Master Thesis autonomous Folding and Unfolding of a

vor 3 Monaten

Wien, Österreich Austrian Institute of Technology Vollzeit

As **Austria's largest research and technology organisation** for applied research, we are dedicated to make substantial contributions to solving the major challenges of our time, climate change and digitisation. To achieve our goals, we rely on our specific research, development and technology competencies, which are the basis of our commitment to excellence in all areas. With our open culture of innovation and our motivated, international teams, we are working to position AIT as Austria's leading research institution at the highest international level and to make a positive contribution to the economy and society.

In forestry, most activities are still carried out manually or by machines that are operated directly by a person. Forestry cranes are mounted on trucks and completely folded in during transportation. To load tree trunks onto the truck with the crane, the crane must be unfolded in advance. If the forestry crane is equipped with the necessary sensors and control technology, this work step can be automated. In the course of this master thesis, an assistance system for the automated folding and unfolding of forestry cranes is to be developed. The trajectories are to be determined by solving an optimal control problem based on the dynamic model of the crane. On the one hand, care must be taken to ensure that the singularities of the joints can be safely overcome and, on the other hand, that no collisions with the environment or self-collisions occur.

MASTER THESIS "AUTONOMOUS FOLDING AND UNFOLDING OF A FORESTRY CRANE"

CENTER FOR VISION, AUTOMATION & CONTROL
- The main goal of this master’s thesis is to develop an assistance system for the automated folding and unfolding of forestry cranes.
- Under the guidance of our interdisciplinary team, you will carry out a literature search and will develop efficient solutions for solving optimal control problems.
- You will implement the assistance system in MATLAB/Simulink.
- You will port the algorithms to ROS and then verify the assistance system in an existing Gazebo simulation.
- You will gain experience in a group of international engineers and scientists, and you have the opportunity to build up your professional network.

**Your qualifications as an Ingenious Partner**:

- Ongoing master's studies in the field of Computer Science, Mechatronics, Mechanical Engineering, Automatic Control or Electrical Engineering
- Good programming skills in MATLAB
- Basic skills in robotics and motion planning
- Excellent technical understanding & analytical capabilities
- High level of commitment and team spirit
- Good knowledge of German and/or English in word and writing

**What to expect**:

- **Duration of the master’s thesis project**:6 months
- **Start date**: as soon as possible EUR 581,
- gross per month for 12 hours/week based on the collective agreement. There will be additional company benefits. As a research institution, we are familiar with the supervision and execution of master theses, and we are looking forward to supporting you accordingly

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