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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151 to 160 of 301 Results

Figure_5_4_formation_quadratic.mp4 Feb 4, 2026 - Experiment Videos on Setpoint Stabilization of Nonholonomic Mobile Robots and Their Formations Using Geometry-Conforming Model Predictive Control MPEG-4 Video - 5.0 MB - MD5: 728d037cb4b6facebf1c230b3b088036
Figure_5_7_formation_polar_mixedexponents.mp4 Feb 4, 2026 - Experiment Videos on Setpoint Stabilization of Nonholonomic Mobile Robots and Their Formations Using Geometry-Conforming Model Predictive Control MPEG-4 Video - 4.7 MB - MD5: 4fea4459e4bd7a72023940bf677bb5be
Figure_5_7_formation_polar_quadratic.mp4 Feb 4, 2026 - Experiment Videos on Setpoint Stabilization of Nonholonomic Mobile Robots and Their Formations Using Geometry-Conforming Model Predictive Control MPEG-4 Video - 4.7 MB - MD5: 1375aaa03cc320660ffdc10b6600d006
Visualizations from Investigation of Reducing Metalworking Fluid Consumption in Deep-Hole Drilling using SPH Dec 4, 2025 Baumann, Andreas; Eberhard, Peter, 2025, "Visualizations from Investigation of Reducing Metalworking Fluid Consumption in Deep-Hole Drilling using SPH", https://doi.org/10.18419/DARUS-5454, DaRUS, V1 The reduction of metalworking fluid (MWF) in machining processes allows the reduction of costs and energy consumption. However, the process reliability, especially for deep-hole drilling, is influenced significantly by the MWF and its ability to evacuate the created chips out of the borehole. The related work investigates the application of Smoothe...
Chip_Evacuation_MWF_Supply_Reduction.mp4 Dec 4, 2025 - Visualizations from Investigation of Reducing Metalworking Fluid Consumption in Deep-Hole Drilling using SPH MPEG-4 Video - 16.8 MB - MD5: 513f580609c76abd6ac2a56840275293 Comparison of the ﬂow for the diﬀerent MWF ﬂow rates. The view is perpendicular to the chip ﬂute while the drill rotates. The chips are colored red, and the MWF is partially transparent to recognize the chips along the chip ﬂute.
Visualizations from Efficient Collision-Avoidance Constraints for Ellipsoidal Obstacles in Optimal Control: Application to Path-Following MPC and UAVs Oct 16, 2025 Leprich, David; Rosenfelder, Mario; Herrmann-Wicklmayr, Markus; Flaßkamp, Kathrin; Ebel, Henrik; Eberhard, Peter, 2025, "Visualizations from Efficient Collision-Avoidance Constraints for Ellipsoidal Obstacles in Optimal Control: Application to Path-Following MPC and UAVs", https://doi.org/10.18419/DARUS-5437, DaRUS, V1 The provided videos present an experimental validation of a Model Predictive Path-Following Controller (MPPFC) with integrated obstacle avoidance applied to a Crazyflie 2.1 nano quadrotor. The modular, optimization-based control framework incorporates explicit constraints for avoiding collisions between arbitrarily shaped ellipsoids. At the core of...
3D_Obstacle_Avoidance_Dynamic_Obstacle_Simulation.mp4 Oct 16, 2025 - Visualizations from Efficient Collision-Avoidance Constraints for Ellipsoidal Obstacles in Optimal Control: Application to Path-Following MPC and UAVs MPEG-4 Video - 13.8 MB - MD5: f9ef7e970609e34674212e97121a132a Simulation results of the proposed MPC formulation applied to a path-following scenario with a dynamic obstacle. The quadrotor is depicted in orange and the local obstacle is coloured in green. The path is coloured in dashed blue and the past trajectory of the quadrotor is depicted in red.
3D_Obstacle_Avoidance_Static_Obstacle_Experiment.mp4 Oct 16, 2025 - Visualizations from Efficient Collision-Avoidance Constraints for Ellipsoidal Obstacles in Optimal Control: Application to Path-Following MPC and UAVs MPEG-4 Video - 35.8 MB - MD5: 0a1cf762263f17d1b4273376058cbf0d Real-world experiment of the proposed MPC formulation applied to a path-following scenario with a static obstacle. The Crazyflie quadrotor is depicted in orange and the local obstacle is coloured in green. The path is coloured in dashed blue and the past trajectory of the quadrotor is depicted in red.
Visualizations from A Mesh-Free Multi-Physics Approach to Modeling Deep-Hole Drilling and Predicting Chip Jamming and Drill Failure Oct 10, 2025 Baumann, Andreas, 2025, "Visualizations from A Mesh-Free Multi-Physics Approach to Modeling Deep-Hole Drilling and Predicting Chip Jamming and Drill Failure", https://doi.org/10.18419/DARUS-5406, DaRUS, V1 Deep-hole drilling Deep-hole drilling (DHD), particularly at micro scales, presents significant challenges in experimental investigations due to inaccessibility and complex fluid-structure interaction. The related dissertation introduces a novel mesh-free multi-physics modeling approach that couples Smoothed Particle Hydrodynamics (SPH) and the Dis...
Figure_2.10-Density_and_Pressure_Field_Comparision_Delta_SPH_DamBreak.mp4 Oct 10, 2025 - Visualizations from A Mesh-Free Multi-Physics Approach to Modeling Deep-Hole Drilling and Predicting Chip Jamming and Drill Failure MPEG-4 Video - 23.0 MB - MD5: 4efd9fb5d282997708f5d68fb8abd476 Density and pressure field compared for the basic SPH formulation without any modifications and corrections (plain) and the application of only the δ-SPH modification. The fluid is colored according to its density from low (blue) to high (red), and its pressure from low (light green) to high (dark blue).

Figure_5_4_formation_quadratic.mp4

Feb 4, 2026 - Experiment Videos on Setpoint Stabilization of Nonholonomic Mobile Robots and Their Formations Using Geometry-Conforming Model Predictive Control

MPEG-4 Video - 5.0 MB -

Figure_5_7_formation_polar_mixedexponents.mp4

Feb 4, 2026 - Experiment Videos on Setpoint Stabilization of Nonholonomic Mobile Robots and Their Formations Using Geometry-Conforming Model Predictive Control

MPEG-4 Video - 4.7 MB -

Figure_5_7_formation_polar_quadratic.mp4

Feb 4, 2026 - Experiment Videos on Setpoint Stabilization of Nonholonomic Mobile Robots and Their Formations Using Geometry-Conforming Model Predictive Control

MPEG-4 Video - 4.7 MB -

Visualizations from Investigation of Reducing Metalworking Fluid Consumption in Deep-Hole Drilling using SPH

Dec 4, 2025

Baumann, Andreas; Eberhard, Peter, 2025, "Visualizations from Investigation of Reducing Metalworking Fluid Consumption in Deep-Hole Drilling using SPH", https://doi.org/10.18419/DARUS-5454, DaRUS, V1

The reduction of metalworking fluid (MWF) in machining processes allows the reduction of costs and energy consumption. However, the process reliability, especially for deep-hole drilling, is influenced significantly by the MWF and its ability to evacuate the created chips out of the borehole. The related work investigates the application of Smoothe...

Chip_Evacuation_MWF_Supply_Reduction.mp4

Dec 4, 2025 - Visualizations from Investigation of Reducing Metalworking Fluid Consumption in Deep-Hole Drilling using SPH

MPEG-4 Video - 16.8 MB -

Comparison of the ﬂow for the diﬀerent MWF ﬂow rates. The view is perpendicular to the chip ﬂute while the drill rotates. The chips are colored red, and the MWF is partially transparent to recognize the chips along the chip ﬂute.

Visualizations from Efficient Collision-Avoidance Constraints for Ellipsoidal Obstacles in Optimal Control: Application to Path-Following MPC and UAVs

Oct 16, 2025

Leprich, David; Rosenfelder, Mario; Herrmann-Wicklmayr, Markus; Flaßkamp, Kathrin; Ebel, Henrik; Eberhard, Peter, 2025, "Visualizations from Efficient Collision-Avoidance Constraints for Ellipsoidal Obstacles in Optimal Control: Application to Path-Following MPC and UAVs", https://doi.org/10.18419/DARUS-5437, DaRUS, V1

The provided videos present an experimental validation of a Model Predictive Path-Following Controller (MPPFC) with integrated obstacle avoidance applied to a Crazyflie 2.1 nano quadrotor. The modular, optimization-based control framework incorporates explicit constraints for avoiding collisions between arbitrarily shaped ellipsoids. At the core of...

3D_Obstacle_Avoidance_Dynamic_Obstacle_Simulation.mp4

Oct 16, 2025 - Visualizations from Efficient Collision-Avoidance Constraints for Ellipsoidal Obstacles in Optimal Control: Application to Path-Following MPC and UAVs

MPEG-4 Video - 13.8 MB -

Simulation results of the proposed MPC formulation applied to a path-following scenario with a dynamic obstacle. The quadrotor is depicted in orange and the local obstacle is coloured in green. The path is coloured in dashed blue and the past trajectory of the quadrotor is depicted in red.

3D_Obstacle_Avoidance_Static_Obstacle_Experiment.mp4

Oct 16, 2025 - Visualizations from Efficient Collision-Avoidance Constraints for Ellipsoidal Obstacles in Optimal Control: Application to Path-Following MPC and UAVs

MPEG-4 Video - 35.8 MB -

Real-world experiment of the proposed MPC formulation applied to a path-following scenario with a static obstacle. The Crazyflie quadrotor is depicted in orange and the local obstacle is coloured in green. The path is coloured in dashed blue and the past trajectory of the quadrotor is depicted in red.

Visualizations from A Mesh-Free Multi-Physics Approach to Modeling Deep-Hole Drilling and Predicting Chip Jamming and Drill Failure

Oct 10, 2025

Baumann, Andreas, 2025, "Visualizations from A Mesh-Free Multi-Physics Approach to Modeling Deep-Hole Drilling and Predicting Chip Jamming and Drill Failure", https://doi.org/10.18419/DARUS-5406, DaRUS, V1

Deep-hole drilling Deep-hole drilling (DHD), particularly at micro scales, presents significant challenges in experimental investigations due to inaccessibility and complex fluid-structure interaction. The related dissertation introduces a novel mesh-free multi-physics modeling approach that couples Smoothed Particle Hydrodynamics (SPH) and the Dis...

Figure_2.10-Density_and_Pressure_Field_Comparision_Delta_SPH_DamBreak.mp4

Oct 10, 2025 - Visualizations from A Mesh-Free Multi-Physics Approach to Modeling Deep-Hole Drilling and Predicting Chip Jamming and Drill Failure

MPEG-4 Video - 23.0 MB -

Density and pressure field compared for the basic SPH formulation without any modifications and corrections (plain) and the application of only the δ-SPH modification. The fluid is colored according to its density from low (blue) to high (red), and its pressure from low (light green) to high (dark blue).

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