Master Thesis "Autonomous Folding and Unfolding of a Forestry Crane"

As

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

Our

located in

invites applications for a Master Thesis. At the

our research unit "

” focuses its research on modelling, simulation, analysis and optimization, as well as on the control of complex and dynamical industrial systems and processes. The primary goal is to enhance product quality, increase flexibility, and boost resource efficiency. Applications are found in the fields of mechatronics, robotics, and industrial production facilities.

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