Institute for Sanitary Engineering, Water Quality and Solid Waste ...

Chair of Waste Management and Emissions
phase, both useful and harmful interactions between
the components were diagnosed and set up in a Reverse
Functional Model. That model was visualised by
the Interaction Matrix. Based on the Reverse Functional
Model, several optimisation strategies such as problem
elimination, cost reduction or value increasing
were discussed. The optimisation was done according
to the value increasing strategy. Embedding computer-aided
ergonomic design (CAED) allowed avoiding
ergonomic failures, which were identified during the
testing of the robot.
The performance of a biomass processing greenhouse
robot for autonomous handling of biomass in solar
dryers was investigated. Power consumption and specific
energy demand were registered during various
field tests. Applying 3D laser scanning, the effects of
the rotary tiller type tool on the transportation capacity
were investigated. An empirical model describing
these effects was developed. For efficient motion control,
six motion strategies for the robot were developed.
Each of the corresponding trajectories consists
of more than 1,300 three-dimensional coordinate
points. The motion strategies were evaluated due to
their efficiency to select the most promising one for
being embedded into the control system of the robot.
For evaluation, an algorithm was developed calculating
different evaluation parameters such as total cycle
time, covered distance and no-load time. The best
strategy was recommended for being embedded into
the control system of the robot.
In conclusion, the adapted and extended VDI design
procedure, which was presented in this work, supported
rapid development of an innovative and costefficient
robot. In addition, it delivered a consistent
documentation that allows tracing all decisions made
during the product development. For the testing phase,
which is up to now not a part of the classical VDI
design method, the presented optimisation approach
proved to be uncomplicated, clear and compatible to
the VDI design procedure. In combination with CAED it
could contribute to develop highvalue and user-friendly
products. Regarding the control design of the robot,
3D laser scanning helped to identify rapidly optimum
parameter settings for maximum transportation capacity
of the robot. Finally, 3D path planning led to optimised
motion paths and therefore to reduction of cycle
time of the whole process of drying biomass.
Furthermore, by now a technology is provided, which is
suitable for application in industrial scale such as processing
of biowaste or residues from biogas plants.
Doctoral candidate: Nikica Starčević
Principal examiner:
Prof. Dr.-Ing. Martin Kranert
Secondary examiner:
Prof. Dr. Joachim Müller
Nikica Starčević
Systematic design and process optimisation of
a robot for treatment of biomass in solar
dryers (2009), Forschungs- und Entwicklungssinstitut
für Industrie- und Siedlungswasserwirtschaft sowie
Abfallwirtschaft e.V. Stuttgart (FEI). München: Oldenbourg
Industrieverlag GmbH, 2009. (Stuttgarter Berichte
zur Abfallwirtschaft; Bd. 95), 150 S., 58 Abb.,
13 Tab., ISBN 978-3-8356-3186-1
“International Kitzbühler Water Prize“ for
Mr. Nikica Starcevic
Mr. Nikica Starcevic was granted the degree of doctor
with his excellent dissertation, which on 14 th October,
2009 won him the first place (3000€) in “International
Kitzbühler Water Prize“ under the program Kitzbühler
Water Price 2009.
Mr. Starcevic’s Phd. dissertation is entitled „Systematic
design and process optimization of a robot for
treatment of biomass in solar dryers”, which is under
the cooperation project between the Institute for
Sanitary Engineering, Water and Waste Management
at the University of Stuttgart (Prof. Kranert) and the
Institute of Agricultural Engineering at the University
of Hohenheim (Prof. Müller). Mr. Starcevic graduated
with distinction in the spring of 2009 at the Faculty
of Civil and Environmental Engineering, University of
Stuttgart. Since the summer of 2009 Dr. Starcevic has
been working as the project leader in a consulting firm
for environmental technologies.
In general, the development of the mixing and transporting
robot contributed to increased automation level
of solar and solar assisted drying systems. From
now the solar drying technology possesses a fully automated
processing robot and the competitiveness to
conventional systems will be enhanced significantly.
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