models in Model Predictive Control Problems Objective-C Source Code - 5.1 KB - MD5: f2e48c980eca2fd2fe951e264a148d37 OCP with index-3 DAE
readme.md Jul 10, 2026 - Supplementary Material from Investigating Advantageous Approaches for Incorporating DAE-Based Multibody Models in Model Predictive Control Problems Markdown Text - 2.9 KB - MD5: 8651002154dcf2f673640c314f4ea78b Entry point to the provided Matlab code with further hints and instructions.
Replication data for: Data-Driven Anomaly Detection for Graph-based Formation Control in a Robot Swarm Jul 6, 2026 Ziegler, Philipp; Wenger, Ingeborg; Eberhard, Peter, 2026, "Replication data for: Data-Driven Anomaly Detection for Graph-based Formation Control in a Robot Swarm", https://doi.org/10.18419/DARUS-6135, DaRUS, V1 A robot swarm executing a formation task can be examined for the presence of anomalies in the robots' motion behavior using a data-driven contextual anomaly detection method. The simulation of the robot formation, the data preprocessing, and the anomaly detection method are described in the corresponding paper. Each row of the dataset contains a si...

Animation from Approximate Explicit Model Predictive Control for EMS-type Maglev Vehicles

Jul 21, 2026

Kargl, Arnim; Hermle, Mario; Eberhard, Peter, 2026, "Animation from Approximate Explicit Model Predictive Control for EMS-type Maglev Vehicles", https://doi.org/10.18419/DARUS-5805, DaRUS, V1

The provided animation visualizes an exemplary simulation result, applying approximate explicit model predictive control (aeMPC) to a simulation model of a 2D cross section model of the magnetic levitation vehicle Transrapid. Besides the animation, additional signals of interest are plotted, i.e., the excitation of the guideway element in vertical...

transrapid_cross_section_model_430kmh.mp4

Jul 21, 2026 - Animation from Approximate Explicit Model Predictive Control for EMS-type Maglev Vehicles

MPEG-4 Video - 18.8 MB -

Animation of the Maglev vehicle Transrapid traveling over an uneven guideway.

Supplementary Material from Investigating Advantageous Approaches for Incorporating DAE-Based Multibody Models in Model Predictive Control Problems

Jul 10, 2026

Kargl, Arnim; Ebel, Henrik; Eberhard, Peter, 2026, "Supplementary Material from Investigating Advantageous Approaches for Incorporating DAE-Based Multibody Models in Model Predictive Control Problems", https://doi.org/10.18419/DARUS-5751, DaRUS, V2

This repository provides supplementary material alongside the publication, namely the Matlab implementation, i.e., scripts and functions, for the studied five-bar linkage system, and an animation of the studied serial manipulator with flexible link. The Matlab implementation provides all variants of optimal control problems, which are mentioned wit...

MPC.m

Jul 10, 2026 - Supplementary Material from Investigating Advantageous Approaches for Incorporating DAE-Based Multibody Models in Model Predictive Control Problems

Objective-C Source Code - 5.0 KB -

Closed-loop MPC implementation in Matlab.

OCP_index1_encapsulated.m

Jul 10, 2026 - Supplementary Material from Investigating Advantageous Approaches for Incorporating DAE-Based Multibody Models in Model Predictive Control Problems

Objective-C Source Code - 6.2 KB -

OCP with index-1 DAE and encapsulated (external) integrator

OCP_index1.m

Jul 10, 2026 - Supplementary Material from Investigating Advantageous Approaches for Incorporating DAE-Based Multibody Models in Model Predictive Control Problems

Objective-C Source Code - 5.3 KB -

OCP with index-1 DAE and integrator embedded into OCP

OCP_index2.m

Jul 10, 2026 - Supplementary Material from Investigating Advantageous Approaches for Incorporating DAE-Based Multibody Models in Model Predictive Control Problems

Objective-C Source Code - 5.9 KB -

OCP with index-2 DAE

OCP_index3.m

Jul 10, 2026 - Supplementary Material from Investigating Advantageous Approaches for Incorporating DAE-Based Multibody Models in Model Predictive Control Problems

Objective-C Source Code - 5.1 KB -

OCP with index-3 DAE

readme.md

Jul 10, 2026 - Supplementary Material from Investigating Advantageous Approaches for Incorporating DAE-Based Multibody Models in Model Predictive Control Problems

Markdown Text - 2.9 KB -

Entry point to the provided Matlab code with further hints and instructions.

Replication data for: Data-Driven Anomaly Detection for Graph-based Formation Control in a Robot Swarm

Jul 6, 2026

Ziegler, Philipp; Wenger, Ingeborg; Eberhard, Peter, 2026, "Replication data for: Data-Driven Anomaly Detection for Graph-based Formation Control in a Robot Swarm", https://doi.org/10.18419/DARUS-6135, DaRUS, V1

A robot swarm executing a formation task can be examined for the presence of anomalies in the robots' motion behavior using a data-driven contextual anomaly detection method. The simulation of the robot formation, the data preprocessing, and the anomaly detection method are described in the corresponding paper. Each row of the dataset contains a si...

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