@misc{Bhatti, type = {Master Thesis}, author = {Bhatti, Saad Ali}, title = {Investigating the possibilities of AC GMA welding for in-situ alloying in additive manufacturing}, school = {Hochschule Rhein-Waal}, abstract = {Additive manufacturing is a transformative approach of building 3D objects by layer-upon-layer method, adding digital flexibility and efficiency into the industrial production process. Different categories of materials such as plastics, metals, concrete, etc., can be used for Additive Manufacturing. At present, WAAM (Wire Arc Additive Manufacturing) is of high interest for many industries, as it allows creating large-scaled metallic components of moderate complexity with high density and good mechanical properties. In this master's Thesis, the capabilities of Gas Metal Arc (GMA) welding for in-situ alloying in multi-material WAAM are being investigated. A 6-axis FD-V6 welding robot by OTC Daihen along with Welbee W400 power supply was used to produce weldments both, with alternating current (AC), as well as pulsed direct current (DC). Two of Photron's High-Frequency cameras were used to investigate the process behavior. An All-in-one oscilloscope, Yokogawa DL850E ScopeCorder, was used to record the voltage and current signals. Single-layer, straight weldments were made to investigate the impact of different welding parameters over the weld seam shape and deposition rate. Later, the setup was extended to induce cold wire to change the chemical composition of the weld seams by in-situ alloying. Therefore, a clamp with adjustable angle, height, and distance was created to position the cold wire feeder along with the GMA welding nozzle. Cross-sections of weldments were taken to extract geometrical information related to the weld seam. In the end, combined experiments were done to investigate the process capabilities of generating weld seams of equal shape but different chemical composition by changing the wire feed speeds and the process parameters. This was the fundamental step for making the process ready for multi-material additive manufacturing. To demonstrate the process performance, two multi-material demonstrator components have been manufactured at the end of the thesis.}, language = {en} } @misc{Mulani, type = {Master Thesis}, author = {Mulani, Arshad}, title = {Modelling and Multi-Objective Optimization of a Building Heating Generation System: A case study of Hechingen, Germany}, school = {Hochschule Rhein-Waal}, abstract = {Nowadays, the world is facing major environmental problems such as climate change and energy scarcity. If we consider only European countries, Heating and cooling industry accounts for more than half of the total EU's energy consumption. And about 75\% of the heat is generated by using fossil fuels. Therefore, the major non-renewable energy sources are depleting at the rapid rate and at the same time also producing the climate-changing greenhouse gases. To achieve the climate change objectives, optimised and efficient use of the energy and the decarbonisation of the heating systems are some of the critical steps. The investigation process in this thesis involves the modelling and modifying the case study heating system by using Energy Plus and Design-Builder whole building energy simulation software. It also includes the investigation of the three different possible renewable and non-renewable solutions to optimize the current heating system and analyse their effects in terms of total energy consumption (Gas and Electricity consumption) Economic benefits, environmental and other benefits. With the detail and adequate data inputs modelling and desired modifications has been done to the heating system and the building properties. The annual simulation has been performed to all the three cases and the results have been analysed. The outcome of the analysis of the results shows a significant improvement in overall energy and electricity consumption. Also provides a detailed insight into the total economical investment needed in all three cases and simple payback periods for the investments. And Most importantly the results replicate the environmental benefits such as a considerable reduction in the overall emissions of greenhouse and other toxic gases.}, language = {en} } @misc{O'Shea, type = {Master Thesis}, author = {O'Shea, Brendan}, title = {Evaluation of Solidworks on how to integrate part preparation for Additive Manufacturing in the CAD modeling process}, url = {http://nbn-resolving.de/urn:nbn:de:hbz:1383-opus4-13823}, school = {Hochschule Rhein-Waal}, pages = {71}, abstract = {Solidworks is a CAD software that facilitates the construction of 3D models and drawings to enable production. These systems are usually designed to be used in conjunction with Subtractive Manufacturing (SM) and forming processes. This is due to the enormous portion of world-wide production in which these two processes are used. Because of this, design guidelines are customarily based on the abilities and constraints of conventional manufacturing processes. Additive Manufacturing (AM) replaces these with a new set of advantages and limitations that should be considered to assist in the design of parts. Design for Additive Manufacturing (DfAM) represents a methodology which closely resembles Design for Assembly (DFA) and Design for Manufacturing (DFM), as far as reducing component count and allow for easier manufacturing. The aim of this research is to establish DfAM criteria and to evaluate the core Solidworks software in its ability to support design using these criteria. DfAM criteria is sub-divided into two categories. Product DfAM criteria are those derived from the advantages offered by AM technology, while Process DfAM are those determined by the limitations of the AM technique used. Three example models, each addressing multiple criteria, are created in Solidworks and optimized for printing. Through this process, helpful features in the software are identified and analyzed. Embodiment of these examples by means of Fused Deposition Modeling (FDM) validates these features in an exemplary way and explores the integration of AM design practices in Solidworks. The results of this evaluation will allow further research into CAD support for AM, specifically with respect to Product DfAM.}, language = {en} } @masterthesis{CiriloLevi, type = {Bachelor Thesis}, author = {Cirilo Levi, Jorge}, title = {Simulation of Standard Driving Operations of an Agricultural Tractor with Series-hybrid Powertrain on Asphalts Roads with MATLAB/Simulink}, school = {Hochschule Rhein-Waal}, abstract = {The domain of hybrid electric vehicles (HEV) is not limited to public means of transport, but it is also quite large in the off-road vehicle industry. For this reason, a close inspection of how this type of powertrain works inside an agricultural tractor is indeed quite interesting. A particular agricultural tractor (AT) is chosen for the study of such a system.}, language = {en} } @misc{JanssenFanHaniffetal., author = {Janssen, Janssen and Fan, Yihui and Haniff, Harleiff and Thungkao, Panithi}, title = {EZClean-Bot}, url = {http://nbn-resolving.de/urn:nbn:de:hbz:1383-opus4-13620}, pages = {4}, abstract = {Cobblestone cleaner tools are very demanding in most residences, poolsides, gardens, and even public places like sidewalks, bicycle lanes, etc. Although many companies have tried to make good handheld tools, we want to upgrade them into an autonomous cobble cleaning robot. The robot is called EZClean-Bot. Our slogan "Always on-Always clean-Always relax" means that when you set it on for the first time, you don't have to look after it again because it has an automatic "Return to Home" feature that allows the robot to automatically charge itself when it has done its job. The robot will also be provided continuous power from the sunlight using a Solar Panel attached on top of it. The robot will be controlled by user-friendly buttons, and it is integrated with a self-mapping system, so it will clean the whole area thoroughly without bumping and crashing into objects or humans/animals. The robot can start itself using a pre-set timer/schedule. This EZClean-Bot is integrated with strong and durable steel brushes which are attached in vertical and horizontal directions, so it can clean not only the cobble/pavement but also the grass, dust, soil, and dirt between the cobble. The brushes will be attached with a small but high torque motor and can spin up to 10000 RPM depending on the surface. The robot has 2 big motorized driving wheels at the rear and 2 caster wheels for free movement. The whole system will be energized by two Li-Ion 12V and 5V batteries and a solar panel to increase its running time. There will also be some RGB LED light strips around the robot, so it can tell some information by seeing the different light colors. In addition, the robot is included with a high-capacity container to store the dust, soil, grass, etc. so you don't have to sweep it by yourself again. The focus of our project will be a lightweight, portable, easy to maintain, energy-efficient, safe, and durable machine in which we have all our wiring, gear, motor, brush fully enclosed in a housing that protects it from water, wind, dust, and other extreme conditions. The cost of this product will be kept as low as possible in order to reach as many customers as we could. This robot will be a middle-end robot, so its target sale will be middle-range financial residence to a small company in Europe. Lastly, our product will be produced by four intelligent engineers from different majors and specialities. Our product pitch, design concept, and features are presented in an audio-visual format and is awarded the Science Communication 'Bronze Leaf Prize' for an outstanding online video presentation in the category of 'Audience Choice' on January 18th, 2022.}, language = {en} } @misc{AgarwalaKhokhraBirondwaetal., author = {Agarwala, Anirudh and Khokhra, Abdul Moiz and Birondwa, Banza and Khan, Jibran Ahmed}, title = {COBBRO (Robotic Cobble Cleaner)}, url = {http://nbn-resolving.de/urn:nbn:de:hbz:1383-opus4-13662}, pages = {4}, abstract = {In this report, the detailed description and design of the robotic cobble cleaner, which we plan to construct and introduce to the market. The main function of our robotic cobble cleaner is to remove plant growth from the cracks between cobbles or tiles. This will be made possible by the Nylon brush roller component installed at the base of this machine. Our machine's secondary function is to collect the plant material residue/debris after the cleaning has been done. This will be facilitated by a vacuum that will also be located at the base of the body of the robot. Regarding power supply, our robot will be powered by rechargeable batteries in its body and a charging station will be installed in the area of operation. Perimeter wires will also be laid down around the area where the robot will operate for navigation and self-charging purposes. The robot will have two ON/OFF switches. The main one is to turn it on/off and activate every function exclusive of the vacuum system and the other is to turn on the vacuum system. The decision to isolate the vacuum system from the rest of the robot was made due to sustainability and efficiency reasons. Our robot will be able to move on four wheels driven by two motors in the front, that is, front-wheel drive (FWD). Our robot will also engage the functionality offered by sensors for easy navigation and smooth operation in fulfilling its goal of autonomy. As a team, we opted to prioritize the small-scale commercial sector as our main market due to primarily financial and usability factors. After doing market research, we discovered that this market needed such a product the most and had sufficient area and capital to utilize it adequately. Regardless, our product will still be open to the other sectors in the economy, such as large-scale organisations and domestic consumers with regards to functionality and performance. Our product pitch, design concept, and features are presented in an audio-visual format and is awarded the Science Communication 'Silver Leaf Prize' for an outstanding online video presentation in the category of 'Audience Choice' on January 18th, 2022.}, language = {en} } @masterthesis{Cheung, type = {Bachelor Thesis}, author = {Cheung, Ho Yu}, title = {Comparison of wheel and rubber track drives for tractors regarding masses, mass inertias, energy demands and tractor mechanics}, school = {Hochschule Rhein-Waal}, abstract = {Soil compaction is a major concern in agriculture. As farming machinery develops to be larger and heavier, the risk of soil compaction increases. Tractors with rubber tracks have been developed to increase the contact area with soil in order to reduce the risk of soil compaction as well as to increase tractive performance. However, tractors with rubber tracks have increased mass due to the track components. Therefore, the combined effect of rubber tracks was investigated. Comparison of tyres and rubber tracks for tractors on mass, mass inertia, tractor mechanics, energy demand, and soil compaction were investigated. Configurations of tractors consisting of combinations of tyres and interchangeable rubber tracks are evaluated in calculations and in simulation tool Terranimo. Simplified rubber track models were built in order to investigate effect of inertia from the rotational components on energy demand. A theoretical scenario was constructed to calculate the energy demand for the predefined workload. Experimental data in past research showed that the superior tractive performance of rubber track is more apparent in looser soil. In the energy demand calculation part of the thesis the tracked configurations resulted in a higher energy demand. The tracked configurations also showed effect on reducing risk of soil compaction in the same defined scenario. However, the increased energy demand, hence higher fuel consumption and energy efficiency is a downside of the tracked configurations, and the selection between tyre and rubber track should depend on the situation.}, language = {en} } @misc{Hammond, type = {Master Thesis}, author = {Hammond, Luciano}, title = {Feasibility check, design and dimensioning of a scrounger magnet coupling to a Siemens-E-Highway-truck}, school = {Hochschule Rhein-Waal}, abstract = {Among other factors, electric vehicles (EVs) were developed with the intention of mitigating the transportation sector's impact on the environment and the depletion of fossil fuels. While various methods exist to charge electric vehicles (EVs) or extend their driving ranges, each have their benefits and drawbacks. As such, a method to accomplish the latter, i.e., to extend the driving range of an EV - and more specifically, a battery electric vehicle (BEV) - is proposed, which entails magnetically coupling to an electric truck (ET) ahead. This is enabled by a front-mounted system, comprised of a magnetic circuit (MC) and a linear axis (LA), which acts as a drawbridge to extend the MC ahead of the vehicle to a steel plate located at the rear of the ET. By utilising an array of permanent magnets (PMs) and a solenoid within a pot ferrite core (PFC) structure, the proposed system is able to easily generate a coupling force of around 6400 𝑁, which is sufficient to maintain the magnetic couple to the ET ahead, even under slight deceleration of the BEV of 2 𝑚 ⁄ s^2, as it recuperates energy via regenerative braking. With the proposed system, a power gain of 30.24 𝑘𝑊 is achievable in this manner, which allows for a significant improvement to the driving range of BEVs, as well as providing similar benefits as those offered by dynamic charging systems, namely, the convenience, and is thus regarded as a feasible solution, with regard to its performance.}, language = {en} } @misc{MohajeriNejadSmitmansNadaetal., author = {Mohajeri Nejad, Mostafa and Smitmans, Yannik and Nada, Aly-Mahmoud-Aly-Mahmoud and Braake, Nils-Adrian}, title = {ACC 3000: Autonomous Cobblestone Cleaning-robot}, url = {http://nbn-resolving.de/urn:nbn:de:hbz:1383-opus4-14949}, pages = {3}, abstract = {Our goal is to create a user-friendly and safe autonomous driving cleaning robot for large-scale cobblestone areas or parking lots. Primary target group of our product is the semi-professional part of the autonomous cleaning robot market. The ACC 3000 robot is designed with two motions and one 360-degree environment IR sensor and a recharge station with an inbuilt Wi-Fi device to monitor the robot. The robot can drive anywhere if no obstacles are detected. The ground is flat, the inclination does not exceed 5 degrees and the Wi-Fi connection is not lost. When switched on, the controller inside gets continuously updated on the health parameter, e.g., battery status and obstacle detection by the help of the sensors. The robot is controlled and can be monitored by an app on a smart phone. Simple commands, such as ON/OFF switch, route mapping and two different rotational speeds of the wire brushes are possible to set up. For example, setting up the system for higher rotational speeds of the wire brushes ensures to remove even persistent plant or moss infestation in between gaps of the ground surface. Our competitive advantage is that our cleaning robot is made of durable and cost-efficient materials and will save household costs as a long-term investment by removal of labour cost of expensive workers. There are no other autonomous cleaning robots at this price available that match our design and usability, which makes our product unique in the market. We will start production and sales in Germany with plans to later expand into the European, North American, and Asia-Pacific region. Our product pitch, design concept, and features are presented in an audio-visual format and is awarded the Science Communication 'Gold Leaf Prize' for an outstanding online video presentation in the category of 'Audience Choice' on January 18th, 2022.}, language = {en} } @masterthesis{VazquezHernandez, type = {Bachelor Thesis}, author = {Vazquez Hernandez, Marcos}, title = {Implementation, execution, and analysis of efficiency measurements to be used in the calculation of CO₂ emissions and fuel consumption of heavy-duty vehicles as per Commission Regulation (EU) 2017/2400}, url = {http://nbn-resolving.de/urn:nbn:de:hbz:1383-opus4-14958}, school = {Hochschule Rhein-Waal}, pages = {70}, abstract = {Quick and reliable transport of goods within the European Union is possible, in part, due to the use of heavy-duty vehicles. Whether long-haul routes, or local and urban deliveries, heavy-duty vehicles are crucial for a large part of EU's economic activity and the number of these vehicles on the road increases every year. However, they also are main contributors to the total greenhouse gas emissions of the road transport sector and play an important role in the total emissions of the European Union. Therefore, it is of great economic and environmental importance to closely monitor emissions and fuel efficiency of heavy-duty vehicles currently on the road and market, forcing manufacturers to reduce emissions from their vehicles and develop more energy-efficient technologies. For this purpose, the European Commission developed the VECTO simulation tool, reducing costs and time necessary for the approval process and monitoring of new vehicles in the EU. While generic values related to the CO₂ emissions and fuel efficiency characteristics of most components of heavy-duty vehicles are provided by the European Commission to use in VECTO simulations, accurate results require actual component testing. With no VECTO specific testing offered by vehicle testing specialists, this thesis aims to conduct an analysis of Commission Regulation (EU) 2017/2400, guideline for the use of VECTO, to identify requirements, develop and implement testing procedures in experimental tests, and validate results to ensure that the requirements of the regulation are met.}, language = {en} } @misc{Rownak, type = {Master Thesis}, author = {Rownak, Nasir}, title = {Design of a 3D printed manual high flow pump}, school = {Hochschule Rhein-Waal}, abstract = {This project aimed to design a manual pump to transport low viscous fluid. It was designed according to some design requirements. Different types of pumps were compared, and then a pump was selected. Then the rotor was designed using SolidWorks. After making the CAD models, ANSYS Fluent (CFX) was used to perform Computational Fluid Dynamics (CFD) simulation to validate the result. Different components have been used to design the pump. The list was provided, and their functions were discussed. Then the guidelines for Additive Manufacturing (AM) were discussed, and the pump's casing was modified according to the AM guidelines. After modification of the design, the results were compared with the initial design.}, language = {en} } @misc{Patel, type = {Master Thesis}, author = {Patel, Hitesh Babubhai}, title = {Using MS Excel as solver in ansys workbench for the static and fatigue assessment in accordance with the FKM guideline}, url = {http://nbn-resolving.de/urn:nbn:de:hbz:1383-opus4-13135}, school = {Hochschule Rhein-Waal}, pages = {172}, abstract = {The FKM guideline offers a structured and detailed framework for static and fatigue strength assessment for steel, aluminum, and cast iron components. This study aimed to investigate Microsoft Office Excel's use of mechanical components' static and fatigue strength verification for non-welded and welded components and its integration into Ansys Workbench. An FKM Excel tool was developed to calculate the assessment and tested against the FKM guideline example. A detailed comparison is made between the results of the FKM Excel tool and the FKM guideline example. Moreover, relevant stress and stress gradient values were obtained using Ansys Parametric Design Language (APDL). This investigation has revealed that the methodology is very efficient and faster. Furthermore, it makes it possible to use for proof strength. This research implies that there is a possibility of obtaining further automating processes in excel and Ansys Workbench.}, language = {en} } @masterthesis{Tran, type = {Bachelor Thesis}, author = {Tran, Tung}, title = {Development and Implementation of a Cascade Torque Controller for a Motor Test Rig}, url = {http://nbn-resolving.de/urn:nbn:de:hbz:1383-opus4-16663}, school = {Hochschule Rhein-Waal}, pages = {144}, abstract = {Servo systems play an important role in the field of automation thanks to their great actuation capability. The majority of industrial servos rely on feeding back armature current for torque control based on the torque-current linear relationship. However, system non-linearity like input delay or external disturbances can make the built-in control mode no longer yields acceptable torque response. This thesis deals with two servo systems in coupling with a torque transducer on a motor test rig as part of a Hardware-in-the-Loop setup. The motor torque step response exhibits a large steady-state error and significant overshoot behavior. This thesis work takes two different approaches to develop a cascade controller that gives desired torque performance. One method is the popular PID control logic and the second is the modern State-Feedback Control architecture using Pole Placement technique. The controller design process is carried out based on an estimated plant model obtained from grey box system identification with experiment data. The designed cascade controllers are implemented and tested on the HIL system with different use cases and yield improved torque transient response with near-zero steady-state error and less than 5\% overshoot under step input in both stationary and rotating conditions. The outer loop controllers are also able to reject intermittent disturbance and track low-frequency input better than the original system. The developed cascade control systems are characterized by high stability margins but limited bandwidth, hence not being able to compensate for the dynamic disturbance of frequency larger than 2.5 Hz. Overall, there are not many differences between the performance of the two control laws, as both can satisfy the system performance requirements.}, language = {en} } @masterthesis{Mughal2025, type = {Bachelor Thesis}, author = {Mughal, Abdul Qadir}, title = {Design and Development of an Automated Hyperspectral Imaging System for Plant Monitoring}, url = {http://nbn-resolving.de/urn:nbn:de:hbz:1383-opus4-22614}, school = {Hochschule Rhein-Waal}, pages = {114}, year = {2025}, abstract = {This thesis presents the design and construction of a prototype automated plant monitoring system that integrates hyperspectral imaging with a custom linear motion structure for greenhouse applications. Controlled by an Arduino-driven stepper motor, the system positions two hyperspectral cameras (covering visible-near-infrared and short-wave infrared ranges) and a stereo RGB camera along a linear guide to capture consistent and repeatable measurements. Calibration and data acquisition are managed by specialized software, enabling detection of early drought stress indicators such as pigment and water content changes before visible symptoms occur. Assembled and tested at Fraunhofer IGD, the prototype demonstrated reliable operation and consistent spectral data collection, providing a versatile foundation for future enhancements including automated workflows, machine learning-based analysis, and application in diverse agricultural settings.}, language = {en} } @masterthesis{Aldorino2025, type = {Bachelor Thesis}, author = {Aldorino, Bryan}, title = {Design, Development, and Testing of a Vision-Based Calibration System for Liquid Handling Robot}, url = {http://nbn-resolving.de/urn:nbn:de:hbz:1383-opus4-22637}, school = {Hochschule Rhein-Waal}, pages = {87}, year = {2025}, abstract = {This thesis presents the development of a vision-based calibration routine for an open-source liquid handling system, addressing the challenge of integrating reliable labware detection into an existing robotic platform with minimal hardware redesign. The study adopts an experimental, prototype-driven approach, evaluating multiple proof-of-concept configurations before selecting a top-mounted camera solution as the most viable. The implemented system employs OpenCV's ArUco marker detection to locate labware, combined with a closed-loop tracking routine that iteratively aligns the camera's principal point with the detected tag. Alternative approaches, such as rule-based detection with a side-mounted camera, provided valuable insight into system constraints including lighting sensitivity, and variability of labware. The chosen final setup demonstrated reliable calibration output in the form of labware position and orientation data, stored in .JSON format for integration into higher-level control software. The system proved capable of reliable marker-based calibration under controlled conditions. Furthermore, the results highlight both the strengths of the approach such as modularity and adaptability, and its limitations, particularly possible interference due to glare and relatively high setup time. Future work includes integrating object detection models, multi-camera systems for improved pose estimation, and extending the system towards real-time quality control in laboratory automation.}, language = {en} } @masterthesis{Vasovic2025, type = {Bachelor Thesis}, author = {Vasovic, Luka}, title = {Development, Controller Design and Validation of a Torque Vectoring System for an All-Wheel Drive Electric Go-Kart}, school = {Hochschule Rhein-Waal}, year = {2025}, abstract = {This thesis investigates the design and simulation-based evaluation of a yaw-rate control system using torque vectoring for an all-wheel-drive electric go-kart with independently driven wheels. The work is conducted within a purely model-based framework, employing MATLAB and Simulink to replicate the vehicle dynamics and control interactions in a controlled virtual environment. Torque vectoring describes the distribution of drive torque between individual wheels to influence the yaw moment of the vehicle. This enables targeted improvements in stability, responsiveness, and cornering performance beyond what is achievable with steering input alone. In this study, yaw rate is selected as the primary control variable. A reference yaw rate is derived from the linear bicycle model, and the control objective is to minimize the error between the reference and the simulated actual yaw rate by applying corrective yaw moments through differential torque allocation. A Proportional-Integral-Derivative (PID) controller is implemented to track the reference yaw rate. Gain tuning is performed using MATLAB's PID Tuner, leveraging the system transfer function extracted from the simulation model. The complete control system is integrated into a modular Simulink model of the go-kart, which incorporates the 2-DOF bicycle model for lateral and yaw dynamics, as well as subsystems for maneuver generation and torque vectoring logic. Controller performance is assessed through standard vehicle dynamics test maneuvers, including ramp steer, step steer, and double lane change. For each maneuver, simulations are performed both with and without torque vectoring, allowing quantitative comparison of yaw rate tracking accuracy, stability, and trajectory. The results demonstrate that torque vectoring substantially improves yaw rate tracking and reduces the understeer tendency of the simulated vehicle, particularly during transient maneuvers. Even in a simplified small-scale vehicle model, the benefits of active yaw moment control are evident, underscoring the relevance of torque vectoring for enhancing dynamic performance in electric vehicles with independent wheel actuation. The modular simulation framework developed in this work also provides a foundation for future experimental validation on the physical research platform as well as further developments on the simulation model.}, language = {en} } @masterthesis{Usluer2025, type = {Bachelor Thesis}, author = {Usluer, Egehan}, title = {Applying Different Path Planning Algorithms to a Mini Mars Rover for an Uncharted Maze}, url = {http://nbn-resolving.de/urn:nbn:de:hbz:1383-opus4-22775}, school = {Hochschule Rhein-Waal}, pages = {69}, year = {2025}, abstract = {This thesis explores how an already built Mini Mars Rover can autonomously navigate an uncharted maze, first by mapping it and then by applying different pathfinding strategies. The Mini Mars Rover uses IR sensors for wall detection, encoder-based odometry for tracking movement, an IMU for heading corrections, for input for more accurate localization. The strategy combines exploration techniques with practical path execution on real hardware, focusing on the challenges that come up when algorithms meet the physical world. Exploration applied by using a combination of Breadth-First Search (BFS) with the Travelling Salesman Problem (TSP) approach, as well as a Partially Observable Markov Decision Process (POMDP) strategy. Although both methods showed promising results in simulation, in hardware testing same results were not gathered. For the path planning, three pathfinding algorithms Flood Fill, Dijkstra's, and A* are implemented and compared. The results of those algorithms and the strategy to adopt them into the robot is implemented. The project demonstrates a possibility of adaptation of those algorithms and their feasibility. The Mini MarsRover serves as a solid base for further development and improvements.}, language = {en} } @masterthesis{MohajeriNejad2025, type = {Bachelor Thesis}, author = {Mohajeri Nejad, Mostafa}, title = {Development and implementation of an adaptive control system for automizing and optimizing the performance of a rolling fluid (setur) hydro-turbine}, school = {Hochschule Rhein-Waal}, year = {2025}, abstract = {This thesis presents the design and implementation of an automated control system for a laboratory-scale SETUR (Sedlacek's Blade-less Rolling Fluid Turbine) hydro turbine test rig. The goal was to enable precise and repeatable experiments by automating the regulation of the turbine's water level and data acquisition process. The developed system integrates multiple sensors, including discrete liquid level sensors, pressure transducers, and a flow meter, interfaced with an Arduino-based controller. A PID-based control algorithm with gain scheduling was designed to adapt to the nonlinear flow dynamics across different operating regimes of the turbine. The control loop operates at a 0.5 s sampling rate and employs layered signal filtering and calibration routines to compensate for sensor noise, offset, and scaling errors. The complete hardware setup includes signal conditioning circuits for analog sensors, digital communication for actuator control, and real-time data monitoring via serial output. Experimental results demonstrate that the system achieves stable water-level regulation within approximately two minutes after pump activation and maintains steady-state operation without overshoot or sustained valve saturation. The overall measurement uncertainties were quantified as ±3.06 \% FS for pressure and ±5.2 \% FS for flow, meeting the predefined accuracy requirement of ≀ 5 \% FS. The developed automation platform provides a reliable foundation for further research on the SETUR turbine, including efficiency characterization, advanced control development, and future integration of IoT-based supervisory monitoring and data analysis tools.}, language = {en} } @masterthesis{Kazimli2025, type = {Bachelor Thesis}, author = {Kazimli, Farid}, title = {Origami Applications in Engineering}, url = {http://nbn-resolving.de/urn:nbn:de:hbz:1383-opus4-22848}, school = {Hochschule Rhein-Waal}, pages = {68}, year = {2025}, abstract = {This thesis explores how origami-inspired modular structures—specifically uniformly thick, load-carrying designs—can be prototyped using accessible 3D printing work flows. We focus on translating geometric folding principles into real materials and hinges suitable for repeated deployment by designing printable panels and connectors, and by validating performance with a bar-and-hinge simulation approach. Physical prototypes are fabricated and tested for packing ratio, deployment re peatability, and stiffness-to-mass. Results indicate that thick-panel origami can be produced with consumer 3D printers while retaining compact storage, rapid deployment, and promising structural behavior. The work outlines a practical path toward portable, reusable, and more sustainable engineering systems that minimize material use, support repair and reuse through modularity, and simplify logistics through high packing ratios.}, language = {en} } @masterthesis{AlSela'2025, type = {Bachelor Thesis}, author = {Al Sela', Subhi Moh'd S.}, title = {Application of Carbon Fiber and Advanced Composites in Restorative Dentistry: A Study in Material Efficiency, Manufacturing viability, Market Potential and Innovation.}, url = {http://nbn-resolving.de/urn:nbn:de:hbz:1383-opus4-22823}, school = {Hochschule Rhein-Waal}, pages = {50}, year = {2025}, abstract = {This work presents a multidisciplinary evaluation of Carbon Fibre Reinforced Polyether Ether Ketone (CF-PEEK) as a core material for hybrid dental crowns, combined with lithium disilicate (E-max) veneers. The objective was to assess the mechanical, manufacturing, and economic feasibility of introducing CF-PEEK into restorative dentistry through an engineering-driven approach. A systematic literature review compared the elastic modulus, flexural strength, and density of CF-PEEK with conventional materials such as zirconia and porcelain-fused-to-metal. Results show that CF-PEEK exhibits a modulus close to natural dentin and lower density, offering improved biomechanical compatibility and reduced stress transmission. Additive manufacturing (3D printing) was identified as the most flexible and sustainable production method, minimising material waste and enabling customised crown fabrication. The study concludes that the CF-PEEK + E-max hybrid crown is mechanically viable and aligns with sustainability goals, though improvements in bonding, colour masking, and clinical validation remain necessary. This approach demonstrates how industrial engineering tools including TRIZ, QFD, and KANO can effectively guide innovation in dental materials and workflows.}, language = {en} } @misc{Biehn2025, type = {Master Thesis}, author = {Biehn, Joshua}, title = {Design and Validation of a Bio-Inspired Tendon-Driven Continuum Manipulator}, url = {http://nbn-resolving.de/urn:nbn:de:hbz:1383-opus4-22928}, school = {Hochschule Rhein-Waal}, pages = {77}, year = {2025}, abstract = {This thesis develops bio-inspired, multi-segment tendon-driven continuum manipulator through a structured, iterative design process. Combining piecewise constant-curvature modeling, for design validation, with hybrid soft-rigid joint fabrication, three prototypes explore trade-offs among anatomical scale, actuation efficiency, and structural compliance. Novel, internal, soft-rigid components, buckling-mitigation features and internally routed tendons are integrated and evaluated under a common experimental frame work. Demonstrations include single-finger grasps and coordinated bimanual object handling, confirming the manipulator's viability for humanoid end-effector tasks. The final design produced a tip-load of ≈ 17N for a pinching grasp and ≈ 12N in a power grasp, with 4 degrees of freedom and a maximum bending angle of 209°. Future work will focus on closed-loop control, dynamic interaction testing, and scaling to multi-digit hands.}, language = {en} } @masterthesis{Ganev2025, type = {Bachelor Thesis}, author = {Ganev, Ivan}, title = {Design and Implementation of a Virtual Gearbox}, school = {Hochschule Rhein-Waal}, year = {2025}, abstract = {This thesis represents the design and implementation of a virtual gearbox functionality as a system with an end goal to be used on the Electric Gokart platform. The design includes a 3-part solution consisting of: - Human-machine interface (HMI) - that is a physical hardware as a separate unit with its own housing - Intermediary software for transfer of input information and output feedback of the user - as software code - Control Model - MATLAB Simulink model to be run on the main computer of the platform to facilitate the motion control Due to the system complexity and multidomain solution the work has been broken down and documented to focus on a specific aspect for each deliverable. The human machine interface focuses on the hardware aspect of the functionality - research on and evaluation of different components for the input, feedback and communication and the impact of each component to the further development of the intermediary software. The software part is focused on choosing and implementing an efficient and logical handling of the sampling and relay of information to prevent the potential problem of communication network overload. And finally, the Simulink Control Model will focus on investigating input information, processing and motion control realised via torque control. The information is to be used used in developing a system response model evaluating it on the prototype and allowing tuning via system identification in the MATLAB Simulink development environment.}, language = {en} } @masterthesis{Malov2025, type = {Bachelor Thesis}, author = {Malov, Ernest}, title = {Development of selection criteria and systematic methodology for the design of novel hydrogels}, url = {http://nbn-resolving.de/urn:nbn:de:hbz:1383-opus4-22934}, school = {Hochschule Rhein-Waal}, pages = {82}, year = {2025}, abstract = {Hydrogels are a broad field of materials with applications in many niche areas. To advance the state of the art, research should explore new combinations of chemical and practical components to discover syntheses with novel emergent properties. However, given the vast amount of information available, it is challenging to systematically narrow the search to an effective comparison of a few select candidates. This work proposes a selection and evaluation methodology for building a comparative scope to decide on a set of hydrogel recipe components. Recipe design needs are determined using an existing bibliometric analysis of a hydrogel subfield, and available options are sourced from literature reviews, then assessed based on properties discussed in the literature. Candidates for the crosslinking initiation mechanism, the monomer system, and the crosslinking control method are evaluated separately and sequentially. Recipe permutations are possible as multiple choices are scored. The resultant recipe is a photoinitiated (LAP; irradiated at 380.5nm), thiol-ene (TMPMP-Maleimide), light-patterned (maskless PWM-DLP) hydrogel that swells and bends in response to water due to osmolyte (D-Sorbitol) diffusion. This novel formulation is not currently present in the literature; however, it does not exhibit any chemical or practical incompatibilities. A range of component concentrations, possible failure scenarios, and recommended fixes are provided for initial testing.}, language = {en} } @masterthesis{JagjitSingh2025, type = {Bachelor Thesis}, author = {Jagjit Singh, Humjeet Singh Gill}, title = {The effect of shearing in a twin-screw extruder on the mechanical properties of biopolymers (PLA+PBAT) using varied screw designs}, url = {http://nbn-resolving.de/urn:nbn:de:hbz:1383-opus4-22950}, school = {Hochschule Rhein-Waal}, pages = {75}, year = {2025}, abstract = {The primary aim of this research project was to determine the effects of shearing on the structure of a blend of biopolymers (PLA+PBAT) through tailored screw designs in a twin-screw extruder. To achieve this, 3 different twin intermeshing co-rotating screw designs of an extruder were used. The designs were mainly focused on the kneading and mixing part of the screw which has a shearing effect on the biopolymer. The experiments were carried out by keeping the temperature, screw speed and feed rate constant. To carry out the experiment, a 60:40 blend of PBAT and PLA was utilized. The compounded pellets produced from the 3 screw designs were then used in a Blown Film machine. Furthermore, tensile test was conducted on the resulting samples. The shear strength and strain of the films were calculated. Tear test of the films were additionally carried out to validate the findings. Fourier Transform Infrared (FTIR) test was conducted to study the functional groups, identifying the chemical interactions and phase compatibility of the of PLA\&PBAT blend. The results showed that the screw with 3 kneading blocks (HS) and 2 kneading blocks (MS) exhibited almost similar ultimate strength and ultimate strain. The screw design with only conveying elements had lower ultimate strength and strain. The kneading blocks played a role on the mixing and shearing of the biopolymer structure in the blend.}, language = {en} } @masterthesis{Bhalla2025, type = {Bachelor Thesis}, author = {Bhalla, Kushagra}, title = {Strategic Obsolescence Management: Developing a Process-Oriented and Financially Viable Concept}, school = {Hochschule Rhein-Waal}, year = {2025}, abstract = {Industrial machinery is designed for long operating periods, but many electronic and mechatronic components used in these systems are discontinued after a short product lifecycle. This situation causes challenges for Strama-MPS, especially in the Global Service division, where long-term spare-parts availability and reliable customer support are required. When components are no longer available, urgent procurement, redesigns under time pressure, longer downtimes and higher service costs put additional load on internal departments and can negatively affect customer relationships. This thesis develops a structured and financially viable approach to obsolescence management for Strama-MPS. The current situation was analysed using expert interviews and SAP and PRO.FILE data for the period 2018 to September 2025. The evaluation of more than 13,000 obsolete materials showed fragmented communication, insufficient lifecycle documentation and that only a few large suppliers systematically send PCN notifications, while many others do not. To summarise the results, a Power BI dashboard was created that shows portfolio age, part criticality, successor availability and supplier concentration. The analysis identified an average part age of 6.75 years, a cost-at-risk of around €1 million and a high-risk group mainly consisting of electrical and control components. In a second step, the active parts portfolio was evaluated to identify future risks. Using manually cleansed Excel files and Power BI models, a lifecycle forecast was developed for the period 2026-2029. It highlights early-warning patterns in connectors, sensors, I/O modules and control units with short technology cycles and high dependency. These results enable earlier evaluation of alternatives, more controlled last-time-buy decisions and more proactive customer communication. Based on these findings, the thesis proposes a target framework in line with DIN EN IEC 62402:2025-05. It defines responsibilities, decision and communication paths, and workflows between the relevant departments. A dedicated Obsolescence Manager is assigned as the central process owner and is supported by SmartPCN-compatible input formats, lifecycle dashboards and an implementation plan that starts with an internal pilot and later includes the roll-out of PCN Global as the OM software. The strategic options were assessed using an MCDA, comparing reactive, proactive and strategic approaches. The results show that a dedicated role combined with suitable software offers a good balance between cost control, early-warning capability and acceptance. The financial analysis indicates that the concept can pay back within the first year by reducing emergency sourcing, redesign work and service delays, while also improving collaboration, decision quality and long-term service performance. Overall, the proposed structure provides a clear basis for more consistent and reliable lifecycle handling across the organisation.}, language = {en} } @masterthesis{AchaleArrahNyama2025, type = {Bachelor Thesis}, author = {Achale Arrah Nyama, Bateatey}, title = {Development of Sustainable Nanofibre Wound Dressing Using Solution Blow Spinning.}, url = {http://nbn-resolving.de/urn:nbn:de:hbz:1383-opus4-23107}, school = {Hochschule Rhein-Waal}, pages = {69}, year = {2025}, abstract = {This thesis investigates the production of polylactic acid (PLA) fibrous mats using a low-energy, airbrush-based solution blow spinning (SBS) method with dimethyl carbonate (DMC) as a greener solvent. The study addresses how changes in PLA concentration and air pressure influence fibre formation, fibre diameter distribution, and non-woven mat structure, and examines the implications for incorporating tea tree oil(TTO) and pectin into the resulting materials. PLA solutions in DMC were prepared at multiple concentrations, and the SBS process was evaluated using realistic deposition observations and calculated estimates of material consumption. Fibre morphology was analysed by scanning electron microscopy (SEM), revealing fibrous structures and parameter-dependent differences in diameter distributions and mat heterogeneity. Chemical structure was assessed via FTIR spectroscopy, which indicated that the produced fibre mats were dominated by PLA-characteristic spectral features (and possible DMC contributions), while providing limited evidence for substantial pectin or TTO contributions in the measured spectra under the tested conditions. Thermal analysis (STA) was used to interpret important PLA thermal transitions and to identify possible traces of composites within the fibres. A qualitative hydrophilicity approach based on water droplet wetting behaviour was applied as an initial indicator of surface wettability and potential pectin effects, while recognising its limitations compared to full contact-angle measurements. Overall, the results support SBS with DMC as a viable route to produce PLA fibrous mats and show clear process-structure relationships. However, they also show that better mixing methods and stronger confirmation evidence are needed at every step of the characterisation chain in order for additive incorporation to work.}, language = {en} } @misc{Saw2025, type = {Master Thesis}, author = {Saw, Daniel Chern Hao}, title = {Implementation of Bayesian Optimisation for FEM Simulation}, url = {http://nbn-resolving.de/urn:nbn:de:hbz:1383-opus4-23092}, school = {Hochschule Rhein-Waal}, pages = {74}, year = {2025}, abstract = {Optimisation of engineering problem involving FEM simulations is time consuming especially when dealing with high-fidelity structures. The conventional methods of searching and exploring the design space such as grid search or golden section search require a lot of evaluations before converging on an optimal solution. When there is a time constraint, the final solution found could be suboptimal due to the vast amount of FEM simulation necessary to converge. Therefore, with the utilisation of probabilistic surrogate models such as Gaussian process regression to reduce the amount of computation necessary. Surrogate models approximate unobserved areas in the design space based on the observed data. Together with the use of acquisition function to select the next observation point, it forms this optimisation method known as Bayesian optimisation. This research aims to implement Bayesian optimisation method in a few test cases involving FEM simulation to compare its performance against conventional methods. The results from the test cases showed that Bayesian optimisation converged up to 12 iterations faster compared to convention-al optimisation methods. It also provided a better optimised solution in a multiparameter optimi-sation problem with constraints.}, language = {en} } @misc{Ahmed2025, type = {Master Thesis}, author = {Ahmed, Syed Nasif Uddin}, title = {Designing a Launching System for a Robotic Boat}, school = {Hochschule Rhein-Waal}, year = {2025}, abstract = {Based on the learning in this degree program, the author was tasked with developing a transport system for the current research boat, called Roboboat. The aim was to examine the components and reverse engineer them to calculate the mechanics of the boat. Because no design or measurement data were available, this thesis began by modeling the boat. After modeling, a literature review was conducted, and a launch system was designed with a focus on utility and cost-effectiveness. This report presents the design process, calculates the stress and strain on the design elements, and presents the concept of a launch system. Finally, the stability of the boat is calculated, and the mathematical validation of Roboboat is presented.}, language = {en} } @misc{Hossain2025, type = {Master Thesis}, author = {Hossain, Md Istiaque}, title = {A Computational Study on the Effect of Water-to-Air Volume Ratio on Water Rocket Performance.}, url = {http://nbn-resolving.de/urn:nbn:de:hbz:1383-opus4-23248}, school = {Hochschule Rhein-Waal}, pages = {79}, year = {2025}, abstract = {This thesis presents a three-dimensional computational investigation into the influence of the water-to-air volume ratio on the flight performance of a water rocket. As a critical design parameter, this ratio fundamentally governs the trade-off between available propellant mass and expansion energy, and thereby dictates the rocket's achievable altitude and range. A comprehensive numerical model is developed to simulate the complete trajectory through its three principal phases: water expulsion, compressed-air expansion, and ballistic flight. The governing equations, derived from the conservation of mass, momentum, and energy, are solved using a fourth-order Runge-Kutta (RK4) scheme. The model incorporates variable mass effects, aerodynamic drag, gravitational forces, launch geometry, and ambient wind conditions. Implemented in MATLAB with a modular graphical user interface (GUI), the simulation framework facilitates systematic parametric studies. The numerical predictions are validated against experimental launch tests conducted at elevation angles of 60° and 77°. Maximum altitude and horizontal range are extracted from multi-camera recordings using image-based analysis. The results demonstrate strong agreement, with both approaches converging on an optimal water fill fraction. The simulation identifies an optimum of approximately 43\%, while the experimental measurements indicate a slightly higher optimum of 45.5\%. Considering the collective evidence, an overall optimal fill range of 40 to 50\% for 250 mL water rocket bottle, is established. The consistency between computational and experimental findings validates the robustness of the proposed model and confirms the identified optimum as a reliable benchmark for water rocket performance.}, language = {en} } @masterthesis{Mujaya2026, type = {Bachelor Thesis}, author = {Mujaya, Tanaka Peter}, title = {Design and Development of a Computer Vision System for detecting Assembly Errors in LEGO Models}, url = {http://nbn-resolving.de/urn:nbn:de:hbz:1383-opus4-23367}, school = {Hochschule Rhein-Waal}, pages = {100}, year = {2026}, abstract = {This thesis presents the design and development of a computer vision system for detecting assembly errors in LEGO models within The Digital Factory Game, a production simulation exercise at Rhine-Waal University of Applied Sciences. The system automates quality assurance by replacing manual visual inspection with machine learning-based classification, deployed on edge hardware.}, language = {en} } @masterthesis{Nair2025, type = {Bachelor Thesis}, author = {Nair, Abijay}, title = {Development of a CANBUS network for RoboBoat}, url = {http://nbn-resolving.de/urn:nbn:de:hbz:1383-opus4-23481}, school = {Hochschule Rhein-Waal}, pages = {70}, year = {2025}, abstract = {Autonomous marine vessels have seen use since as far back as World War I, with the Imperial German Navy's Fernlenkboot. Such vessels find more modern use in the logistics sector and as survey vessels, where the continuous operation made possible by autonomy provides distinct advantages in their respective tasks and industries. This thesis presents the development of a CANBUS-based internal network for the RoboBoat autonomous surface vessel project of the Rhine-Waal university of Applied Sciences. It is designed to be the basis on which further development of on-board electronics can take place. It will also act as a platform for further development of the RoboBoat itself, as well as for future projects by students of Rhine-Waal University's FabLab Blue that require such communication architecture. The resulting network is built around the NMEA 2000 standard and off-the-shelf microcontroller boards and network cables, which have enabled quick and fairly robust communication between the different control modules employed in the prototype. NMEA 2000 was chosen owing to its compatibility with modern marine hardware like the multi-function displays, as well as for a simple path to backwards-compatibility with older, less expensive NMEA 0183 hardware. The development process incorporates the systematic process of Engineering Design by G. Pahl and W. Beitz, which guides the processes used here to make various design decisions.}, language = {en} }