Auszug von MZH-Publikationen

Mitglieder des MZH: Prof. Dr.-Ing. T. Ortmaier (MZH-Vorstandssprecher): Inst. f. Mechatronische Systeme • Prof. Dr.-Ing. B.-A. Behrens: Inst. f. Umformtechnik und Umformmaschinen • Prof. Dr.-Ing. H. Blume: Inst. f. Mikroelektronische Systeme • Dr.-Ing. J. Burgner-Kahrs: Emmy Noether-Nachwuchsforschergruppe CROSS • Prof. Dr.-Ing. B. Denkena: Inst. f. Fertigungstechnik und Werkzeugmaschinen • Prof. Dr.-Ing. S. Haddadin: Inst. f. Regelungstechnik • Prof. Dr.-Ing. R. Lachmayer: Inst. f. Produktentwicklung und Gerätebau • Dr.-Ing. L.-E. Lorenzen: TEWISS Technik und Wissen GmbH • Prof. Dr.-Ing. H. Garbe: Inst. f. Grundlagen der Elektrotechnik und Messtechnik • Prof. Dr.-Ing. H. J. Maier: Inst. F. Werkstoffkunde • Prof. Dr.-Ing. A. Mertens: Inst. f. Antriebssysteme und Leistungselektronik • Prof. Dr.-Ing. J. Ostermann: Inst. f. Informationsverarbeitung • Prof. Dr.-Ing. L. Overmeyer: Inst. f. Transport- und Automatisierungstechnik • Prof. Dr.-Ing. B. Ponick: Inst. f. Antriebssysteme und Leistungselektronik • Prof. Dr.-Ing. A. Raatz: Inst. f. Montagetechnik • Prof. Dr.-Ing. L. Rissing: Inst. f. Mikroproduktionstechnik • Prof. Dr.-Ing. B. Wagner: Inst. f. Systems Engineering • Prof. Dr.-Ing. J. Wallaschek: Inst. f. Dynamik und Schwingungen

Publikationen des Leibniz Forschungszentrums MZH

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Auszug von MZH-Publikationen - Zentrale und MZH-Kooperationsprojekte sind kursiv und fett gekennzeichnet – - Einzelprojekte sind ohne besondere Kennzeichnung versehen -

Robotik Kontinuumsroboter für chirurgische Systeme Proceedings reviewed [BUR14a]

[BUR13a]

[BUR13j]

[BUR13k] [BUR13l] [FEL14]

[GRA14]

J. Burgner-Kahrs, H.B. Gilbert, J. Granna, P.J. Swaney, R.J. Webster III: Workspace Characterization for Concentric Tube Continuum Robots. IEEE/RSJ International Conference on Intelligent Robots and Systems, Finalist Best Application Paper Award, 2014 (im Druck) J. Burgner, H.B. Gilbert, R.-J. Webster III: On the Computational Design of Concentric Tube Robots: Incorporating Volume-Based Objectives. IEEE International Conference on Robotics and Automation (ICRA), pp. 1185-1190, 2013. Finalist Best Medical Robotics Paper Award P.J. Swaney, J. Burgner, R.A. Lathrop, H.B. Gilbert, K.D. Weaver, R.J. Webster III (2013): MinimallyInvasive Intracerebral Hemorrhage Removal Using An Active Cannula, IEEE International Conference on Robotics and Automation, 219—224, 2013 Dylan P. Losey, Peter A. York, P.J. Swaney, J. Burgner, R.J. Webster III (2013): A flexure-based wrist for needle-sized surgical robots, Proc. SPIE 8671, 86711G--86711G—9, 2013 J. Burgner, P.J. Swaney, R.A. Lathrop, K.D. Weaver, R.-J. Webster III: Robot-assisted intracerebral hemorrhage evacuation: an experimental evaluation, Proc. SPIE 8671, 86710H--86710H—5, 2013 C. Fellmann, J. Burgner-Kahrs: Analyse von Bewegungsstrategien für tubuläre Kontinuumsroboter als Basis für eine sichere Pfadplanung. Jahrestagung der Deutschen Gesellschaft für Computerund Roboterassistierte Chirurgie e.V., 2014 J. Granna, J. Burgner: Characterizing the Workspace of Concentric Tube Continuum Robots. International Symposium on Robotics (ISR), pp. 730-736, 2014

Journals reviewed [BUR14b]

[BUR13b]

[BUR13e]

[BUR13f]

[BUR13h]

[BUR13i]

J. Burgner, D.C. Rucker, H.B. Gilbert, P.J. Swaney, P.T. Russell III, K.D. Weaver, .J. Webster III: A Telerobotic System for Transnasal Surgery. IEEE Transactions on Mechatronics (TMech), 19(3):996-1006, 2014 J. Burgner, P.J. Swaney, R.A. Lathrop, K.D. Weaver, R. J. Webster III: Debulking From Within: A Robotic Steerable Cannula for Intracerebral Hemorrhage Evacuation. IEEE Transactions on Biomedical Engineering (TBME), 60(9):2567-2575, 2013 J. Burgner, A.L. Simpson, J.M. Fitzpatrick, R.A. Lathrop, S.D. Herrell, M.I. Miga, R.J. Webster III: A study on the theoretical and practical accuracy of conoscopic holography-based surface measurements: toward image registration in minimally invasive surgery, International Journal of Medical Robotics and Computer Assisted Surgery, 9(2):190-203, 2013 J. Burgner, P. J. Swaney, R. A. Lathrop, K. D. Weaver, R. J. Webster III: Debulking From Within: A Robotic Steerable Cannula for Intracerebral Hemorrhage Evacuation, IEEE Transactions on Biomedical Engineering (TBME), 60(9):2567-75, 2013 K.D. Weaver, R.J. Webster III, P.J. Swaney, J. Burgner, P.T. Russell III, H.B. Gilbert, J.R. Bekeny, R.J. Hendrick: The Use of Teleoperated Concentric Tube Robots for Transsphenoidal Parasellar Surgery, Journal of Neurological Surgery Part B: Skull Base , 74(S 01): A123, 2013 P.J. Swaney, J. Burgner, H.B. Gilbert, R.J. Webster III: A Flexure-based steerable needle: High Curvature with Reduced Tissue Damage, IEEE Transactions on Biomedical Engineering, 60(4):906909, 2013

Buchbeitrag / Artikel [BUR14c] [BUR13g]

J. Burgner-Kahrs: Task-specific Design of Tubular Continuum Robots for Surgical Applications, Soft Robotics, Springer, ISBN 978-3-662-44505-1, 2014 (im Druck) J.S. Schneider, J. Burgner, R.-J. Webster III, P.T. Russell III (2013): Robotic surgery for the sinuses and skull base: what are the possibilities and what are the obstacles? Current Opinion in Otolaryngology & Head and Neck Surgery, 21(1):11-16, 2013

3D-Umgebungserkennung Proceedings reviewed [BRA14]

Saif Al-Shaikhli, Michael Ying Yang, Bodo Rosenhahn, „Brain Tumor Classification Using Sparse Coding and Dictionary Learning“, IEEE International Conference on Image Processing (ICIP), October, 2014

Publikationen des Leibniz Forschungszentrums MZH

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[LAN11]

[LAN12a]

[LAN12b]

[LAN13a]

[LAN13b]

[LAN14b]

[SEG12]

[SEG14b]

[SEG13]

[SEG13b] [SEG13c] [SEG14] [SEG14a]

[SAM12]

[SAM12a]

[SAM12b]

[SAM13]

[SMO14]

M. Langerwisch and B. Wagner. Dynamic path planning for coordinated motion of multiple mobile robots. In 2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC), pages 1989– 1994, October, 2011 Langerwisch, M.; Ax, M.; Thamke, S.; Remmersmann, T.; Tiderko, A.; Kuhnert, K.-D.; Wagner, B., Realization of an Autonomous Team of Unmanned Ground and Aerial Vehicles, The 5th International Conference on Intelligent Robotics and Applications (ICIRA), October 3-5,Montreal, Canada, 2012 Langerwisch, M.; Wagner, B., Guaranteed Mobile Robot Tracking using Robust Interval Constraint Propagation, The 5th International Conference on Intelligent Robotics and Applications (ICIRA), October 35, Montreal, Canada, 2012 M. Langerwisch, T. Wittmann, S. Thamke, T. Remmersmann, A. Tiderko, and B. Wagner. Heterogeneous teams of unmanned ground and aerial robots for reconnaissance and surveillance - a field experiment, IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pages 1–6, October, 2013 Langerwisch, M.; Wagner, B., Building Variable Resolution Occupancy Maps Assuming Unknown But Bounded Sensor Errors, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013, Tokyo, Japan, 2013 Langerwisch, M.; Krämer, M. S.; Kuhnert, K.-D.; Wagner, B.: Construction of 3D Environment Models by Fusing Ground and Aerial Lidar Point Cloud Data, The 13th International Conference on Intelligent Autonomous Systems (IAS), July 15-19, Padova, Italy, 2014 Björn Scheuermann, Markus Schlosser, Bodo Rosenhahn, „Efficient Pixel-Grouping based on Dempster's Theory of Evidence for Image Segmentation“, The 11th Asian Conference on Computer Vision (ACCV), Lecture Notes in Computer Science (LNCS), Springer Berlin/Heidelberg, Vol. 7726, Daejeon, Korea, November, 2012 Saif Al-shaikhli, Michael Yang, Bodo Rosenhahn „Multi-Region Labeling and Segmentation Using a Graph Topology Prior and Atlas Information in Brain Images“, Computerized Medical Imaging and Graphics Journal (CMIG), Accepted for publication, Elsevier, June 2014 Oliver Jakob Arndt, Björn Scheuermann, Bodo Rosenhahn, „Region Cut - Interactive Multi-Label Segmentation Utilizing Cellular Automaton“, IEEE Workshop on Applications of Computer Vision (WACV), Clearwater Beach, Florida, USA, January, 2013 Matthias Reso, Jörn Jachalsky, Bodo Rosenhahn, Jörn Ostermann, „Temporally Consistent Superpixels“, IEEE International Conference on Computer Vision (ICCV), Sydney, Australia, December, 2013 Michael Ying Yang, „Image Segmentation by Bilayer Superpixel Grouping“, Asian Conference on Pattern Recognition, Okinawa, Japan, November, 2013 Michael Ying Yang, Bodo Rosenhahn, „Video Segmentation with Joint Object and Trajectory Labeling“, IEEE Winter Conference on Applications of Computer Vision, IEEE, March, 2014 Matthias Reso, Jörn Jachalsky, Bodo Rosenhahn, Jörn Ostermann, „Superpixels for Video Content Using a Contour-based EM Optimization“, The 12th Asian Conference on Computer Vision (ACCV), Lecture Notes in Computer Science (LNCS), Springer, Berlin/Heidelberg, Singapore, November 2014 Hanno Ackermann, Bodo Rosenhahn, „Non-Rigid Self-Calibration Of A Projective Camera“ Proceedings of the 11th Asian Conference on Computer Vision (ACCV), Lecture Notes in Computer Science (LNCS), Springer Berlin/Heidelberg, Vol. 7726, November, 2012 Kai Cordes, Björn Scheuermann, Bodo Rosenhahn, Jörn Ostermann, „Learning Object Appearance from Occlusions using Structure and Motion Recovery“ , Proceedings of the 11th Asian Conference on Computer Vision (ACCV), Lecture Notes in Computer Science (LNCS), Springer Berlin/Heidelberg, Vol. 7726, November, 2012 Kai Cordes, Björn Scheuermann, Bodo Rosenhahn, Jörn Ostermann, „Occlusion Handling for the Integration of Virtual Objects into Video“, The 7th International Conference on Computer Vision Theory and Applications (VISAPP), pp. 173--180, Rome, Italy, February, 2012 Christian Cordes, Hanno Ackermann, Bodo Rosenhahn, „A Low-Rank Constraint for Parallel Stereo Cameras“, Proceedings of the German Conference on Pattern Recognition (GCPR), Springer Lecture Notes on Computer Sciences (LNCS), pp. 31-40, September, 2013 Smolorz, S.; Wagner, B., Real-Time Capability of Robotic Systems Based on ROS, IAS-Workshop ROS Industrial in European Research Projects, The 13th International Conference on Intelligent Autonomous Systems (IAS), July 15, Padova, Italy, 2014

Journals reviewed [CRY12] [HEN11] [OCT13]

Ralf Spindler, Bodo Rosenhahn, Nicola Hofmann, Birgit Glasmacher „Video analysis of osmotic cell response during cryopreservation“, Cryobiology, Elsevier, February 2012 M. Hentschel and B. Wagner. An adaptive memory model for long-term navigation of autonomous mobile robots. Journal of Robotics, 2011, January, 2012 Sabine Donner, Oliver Müller, Frank Witte, Ivonne Bartsch, Elmar Willbold, Tammo Ripken, Alexander Heisterkamp, Bodo Rosenhahn, Alexander Krüger, „In situ optical coherence tomography of percutaneous implant-tissue interfaces in a murine model“ Biomedical Engineering/Biomedizinische Technik, De Gruyter, pp. 1-9, Karlsruhe, May, 2013

Publikationen des Leibniz Forschungszentrums MZH

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Buchbeitrag / Artikel [LAN14a] [SEG13a]

[SAM14] [COR14a]

Langerwisch, M.; Wagner, B., Global Indoor Localization Assuming Unknown But Bounded Sensor Errors, Field and Assistive Robotics - Advances in Systems and Algorithms, Shaker Verlag, 2014 Kai Cordes, Björn Scheuermann, Bodo Rosenhahn, Jörn Ostermann, „Foreground Segmentation from Occlusions using Structure and Motion Recovery“, Computer Vision, Imaging and Computer Graphics. Theory and Applications, Communications in Computer and Information Science (CCIS), Springer Berlin/Heidelberg, Vol. 359, pp. 340--353, May,2013 Hanno Ackermann „Factorization“, Computer Vision: A Reference Guide, Springer, 2014 Kai Cordes „Occlusion Handling in Scene Reconstruction from Video“, VDI Verlag, Vol. 10, No. 834, p. 130, Düsseldorf, 2014

Mechatronische Unterstützungssysteme und Laufmaschinen Proceedings reviewed [AVP12]

[RPG09]

[VPP12]:

Albert, A., J. Vorndamme, S. Petereit und T. Lilge: Automatisierte Aufnahme einer 3D-Raumkarte mit Unterputzdaten. In: Automation, Nummer 2171 in VDI-Berichte, Seiten 321–324, Baden-Baden, Jun 13-14 2012. VDI Verlag GmbH, Düsseldorf, 2012 Resetov, D.; Pietsch, B. & Gerth, W.: In Dillmann, R.; Beyerer, J.; Stiller, C.; Zöllner, M. & Gindele, T. (Eds.): Aufbau des humanoiden Roboters BART III. Autonom Mobile Systeme, Springer Verlag Berlin Heidelberg, 209-216, 2009 Vorndamme, J. S. Petereit, B. Pitzer, P. Roan, T. Lilge und A. Albert: Robotic System for Mapping 3D in-wall Information for Craftsmen. In: Proceedings of the 7th German Conference on Robotics (ROBOTIK 2012), Seiten 24–29, Munich, Germany, May 21-22 VDE Verlag, Berlin. CD-ROM, 2012

Journals reviewed [HG09]

Höhn, O. & Gerth, W.: Probabilistic Balance Monitoring for Bipedal Robots. The International Journal of Robotics Research, 28, 245-256., 2009

Buchbeitrag / Artikel [LIL14]

Lilge, T., Albert, A.: Interdisziplinäre Forschung am Mechatronik-Zentrum Hannover, VDE/ZVEI Band Ingenieurswissenschaften – Elektro und Informationstechnik IWV, 2014

Assistenzrobotik Proceedings reviewed [AVP12]

[DAH06]

[HAD08]

[HAH09] [HBA11] [HM13] [HWH13]

[KHB14]

[SHM13]

[TH14]

Albert, A., J. Vorndamme, S. Petereit und T. Lilge: Automatisierte Aufnahme einer 3D-Raumkarte mit Unterputzdaten. In: Automation, Nummer 2171 in VDI-Berichte, Seiten 321–324, Baden-Baden, Jun 13-14 2012. VDI Verlag GmbH, Düsseldorf, 2012 A. De Luca, A. Albu-Schäffer, S. Haddadin, and G. Hirzinger, “Collision detection and safe reaction with the DLR-III lightweight manipulator arm,” in IEEE/RSJ Int. Conf. on Intelligent, Robots and Systems IROS, Beijing, China, pp. 1623–1630, 2006 S. Haddadin, A. Albu-Schäffer, A. De Luca, and G. Hirzinger, “Collision detection & reaction: A contribution to safe physical human-robot interaction,” in IEEE/RSJ Int. Conf. on Intelligent Robots and Systems IROS, Nice, France, pp. 3356–3363, 2008 S. Haddadin, A. Albu-Schäffer, and G. Hirzinger, “Requirements for safe robots: Measurements, analysis & new insights,” Int. J. of Robotics Research, vol. 28, no. 11-12, pp. 1507–1527, 2009 Haddadin, S.; Belder, R. & Albu-Schäffer, A.: Dynamic motion planning for robots in partially unknown environments. Proceedings of the 18th IFAC World Congress, 6842-6850, 2011 Haddadin, S. & Mansfeld, N.: Human Injury Analysis in Robotics: An Overview. International Conference on Intelligent Robots and Systems (IROS), Workshop, 2013 Haddadin, S.; Weitschat, R.; Huber, F.; Özparpucu, M. C.; Mansfeld, N. & Albu-Schäffer, A.: Optimal Control for Viscoelastic Robots and its Generalization in Real-Time. International. Symposium on Robotics Research (ISRR), 2013 Kaldestad, K. B.; Haddadin, S.; Belder, R.; Hovland, G. & Anisi, D. A.: Collision Avoidance with Potential Fields Based on Parallel Processing of 3D-Point Cloud Data on the GPU. International Conference on Robotics and Automation (ICRA), 2014, 2014 Sharma, K.; Haddadin, S.; Minning, S.; Heindl, J.; Bellmann, T.; Parusel, S.; Rokahr, T. & AlbuSchäffer, A.: Evaluation of human safety in the DLR Robotic Motion Simulator using a crash test dummy. Robotics and Automation (ICRA), IEEE International Conference on, 205-212, 2013 Tomic, T. & Haddadin, S.: A Unified Framework for External Wrench Estimation, Interaction Control and Collision Reflexes for Flying Robots. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Publikationen des Leibniz Forschungszentrums MZH

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[TMH14] [VHS14]

[WHH13]

Tomic, T.; Maier, M. & Haddadin, S.: Learning Quadrocopter Maneuvers From Optimal Control and Generalizing in Real-time. International Conference on Robotics and Automation (ICRA), 2014 Vogel, J.; Haddadin, S.; Simeral, J.; Stavisky, S.; Bacher, D.; Hochberg, L.; Donoghue, J. & Smagt, P.: In Khatib, O.; Kumar, V. & Sukhatme, G.: (Eds.) Continuous Control of the DLR Light-Weight Robot III by a Human with Tetraplegia Using the BrainGate2 Neural Interface System. Experimental Robotics, Springer Berlin Heidelberg, 79, 125-136, 2014 Weitschat, R.; Haddadin, S.; Huber, F. & Albu-Schäffer, A.: Dynamic optimality in real-time: A learning framework for near-optimal robot motions. Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, 5636-5643, 2013

Journals reviewed [AEF11]

[GCF12]

[HAH11] [HBJ12]

[HHK12]

[PSH14] [VHS14a]

Albu-Schäffer, A.; Eiberger, O.; Fuchs, M.; Grebenstein, M.; Haddadin, S.; Ott, C.; Stemmer, A.; Wimböck, T.; Wolf, S.; Borst, C. & others: Anthropomorphic soft robotics--from torque control to variable intrinsic compliance. Robotics Research, Springer, 185-207, 2011 Grebenstein, M.; Chalon, M.; Friedl, W.; Haddadin, S.; Wimböck, T.; Hirzinger, G. & Siegwart, R.: The hand of the DLR Hand Arm System: Designed for interaction. The International Journal of Robotics Research, 31, 1531-1555, 2012 Haddadin, S.; Albu-Schäffer, A.; Haddadin, F.; Rosmann, J. & Hirzinger, G.: Study on Soft-Tissue Injury in Robotics, Automation Magazine, IEEE, 18, 20-34, 2011 Hochberg, L. R.; Bacher, D.; Jarosiewicz, B.; Masse, N. Y.; Simeral, J. D.; Vogel, J.; Haddadin, S.; Liu, J.; Cash, S. S.; van der Smagt, P. & others: Reach and grasp by people with tetraplegia using a neurally controlled robotic arm. Nature, Nature Publishing Group, 485, 372-375, 2012 Haddadin, S.; Haddadin, S.; Khoury, A.; Rokahr, T.; Parusel, S.; Burgkart, R.; Bicchi, A. & AlbuSchäffer, A.: On making robots understand safety: Embedding injury knowledge into control. The International Journal of Robotics Research, Sage Publications, 31, 1578-1602, 2012 Park, J.-J.; Song, J.-B. & Haddadin, S.: Collision analysis and safety evaluation using a collision model for the frontal robot-human impact. Robotica, 32, 1-15, 2014 J. Vogel, S. Haddadin, J. D. Simeral, D. Bacher, B. Jarosiewicz, L. R. Hochberg, J. P. Donoghue, P. van der Smagt: An Assistive Decision and Control Architecture for Force-Sensitive Hand-Arm Systems driven via Human-Machine Interfaces, accepted for publication, International Journal of Robotics Resarch, 2014

Buchbeitrag / Artikel [HC14]

Haddadin, S.; Croft, E.: Physical Human-Robot Interaction. In Siciliano, B.; Khatib, O. (Eds.): Handbook of Robotics, 2. Auflage, wird veröffentlicht in Springer, 2014

Medizintechnik Proceedings reviewed [DIA14a]

[DIA14b]

[DIA13]

[DIA13b]

[DÖR15]

[OCT11]

[OCT12]

Díaz Díaz, Jesús; Riva, Mauro H.; Majdani, Omid; Ortmaier, Tobias: Normal distributions transform in multi-modal image registration of optical coherence tomography and computed tomography datasets, Proc. SPIE 9034, 90343L, 2014 Díaz Díaz, Jesús; Riva, Mauro H.; Majdani, Omid; Ortmaier, Tobias: Accuracy of optical navigation systems for automatic head surgery: optical tracking versus optical coherence tomography, Proc. SPIE 8926, 89262F, 2014 Díaz Díaz, Jesús; Kundrat, Dennis; Goh, Kim-F.; Majdani, Omid; Ortmaier, Tobias: Towards Intraoperative OCT Guidance for Automatic Head Surgery: First Experimental Results, Proc. MICCAI, 347-354, 2013 Díaz Díaz, J.; Rahlves, M.; Majdani, O.; Reithmeier, E.; Ortmaier, T.: A one step vs. a multi-step geometric calibration of an optical coherence tomography, Proceedings of the Society of PhotoOptical Instrumentation Engineers Photonics West, 2013 Dörbaum M., Tappe S., Kotlarski J., Ortmaier T., Ponick, B.: Simulations- und Messmethoden eines neuartigen elektromagnetischen Kippaktors, VDI/VDE-Tagung Mechatronik 2015, Dortmund (Abstract eingereicht), 2015 Oliver Müller, Sabine Donner, Tobias Klinder, Ralf Dragon, Ivonne Bartsch, Frank Witte, Alexander Krüger, Alexander Heisterkamp, Bodo Rosenhahn, „Model Based 3D Segmentation and OCT Image Undistortion of Percutaneous Implants“ Medical Image Computing and Computer-Assisted Intervention – MICCAI 2011 14th International Conference, Lecture Notes in Computer Science (LNCS), Springer Berlin / Heidelberg, Vol. 6893, pp. 454-462, September 2011 Oliver Müller, Sabine Donner, Tobias Klinder, Ivonne Bartsch, Alexander Krüger, Alexander Heisterkamp, Bodo Rosenhahn, „Compensating motion artifacts of 3D in vivo SD-OCT scans“ Medical Image Computing and Computer Assisted Intervention (MICCAI), Vol. 7510, pp. 198--205, October, 2012

Publikationen des Leibniz Forschungszentrums MZH

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Rahlves, Maik; Díaz Díaz, Jesús; Thommes, Jan; Majdani, Omid; Roth, Bernhard; Ortmaier, Tobias; Reithmeier, Eduard: Towards refractive index corrected optical coherence tomography as a navigation tool for bone surgery. Proc. IEEE Conf. Lasers and Electro-Optics Europe, 2013 S. Tappe, J. Kotlarski, T. Ortmaier: DEXTEROUS SURGICAL INSTRUMENT BASED ON ELECTROMAGNETIC ACTUATION, 10. Russian-German Conference on Biomedical Engineering, St. Petersburg, Russia, 2014 Wöhrmann, M., Dörbaum, M., Ponick, B., Mertens, A.: Design of a Fully Actuated Electromagnetic Bending Actuator for Endoscopic Applications, in: Innovative Small Drives and Micro-Motor Systems, 19-20, Sept. 2013, Nuernberg, Germany, 2013

Journals reviewed [OCT13]

Sabine Donner, Oliver Müller, Frank Witte, Ivonne Bartsch, Elmar Willbold, Tammo Ripken, Alexander Heisterkamp, Bodo Rosenhahn, Alexander Krüger, „In situ optical coherence tomography of percutaneous implant-tissue interfaces in a murine model „Biomedical Engineering/Biomedizinische Technik, De Gruyter, pp. 1-9, Karlsruhe, May, 2013

Produktionstechnik Proceedings reviewed [AHR13] [AHR14]

[BUD08] [DAG12]

[DAG08a] [DAG08b]

[DAG08c]

[DAG12b]

[DEN10]

[DEN11] [DEN11a] [DEN11b] [DEN11c] [DEN13]

[DEN14]

[EMM12]

[EMM13]

Ahrens, M.; Fischer, R.; Dagen, M.; Denkena, B.; Ortmaier, T. Abrasion Monitoring and Automatic Chatter Detection in Cylindrical Plunge Grinding, Procedia CIRP, 82013, Nr. 0, S. 374–378, 2013 Ahrens, M.; Fischer, R.; Dagen, M.; Denkena, B.; Ortmaier, T.: Active Chatter Damping System in Plunge Grinding Using Magnetic Actuators, Proceedings of the Manufacturing Science and Engineering Conference (MSEC2014), 2014 Budde, C.; Rose, M.; Maaß, J.; Raatz, A.: Automatic Detection of Assembly Mode for a Triglide-Robot. In: 2008 IEEE Int. Conf. on Robotics and Automation, Pasadena, USA, 2008. Dagen, Matthias; Riva, Mauro H.; Heimann, Bodo; Ortmaier, Tobias ; Wager, Christian; Krimm, Richard; Behrens, Bernd-Arno: A Multi-Axial Electromagnetically Actuated Punch for Cutting Micro-Components, Proceedings of the American Control Conference, 12/2012 Dagen, M.; Heimann, B.: An Electromagnetically Actuated Punch for Cutting Micro-Components, pp. 103-109, Adaptronic Congress Berlin, Berlin, 2008 Dagen, M.; Heimann, B.; Javadi, M.; Behrens, B.-A. (2008): Design and Control of an Electromagnetically Actuated Punch, Proc. of the 17th IFAC World Congress, pp. 857-862, Seoul, Korea, 2008 Dagen, M; Abdellatif, H.; Heimann, B.: Applying Iterative Learning Control for accuracy improvement of an electromagnetically actuated punch, Proc. of the 9th International Conference on Motion and Vibration Control, Munich, 2008 Dagen, M.; Riva, M. H.; Heimann, B.; Ortmaier, T. ; Wager, Ch.; Krimm, R.; Behrens, B.-A. (2012): A Multi-Axial Electromagnetically Actuated Punch for Cutting Micro-Components, Proceedings of the 2012 American Control Conference (ACC 2012), Montréal, Canada, June, 2012 Denkena, B., Litwinski, K.M., Bickel, W.: Methode zur motorintegrierten Spindeldämpfung., Entwurf mechatronischer Systeme: 7. Paderborner Workshop, 18. und 19. März 2010, Heinz Nixdorf MuseumsForum, Band 272, HNI-Verlagsschriftenreihe, S. 309-318, 2010 Denkena, B., Möhring, H.-C., Bickel, W.: Integrated active damping of main spindles., 61th CIRP General Assembly, August 26th, 2011, Budapest, Hungary, 2011 Denkena, B., Immel, J., Schönherr, M.: Performance Enhancement of Highly Dynamic Excited Serial Structures by Means of Adaptronics, Adaptronic Congress 2011, 7.-8. September 2011, Darmstadt, 2011 Denkena, B., Immel, J., Schönherr, M.: Adaptronic Systems in Robot Manufacturing, ICMST – International Conference on Manufacturing Science and Technology, 16.-18. September, Singapur, 2011 Denkena, B., Immel, J., Schönherr, M.: ZigBee Networks for Data Communication in Machine Tools, Wireless Congress 2011, 9.-10. November 2011, München, 8 Seiten, 2011 Denkena, B., Litwinski, K., Schönherr, M.: Innovative Drive Concept for Machining Robots, Procedia CIRP, 2nd CIRP Global Web Conference - Beyond modern manufacturing: Technology for the factories of the future (CIRPe2013), Volume 9, 2013, S. 67-72, 2013 Denkena, B., Overmeyer, L., Litwinski, K. M., Peters, R.: Model-Based Feedback Control via Control Integrated Observers, 15th International Conference on Precision Engineering. Kanazawa, Japan: Japan Society for Precision Engineering, 2014 Emmrich, J., Bickel, W., Denkena, B., Ponick, B.: Design of an Integrated Electromagnetic Actuator of High Frequency Damping Forces, Proceedings 2012 XXth International Conference on Electrical Machines, 02 - 05 September 2012, Marseille, Seite 1957-1963, 2012 Emmrich, J., Bickel, W., Denkena, B., Ponick, B.: Analysis of an integrated electromagnetic actuator prototype , Innovative Klein- und Mikroantriebstechnik (GMM-FB 76), ISBN 978-3-80073537-2, 2013

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[RIV14]

[SCH10b]

Emmrich, J.; Ponick, B.; Bickel, W.; Denkena, B.: Analysis of an integrated electromagnetic actuator prototype, Innovative Klein- und Mikroantriebstechnik (GMM-FB 76), Nürnberg, 2013 Hesselbach, J.; Kerle, H.; Krefft, M.; Raatz, A.: Optimale Dimensionierung von Parallelkinematiken. In: Heisel, Weule (Hrsg.): Fertigungsmaschinen mit Parallelkinematiken – Forschung in Deutschland, Shaker Verlag, Aachen, 2008 Litwinski, K., Peters, R., Overmeyer, L., Denkena, B.: Real time simulation approach for the machine tool design and error compensation, MATAR 2012, 9th International Conference on Machine Tools, Automation, Technology and Robotics, September 12-14, Prague, Czech Republic, MM Science Journal, S. 1-7, 2012 Neubert, T., Lehr, J., Brouwer, D.: 3D Modelling of Hexapod Manipulators in Drilling Rigs, 16. ITI Symposium, 12.-14. November 2013, Dresden, 2013 Neubauer, M., Wallaschek, J., Behrens, B.-A., Krimm, R., Hasselbusch, T.: Tuned Mass Damper with Piezoelectrically tunable Damping, 20th Int. Congress on Sound and Vibration (ICSV), Bangkok, Thailand, 2013 L. Overmeyer, K. Ventz, K. Falkenberg,T. Krühn: Interfaced multidirectional small-scaled modules for intralogistics operations, Logistics Research Vol. 2, S. 123-133: Springer Berlin / Heidelberg, 2010 Radosavac, M.; Froböse, T.; Overmeyer, L.; Jastrzembski, J.-P.; Ponick, B.: Lineardirektantrieb für Transportbänder, 7. Fachkolloquium der Wissenschaftlichen Gesellschaft für Technische Logistik e.V. (WGTL) Vol. 7, S. 38-50: Verlag Praxiswissen Service, 2011 Riva, M.; Díaz Díaz, J.; Dagen, M.; Ortmaier, T.: Estimation of covariances for Kalman filter tuning using autocovariance method with Landweber iteration, 14th IASTED International Symposium on Intelligent Systems and Control (ISC 2013), Marina del Rey, USA, 2013 Riva, M.; Dagen, M.; Ortmaier, T: Adaptive High-Gain Observer for Joint State and Parameter Estimation: A Comparison to Extended and Unscented Kalman Filter, Proc. of the 19th IFAC World Congress, Joahnnesburg, South Africa, 2014 Schmitt, J.; Inkermann, D.; Raatz, A.; Hesselbach, J.; Vietor, T.: Dynamic Reconfiguration of Parallel Mechanisms. In: EUCOMES - European Conference on Mechanism Design, Cluj-Napoca, Rumänien, Berlin/Heidelberg, Springer, S. 557-565, 2010

Journals reviewed [DEN14a] [DEN14b] [DEN14c]

[DEN11d]

[KRÜ13]

[LAS10]

[SCH10a]

Denkena, B.; Dahlmann, D.; Fischer, R.: Eingereicht: Prediction of chatter frequencies in a cylindrical plunge grinding process, Journal of Sound and Vibration, 2014 Denkena, B.; Ortmaier, T.; Ahrens, M.; Fischer, R.: Monitoring of grinding wheel defects using recursive estimation, The International Journal of Advanced Manufacturing Technology, 2014 Denkena, B., Overmeyer, L., Litwinski, K., Peters, R.: Compensation of geometrical deviations via model based-observers, The International Journal of Advanced Manufacturing Technology, Volume 73, Numbers 5-8, 2014, S. 989-998 DOI: 10.1007/s00170-014-5885-5, 2014 Denkena, B., Bickel, W., Ponick, B., Emmrich, J.: Dynamic analysis of a motor-integrated method for a higher milling stability. Production Engineering Research and Development (WGP), Vol. 5 (2011) Number 6, S. 691-699, 2011 T. Krühn, M. Radosavac, N. Shchekutin, L. Overmeyer: Decentralized and Dynamic Routing for a Cognitive Conveyor, International Conference on Advanced Intelligent Mechatronics (AIM), S. 436-441. Wollongong, Australia: IEEE/ASME, 2013 Last, P.; Raatz, A.; Hesselbach, J.: Calibration of Parallel Kinematic Structures - Overview, Classification and Comparison. In: Robotic Systems for Handling and Assembly. Springer Star Series, 2010 Schütz, D.; Budde, C.; Raatz, A.; Hesselbach, J.: Parallel Kinematic Structures of the SFB 562. In: Robotic Systems for Handling and Assembly. Springer Star Series, 2010.

Buchbeitrag / Artikel [DEN11e] [DEN11f] [DEN13a]

[BRI13] [BRO13b]

[DEN12]

Denkena, B., Immel, J., Schönherr, M.: Industrieroboter für spanende Bearbeitungen., wt Werkstattstechnik online, 101 H. 9, S. 617-622, 2011 Denkena, B., Immel, J., Schönherr, M.: Adaptronic Systems in Robot Manufacturing, Advanced Materials Research, Vols. 383-390 (2012), Seite 1013-1018, 2011 Denkena, B., Bickel, W., Litwinski, K.: Increase of Process Stability with Innovative Spindle Drives, New Production Technologies in Aerospace Industry , Lecture Notes in Production Engineering 2014, S. 145151 ISBN 978-3-319-01963-5, 2013 Brinksmeier, E.; Denkena, B.; Kuhfuss, B.; Riemer, O.: Muss Ultrapräzision zeit- und kostenintensiv sein? Mikroproduktion 3, S. 44-52, 2013 Brouwer, D., Lehr, J., Denkena, B., Litwinski, K.: (2013): Robotics for Geothermal Energy: Approach to Reduce Drilling Costs with a Novel Parallel Kinematic Alignment Tool, Celle Drilling, 9. und 10. September, Celle, 2013 Denkena, B., Overmeyer, L., Immel, J., Peters, R.: Optische Bauteilvermessung in Werkzeugmaschinen, VDI-Z Special Werkzeug-/Formenbau, November, S. 2-6, 2012

Publikationen des Leibniz Forschungszentrums MZH

Seite 7

[DEN12a]

[RAD11b] [WIE12]

Denkena, B., Bickel, W., Emmrich, J., Ponick, B.: Entwurf eines innovativen Spindelmotors zur Erhöhung der Prozessstabilität von Frässpindeln, ZWF - Zeitschrift für wirtschaftlichen Fabrikbetrieb, 107 7-8, S. 518-521, 2012 Radosavac, M.; Overmeyer, L.: Im Versuch: Lineardirektantrieb für Transportbänder, Hebezeuge Fördermittel. Berlin: HUSS-MEDIEN GmbH, S. 636-638 – ISSN 0017-9442, 2011 Wiendahl, H. P. (Hrsg.), Lotter, B.: Montage in der industriellen Produktion - Ein Handbuch für die Praxis, ISBN 978-3540214137, Springer, Reihe VDI, 2. Aufl., 2012

Patente [BRO13a]

Brouwer, D., Lehr, J., Denkena, B., Möhring, H.-C., Litwinski, K.: Positioning system and method for automated alignment and connection of components, Patentschrift, International Publication Number WO2013086326 A1, Veröffentlichungsdatum: 13.06.2013

[OVE12]

L. Overmeyer, T. Krühn, G. Heiserich, K. Ventz: Fördervorrichtung zum Transport und/oder Sortieren von Gegenständen, Gebrauchsmuster Aktenzeichen DE: 20 2012 001 229.0, 2012

Antriebe und Mikroaktorik Proceedings reviewed [CRE11] [CVE13] [DEN12a]

[DEN12b]

[HAN09]

[KRU13] [MOJ13]

[MOJ13b]

T. Creutzburg, Dr.-Ing. S. Cvetković, Prof. Dr.-Ing. L. Rissing; Fabrication of a Micro Actuator for the Stimulation of the Perilymph in Case of Amblyacousia; MST Kongress, Darmstadt, Germany, 2011 S. Cvetkovic, R. Kruppe, J. Rittinger, L. Rissing: Technology Development for Packaging of the GMR-Sensor via Eutectic Bonding, Smart System Integration SSI, paper 107, Amsterdam, 2013 Denkena, B., Flöter, F., Hülsemeyer, L.: Advantage machine tools and technology, MATAR 2012, 9th International conference on machine tools - automation - technology and robotics, ISSN 1803-1269 and 1805-0476, MM ScienceSystem, Prague, Sept., 2012 Denkena, B., Möhring, H.-C., Kayapinar, H.: Design of a Compact Fluidic XY-Stage for Precise Positioning, 7th International Conference on MicroManufacturing (ICOMM 2012), Evanston, IL, USA, S. 345-349, March 11-14, 2012 Hansen S., Janssen, G., Ganesan, V. A., Ponick, B., Mertens, A., Gatzen, H. H.: Linearer skalierbarer Mikro-Reluktanzschrittmotor, 4. Kolloquium Mikroproduktion, Hrsg.: F. Vollertsen, S. Büttgenbach, O. Kraft, W. Michaeli, BIAS-Verlag, 2009 R. Kruppe, A. Wienecke, L. Rissing: Optimization of mechanical and magnetic properties in high, electroplated Co-Fe-flux guides, Soft Magnetic Materials Conference SMM, Budapest, Ungarn, 2013 Mojrzisch, S., Ille, I., Wallaschek, J., Denkena, B.: A Hybrid Ultrasonic Squeeze Film and Magnetic Levitation Actuator for Machine Guideways. In: Ultrasonics Symposium (IUS), IEEE International (pp. 485-487), 2013 Mojrzisch, S.; Ille, I; Wallaschek, J.: Actively Controlled Ultrasonic Levitation Bearings and their Application in Machine Guides. In: VDI Tagung Mechatronik, Aachen (Germany), 2013

Journals reviewed [CHE13] [DEN14a]

[KRU14] [MOJ13]

[ZHA13] [ZHA12]

J. Chen, M. C. Wurz, A. Belski, L. Rissing, Design and Characterization of Soft Magnetic Flux Guides in a 3-D Magnetic Field Sensor, IEEE Trans Magn. 48 (4), p. 1481, 2013 Denkena, B., Friederichs, J., Fuchs, J.: Design and analysis of a 2-DOF synchronous planar drive for machine tools, Production Engineering Research & Development WGP, Springer, DOI 10.1007/s11740-014-0582-7, 2. September 2014 R. Kruppe, A. Wienecke, L. Rissing, Optimization of mechanical and magnetic properties in high, electroplated Co-Fe-flux guides, Trans. Mag. 50 (4), 2014 Mojrzisch, S.; Wallaschek, J.: Transient amplitude behavior analysis of nonlinear power ultrasonic transducers with application to ultrasonic squeeze film levitation. In: Journal of Intelligent Material Systems and Structures, 24(6), 745-752, 2013 Zhao, S.; Mojrzisch, S.; Wallaschek, J.: An ultrasonic levitation journal bearing able to control spindle center position. In: Mechanical Systems and Signal Processing, 36(1), 168-181, 2013 Zhao S., Mojrzisch, S., Wallaschek, J.: An ultrasonic levitation journal bearing able to control spindle center position, DOI: 10.1016/j.ymssp, Mechanical Systems and Signal Processing, Piezoelectric Technology, Volume 36, Issue 1, March 2013, Pages 168–181, 2012

Buchbeitrag / Artikel [DEN14b] [DEN13b]

Denkena, B., Friederichs, J., Fuchs, J.: Mehrkoordinatenantriebe für die Produktionstechnik, Ingenieursspiegel 08/2014, Public Verlag, 6 Seiten, August, 2014 Denkena, B., Friederichs, J., Fuchs, J.: Mehrkoordinatenantrieb, Produkt des Jahres 2013 im Bereich Automation, gewählt vom MM Maschinenmarkt, Vogel Business Media, 2013

Publikationen des Leibniz Forschungszentrums MZH

Seite 8

[DEN12b] [DIE14]

[HAC14] [KAL07] [RUS04] [WIE12]

Denkena, B., Möhring, H.-C., Friederichs, J.: Compact 2-DOF planar direct drive system with magnetic guidance, CIRP January Meeting, January 27, Paris, France, 14 Seiten, 2012 Dietrich, F.; Blumenthal, P., Raatz, A.: Automated Manipulation in Medical and Biotechnological Lab Applications, in New Trends in Medical and Service Robots, Pisla, D. et al., ISBN 978-3-319-01592-7, Springer, S103-115, 2014 Hackelöer, Felix: Erweiterung der Einsatzmöglichkeiten von Magnetführungen. Garbsen: PZH-Verl., Berichte aus dem IFW, Dr.-Ing. Dissertation, Leibniz Universität Hannover, 2014 F. Kallage: „Einsatz magnetischer Aktor- und Führungseinheiten zur Erhöhung der Bahngenauigkeit von Hochgeschwindigkeitsfräsmaschinen“, Dr.-Ing. Dissertation, Leibniz Universität Hannover, 2007 M. Ruskowski: „Aufbau und Regelung aktiver Magnetführungen“, Dr.-Ing. Dissertation, Leibniz Universität Wiedmann, K.: Positionsgeberloser Betrieb von permanentmagneterregten Synchron-maschinen, Dissertation, Open-Access, IAL Universität Hannover, 2012

Patent [DEN13a] [MOJ12]

Denkena, B., Möhring, H.-C., Hackelöer, F., Litwinski, K.: Flächenmotor mit Magnetführung, Patentschrift, Deutsches Patent- und Markenamt, DE 102012 002 141 A1, 2013 Mojrzisch, S., Hackelöer, F., Möhring, H.C., Denkena, B., Wallaschek, J.: Magnet-Ultraschallführung, Patentschrift, Deutsches Patent- und Markenamt, DE 10 2011 015 973 A1, 2012

Mensch-Roboter Kooperation in der Produktionstechnik Proceedings reviewed [AND14]

Andrew, S., Wegener, K., Raatz, A.; Dröder, K.; Herrmann, Ch.: Disassembly of electric vehicle batteries using the example of the Audi Q5 Hybrid system. In: 5th CIRP Conf. on Assembly Technology and Systems (CATS), Dresden, 13.-14.11.14, angenommen, 2014

Journals reviewed [DEN08a]

[HER14]

[PAR14]

Denkena, B., Friederichs, J., Wedler, A., Betram, O.: Safety mechatronics for industrial collision detection in human-machine interaction, 53. Internationales Wissenschaftliches Kolloquium (IWK): Prospects in Mechanical Engineering, Technische Universität Ilmenau, S. 51-52, 8-12 September, 2008 Herrmann, C.; Raatz, A.; Andrew, S.; Schmitt, J: Scenario-based Development of Disassembly Systems for Automotive Lithium Ion Battery Systems. In: Advances in Science and Technology Trans Tech Pub, Switzerland, Vol. 907, 2014, pp. 391-401, 2014 Park, J.-J., Song, J.-B., Haddadin, S.: Collision analysis and safety evaluation using a collision model for the frontal robot-human impact, Robotica, Vol. 32, DOI: 10.1017/S0263574714000137, 2014

Buchbeitrag / Artikel [DEN11]

[DEN09]

[DEN08b] [HAD14] [LOE13]

[RAA15]

Denkena, B., Böß, V., Kaddour, R., Friederichs, J., Bassett, E.: Automatisiertes Entgraten mit Industrierobotern - durchgängige CAx-Prozesskette. Mit der highFlex-Technologie von der Konstruktion bis zum Fertigteil, wt- Werkstattstechnik online, 101, H. 9, S. 623-628, 2011 Denkena, B., Friederichs, J.: Schlüsselkomponenten und zweistufiges Sicherheitskonzept für die MenschRoboter Kooperation. In: Workshop OTS-Workshop Stuttgart - 5. Workshop für OTS-Systeme in der Robotik: Sichere Mensch-Roboter-Interaktion ohne trennende Schutzzäune, in Westkämper, Engelbert (Hrsg.); Verl, Alexander (Hrsg.); Fraunhofer-Institut für Produktionstechnik und Automatisierung IPA, Fraunhofer Workshop; F 178., Stuttgart, 06/2009 Denkena, B., Wratil, P., Friederichs, J., Wedler, A.: Sichere Antriebsfunktionen für Roboter - Safety Inside, wt Werkstattstechnik online, 98, H. 9, S. 745-751, 2008 Haddadin, S.: Towards Safe Robots: Approaching Asimov's 1st Law, Springer, DOI: 10.1007/978-3-64240308-8, 2014 Löchte C., Kunz H., Schnurr R., Dietrich F., Raatz A., Dilger K., Dröder K.: Form-Flexible Handling Technology for Automated Preforming. 19th Int. Conf. on Composite Materials (ICCM), Montreal, Canada, e-proc, 2013 Raatz, A., Blankemeyer, S., Runge, G., Bruns, S., Borchert, G.: Opportunities and Challenges for the Design of Inherently Safe Robots. In: Soft Robotics, Springer, to be published, 2015

Fahrzeugmechatronik Proceedings reviewed [GRO11] [KOR14]

M. Gröninger, F. Horch, A. Kock, H. Pleteit, B. Ponick, D. Schmidt, F.-J. Wöstmann, “Casting production of coils for electrical machines,” Electric Drives Production Conference EDPC, 2011 Korolova O., P. Dück, A. Brune, J. Jürgens, B. Ponick Prediction of Efficiency-optimized Salient-pole Synchronous Machines’ Operating Range Using a Coupled Numerical-Analytical Method, XXIth International Conference on Electrical Machines (ICEM), Berlin, 2014

Publikationen des Leibniz Forschungszentrums MZH

Seite 9

[JUG14]

Jürgens J., A. Brune, B. Ponick: Electromagnetic Design and Analysis of a Salient-Pole Synchronous Machine with Tooth-Coil Windings for Use as a Wheel Hub Motor in an Electric Vehicle, XXIth International Conference on Electrical Machines (ICEM), Berlin, Deutschland, 2014

Weitere Publikation Dissertationen mit MZH-Themenbezug [COR14a] [GUE14]

[HAC14] [KOT13] [NEU10] [WIE12]

Kai Cordes „Occlusion Handling in Scene Reconstruction from Video“, VDI Verlag, Vol. 10, No. 834, p. 130, Düsseldorf, 2014 Gümmer, O.: Produktivitäts- und Genauigkeitssteigerung von Fräsmaschinen durch ruckentkoppelte Vorschubantriebe und magnetische Führungseinheiten, Dissertation, Band 2/2014, 226 S., ISBN 978-3-944586-54-0, PZH-Verlag, 2014 Hackelöer, F.: Erweiterungen der Einsatzmöglichkeiten von Magnetführungen, Dissertation, Band 05/2014, 192 S., ISBN 978-3-944586-71-7, PZH-Verlag, 2014 Kotlarski, J.: Leistungssteigerung von Parallelrobotern basierend auf kinematischer Redundanz, Dissertation, ISBN 978-3-944586-07-6, PZH-Verlag, 2013 Neuber, Cord-Chr.: Aktive Schwingungsreduktion durch Magnetführungen, Dissertation, ISBN 9783941416543, PZH-Verlag, 2010 Wiedmann, K.: Positionsgeberloser Betrieb von permanentmagneterregten Synchronmaschinen, Dissertation, Open-Access, IAL, 2012

Publikationen des Leibniz Forschungszentrums MZH

Seite 10