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Institute of Mechanics and Ocean Engineering
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Institute of Mechanics and Ocean Engineering
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MUM > Staff > Daniel Dücker

Research Interests

  • Methods for Exploration and Monitoring in Environmental Protection Scenarios
  • Informative Path Planning for Underwater and Aerial Robots
  • Control and Design of Autonomous Underwater Vehicles (AUVs)
  • Robot Localization Methods for Complex Underwater Scenarios
  • Machine Learning for Field Robotic Applications
"HippoCampus" Micro Autonomous Underwater Robot (µAUV).
Short Bio
  • since 01/2023
  • 07/2022                  PhD defense "Learning, localization, and control of hydrobatic micro underwater robots for autonomous field exploration in confined environments (Link)"
  • since 03/2016         Research associate, MuM, TU Hamburg.
  • 10/2013-06/2016    Master of Business Administration (MBA), Technology Management, TU Hamburg/NIT.
  • 08/2012-03/2015    Master of Science, Mechanical Engineering, TU Hamburg.
  • 08/2012-06/2013    Study and Reasearch Abroad, University of California, Berkeley. 
  • 08/2009-08/2012    Bachelor of Science, Mechanical Engineering, TU Hamburg.

Internships: AUDI AG (Advanced Driver Assistance Systems), Lufthansa Technik AG (Innovation Management).

Collection of Cool Underwater Robot Videos
Publications

Recently Accepted Publication

  • Bauschmann, Nathalie, Duecker, Daniel A; Seifried, Robert. Evaluation of Underwater AprilTag Localization for Highly Agile Micro Underwater Robots. (accepted at) IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023)
  • Bauschmann, Nathalie, Duecker, Daniel A; Alff, Thies Lennart; Hochdahl, Rene; Seifried, Robert. Towards Full Actuation: Reconfigurable Micro Underwater Robots. (accepted at) IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023)
  • Yao, Kanzhong; Bauschmann, Nathalie; Alff, Thies Lennart; Duecker, Daniel A; Groves, Keir; Marjanovic, Ognjien; Watson, Simon. Image-Based Visual Servoing Switchable Leader-Follower Control of Heterogeneous Multi-Agent Underwater Robot System (presented at) IEEE International Conference on Intelligent Robots and Systems (ICRA), London (UK), 2023.

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Supervised Students and Visiting Scholars
  • Yao, Kanzhong (U Manchester), Visual servoing for collaborative underwater robot control, Visiting Scholar, 2022.
  • Pöhls, Jana Linnea, Analysis and Experimental Evaluation of a vision-based Localization System for Micro Underwater Robots, Bachelor Thesis, 2022.
  • Grothusen, Jannik, A Control Architecture for Autonomous Grasping with a Micro Underwater Robot, Bachelor Thesis, 2021.
  • Sichert, Nils, Simulation and Experimental Validation of an Acoustic Localization System for Micro Underwater Robots, Bachelor Thesis, 2021.
  • Vahs, Matti, Sampling-based informative Path Planning for Field Exploration for Underwater Robots, Master Thesis 2021.
  • Alff, Lennart "Communication and control for a Multi-Agent Network of Micro Underwater Robots", Project Thesis, 2021.
  • Hansen, Tim "A Framework for Aqua-Culture Monitoring Using Low-Cost Micro Underwater Robots ", Master Thesis, 2020.
  • Horst, Christian "Agile Obstacle Avoidance with Autonomous Micro Underwater Robots", Master Thesis, 2020.
  • Maroofi, Sean "Acoustic Localization for agile Micro Underwater Robots", Bachelor Thesis, 2020.
  • Flehmke, Malte "Machine Learning-based Strategies for Parameter Identification in Micro Underwater Robotics", Project Thesis, 2020.
  • Mersch, Benedikt "Field Exploration with micro Underwater Robots: Theorie and Experiment", Master Thesis, 2019.
  • Büsch, Lukas: "Cooperative Localization for Underwater and Surface Robots Hazardous Envrionments", Bachelor Thesis, 2019.
  • Sartorti, Roman: "Multi-Vehicle Tracking using a Modular Underwater Camera System", Bachelor Thesis, 2019.
  • Perez,  Natalia (UC Berkeley): "Modelling, Simulation, and Control of Micro Underwater Robots", Visiting Scholar, 2019.
  • Chen,  Sunny (UC Berkeley): "Convolutional Neural Networks for Underwater Object Detection", Visiting Scholar, 2019
  • Phillips, Patrick (U Rochester): "Stochastic Path Planning for Environmental Field Exploration", Visiting Scholar, 2019
  • Mallinger, Miles : "Development of an external modular Tracking System for Underwater Vehicles", Student Research Assistant, 2019.
  • Bauschmann, Nathalie: "Navigation and Control for agile micro Autonomous Underwater Vehicles", Student Research Assistant, 2019.
  • Hochdahl, René: "Cooperative Control for a Swarm of Micro Diving Agents", Bachelor Thesis, 2019.
  • Eusemann, Kevin: "A Modular Multi-Vehicle Underwater Tracking System using Monocular Cameras and Kalman Filtering Techniques", Bachelor Thesis, 2019
  • Bauschmann, Nathalie: "Embedded Vision-Based Localization for Underwater Robot Control", Bachelor Thesis, 2018.
  • Grunsfeld, Mace (UC Berkeley): "Micro Dive Agents for Underwater Swarm Applications", Visiting Scholar, 2018.
  • Timmermann, Nils: "Cooperative Control for Micro Autonomous Underwater Vehicles", Master Thesis, 2018.
  • Hoffmeister, Jonas: "Methods for RF-Antenna misalignement compensation using an extended Kalman filter", Bachelor Thesis, 2018.
  • Ertekin, Mahmut: "Yaw Estimation based on RF-signal attenuation by means of Particale Filtering", Bachelor Thesis, 2018.
  • Maerker, Gunnar: "Model Identification for Micro Underwater Vehicles", Student Research Assistant, 2018.
  • Johannink, Tobias: "Design and Control of Underwater Vehicles", Student Research Assistant, 2018.
  • Rausch, Viktor: "Localization and Position Control for Underwater Robots", Master Thesis, 2018.
  • Geist, Rene: "Stochastic Field Estimation with Underwater Robots", Master Thesis, 2018.
  • Kahlefendt, Chris (U Western Australia): "Implementation and Evaluation of Monocular SLAM for an Underwater Robot", Master Thesis 2018
  • Rottmann, Nils: "Geometric Control and Stochastic Trajectory Planning for Micro Underwater Vehicles", Master Thesis, 2017.
  • Johannink, Tobias,: "Design and Control of a Submerged Furuta Pendulum with an Underwater Robot", Project Thesis, 2017.
  • Lin, Hsien-Chung (UC Berkeley): "Data-Driven Contour Line Estimation of Environmental Fields", Visiting Scholar, 2016.
  • Buchan, Austin (UC Berkeley): "SLAM for Low-Cost Micro Robots", Visiting Scholar, 2016.
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TU Hamburg
Institute of Mechanics and Ocean Engineering
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