Embedded Systems Engineer

6/2020 – 5/2024

High-Speed Magnetic Sensor Systems for Robotics & UAV Navigation

I developed a custom embedded magnetic sensor system for robotics and UAV applications. The work included the design and implementation of PCB-based sensor electronics, embedded microcontroller firmware, sensor interfacing, and high-speed data acquisition. Distributed magnetic sensor arrays were operated at sampling rates of up to 1 kHz, using SPI communication at up to 20 MHz. Particular focus was placed on reliable high-speed communication across spatially distributed sensor systems, hardware/software integration, measurement, debugging, and experimental validation.

For robotic applications, I developed a real-time motion control approach for a Franka Emika robot based on magnetic gradiometer data of the previously developed magnetic sensor system. Gradient tensor contractions were used to derive Cartesian linear and angular velocity commands for tracking the position and orientation of magnetic targets. The Cartesian motion commands were transformed into joint velocities using inverse Jacobian kinematics. The motion model was specifically designed to operate with a 6×6 Jacobian, allowing direct matrix inversion instead of a pseudoinverse and contributing to stable real-time execution.

The complete sensor-to-motion processing chain was implemented to meet the robot's strict real-time requirements, with control computations executing in less than 1 ms.

The developed systems were used for precise robot control and human-machine interaction based on magnetic gradiometry, as well as for UAV navigation using magnetic field measurements in the vicinity of high-voltage power lines.

Project demonstrator: -Hyperlink entfernt-

Responsibilities:
- Embedded hardware and PCB development
- Embedded C firmware development
- Microcontroller-based system design
- Magnetic sensor integration
- High-speed SPI communication (up to 20 MHz)
- Sensor data acquisition (up to 1 kHz)
- Real-time robot motion control based on magnetic gradiometry
- Cartesian and joint-space motion computation
- Inverse Jacobian kinematics
- Real-time control implementation (<1 ms computation time)
- Hardware/software integration
- Prototyping, measurement, debugging, and system testing
- Integration with robotic and UAV platforms

Angewandte Forschung, Benutzerschnittstelle / Mensch-Maschine-Schnittstelle (MMS), C++, C (Programmiersprache), Elektronische Schaltungstechnik, Embedded Entwicklung / hardwarenahe Entwicklung, Embedded Systems, Fehleranalyse, Firmware, Forschung & Entwicklung, Hardware-Design, Hardwareentwickler, Messtechnik, PCB-Designer, Prototyping, Robotics, Sensorik, Signalverarbeitung, Systemingenieur, TCP / IP

1/2013 – 12/2016

Magnetic Field-Based Driver Assistance System for Inductive EV Charging

Development of a magnetic field-based driver assistance system for precise vehicle alignment over inductive charging coils. The system used pulsed magnetic fields generated by the charging infrastructure to determine the relative position of the vehicle to the ground-side charging coil. The estimated position was provided to the driver to support accurate vehicle alignment for inductive charging.

The work covered the development and evaluation of the magnetic sensing concept, embedded signal processing and real-time position estimation algorithms, prototyping, system integration, and experimental validation. Particular focus was placed on computationally efficient algorithms suitable for execution on embedded hardware and reliable position estimation under real-world conditions.

As part of the project, the alignment system was integrated into a Mercedes-Benz B-Class Electric Drive (B 250) for Daimler AG, enabling validation and demonstration of the driver assistance concept in a real vehicle environment. The prototype was demonstrated at Hannover Messe and presented to the international automotive engineering community at the SAE J2954 Main Taskforce Meeting hosted by Audi AG in Ingolstadt, Germany (Jan. 2017).

The project combined magnetic sensing, embedded systems, signal processing, and automotive system integration to implement a complete positioning and driver assistance solution.

Responsibilities:
- Development of the magnetic positioning concept
- Development of embedded algorithms for real-time position estimation
- Magnetic sensor integration and signal processing
- Embedded system prototyping
- Hardware/software integration
- System-level testing and experimental validation
- Evaluation and optimization of positioning performance
- Integration and validation of the prototype in a Mercedes-Benz electric vehicle

Echtzeit-Softwareentwickler, Embedded Linux, Embedded Systems, Fahrerassistenzsysteme, Fahrzeugmechatronik, Fahrzeugtechnik, Programmierer C, C++, Sensorik, Signalverarbeitung, Systemmigration, Systems Engineering

1/2012 – 9/2012

Embedded Measurement & Data Logging System for Electric Vehicle Fleet

Development of an embedded measurement and data-logging system for continuous sensor and vehicle data acquisition across a fleet of electric vehicles.

I was responsible for the architecture and design of the embedded software component system as well as the development, maintenance, testing, and commissioning of the bare-metal firmware running on the central data-logging unit. The work involved close collaboration with the hardware engineers developing the custom electronic control unit, requiring continuous coordination of hardware/software interfaces and system behavior.

The system was integrated and tested across multiple electric vehicle platforms and subsequently maintained and extended with additional functionality. Particular focus was placed on reliable acquisition and logging of vehicle, battery, and auxiliary-system data under real-world operating conditions.

The collected fleet data provided the basis for subsequent research and optimization of electric vehicle energy consumption, including the influence of auxiliary loads such as heating and air conditioning. Battery data was also used for battery modeling and the estimation of parameters such as State of Charge (SoC) and State of Health (SoH).

Responsibilities:
- Architecture and design of the embedded software component system
- Bare-metal embedded software development
- Firmware maintenance and feature extensions
- Hardware/software interface definition and integration
- Close collaboration with custom ECU hardware development
- Commissioning of the data-logging system
- Integration across multiple electric vehicle platforms
- Embedded software and system testing
- Debugging and troubleshooting

Embedded Entwicklung / hardwarenahe Entwicklung, Embedded Systems, Programmierer C, C++, Fehleranalyse, Software Architecture, Systems Engineering, Softwareentwickler Embedded Systems, Fahrzeugtechnik, Fahrzeugmechatronik, Embedded Software