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MUM > Staff > Axel Hackbarth

Dipl.-Ing. Axel Hackbarth, MEngSt

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Research Interests

DFG project on Fluid Field Estimation and Source Localization by Dynamic Positioning of Autonomous Underwater Sensor Nodes
  • Autonomous Systems
  • Uncertain Fluid Dynamics
  • Underwater Robotics
  • Multi-Agent Systems
  • Nonlinear State Estimation
  • Trajectory Planning in Uncertain Environments

Publications

[28361]
Title: {Source Localization and Tracking with a Swarm of Autonomous Underwater Vehicles}. <em>1st Interdisciplinary Workshop on Maritime Systems - Latest Results of Ph.D. Projects at TUHH</em>
Written by: Hackbarth, Axel and Kreuzer, Edwin
in: (2010).
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Editor: In Manzke, Manuel and W\"{o}ckner, Katja and Ulrich, Christian and Brunswig, J\"{o}rg (Eds.)
Publisher: Forschungsschwerpunkt Maritime Systeme:
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Address: Hamburg
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URL: http://doku.b.tu-harburg.de/volltexte/2010/850/
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[www]

Note:

Abstract: Marine exploration is a growing topic of research for science, oil and gas industry, and military applications. Field measurements and source searching are important tasks for underwater missions. We propose a novel method for source searching with multi-vehicle systems. The dynamics of the field (in our case a field of water) can be described by a set of partial differential equations. We want to use a swarm of underwater vehicles to find heat or similarly behaving diffusive sources. A real-time fluid dynamics simulation predicts how the field changes with each time step. Scalar measurements at the position of the vehicles give us information that is fed back into the simulated model of the fluid field. From this updated fluid field, source positions are estimated and predicted, and the trajectories for the vehicles are optimized. For the simulated field, not only the field values have to be taken into account, the precision of the field values also play an important role for updating the process. This paper is meant as a rough guideline for future studies and therefore we cannot present results yet.

Presentations

  • OMAE 2014
  • AUV 2012
  • GAMM 2012
  • GAMM 2010
  • IWMS 2010

 

Poster Presentations

  • Ocean Science 2014
  • RSS 2014
  • RSS 2014

Supervised Student Theses

  • Rausch, V.: "Akustische Lokalisierung",
    Bachelor Thesis, Institut für Mechanik und Meerestechnik, Hamburg, 2014.
  • Garstka, M.: "Modellbildung und Entwurf eines Reglers zur Trajektorienverfolgung von Unterwasserfahrzeugen",
    Bachelor Thesis, Institut für Mechanik und Meerestechnik, Hamburg, 2014.
  • Rottmann, N.: "Entwicklung einer Tauchzelle zum experimentellen Nachweis der Orbitalbewegung von Wasserpartikeln unter Einfluss von Schwerewellen",
    Bachelor Thesis, Institut für Mechanik und Meerestechnik, Hamburg, 2014.
  • Otto, S.: "Modeling, Control, Simulation and Implementation of Competitive Balancing Robots",
    Project Work, University of California, Berkeley, 2014.
  • Schröder, T.: "Datenassimilation für eine wärmegetriebene Strömung mittels Ensemble Kalman-Filterung",
    Master Thesis, Institut für Mechanik und Meerestechnik, Hamburg, 2013.
  • Syed, S.: "PID-Reglerentwurf und praktische Umsetzung zur Drehgeschwindigkeitssteuerung eines Unterwasserfahrzeugs",
    Bachelor Thesis, Institut für Mechanik und Meerestechnik, Hamburg, 2013.
  • Solowjow, E.: "A Bayesian Approach to Model-Based Localization of a Diffusive Source",
    Diplomarbeit, Vehicle Dynamics and Control Laboratory, Berkeley & Institut für Mechanik und Meerestechnik, TUHH, Hamburg, 2012.
  • Dücker, D.: "Entwicklung und Simulation eines Multi-Kamera-Systems mit Datenfusion mittels Kalman-Filterung",
    Bachelor Thesis, Institut für Mechanik und Meerestechnik, Hamburg, 2012.
  • Uken, S.: "Entwurf und praktische Umsetzung eines Prototypen für ein Miniatur-Unterwasserfahrzeug",
    Bachelor Thesis, Institut für Mechanik und Meerestechnik, Hamburg, 2012.
  • Luo, X.: "Identifikation von Wärmequellen in konvektiv getriebenen Strömungen",
    Diplomarbeit, Department Mathematik, UniHH & Institut für Mechanik und Meerestechnik, TUHH, Hamburg, 2011.

 

Teaching

Hamburg University of Technology

  • Organization, Planning and Office Hours for "Mechanik 2" & "Mechanik 4" (SS 2010)
  • Organization, Planning and Office Hours for "Mechanik 1" & "Mechanik 3" (WS 2010/11)
  • Organization, Planning and Office Hours for "Mechanik 2" & "Mechanik 4" (SS 2011)
  • Administration for "Einführung in den Maschinenbau" (2010-2014)
  • UC Berkeley & UWaterloo Student Exchange Program Coordinator (2011-2015)
TU Hamburg
Institute of Mechanics and Ocean Engineering
Eißendorfer Straße 42
21073 Hamburg
E-mail : pick@tuhh.de
Phone : +49 40 42878 3220
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