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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21 to 30 of 301 Results

Figure6_Comparison_of_with_shoulder_scrolls_and_without_shoulder_scrolls.mp4 May 8, 2026 - Simulation Results from Numerical Investigation of Tool Geometries in Friction Stir Welding of Aluminum Alloy 2024-T351 Using Smoothed Particle Hydrodynamics MPEG-4 Video - 28.5 MB - MD5: 43f4716088ca4751cf138929ed61000a Figure 6: Top-view comparison of velocity fields for scrolled and flat shoulders. The first two material layers are shown to illustrate the flow underneath the shoulder.
Figure7_Comparison_of_tilted_and_non_tilted_tool.mp4 May 8, 2026 - Simulation Results from Numerical Investigation of Tool Geometries in Friction Stir Welding of Aluminum Alloy 2024-T351 Using Smoothed Particle Hydrodynamics MPEG-4 Video - 27.6 MB - MD5: d444305566cc1f91535a24f2e0828d32 Figure 7: Top-view comparison of velocity fields for 0◦ and 1◦ tilt angles. The first two material layers are shown to illustrate to highlight the flow underneath the shoulder.
Figure8_Comparison_of_all_the_simulation_scenarios.mp4 May 8, 2026 - Simulation Results from Numerical Investigation of Tool Geometries in Friction Stir Welding of Aluminum Alloy 2024-T351 Using Smoothed Particle Hydrodynamics MPEG-4 Video - 9.7 MB - MD5: 982f4edfebb5490a3b76006d3520de00 Figure 8: Comparison of cut sections at 𝑥 = 0 mm for all simulation cases. The blue and green colors represent the advancing and retreating side, respectively.
fivebar_minimal_casadi.m Apr 20, 2026 - Supplementary Material from Investigating Advantageous Approaches for Incorporating DAE-Based Multibody Models in Model Predictive Control Problems MATLAB Source Code - 4.1 KB - MD5: ec4da421877518402ed9072dff0f74d2 system definition (minimal coordinates)
fivebar_redundant_casadi.m Apr 20, 2026 - Supplementary Material from Investigating Advantageous Approaches for Incorporating DAE-Based Multibody Models in Model Predictive Control Problems MATLAB Source Code - 6.3 KB - MD5: dd22aa09aa8158a40d0ec65cad11b2e8 system definition (redundant coordinates)
Flexible-3DoF-Manipulator.mp4 Apr 20, 2026 - Supplementary Material from Investigating Advantageous Approaches for Incorporating DAE-Based Multibody Models in Model Predictive Control Problems MPEG-4 Video - 1.1 MB - MD5: b086cff6ee0a156ac1b40e6285a2a8d6 Animation of the 3-DoF serial manipulator with flexible link.
sim_redundant_qr.m Apr 20, 2026 - Supplementary Material from Investigating Advantageous Approaches for Incorporating DAE-Based Multibody Models in Model Predictive Control Problems MATLAB Source Code - 1.6 KB - MD5: bad75a25254054a4ab1ff571e7f1016d helper script
Differential-Drive Robot Data Sets and Reference Trajectories for EDMD Mar 20, 2026 Krauspenhaar, Jasmin; Rosenfelder, Mario; Krendelsberger, Emilia; Eberhard, Peter, 2026, "Differential-Drive Robot Data Sets and Reference Trajectories for EDMD", https://doi.org/10.18419/DARUS-5799, DaRUS, V1 This repository provides real-world measurement data for data-driven modeling of a differential drive robot. The data sets are tailored for research on Extended Dynamic Mode Decomposition (EDMD) for control-affine systems. The repository contains data collected using two different sampling strategies. In the first strategy, arbitrary control inputs...
cluster_data.mat Mar 20, 2026 - Differential-Drive Robot Data Sets and Reference Trajectories for EDMD MATLAB Data - 3.5 MB - MD5: 37080310252df551cbf9868403bc3b45
cluster_data.mat Mar 20, 2026 - Differential-Drive Robot Data Sets and Reference Trajectories for EDMD MATLAB Data - 2.2 MB - MD5: a064f9bb5bc002b534ca3f8f992cc406

Figure6_Comparison_of_with_shoulder_scrolls_and_without_shoulder_scrolls.mp4

May 8, 2026 - Simulation Results from Numerical Investigation of Tool Geometries in Friction Stir Welding of Aluminum Alloy 2024-T351 Using Smoothed Particle Hydrodynamics

MPEG-4 Video - 28.5 MB -

Figure 6: Top-view comparison of velocity fields for scrolled and flat shoulders. The first two material layers are shown to illustrate the flow underneath the shoulder.

Figure7_Comparison_of_tilted_and_non_tilted_tool.mp4

May 8, 2026 - Simulation Results from Numerical Investigation of Tool Geometries in Friction Stir Welding of Aluminum Alloy 2024-T351 Using Smoothed Particle Hydrodynamics

MPEG-4 Video - 27.6 MB -

Figure 7: Top-view comparison of velocity fields for 0◦ and 1◦ tilt angles. The first two material layers are shown to illustrate to highlight the flow underneath the shoulder.

Figure8_Comparison_of_all_the_simulation_scenarios.mp4

May 8, 2026 - Simulation Results from Numerical Investigation of Tool Geometries in Friction Stir Welding of Aluminum Alloy 2024-T351 Using Smoothed Particle Hydrodynamics

MPEG-4 Video - 9.7 MB -

Figure 8: Comparison of cut sections at 𝑥 = 0 mm for all simulation cases. The blue and green colors represent the advancing and retreating side, respectively.

fivebar_minimal_casadi.m

Apr 20, 2026 - Supplementary Material from Investigating Advantageous Approaches for Incorporating DAE-Based Multibody Models in Model Predictive Control Problems

MATLAB Source Code - 4.1 KB -

system definition (minimal coordinates)

fivebar_redundant_casadi.m

Apr 20, 2026 - Supplementary Material from Investigating Advantageous Approaches for Incorporating DAE-Based Multibody Models in Model Predictive Control Problems

MATLAB Source Code - 6.3 KB -

system definition (redundant coordinates)

Flexible-3DoF-Manipulator.mp4

Apr 20, 2026 - Supplementary Material from Investigating Advantageous Approaches for Incorporating DAE-Based Multibody Models in Model Predictive Control Problems

MPEG-4 Video - 1.1 MB -

Animation of the 3-DoF serial manipulator with flexible link.

sim_redundant_qr.m

Apr 20, 2026 - Supplementary Material from Investigating Advantageous Approaches for Incorporating DAE-Based Multibody Models in Model Predictive Control Problems

MATLAB Source Code - 1.6 KB -

helper script

Differential-Drive Robot Data Sets and Reference Trajectories for EDMD

Mar 20, 2026

Krauspenhaar, Jasmin; Rosenfelder, Mario; Krendelsberger, Emilia; Eberhard, Peter, 2026, "Differential-Drive Robot Data Sets and Reference Trajectories for EDMD", https://doi.org/10.18419/DARUS-5799, DaRUS, V1

This repository provides real-world measurement data for data-driven modeling of a differential drive robot. The data sets are tailored for research on Extended Dynamic Mode Decomposition (EDMD) for control-affine systems. The repository contains data collected using two different sampling strategies. In the first strategy, arbitrary control inputs...

cluster_data.mat

Mar 20, 2026 - Differential-Drive Robot Data Sets and Reference Trajectories for EDMD

MATLAB Data - 3.5 MB -

cluster_data.mat

Mar 20, 2026 - Differential-Drive Robot Data Sets and Reference Trajectories for EDMD

MATLAB Data - 2.2 MB -

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