As part of the “Modular Warehouse Floor” research project, the ITA is researching a new type of intralogistics base element that will form the interface between incoming goods and automated warehouse systems. In this work, various algorithms for dynamic path planning are to be simulatively tested, compared and evaluated to form the basis of the future control system.

• Literature research on (intralogistics) path planning
• Programming of a simulative environment
• Simulation of different algorithms in dynamic environments
• Evaluation and comparison of the algorithms based on application-relevant parameters

• Very good programming skills (C, C++, Python, Matlab, etc.)
• Independent and motivated way of working
• Thesis can be done in german or english

As part of the “Lev4ISM” research project, work is being carried out on an ultrasonic levitator system that is intended to enable non-contact handling of matter. Samples of different sizes must be moved simultaneously and precisely in the levitator’s acoustic field. Furthermore, the control should allow high actuation speeds while preventing the sample from falling out of its acoustic trap. A stereo camera system is therefore used as feedback, which tracks the samples and returns the position in real time.

• Literature review on suitable controller structures
• Programming a GUI for entering the sample trajectory
• Development of a concept for controlling the transducer arrays
• Validation of the controller through experiments

• Experience in programming
• Knowledge of the design of controllers desirable

As part of the "Lev4ISM" research project, work is being carried out on an ultrasonic levitator system that will enable the contactless handling of matter. Samples of different sizes must be moved simultaneously and precisely in the levitator's sound field. This requires control at high actuation speeds. As feedback for the controller, a tracking system is to be developed as part of this thesis, which tracks the samples on the basis of a stereo camera system and returns the position in real time.

• Literature research on suitable tracking algorithms and hardware
• Potential analysis for the use of machine learning to minimize latencies in tracking
• Visualization of the tracked objects in a virtual environment
• Optimization of the currently used image processing algorithms and their extension by simultaneous multi-object recognition
• Experimental validation of the real-time capability and accuracy of the tracking system

• Experience in programming in C++
• Knowledge of passive marker tracking and its visualization desirable